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Reference Commands for Move Mode

•

169

Setpoint

commands

WAGO-I/O-SYSTEM 750
I/O Modules

3.2.4.1.6

MOVE_TABLE_REL (0x08)

Starts a positioning process. This command immediately deletes the
"On_Target" bit and sets that bit when the target position is reached. This
command is accepted only when the last positioning process has been
completed and the "On_Target" bit has been set. This command reads the
target position from the specified location in a separate position table. This
command calculates the target position relative to the last accepted target (if
available), or to the current position. The acceleration and velocity specified
by SET_ACC (0x22) and SET_VELOCITY (0x25) are used for positioning
commands.

Request

Byte 2

7

2

6

2

5

2

4

2

3

2

2

2

1

2

0

MB0

0x40

MB1 T

-

MB2

0x08

MB3

No. of table entry with target position

MB4 Reserved SRC

MB5 Reserved

0: Read out from position table.

SRC

1: Read out from variables FILT1 ... FILT8.

Response

Byte 2

7

2

6

2

5

2

4

2

3

2

2

2

1

2

0

MB0

0x40

MB1 T

Return

Code

MB2

0x08

MB3 Reserved

MB4 Reserved

MB5 Reserved

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Содержание I/O SYSTEM 750 750-671

Страница 1: ...Fieldbus Independent I O Modules Steppercontroller 750 671 Manual Version 1 0 2...

Страница 2: ...571 8 87 5 55 Fax 49 0 571 8 87 85 55 E Mail support wago com Every conceivable measure has been taken to ensure the correctness and com pleteness of this documentation However as errors can never be...

Страница 3: ...1 2 1 Control Section 15 2 1 1 2 2 Power Section 16 2 1 1 2 3 Drive 16 2 1 1 2 4 Mechanical Section 17 2 1 1 3 Positioning 18 2 1 1 3 1 Absolute Positioning 18 2 1 1 3 2 Relative Positioning 19 2 1 1...

Страница 4: ...10 5 2 Filters Low Pass Timers and Counters 68 2 1 2 10 6 Move Commands 73 2 1 2 10 7 Scaling Number Ranges and Units 74 2 1 2 10 7 1 Internal Units of Measure 74 2 1 2 10 7 2 External Units of Measur...

Страница 5: ...132 3 1 4 4 Table Management Commands 133 3 1 4 4 1 TABLE_ERASE 0x44 133 3 1 4 4 2 TABLE_COPY 0x45 135 3 1 4 4 3 TABLE_START 0x46 138 3 1 4 4 4 TABLE_STOP 0x48 139 3 1 4 4 5 TABLE_GET_ACTIVE 0x4F 140...

Страница 6: ...2 4 1 18 SET_ACTUALPOSITON 0x2E 182 3 2 4 1 19 SET_ACTUALPOSITION_ZERO 0x2F 183 3 2 4 1 20 SET_CURRENT 0x39 184 3 2 4 2 Math commands 185 3 2 4 2 1 VAR_SET 0x50 185 3 2 4 2 2 VAR_INC 0x51 186 3 2 4 2...

Страница 7: ...Important Notes 7 Legal Bases WAGO I O SYSTEM 750 I O Modules 3 5 Configuration Variables 239 3 6 Internal Status Variables 252...

Страница 8: ...to provide for any alterations or modifications that serve to increase the efficiency of technical progress WAGO Kontakttechnik GmbH Co KG owns all rights arising from the granting of patents or from...

Страница 9: ...loped for use in an environment that meets the IP20 protection class criteria Protection against finger injury and solid impurities up to 12 5 mm diameter is assured protection against water damage is...

Страница 10: ...rgency stop functions and equipment shall not be made ineffective See relevant standards e g DIN EN 418 The equipment of your system shall be conform to EMC guidelines so that any electromagnetic inte...

Страница 11: ...observed to ensure smooth and efficient operation ESD Electrostatic Discharge Warning of damage to the components through electrostatic discharge Observe the precautionary measure for handling compone...

Страница 12: ...long term basis Warning The components are not resistant against materials having seeping and insulating properties Belonging to this group of materials is e g aerosols silicones triglycerides found...

Страница 13: ...menu e g File New END Pushbuttons are marked as bold with small capitals e g ENTER Keys are marked bold within angle brackets e g F5 Courier The print font for program codes is Courier e g END_VAR 1...

Страница 14: ...propriate areas with screens enclosures to prevent bodily contact with the system s moving parts Danger Enact and install an EMERGENCY OFF procedure and system that adheres to locally valid regulation...

Страница 15: ...section Power section Drive section Mechanical section SPS M Mechanical section Drive Software limit switch Control Stepper module 750 67x Coupler Controller 750 xxx Power section Net Safety device Em...

Страница 16: ...are simple and economical drives that execute highly precise tasks for a wide range of applications The shaft of a stepper motor rotates by a defined angle at each pulse a rapid succession of pulses...

Страница 17: ...r the specific current level particularly at high speeds than that specified by the motor data The manufacturer provided motor data is based on motor standstill ohmic winding resistance The power outp...

Страница 18: ...relative positioning Additionally a difference is also made between a reference run and the Jog mode 2 1 1 3 1 Absolute Positioning Positioning from the absolute position X to absolute position Y 0 X...

Страница 19: ...position X to absolute position Y by the difference x it is also possible as a command during positioning on the fly 0 x x x x X Y1 Y2 Y3 Y4 0 x x x x X Y1 Y2 Y3 Y4 Path Velocity New command New comm...

Страница 20: ...execution of the new positioning command Move to Y n Y Y n Path in steps Path over time Velocity over time Time in s Valocity in steps s Time in s Abort of the current command and positioning to new v...

Страница 21: ...from the same end Referencing involves searching for the reference switch at the set setup speed and then moving toward that point from the correct end of any position with the movement range E2 Ref E...

Страница 22: ...d for rotation 360 around either a real or virtual axis for a rotary axis Overrun is automatically taken into account i e when 360 is exceeded counting restarts at 0 Based on the example values after...

Страница 23: ...e Both the onset and completion of acceleration phase jolt the mechanical system this phenomenon is comparable to the jolt a vehicle experiences when stepping on stepping off the accelerator a a v s j...

Страница 24: ...phase with a linear gradient reducing the jolt experienced by the mechanical system a a v s j j Acceleration a Velocity v Path s Shock j Time Fig 2 1 1 8 Linear acceleration g067x07e Potential applica...

Страница 25: ...n phase This minimizes the jolt experienced by the mechanical system reducing any remaining harmonic waves present during linear acceleration a a v s j j Acceleration a Velocity v Path s Shock j Time...

Страница 26: ...tion and brake ramps can be adjusted individually a a v s j j j j Acceleration a Velocity v Path s Shock j Time Fig 2 1 1 10 Adjustable acceleration g067x28e Potential applications Defining if the acc...

Страница 27: ...I O SYSTEM 750 I O Modules The acceleration can be defined as Acceleration time Acceleration path or Acceleration steps s2 Potential applications Cycle time dependent applications Simple path calcula...

Страница 28: ...s on Acceleration Constant speed Delay Stop holding torque The current is adjustable in of the nominal value Values to 150 are possible Boost 100 50 100 100 150 10 10 Velocity in steps s Velocity over...

Страница 29: ...EM 750 I O Modules 2 1 1 5 Rotational speed The rotational speed is regulated by speed control Achieving a specified position is not relevant here Potential applications Simple interfaces for ready ma...

Страница 30: ...t an output or bits in a position window The position window can be defined absolutely or relatively Set output bit from Xn to Yn Set output bit von Xn to Yn Velocity in steps s Velocity over time Tim...

Страница 31: ...ion The frequency can be set directly and be changed during operation The pulse duty factor is fixed at 50 Maximum frequency 500 kHz 0 Out A f Out A Out A Frequency f Time t Fig 2 1 1 13 Frequency mod...

Страница 32: ...t and constant The pulse duty factor is variable and can be adjusted between 0 and 100 0 Out A 10 20 50 Out A PWM Pulse duty factor Time t Fig 2 1 1 14 PWM g067x36e Potential applications Temperature...

Страница 33: ...set Only one pulse is generated The time from the activating event up to the pulse generation is adjustable 0 Out A Out A Pulse duration Adjustable trigger delay Releasing event Pulse release Time t F...

Страница 34: ...positioning Brake ON Output 0 tOn before reaching the target position If the brake was switched on the execution of the next positioning is delayed by tOff 0 X Y Break ON mech Brake ON el Brake OFF el...

Страница 35: ...and sequence can be changed or stopped depending on external or internal PLC events The possible operatings mode are Cyclic Repeat after End Of List Event driven Digital analog time command Direct adr...

Страница 36: ...SYSTEM 750 I O Modules Path over time Path in steps Time in s Velocity over time Velocity in steps s Time in s Fig 2 1 1 17 Command tables g067x29e Potential applications Relieving the PLC Reduction o...

Страница 37: ...ated output stage This allows stepper motors to be connected directly Two configurable inputs for Start Stop limit switches reference cams Jog Tip etc are evaluated directly and without any further de...

Страница 38: ...control application Referencing JogMode Move command via Mailbox Move program Automatic execution of individual commands Rotary axis Relative Positioning Absolute Positioning Camshaft Brake control Ro...

Страница 39: ...per module has connections for motor windings The windings are connected to A1 A2 and B1 B2 The outputs are not short circuit proof However the output stage is protected against overload Reverse volta...

Страница 40: ...GO I O SYSTEM 750 I O Modules Caution The current at the power jumper contacts may be a maximum of 10 A When configuring the system ensure that this total current is not exceeded If this should happen...

Страница 41: ...50 347 01 06 2 750 348 01 04 1 ECO Fieldbus coupler 750 348 01 06 2 750 837 07 12 8 CANopen Programmable Fieldbus controller 750 838 02 12 8 Fieldbus coupler 750 306 12 4J 8 ECO Fieldbus coupler 750 3...

Страница 42: ...eight 8 bytes of data The 12 byte process image for the stepper module contains 2 PDOs one with 8 and one with 4 bytes Problem The specified and actual values for the positioning data is distributed...

Страница 43: ...B2 750 671 DI DI2 DI2 A1 B1 DI A2 B2 DI1 DI Fig 2 1 2 4 Connecting elements g067103x B2 Motor winding B The given configuration applies only to standard applications Adaptation for other applications...

Страница 44: ...on_Pos or Direction_Neg LED flashes briefly off Mailbox active but no command active drive motionless E Busy Mailbox mode yellow Mailbox active and command active drive in operation off No Move progra...

Страница 45: ...rating elements Changes to the configuration or parameters are made using the higher order control too or the WAGO I O CHECK configuration tool 2 1 2 5 Schematic Diagram 1 2 3 4 5 6 7 8 DI1 DI2 A1 B1...

Страница 46: ...A Short time current 1 per phase The derating factor is 1 Kelvin from an ambient operating temperature of 25 C see Fig 1 1 1 8 Derating graph Protective functions Short circuit of motor windings is p...

Страница 47: ...nual on coupler controller EMC Immunity to interference in acc with EN 61000 6 2 2001 EMC Emission of interference in acc with EN 61000 6 3 2001 Approvals See Section 2 2 of the Coupler Controller Man...

Страница 48: ...he relevant control status bytes in the section on Fieldbus Specific Configuration of Process Data which describes the process image of the particular coupler controller 2 1 2 7 1 Overview A basic dis...

Страница 49: ...it 0 0 ERR MBX X X X X X Mailbox mode 0 Mailbox deactivated MBX 1 Mailbox activated Error signaling ERR Status byte 0 Bit 6 follows the general error bit Error Status byte 2 Bit 7 ERR can be enabled v...

Страница 50: ...Process data 4 D2 Process data D2 Process data 5 D3 Process data D3 Process data 6 D4 Process data D4 Process data 7 D5 Process data D5 Process data 8 D6 Process data D6 Process data 9 S3 Status byte...

Страница 51: ..._Mbx 4 MB2 Reply Parameter byte 1 MB2 Request Parameter byte 1 5 MB3 Reply Parameter byte 2 MB3 Request Parameter byte 2 6 MB4 Reply Parameter byte 3 MB4 Request Parameter byte 3 7 MB5 Reply Parameter...

Страница 52: ...fied that is different from the previous one Therefore First write the data and then the opcode 0 Reserved Status_MBX Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Toggle Flag Return Code Return Cod...

Страница 53: ...es may exist at different storage locations for one type of table The storage location is addresses using an index Index Storage location 0 not available no table active Factory Default for configurat...

Страница 54: ...d or after a faulted download This information is retained for each table in a status byte Access to a table except for Configuration including by other program modules can be performed using the Tabl...

Страница 55: ...ands are elucidated in the appendix 2 1 2 9 2 Control After downloading of tables types Move program Camshaft Position table the tables and the associated functions must be enabled The camshaft is alw...

Страница 56: ...ation variable Offset Dec Bit Offs Data type Default Range Description User_Conf_Id 0 UINT16 0 0 50000 Data set numbers can be freely assigned by the user Numbers above 50000 are reserved ConfVersion...

Страница 57: ...al 2 MHz cycle by a prescaler When the smallest possible prescaler 4 is selected a maximum internal frequency of 500 000 Hz is yielded 2 1 2 10 1 1 3 Factor for Maximum Acceleration Acc_Fact Offset 6...

Страница 58: ...fset 62 Range 0 32767 Acceleration for Jog mode and Referencing 2 1 2 10 1 1 6 Ramps Acceleration_Stop_Fast Offset 46 Range 0 32767 Default acceleration for STOP mode the current acceleration is used...

Страница 59: ...eriod for acceleration increase is Acceleration_RampUp_Param 2 sin2 acceleration the period for acceleration increase is Acceleration_RampUp_Param 3 Reserved Bit 6 7 DecParam Deceleration parameter 0...

Страница 60: ...sage 1511 or 1512 is issued 2 1 2 10 1 1 8 Brake Braketime_Turn_On Offset 100 Range 1 8388607 Activation time for brake in ms Braketime_Turn_Off Offset 104 Range 0 8388607 Switch off time for brake in...

Страница 61: ...ency prescaler Freq_Div 0 Parameter Freq_Div from configuration table Freq_Div 0 200 80 20 4 fp max Freq_Div 0 2 MHz Freq_Div Freq_Div 0 10 kHz 25 kHz 100 kHz 500 kHz Note If Freq_Range_Sel 0 and conf...

Страница 62: ...acceleration 32767 Acc_Fact 0 Setting from configuration Acc_Fact 0 7600 ms 760 ms 76 ms 7 6 ms Note If Acc_Range_Sel 0 and configuration parameter Acc_Fact 0 the variable Acc_Multiplier is set to 8...

Страница 63: ...ccessful The Reset status bit is set after the warm start this must be canceled using the Reset_Quit control bit Only then is the module operational again As an alternative to this individual paramete...

Страница 64: ...es of the table entries correspond to those in the bit table The prefix Ptr is placed in front of the identifier The standard link between the source and target is entered in the column Target Source...

Страница 65: ...x41 0 255 Source for linkable bit 0xB1 Ptr_Stop1_N 194 0xC2 UINT8 0x30 0 255 Source for linkable bit 0xC2 Bit number Default allocation Name Dec Hex Type Target Sourc e Bit no Description Input1 48 0x...

Страница 66: ...ring operation using mailbox commands of the Move program The example below provides an illustration of this Input 2 is normally set as the reference input However in a certain application is may be m...

Страница 67: ...tion given for the changed items Unassigned linkable bits can be linked to the constant bits ZERO or ONE 2 1 2 10 5 1 Special Bits ZERO ONE MZERO and MONE The ZERO and ONE bits are fixed The ZERO bit...

Страница 68: ...r 3 Low pass 4 Pulse extension 5 Monoflop not retriggerable 6 Pulse delay 7 Math 8 Counter up 9 Counter up stop at overrun 10 Counter down 11 Counter down stop at overrun The functions Inverting and S...

Страница 69: ...s active The output provides the value zero As soon as the input signal is zero for the first time the filter switches to its operating status and the input signal is passed on to the output without b...

Страница 70: ...output on an input 0 1 edge The output is reset when the set time expires after the 1 0 edge Retriggering during the runtime is possible Fig 2 1 2 14 Pulse extension 500ms p067023x The monoflop funct...

Страница 71: ...67024x Fig 2 1 2 16 Monoflop 500ms not retriggerable with long input pulse p067025x Pulse extension sets the output when the set time has expired after an input 0 1 edge The output is reset as soon as...

Страница 72: ...mode Program mode The output is set when the counter has a value other than zero and is reset when the filter reaches zero The commands for modifying the filter can only be used in the function Math...

Страница 73: ...command has reached its target Table processing is interrupted in this case until the target is reached An exception here are the direct Move commands _IMM immediate which discontinue the Move command...

Страница 74: ...following format Byte Meaning 1 Command 2 Data 1 3 Data 2 4 Data 3 The individual commands are elucidated in the appendix in section 3 2 Commands for Move Mode 2 1 2 10 7 Scaling Number Ranges and Uni...

Страница 75: ...permissible range being Freq_Prescaler 4 65535 The maximum pulse rate fmax is calculated by fmax 25000 12 5 ms Freq_Prescaler 2 MHz Freq_Prescaler 500000 Hz 30 5 Hz Resolution 1 12 5 ms Freq_Prescale...

Страница 76: ...speed by selecting a different Freq_Prescaler For example Freq_Prescaler could also be selected as 6 in which case the module could output a maximum pulse frequency of 333333 3 Hz at a setpoint of 0 2...

Страница 77: ...T_RESULT or 1516 UNITS_ACC_USER_RESULT is issued 2 1 2 10 7 2 External Units of Measure Internal representation can also be converted to application specific units using conversion factors Conversion...

Страница 78: ...issued 2 1 2 10 7 2 3 Acceleration The setting data for acceleration are multiplied by the configuration factor Acc_Mult prior to internal processing and then divided by the configuration factor Acc_...

Страница 79: ...A mode is ended when the associated mode request bit is canceled If the drive is still in motion it is then braked at the acceleration Acceleration_Stop_Fast The assigned mode status bit will not be...

Страница 80: ...inked on Di1 Fig 2 1 2 19 Sequence diagram for Positioning g067x20e 1 The module is ready for operation when no error is present after setting of Enable 2 An operating mode can be selected when Stop_N...

Страница 81: ...Start The drive starts up or frequency is output directly after the setpoints are accepted The bit On_Target is canceled immediately and is not reset until the final position has been reached The Busy...

Страница 82: ...Data Output Data 0 S0 Status byte S0 C0 Control byte C0 1 Reserved Reserved 2 D0 Actual Velocity L D0 Velocity L 3 D1 Actual Velocity H D1 Velocity H 4 D2 Reserved D2 Acceleration L 5 D3 Reserved D3 A...

Страница 83: ...target position even if the drive is already turning A previously calculated movement sequence is started immediately when the PreCalc_ACK bit is set on the fly Move program The current Move program i...

Страница 84: ...t be started immediately on the fly Move program The Move program is started If a Move program is already running it will be restarted at the first command Referencing The reference run is started If...

Страница 85: ...factor Acc_Multiplier is loaded with the parameter Acc_Fact from the current configuration data set Acc_Fact 0 Acc_Multiplier Acc_Fact Acc_Fact 0 Acc_Multiplier 8 T 7600ms 01 Acc_Multiplier 80 T 760 m...

Страница 86: ...Move program The current Move program is being executed Referencing Movement made toward reference point Jog Mode The drive has been started up using the pushbutton and is rotating Busy 1 Mailbox mod...

Страница 87: ...direction The drive is deactivated when the bit Direction_Pos is set at the same time Limit switch moving range limit in positive direction This bit is linked to the internal bus 0 The positive direc...

Страница 88: ...t2 1 The reference switch is actuated Setup speed active Velocity limited to setup speed in all modes Acceleration is not limited The currently valid acceleration value is accepted 0 Limiting not acti...

Страница 89: ...present after setting of Enable 2 An operating mode can be selected when Stop_N_ACK has been set 3 Positioning mode is selected 4 The Positioning mode has been accepted by the module 5 The drive is s...

Страница 90: ...is always performed at the setup speed SpeedSetup and at the setup acceleration SetupAcceleration Note The referencing speed should be low so as to take the mechanical requirements into account such...

Страница 91: ...rror Stop1_N Stop2_N Stop_N_ACK Start Start_ACK high high low low 1 2 3 4 6 On_Target 5 Command 4 t Command_ACK 4 7 high low Busy Fig 2 1 2 21 Sequence diagram for referencing g067x23x 1 The module is...

Страница 92: ...de Bit 1 1 Parameter 3 Bit 2 1 Referencing to positive end End Start Limit switch negative Reference switch Limit switch positive Fig 2 1 2 22 Referencing to positive end of reference switch with star...

Страница 93: ...nd START_ REFERENCING Note Reference_Mode Bit 0 0 Parameter 3 Bit 0 0 Referencing to reference switch Direction_Pos 0 Direction_Neg 1 Parameter 3 Bit 1 0 Start in negative direction Reference_Mode Bit...

Страница 94: ...h is free Referencing to positive end of reference switch starting in positive direction Operating mode Referencing M_Reference 1 Mailbox Command START_ REFERENCING Note Reference_Mode Bit 0 0 Paramet...

Страница 95: ...n Operating mode Referencing M_Reference 1 Mailbox Command START_ REFERENCING Note Reference_Mode Bit 0 1 Parameter 3 Bit 0 0 Referencing to limit switch Direction_Pos 0 Direction_Neg 1 Parameter 3 Bi...

Страница 96: ...expires via the process image A timeout of zero allows unlimited movement as long as Direction_Pos or Direction_Neg is set Jog mode If the setup speed is parameterized as zero the Jog mode is run at s...

Страница 97: ...d D2 Timeout LSB 5 D3 Reserved D3 Timeout MSB 6 D4 Current position LSB D4 Reserved 7 D5 Current position D5 Reserved 8 D6 Current position MSB D6 Reserved 9 S3 Status byte S3 C3 Control byte C3 10 S2...

Страница 98: ...is ready for operation when no error is present after setting of Enable 2 An operating mode can be selected when Stop_N_ACK has been set 3 The Jog mode is selected 4 The Jog mode has been accepted by...

Страница 99: ...program mode is active when the M_Program_ACK bit is set The Move program is started on a rising edge The address for the first command to be executed is given via the process image The Program_Runni...

Страница 100: ...MSB D1 Reserved 4 D2 Current value for command counter LSB D2 Starting value for command counter LSB 5 D3 Current value for command counter MSB D3 Starting value for command counter MSB 6 D4 Current...

Страница 101: ...ration when no error is present after setting of Enable 2 An operating mode can be selected when Stop_N_ACK has been set 3 The Move program mode is selected 4 The Move program mode has been accepted b...

Страница 102: ...input 1 on line 4 If the False signal is received movement is made to Position 2 specified position 0 The system then returns to line 2 of the Move program i e it waits for a True signal at Input 1 Op...

Страница 103: ...present in EEPROM The HwSwConfig Program_AutoStart bit is set in the configuration The Rest status bit is set and has not yet been canceled The Ready status bit is set The Stop_N_ACK status bit is se...

Страница 104: ...ix in chapter 3 2 Commands for Move Mode 2 1 2 11 3 Limiting of Moving Range 2 1 2 11 3 1 Hardware Limit Switch The hardware limit switches are active in the Positioning and Velocity control applicati...

Страница 105: ...is not ensured If the drive is located at a limit switch in the Referencing mode to a reference switch it can only be started in the Jog or Referencing mode Only a negative direction of movement is p...

Страница 106: ...if proper functioning of the hardware limit switch is not ensured The limits Drive_Range_Neg and Drive_Range_Pos define the permissible range of movement If one of these defined limits is violated th...

Страница 107: ...tion 0 Working range Drive_Range_Neg Drive_Range_Pos Limited to Drive_Range_Neg Drive_Range_Pos when Drive_Range_Neg 0 or Drive_Range_Pos Rotary_Axis_Period otherwise unrestricted Actual value Working...

Страница 108: ...p to 50 switching positions can be freely defined through channels 1 8 Channel CAM9 on the other hand supplies a periodic signal as a function of position Parameterization of channels 1 8 is performed...

Страница 109: ...is 0xb0d Opcodes given in Chapter 3 1 4 4 Table Management Commands are required for downloading The corresponding opcodes have been adapted in the following table for this case For the complete scope...

Страница 110: ...using the configuration parameters Braketime_Turn_On and Braketime_Turn_Off The Brake bit is then activated directly after the start of a move command If the bit has not been set execution of the mov...

Страница 111: ...ess image the Jog mode the Move task via mailbox and by the Program mode The frequency speed control application is only feasible with the function Rotary shaft If the rotary shaft configuration value...

Страница 112: ...Data Output Data 0 S0 Status byte S0 C0 Control byte C0 1 Reserved Reserved 2 D0 Actual Velocity L D0 Velocity L 3 D1 Actual Velocity H D1 Velocity H 4 D2 Reserved D2 Acceleration L 5 D3 Reserved D3 A...

Страница 113: ...nerated if the edge is not accepted The drive is started accordingly on the rising edge Start 0 1 Positioning is conducted to the current setpoint given in the process image Movement is made directly...

Страница 114: ...canceled Start_ACK 1 The specified setpoints have been accepted from the process image Movement is made directly to the new target position even if the drive is already turning When PreCalc_ACK is se...

Страница 115: ...jected A movement sequence can be calculated and started using Start PreCalc 1 The setpoints from the cyclic telegram traffic are to be ignored and the setpoint saved for the 0 1 edge used instead If...

Страница 116: ...nowledgement 0 Function not defined Reset_Quit 1 The Reset signal is reset 0 Reserved Status byte S3 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reset SetupSpe ed_Activ e_ACK X X X X X Input1 In t...

Страница 117: ...s the source to be read from Variable number Source 0 0x1000 defined variables are read see also 3 6 Internal Status Variables 0x1000 0x1100 defined bits 0 0x100 are read see also 3 4 Bit field for I...

Страница 118: ...d Data set not yet available a data set has been saved Trace_Trigger 0 1 edge starts recording Trace_Armed Triggering is blocked an existing data set is not overwritten Triggering active recording is...

Страница 119: ...19 Connection Example WAGO I O SYSTEM 750 I O Modules 2 1 2 15 Connection Example DI DI1 DI2 A2 B1 B2 A1 U 24 V 750 671 DI Input for external release with 24 V switched Fig 2 1 2 36 Connection of bipo...

Страница 120: ...is activated 138 TABLE_STOP 0x48 Ends table processing 139 TABLE_GET_ACTIVE 0x4F Determine active table 140 Diagnostics commands DIAG_RD_ERROR 0x49 Information about error retrieved from error memory...

Страница 121: ...s POS_TABLE_CREATE 0x5C Generates a position table in the RAM 152 POS_TABLE_SET_PTR 0x5D Sets an index for the subsequent entry to be written with POS_TABLE_WR in the position table 153 POS_TABLE_WR 0...

Страница 122: ...r condition 142 DIAG_RD_VAR 0x4C Read out internal variable 143 DIAG_RD_BIT 0x4D Read out internal bit 144 DIAG_QUERY_ STORAGE 0x4E Read out storage process status bit 145 TABLE_GET_ACTIVE 0x4F Determ...

Страница 123: ...DIAG_RD_ERROR 0x49 Information about error retrieved from error memory 141 DIAG_RD_VAR 0x4C Read out internal variable 143 DLD_CONT 0x42 Download Continue 129 DLD_END 0x43 Completion of download 132...

Страница 124: ...ral commands 3 1 4 1 1 IDLE 0x00 No task is performed if the value for Opcode is 0 Request Byte 27 26 25 24 23 22 21 20 MB0 0x00 MB1 T MB2 Reserved MB3 Reserved MB4 Reserved MB5 Reserved Response Byte...

Страница 125: ...den werden Fehler Verweisquelle konnte nicht gefunden werden has been activated The commands available for the Move mode are described in chapter 3 2 3 2 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40...

Страница 126: ...lt assignment for moving curve tables is PROG_END 0x00 Camshaft tables have the default assignment 0x80000000 invalid position The default assignment for position tables is 0 Configuration tables The...

Страница 127: ...24 23 22 21 20 MB0 0x41 MB1 T MB2 Storage location MB3 Table type MB4 Number of data LSB MB5 Transfer Number of data MSB 0 Reserved 1 RAM Table 1 2 RAM Table 2 Table type 1 2 3 3 255 Reserved 0 Reserv...

Страница 128: ...odules Response Byte 27 26 25 24 23 22 21 20 MB0 0x41 MB1 T Return Code MB2 Status MB3 Reserved MB4 Number of data sets MB5 EEPROM version number 0x00 OK 0x30 Table being used Return Code 0x31 General...

Страница 129: ...data sample and for a 32 bit data entry position entry in the table when downloading a Move program a camshaft table MB 4 6 are ignored for an 8 bit command data sample Move program table Type 01 Ste...

Страница 130: ...MSB Camshaft Table Type 02 Step MB2 MB3 MB4 MB5 1 Bit sample 1 Position 1 LSB Position 1 Position 1 MSB 2 Bit sample 2 Position 2 LSB Position 2 Position 2 MSB Only 32 bit data exists for the position...

Страница 131: ...GO I O SYSTEM 750 I O Modules Response Byte 27 26 25 24 23 22 21 20 MB0 0x42 MB1 T Return Code MB2 Data MB3 Data MB4 Data MB5 Data 0x00 OK 0x31 Upload Download not started or all data have already bee...

Страница 132: ...but only when saving has been completed successfully with a subsequent warm start even if the transfer was faulted that re initializes all software modules The Reset status bit is set after the warm s...

Страница 133: ...erformed in the background independently of processing of the table command see also DIAG_QUERY_STORAGE The FACTORY_DEFAULT configuration contained in the EEPROM can not be deleted not even when using...

Страница 134: ...active Return Code 0x31 General error 0 Successfully deleted Status 1 Deleting aborted R W Read Write ERA Erase CPY Copy EEPROM WAGO Factory User RAM2 User RAM2 User R W ERA CPY R W ERA CPY R W ERA C...

Страница 135: ...d when transfer using DLD_START DLD_CONT or DLD_END has not been completed Writing of the EEPROM is performed in the background independent of processing of the table command see also DIAG_QUERY_STORA...

Страница 136: ...e type MB3 Data source MB4 Storage target MB5 Reserved 0 Reserved 1 Move program 2 Camshaft 3 Position table 4 Reserved 5 Status query for a previous copying process see also DIAG_QUERY_STORAGE Table...

Страница 137: ...Response Byte 27 26 25 24 23 22 21 20 MB0 0x44 MB1 T Return Code MB2 Status MB3 Reserved MB4 Reserved MB5 Reserved 0x00 OK 0x31 General error 0x33 Copying process still active 0x34 EEPROM copying proc...

Страница 138: ...he Move program has been stopped Request Byte 27 26 25 24 23 22 21 20 MB0 0x46 MB1 T MB2 Storage location MB3 Table type MB4 Reserved MB5 Reserved 0 No table 1 RAM Table 1 2 RAM Table 2 Storage locati...

Страница 139: ...x48 MB1 T MB2 Reserved MB3 Reserved MB4 Reserved MB5 Reserved Response Byte 27 26 25 24 23 22 21 20 MB0 0x48 MB1 T Return Code MB2 Status MB3 Reserved MB4 Reserved MB5 Reserved 0x00 OK 0x01 General er...

Страница 140: ...Camshaft 3 Position table 4 Configuration data set User configuration Table type 5 255 Reserved Response Byte 27 26 25 24 23 22 21 20 MB0 0x4F MB1 T Return Code MB2 Status MB3 Reserved MB4 Reserved M...

Страница 141: ...R 0x49 Information about error is retrieved from the error memory Request Byte 27 26 25 24 23 22 21 20 MB0 0x49 MB1 T MB2 Reserved MB3 Reserved MB4 Reserved MB5 Reserved Response Byte 27 26 25 24 23 2...

Страница 142: ...2 DIAG_QUIT_ERROR 0x4A Terminates a device error condition Request Byte 27 26 25 24 23 22 21 20 MB0 0x4A MB1 T MB2 Reserved MB3 Reserved MB4 Reserved MB5 Reserved Response Byte 27 26 25 24 23 22 21 2...

Страница 143: ...ed 0 0x1000 predefined variables are read see chapter 3 6 Internal Status Variables 0x1000 0x1100 predefined bits 0 0x100 are read see chapter 3 4 Bit field for I O driver 0x40000000 0x40004000 Direct...

Страница 144: ...it field for I O driver Request Byte 27 26 25 24 23 22 21 20 MB0 0x4D MB1 T MB2 Bit number MB3 Reserved MB4 Reserved MB5 Reserved Bit number 0 255 Specifies which predefined bit is being requested Res...

Страница 145: ...Read out storage process status bit Request Byte 27 26 25 24 23 22 21 20 MB0 0x4E MB1 T MB2 Reserved MB3 Reserved MB4 Reserved MB5 Reserved Response Byte 27 26 25 24 23 22 21 20 MB0 0x4E MB1 T Return...

Страница 146: ...onnte nicht gefunden werden The specified address is the same as the byte address Request Byte 27 26 25 24 23 22 21 20 MB0 0x50 MB1 T MB2 Address LSB MB3 Address MSB MB4 Number of bytes MB5 Reserved 0...

Страница 147: ...6 2 CONFIG_WR 0x51 Write access to configuration value Request Byte 27 26 25 24 23 22 21 20 MB0 0x51 MB1 T MB2 Data LSB MB3 Data MB4 Data MB5 Data MSB Response Byte 27 26 25 24 23 22 21 20 MB0 0x51 MB...

Страница 148: ...when invalid access size specified Request Byte 27 26 25 24 23 22 21 20 MB0 0x52 MB1 T MB2 Address LSB MB3 Address MSB MB4 Number of bytes MB5 Reserved 0 Reserved 1 4 Number of bytes that are written...

Страница 149: ...n saved can never be deleted again only overwritten This function does not wait for the saving process to be completed This can be determined with DIAG_QUERY_STORAGE Complete activation of the saved d...

Страница 150: ...e status bit Reset signals the end of warm start Request Byte 27 26 25 24 23 22 21 20 MB0 0x54 MB1 T MB2 Restore MB3 Warm start MB4 Reserved MB5 Reserved 0 Reserved 1 Last saved user data set loaded f...

Страница 151: ...ox Commands 151 Configuration Table Commands WAGO I O SYSTEM 750 I O Modules Response Byte 27 26 25 24 23 22 21 20 MB0 0x54 MB1 T Return Code MB2 Reserved MB3 Reserved MB4 Reserved MB5 Reserved 0x00 O...

Страница 152: ...rved 1 RAM Table 1 2 RAM Table 2 Storage location 3 255 Reserved 1 50 Number of elements Number of elements 51 255 Reserved 0 Install table completely with 0x80000000 Initializatio n 1 Expand existing...

Страница 153: ...WR in the active position table Request Byte 27 26 25 24 23 22 21 20 MB0 0x5D MB1 T MB2 Index MB3 Reserved MB4 Reserved MB5 Reserved 0 49 Index Index 50 255 Reserved Response Byte 27 26 25 24 23 22 21...

Страница 154: ...using POS_TABLE_SET_PTR is always overwritten Request Byte 27 26 25 24 23 22 21 20 MB0 0x5E MB1 T MB2 Save value LSB MB3 Save value MB4 Save value MB5 Save value MSB Response Byte 27 26 25 24 23 22 2...

Страница 155: ...urrent position in the currently active position table is to be filed see also TABLE_START 1 0xFF Save current position as negative limit Drive_Range_Neg see configuration table 2 0xFE Save current po...

Страница 156: ...O I O SYSTEM 750 I O Modules Response Byte 27 26 25 24 23 22 21 20 MB0 0x5F MB1 T Return Code MB2 Status MB3 Reserved MB4 Reserved MB5 Reserved 0x00 OK Return Code 0x37 Table or specified index does n...

Страница 157: ...to a defined speed 171 STOP_FAST 0x18 The SPEED commands run the drive to a defined speed 172 STOP_NO_RAMP 0x19 The SPEED commands run the drive to a defined speed 173 START_REFERENCING 0x20 Starts a...

Страница 158: ...AR_COPY 0x56 Copes one variable to another variable 191 VAR_DIV 0x57 Divides one variable by another one and writes the results to a third variable 192 WAIT_TIME 0x70 Waits a defined time period befor...

Страница 159: ...59 Position table commands WAGO I O SYSTEM 750 I O Modules Function Opcode Meaning Page GOTO_LABEL_IF_NOT 0xFA Continues table processing for a defined label if a bit has been deleted 204 LABEL 0xFB D...

Страница 160: ...TOP_FAST 0x18 The SPEED commands run the drive to a defined speed 172 STOP_NO_RAMP 0x19 The SPEED commands run the drive to a defined speed 173 START_REFERENCING 0x20 Starts a reference run 174 SET_AC...

Страница 161: ...variable by another one and writes the results to a third variable 192 WAIT_TIME 0x70 Waits a defined time period before processing the next command 193 WAIT_TEST_BIT 0x71 Before processing the next...

Страница 162: ...target 205 MOVE 0x02 Each MOVE command starts one positioning process 164 MOVE_IMMEDIATE 0x03 Each MOVE command starts one positioning process 165 MOVE_REL 0x06 Each MOVE command starts one positioni...

Страница 163: ...drive to a defined speed 172 STOP_NO_RAMP 0x19 The SPEED commands run the drive to a defined speed 173 VAR_ADD 0x53 Adds two variables and writes the results to a third variable 188 VAR_COPY 0x56 Cop...

Страница 164: ...target position is reached This command is accepted only when the last positioning process has been completed and the On_Target bit has been set The acceleration and velocity specified by SET_ACC 0x2...

Страница 165: ...mmand will interrupt any positioning process that may already be in progress and immediately starts a new positioning process The acceleration and velocity specified by SET_ACC 0x22 and SET_VELOCITY 0...

Страница 166: ...t bit has been set This command reads the target position from the specified location in a separate position table The acceleration and velocity specified by SET_ACC 0x22 and SET_VELOCITY 0x25 are use...

Страница 167: ...arts a new positioning process This command reads the target position from the specified location in a separate position table The acceleration and velocity specified by SET_ACC 0x22 and SET_VELOCITY...

Страница 168: ...has been completed and the On_Target bit has been set This command calculates the target position relative to the last accepted target if available or to the current position The acceleration and vel...

Страница 169: ...rom the specified location in a separate position table This command calculates the target position relative to the last accepted target if available or to the current position The acceleration and ve...

Страница 170: ...is reached This command does NOT set the positioning speed SET_VELOCITY 0x25 must be used for that The SPEED command is accepted only when the last process has been completed and the On_Target bit ha...

Страница 171: ...speed is reached This command does NOT set the positioning speed SET_VELOCITY 0x25 must be used for that This command will interrupt any process that may already be in operation and immediately starts...

Страница 172: ...hat this command is given priority All other commands are discontinued immediately in particular in the Mailbox mode This command is also initiated internally when a stop condition is present such as...

Страница 173: ...given priority All other commands are discontinued immediately in particular in the Mailbox mode This command has priority over STOP_FAST This command is also initiated internally when Enable has not...

Страница 174: ...Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x20 MB3 Reserved MB4 Reserved MB5 Reserved DIR STD SWT 0 Reference run to reference switch SWT 1 Reference run to limit switch If SWT 0 then ST...

Страница 175: ...th ACC_M 0 the period for acceleration increase is Acc_ParamUp the increase in acceleration is calculated at ACC_M 0 ACC_T 3 Reserved 0 no modification 1 Acc_ParamUp interpreted as the acceleration pe...

Страница 176: ...176 Reference Commands for Move Mode Setpoint commands WAGO I O SYSTEM 750 I O Modules Response Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T Return Code MB2 0x21 MB3 Reserved MB4 Reserved MB5 Reserved...

Страница 177: ...0x08 Acceleration range 1 32767 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x22 MB3 Acceleration LSB MB4 Acceleration MSB MB5 Reserved SEL 0 Sets the value for acceleration and brake phas...

Страница 178: ...on modification SET_ACC_MODE ACC_M Acceleration parameter Acc_ParamUp none Time constant for acceleration increase with linear or sin2 t acceleration constant acceleration period Acceleration time con...

Страница 179: ...n in the following table Deceleration modification SET_ACC_MODE DEC_M Delay parameter Acc_ParamDown none Time constant for deceleration increase with linear or sin2 t deceleration constant delay perio...

Страница 180: ...lid as of the next positioning command see also positioning commands MOVE 0x02 0x03 0x04 0x05 0x06 0x08 Velocity range 1 25000 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x25 MB3 Velocity...

Страница 181: ...next positioning process The target velocity is automatically reset to zero after the next positioning process Velocity range 1 25000 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x2B MB3...

Страница 182: ...he transferred value The logical zero point is modified accordingly for this The position is given as a 24 bit value including sign Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x2E MB3 Pos...

Страница 183: ...TUALPOSITION_ZERO 0x2F Sets the position of the logical zero point to the current position Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x2F MB3 Reserved MB4 Reserved MB5 Reserved Response...

Страница 184: ...is set to 0 the value for the motor current valid up to then is retained for this range Motor current range 0 150 module rated current Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x39 MB3...

Страница 185: ...4 2 1 VAR_SET 0x50 Sets a variable to the defined value Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x50 MB3 1 8 corresponds to FILT1 FILT8 MB4 16 bit value LSB MB5 16 bit value MSB Respo...

Страница 186: ..._INC 0x51 Adds the given value to a variable Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x51 MB3 1 8 corresponds to FILT1 FILT8 MB4 16 bit value LSB MB5 16 bit value MSB Response Byte 27...

Страница 187: ...C 0x52 Subtracts the given value from a variable Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x52 MB3 1 8 corresponds to FILT1 FILT8 MB4 16 bit value LSB MB5 16 bit value MSB Response Byte...

Страница 188: ...he results to a third variable Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x53 MB3 Result 1 8 corresponds to FILT1 FILT8 MB4 Summand 2 1 8 corresponds to FILT1 FILT8 MB5 Summand 1 1 8 cor...

Страница 189: ...writes the results to a third variable Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x54 MB3 Difference 1 8 corresponds to FILT1 FILT8 MB4 Minuend 1 8 corresponds to FILT1 FILT8 MB5 Subtra...

Страница 190: ...tes the results to a third variable Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x55 MB3 Product 1 8 corresponds to FILT1 FILT8 MB4 Multiplicand 2 1 8 corresponds to FILT1 FILT8 MB5 Multip...

Страница 191: ...opes one variable to another variable Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x56 MB3 Target 1 8 corresponds to FILT1 FILT8 MB4 Source 1 8 corresponds to FILT1 FILT8 MB5 Reserved Resp...

Страница 192: ...writes the results to a third variable Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x57 MB3 Quotient 1 8 corresponds to FILT1 FILT8 MB4 Dividend 1 8 corresponds to FILT1 FILT8 MB5 Divisor...

Страница 193: ...Waits a defined time period before processing the next command Waiting time range 0 16777215 ms Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x70 MB3 Waiting time LSB MB4 Waiting time MB5...

Страница 194: ...ified status 0 or 1 Refer to Chapter Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden werden for the bit number Request Byte 27 26 25 24 23 22 21 20 MB0 0x4...

Страница 195: ...r to Chapter Fehler Verweisquelle konnte nicht gefunden werden Fehler Verweisquelle konnte nicht gefunden werden for the bit number Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x78 MB3 Bit...

Страница 196: ...M 750 I O Modules 3 2 4 4 2 NOP 0xF0 Function not defined Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0xF0 MB3 Reserved MB4 Reserved MB5 Reserved Response Byte 27 26 25 24 23 22 21 20 MB0...

Страница 197: ...tivates the output stage and ends table processing Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0xF1 MB3 Error message MB4 Reserved MB5 Reserved 0 No error message 1 8 Error message ERROR_T...

Страница 198: ...blank deleted table Sets velocity to zero deactivates the output stage ends table processing and reports the error ERR_PROG_END Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0x00 or 0xFF MB3...

Страница 199: ...table processing at the addressed entry Command number range 1 500 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0xF5 MB3 Number of next command LSB MB4 Number of next command MSB MB5 Reser...

Страница 200: ...ed at the addressed entry otherwise the next table entry is used Command number range 1 500 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0xF6 MB3 Number of next command LSB MB4 Number of ne...

Страница 201: ...tinued at the addressed entry otherwise the next table entry is used Command number range 1 500 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0xF7 MB3 Number of next command LSB MB4 Number o...

Страница 202: ...xF8 Continues table processing at the addressed entry Label number range 1 65536 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0xF8 MB3 Label number LSB MB4 Label number MSB MB5 Reserved Res...

Страница 203: ...ng is continued at the addressed entry otherwise the next table entry is used Label number range 1 65536 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0xF9 MB3 Label number LSB MB4 Label num...

Страница 204: ...cessing is continued at the addressed entry otherwise the next table entry is used Label number range 1 65536 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB2 0xFA MB3 Label number LSB MB4 Labe...

Страница 205: ...unction If more than one identical label numbers are defined the one at the lowest address in the table shall be valid Label number range 1 65536 Request Byte 27 26 25 24 23 22 21 20 MB0 0x40 MB1 T MB...

Страница 206: ...ith no further reactions to follow Errors with numbers of type 2nnn can be acknowledged after which a warm start is carried out Errors with numbers of type 3nnn can not be acknowledged the fieldbus no...

Страница 207: ...ot permit it incorrect mode incorrect parameter for this command 1116 CI_SPEED1 Configuration Invalid maximum frequency Unacceptable value specified for maximum frequency 1117 CI_SPEED2 Invalid freque...

Страница 208: ...between 1 25000 1212 CTRLOUT_F_FREF Maximum frequency reached An attempt was made to specify a frequency that is greater than the maximum frequency Check the specified target frequency and the maximum...

Страница 209: ...number not available Check configuration for filter functions 1248 IO_TIMERMODE Filter function does not permit write access The current filter function configuration does not permit writing of the f...

Страница 210: ...or camshaft channel 9 Check configuration for camshaft channel 9 the cycle may not be 0 1332 TBL_INDEX_OUT_ OF_RANGE Table access outside of table Check the tables and table access 1333 TBL_INVALID Ac...

Страница 211: ...example at the lowest deceleration yields a brake path that far exceeds the internal value range 1416 PARTMODL_ SPEED_RANGE The movement calculator has determined partial movement that exceeds the pe...

Страница 212: ...conversion 1512 UNITS_POS_USER_ RESULT Conversion of position from internal unit to user specific unit Range exceeded Configuration Check units conversion 1513 UNITS_SPEED_INT_ RESULT Conversion of s...

Страница 213: ...Check all parameters Acceleration moving velocity ramp time ramp path ramp type starting position target position 1561 MCALC_TIME1 Internal range exceeded for moving time internal 1562 MCALC_TIME2 The...

Страница 214: ...ution internal 1573 MCALC_MOVE3 internal Movement calculator can find no solution internal 1611 ERR_ILLEGAL_ ERRORCODE Invalid error code to be reported internal 1911 COMMAND_IS_ RUNNING Command can n...

Страница 215: ...RN7 MCALC_INTERN3 internal 2841 MCALC_INTERN8 MCALC_INTERN3 internal 2842 MCALC_INTERN9 MCALC_INTERN3 internal 2843 MCALC_INTERN10 MCALC_INTERN3 internal 2844 MCALC_INTERN11 MCALC_INTERN3 internal 284...

Страница 216: ...SPURIOUS internal internal 3114 INT_UNUSED internal internal 3115 INT_FIQ internal internal 3116 INT_SWI internal internal 3117 INT_UNDEF_INST internal internal 3118 INT_FETCH internal internal 3119 I...

Страница 217: ...internal 3231 TBL_INVALID internal internal 3232 TBL_CP2EEPROM_ FAIL internal internal 3233 TBL_COPY_ INVALID internal internal 3234 TBL_UNKNOWN_ TTYPE internal internal 3271 TEST_FLASH Program memor...

Страница 218: ...of the identifier The standard link between the source and target is entered in the column Target Source This corresponds to the WAGO default settings FACTORY_DEFAULT_1 Bit number Default Name Dec Hex...

Страница 219: ...operating mode Step positioning 0 The defined position has not been reached 1 The defined position has been reached Move program 0 The Move program was not terminated by the PROG_STOP drive command 1...

Страница 220: ...on Jog Mode 0 Motor at standstill 1 The Jog mode is running i e the motor has been started using Direction_Pos or Direction_Neg Mailbox mode 0 No command is active Busy 9 0x09 SRC KBUS_ST2_1 LED E 0x8...

Страница 221: ...KBUS_ST2_6 0x8E 1 Precalculation performed Drive error status An error can be acknowledged using Error_Quit 0 No error present for the drive Error 15 0x0F SRC KBUS_ST2_7 OUT2 0x8F 0xA1 1 Error present...

Страница 222: ...tely M_Program MOVE program The Move program is started If a Move program is already running it will be restarted at the first command M_Reference Reference run The reference run is being started If t...

Страница 223: ...M_Jog_ACK 22 0x16 SRC KBUS_ST1_6 0x86 1 The Jog mode is active Mailbox mode 0 The Mailbox mode is not active selected M_DriveBy Mbx_ACK 23 0x17 SRC KBUS_ST1_7 0x87 1 The Mailbox mode is active Brake...

Страница 224: ...en moving in negative direction 0 The bottom limit for the movement range has not been violated Err_Range_ Neg 40 0x28 SRC 1 The bottom limit for the movement range has been violated Moving range exce...

Страница 225: ...2 Internal bus control byte 1 bit 2 KBUS_ CTRL1_3 67 0x43 SRC M_Positioning 0xB3 Internal bus control byte 1 bit 3 KBUS_ CTRL1_4 68 0x44 SRC M_Program 0xB4 Internal bus control byte 1 bit 4 KBUS_ CTRL...

Страница 226: ...51 SRC Internal bus control byte 3 bit 1 KBUS_ CTRL3_2 82 0x52 SRC Direction_Pos 0xBA Internal bus control byte 3 bit 2 KBUS_ CTRL3_3 83 0x53 SRC Direction_Neg 0xBB Internal bus control byte 3 bit 3 K...

Страница 227: ...7F KBUS_ ST1_0 128 0x80 DST SRC Ready 0x10 Internal bus status byte 1 bit 0 KBUS_ ST1_1 129 0x81 DST SRC Stop_N_ACK 0x11 Internal bus status byte 1 bit 1 KBUS_ ST1_2 130 0x82 DST SRC Start_ACK 0x12 In...

Страница 228: ...0x0D Internal bus status byte 2 bit 5 KBUS_ ST2_6 142 0x8E DST SRC PreCalc_ACK 0x0E Internal bus status byte 2 bit 6 KBUS_ ST2_7 143 0x8F DST SRC Error 0x0F Internal bus status byte 2 bit 7 KBUS_ ST3...

Страница 229: ...ZERO 0x00 Timer Filter 8 1 The value for the timer or filter is not equal to 0 Module enable 0 The module is not enabled When this bit is reset during ongoing operation the power output stage is deac...

Страница 230: ...urrent Move program is started by the first command for the Move program If a Move program is already running it will be restarted at the first command M_Reference Reference run The reference run is s...

Страница 231: ...e has been selected Mailbox mode In this mode all movement commands are issued directly via mailbox 0 The Mailbox mode is not active selected M_DriveBy Mbx 183 0xB7 DST SRC KBUS_CTRL1 _7 0x47 1 The Ma...

Страница 232: ...ction The drive is deactivated when the bit Direction_Neg is set at the same time Move in negative direction This bit is required for the Jog mode When this mode has been selected the drive is control...

Страница 233: ...movement sequence will be calculated in advance using this setpoint this sequence can then be started with the normal delay using Start Setup mode selected When the bit SetupSpeed_Active_ACK is set t...

Страница 234: ...ve direction limit switch is actuated The drive is being run down Drive Stop 1 inverted This bit is linked to Input 1 of the module The return message is transmitted via Stop_N_ACK bit Stop1_N and Sto...

Страница 235: ...pted only when Enable is set to 0 Freq_ Range_ Sel_0 Freq_ Range_ Sel_1 0 0 The Freq_Prescaler prescaler is loaded with the parameter Freq_Div from the current configuration data set 0 1 Freq_Prescale...

Страница 236: ...ltiplier 80 T 760 ms 1 0 Acc_Multiplier 800 T 76 ms 1 1 Acc_Multiplier 8000 T 7 6 ms Acc_Range_ Sel_1 199 0xC7 DST SRC KBUS_CTRL2 _1 0x49 If the parameter Acc_Fact in the configuration data set has be...

Страница 237: ...0xD8 217 0xD9 218 0xDA 219 0xDB 220 0xDC 221 0xDD Trace_ Trigger 222 0xDE DST SRC Busy 0x09 A trace is started with a positive edge when Trace_Armed is set The Trace_Var1 2 variables given in the conf...

Страница 238: ...nds WAGO I O SYSTEM 750 I O Modules Bit number Default Name Dec Hex Type Target Source Bit no Description 240 0xF0 241 0xF1 242 0xF2 243 0xF3 244 0xF4 245 0xF5 246 0xF6 247 0xF7 248 0xF8 249 0xF9 250...

Страница 239: ...on_ Selector 3 0x03 UINT8 1 0 2 2 Velocity control Frequency output Freq_Div 4 0x04 UINT16 200 4 65535 Sets the prescaler for maximum velocity Acc_Fact 6 0x06 UINT16 80 1 65535 Sets factor for maximum...

Страница 240: ...ctivated via Move program or Mailbox mode HwSwConfig 19 0x13 UINT8 0 1 Move program activated immediately after startup see description Pos_Mult 20 0x14 UINT16 1 1 65535 Scaling factors for positions...

Страница 241: ...ent moving speed is used when this parameter is 0 Acceleration_ Stop_Fast 46 0x2E INT16 1000 0 32767 Default acceleration for STOP mode the current acceleration is used when this parameter is 0 Accele...

Страница 242: ...0 No modification 1 Acceleration_RampUp_Param interpreted as the acceleration period 2 Acceleration_RampUp_Param interpreted as the acceleration path 3 Reserved Bit 4 5 DecType Deceleration type 0 Co...

Страница 243: ...NT32 0x7fffff 0 Acceptable moving range in negative direction Drive_Range_ Pos 72 0x48 INT32 0x7fffff 0 Acceptable moving range in positive direction Reserved_76 76 0x4C UINT32 0 Reserved Reserved_80...

Страница 244: ...eserved Bit 0 Mode Enable group error for acyclic diagnostics 0 Errors are not reported via internal bus status bit S0 6 1 Errors are reported via internal bus status bit S0 6 Error_ Notification 113...

Страница 245: ...NT8 0x0F 0 255 Source for linkable bit 0x8F Ptr_KBUS_ ST3_0 144 0x90 UINT8 0x30 0 255 Source for linkable bit 0x90 Ptr_KBUS_ ST3_1 145 0x91 UINT8 0x31 0 255 Source for linkable bit 0x91 Ptr_KBUS_ ST3_...

Страница 246: ...T4 171 0xAB UINT8 0x00 0 255 Source for linkable bit 0xAB Ptr_FILT5 172 0xAC UINT8 0x00 0 255 Source for linkable bit 0xAC Ptr_FILT6 173 0xAD UINT8 0x00 0 255 Source for linkable bit 0xAD Ptr_FILT7 17...

Страница 247: ...0xC8 UINT8 0x50 0 255 Source for linkable bit 0xC8 Reserved_201 201 0xC9 UINT8 0x00 0 255 Source for linkable bit 0xC9 Reserved_202 202 0xCA UINT8 0x00 0 255 Source for linkable bit 0xCA Reserved_203...

Страница 248: ...ension 5 One shot 6 Delay 7 Math 8 Incrementing counter 9 Incrementing counter to zero 10 Decrementing counter Filter1_Function 224 0xE0 UINT8 0 0 11 11 Decrementing counter to zero Filter2_Function 2...

Страница 249: ...1 0 16777215 Cycle time for recording the variables given in TraceVar1 2 in ms Reserved_276 276 0x114 UINT32 0 Reserved Reserved_280 280 0x118 UINT32 0 Reserved Reserved_284 284 0x11C UINT32 0 Reserv...

Страница 250: ...rved_412 412 0x19C UINT32 0 Reserved Reserved_416 416 0x1A0 UINT32 0 Reserved Reserved_420 420 0x1A4 UINT32 0 Reserved Reserved_424 424 0x1A8 UINT32 0 Reserved Reserved_428 428 0x1AC UINT32 0 Reserved...

Страница 251: ...ry Commands WAGO I O SYSTEM 750 I O Modules Address Configuration variable Dec Hex Data type Default Range Description Reserved_500 500 0x1F4 UINT32 0 Reserved Reserved_504 504 0x1F8 UINT32 0 Reserved...

Страница 252: ...rsion 2 Module 750 670 4 Module 750 671 8 Module 750 672 10 0x0A HardwareIdent 16 Module 750 673 11 0x0B CompilationMonth mmmm ASCII 12 0x0C CompilationDayYear ddyy ASCII 13 0x0D Compilationtime hhmm...

Страница 253: ...40 0x28 0 41 0x29 Move program command counter 42 0x2A EEPROM status 43 0x2B Specified velocity 44 0x2C Maximum velocity 45 0x2D Final velocity 46 0x2E 0 47 0x2F Stop deceleration 48 0x30 Priority of...

Страница 254: ...me us 75 0x4B Background avg computing time us 76 0x4C Aux timer min computing time us 77 0x4D Aux timer max computing time us 78 0x4E Aux timer avg computing time us 79 0x4F WA200 Interrupt min compu...

Страница 255: ...Overview of Error Blink Codes 255 Auxiliary Commands WAGO I O SYSTEM 750 I O Modules Index Dec Hex Variable Value 97 0x61 Status variable Filter7 98 0x62 Status variable Filter8 99 0x63 0...

Страница 256: ...WAGO Kontakttechnik GmbH Co KG Postfach 2880 D 32385 Minden Hansastra e 27 D 32423 Minden Phone 05 71 8 87 0 Fax 05 71 8 87 1 69 E Mail info wago com Internet http www wago com...

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