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WAGO I/O-SYSTEM 750 Manual - 1.2 Symbols

Other manuals for I/O-SYSTEM 750: Manual, Manual, User Manual, User Manual, Manual, User Manual, Manual, Manual
Manual is about: Fieldbus Independent I/O Modules Bluetooth RF Transceiver

Summary of I/O-SYSTEM 750

  • Page 1

    Fieldbus independent i/o modules dc drive controller 750-636 manual version 1.0.1.

  • Page 2

    Ii • general wago-i/o-system 750 i/o-modules copyright  2007 by wago kontakttechnik gmbh & co. Kg all rights reserved. Wago kontakttechnik gmbh & co. Kg hansastraße 27 d-32423 minden phone: +49 (0) 571/8 87 – 0 fax: +49 (0) 571/8 87 – 1 69 e-mail: info@wago.Com web: http://www.Wago.Com technical su...

  • Page 3: Content

    Content • 3 wago-i/o-system 750 i/o-modules content 1 important comments ................................................................................. 5 1.1 legal principles........................................................................................ 5 1.1.1 copyright ...................

  • Page 4

    4 • content wago-i/o-system 750 i/o-modules 2.1.1.9.9 setpoint change on the fly........................................................ 33 2.1.1.9.10 pwm control during positioning ............................................ 35 2.1.1.9.10.1 general ....................................................

  • Page 5: 1 Important Comments

    Important comments • 5 legal principles wago-i/o-system 750 i/o-modules 1 important comments to ensure fast installation and start-up of the units described in this manual, we strongly recommend that the following information and explanations are carefully read and abided by. 1.1 legal principles 1....

  • Page 6: 1.2 Symbols

    6 • important comments symbols wago-i/o-system 750 i/o-modules 1.2 symbols danger always abide by this information to protect persons from injury. Warning always abide by this information to prevent damage to the device. Attention marginal conditions must always be observed to ensure smooth operatio...

  • Page 7: 1.4 Safety Notes

    Important comments • 7 safety notes wago-i/o-system 750 i/o-modules 1.4 safety notes warning switch off the system prior to working on bus modules! In the event of deformed contacts, the module in question is to be replaced, as its functionality can no longer be ensured on a long-term basis. The com...

  • Page 8: 2 I/o Modules

    8 • 750-636 [dc drive controller] view wago-i/o-system 750 i/o-modules 2 i/o modules 2.1 special modules 2.1.1 750-636 [dc drive controller] 2.1.1.1 view 13 14 a+ a- 750-636 p a b e+ e- +24 v +24 v e+, e- p a b a+ a- m status a p a+ b a- e+ e- data contacts power jumper contacts fig. 2.1.1-1: view g...

  • Page 9

    750-636 [dc drive controller] • 9 connectors wago-i/o-system 750 i/o-modules field and system levels are electrically isolated. Individual i/o modules can be arranged in any combination when configuring the fieldbus node. An arrangement in groups is not necessary. The dc drive controller receives th...

  • Page 10

    10 • 750-636 [dc drive controller] indicators wago-i/o-system 750 i/o-modules 2.1.1.4 indicators led name status function off input e+: signal voltage (0) a green limitswitch _pos on input e+: signal voltage (1) off input e-: signal voltage (0) b green limitswitch _neg on input e-: signal voltage (1...

  • Page 11

    750-636 [dc drive controller] • 11 schematic diagram wago-i/o-system 750 i/o-modules 2.1.1.6 schematic diagram 1 2 3 4 5 6 7 8 e+ a p a+ 24 v 0 v e- b a- 750-636 a+ a- e+ e- p +24 v 0 v iec 61131 +5 v 0 v a b 0 v 24 v +5 v +24 v 0 v transient protection 24 v monitoring 5 v generation logic electrica...

  • Page 12

    12 • 750-636 [dc drive controller] technical data wago-i/o-system 750 i/o-modules 2.1.1.7 technical data encoder inputs number of inputs 2 (a, b), low active, dc 5 v ... 24 v or open collector input voltage dc -3 v … 30 v signal voltage (0) dc -3 v … +1.5 v signal voltage (1) dc 2.4 v … 30 v input c...

  • Page 13

    750-636 [dc drive controller] • 13 technical data wago-i/o-system 750 i/o-modules outputs no. Of outputs 2 (a+, a-), h-bridge output output current 5 a, short-circuit protected output current acc. To ul test point.184 at 100 % pwm and continuous operation 5 a inrush current max. Output type dc13 (u ...

  • Page 14

    14 • 750-636 [dc drive controller] technical data wago-i/o-system 750 i/o-modules module-specific data voltage supply via system voltage internal bus (5 v dc) and power jumper contacts (24 v dc) current consumption (system voltage 5 v dc) typ. 50 ma voltage via power jumper contacts dc 20 v … 28 v l...

  • Page 15

    750-636 [dc drive controller] • 15 process image wago-i/o-system 750 i/o-modules 2.1.1.8 process image the 750-636 dc drive controller provides 6 bytes of input and output process image to the fieldbus coupler/controller via 1 logical channel. The position data to be sent and received is stored in 4...

  • Page 16

    16 • 750-636 [dc drive controller] process image wago-i/o-system 750 i/o-modules 2.1.1.8.2 standard process image if the extended status information is disabled (c1.3 = 0), the process image should resemble the following: offset input data output data 0 s0 status byte s0 c0 control byte c0 1 s1 stat...

  • Page 17

    750-636 [dc drive controller] • 17 process image wago-i/o-system 750 i/o-modules 2.1.1.8.3 control bytes and status bytes control byte c0 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 reg _com x x current control _on preset position ing move pos move neg drive is supposed to move in negative direc...

  • Page 18

    18 • 750-636 [dc drive controller] process image wago-i/o-system 750 i/o-modules control byte c1 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 error_ quit x x x x extended info_on optimize _on preset input _enable if this bit is set before, or during, a ‘movepos’ or ‘moveneg’ moving process, the p...

  • Page 19

    750-636 [dc drive controller] • 19 process image wago-i/o-system 750 i/o-modules status byte s0 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 reg _com error refer ence_ok standstill busy ontarget move pos move neg this bit indicates that drive moves in negative direction. 0: drive does not move in...

  • Page 20

    20 • 750-636 [dc drive controller] process image wago-i/o-system 750 i/o-modules register communication (see section 2.1.1.10.4). 0: process data communication enabled. Reg_com 1: register communication enabled. Status byte s1 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 limit switch _neg limit s...

  • Page 21

    750-636 [dc drive controller] • 21 process image wago-i/o-system 750 i/o-modules 2.1.1.8.4 process image with extended status information if the extended status information is enabled (c1.3 = 1), it should appear as follows: offset input data output data 0 s0 status byte s0 c0 control byte c0 1 s1 s...

  • Page 22

    22 • 750-636 [dc drive controller] process image wago-i/o-system 750 i/o-modules 2.1.1.8.5 extended status bytes extended status byte s2 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 x param _write _failed motion detection timeout overload 24v_ok overflow _warn ing overtem perature overtem peratur...

  • Page 23

    750-636 [dc drive controller] • 23 process image wago-i/o-system 750 i/o-modules parameterization status 0: parameterization successfully completed. Param_write _failed 1: wrong parameters. X reserved extended status byte s3 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 x x x x x x x x x reserved ...

  • Page 24

    24 • 750-636 [dc drive controller] function description wago-i/o-system 750 i/o-modules 2.1.1.9 function description 2.1.1.9.1 operating modes and drive functions the operating modes of the dc drive controller permit positive and negative movement with position feedback and automatically approach a ...

  • Page 25

    750-636 [dc drive controller] • 25 function description wago-i/o-system 750 i/o-modules 2.1.1.9.3 stop functions 2.1.1.9.3.1 standard stop standard stop is used for standard motions. The parameters set for the ramp are used (see section 2.1.1.10.2, „i/o module-specific parameter data, parameter 0“)....

  • Page 26

    26 • 750-636 [dc drive controller] function description wago-i/o-system 750 i/o-modules source name description configuration parameter overtravel minimum drive distance for gearbox clearance compensation. The sign determines the direction from which the setpoint position is to be approached. Config...

  • Page 27

    750-636 [dc drive controller] • 27 function description wago-i/o-system 750 i/o-modules 2.1.1.9.6 prestop prestop increases the positioning accuracy in both base and auto modes. Every drive direction has its own prestop value. The direction-dependent value is considered during the positioning proces...

  • Page 28

    28 • 750-636 [dc drive controller] function description wago-i/o-system 750 i/o-modules example 2: ip ap hp = sp ad bd pu = bd pd = 0 rt = 0 oz = 0 ot = 0 + - fig. 2.1.1-8: example 2 g063611x the braking distance initializes the prestop. The motor turn-off position is below the setpoint position. Du...

  • Page 29

    750-636 [dc drive controller] • 29 function description wago-i/o-system 750 i/o-modules 2.1.1.9.8.1 positioning with activated optimization example 4: ad bd ip hp ap = sp pu = 0 pd = 0 rt = 0 oz = 1 ot = 0 pu pd + - fig. 2.1.1-10: example 4 g063613x zero (0) initializes the prestop for the up direct...

  • Page 30

    30 • 750-636 [dc drive controller] function description wago-i/o-system 750 i/o-modules 2.1.1.9.8.2 positioning with enabled optimization and retry not equal to 0 (loop traverse) example 6: pu = 0 pd = 0 rt = 4 oz = 1 ot = 0 ap = sp ip ip ip sp hp = sp hp ap ap ad ad ad bd bd pd pu hp pu pd pd pu + ...

  • Page 31

    750-636 [dc drive controller] • 31 function description wago-i/o-system 750 i/o-modules 2.1.1.9.8.4 positioning with negatively initialized overtravel example 8: ip ap hp = sp ad bd ot pu = bd pd = bd rt = 0 oz = 0 ot = -v - + fig. 2.1.1-14: example 8 g063617x the negatively initialized overtravel f...

  • Page 32

    32 • 750-636 [dc drive controller] function description wago-i/o-system 750 i/o-modules 2.1.1.9.8.5 positioning with positively initialized overtravel example 10: ad bd ip hp = sp ap = sp + pd pu = bd pd = bd rt = 0 oz = 0 ot = +v ot + - fig. 2.1.1-16: example 10 g063619x the positively initialized ...

  • Page 33

    750-636 [dc drive controller] • 33 function description wago-i/o-system 750 i/o-modules 2.1.1.9.8.6 positioning with negatively initialized overtravel at too little distance example 12: pu = bd pd = bd rt = 1 oz = 0 ot = -v bd ad ot ip ap = hp + pd hp = ip - (pu + pd) sp ip ap = sp - pu hp = sp pu o...

  • Page 34

    34 • 750-636 [dc drive controller] function description wago-i/o-system 750 i/o-modules example 13: ip ad bd ot pu = bd pd = bd rt = 0 oz = 0 ot = -v + - set point adjustment ap_new hp = sp_new sp_old fig. 2.1.1-19: example 13 g063622e the i/o module detects that it is possible to approach the new s...

  • Page 35

    750-636 [dc drive controller] • 35 function description wago-i/o-system 750 i/o-modules 2.1.1.9.10 pwm control during positioning 2.1.1.9.10.1 general it is possible to enable pwm control independently of the drive mode. Basically, pwm control will have no impact on the direction and the number of m...

  • Page 36

    36 • 750-636 [dc drive controller] function description wago-i/o-system 750 i/o-modules p3: the duration of phase p3 results from the total duration and the subtraction of all other phases: p3 = ptot –(p1 + p2 + p4 + p5). P4: a waypoint in the direction of travel before the setpoint position determi...

  • Page 37

    750-636 [dc drive controller] • 37 function description wago-i/o-system 750 i/o-modules example 16, "shutdown_distance is reached in phase p2": p1 p4 p2 p5 0 % 50 % 100 % pwm duty cycle ramptime_start currentlimit_time ramptime_stop shutdown_distance > prestop currentcontrol_pwm prestop currentlimit...

  • Page 38

    38 • 750-636 [dc drive controller] function description wago-i/o-system 750 i/o-modules example 18, "approach without currentcontrol_pwm": p1 p2 0 % p3 p5 50 % 100 % pwm duty cycle ramptime_start currentlimit_time ramptime_stop currentlimit_pwm pwm 100 % prestop set point position fig. 2.1.1-25: exa...

  • Page 39

    750-636 [dc drive controller] • 39 function description wago-i/o-system 750 i/o-modules example 20, "approach with currentcontrol_pwm = f(currentcontrol_on), version 2": p1 p2 p3 p5 control.Currentcontrol_on = 0 control.Currentcontrol_on = 0 control.Current- control_on = 0 0 % 50 % 100 % pwm d uty c...

  • Page 40

    40 • 750-636 [dc drive controller] function description wago-i/o-system 750 i/o-modules 2.1.1.9.11 standstill condition during the execution of the motion commands, the braking distance of the drive is determined at every stop. The braking distance is covered when the module detects the motor stands...

  • Page 41

    750-636 [dc drive controller] • 41 function description wago-i/o-system 750 i/o-modules 2.1.1.9.12 maximum pulse frequency of the incremental encoder common 24 v dc collector motors normally have a maximum revolution speed of approximately 4,600 min -1 . Common incremental encoders provide 1 … 10,00...

  • Page 42

    42 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10 configuration of the i/o module via the parameter channel defined parameters indexed via parameter addresses configure the i/o module with the parameter channel. Gene...

  • Page 43

    750-636 [dc drive controller] • 43 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2 i/o module-specific parameter data the following parameters and parameter addresses are defined for the dc drive controller: parameter description parameter address...

  • Page 44

    44 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2.1 ramptime_start, ramptime_stop parameter address function access factory setting 0 ramptime_start, ramptime_stop r/w 0x1111 bit 0 ... 7: duration of the start ramp...

  • Page 45

    750-636 [dc drive controller] • 45 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2.3 prestop_neg parameter address function access factory setting 2 prestop_neg r/w 0x0064 prestop value negative direction [0 ... 65535] the configured value determi...

  • Page 46

    46 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2.5 standstill_limit, positioning_retry, stopmode_pwrup parameter address function access factory setting 4 standstill_limit positioning_retry stopmode_pwrup r/w 0x00...

  • Page 47

    750-636 [dc drive controller] • 47 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2.6 presetvalue parameter address function access factory setting 5 presetvalue (highword) r/w 0x0000 6 presetvalue (lowword) r/w 0x0000 if the terminal detects the p...

  • Page 48

    48 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2.8 triggermode_inputs, stop_mode, directionreversal_delay parameter address function access factory setting 8 triggermode_inputs stop_mode directionreversal_delay r/...

  • Page 49

    750-636 [dc drive controller] • 49 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2.9 filter_time parameter address function access factory setting 9 filter_time r/w 0xaaaa filter_time debounce time of the digital inputs with n times 3ms. Bit 0...3...

  • Page 50

    50 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2.10 shutdown_distance parameter address function access factory setting 10 shutdown_distance (highword) r/w 0x0000 11 shutdown_distance (lowword) r/w 0x0000 shutdown...

  • Page 51

    750-636 [dc drive controller] • 51 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2.11 currentlimit_pwm, currentcontrol_pwm parameter address function access factory setting 12 currentlimit_pwm currentcontrol_pwm r/w 0xc8c8 bit 0 ... 7: currentlimi...

  • Page 52

    52 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.2.12 currentlimit_time, motiondetectiontimeout parameter address function access factory setting 13 currentlimit_time motiondetectiontimeout r/w 0x0000 bit 0 ... 7: c...

  • Page 53

    750-636 [dc drive controller] • 53 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.3.2 register structure 2.1.1.10.3.2.1 parameter data (register 56) register 56 contains the parameter data to be read or written. Depending on the access type, either...

  • Page 54

    54 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules the following data is written by the module and read by the application register 57, parameter channel register 1 bit 7 6 5 4 3 2 1 0 response parameter a7 a6 a5 a4 a3 a2 a1 a...

  • Page 55

    750-636 [dc drive controller] • 55 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.4 register communication the values are set via control and status bytes c0/s0 for addressing and via data bytes d0 and d1 for the transmission of the values to be se...

  • Page 56

    56 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.4.1 control and status byte for register communication the following tables show the assignment of the control bytes and status bytes for register communication. Cont...

  • Page 57

    750-636 [dc drive controller] • 57 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.5 process of parameter transmission the parameter data exchange between the application and module is made via a request/response process. The application initiates a...

  • Page 58

    58 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.5.2 example: (coming soon) request (application) parameter value indicates tgl_ms != tgl_sm initiate instruction prm_rw = true write access more_prm = false parameter...

  • Page 59

    750-636 [dc drive controller] • 59 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.6 parameter data sets 2.1.1.10.6.1 available parameter data sets the module provides three different parameter data sets. Actual (1) user settings (2) factory default...

  • Page 60

    60 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules 2.1.1.10.6.1.3 factory default (3) the parameter data set factory default (3) offers users the possibility to load a parameter set that allows for a well-defined operating sta...

  • Page 61

    750-636 [dc drive controller] • 61 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules after writing the parameter data set; i.E., closing the parameter channel, the module validates the received parameters. An additional checksum verification; e.G., via data ba...

  • Page 62

    62 • 750-636 [dc drive controller] configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules register bit 8 ... 15 bit 0 ... 7 3 session request 4 session response 2.1.1.10.6.4.3 command overview the following tables show the relevant commands for register 3 and the e...

  • Page 63

    750-636 [dc drive controller] • 63 configuration of the i/o module via the parameter channel wago-i/o-system 750 i/o-modules.

  • Page 64

    Wago kontakttechnik gmbh & co. Kg postfach 2880 • d-32385 minden hansastraße 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.