42 •
750-671 [Steppercontroller]
Description
WAGO-I/O-SYSTEM
750
I/O
Modules
Bus system
Coupler/Controller
Item No.
Hard-
ware
vers.
Soft-
ware
vers.
Max.
number
of
modules
IPC 758-870/
000-xxx
10 03 16
IPC 758-874/
000-xxx
10 03 16
IPC 758-875/
000-xxx
10 03 16
WAGO-IPC
IPC 758-876/
000-xxx
10 03 16
Other couplers/controllers upon request
Notes
The following must be observed when using the stepper module with
CANopen bus couplers 750-337, 750-338, 750-837, 750-838, 750-347 and
750-348.
The CANopen master accesses the mailbox and process data in the
coupler/controller using process data objects (PDOs).
In the default configuration the stepper module data are mapped in
consecutive PDOs, with each PDO able to accommodate up to 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 among 2
PDOs during positioning using the cycling process image, which could result
in the data not being transferred consistently.
Remedy:
- For positioning via the Mailbox mode, the mailbox data are transferred
consistently in PDO1 and the control bits in PDO2.
- Use of 16-bit specified/actual values or
- Omission of "on-the-fly" specified/actual values, i.e. initiation of the
function only after setting of the specified values or reading out of the
24-bit actual values has been fully completed and only in the "Standstill"
status.
This description is valid for the XXXX0101... and XXXX0102... hardware
and software versions. The version is specified in the manufacturing number,
which is part of the lateral marking on the module.
