m07500670 00000000 0en PDF

Fieldbus Independent
I/O Modules
Stepper Controller
750-670
Manual
Version 1.0.3
ii • General
Copyright  2011 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: [email protected]
Web: http://www.wago.com
Technical Support
Phone: +49 (0) 571/8 87 – 5 55
Fax: +49 (0) 571/8 87 – 85 55
Every conceivable measure has been taken to ensure the correctness and com-
pleteness of this documentation. However, as errors can never be fully ex-
cluded, we would appreciate any information or ideas at any time.
We wish to point out that the software and hardware terms as well as the
trademarks of companies used and/or mentioned in the present manual are
generally trademark or patent protected.
WAGO-I/O-SYSTEM 750
I/O Modules
0BImportant Notes • 3
3BLegal Bases
CONTENT
1 Important Notes .......................................................................................... 8

1.1 Legal Bases............................................................................................... 8
1.1.1 Copyright ............................................................................................. 8
1.1.2 Personnel Qualifications...................................................................... 8
1.1.3 Use of the 750 Series in Compliance with Underlying Provisions ..... 9
1.1.4 Technical Condition of Specified Devices .......................................... 9
1.2 Standards and Guidelines for Operating the 750 Series......................... 10
1.3 Symbols .................................................................................................. 11
1.4 Safety Information.................................................................................. 12
1.5 Font Conventions ................................................................................... 13
1.6 Number Notation .................................................................................... 13
1.7 Scope ...................................................................................................... 13
2 I/O Modules ............................................................................................... 14

2.1 Special Modules ..................................................................................... 14
2.1.1 General Description........................................................................... 14
2.1.1.1 Safety Information ........................................................................ 14
2.1.1.2 Structure of Positioning Controller............................................... 15
2.1.1.2.1 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
2.1.1.3.3 On-the-Fly Positioning............................................................. 20
2.1.1.3.4 Referencing .............................................................................. 21
2.1.1.3.5 Jogging Mode........................................................................... 21
2.1.1.3.6 Rotary Axis .............................................................................. 22
2.1.1.3.7 Types of Acceleration .............................................................. 23
2.1.1.3.7.1 Constant Acceleration ......................................................... 23
2.1.1.3.7.2 Linear Acceleration ............................................................. 24
2.1.1.3.7.3 sin²*t Acceleration............................................................... 25
2.1.1.3.7.4 Adjustable Acceleration ...................................................... 26
2.1.1.4 Current Control ............................................................................. 28
2.1.1.5 Rotational speed............................................................................ 29
2.1.1.6 Camshaft controller....................................................................... 30
2.1.1.7 Frequency modulation .................................................................. 31
2.1.1.8 PWM ............................................................................................. 32
2.1.1.9 Single Shot .................................................................................... 33
2.1.1.10 Brake Control................................................................................ 34
2.1.1.11 Command tables............................................................................ 35
2.1.2 750-670 [Stepper Controller]............................................................. 37
2.1.2.1 View.............................................................................................. 37
2.1.2.2 Description.................................................................................... 37
2.1.2.3 Connection Elements .................................................................... 43
WAGO-I/O-SYSTEM 750
I/O Modules
4 • 0BImportant Notes
3BLegal Bases
2.1.2.4 Indicators....................................................................................... 43
2.1.2.5 Operating Elements....................................................................... 45
2.1.2.6 Schematic Diagram ....................................................................... 45
2.1.2.7 Technical Data .............................................................................. 46
2.1.2.8 Process Image ............................................................................... 48
2.1.2.8.1 Overview .................................................................................. 48
2.1.2.8.2 Control Byte 0, Status Byte 0................................................... 49
2.1.2.8.3 Cyclic Process Image ............................................................... 50
2.1.2.8.4 Mailbox Process Image ............................................................ 51
2.1.2.9 Mailbox Mode............................................................................... 53
2.1.2.10 Table Manager .............................................................................. 53
2.1.2.10.1 Download ................................................................................. 54
2.1.2.10.2 Control...................................................................................... 55
2.1.2.11 Configuration ................................................................................ 55
2.1.2.11.1 Configuration Table ................................................................. 56
2.1.2.11.1.1 Configuration of Basic Parameters...................................... 57
2.1.2.11.2 Configuration using Control Byte C2 ...................................... 61
2.1.2.11.2.1 Frequency Prescaler............................................................. 61
2.1.2.11.2.2 Acceleration Factor ............................................................. 62
2.1.2.11.3 Configuration via Mailbox Mode............................................. 63
2.1.2.11.4 Digital Signals and Signal Linking .......................................... 63
2.1.2.11.4.1 Linking of Bits..................................................................... 64
2.1.2.11.4.2 Special Bits: ZERO, ONE, MZERO and MONE................ 68
2.1.2.11.4.3 Filters, Low Pass, Timers and Counters.............................. 68
2.1.2.11.5 Move Commands ..................................................................... 74
2.1.2.11.6 Scaling, Number Ranges and Units.......................................... 75
2.1.2.11.6.1 Internal Units of Measure.................................................... 75
2.1.2.11.6.2 External Units of Measure................................................... 78
2.1.2.12 Positioning .................................................................................... 78
2.1.2.12.1 Operation via Cyclic Process Image ........................................ 78
2.1.2.12.1.1 Selecting a Mode ................................................................. 79
2.1.2.12.1.2 Ending a Mode .................................................................... 79
2.1.2.12.1.3 Sequence Diagram for Selection and Ending of Modes...... 80
2.1.2.12.1.4 Positioning Mode................................................................. 81
2.1.2.12.1.5 Referencing Mode ............................................................... 90
2.1.2.12.1.6 Jog and Stepping Mode ....................................................... 97
2.1.2.12.1.7 Move program mode ........................................................... 99
2.1.2.12.2 Move Mode via Mailbox........................................................ 104
2.1.2.12.2.1 Move Commands............................................................... 104
2.1.2.12.3 Limiting of Moving Range..................................................... 104
2.1.2.12.3.1 Hardware Limit Switch ..................................................... 104
2.1.2.12.3.2 Software Limit Switch....................................................... 105
2.1.2.13 Expanded Positioning Functions................................................. 106
2.1.2.13.1 Rotary Axis ............................................................................ 106
2.1.2.13.1.1 Relative Positioning........................................................... 107
2.1.2.13.1.2 Absolute Positioning ......................................................... 107
2.1.2.13.2 Camshaft................................................................................. 107
2.1.2.13.3 Position Table......................................................................... 109
2.1.2.13.3.1 Teaching of Positions ........................................................ 109
WAGO-I/O-SYSTEM 750
I/O Modules
3BLegal Bases
2.1.2.13.4 Control of a Motor Brake ....................................................... 109

2.1.2.14 Other Applications ...................................................................... 110
2.1.2.14.1 Speed Control......................................................................... 110
2.1.2.14.1.1 Velocity Control Process Image........................................ 111
2.1.2.14.2 PWM ...................................................................................... 116
2.1.2.14.2.1 PWM Process Image ......................................................... 117
2.1.2.14.3 Pulse Chain............................................................................. 118
2.1.2.14.3.1 Pulse Chain Process Image................................................ 119
2.1.2.14.4 Single Shot ............................................................................. 123
2.1.2.14.4.1 Single Shot Process Image ................................................ 124
2.1.2.15 Advanced Diagnostics ................................................................ 129
2.1.2.15.1 Internal Status Variables ........................................................ 129
2.1.2.15.2 Data Recorder......................................................................... 129
2.1.2.16 Connection Examples ................................................................. 131
2.1.2.16.1 RS422 CLK/DIR Interface..................................................... 131
2.1.2.16.2 5 V CLK/DIR Interface (s.e.)................................................. 132
2.1.2.16.3 24 V CLK/DIR Interface (s.e.)............................................... 132
2.1.2.16.4 Connection at Positive Switching Inputs ............................... 133
2.1.2.16.5 Connection at Negative Switching Inputs.............................. 135
3 Appendix .................................................................................................. 136

3.1 Mailbox Commands ............................................................................. 136
3.1.1 Overview of Mailbox Commands ................................................... 136
3.1.2 Overview of Mailbox Commands, Sorted by Opcodes ................... 138
3.1.3 Overview of Mailbox Commands, Sorted by Functions ................. 139
3.1.4 Reference Commands – Mailbox Commands ................................. 140
3.1.4.1 General commands...................................................................... 140
3.1.4.1.1 IDLE (0x00) ........................................................................... 140
3.1.4.2 Move Commands ........................................................................ 141
3.1.4.2.1 DRIVE_COMMAND (0x40)................................................. 141
3.1.4.3 Download Commands................................................................. 142
3.1.4.3.1 DLD_START (0x41) ............................................................. 142
3.1.4.3.2 DLD_CONT (0x42) ............................................................... 145
3.1.4.3.3 DLD_END (0x43).................................................................. 148
3.1.4.4 Table Management Commands .................................................. 149
3.1.4.4.1 TABLE_ERASE (0x44)......................................................... 149
3.1.4.4.2 TABLE_COPY (0x45)........................................................... 151
3.1.4.4.3 TABLE_START (0x46)......................................................... 154
3.1.4.4.4 TABLE_STOP (0x48)............................................................ 155
3.1.4.4.5 TABLE_GET_ACTIVE (0x4F)............................................. 156
3.1.4.5 Diagnostics Commands .............................................................. 157
3.1.4.5.1 DIAG_RD_ERROR (0x49) ................................................... 157
3.1.4.5.2 DIAG_QUIT_ERROR (0x4A) .............................................. 158
3.1.4.5.3 DIAG_RD_VAR (0x4C)........................................................ 159
3.1.4.5.4 DIAG_RD_BIT (0x4D) ......................................................... 160
3.1.4.5.5 DIAG_QUERY_STORAGE (0x4E)...................................... 161
3.1.4.6 Configuration Table Commands................................................. 162
3.1.4.6.1 CONFIG_SET_PTR (0x50)................................................... 162
3.1.4.6.2 CONFIG_WR (0x51)............................................................. 163
WAGO-I/O-SYSTEM 750
I/O Modules
6 • 0BImportant Notes
3BLegal Bases
3.1.4.6.3 CONFIG_RD (0x52).............................................................. 164

3.1.4.6.4 CONFIG_SAVE (0x53) ......................................................... 165
3.1.4.6.5 CONFIG_RESTORE (0x54).................................................. 166
3.1.4.7 Position table commands ............................................................ 168
3.1.4.7.1 POS_TABLE_CREATE (0x5C)............................................ 168
3.1.4.7.2 POS_TABLE_SET_PTR (0x5D)........................................... 169
3.1.4.7.3 POS_TABLE_WR (0x5E) ..................................................... 170
3.1.4.7.4 POS_TABLE_TEACH (0x5F) .............................................. 171
3.2 Commands for Move Mode.................................................................. 173
3.2.1 Overview of Commands for Move Mode........................................ 173
3.2.2 Overview of Move Mode Commands, Sorted by Opcodes ............. 176
3.2.3 Overview of Move Mode Commands, Sorted by Function............. 178
3.2.4 Reference Commands for Move Mode............................................ 180
3.2.4.1 Setpoint commands ..................................................................... 180
3.2.4.1.1 MOVE (0x02) ........................................................................ 180
3.2.4.1.2 MOVE_IMMEDIATE (0x03)................................................ 181
3.2.4.1.3 MOVE_TABLE (0x04).......................................................... 182
3.2.4.1.4 MOVE_TABLE_IMMEDIATE (0x05)................................. 183
3.2.4.1.5 MOVE_REL (0x06)............................................................... 184
3.2.4.1.6 MOVE_TABLE_REL (0x08) ................................................ 185
3.2.4.1.7 SPEED (0x10) ........................................................................ 186
3.2.4.1.8 SPEED_IMMEDIATE (0x11) ............................................... 187
3.2.4.1.9 STOP_FAST (0x18)............................................................... 188
3.2.4.1.10 STOP_NO_RAMP (0x19) ..................................................... 189
3.2.4.1.11 START_REFERENCING (0x20) .......................................... 190
3.2.4.1.12 SET_ACC_MODE (0x21) ..................................................... 191
3.2.4.1.13 SET_ACC (0x22)................................................................... 193
3.2.4.1.14 SET_ACC_PARAM_UP (0x23)............................................ 194
3.2.4.1.15 SET_ACC_PARAM_DOWN (0x24) .................................... 195
3.2.4.1.16 SET_VELOCITY (0x25) ....................................................... 196
3.2.4.1.17 SET_VELOCITY_TARGET (0x2B)..................................... 197
3.2.4.1.18 SET_ACTUALPOSITON (0x2E).......................................... 198
3.2.4.1.19 SET_ACTUALPOSITION_ZERO (0x2F) ............................ 199
3.2.4.1.20 SET_CURRENT (0x39) ........................................................ 200
3.2.4.2 Math commands.......................................................................... 201
3.2.4.2.1 VAR_SET (0x50)................................................................... 201
3.2.4.2.2 VAR_INC (0x51)................................................................... 202
3.2.4.2.3 VAR_DEC (0x52).................................................................. 203
3.2.4.2.4 VAR_ADD (0x53) ................................................................. 204
3.2.4.2.5 VAR_SUB (0x54) .................................................................. 205
3.2.4.2.6 VAR_MUL (0x55)................................................................. 206
3.2.4.2.7 VAR_COPY (0x56) ............................................................... 207
3.2.4.2.8 VAR_DIV (0x57)................................................................... 208
3.2.4.3 Wait Commands.......................................................................... 209
3.2.4.3.1 WAIT_TIME (0x70) .............................................................. 209
3.2.4.3.2 WAIT_TEST_BIT (0x71)...................................................... 210
3.2.4.4 Auxiliary Commands .................................................................. 211
3.2.4.4.1 WR_BIT (0x78) ..................................................................... 211
3.2.4.4.2 NOP (0xF0) ............................................................................ 212
WAGO-I/O-SYSTEM 750
I/O Modules
3BLegal Bases
3.2.4.4.3 PROG_STOP (0xF1).............................................................. 213

3.2.4.4.4 PROG_END (0x00 oder 0xFF).............................................. 214
3.2.4.4.5 GOTO (0xF5)......................................................................... 215
3.2.4.4.6 GOTO_IF (0xF6) ................................................................... 216
3.2.4.4.7 GOTO_IF_NOT (0xF7) ......................................................... 217
3.2.4.4.8 GOTO_LABEL (0xF8) .......................................................... 218
3.2.4.4.9 GOTO_LABEL_IF (0xF9) .................................................... 219
3.2.4.4.10 GOTO_LABEL_IF_NOT (0xFA) ......................................... 220
3.2.4.4.11 LABEL (0xFB) ...................................................................... 221
3.3 Error Blink Codes................................................................................. 222
3.3.1 Overview of Error Blink Codes....................................................... 223
3.4 Bit field for I/O driver .......................................................................... 234
3.5 Configuration Variables ....................................................................... 255
3.6 Internal Status Variables ...................................................................... 267
WAGO-I/O-SYSTEM 750
I/O Modules
8 • Copyright
Safety Information
1 Important Notes
This section includes an overall summary of the most important safety
requirements and notes that are mentioned in each individual section. To
protect your health and prevent damage to devices as well, it is imperative to
read and carefully follow the safety guidelines.
1.1 Legal Bases

1.1.1 Copyright
This Manual, including all figures and illustrations, is copyright-protected.
Any further use of this Manual by third parties that violate pertinent copyright
provisions is prohibited. Reproduction, translation, electronic and
phototechnical filing/archiving (e.g., photocopying) as well as any
amendments require the written consent of WAGO Kontakttechnik GmbH &
Co. KG, Minden, Germany. Non-observance will involve the right to assert
damage claims.
WAGO Kontakttechnik GmbH & Co. KG reserves the right 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 the legal protection of utility patents.
Third-party products are always mentioned without any reference to patent
rights. Thus, the existence of such rights cannot be excluded.
1.1.2 Personnel Qualifications

The use of the product described in this Manual requires special personnel
qualifications, as shown in the following table:
Specialists**) having
Instructed
Activity Electrical specialist qualifications in PLC
personnel*)
programming
Assembly X X
Commissioning X X
Programming X
Maintenance X X
Troubleshooting X
Disassembly X X
*) Instructed persons have been trained by qualified personnel or electrical specialists.
**) A specialist is a person, who – thanks to technical training – has the qualification, know-
ledge and expertise to meet the required specifications of this work and to identify any po-
tential hazardous situation in the above listed fields of activity.
WAGO-I/O-SYSTEM 750
I/O Modules
Use of the 750 Series in Compliance with Underlying Provisions • 9
Safety Information
All responsible persons have to familiarize themselves with the underlying

legal standards to be applied. WAGO Kontakttechnik GmbH & Co. KG does
not assume any liability whatsoever resulting from improper handling and
damage incurred to both WAGO´s own and third-party products by
disregarding detailed information in this Manual.
1.1.3 Use of the 750 Series in Compliance with Underlying

Provisions
Couplers, controllers and I/O modules found in the modular WAGO-I/O-
SYSTEM 750 receive digital and analog signals from sensors and transmit
them to the actuators or higher-level control systems. Using programmable
controllers, the signals can also be (pre-)processed.
The components have been developed 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 not ensured. Unless otherwise specified, operation of the components in wet
and dusty environments is prohibited.
1.1.4 Technical Condition of Specified Devices

The components to be supplied Ex Works, are equipped with hardware and
software configurations, which meet the individual application requirements.
Changes in hardware, software and firmware are permitted exclusively within
the framework of the various alternatives that are documented in the specific
manuals. WAGO Kontakttechnik GmbH & Co. KG will be exempted from
any liability in case of changes in hardware or software as well as to non-
compliant usage of components.
Please send your request for modified and new hardware or software
configurations directly to WAGO Kontakttechnik GmbH & Co. KG.
WAGO-I/O-SYSTEM 750
I/O Modules
10 • Technical Condition of Specified Devices
Safety Information
1.2 Standards and Guidelines for Operating the 750 Series

Please adhere to the standards and guidelines required for the use of your
system:
 The data and power lines shall be connected and installed in compliance
with the standards required to avoid failures on your system and to
substantially minimize any imminently hazardous situations resulting in
personal injury.
 For assembly, start-up, maintenance and troubleshooting, adhere to the
specific accident prevention provisions which apply to your system (e.g.
BGV A 3, "Electrical Installations and Equipment").
 Emergency 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 interferences will be eliminated.
 Operating 750 Series components in home applications without further
measures is permitted only if they meet the emission limits (emissions of
interference) in compliance with EN 61000-6-3. You will find the detailed
information in section "WAGO-I/O-SYSTEM 750"  "System
Description"  "Technical Data".
 Please observe the safety precautions against electrostatic discharge in
accordance with DIN EN 61340-5-1/-3. When handling the modules,
please ensure that environmental factors (persons, working place and
packaging) are well grounded.
 The valid standards and guidelines applicable for the installation of switch
cabinets shall be adhered to.
WAGO-I/O-SYSTEM 750
I/O Modules
Technical Condition of Specified Devices • 11
Safety Information
1.3 Symbols
Danger
Always observe this information to protect persons from injury.
Warning
Always observe this information to prevent damage to the device.
Attention
Marginal conditions that must always be 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 components at risk of
electrostatic discharge.
Note
Make important notes that are to be complied with so that a trouble-free and
efficient device operation can be guaranteed.
Additional Information
References to additional literature, manuals, data sheets and internet pages.
WAGO-I/O-SYSTEM 750
I/O Modules
12 • Technical Condition of Specified Devices
Safety Information
1.4 Safety Information

When connecting the device to your installation and during operation, the
following safety notes must be observed:
Danger
The WAGO-I/O-SYSTEM 750 and its components are an open system. It
must only be assembled in housings, cabinets or in electrical operation rooms.
Access is only permitted via a key or tool to authorized qualified personnel.
Danger
All power sources to the device must always be switched off before carrying
out any installation, repair or maintenance work.
Warning
Replace defective or damaged device/module (e.g. in the event of deformed
contacts), as the functionality of field bus station in question can no longer be
ensured on a 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 in some hand creams). If it cannot be ruled out
that these materials appear in the component environment, then the
components must be installed in an enclosure that is resistant against the
above mentioned materials. Clean tools and materials are generally required
to operate the device/module.
Warning
Soiled contacts must be cleaned using oil-free compressed air or with ethyl
alcohol and leather cloths.
Warning
Do not use contact sprays, which could possibly impair the functioning of the
contact area.
Warning
Avoid reverse polarity of data and power lines, as this may damage the
devices.
ESD (Electrostatic Discharge)

The devices are equipped with electronic components that may be destroyed
by electrostatic discharge when touched.
WAGO-I/O-SYSTEM 750
I/O Modules
Technical Condition of Specified Devices • 13
Safety Information
Warning
For components with ETHERNET/RJ-45 connectors:
Only for use in LAN, not for connection to telecommunication circuits.
1.5 Font Conventions

italic Names of paths and data files are marked in italic-type.
e.g.: C:\Programs\WAGO-IO-CHECK
italic Menu items are marked in italic-type, bold letters.

e.g.: Save
\ A backslash between two names characterizes the selection of a

menu point from a 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
1.6 Number Notation

Number code Example Note
Decimal 100 Normal notation
Hexadecimal 0x64 C notation
Binary '100' In quotation marks,
'0110.0100' nibble separated with dots (.)
1.7 Scope
This manual describes the Special Module 750-670 Stepper Controller of the
modular WAGO-I/O-SYSTEM 750.
Handling, assembly and start-up are described in the manual of the Fieldbus
Coupler. Therefore this documentation is valid only in the connection with the
appropriate manual.
WAGO-I/O-SYSTEM 750
I/O Modules
14 • General Description
Safety Information
2 I/O Modules
2.1 Special Modules
2.1.1 General Description
2.1.1.1 Safety Information
Observe the following information and safety notices to prevent injury and/or
equipment.
Danger
Take appropriate measures, such as cordoning off appropriate 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 regulations and applicable engineering practices.
Notice
Install appropriate hardware limit switches that can directly disengage power
to the system if a restricted area of movement has been breached.
Notice
Install appropriate equipment to protect motors and power electronics, such as
motor circuit breakers or fuses.
WAGO-I/O-SYSTEM 750
I/O Modules
General Description • 15
Structure of Positioning Controller
2.1.1.2 Structure of Positioning Controller
The following figure illustrates the structure of a typical positioning

controller, along with its basic elements:
 Control section,
 Power section,
 Drive section,
 Mechanical section.
Control Coupler/Controller
750-xxx
Stepper module
750-67x
SPS
Power section Net
Safety
device
Power level
Emergency Off
Drive Mechanical Software

section limit switch
M Hardware
limit switch
Fig. 2.1.1-1: Structure of position control system g067x00e
2.1.1.2.1 Control Section
The control section consists of a PLC for process control and stepper module
750-67x for positioning, FM and PWM functions.
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.1.2.2 Power Section
The power stage generates drive currents from the pulses for the specific
motor. Any type of output stage equipped with a pulse direction or
incremental encoder interface can be used with the 750-670 stepper module
This also allows output stages for 3- or 5-pole stepper motors, DC or AC
servo motors to be used. Stepper modules 750-671, -672 and -673 are
equipped with an integrated output stage for regulating 2-phase stepper
motors.
2.1.1.2.3 Drive
Stepper motors 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 transforms the stepping motion into a continuous turning
motion. The stepper motor’s natural resonance is suppressed largely by high-
revolution microstepping, which produces extremely smooth operation. This is
characteristic of WAGO modules 750-671, -672 and –673, which feature 64-
fold microstepping.
The figures below illustrate possible types of connections for stepper motors:
4-wire--engine bipolar 6-wire-motor bipolar

in series operated
8-wire--motor bipolar
in series operated 8-wire-motor bipolar
parallel operated
Fig. 2.1.1-2: Types of connections for stepper motors g067x02e
WAGO-I/O-SYSTEM 750
I/O Modules
The following must be considered when selecting an appropriate motor:
 type of connection and number of phases

 required torque progression over speed
 required motor current
 winding resistance
 motor inductance.
The application dictates the torque progression and speed; experience has
shown that a torque margin of approx. 25 %, depending on the mechanical
system properties, is useful. This should be considered when accounting for
any dynamic effects (resonance in mechanical systems).
The positioning process sequences also determine both the average and peak
power supplied to the motor; special attention must be given to the total power
loss and motor temperature.
Depending on the motor model and design, a corresponding current must be

present in order to be transferred from the output stage into the motor. The
required voltage depends on the winding resistance, motor inductance and
speed (anti-EMC). It may be necessary to have considerably higher voltage
levels for 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 output stages for
stepper modules 750-671, -672 and –673 are equipped with power control
systems. For example, it is possible to run 12 V motors with 24 V supply
systems as long as the current, power loss and motor temperature remain
within acceptable limits. Consult the motor manufacturer with any
questions/concerns.
2.1.1.2.4 Mechanical Section
Motor data can be calculated based on the requirements for the load to be
moved, and any additional bearings, transmissions, deflection systems,
damping elements, etc. that may be required. Important parameters here are:
 moment of inertia
 starting torque
 holding torque
 torque at the maximum required speed,
 cycle times for positioning
 requisite acceleration
 required torque (where applicable) when passing through mechanical
resonance fields - particularly when mechanical components such as long
drive belts, spring elements or vibration buffers (couplings) are used.
Please note that there must be no step losses if the required mechanical torque
does not exceed the torque supplied by the motor (taking inertia into account).
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.1.3 Positioning
A distinction is made here between absolute and 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.

Path
Velocity
Y
X0
Time
Fig. 2.1.1-3: Absolute positioning g067x03e
Potential applications:
 Positioning shafts
 Transfer carriages
 Pick & Place
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.1.3.2 Relative Positioning
Positioning from absolute position X to absolute position Y by the difference

x; it is also possible as a command during positioning (on the fly).
Velocity
Path
Y4
New command
Y3
x x x x
Y2
Y1
X
0 Time
New command
Fig. 2.1.1-4: Relative positioning g067x02e
 Incremental dimensions
 Variable reference points
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.1.3.3 On-the-Fly Positioning
Termination of ongoing positioning (such as Move to Y) and execution of the

new positioning command (Move to Y-n).
Path over time
Y
Path in steps
Y-n
Time in s
Velocity over time
Abort of the current

command and positioning
to new value
Valocity in steps/s
Time in s
Fig. 2.1.1-5: On-the-fly positioning g067x05e
 Event-dependent changing of target position

 Collision avoidance
 Process optimization
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.1.3.4 Referencing
Referencing is the setup of a measuring system. A distinction is drawn here

between referencing to a limit switch and referencing to a special reference
switch. A high degree of reproducible accuracy is essential for referencing.
Referencing should always be performed 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.
Time
Wait for
next command
Start
referencing
E1 Ref E2 Path
Fig. 2.1.1-6: Referencing g067x09e
The reference value (usually 0) is accepted at the corresponding edge.
2.1.1.3.5 Jogging Mode
The drive is run at the setup speed via defined input, or a control bit, as long
as either the input is active or the bit is set. A time limit can be activated for
the moving process.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.1.3.6 Rotary Axis
The value range (such as -10000 ... +10000) is converted 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 exceeding the +10000 position, the next position
would be -10000.
 Belt control
 Label control
 Control of rotary tables
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.1.3.7 Types of Acceleration
2.1.1.3.7.1 Constant Acceleration
Acceleration has a constant value during the acceleration phase.

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.
Shock (j)
Acceleration (a)
Path (s)
Velocity (v)
j j
Time
j j
Fig. 2.1.1-7: Constant acceleration g067x06e
 Peak acceleration at specified acceleration value,

 Linear path/time response.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.1.3.7.2 Linear Acceleration
Acceleration increases and decreases during the acceleration phase with a

linear gradient, reducing the jolt experienced by the mechanical system.
Shock (j)
Acceleration (a)
Path (s)
Velocity (v)
Time
Fig. 2.1.1-8: Linear acceleration g067x07e
 Soft start (jolt reduction)

 Reduction of step losses
 Linear (constant) acceleration moment
 Maximum acceleration, particularly with flexible drive systems (belts)
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.1.3.7.3 sin²*t Acceleration
The acceleration value progresses according to a sin²*t curve during the

acceleration phase.
This minimizes the jolt experienced by the mechanical system, reducing any
remaining harmonic waves present during linear acceleration.
Acceleration (a)
Path (s)
Shock (j)
Velocity (v)
Time
Fig. 2.1.1-9: sin²*t acceleration g067x08e
 Soft start (jolt reduction)

 Reduction of step losses
 Maximum acceleration, particularly with flexible drive systems (belts)
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.1.3.7.4 Adjustable Acceleration
The acceleration and brake ramps can be adjusted individually.
Acceleration (a)
Path (s)
Shock (j)
Velocity (v)
j v
Time
j
a
Fig. 2.1.1-10: Adjustable acceleration g067x28e
 Defining if the acceleration must be done with or against additional

external torques
 Asymmetric retaining forces of toolings (grippers)
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
The acceleration can be defined as
 Acceleration time
 Acceleration path or
 Acceleration (steps/s2)
 Cycle-time dependent applications

 Simple path calculation
 Definition of acceleration torques
WAGO-I/O-SYSTEM 750
I/O Modules
Current Control
2.1.1.4 Current Control
The current depends on:
 Acceleration
 Constant speed
 Delay
 Stop (holding torque)
The current is adjustable in % of the nominal value.
Values to 150 % are possible (Boost)!
Velocity over time
150 %
100 %
Velocity in steps/s
50 %
10 %
-10 %
-100 % -100 %
Time in s
Fig. 2.1.1-11: Current Control g067x31e
 Power loss limitation

 Torque control
WAGO-I/O-SYSTEM 750
I/O Modules
Rotational speed
2.1.1.5 Rotational speed
The rotational speed is regulated by speed control. Achieving a specified

position is not relevant here.
 Simple interfaces for ready-made application programs

 Belt drives, conveyor systems
WAGO-I/O-SYSTEM 750
I/O Modules
Camshaft controller
2.1.1.6 Camshaft controller
The camshaft controller allows to set 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 ΔYn
Velocity over time

Velocity in steps/s
Time in s
Fig. 2.1.1-12: Camshaft controller g067x32e
 Setting of glue dots

 Length feeding
 Stamp positions
 Tool operation
WAGO-I/O-SYSTEM 750
I/O Modules
Frequency modulation
2.1.1.7 Frequency modulation
The frequency can be set directly and be changed during operation.
The pulse duty factor is fixed at 50 %.
Maximum frequency: 500 kHz
Frequency (f)
Out A
Out A
0
Time (t)
Fig. 2.1.1-13: Frequency modulation g067x34e
 Rotational speed setting

 Digital set point value transmission
WAGO-I/O-SYSTEM 750
I/O Modules
PWM
2.1.1.8 PWM
The frequency is preset and constant.
The pulse duty factor is variable and can be adjusted between 0 % and 100 %.
Out A
PWM
Out A
50 %
20 %
Pulse duty factor

10 %
0
Time (t)
Fig. 2.1.1-14: PWM g067x36e
 Temperature control
 Power control
 Lamp control
 Defining rotational speed with current control for drives
WAGO-I/O-SYSTEM 750
I/O Modules
Single Shot
2.1.1.9 Single Shot
The pulse duration is preset.
Only one pulse is generated.
The time from the activating event up to the pulse generation is adjustable.
Out A
Out A
Pulse duration
Adjustable
trigger delay
0
Time (t)
Releasing Pulse
event release
Fig. 2.1.1-15: Single Shot g067x37e
 Valve opening times

 Power control
 Precise opening times
WAGO-I/O-SYSTEM 750
I/O Modules
Brake Control
2.1.1.10 Brake Control
Brake OFF (Output=1) ΔtOff before the start of the positioning.
Brake ON (Output=0) ΔtOn before reaching the target position.
If the brake was switched on, the execution of the next positioning is delayed
by ΔtOff.
Path (s)
Velocity (v)
Brake
ON (el.)
Y Break
ON (mech.)
s
Brake Break
v OFF (el.) OFF (mech.)
toff ton
X0
Time (t)
Fig. 2.1.1-16: Brake Control g067x33e
 Lifting axis
 Parking brakes
WAGO-I/O-SYSTEM 750
I/O Modules
Command tables
2.1.1.11 Command tables
In the command tables, a complex positioning sequence can be stored and

executed independently according to the appropriate sequential list of
individual commands.
The command 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 adressable (Start command at any position of the active list)
 Jumps to other entry of list
 On the fly (Cancel actual & execute other command)
Two tables are available that can alternately be switched over: An offline table
(program run) and an online table (program up-/download).
WAGO-I/O-SYSTEM 750
I/O Modules
Command tables
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
 Relieving the PLC

 Reduction of response times
 Encapsulating the application
WAGO-I/O-SYSTEM 750
I/O Modules
750-670 [Stepper Controller] • 37
View
2.1.2 750-670 [Stepper Controller]

2.1.2.1 View
13 14
Status
DI1+ DI2+
Data contacts
DI1+ DI2+
DI- GND
DI- GND
A1 A2
A1 A2
B1 B2
B1 B2
750-670
Power jumper contacts
Fig. 2.1.2-1: View g067000e
2.1.2.2 Description
The stepper controller 750-670 is an intelligent controller for regulating

different drive power circuits equipped with a pulse direction interface or an
incremental encoder input. This allows stepper output modules for 2, 3 and 5-
pole motors and power modules for DC or AC servos to be used. RS422 or
TTL and 24 V and 20 mA interfaces can be used with this controller. The
unit's high output frequency enables stepper output stages with microstepping
resolution to be used without any problem. In addition, this module can also
be used as a high-precision frequency or pulse width modulator. Two
configurable inputs for Start/Stop, limit switches, reference cams, Jog/Tip,
etc., are evaluated directly and without any further delay by the internal
software.
Versatile functions, such as positioning with different acceleration slopes,

command tables, camshaft controller, auto referencing and other event-
dependent properties provide this controller with a wide spectrum of possible
uses
Five different applications are implemented in the stepper controller 750-670.
 Positioning,
 Speed control,
 PWM,
 Pulse chain and
 Single Shot.
WAGO-I/O-SYSTEM 750
I/O Modules
38 • 750-670 [Stepper Controller]
Description
Stepper module
Velocity
Positioning PWM Puls chain Single Shot
control
Individual Individual Individual Individual Individual

commands commands commands commands commands
Frequency-/Speed
Position control application PWM Puls chain Single Shot
Rotary axis Rotary axis
Relative
Positioning
Absolute
Positioning
Camshaft Camshaft
Brake Brake
control control
Referencing Referencing
JogMode JogMode
Move command Move command Move command Move command Move command
via Mailbox via Mailbox via Mailbox via Mailbox via Mailbox
Program Program Program
Move program Move program Move program
Automatic Automatic Automatic

execution execution execution
of individual of individual of individual
commands commands commands
Fig. 2.1.2-2: Stepper controller applications and operating modes g067020e
There are five operating modes available in each of the applications

Positioning and Velocity Control:
 Positioning and velocity definition,

 Referencing,
 Jog Mode,
 Move command via Mailbox,
 Move program.
There are three modes available in the PWM application:
 PWM mode,
 Move command via Mailbox,
 Move program.
WAGO-I/O-SYSTEM 750
I/O Modules
Description
The following modes are available in the Pulse Chain application:
 Pulse chain.
The following modes are available in the Single Shot application:
 Single Shot.
The stepper controller function is defined by various tables, with the

configuration table and the Bit I/O table playing a particularly important role.
Configuration table
Bit I/O table

Mailbox
Move program table Process image
Position table
Camshaft table
Fig. 2.1.2-3: Tables in the stepper controller g067x01e
The stepper controller is equipped with two digital 24 V inputs DI1+ and DI2,
with the reference potential DI-, enabling connection of two-wire sensors or
switches.
Input DI1+ is used as the enable input and input DI2+ as the reference input
for standard applications; these inputs can also be assigned to dedicated
applications and to other functions.
In addition, the stepper module is also provided with two difference outputs
A1, A2 and B1, B2 with the reference potential GND for connecting devices
with TTL, RS422 or optocoupler inputs up to 24 V.
The outputs are short-circuit proof.
Difference output A1, A2 is used as the frequency output and difference

output B1, B2 as the direction output in standard applications; these outputs
can also be assigned to dedicated applications and to other functions.
The signal status for the digital inputs and the power supply status are each
indicated by a dedicated green LED.
Two yellow LEDs, one green LED and one red LED indicate the active mode,
status, readiness for operation and errors in the standard applications.
Field and system signals are electrically isolated.
The individual I/O modules can be arranged in any combination when

configuring the fieldbus node. An arrangement in groups is not necessary.
WAGO-I/O-SYSTEM 750
I/O Modules
Description
The stepper controller receives the 24 V supply voltage for the field level via
an upstream I/O module or a supply module. Power connections are made
automatically from module to module via the internal power jumper contacts
when snapped onto the DIN rail.
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, an additional supply module has to be used.
WAGO-I/O-SYSTEM 750
I/O Modules
Description
The stepper controller can be operated at the following WAGO I/O SYSTEM
750 couplers and controllers:
Max.
Hard- Soft-
number
Bus system Coupler/Controller Item No. ware ware
of
vers. vers.
modules
ETHERNET Fieldbus coupler 750-341 03 06 8
TCP/IP
750-342 04 17 3
Programmable fieldbus 750-841 03 17 16
controller
750-842 04 12 8
750-843 12 01 8
750-871 03 05 16
750-873 02 02 16
CANopen Fieldbus coupler 750-337 09 10 8
750-338 02 16 8
ECO Fieldbus coupler 750-347 01 04 1
750-347 01 06 2
750-348 01 04 1
750-348 01 06 2
Programmable Fieldbus 750-837 07 12 8
controller
750-838 02 12 8
DeviceNet Fieldbus coupler 750-306 12 4J 8
ECO Fieldbus coupler 750-346 02 07 2
controller
LON Fieldbus coupler 750-319 xx 05 3
Programmable fieldbus 750-819 xx 09 8
controller
PROFIBUS Fieldbus coupler 750-303 xx from 08 3
750-333 12 from 07 8
ECO Fieldbus coupler 750-343 03 from 06 2
controller
Powerlink Fieldbus coupler 750-350 07 01 8
BACnet Programmable fieldbus 750-830 01 01 8
controller
KNX Programmable fieldbus 750-849 xx 04 16
controller
SERCOS III Feldbuskoppler 750-351 02 03 08
WAGO-I/O-SYSTEM 750
I/O Modules
Description
Max.
Hard- Soft-
number
Bus system Coupler/Controller Item No. ware ware
of
vers. vers.
modules
WAGO-IPC IPC 758-870/ 10 03 16
000-xxx
IPC 758-874/ 10 03 16
000-xxx
IPC 758-875/ 10 03 16
000-xxx
IPC 758-876/ 10 03 16
000-xxx
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.
WAGO-I/O-SYSTEM 750
I/O Modules
Connection Elements
2.1.2.3 Connection Elements
Connection Designation Standard configuration *)

DI1+ DI- DI1+ Digital input 1 Enable input
DI2+ Digital input 2 Referencing input
DI1+ DI-
Reference potential for
DI2+ GND 0 V for DI1+ and Enable and Referencing
DI-
DI2+ input (electrically isolated
DI2+ GND from all other potentials)
Reference potential for
A1 A2 0 V for A1, A2, Frequency and Direction
GND
B1 and B2 outputs (electrically isolated
A1 A2 from all other potentials)
A1 Digital output 1 Frequency output
B1 B2
Complementary
Complementary output for
A2 output for digital
B1 B2 frequency output
output 1
750-670
B1 Digital output 2 Direction output
Fig. 2.1.2-4: Connecting Complementary
Complementary input for
elements g067003x B2 output for digital
Direction output
output 2
*) The given configuration applies only to standard
applications. Adaptation for other applications is described in
the corresponding sections.
2.1.2.4 Indicators
LED Link Designation Status Function
Status off Input DI 1: Signal level (0)

A fixed
13 14
DI 1 green Input DI 1: Signal level (1)
A E
B F
Status off Input DI 2: Signal level (0)
B fixed
C G DI 2 green Input DI 2: Signal level (1)
H
Fig. 2.1.2-5: Indicators Status off No system voltage present
g067002x
C fixed System
voltage green System voltage present
WAGO-I/O-SYSTEM 750
I/O Modules
Indicators
LED Link Designation Status Function

The selected operating mode is active
Busy and not yet finished. This operating
mode may have been discontinued.
Positioning not active,
off
drive motionless
Positioning
Positioning active,
yellow
drive in operation
Move off Move program not active.

program yellow Move program active
Referencing not active,
off
drive motionless
E Busy Referencing
Referencing active,
yellow
drive in operation
off Jog mode not active.
Jog mode active,
Jog Mode motor has been started using
13 14 yellow
A E
Direction_Pos or Direction_Neg.
B F LED flashes briefly
C G
Mailbox active, but no command active,
off
H
Mailbox drive motionless.
Fig. 2.1.2-6: Indicators
g067002x mode Mailbox active, and command active,
yellow
drive in operation.
M_Prog off No Move program being processed

Move
F ram_AC A Move program is currently in
program yellow
K progress.
The bit Stop1_N or Stop2_N is 0. In
addition, the motor is at standstill and
off
Stop_N Drive Stop frequency output is 0. Startup using
G Start is not possible.
_ACK inverted
The bits Stop1_N and Stop2_N are both
green
set to 1, or the drive is braking the unit.
red
Write access flashing Write access to EEPROM
to EEPROM/ 10 Hz
H Error
Error code red, Group error,
Group error Blink- Error message (cf. Chapter 3.3, “Error
code Blink Codes”) issued
WAGO-I/O-SYSTEM 750
I/O Modules
Operating Elements
2.1.2.5 Operating Elements
The stepper controller 750-670 is not equipped with any operating elements.
Changes to the configuration or parameters are made using the higher-order
control too, or the WAGO-I/O-CHECK configuration tool.
2.1.2.6 Schematic Diagram
DI1+
DI1
DI2+
DI-
DI2
1 5
DI1+ DI- DC
Logic
GND DC
2 6
A1
DI2+ GND A2
24 V B1
B2
Uv Run
3 7
4,7 nF Move program
A1 A2
Release
0V 24 V Error
10 nF
4 8 0V
B1 B2 10 nF
750-670
Fig. 2.1.2-7: Schematic diagram g067001e
WAGO-I/O-SYSTEM 750
I/O Modules
Technical Data
2.1.2.7 Technical Data
Inputs
Number of inputs 2 (DI1+, DI2+)
Input voltage DC -3 V ... 30 V
Signal voltage (0) DC -3 V ... +5 V
Signal voltage (1) DC 15 V ... 30 V
Input filter 100 μs
Input current typ. 2.8 mA
Outputs
Number of outputs 2 Difference outputs A1, A2 and B1, B2
(1 channel)
Operating modes Positioning, Referencing, Jog Mode, Move
program
Resolution Travel 23 Bit + sign
Speed 15 bit and 16 bit prescaler
Acceleration 15 bit and 16 bit prescaler
Signal voltage TTL 5 V active, single-ended
RS422 5 V active, differential
Opto-coupler 0 V ... 24 V passive, n-switching output
Type of load TTL, RS 422 and opto-coupler input
Total output current max. 30 mA, short-circuit protected
Output frequency 200 μHz ... 500 kHz
Tastverhältnis 50 % (in Stepping mode)
Module Specific Data
Voltage supply via system voltage internal bus (5 V DC) and
power jumper contacts (24 V DC)
Current consumption 98 mA
(system voltage 5 V DC) ca.
Current consumption 0 mA + load
(power jumper contacts 24 V DC) ca.
Voltage via power jumper contacts 24 V DC (-15 % ... +20 %)
Current via power jumper contacts max. 10 A
Electrical isolation 500 V system voltage / field level (power jumper
contacts)
Data width, internal 12 bytes input/output
Dimensions W x H* x D 12 mm x 64 mm x 100 mm
* (from upper edge of rail)
Weight approx. 50 g
WAGO-I/O-SYSTEM 750
I/O Modules
Technical Data
Standards and directives (seeChapter 2.2 in manual 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 Chapter 2.2 of the Coupler/Controller Manual)
CULUS (UL508)
Conformity marking
WAGO-I/O-SYSTEM 750
I/O Modules
Process Image
2.1.2.8 Process Image
The 750-670 I/O module provides the fieldbus coupler/controller 12 bytes

input and output process image via 1 logical channel. The data to be sent and
received are stored in up to 7 output bytes (D0 … D6) and 7 input bytes (D0
… D6), depending on the operating mode. Output byte D0 and input byte D0
are reserved and have no function assigned. 1 I/O module control and status
byte (C0, S0) and 3 application control and status bytes (C1 ... C3, S1 ... S3)
provide the control of the data flow.
Please note
Mapping the process data of some I/O modules or their variations into the
process image is specific for the fieldbus coupler/controller used. You will
find both this information and the specific configuration of the relevant
control/status bytes in the Chapter on "Fieldbus Specific Configuration of
Process Data" which describes the process image of the particular
coupler/controller.
2.1.2.8.1 Overview
A basic distinction is drawn between the cyclic process image and the mailbox
process image.
Cyclic process image Mailbox process image

(Mailbox deactivated) (Mailbox activated)
Off-
Input Data Output Data Output Data Input Data
set
0 Status byte S0 Control byte C0 Status byte S0 Control byte C0
1 Reserved Reserved Reserved Reserved
2
3
4 Mailbox Mailbox
Process data Process data MB0 ... MB5 MB0 ... MB5
5
D0 ... D6 D0 ... D6
6
7
8 Reserved Reserved
Switching between the two process images is conducted through bit 5 in the
control byte (C0 (C0.5). Activation of the mailbox is acknowledged by bit 5 of
the status byte S0 (S0.5).
WAGO-I/O-SYSTEM 750
I/O Modules
Process Image
2.1.2.8.2 Control Byte 0, Status Byte 0
Control byte C0
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 0 MBX 0 0 0 0 0
MBX Mailbox mode
0: Mailbox deactivated.
1: Mailbox activated.
0 Reserved
Status byte S0
0 ERR MBX X X X X X
MBX Mailbox mode
0: Mailbox deactivated.
1: Mailbox activated.
ERR Error signaling
ERR (Status byte 0, Bit 6) follows the general error bit Error (Status byte 2, Bit 7).
ERR can be enabled via a bit in the configuration table. ERR is not enabled in the default
state. This means that errors will not result in a bit being set.
0: No error present.
1: Error present.
X Reserved
Configuration of the control and status bytes C1 ... C3 and S1 ... S3 depends
on the set operating mode; this is described in the associated sections.
WAGO-I/O-SYSTEM 750
I/O Modules
Process Image
2.1.2.8.3 Cyclic Process Image
The process image appears as follows when the mailbox is deactivated (C0.5
= 0):
Off-
Input Data Output Data
set
0 S0 Status byte S0 C0 Control byte C0
1 Reserved Reserved
2 D0 Process data D0 Process data
The configuration of the process data depends on the set operating mode; this
is described in the associated sections.
A basic distinction is drawn between the following process images:
- Positioning,
- Jogging,
- Move program,
- Velocity,
- PWM,
- Pulse chains,
- Single Shot.
WAGO-I/O-SYSTEM 750
I/O Modules
Process Image
2.1.2.8.4 Mailbox Process Image
The process image appears as follows when the mailbox is activated (C0.5 =
1):
Off-
set
1 Reserved Reserved
2 MB0 Opcode MB0 Opcode
3 MB1 Status_Mbx MB1 Control_Mbx
Reply Request
4 MB2 MB2
Parameter byte 1 Parameter byte 1
Reply Request
5 MB3 MB3
Reply Request
6 MB4 MB4
Reply Request
7 MB5 MB5
8 Reserved Reserved
The individual applications can be set using opcodes.
Opcodes are assigned to different topical areas and are described in the
sections that follow.
The control byte and status byte for the mailbox have the following function:
Control_MBX
Toggle- 0 0 0 0 0 0 0
Flag
Toggle-Flag If the data that have been written to the mailbox are to be accepted, the status of this bit is
changed. Data is also accepted when an opcode is specified that is different from the
previous one. Therefore: First write the data and then the opcode!
0 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Process Image
Status_MBX
Toggle- Return-Code
Flag
Return-Code The return code indicates whether the last command has been executed without any errors.
If so, a value of 0 is returned. When the return code provides a value other than 0, you
must check the corresponding opcode. The return messages are then individual.
Toggle Flag The mailbox is evaluated when the status of the toggle flag is different in the
Control_MBX. The status of the bit is then also changed.
WAGO-I/O-SYSTEM 750
I/O Modules
Mailbox Mode
2.1.2.9 Mailbox Mode
The mailbox expands the application range considerably.
The mailbox is activated when bit 5 of the control byte C0 is set to 1.

Activation of the mailbox is acknowledged by bit 5 of the status byte S0.
Note
The Mailbox mode is not selected automatically when the mailbox is activated
in the coupler/controller! Bit 7 of control byte C1 must be set to 1 for this.
2.1.2.10 Table Manager
Access to the tables is handled using the Table Manager. Possible types of
tables:
 Move programs,
 Positioning of camshaft,
 Target positions,
 Configuration,
 Data recorder.
Several tables 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 configuration / EEPROM
1: RAM 1
2: RAM 2
Exceptions to this are: Configuration and the data recorder use RAM1
exclusively. The data from the data recorder can not be copied to the
EEPROM.
One table of each type of table can be activated and this is then evaluated in
the Move mode.
One table of each type can be saved to the EEPROM. Tables in the EEPROM
can not be activated, but only copied to a RAM table. If a table is present in
the EEPROM, it will be copied automatically to RAM1 and RAM2 following
a reset and is activated such that it can be directly executed in RAM1.
The tables are loaded from the control system by download. The following
rules apply to downloading:
WAGO-I/O-SYSTEM 750
I/O Modules
Table Manager
 A download is always conducted only into one table in the RAM.
 A download is only permitted when the target table is not active.
The download is checked for consistency using a checksum. If the checksum

is not correct, the table that has been loaded is marked as invalid.
Tables may be copied. The following rules apply to copying of tables:
 The target table must be blank. Tables in the RAM can not be deleted
using the command TBL_ERA.
 Copying is only permitted when the target table is not active.
The Table Manager detects whether a table is blank, valid or invalid (for
example during a download 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 Table Manager. Depending on the table
type, the following access options are available:
 Downloading of a table,
 Copying of a table,
 Deleting of a / all tables,
 Activating a table,
 Writing / Teaching of an element (position table only).
The position table stores target positions that can be queried using special
commands. This position table enables target positions to be edited and taught,
without having to change the Move program.
The table for the camshaft stores a bit sample that is output as a function of the
position. Activation of a different table for the camshaft is performed
immediately.
The table for configuration stores a data field that contains configuration data.
2.1.2.10.1 Download
Table download is performed to implement a transport layer for transferring

relatively large data volumes via the I/O bus.
The data blocks that are to be transferred are fragmented into 4-byte blocks,
which are then transferred to the module at each I/O module cycle. These data
bytes are embedded in the mailbox and can be transferred simultaneously with
the process data, ensuring control over this process while also in this mode.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
A download is basically broken down into 3 phases:
1. Preparation for download using the command DLD_START

2. Transfer of data using the command DLD_CONT
3. Conclusion of download using the command DLD_END.
These commands are elucidated in the appendix.
2.1.2.10.2 Control
After downloading of tables types:
 Move program,
 Camshaft
 Position table
the tables, and the associated functions, must be enabled.
 The camshaft is always active after this.

 The Move program is active after this and can also be halted again,
contrary to the camshaft.
These commands are elucidated in the appendix.
2.1.2.11 Configuration
The response of the stepper module is essentially determined by the settings in

the configuration table. The configuration table is broken down into two
sectors: Addresses 0 ... 127 directly describe the corresponding parameters,
whereas addresses above 128 are interpreted as indicators. These indicators
point to sources in the bit I/O table and are assigned to fixed targets in the
same table.
The bit I/O table is broken down into two sectors: Addresses 0 ... 127 describe
the data sources; addresses 128 ... 255 described the targets to which the
indicator can point.
Configuration table Bit-I/O-Tabelle

0 0
... Parameter ... Sources
127 127
128 128
Pointer
... on ... Targets
sources
508 255
configurable allocation
fixed allocation
Fig. 2.1.2-8: Configuration and bit I/O tables g067x30e
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
2.1.2.11.1 Configuration Table
The table below shows an excerpt from the configuration table.
Configuration Offset Bit Data Default Range Description

variable (Dec.) Offs. type
User_Conf_Id 0 UINT16 0 0 ... 50000 Data set numbers can be freely assigned
by the user. Numbers above 50000 are
reserved.
ConfVersion 2 UINT8 4 0 ... 254 Configuration version number
Application_Sele 3 UINT8 1 0 ... 4 Switching of applications. The
ctor appropriate process image is activated
when a new application is selected.
0: Reserved
1: Positioning controller
2: Velocity control
Frequency output
pulse duration modulation
3: Pulse chain
4: Single Shot
Freq_Div 4 UINT16 200 4 ... 65535 Sets the prescaler for the maximum
velocity
Acc_Fact 6 UINT16 80 1 ... 65535 Sets factor for maximum acceleration
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
2.1.2.11.1.1 Configuration of Basic Parameters
2.1.2.11.1.1.1 Application Selection
Application_Selector, Offset 0, Range [0 ... 4]
The Application_Selector determines the basic function:
Value Application
0 Reserved
1 Positioning controller
2 Velocity control/Frequency output/PWM
3 Pulse chain
4 Single Shot
2.1.2.11.1.1.2 Prescaler for Maximum Velocity
Freq_Div, Offset 4, Range [4 ... 65335]
The maximum output frequency is derived from an internal 2 MHz cycle by a

prescaler. When the smallest possible prescaler (4) is selected, a maximum
frequency of 500,000 Hz is yielded.
2.1.2.11.1.1.3 Factor for Maximum Acceleration
Acc_Fact, Offset 6, Range [1 ... 65535]
Acceleration is given in steps/s². The specified value is multiplied by the

acceleration factor (Acc_multiplier) and then divided by the frequency
prescaler (Freq_Prescaler).
a=acceleration value * Acc_multiplier/Freq_Prescaler
Acceleration value: Setting via the process image, or parameter in an opcode.
2.1.2.11.1.1.4 Reference Run
Reference_Offset, Offset 108, Range [±8388607]
Position of reference switch.
Reference_Mode, Offset 112
Mode for referencing on start of a reference run using the control bit
M_Reference. At the start of a reference run via the mailbox using the Move
command START_REFERENCING, the call parameters are used (and NOT
the following configuration bits).
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Bit 1:
0: Reference run to reference switch
1: Reference run to limit switch
Bit 2:
0: Reference run to negative end of a reference switch
1: Reference run to positive end of a reference switch
Bit 3 ... 7: Reserved
2.1.2.11.1.1.5 Jog Mode
Default setup speed.

The current moving speed is used when this parameter is 0.
Acceleration for Jog mode and Referencing.
2.1.2.11.1.1.6 Ramps
Acceleration_Stop_Fast, Offset 46, Range [0 ... 32767]
Default acceleration for STOP mode; the current acceleration is used when
this parameter is 0.
Acceleration_RampUp, Offset 48, Range [0 ... 32767]
Default acceleration for acceleration phase.
Acceleration_RampDown, Offset 50, Range [0 ... 32767]
Default acceleration for delay phase.
Acceleration_RampUp_Param, Offset 52,

Range [0 ... 16777216]
Default acceleration time or acceleration path
Acceleration_RampDown_Param, Offset 56,

Range [0 ... 16777216]
Default deceleration time or deceleration path
Acceleration_Modes, Offset 60
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Bit 0 ... 1: AccType (Acceleration type)

0: constant acceleration
1: linear rise in acceleration;
the period for acceleration increase is Acceleration_RampUp_Param
2: sin2 rise in acceleration;
3: Reserved
Bit 2 ... 3: AccParam (Acceleration parameter)
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: constant acceleration
1: linear rise in acceleration;
2: sin2 acceleration;
3: Reserved
Bit 6 ... 7: DecParam (Deceleration parameter)
0: no modification
1: Acceleration_RampUp_Param interpreted as the acceleration period
2: Acceleration_RampUp_Param interpreted as the acceleration path
3: Reserved
2.1.2.11.1.1.7 Scaling Factors
Pos_Mult, Offset 20, Range [1 ... 65535]

Pos_Div, Offset 22, Range [1 ... 65535]
Scaling factors for position.
Speed_Mult, Offset 28, Range [1 ... 65535]

Speed_Div, Offset 30, Range [1 ... 65535]
Scaling factors for speed.
Acc_Mult, Offset 32, Range [1 ... 65535]

Acc_Div, Offset 34, Range [1 ... 65535]
Scaling factors for acceleration.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
2.1.2.11.1.1.8 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 [ms].
2.1.2.11.1.1.9 Hardware/Software Configuration
HwSwConfig, Offset 19
Bit 0: Output_Type
0: Clock/Direction
1: Signals A and B, shifted by 90°
Bit 1: Rerserved
Bit 2: Drive_Direction (Direction of rotation inversion)
0: Output signal processed directly
1: Output signal: Direction of rotation inverted
Bit 3 … 6: Reserved
Bit 7: Program_Autostart (Move program Autostart – Normal mode)
0: Move program activated only via Move program or Mailbox mode.
1: Move program activated immediately after startup, see description.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
2.1.2.11.2 Configuration using Control Byte C2
The following values can be configured using the control byte C2 in the
standard configuration.
2.1.2.11.2.1 Frequency Prescaler
The values for the frequency prescaler (Freq_Prescaler) are determined by the
bits Freq_Range_Sel in control byte 2 (C2.0 and C2.1). If both of these bits
are zero (0), the value for the parameter Freq_Div in the configuration table is
used.
Freq_Range_Sel '00' '01' '10' '11'

Freq_Prescaler Freq_Div <> 0: 80 20 4
(frequency prescaler) Parameter Freq_Div from
configuration table
Freq_Div = 0:
200
fp,max Freq_Div <> 0: 25 kHz 100 kHz 500 kHz
2 MHz / Freq_Div
Freq_Div = 0:
10 kHz
Note
If Freq_Range_Sel = 0 and configuration parameter Freq_Div = 0, the variable
Freq_Prescaler is set to 200.
The moving speed is determined by the pulse frequency (fp), which is

determined by the output data Velocity (D0 and D1) and by the prescaler
Freq_Prescaler.
fp = Velocity * 80 / Freq_Prescaler [Hz]
The acceptable velocity range is 1 … 25000. The setting for the pulse
frequency in [Hz] is given by selecting Freq_Prescaler = 80.
Note
The bits Freq_Range_Sel may only be modified when the control system is
deactivated! These bits are therefore only accepted when Enable is not set.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
2.1.2.11.2.2 Acceleration Factor
The value for the acceleration factor (Acc_Multiplier) is determined by the

bits Acc_Range_Sel in control byte 2 (C2.2 and C2.3). If both of these bits are
zero (0), the value for the parameter Acc_Fact in the configuration table is
used.
Acc_Range_Sel '00' '01' '10' '11'

Acc_Multiplier Acc_Fact <> 0: 80 800 8000
(acceleration factor) Parameter Acc_Fact from
configuration table
Acc_Fact = 0:
8
Acceleration period T to fmax Acc_Fact <> 0: 760 ms 76 ms 7.6 ms
at max. acceleration 32767 Setting from
configuration
Acc_Fact = 0:
7600 ms
Note
If Acc_Range_Sel = 0 and configuration parameter Acc_Fact = 0, the variable
Acc_Multiplier is set to 8.
Acceleration is determined by the output data Acceleration (D2 and D3) and
the prescaler Freq_Prescaler and by the acceleration factor Acc_Multiplier.
a = Acceleration * Acc_Multiplier / Freq_Prescaler [Hz/s]
The permissible acceleration range is 1 … 32767.

Acceleration is set in [Hz/s] when the acceleration factor Acc_Multiplier is
selected equal to the prescaler Freq_Prescaler.
Note
The bits Acc_Range_Sel may only be modified when the control system is
deactivated! These bits are therefore only accepted when Enable is not set.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
2.1.2.11.3 Configuration via Mailbox Mode
The configuration data set elements are determined by an address. This

address is yielded from the table assignment and may be greater than one byte;
in this case the byte with the lowest value will be present at the specified
address. The size of the element must also be given for unique access to an
element.
The table containing the configuration values is given in the appendix in

Chapter 3.5, “Configuration Variables”.
The complete data set is loaded to the RAM on a download and is then saved
to the EEPROM; a module warm start is then carried out. The download is
conducted using the commands DLD_START, DLD_CONT and DLD_END.
These commands are explained in Chapter 2.1.2.10, “Table Manager”.
The writing procedure to the EEPROM is signaled by LED H.
The download is conducted by the table manager. The configuration data set is
not saved to the EEPROM until successful completion of the download. A
warm start is carried out subsequently, regardless of whether the download
was successful.
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 parameters can be specifically modified

while the module is in operation.
This requires the diagnostics opcodes (see Chapter 2.1.2.15, ”Advanced

Diagnostics”).
If a valid configuration data set is available in the EEPROM after power-on,

reset or a warm start of the module, this data set is loaded to the RAM; if not,
the factory default data set is loaded, i.e. the module is restored to the WAGO
as-delivered status.
2.1.2.11.4 Digital Signals and Signal Linking
The vital binary signals are addressed by central access functions. This
permits easy, external access to all bits and allows linking of the bits to one
another to be parameterized. Access to individual bits is performed using an
index 0 … 255.
A bit function is defined by the function unit that sets the bit (source) and the
function unit that reacts to this bit (target). Only the source is defined for
output bits, and only the target for control bits. Only status bits have set links
between two function units; they can, however, also be queries as output bits
for further processing. Bit for which the source is not fixed are designated as
linkable bits.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
The universal filter functions FILT1 ... FILT8 possess a special status. The
inputs for these filter functions are linkable bits that can be linked to any other
bit. A query of these bits, on the other hand, provides information about the
status of the filter. As a result, these bits represent a function between inputs
and outputs.
The table containing the available bits is given in the appendix in Chapter 3.4,
“Bit field for I/O driver”.
The following conventions apply:
 Source bits are assigned numbers 0 to 127 and may not be used as target
bits. A source bit may reference several target bits.
 Target bits are assigned numbers 128 to 255 and may also be used as
source bits. Target bits have exactly one source.
 References are stored in the configuration table. The names 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". This corresponds to the WAGO default settings
(FACTORY_DEFAULT).
2.1.2.11.4.1 Linking of Bits
The expanded parameters are set using pointers (indices). The address for
these pointers indicates a corresponding address in the bit I/O field. Allocation
using names is also provided. "Ptr_nnn" indicates the variable "nnn".
Actual allocation is conducted using the content of the pointer.
The figure below illustrates allocation with an example of motor shutdown

using Stop1_N and Stop2_N.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Source Pointer Destination
Bit table Configuration table Bit table
Offset Name Value
0 DataSetNr 0x0000
Name Bit-no. Bit-no. Name
Motor cutoff
ZERO 0 177 Stop2_N
177 Ptr_Stop2_N 65
DI1 Input1 48 194 Stop1_N
194 Ptr_Stop1_N 48
Internal bus KBUS_CTRL1_1 65 255 INT
508 Unused_508 0x0000
configurable allocation fixed allocation
Fig. 2.1.2-9: Linking of bits p067x18e
Index Ptr_Stop1_N has a value of 48 (0x30), thus assigning Input1 to the

Stop1_N variable.
Index Ptr_Stop2_N has a value of 65 (0x41), thus assigning control bit C1.1 to
the Stop2_N variable.
The table excerpts given below show the corresponding entries for the
configuration and bit I/O table.
Configuration Address Data

Default Range Description
variable Dec. Hex. type
…
Ptr_Stop2_N 177 0xB1 UINT8 0x41 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 Type Bit Description
Dec. Hex. Target/Source
no.
…
Input1 48 0x30 SRC KBUS_ST3_0 0x90 Input 1
Stop1_N 0xC2
…
KBUS_CTR 65 0x41 SRC Stop2_N 0xB1 Internal bus control byte 1 bit 1
L1_1
…
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration

no.
Stop2_N 177 0xB1 DST/ KBUS_ 0x41 Drive Stop 2 inverted
SRC CTRL1_1
…
Stop1_N 194 0xC2 DST/ Input1 0x30 Drive Stop 1 inverted

SRC
…
Linkable bits can be programmed for any source. This "linkability" enables
flexible configuration and flexible arrangement of module terminal
assignments. For example, the Start linkable bit can be set to the Input 1 fixed
bit.
Note
A linkable bit can also be linked to another linkable bit, but the maximum
number of nesting levels is four (4). Too many nesting levels will yield an
ambiguous result and the error ERR_LINK_NESTING will be issued.
Note
The nesting levels are not checked until the system run time.
Linking of bits is performed in the device configuration and can only be

changed by reconfiguration. An exception to this rule are the bits that are
linked to MZERO and MONE. These bits can be set or reset as often as
required during 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 more advantageous to use Input 2 for specifying the
direction of movement for the Jog mode. Moreover, a "1" at the input should
signify that the motor is moving in a positive direction.
The address and length of the configuration variables are given in the
appendix in Chapter 3.5, “Configuration Variables”.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Configuration Address Data

Default Range Description
variable Dec. Hex. type
…
Ptr_FILT1 168 0xA8 UINT8 0x00 0 ... 255 Source for linkable bit 0xA8
...
Ptr_Direction_ 187 0xBB UINT8 0x53 0 ... 255 Source for linkable bit 0xBB
Neg
…
Filter1_Function 224 0xE0 UINT8 0 0 ... 11 Function of filter:
1 = inversion
…
The bits required for this are given in the appendix in Chapter 3.4,”Bit field
for I/O driver”.

no.
…
Set_Reference 0xBC
…
FILT1 168 0xA8 FILT ZERO 0x00 Timer / Filter 1
…
Direction_ 187 0xBB DST/ KBUS_CTRL3 0x53 Move in negative direction.
Neg SRC _3
…
A prerequisite for this is that the mailbox has already been activated. This is
explained in Chapter 2.1.2.9, “Mailbox Mode”.
Applying the procedure described above, the bits for the standard
configuration control and status bytes can also be modified.
Attention
Any change to the standard configuration will nullify the description given for
the changed items.
Unassigned linkable bits can be linked to the constant bits ZERO or ONE.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
2.1.2.11.4.2 Special Bits: ZERO, ONE, MZERO and MONE
The ZERO and ONE bits are fixed. The ZERO bit is always deleted and has a
value of 0, the ONE bit is always set and has a value of 1.
Linkable bits can be set to a fixed value using ZERO and ONE bits.
The MZERO and MONE bits have the same function, but also possess an
additional function when they are the source for linkable bits.
The status of linkable bits is given by the source bit. As a result, linkable bits
can not be changed by commands or access functions. An exception to this
rule are the linkable bits that are linked to MZERO and MONE.
A bit that is linked to MZERO is first deleted after a reset, but can be
manipulated as required using the mailbox command or the Move program. A
bit that is linked to MONE is initially set after a reset and is otherwise treated
the same as a bit linked to MZERO.
2.1.2.11.4.3 Filters, Low Pass, Timers and Counters
The filter is configured using the table with the configuration values (see
Chapter 3.5, “Configuration Variables”).
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Eight (8) special bits are defined that can implement the following functions:
1. Inverting,
2. Starting edge filter,
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 Starting edge filter react to the linkable input bit
and trigger the output immediately.
The functions Low pass, Pulse extension, Monoflop and Pulse delay react to
the linkable input bit and trigger the output in accordance with the selected
function at a time constant for which parameters can be assigned. This time
can be set between 0 … 16777215 ms.
Fig. 2.1.2-10: Inverting p067020x
There are two statuses for the starting edge filter: After a reset this filter is in
the Wait status, as long as the input is active. The output provides the value
zero. As soon as the input signal is zero for the first time the filter switches to
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
its operating status and the input signal is passed on to the output without
being changed. An operational change back to the Wait status is not provided.
Fig. 2.1.2-11: Starting edge filter p067021x
The Low pass does not accept any change of the input signal until the new
status is constant during the runtime.
Fig. 2.1.2-12: Low pass 500ms p067022x
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Pulse extension sets the 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. 2.1.2-13: Pulse extension 500ms p067023x
The monoflop function sets the output on an input 01 edge. The output is
reset after the set time expires. Retriggering during the runtime is not possible.
Fig. 2.1.2-14: Monoflop 500ms not retriggerable, with short input pulse p067024x
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Fig. 2.1.2-15: 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 the input is deactivated. The output
is not reset if the input is deactivated before the set time expires.
Fig. 2.1.2-16: Pulse delay 500ms p067026x
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Application example: Filters connected in series: Monoflop 500ms, inverting

and a second monoflop 100ms.
Fig. 2.1.2-17: Filters connected in series: Monoflop 500ms, Inverting and second monoflop
100ms p067027x
The math function reacts independently of the input bit. The value for this
value can only be set to a value, incremented or decremented using
commands. These commands can be transferred in the mode "Mailbox Move
command", or processed as a component of the downloaded program in the
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" or "Counters".
In the mode "Counter, up" / "Counter, down" the filter value is raised or
lowered by one for each 01 edge of the filter input. The maximum counting
frequency for external signals is 1 kHz; internal signals are normally evaluated
once per program cycle.
The mode "Counter, up, stop" / "Counter, down, stop" behaves in the same
manner as "Counter, up" / "Counter, down", except that counting is halted
when the filter value reaches zero. What this also means is that the filter value
must have a starting value other than zero, with subsequent counting then
performed to zero.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
2.1.2.11.5 Move Commands
These commands are classified as follows:
 Table commands
 Move Commands
 Auxiliary commands
In addition to pure Move commands, auxiliary commands and table

commands are also accepted. The Move commands are passed along to the
command interpreter. The table commands and auxiliary commands are
required exclusively for the Move program mode.
A process is started using Move commands; there is no waiting for the end of
the process (such as reaching a target).
Most commands are processed directly, except for the following cases:
Move commands are not started until the previous Move 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 currently in progress and are directly
processed.
Commands that wait on an event are repeated until the event occurs.
The Move command manager decides from which source the Move
commands are to be accepted. Potential sources are:
 Status control,
 Limit switches,
 Move commands via mailbox commands,
 Positioning,
 Referencing,
 Jog mode,
 Program mode.
Status control and limit switches are handled with priority; they can only
execute commands for braking the drive. Switching between the other setpoint
sources is performed by selecting the corresponding mode.
A Move program is used to execute individual movements one after the other.
Some values can also be set using the Move program.
There are two ways of processing a Move program:
 Program mode:
The individual commands are compiled and loaded to the module by
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
download. The Move program can then be executed there through the
Program mode (see Chapter 2.1.2.12.1.7, “Move program mode”)
 Move task via mailbox:

The module can be operated via the mailbox using the move commands.
Movement can be made directly to different positions. This command is
accepted only when the mode "Move task via mailbox"(Chapter
2.1.2.12.2, ”Move Mode via Mailbox”) has been activated.
Each individual step in the Move program has the following format:
Byte Meaning
1 Command
2 Data 1
3 Data 2
4 Data 3
The individual commands are elucidated in the appendix in Chapter 3.2,

“Commands for Move Mode”.
2.1.2.11.6 Scaling, Number Ranges and Units
Stepper drives rotate at a defined angle on each pulse. The software is oriented
toward this pulse output and the internal unit of measure for the position is,
accordingly, a "step". Velocity and acceleration are derived form this. The
interface enables adaptation and conversion to application-specific units (path
in m, mm, degrees, and velocities in m/s, degrees/s).
2.1.2.11.6.1 Internal Units of Measure
2.1.2.11.6.1.1 Time
On account of the periodical processing employed, time is measured in

TICKS, with a TICK being the duration of one scan interval. A TICK is equal
to one millisecond. Physical units based on time are converted accordingly.
2.1.2.11.6.1.2 Travel
The travel, or path, is measured in "steps". The number range is 24 bits,

including sign.
Position range: -8388608 ... +8388607,

Presentation in two's complement.
2.1.2.11.6.1.3 Velocity
Velocity is measured in "steps per unit of time", with the range being ±15 bits.
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Velocity range:
Velocity min ... Velocity max = -25000 ... +25000.
The maximum pulse rate is 500000 Hz. This frequency is derived from an
internal 2 MHz cycle by a prescaler.
Parameters can be assigned to the prescaler, with the 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_Prescaler)

= 80 Hz / Freq_Prescaler
= 20 Hz … 1.2 mHz
Freq_Prescaler fmax: maximum Frequency

velocity/frequency resolution
4 500000 Hz 20 Hz
80 25000 Hz 1 Hz
65535 30,5 Hz 1,2 mHz
To ensure the highest degree of accuracy, the value Freq_Prescaler should be

set for the smallest whole value at the greatest speed required by the motor.
For example, if a stepper motor is to operate at 200 steps and 64 microsteps at

speeds between 0 … 20 s-1 , a Freq_Prescaler range of 4 ... 7 is possible. A
setting of Freq_Prescaler = 7 provides the highest degree of accuracy and
frequency resolution.
Freq_Prescaler = 2000000 Hz / fmax
with fmax = Speed * Number of steps * Microsteps = n * Z * M yields:
Freq_Prescaler = 2000000 Hz / (n * Z * M)
= 2000000 / (20 * 200 * 64) = 7.8125
At this selected Freq_Prescaler, the module can output a maximum pulse

frequency of 285714.29 Hz at a setpoint of 0 … 25000, which corresponds to
a motor speed of 22.32 Hz. For a specified speed of exactly 20 Hz, a setpoint
of
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration
Velocity = (f / fmax) * Velocity_max = (n * Z * M / fmax) *25000
= (n * Z * M / (2000000 / Freq_Prescaler)) *25000
= 20 Hz * 200 * 64 * 7 * 25000 / 2000000 = 22400
must be specified in the process image.
Alternatively, an attempt can also be made to achieve a decadic relationship

between the setting and the motor 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 … 25000, which corresponds to a motor speed of 26,04
Hz. For a speed of 20 Hz a setpoint of
20 Hz * 200 * 64 * 6 * 25000 / 2000000 = 19200 <~> 20000 – 4 %
must be specified. Here, the setting is nearly 100 times the motor speed.
At a setting of Freq_Prescaler = 80, the numerical speed value is equal to the

output frequency in [Hz].
These values can also be specified using user-specific units that can be
defined. For this, the specified data for speed is multiplied by a factor
Speed_Mult prior to internal processing and then divided by a factor
Speed_Div. If the internal  external or external  internal conversion
violates the permissible value range, the error message
1513 (UNITS_SPEED_INT_RESULT) or
1514 (UNITS_SPEED_USER_RESULT) is issued.
2.1.2.11.6.1.4 Acceleration
The prescaler for velocity also figures into the definition for acceleration.
Acceleration is given as
(Steps / s2) * Acc_Multiplier / Freq_Prescaler.
The initial factor Acc_Multiplier is determined such that the highest and
lowest required acceleration can be easily specified.
Acceleration is scaled to [Hz/s] for Acc_Multiplier = 1 and Freq_Prescaler =

1.
These values can also be specified using user-specific units that can be
defined. For this, the specified data for acceleration is multiplied by a factor
Acc_Mult prior to internal processing and then divided by a factor Acc_Div.
If the internal  external or external  internal conversion violates the
permissible value range, the error message
1515 (UNITS_ACC_INT_RESULT) or
1516 (UNITS_ACC_USER_RESULT) is issued.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.11.6.2 External Units of Measure
Internal representation can also be converted to application-specific units

using conversion factors. Conversion is performed by multiplying by a
configurable factor (*_MULT) and then dividing by a configurable factor
(*_DIV). This way, fractions can be set with high accuracy within a wide
range. These factors are explained in greater detail in the following sections.
2.1.2.11.6.2.1 Path
The setting data for the positions are multiplied by the configuration factor
Pos_Mult prior to internal processing and then divided by the configuration
factor Pos_Div.
For example, is a step (or microstep) corresponds to travel of 0.12 mm, the
setting can be given in µm by selecting Pos_Mult = 1 and Pos_Div = 120, or
in mm by selecting Pos_Mult = 25 and Pos_Div = 3.

1511 (UNITS_POS_INT_RESULT) or 1516 (UNITS_POS_USER_RESULT)
is issued.
2.1.2.11.6.2.2 Velocity
The setting data for velocity are multiplied by the configuration factor
Speed_Mult prior to internal processing and then divided by the configuration
factor SPEED_DIV and the prescaler Freq_Prescaler.

1513 (UNITS_SPEED_INT_RESULT) or
1514 (UNITS_SPEED_USER_RESULT) is issued.
2.1.2.11.6.2.3 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_Div.

1515 (UNITS_ACC_INT_RESULT) or
1516 (UNITS_ACC_USER_RESULT) is issued.
2.1.2.12 Positioning
2.1.2.12.1 Operation via Cyclic Process Image
Different operating modes are available with the stepper modules. These are
described in the following sections.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
The application Stepper positioning control is selected using the configuration

parameter Application_Selector = 1.
2.1.2.12.1.1 Selecting a Mode
A mode can only be selected when the module is ready for operation and no
other mode is active. This is the case when the status bits Ready and
Stop_N_ACK are active and Start_ACK and Start are not active.
If these condition is not fulfilled, but a mode request bit is nevertheless set,
mode selection is delayed until this condition is fulfilled.
This ensures that any tasks already in progress are ended properly.
A mode is selected by setting the mode request bit. If a mode is already active,
setting of a further mode request bit has no function; the old mode (in
progress) is continued.
Selection of a mode is confirmed by the associated mode status bit *_ACK.
2.1.2.12.1.2 Ending a Mode
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 canceled until the drive comes to a
standstill.
The Standstill status bit is set when the drive is motionless.
A mode is also ended when Stop_N_ACK is reset. 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 canceled until the drive comes to a
standstill.
A mode is also ended when Ready is reset. Velocity is set immediately to

zero, regardless of the status of the drive. The assigned mode status bit is
canceled immediately. This procedure poses the risk of losing control over the
drive and allowing the motor to run down in an uncontrolled manner, in
particular at loads with high moments of inertia. This is also normally
associated with step losses, meaning a reference run must subsequently be
started.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.3 Sequence Diagram for Selection and Ending of Modes
high
low
Enable
high
Ready
low
high
Error_Quit
low
high
Error
low
high
Stop1_N *)
low
high
Stop2_N
low
high
Stop_N_ACK
low
high
Start
low
high
Start_ACK
low
high
M_Operation modet1
low
high
M_Operation mode1_ACK
low
high
M_Operation2
low
high
M_Operation2_ACK
low
high
Busy
low
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10)(11)(12)
*) In the standard configuration linked on Di1
Fig. 2.1.2-18: 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_ACK has been set.
(3) Mode 1 is selected.
(4) Mode 1 has been accepted by the module.
(5) The drive is started by the Start rising edge in Mode 1.
(6) Start can be canceled if the Start_ACK bit has been set.
(7) Mode 1 is ended. The drive is run down to standstill.
(8) Mode 1 is ended. The drive is motionless.
(9) Mode 2 is selected.
(10) Mode 2 has been accepted by the module.
(11) The drive is started by the Start rising edge in Mode 1.
(12) Start can be canceled if the Start_ACK bit has been set.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.4 Positioning Mode
The Positioning mode is possibly only when the Mailbox is deactivated.
First, the mode must be activated using M_Positioning. The Positioning mode
is active when the M_Positioning_ACK bit is set. Then, the following
setpoints can be specified:
 Velocity,
 Acceleration,
 Absolute position.
The permissible velocity range is 1 … 25000. A velocity equal to 0, velocities

greater than 25000 and negative velocities are not permitted and will result in
an error message.
The permissible acceleration range is 1 … 32767. An acceleration equal to 0

and negative acceleration are not permitted and will result in an error message.
The setpoints are not accepted until a rising edge of 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 bit is set from the time when the setpoints are accepted until the
target is reached.
New setpoints can be activated during the run by a new rising edge of Start.
Movement is made toward the new position immediately at the new velocity
and acceleration. Movement toward the old position is not continued (on-the-
fly change). This function also allows you to change only the velocity or
acceleration during an ongoing process.
Attention
With linear sin2 acceleration, the "on the fly" set point value can only be
taken over when the drive is running at v = const.With constant acceleration
the new set up value is taken over during the ramps.
The special features associated with limit switches and the Jog and
Referencing modes are described in the corresponding sections.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.4.1 Positioning Process Image
The Positioning process image represents the standard configuration for

stepper positioning control and is shown in the following tables.
Off
set
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 Acceleration H
6 D4 Actual position L D4 Target position L
7 D5 Actual position M D5 Target position M
8 D6 Actual position H D6 Target position H
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Control byte C1
M_Drive M_Jog M_Refer M_Progr M_Positi Start Stop2_N Enable
ByMBX ence am oning
Enable Module enable
0: The module is blocked. When this bit is reset during ongoing operation, frequency
output is immediately set to 0. This bit terminates the current operating mode.
1: The module is enabled and can be started when the corresponding return message is
also available in the status.
Stop2_N Stopping of drive.
This bit can be used to stop the drive from the control system. This bit must be set to
activate an operating mode. The return message is transmitted via the Stop_N_ACK bit.
0: Current is being supplied to the motor, but it is at standstill. If the motor is still
turning it is put into standstill by the STOP acceleration command
Acceleration_Stop_Fast.
The motor current can be raised using the parameter Current_Ratio_Stop.
The motor can not be started up.
1: The drive may be started.
Start Startup of drive.
The drives, or frequency output, is started in the selected mode on a positive edge. If the
edge is not accepted (in the Jog or Mailbox mode), an error message is generated.
01: The drive is started accordingly on the rising edge.
Positioning 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.
A previously calculated movement sequence is
started immediately when the PreCalc_ACK bit is
set (on the fly).
Move program: The current 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.
Referencing The reference run is started.
Jog Mode No effect. The drive is started in the Jog mode only
when the pushbutton Direction_Pos or
Direction_Neg is actuated. An error message is
generated.
Mailbox Mode May not be set when the mailbox is active
Otherwise, an error message will be generated.
Various commands can be issued via the mailbox as
soon as the Mailbox mode is activated.
M_Positioning Positioning Mode
The mailbox may not be active in this mode.
0: The Positioning mode is not active (selected).
1: The Positioning mode has been selected.
M_Program Move program mode
0: The Move program mode is not active (selected).
1: The Move program mode has been selected.
M_Reference Referencing mode.
0: The Referencing mode is not active (selected).
1: The Referencing mode is selected.
M_Jog Jog mode
The drive can be run manually at the setup speed when the Jog mode is active. Control is
implemented using Direction_Pos and Direction_Neg.
0: The Jog mode is not active (selected).
1: The Jog mode has been selected.
M_DriveByMBX Move commands via mailbox mode.
In this mode, all movement commands are issued directly via the mailbox.
0: The Move commands via mailbox mode is not active (selected).
1: The Move commands via mailbox mode is active (selected).
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Status byte S1
M_Drive M_Jog_ M_Refer M_Progr M_Positi Start_AC Stop_N_ Ready
ByMBX_ ACK ence_AC am_ACK oning_A K ACK
ACK K CK
Ready Ready for operation
0: The module is not ready for operation. Either a corresponding request is present via
Enable, or an error has resulted in cancellation of Ready. When the bit switches from
1 to 0 the output stage is deactivated, or the output frequency is set to 0.
1: Readiness for operation has been requested via Enable and no error is present.
Stop_N_ACK Acknowledge request bit Stop2_N.
0: The control system has reset the request bit Stop2_N
or the Enable input has a (1) signal
or the drive is motionless. The drive can not be started up using the Start control bit in
this status.
1: The control system has set the request bit Stop2_N
and the Enable input has a (1) signal
or the drive is being braked.
Start_ACK Start sequence in the operating mode.
0: This bit is also set to 0 when the Start request is canceled.
1: The rising edge function is a function of the selected operating mode.
Positioning 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 set, the movement sequence has
already been precalculated and will not 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 the reference run is still in
operation, the (new) setpoints are again accepted and
calculated (same procedure as for positioning). The reference
run is then restarted.
Jog Mode No effect. Handshake not performed. The drive is started
using the pushbutton Direction_Pos or Direction_Neg.
Mailbox Mode No effect. Handshake not performed. Various commands can
be issued via the mailbox as soon as the Mailbox mode is
activated.
M_Positioning_ACK Positioning mode active
0: The Positioning mode is not active (selected).
1: The Positioning mode has been selected. Movement is made to the active setpoint on
the next rising edge for Start.
M_Program_ACK Move program mode active
1: The Move program mode has been selected. The Move program is started with the
first command on the next rising edge for Start.
M_Reference_ACK Referencing mode active.
1: The Referencing mode is selected. The drive is started at the setup speed on the next
rising edge for Start.
M_Jog_ACK Jog mode active
M_DriveByMBX_A Move commands via mailbox mode active.
CK In this mode, all movement commands are selected directly via the mailbox.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Control byte C2
Error_Qu PreCalc X X Acc_Range_Sel Freq_Range_Sel
it
Freq_Range_Sel Select frequency prescaler.
The prescaler Frq_Prescaler can be set for frequency using these two bits when the module
is to be operated without configuration via the mailbox.
These values are accepted only when Enable is set to 0.
'00': The Freq_Prescaler prescaler is loaded with the parameter Freq_Div from the
current configuration data set.
Freq_Div <> 0: Freq_Prescaler = Freq_Div, fmax = 2 MHz / Freq_Div
Freq_Div = 0: Freq_Prescaler = 200, fmax = 10 kHz
'01': Freq_Prescaler = 80 fmax = 25 kHz
Acc_Range_Sel Select acceleration factor.
These two bits are used to set the Acc_Multiplier factor for acceleration.
'00': The 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 ms
'11': Acc_Multiplier = 8000 T = 7.6 ms
PreCalc Precalculation for movement sequence
The setpoints are taken from the process image and, where required, a movement sequence
precalculated.
0: Each setpoint that is transmitted via cyclic telegram traffic must be accepted and
processed. Any precalculated movement sequence is rejected. A movement sequence
can be calculated and started using Start.
1: The setpoints from the cyclic telegram traffic are to be ignored and the setpoint saved
for the 01 edge used instead. If the starting speed is zero, a movement sequence will
be calculated in advance using this setpoint; this sequence can then be started with the
normal delay using Start.
Error_Quit Acknowledge error.
All errors that are present are acknowledged at the rising edge from 0 to 1. After
acknowledgement, the error switches to 0, or a new error is present:
X Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Status byte S2
Error PreCalc_ Referenc Direction On_Spee StandStill Busy On_Targ
ACK e_OK d et
On_Target Target reached.
The significance of this bit depends on the selected operating mode.
0: A new mode will be selected, or a movement made to a new position.
1: Positioning: The defined position has been reached.
Move program: The current Move program has been concluded successfully.
Referencing: The reference point has been moved to and set successfully.
Jog Mode: The bit is not used in this mode and remains at 0.
Mailbox mode: Function of mailbox command.
Busy Move command being executed.
The selected mode is active and a task has been started;
the drive is rotating, or frequency output is not equal to 0.
0: The mode has been ended. Operation is completed successfully only when the
On_Target bit is set.
1: Positioning: Movement being made toward specified position.
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.
Mailbox mode: Function of mailbox command.
StandStill Drive at standstill, or frequency output at 0.
0: Motor is turning.
1: Motor at standstill.
On_Speed Running speed achieved.
0: The drive has not reached its setpoint speed.
1: The drive has reached its setpoint speed.
Direction Direction of rotation.
This bit is valid only when StandStill is 0.
0: Drive moving in the negative direction.
1: Drive moving in the positive direction.
Reference_OK Referencing OK
Set when reference run has been successfully concluded
0: A reference run has been started.
1: The reference point has been successfully located in the reference run mode.
PreCalc_ACK Status; precalculation for movement sequence concluded
This bit acknowledges the request for a precalculation using PreCalc.
0: Precalculation not yet completed, or no request received.
1: Precalculation completed.
Error Common error for module
An error can/must be acknowledged using Error_Quit.
0: No error present for the drive.
1: Error present for the drive.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Control byte C3
Reset_Qu SetupSpe LimitSwi LimitSwi Direction Direction 0 0
it ed_Activ tch_Neg tch_Pos _Neg _Pos
e
Direction_Pos Move in positive direction. This bit is required for the Jog mode. When this mode has
been selected, the drive is controlled using these bits.
In the Reference run mode this bit defines that the reference switch be searched for in a
positive direction.
0: Drive not to move in a positive direction.
1: Drive should move in a positive direction. The drive is deactivated when the bit
Direction_Neg is set at the same time.
Direction_Neg Move in negative direction. This bit is required for the Jog mode. When this mode has
been selected, the drive is controlled using these bits.
In the Reference run mode this bit defines that the reference switch be searched for in a
negative direction.
0: Drive not to move in a negative direction.
1: Drive should move in a negative direction. The drive is deactivated when the bit
Direction_Pos is set at the same time.
LimitSwitch_Pos Limit switch moving range limit in positive direction This bit is linked to the internal bus.
0: The positive direction limit switch is not actuated.
1: The positive direction limit switch is actuated. The drive is being run down.
LimitSwitch_Neg Limit switch moving range limit in negative direction This bit is linked to the internal bus.
0: The negative direction limit switch is not actuated.

1: The negative direction limit switch is actuated. The drive is being run down.
SetupSpeed_Active Velocity limited to setup speed in all modes. When the bit SetupSpeed_Active_ACK is set
the drive speed is limited to the defined setup speed.
0: Limiting not active
1: Limiting active
Reset_Quit Reset acknowledgement
A Power-on reset or a warm start of the module can be detected by the control system with
the Reset status bit; this must be acknowledged using Reset_Quit.
This also occurs after saving the user configuration to the EEPROM.
Volatile data, parameters and tables for the module may be inconsistent and must be
reloaded to ensure proper operation.
0: Function not defined.
1: The Reset signal is reset.
0 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Status byte S3
Reset SetupSpe X X X X Input2 Input1
ed_Activ
e_ACK
Input1 Status for Input 1
In the default setting, input DI1 is linked with the motor shutdown circuit. Shutdown can
be performed via DI1 or through the control system.
0: Current is being supplied to the motor, but it is at standstill.
If the motor is still turning it is put into standstill by the STOP acceleration command.
The motor can not be started up. This is signaled via bit Stop_N_ACK.
Input2 Status for Input 2
Input DI2 is used as the reference input in the default settings.
0: The reference switch is not actuated.
1: The reference switch is actuated.
SetupSpeed_Active_ Setup speed active.
ACK Velocity limited to setup speed in all modes. Acceleration is not limited. The currently
valid acceleration value is accepted.
1: Limiting active The drive speed is limited to the parameterized setup speed.
Reset Module has performed a reset.
A module reset can be detected by the controller with this bit. The bit is set after a reset
and is confirmed and deleted by Reset_Quit.
0: No reset since last confirmation.
1: A reset has been carried out but not yet confirmed with Reset_Quit.
A Power-on reset or a warm start of the module can be detected by the control system
with the Reset status bit; this must be acknowledged using Reset_Quit. This also
occurs after saving the user configuration to the EEPROM. Volatile data, parameters
and tables for the module may be inconsistent and must be reloaded to ensure proper
operation.
X Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.4.2 Sequence Diagram for Positioning
high
Enable
low
high
Ready
low
high
Error_Quit
low
high
Error
low
high
Stop1_N
low
high
Stop2_N
low
high
Stop_N_ACK
low
high
Start
low
high
Start_ACK
low
high
Command[]=1
low
high
Command_ACK[]=1
low
high
On_Target
low
high
Busy
low
(1) (2) (3) (4) (5) (6) (7) (8) (9)
Fig. 2.1.2-19: Sequence diagram for positioning g067x21x
(3) Positioning mode is selected.
(4) The Positioning mode has been accepted by the module.
(5) The drive is started by the Start rising edge.
(6) The setpoint from the process image is accepted and movement made toward the
target position.
Start can be canceled after Start_ACK has been set.
(7) The drive has reached its target position.
(8) The drive is restarted by the Start rising edge.
(9) The current setpoint from the process image is accepted, the patch recalculated and
movement made toward the target position, where applicable, on the fly.
Start can be canceled after Start_ACK has been set.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.5 Referencing Mode
First, the mode must be activated using M_Reference. The Referencing mode
is active when the M_Reference_ACK bit is set.
The bit Direction_Neg must also be set if the reference run is to be started in a
negative direction, or the Direction_Pos bit set when the reference run is to be
started in the positive direction. Direction for reference switch and
information detailing whether movement is to be made to the reference switch
or a limit switch, specified by the Reference_Mode configuration parameter.
If a reference run is started via the mailbox with the move command
START_REFERENCING, the starting direction, moving direction for the
reference switch and the information specifying whether movement is to be
made toward a reference switch or limit switch, are transferred as parameters.
The reference run 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 as length of limit switch cams, residual travel
after final shutdown, etc).
The reference run is started by the Start rising edge. The drive starts up, or
frequency is output, directly after the setpoints are accepted. The On_Target
bit is canceled immediately and is not set again.
The Busy bit is set from the time of start until the reference run is completed.
If a limit switch is recognized before the reference switch is reached, the

reference run is continued in the opposite direction. If a limit switch is again
recognized before a reference switch, the reference process is terminated and
an error message generated.
If the drive is at a limit switch it will not move further.

In the Mailbox mode the call of the command START_REFERENCING is
acknowledged by error message 23.
No error message is issued in the Referencing mode. In this case, the
ERR_RANGE_NEG, or ERR_RANGE_POS bit is set and can then be
evaluated.
2.1.2.12.1.5.1 Referencing Process Image
The Referencing process image corresponds to that for Positioning, see

Chapter 2.1.2.12.1.4.1, “Positioning Process Image”.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.5.2 Sequence Diagram for Referencing
high
Enable
low
high
Ready
low
high
Error_Quit
low
high
Error
low
high
Stop1_N
low
high
Stop2_N
low
high
Stop_N_ACK
low
high
Start
low
high
Start_ACK
low
high
Command[]=4
low
high
Command_ACK[]=4
low
high
On_Target
low
high
Busy
low
(1) (2) (3) (4) (5) (6) (7)
Fig. 2.1.2-20: Sequence diagram for referencing g067x23x
(3) Referencing mode is selected.
(4) The Referencing mode has been accepted by the module.
(6) The reference run is started.
Start can be canceled if Start_ACK has been set.
(7) The reference point has been moved to and set.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.5.3 Start Parameters for Referencing Mode
Referencing to positive end of reference switch, starting in negative

direction
Operating mode
Mailbox,
Referencing, Command Note
M_Reference = 1 START_
REFERENCING
Reference_Mode
0 Parameter 3 Bit 0 0 Referencing to reference switch
, Bit 0
Direction_Pos 0
Parameter 3 Bit 1 0 Start in negative direction
Direction_Neg 1
Reference_Mode
1 Parameter 3 Bit 2 1 Referencing to positive end
, Bit 1
Start
End
Limit switch Reference Limit switch

negative switch positive
Fig. 2.1.2-21: Referencing to positive end of reference switch, with start in negative direction
from positive movement range g067x10e
Start
End

Fig. 2.1.2-22: Referencing to positive end of reference switch, with start in negative direction
from negative movement range g067x14e
Start

Fig. 2.1.2-23: Referencing to positive end of reference switch with start in negative direction
from limit switch g067x13e
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Note
The drive is not started on a start from the limit switch. In the Mailbox mode
the error message 23 is generated on calling of command
START_REFERENCING. No error message is generated in the Referencing
mode. The Bit ERR_RANGE_POS or ERR_RANGE_NEG bit is set!
Referencing to negative end of reference switch, starting in negative

direction
Operating mode
Mailbox,
REFERENCING
Reference_Mode
, Bit 0
Direction_Pos 0
Direction_Neg 1
Reference_Mode
0 Parameter 3 Bit 2 0 Referencing to negative end
, Bit 1
Start
End

Fig. 2.1.2-24: Referencing to negative end of reference switch with start in negative direction
Start
End

from negative movement range g067x12e
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Start
End

from reference switch g067x15e
Note:
On a start from the reference switch, the starting direction is reversed by the
module to first ensure that the reference switch is free.
Referencing to positive end of reference switch, starting in positive

direction
Operating mode
Mailbox,
REFERENCING
Reference_Mode
, Bit 0
Direction_Pos 1
Parameter 3 Bit 1 1 Start in positive direction
Direction_Neg 0
Reference_Mode
1 Parameter 3 Bit 2 1 Referencing to positive end
, Bit 1
Start
End

Fig. 2.1.2-27: Referencing to positive end of reference switch with start in positive direction
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Start
End (ERROR_SWITCH_NOT_FOUND)
Limit switch Reference switch Limit switch

negative not found positive
Fig. 2.1.2-28: Referencing to positive end of reference switch with start in positive direction
from positive movement range, reference switch not found g067x38e
Referencing of limit switch with start in negative direction
Operating mode
Mailbox,
REFERENCING
Reference_Mode
1 Parameter 3 Bit 0 0 Referencing to limit switch
, Bit 0
Direction_Pos 0
Direction_Neg 1
Reference_Mode
x
, Bit 1
Start
End
Limit switch Limit switch

negative positive
Fig. 2.1.2-29: Referencing to limit switch with start in negative direction from positive limit
switch g067x39e
Start
End

negative positive
Fig. 2.1.2-30: Referencing to negative limit switch with start in negative direction from
positive movement range g067x40e
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
Start = End

negative positive
Fig. 2.1.2-31: Referencing to limit switch with start in negative direction from negative limit
switch g067x15e
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.6 Jog and Stepping Mode
The drive can be run manually at the defined setup speed when the Jog mode
is active. Control is implemented via Direction_Pos or Direction_Neg. The
two control bits are locked against each other. The run is ended when the set
timeout period (stepping mode) 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 speed 1.
If movement is made to a limit switch during the Jog mode, the drive will
stop. After that, movement can only be made away from the limit switch.
The drive stops when it leaves the movement range defined by the parameter
Drive_Range_Neg and Drive_Range_Pos. The drive can then be operated
outside the movement range using a repeated JOG command.
2.1.2.12.1.6.1 Jog and Stepping Mode Process Image
This process image is different from the standard configuration for stepper
positioning control and is shown in the table below.
Off
set
1 Reserved Reserved
2 D0 Current velocity (LSB) D0 Reserved
3 D1 Current velocity (MSB) D1 Reserved
4 D2 Reserved 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
The function of the control and status bytes corresponds to the standard
configuration for stepper positioning control given in Chapter 2.1.2.12.1.4.1.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.6.2 Sequence Diagram for Jog and Stepping Mode
high
Enable
low
high
Ready
low
high
Error_Quit
low
high
Error
low
high
Stop1_N
low
high
Stop2_N
low
high
Stop_N_ACK
low
high
Start
low
high
Start_ACK
low
high
M_JogMode
low
high
M_JogMode_ACK
low
high
Busy
low
(1) (2) (3) (4) (5) (6) (7) (8)
Fig. 2.1.2-32: Sequence diagram, JogMode g067x24x
(3) The Jog mode is selected.
(4) The Jog mode has been accepted by the module.
(5) The drive is activated by the Start rising edge.
(6) The Jog mode is activated, the drive can be started using the pushbutton
Direction_Pos and Direction_Neg.
(8) The Jog mode is activated, the drive can be started using the pushbutton
Direction_Pos and Direction_Neg.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.7 Move program mode
A Move program can be downloaded to the I/O module via the mailbox.
The available commands for this are given in the Chapter 3.2, “Commands for
Move Mode”.
First, the mode must be activated using M_Program. The Move 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_Running bit is set from the time of start to the end of the
program. This bit can be queried using the mailbox command GET_BIT.
The On_Target and Busy bits are controlled by the individual program
commands.
When the bit SetupSpeed_Active_ACK is set at the same time for setup, speed
is limited to the defined setup speed.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.7.1 Move Program Process Image
Off
set
1 Reserved Reserved
2 D0 Current velocity (LSB) D0 Reserved
3 D1 Current velocity (MSB) D1 Reserved
4 Current value for command Starting value for command
D2 D2
counter (LSB) counter (LSB)
5 Current value for command Starting value for command
D3 D3
counter (MSB) counter (MSB)
6 D4 Current position (LSB) D4 Reserved
7 D5 Current position D5 Reserved
8 D6 Current position (MSB) D6 Reserved
The function of the control and status bytes corresponds to the standard
configuration for stepper positioning control given in Chapter 2.1.2.12.1.4.1,
“Positioning Process Image”.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.7.2 Sequence Diagram for Move Program
high
Enable
low
high
Ready
low
high
Error_Quit
low
high
Error
low
high
Stop1_N
low
high
Stop2_N
low
high
Stop_N_ACK
low
high
Start
low
high
Start_ACK
low
high
M_Program
low
high
M_Program_ACK
low
high
On_Target
low
high
Busy
low
(1) (2) (3) (4) (5) (6) (7) (8) (9)
Fig. 2.1.2-33: Sequence diagram, Move program g067x22x
(3) The Move program mode is selected.
(4) The Move program mode has been accepted by the module.
(6) The Move program is started on the first command.
(7) The current Move program has reached its last position.
(9) The Move program in progress will be terminated and the drive set to standstill. The
Move program is then restarted on the first command.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.7.3 Example of Move Program
In this example of a Move program, first the velocity (20000) and then the
acceleration (3000) is set. After this, a "True" signal is anticipated at Input 1
on line 2. If the signal is "True", movement is made to Position 1 (specified
position = 65065) and then the system waits for a "False" signal at 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.
Line in Opcode Data Data Data Meaning

the (LSB) (MSB)
Move
MB2 MB3 MB4 MB5
table
0 0x25 0x20 0x4E 0x00 Set velocity to 20000
1 0x22 0xB8 0x0B 0x00 Set acceleration to 3000
2 0x71 0x30 0x01 0x00 Query, Input 1 = "1"
3 0x02 0x20 0xFE 0x00 Move to position 65065
4 0x71 0x30 0x00 0x00 Query, Input 1 = "0"
5 0x02 0x00 0x00 0x00 Move to position 0
6 0xF5 0x02 0x00 0x00 Go to line 2
7 0x70 0xD0 0x07 0x00 Wait 2000 ms
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.1.7.4 Autostart
An existing Move program is started automatically after a module reset when

the configuration bit HwSwConfig.Program_AutoStart (Bit 7) is set.
Prerequisites for successful automatic start:
 Valid Move program 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 set.
A Move program started by HwSwConfig.Program_AutoStart can be ended

by canceling Reset. The bit is reset by Reset_Quit.
A Move program is started only one time after each reset by

HwSwConfig.Program_AutoStart.
A Move program started with HwSwConfig.Program_AutoStart is always

started at an address of 0.
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
2.1.2.12.2 Move Mode via Mailbox
The mailbox must first be displayed. This is described in Chapter 2.1.2.9,

“Mailbox Mode”.
After that, the Move commands via mailbox mode must be activated. This is
accomplished by setting bit 7 in the control byte C1.
Only then can Move commands be specified.
2.1.2.12.2.1 Move Commands
accepted only when the mode Move mode via mailbox has been activated.
The available commands for move find you in the appendix in chapter 3.2,
“Commands for Move Mode”.
2.1.2.12.3 Limiting of Moving Range
2.1.2.12.3.1 Hardware Limit Switch
The hardware limit switches are active in the Positioning and Velocity control
applications. These devices limit the movement path.
Any allocation of limits switches to the direction of movement must be

maintained. The LimitSwitch_Neg hardware limit switch restricts the
movement range to smaller positions, i.e. in the negative direction. The
LimitSwitch_Pos hardware limit switch restricts the movement range to larger
positions, i.e. in the positive direction.
Positioning
If movement is made to a limit switch in the Positioning mode, the drive will
brake the movement until standstill using the defined deceleration
The drive can only be started in the Jog and Referencing modes when it is
located at a limit switch.
Jog Mode
If movement is made to a limit switch in the Jog mode, the drive will brake the
movement until standstill using the defined deceleration
The drive can then be moved away from the limit switch by pressing the "Jog"
button Direction_Neg or Direction_Pos again; from the positive limit switch
in a negative direction and from the negative limit switch in a positive
direction.
The drive will brake movement again until standstill using the defined
deceleration Acceleration_Stop_Fast as soon as it moves away from the limit
WAGO-I/O-SYSTEM 750
I/O Modules
Positioning
switch. The drive is then no longer located at the limit switch and can be run
in any mode without any restrictions.
Referencing
Attention
During the reference run, limiting of the moving range is not evaluated by the
software limit switch! This may result in damage to the system if proper
functioning of the hardware limit switch 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 possible from the positive limit switch and vice
versa.
If a reference run has been made to a limit switch in the Referencing mode,
the drive will end up at the limit switch and a special operating mode will be
activated.
In this special mode the drive can be moved away from the limit switch in any
arbitrary mode, with the positive limit switch only permitting movement in a
negative direction and the negative limit switch in a positive direction. The
special mode is terminated 100 ms after the drive leaves the limit switch.
2.1.2.12.3.2 Software Limit Switch
The permissible movement range of the drive is limited by the hardware limit
switch. Options are also available, however, for restricting the permissible
movement range using limits that can be parameterized (software limit
switches), for example if no hardware limit switches are available.
Note
Evaluation of the hardware limit switches has priority over evaluation of the
software limit switches.
The software limit switches are defined by the limits Drive_Range_Neg and
Drive_Range_Pos in the Configuration table. The limit Drive_Range_Neg
restricts the range to smaller positions, i.e. in the negative direction, while
Drive_Range_Pos restricts the range for larger positions, i.e. in the positive
direction.
The software limit switches are only active in the Positioning and Move
program via mailbox modes, as well as some subfunctions being available in
the Jog mode. The switches are not evaluated in other modes.
WAGO-I/O-SYSTEM 750
I/O Modules
Expanded Positioning Functions
Attention
During a reference run, limiting of the moving range is not evaluated by the
software limit switch! This may result in damage to the system 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, the associated bit
is set.
The default setting is Drive_Range_Neg = 0x800001 and Drive_Range_Pos =
0x7FFFFF.
If movement is made beyond a defined movement range, the drive is brought

to standstill using the defined deceleration Acceleration_Stop_Fast and, after
that, only those directions of movement accepted that move the unit back into
the permissible range; the exception here is the Jog mode.
In the Jog mode the drive is brought to a standstill each time it attempts to
move out of the permissible range. In this mode the drive can also be operated
outside the movement range defined by the software limit switches with
repeated JOG commands. The software limit switches are not active again
until the drive is back within the defined range.
2.1.2.13 Expanded Positioning Functions
2.1.2.13.1 Rotary Axis
The "Rotary axis" function is activated by the parameter Rotary_Axis_Period

being written with a value other than zero. If the Rotary_Axis_Period
parameter is zero, a linear and limited movement range is assumed.
The position is repeated with a rotary axis every 2π or 360°. The

Rotary_Axis_Period parameter indicates how many motor steps correspond to
one rotation around the axis by 2π or 360.
The actual value for rotary axis is always within the range 0 …
Rotary_Axis_Period. This ensures that no internal overrun occurs with relative
motion repeated any number of times.
WAGO-I/O-SYSTEM 750
I/O Modules
Parameter Linear axis Rotary axis

Rotary_Axis_Period 0 Microsteps per revolution > 0
Working range Drive_Range_Neg Limited to Drive_Range_Neg …
… Drive_Range_Pos when Drive_Range_Neg >=0
Drive_Range_Pos or Drive_Range_Pos < Rotary_Axis_Period,
otherwise unrestricted
Actual value Working range 0 … Rotary_Axis_Period, periodic
Setpoint value Working range Absolute Positioning: Relative Positioning:
0… -8388607 … 8388607.
Rotary_Axis_Period Can be repeated any
number of times.
No internal overrun
The setpoint setting distinguishes between absolute and relative positioning.
2.1.2.13.1.1 Relative Positioning
The target position is added to the current position for relative positioning.
The "Rotary axis" mode is initially ignored during calculation of the position;
as a result, the "virtual target" may lie outside the range 0 … 2π. This allows
relative positioning to be performed over several revolutions. The actual
value, however, is reported only within the range 0 … 2π; the number of
completed revolutions can not be determined.
The direction of movement depends on the sign for the relative setpoint.
2.1.2.13.1.2 Absolute Positioning
The target position is always within the range 0 … 2π for absolute positioning.
A setpoint defined outside of this range will result in an error.
On a movement task from standstill, the system determines in what direction

the target can be reached in the shortest time.
For a positioning movement at a starting velocity, or target velocity, the

direction of movement that requires no, or the fewest, changes in direction
will be selected.
Absolute positioning permits braking at a certain velocity setting to a precisely

defined spot (e.g. coil end that is to be stopped exactly at an attitude angle of 0
from full speed, only possible via mailbox!).
2.1.2.13.2 Camshaft
The camshaft provides pulses as a function of position for nine (9) channels
CAM1 … CAM9. Up 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.
WAGO-I/O-SYSTEM 750
I/O Modules
Parameterization of channels 1 ... 8 is performed using a table containing 50

entries. Each entry consists of a position xp (24-bit) and a bit sample (8-bit).
The bit samples each describe the position of the eight output channels CAM1
… CAM8, which is valid starting from the assigned position xp up to the next
larger position entry xp+1.
The table entries are arranged according to ascending positions.
The bit sample for the first entry is output for lesser entries.
The configuration assigns Channel 9 the starting position, the cam width and
the repeat cycle.
The activated camshaft is always active, independent of the Move mode, with
the exception of the reset status.
In contrast to other setpoints, the switching positions for the camshaft are
always given in "microsteps". Conversion from or to other user-specific units
is not provided for.
The Camshaft table can not be edited in the module, but must be downloaded
completely.
Example: Eight (8) entries are to be loaded to the camshaft table.
Step No. CAM Position Outputs

8 7 6 5 4 3 2 1 Byte 4 Byte 3 Byte 2 Byte 1
MB5 MB4 MB3 MB 3
1 1 0 0 0 0 1 0 0 0x00 0x2e 0xe0 0x84
2 0 1 0 0 0 1 0 0 0x00 0x5d 0xc0 0x44
3 0 0 1 0 0 0 1 0 0x00 0xbb 0x80 0x22
4 0 0 0 1 0 0 1 0 0x01 0x77 0x00 0x12
5 0 0 0 0 1 0 0 0 0x01 0xd4 0xc0 0x08
6 0 1 0 0 0 1 0 0 0x02 0x90 0x40 0x44
7 0 1 0 0 0 0 1 0 0x07 0xb0 0xc0 0x42
8 0 1 0 0 0 0 0 1 0x07 0xdf 0xa0 0x41
The portion of the table highlighted in gray must be downloaded to the

module.
The checksum for the table must also be calculated. To do this, the sum is
taken over all the bytes. Here, the checksum is 0xb0d.
Opcodes given in Chapter 3.1.4.4, „Table Management Commands“ are

required for downloading.
WAGO-I/O-SYSTEM 750
I/O Modules
The corresponding opcodes have been adapted in the following table for this
case. For the complete scope and explanations, refer to the sections cited
above.
2.1.2.13.3 Position Table
The position table enables a set Move program sequence containing variable
positions to be run.
Up to 50 positions can be stored in the position table that can be queried by

Move commands. The position table entries can be evaluated on the basis of
absolute or relative Move commands.
The position table can be downloaded. As an alternative to this, individual

entries can be written or "taught" as absolute or relative positions with the
current position.
2.1.2.13.3.1 Teaching of Positions
Teaching of positions using the mailbox command POS_TABLE_TEACH

allows the current actual value to the saved in the position table so that it is
available as a target for a Move task.
The current actual value can be saved as the reference point for relative travel
measurement.
The soft limit switches Drive_Range_Pos and Drive_Range_Neg can also be

taught.
2.1.2.13.4 Control of a Motor Brake
Control of the motor brake is conducted using the Brake bit (see Chapter 3.4,
“Bit field for I/O driver”).
This bit is only available as an internal bit, as this module is not equipped with
digital outputs. Nevertheless, reconfiguration can be performed to redirect this
bit to a bit in the input process image that is not needed.
Control of this bit is performed from two OR-linked sources.

On the one hand, the Brake bit is set automatically as soon as the drive is
running and is canceled as soon as the drive is at standstill. Defining of
automatic control is performed 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 move command will, however, be delayed by the
Braketime_Turn_On time. The configuration parameter Braketime_Turn_Off
defines the deactivation time for the Brake bit. This bit is deactivated before
the target is reached by the Braketime_Turn_Off time. The brake can be
controlled directly with this bit. The brake is released when the bit is set, and
is applied when the bit is canceled.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Braketime_ Start for the

Turn_Off Delay target position
Bit
Brake_Manual
Bit
>
=1 Brake
Bit SET
Start S Q
Braketime_ First shutdown

Turn_On Bit StandStill R CLR /Q
Fig. 2.1.2-34: Control of motor brake g067x17e
As an alternative, the brake can also be operated independently using the

Brake_Manual bit (see Chapter 3.4, “Bit field for I/O driver”). This bit can be
set and canceled externally and can also, for example, be linked to a camshaft
channel so that it is switched as a function of position.
2.1.2.14 Other Applications
Other applications can be configured by modifying the stepper positioning

control system.
2.1.2.14.1 Speed Control
The Frequency/Speed Control application represents a variant of Stepper

control. All the functions for Stepper control can still be utilized. The basic
difference is the modified process image which permits frequency and speed
to be specified. Speed corresponds directly to the output frequency and the
frequency ramps to acceleration.
In this application the module can be used as a universal frequency generator.
Frequency generation is provided with one output channel and a cycle signal,
along with a sign signal.
The output may also be switched to an "incremental encoder simulation", for

outputting two square-wave signals offset by 90°.
The frequency/speed control system generates a definable output frequency.

As with Step positioning, this frequency can be specified using the process
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 does not have a
parameter of zero, a value of 100000 is assumed.
The frequency/speed control application is selected using the configuration

parameters Application_Selector = 2 and PWM Period = 0.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
All of the Stepper control functions can still be utilized. The basic difference
is that the Positioning/Stepper control mode is replaced with a Speed set
mode. Merely the speed and acceleration setting are evaluated for this in the
process image.
Position acquisition is executed in the background in the frequency/speed

control application. To prevent this from triggering a shutdown via the soft
limit switches with Drive_Range_Pos or Drive_Range_Neg, the parameters
Rotary_Axis_Period are used and parameters provided or simulated for a
rotary axis. If parameters have been provided for the value
Rotary_Axis_Period, this value is used for the rotary axis.
Step positioning/Stepper control contains a detailed description of this

(selection of mode using M_Positioning and accepting of setpoints with Start).
The frequency/speed control application essentially influences speed

interpretation in the process image and the evaluation of Rotary_Axis_Period.
Otherwise, the complete functions of other modes, such as Jog mode,
Referencing, Move task via mailbox and Program mode can be utilized.
2.1.2.14.1.1 Velocity Control Process Image
positioning control and is shown in the tables below.
Off
set
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 Acceleration H
6 D4 Actual position L D4 Reserved
7 D5 Actual position M D5 Reserved
8 D6 Actual position H D6 Reserved
The function of the bits in control bytes C1 ... C3 and in status bytes S1 … S3
are determined by the Frequency/Speed control application. When switchover
is made to this application, the linked locations for the old application are
retained. The meaning of the bits for the standard configuration are explained
below.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Control byte C1
M_Drive M_Jog M_Refer M_Progr M_Speed Start Stop2_N Enable
ByMBX ence am Control
output is immediately set to 0 for module. The power output stage is deactivated This
bit terminates the current operating mode.
Stop2_N Shutdown of drive.
This bit can be used to deactivate the drive from the control system.
This bit must be set to activate an operating mode.
The return message is transmitted via the Stop_N_ACK bit.
turning it is put into standstill by the STOP acceleration command. The motor can not
be started up.
Start The drive, or frequency output, is started in the selected mode on a positive edge. An error
message is generated if the edge is not accepted.
01: The drive is started accordingly on the rising edge.
Positioning is conducted to the current setpoint given in the process image.
Movement is made directly to the new target velocity, 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).
M_SpeedControl Frequency/Speed control mode
0: The Frequency/Speed mode is not active (selected).
1: The Frequency/Speed mode is active (selected).
M_Program Move program mode
1: The Move program mode has been selected.
M_Reference Referencing mode.
1: The Referencing mode is selected.
M_Jog Jog mode
The drive can be run manually at the setup speed when the Jog mode is active. Control is
implemented using Direction_Pos and Direction_Neg.
M_DriveByMBX Move commands via mailbox mode.
In this mode, all movement commands are issued directly via the mailbox.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Status byte S1
M_Drive M_Jog_ M_Refer M_Progr M_Speed Start_AC Stop_N_ Ready
ByMBX_ ACK ence_AC am_ACK Control_ K ACK
ACK K ACK
Stop_N_ACK Status of drive, or acknowledgement of request bit Stop_N
0: The control system has reset the request bit Stop2_N
or the Enable input has no (1) signal
or the generator is not in operation.
Start can not be used for startup in this status.
1: The control system has set the request bit Stop2_N
and the Enable input has a (1) signal
or the drive is being braked.
Start_ACK Start sequence in the operating mode.
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 set, the movement sequence has already been precalculated
and will not be started immediately (on the fly).
M_SpeedControl_A Acknowledge Frequency/Speed control mode
CK 0: The Frequency/Speed mode is not active (selected).
1: The Frequency/Speed mode is active (selected). Frequency output is started on the
next rising edge.
M_Program_ACK Move program mode active
1: The Move program mode has been selected. The Move program is started with the
first command on the next rising edge for Start.
M_Reference_ACK Referencing mode active.
1: The Referencing mode is selected. The drive is started at the setup speed on the next
rising edge for Start.
M_Jog_ACK Jog mode active
M_DriveByMBX_A Move commands via mailbox mode active.
CK In this mode, all movement commands are selected directly via the mailbox.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Control byte C2
Error_Qu PreCalc 0 0 Acc_Range_Sel Freq_Range_Sel
it
Freq_Range_Sel Select frequency prescaler.
The prescaler Freq_Prescaler can be set for the velocity setting using these two bits when
the module is to be operated via the mailbox without configuration.
The values will only be accepted when Enable is set to 0.
'00': The Freq_Prescaler prescaler is loaded with the parameter Freq_Div from the
current configuration data set.
'01': Freq_Prescaler = 80 Fmax = 25 kHz
Acc_Range_Sel Select acceleration factor.
These two bits are used to set the Acc_Multiplier factor for acceleration.
'00': The factor Acc_Multiplier is loaded with the parameter Acc_Fact from the current
configuration data set.
'11': Acc_Multiplier = 8000 T = 7.6 ms
precalculated.
Error_Quit Acknowledge error. All errors that are present are acknowledged at the rising edge from 0
to 1. After acknowledgement, the error switches to 0, or a new error is present:
0 Reserved
Status byte S2
Error PreCalc_ X Direction On_Spee StandStill Busy X
ACK d
Busy Specified speed not yet reached.
0: Specified speed reached.
1: Specified speed not yet reached.
StandStill Drive at standstill, or frequency output at 0.
On_Speed Running speed achieved.
0: The drive has not reached its setpoint speed.
Direction Direction of rotation. This bit is valid only when StandStill is 0.
PreCalc_ACK Status for precalculation for movement sequence
Error Drive error status. An error can be acknowledged using Error_Quit.
X Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Control byte C3
Reset_Qu SetupSpe LimitSwi LimitSwi 0 0 0 0
it ed_Activ tch_Neg tch_Pos
e
LimitSwitch_Pos Limit switch input on movement in positive direction. This bit is linked to the internal bus.
0: The positive direction limit switch is not actuated.

1: The positive direction limit switch is actuated. The drive is being run down.
LimitSwitch_Neg Limit switch input on movement in negative direction. This bit is linked to the internal
bus.
0: The negative direction limit switch is not actuated.
1: The negative direction limit switch is actuated. The drive is being run down.
SetupSpeed_Active Velocity limited to setup speed in all modes. When the bit SetupSpeed_Active_ACK is set
the drive speed is limited to the defined setup speed.
1: Limiting active
0 Reserved
Status byte S3
Reset SetupSpe X X X X X Input1
ed_Activ
e_ACK
Input1 In the default setting, input DI1 is linked with the motor shutdown circuit. Shutdown can
be started up. This is signaled via bit Stop_N_ACK.
SetupSpeed_Active_ Velocity limited to setup speed in all modes.
ACK
1: Limiting active The drive speed is limited to the parameterized setup speed.
Reset A module reset can be detected by the controller with this bit. The bit is set after a reset
1: A reset has been carried out but not yet confirmed with Reset_Quit. Volatile data,
parameters and tables for the module may be inconsistent and must be reloaded.
X Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
2.1.2.14.2 PWM
The PWM application generates a pulse width modulation that can be

specified by the process image at a constant cycle duration.
Pulse width modulation can be defined by the process image, by the Jog mode,
by the Move task via mailbox and by the program mode.
The cycle duration is defined by the configuration parameter PWM_Period
and can be modified if required during ongoing operation via the mailbox.
This application represents a variant of the Frequency Speed Control

application. A set frequency is output and the value DutyCycle interpreted
from the process image as the pulse duty factor.
The application PWM can also be selected using the configuration parameter
Applicatio_Selector = 2.
In addition, the parameter PWM_Period must also be set to a value greater
than zero (0). This parameter PWM_Period determines the cycle duration in
µs and switches the output from frequency to PWM output.
In this case, the logic circuit for frequency generation is reconfigured such that
a constant frequency is output that can always be specified and the output
value for the frequency/speed control system is interpreted as the pulse duty
factor. A speed setting of 0 ... 10000 corresponds here to a pulse duty factor of
0 ... 100 %. Frequency setpoints less than zero will generate a pulse duty
factor of 0 %; setpoints greater than 1000 will generate a pulse duty factor of
100 %.
The frequency setpoint given in the process image is interpreted as the pulse
duty factor in this application, with the frequency setpoint range 0 … 10000
being portrayed as 0 … 100 %. Frequency setpoints less than zero will
generate a pulse duty factor of 0 %; setpoints greater than 1000 will generate a
pulse duty factor of 100 %.
The two index module output channels provide the same PWM, with channel
B providing an inverted signal.
The PWM application essentially influences the interpretation of velocity in

the process image and the configuration of the output driver. Otherwise, the
complete functions for other operating modes, such as Jog mode, Referencing,
Move task via mailbox and Program mode, can also be utilized, with the
velocity request being transformed into an equivalent PWM.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Parameter Value range

Frequency 0.01 Hz ... 500 kHz
Frequency resolution Selected pulse duration
±1 µs
Frequency accuracy 100 ppm for the selected
frequency
Jitter (frequency independently) 62,5 ns
Pulse duty factor 0 … 100 % ±1 µs
On the basis of the close relationship between PWM and frequency/speed

control, movement is made to a new setpoint via a ramp. As with
frequency/speed control, this ramp is determined by acceleration in the
process image and the acceleration factor Acc_Range_Sel.
The setpoint is ramped when PWM is started. Even with very rapid ramps, the
first value is also obtained from the beginning of the ramp. In addition, PWM
does not accept a new setpoint until the end of the current cycle. The result is
that the PWM output reacts only after two PWM cycles at the earliest.
2.1.2.14.2.1 PWM Process Image
The Referencing process image corresponds to that for the Velocity control
mode, see Chapter 2.1.2.14.1.1, “Velocity Control Process Image”.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
2.1.2.14.3 Pulse Chain
The Pulse Chain application is set by setting the configuration parameter

Application_Selector = 3.
The Pulse Chain application generates an 8-bit pulse chain one time after each
trigger event, or periodically, for up to 50 switching events.
The setting to determine whether only one run is made, or repeated

periodically, is made using Direction_Pos. If Direction_Pos is set to 0, the
pulse chain is executed until the Enable signal is canceled. The pulse chain is
executed only one time when the Direction_Pos bit is set.
The camshaft function is re-interpreted in this application, as it supplies time-

based instead of position-based pulses.
This is accomplished by programming frequency generation with a definable
frequency. The patch signal is interpreted as a time value on the basis of a set
frequency.
The output bits 0 and 1 for the camshaft are switched to the two module output
channels in the Pulse Chain application. All camshaft output bits 0 ... 7 can be
queried via the internal bus.
The activation and deactivation times for the individual pulses are based on
the starting time and may be freely assigned. Setting of the switching times is
performed with 23 bits, without sign. The set frequency is used to determine
the resolution. This may be a minimum of 1 ms at 1000 Hz and, for example,
1 s at 1 Hz. A frequency greater than 1000 Hz is not meaningful here, as
output is performed with a time resolution of 1 ms frames. This means that
times up to 8388 seconds, or 97 days, can be specified.
The first entry must contain an arbitrary negative time; this entry defines the
output status prior to starting of the pulse chain. All other entries must contain
positive times. Moreover, the table entries must be sorted by ascending times.
The last entry in the table defines the end of the pulse chain. The bit sample
for the last entry is ignored, as the starting status is restored on completion of
the pulse chain.
Pulses are output with a jitter of 500 µs.
The setting for the pulse chain corresponds to that for the camshaft, with the
positions being interpreted as switching times.
The configuration must be changed in order to activate the pulse chain

generator. This is accomplished using the configuration for
Application_Selector.
The bits Enable, Stop1_N, Stop2_N and M_Positioning must be set to start a
pulse chain.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
A new process image is available after activating the pulse chain generator
mode.
2.1.2.14.3.1 Pulse Chain Process Image
Off
set
1 Reserved Reserved
2 D0 Current cycle time (LSB) D0 Cycle time (LSB)
3 D1 Current cycle time (MSB) D1 Cycle time (MSB)
4 D2 Reserved D2 Reserved
6 D4 Cycles since start (LSB) D4 Reserved
7 D5 Cycles since start D5 Reserved
8 D6 Cycles since start (MSB) D6 Reserved
are determined by the Pulse Chain application. When switchover is made to
this application, the links for the old application are retained. The meaning of
the bits for the standard configuration are explained below.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Control byte C1
0 0 0 0 M_Pulstr Start Stop2_N Enable
ain
Enable Module enable Contrary to Enable_Drive, this bit must be set to activate an operating
mode.
output is immediately set to 0. This bit terminates the current operating mode.
Stop2_N Drive Stop 2 inverted This bit can be used to deactivate the drive from the control system.
This bit must be set to activate an operating mode. The return message is transmitted via
the Stop_N_ACK bit. Stop1_N and Stop2_N are always taken into account at that bit.
be started up.
Start The pulse train is started on a positive edge. An error message is generated if the edge is
not accepted.
01: The pulse train is started on a rising edge.
M_Pulstrain Pulse Chain mode
0: The Pulse Chain mode is not active (selected).
1: The Pulse Chain mode is selected.
0 Reserved
Status byte S1
X X X X M_Pulstr Start_AC Stop_N_ Ready
ain_ACK K ACK
Stop_N_ACK Drive Stop inverted
0: The bit Stop1_N or Stop2_N is set to 0. The motor, or frequency output is also set to
0 (StandStill set to 1). Start can not be used to start up the unit.
1: The bits Stop1_N and Stop2_N are both set to 1, or the drive is braking the unit.
Start_ACK Start pulse chain sequence.
1: Start accepted. The bit M_Pulsetrain_ACK is evaluated on a rising edge
M_Pulstrain_ACK Acknowledge Pulse Chain mode
0: The Pulse Chain mode is not active (selected).
1: The Pulse Chain mode is selected. Pulse output is started on the next rising edge.
X Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Control byte C2
Error_Qu PreCalc 0 0 0 0 0 0
it

precalculated.
Error_Quit Acknowledge error. All errors that are present are acknowledged at the rising edge from 0
to 1. After acknowledgement, the error switches to 0, or a new error is present:
0 Reserved
Status byte S2
Error PreCalc_ Referenc X X X Busy On_Targ
ACK e_OK et
On_Target Pulse chain has been terminated.
0: Pulse chain has not yet been terminated.
1: Pulse chain has been terminated.
Busy Pulse chain running.
0: Pulse chain not running.
1: Pulse chain running.
Reference_OK Run pulse chain one time. This bit is evaluated only on a rising edge of Start.
0: The pulse chain is executed continuously.
1: The pulse chain is executed one time only.
Error Drive error status. An error can be acknowledged using Error_Quit.
X Reserved
Control byte C3
Reset_Qu 0 0 0 0 Direction 0 0
it _Pos
Direction_Pos Single execution of pulse chain. This bit is queried one time only on a rising edge of Start.
0: The pulse chain is run until the Enable is canceled.
1: The pulse chain is executed one time only.
0 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Status byte S3
Reset X X X X X X Input1
0: No pulses are generated. If pulses are being generated and this bit is canceled, pulse
output is terminated. Output can no longer be started. This is signaled via status bit
Stop_N_ACK.
1: Pulse output can be started.
X Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
2.1.2.14.4 Single Shot
The Single Shot application is set by setting the configuration parameter

Application_Selector = 4.
This application generates a single pulse to both outputs after each common
trigger event. The delay variable between trigger event and the pulse and the
pulse duration variable can be set separately for both channels.
The output bits 0 and 1 for the camshaft are switched to the two module output
channels in the Single Shot application.
The units for delay and pulse duration are specified via the process image.
Times between 1 ms and 16711 s can be specified.
Meaning Value range

Delay for Channel A 1 … 255
Pulse duration for Ch. 1 … 255
A
Delay for Channel B 1 … 255
Pulse duration for Ch. 1 … 255
A
Time (Stretch) factor 1 … 65535
The times are yielded from the set value, multiplied by the time factor in ms.
The trigger event is the rising edge of Start. This process is retriggerable. The
bits Enable, Stop1_N, Stop2_N and M_Positioning must be set to start pulse
output.
Note
As an alternative to the Single Shot application, the fitler/timer functions can
also be used regardless of the application to obtain the same results (see
Chapter 2.1.2.11.4.3, “Filters, Low Pass, Timers and Counters”).
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
2.1.2.14.4.1 Single Shot Process Image
Off
set
0 S0 Statusbyte S0 C0 Controlbyte C0
1 Reserved Reserved
2 D0 Reserved D0 PulseDelay Channel A
3 D1 Reserved D1 PulseDuration Channel A
4 D2 Reserved D2 PulseDelay Channel B
5 D3 Reserved D3 PulseDuration Channel B
6 D4 Reserved D4 StretchFactor L
7 D5 Reserved D5 StretchFactor H
are determined by the Single Shot application. When switchover is made to
this application, the linked locations for the old application are retained. The
meaning of the bits for the standard configuration are explained below.
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Control byte C1
0 0 0 0 M_Single Start Stop2_N Enable
Shot
Contrary to Enable_Drive, this bit must be set to activate an operating mode.
0: The module is blocked. When this bit is reset during ongoing operation, frequency or
pulse output is immediately set to 0. This bit terminates the current operating mode.
Stop2_N Drive Stop 2 inverted
This bit can be used to deactivate pulse output from the control system. This bit must be
set to activate an operating mode. The return message is transmitted via the Stop_N_ACK
bit. Stop1_N and Stop2_N are always taken into account at that bit.
0: No pulses can be output.
Start Pulse output is started on a positive edge. An error message is generated if the edge is not
accepted.
01: Pulse output is started on a rising edge.
M_SingleShot Single Shot mode
0: The Single Shot mode is not active (selected).
1: The Single Shot mode is selected.
0 Reserved
Status byte S1
X X X X M_Single Start_AC Stop_N_ Ready
Shot_AC K ACK
K
Stop_N_ACK Drive Stop inverted
0: The bit Stop1_N or Stop2_N is set to 0. The motor, or frequency output is also set to
0 (Standstill set to 1). Start can not be used to start up the unit.
1: The bits Stop1_N and Stop2_N are both set to 1, or the drive is braking the unit.
Start_ACK Pulse output sequence started.
1: Start accepted. The bit M_SingleShot_ACK is evaluated on a rising edge
M_SingleShot_ACK Single Shot mode acknowledge.
0: The Single Shot mode is not active (selected).
1: The Single Shot mode is selected. Pulse output is started on the next rising edge.
X Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Control byte C2
Error_Qu PreCalc 0 0 0 0 0 0
it
precalculated.
Error_Quit Acknowledge error.
All errors that are present are acknowledged at the rising edge from 0 to 1. After
acknowledgement, the error switches to 0, or a new error is present:
0 Reserved
Status byte S2
Error PreCalc_ X X X X Busy On_Targ
ACK et
On_Target Pulse output has been ended.
0: Pulse output has not yet been ended.
1: Pulse output has been ended.
Busy Pulse output in progress.
0: Pulse output not in progress.
1: Pulse output in progress.
Error Drive error status.
An error can be acknowledged using Error_Quit.
X Reserved
Control byte C3
Reset_Qu 0 0 0 0 0 0 0
it
0 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
Status byte S3
Reset X X X X X X Input1
0: No pulses are generated. If pulses are being generated and this bit is canceled, pulse
output is terminated. Output can no longer be started. This is signaled via status bit
Stop_N_ACK.
X Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Other Applications
2.1.2.14.4.1.1 Sequence Diagram for Single Shot
high
Enable
low
high
Ready
low
high
Error_Quit
low
high
Error
low
high
Stop1_N
low
high
Stop2_N
low
high
Stop_N_Ack
low
high
Start
low
high
Start_ACK
low
high
M_SingleShot
low
high
M_SingleShot_ACK
low
high
On_Target
low
high
Busy
low
PulseDelay
high Ch. A
Outp. Ch. A
low PulseDuration
PulseDelay Ch. A
high Ch. B
Outp. Ch. B
low PulseDuration
Ch. B
t
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10)
Fig. 2.1.2-35: Sequence diagram, Single Shot g067x22x
(3) The Single Shot mode is selected.
(4) The Single Shot mode has been accepted by the module.
(6) Pulse output is started.
(7) Output channel A is activated after expiration of PulseDelay Ch. A.
(8) Output channel A is deactivated after expiration of PulseDuration Ch. A.
(9) Output channel B is activated after expiration of PulseDelay Ch. B.
(10) Output channel B is activated after expiration of PulseDuration Ch. B.
WAGO-I/O-SYSTEM 750
I/O Modules
Advanced Diagnostics
2.1.2.15 Advanced Diagnostics
The diagnostics commands allow internal module information to be accessed.

This includes:
 Error status of the device,

 Variables and status bits,
 Password,
 Configuration table and
 Position table.
The commands are elucidated in the appendix in Chapter 3.1.4.5, “Diagnostics

Commands”.
2.1.2.15.1 Internal Status Variables
The module is provided with internal status variable that can be read out using
the mailbox command DIAG_RD_VAR. These variables can also be acquired
automatically by a data recorder.
The variable number determines the source to be read from.
Variable number Source

0… 0x1000: defined variables are read (see also Chapter 3.6, “Internal
Status Variables”)
0x1000…0x1100: defined bits 0 … 0x100 are read (see also Chapter 3.4, “Bit
field for I/O driver”)
The status variables are elucidated in the appendix in Chapter 3.6, „Internal
Status Variables“.
2.1.2.15.2 Data Recorder
The data recorder allows two internal variable to be recorded in a definable

time frame for later analysis. 500 values are recorded each time.
The configuration values Trace_Var1 and Trace_Var2 contain the index for
the variables to be recorded (see Chapter 3.6, “Internal Status Variables”). The
configuration value Trace_MsecCycleTime denotes the scan (cycle) time in
ms.
Configuration value Meaning

Trace_Var1 Index for first recording variable
Trace_Var2 Index for second recording variable
Trace_MsecCycleTime Scan time in ms
WAGO-I/O-SYSTEM 750
I/O Modules
Advanced Diagnostics
The Trace_Stored bit indicates that a complete data set has been recorded.
A 01 edge of Trace_Trigger initiates recording when the Trace_Armed bit

is set.
A traced (recorded) data set can be read out using an upload command from
the table manager (see Chapter 2.1.2.10, “Table Manager”).
Bits deleted set

Trace_Stored 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 Triggering active; recording is
data set is not overwritten started by the next triggering event
The internal bits (see Chapter 3.4, “Bit field for I/O driver”) can be used as
triggering sources. This is accomplished by entering the corresponding link in
the configuration table. The control system can also initiate recording using
the mailbox commands GET_BIT and SET_BIT. The trigger bits must be
linked to the MONE internal bit for this.
WAGO-I/O-SYSTEM 750
I/O Modules
Connection Examples
2.1.2.16 Connection Examples
2.1.2.16.1 RS422 CLK/DIR Interface
The connector assignment shown here corresponds to the connector

assignment for standard programming.
CLK
+
DI1+ DI-
U Z0
24 V
/CLK
-
Input for DI2+ GND

external releasee GND
with 24 V switched!
A1 A2
DIR
+
B1 B2 Z0
/DIR
-
750-670
DIN rail Chassis
Fig. 2.1.2-36: RS422 CLK/DIR interface g067004e
The correlation between the possible transmission rate and line length is
shown in the figure below.
3000
300
Line length (m)
30
3
100 1k 10k 100k 1M 10M
Transmission rate (bps)
Fig. 2.1.2-37: Relationship between line length and transmission rate for RS422 g067030e
Note
The two lines should be terminated with a Z0 = 120 Ohm resistor to prevent
any reflection.
Note
A GND connection is required to prevent circulating current in the screen.
WAGO-I/O-SYSTEM 750
I/O Modules
Connection Examples
2.1.2.16.2 5 V CLK/DIR Interface (s.e.)

DI1+ DI- CLK

U
24 V
Input for DI2+ GND

with 24 V switched!
A1 A2
DIR
B1 B2
750-670
Connect shield externally!!
Fig. 2.1.2-38: 5 V CLK/DIR interface (s.e.) g067005e
2.1.2.16.3 24 V CLK/DIR Interface (s.e.)

DI1+ DI-
U
24 V Uv
24 V
Input for DI2+ GND

with 24 V switched! Rv
A1 A2
/CLK
Rv
B1 B2
/DIR Uv
Rv typ. =
20 mA
750-670
Fig. 2.1.2-39: 24 V CLK/DIR interface (s.e.) g067006e
WAGO-I/O-SYSTEM 750
I/O Modules
Connection Examples
2.1.2.16.4 Connection at Positive Switching Inputs
Outputs A2 and B2 are designed as open-drain outputs and can therefore not
directly activate p-switching digital inputs. A pull-up resistor must be
activated externally for this case that ensures that the 1 status is generated.
(Only the output branch is shown in the figure.) The 0 status occurs when the
internal MOSFET assumes control. Current through the MOSFET may not
exceed 30 mA.
DI1+ DI- Ie
U Rv
24 V
DI Ue
Uv
Input for DI2+ GND
external release
with 24 V switched!
A1 A2
B1 B2 Connect like A2
750-670
Fig. 2.1.2-40: Connection at positive switching input g067008e
Example of dimensioning for series resistors:
Supply voltage is 24 V, with a tolerance of -15 … +20 %. A digital input is

used which requires a current of 3 mA at 15 V (1 status). This value
corresponds to an input resistance of 5 kΩ. These values are given in the data
sheet, or can be determined by appropriate measurement.
Equation Variable Value

symbol
Uv_nenn Rated voltage 24 V
Uv_min Rated voltage –15 % 20.4 V
Uv_max Rated voltage +20 % 28.8 V
Iout Max. output current at 0 status 30 mA
Ue Min. input voltage for 1 status 15 V
Ie Input current for 1 status at Ue 3 mA
WAGO-I/O-SYSTEM 750
I/O Modules
Connection Examples
Value of the series resistance Rs for 3 mA at 15 V and input with minimum

supply voltage:
(the output of 750-670 is highly resistive)
Rs = Urs / Idi = ( Us_min - Ui ) / Ii = ( 0.85 * Us_nom - Ui ) / Ii
Rs = (0.85 * 24 V – 15 V) / 3 mA = 1800 W
Value of the output current Io at condition 0 and input with maximum supply
voltage:
(the output of 750-670 is low reisistive)
Io = Us_max(1.2 * Us_nom) / Rs
Io = 1.2 * 24 V / 1800 W = 16 mA < 30 mA OK
Result:
The maximum permissible output current of 30 mA is not exceeded.
If Io > 30 mA, either a level converter must be added or an n-switching digital

input must be used.
WAGO-I/O-SYSTEM 750
I/O Modules
Connection Examples
2.1.2.16.5 Connection at Negative Switching Inputs
Outputs A2 and B2 are designed as open-drain outputs and can therefore

directly activate n-switching digital inputs. Only one branch is shown the
figure. The 0 status occurs when the internal MOSFET assumes control.
Current through the MOSFET may not exceed 30 mA.
DI1+ DI-
U
24 V
Uv Ie
Input for DI2+ GND

external release DI
with 24 V switched!
A1 A2
B1 B2 Connect like A2
750-670
Fig. 2.1.2-41: Connection at negative switching input g067007e
Example for determining the maximum current:
Supply voltage is 24 V, with a tolerance of –15 % … +20 %. Maximum

current flows at a voltage of 28.8 V. This value is given in the data sheet, or
can be determined by appropriate measurement. The following estimate can
also be made: A digital input is used which requires a current of 3 mA at 15 V
(1 status), according to the data sheet. This value corresponds to an input
resistance of 5 kΩ. At 28.8 V a current of I = 28.8 V / 5 kΩ = 5.8 mA would
flow.
Result: The maximum permissible output current of 30 mA is not exceeded.
The digital input can be set.
WAGO-I/O-SYSTEM 750
I/O Modules
136 • Overview of Mailbox Commands
Connection Examples
3 Appendix
3.1 Mailbox Commands
3.1.1 Overview of Mailbox Commands
Function Opcode Meaning Page

General commands
IDLE 0x00 No task 140
Drive commands
DRIVE_COMMAND 0x40 Command for Move mode 141
Download command
DLD_START 0x41 Download Start 142
DLD_CONT 0x42 Download Continue 145
DLD_END 0x43 Completion of download 148
Table management commands
TABLE_ERASE 0x44 Tables will be deleted. 149
TABLE_COPY 0x45 Tables will be copied. 151
TABLE_START 0x46 Table is activated 154
TABLE_STOP 0x48 Ends table processing 155
TABLE_GET_ACTIVE 0x4F Determine active table 156
Diagnostics commands
Information about error retrieved from
DIAG_RD_ERROR 0x49 157
error memory
DIAG_QUIT_ERROR 0x4A Terminates a device error condition 158
DIAG_RD_VAR 0x4C Read out internal variable 159
DIAG_RD_BIT 0x4D Read out internal bit 160
DIAG_QUERY_
0x4E Read out storage process status bit 161
STORAGE
Configuration table commands
Set address for data access to the
CONFIG_SET_PTR 0x50 162
configuration
CONFIG_WR 0x51 Write access to configuration value 163
CONFIG_RD 0x52 Read access to configuration value 164
CONFIG_SAVE 0x53 Saves the current RAM configuration 165
CONFIG_RESTORE 0x54 Restores the configuration 166
WAGO-I/O-SYSTEM 750
I/O Modules
Overview of Mailbox Commands • 137
Connection Examples

Position table commands
POS_TABLE_CREATE 0x5C Generates a position table in the RAM. 168
Sets an index for the subsequent entry to
POS_TABLE_SET_PTR 0x5D be written with POS_TABLE_WR in the 169
position table
Writes an entry to the active position
POS_TABLE_WR 0x5E 170
table
Writes the current position to the active
POS_TABLE_TEACH 0x5F 171
position table
WAGO-I/O-SYSTEM 750
I/O Modules
138 • Overview of Mailbox Commands, Sorted by Opcodes
Connection Examples
3.1.2 Overview of Mailbox Commands, Sorted by Opcodes

DLD_END 0x43 Completion of download ... 148
TABLE_ERASE 0x44 Tables being deleted ..... 149
TABLE_COPY 0x45 Tables being copied ... 151
TABLE_START 0x46 Activates a table 154
error memory
DIAG_QUERY_
STORAGE
configuration
position table
table
position table
WAGO-I/O-SYSTEM 750
I/O Modules
Overview of Mailbox Commands, Sorted by Functions • 139
Connection Examples
3.1.3 Overview of Mailbox Commands, Sorted by Functions

configuration
DIAG_QUERY_
STORAGE
error memory
DLD_END 0x43 Completion of download ... 148
position table
position table
table
TABLE_COPY 0x45 Tables being copied ... 151
TABLE_ERASE 0x44 Tables being deleted ..... 149
TABLE_START 0x46 Activates a table 154
WAGO-I/O-SYSTEM 750
I/O Modules
140 • Reference Commands – Mailbox Commands
General commands
3.1.4 Reference Commands – Mailbox Commands

3.1.4.1 General commands
3.1.4.1.1 IDLE (0x00)
No task is performed if the value for "Opcode" is 0.
Request
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x00
MB1 T -
MB2 Reserved
MB3 Reserved
MB4 Reserved
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x00
MB1 T Return Code
MB2 Reserved
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x01: General error
WAGO-I/O-SYSTEM 750
I/O Modules
Reference Commands – Mailbox Commands • 141
Move Commands
3.1.4.2 Move Commands
3.1.4.2.1 DRIVE_COMMAND (0x40)
accepted only when the mode "Move task via mailbox"(chapter 2.1.2.12.2,
„Move Mode via Mailbox“) 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
MB1 T -
MB2 Command
MB3 Data 1
MB4 Data 2
MB5 Data 3
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 Command
MB3 Data 1
MB4 Data 2
MB5 Data 3
Return 0x00: OK
Code
0x01: General error
0x11: The last command is still being executed
0x12: Command not accepted, for example, when a Move
command has not yet been completed.
0x13: Unknown command
0x23: Access denied
WAGO-I/O-SYSTEM 750
I/O Modules
Download Commands
3.1.4.3 Download Commands
3.1.4.3.1 DLD_START (0x41)
Download Start
Tables are always loaded into RAM (1 or 2) first. The cursor is first placed on
the first entry. Only one table can be loaded at any one time; any previous,
incomplete download is canceled and becomes invalid. Direct transfer to /
from the EEPROM is not possible (see also TABLE_COPY). Download to the
same RAM sector is rejected with an error message when a move program
table is still active. Camshaft and position tables can also be overwritten when
they are active.
Default assignment
The default 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 EEPROM version number is expected in byte 5 during download of a

configuration table. A complete table, with 128 data values, 32 bit each, is
always expected.
Download formats (see also Request Data 4)
Expanded 32-bit down-/upload
A DLD_CONT must be used for an 8-bit command / 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.
Compressed 24-bit down-/upload
When downloading a Move program / a camshaft table, those items are

transferred with a DLD_CONT command for an 8-bit command / data sample
and a 24-bit date entry / position entry.
WAGO-I/O-SYSTEM 750
I/O Modules
Download Commands
Maximum number of data sets (see also Request, Byte 5 and 6)
Table Typ Max. number of data sets

e
Move program: 1 400
Camshaft 2 50
Position table 3 50
Configuration 4 128
Trace 5 1000
Request
Byte 27 26 25 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)
Storage Table 0: Reserved
location type 1, 2,
1: RAM Table 1
3
2: RAM Table 2
3 ... 255: Reserved
Table 0: Reserved
type 4, 5
1: RAM Table 1
2 ... 255: Reserved
Table type 0: Reserved
1: Move program:
2: Camshaft
3: Position table
4: Configuration data set, User configuration
5: Trace
Transfer 0: 24-bit data download
1: 24-bit data upload
2: 32-bit data download
3: 32-bit data upload
4 ... 255: Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Download Commands
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
Return 0x00: OK
Code
0x30: Table being used
0x31: General error
Status 0: Download/Upload can be started
1: Error; Download/Upload not possible
WAGO-I/O-SYSTEM 750
I/O Modules
Download Commands
3.1.4.3.2 DLD_CONT (0x42)
Download Continue
An entry is written to the selected table. The cursor is then moved to the next
element. The request data are ignored for an upload. An error is returned when
it is detected during a download that a transmitted Move table command is
invalid, or if camshaft entries are transmitted NOT in ascending order. The
data that has been transmitted will not be corrected. The table can not be valid
with DLD_END however.
Download formats:
Expanded 32-bit down-/upload
A DLD_CONT must be used for an 8-bit command / 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)
Step MB2 MB3 MB4 MB5

1.1 Command 1 Reserved Reserved Reserved
1.2 Data 1 (LSB) Data 1 Data 1 Data 1 (MSB)
2.1 Command 2 Reserved Reserved Reserved
2.2 Data 2 (LSB) Data 2 Data 2 Data 2 (MSB)
…
Camshaft Table (Type 02)

1.1 Bit sample 1 Reserved Reserved Reserved
1.2 Position 1 (LSB) Position 1 Position 1 Position 1 (MSB)
2.1 Bit sample 2 Reserved Reserved Reserved
2.2 Position 2 (LSB) Position 2 Position 2 Position 2 (MSB)
…
Compressed 24-bit down-/upload
When downloading a Move program / a camshaft table, those items are

transferred with a DLD_CONT command for an 8-bit command / data sample
and a 24-bit date entry / position entry:
WAGO-I/O-SYSTEM 750
I/O Modules
Download Commands
Move program table (Type 01)

1 Command 1 Data 1 (LSB) Data 1 Data 1 (MSB)
2 Command 2 Data 2 (LSB) Data 2 Data 2 (MSB)
…
Camshaft Table (Type 02)

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 tables (Type 03) and the configuration
data set (Type 04). Therefore, only the 32-bit down-/upload are given for both
types of tables.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x42
MB1 T -
MB2 Data
MB3 Data
MB4 Data
MB5 Data
WAGO-I/O-SYSTEM 750
I/O Modules
Download Commands
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x42
MB1 T Return Code
MB2 Data
MB3 Data
MB4 Data
MB5 Data
Return 0x00: OK
Code
0x31: Upload/Download not started, or all data have already
been transferred
0x38: Transferred data set corrupt
WAGO-I/O-SYSTEM 750
I/O Modules
Download Commands
3.1.4.3.3 DLD_END (0x43)
End of Download
The download is completed and the stepper module checks the checksum. If
the checksum is not OK, the table is invalid and can not be activated. The
checksum is the sum of all data transferred with DLD_CONT. Summation is
performed at 8 bits, with the 4 bytes that were transferred with DLD_CONT
each being taken as 8-bit values. The difference between the sum of all
transferred data and the checksum must therefore be zero. The request data are
ignored for an upload. If a configuration table is transferred, saving to
EEPROM is performed automatically (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 start; this must be canceled using
Reset_Quit.
Only then is the module operational again.
After a successful download of a Move program to RAM Table 1, that table is
automatically activated. (only when no other table is active however, see also
TABLE_START)
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x43
MB1 T -
MB2 Checksum for transferred data (LSB)
MB3 Checksum for transferred data
MB4 Checksum for transferred data
MB5 Checksum for transferred data (MSB)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x43
MB1 T Return Code
MB2 Checksum for stored data (LSB)
MB3 Checksum for stored data
MB4 Checksum for stored data
MB5 Checksum for stored data (MSB)
Return 0x00: OK
Code
0x31: General error
WAGO-I/O-SYSTEM 750
I/O Modules
Table Management Commands
3.1.4.4 Table Management Commands
3.1.4.4.1 TABLE_ERASE (0x44)
Tables are deleted by setting their status to invalid. An active table can not be
deleted. A table can not be deleted during ongoing transfer using
DLD_START, DLD_CONT or DLD_END.
Deleting of an EEPROM table is performed 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 255 as byte 2). "FACTORY_DEFAULT"
may only be overwritten.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x44
MB1 T -
MB3 Table type
MB4 Reserved
MB5 Reserved
Storage 0: EEPROM table
location
1: RAM Table 1
2: RAM Table 2
3 ... 255: Reserved
1: Move program:
2: Camshaft
3: Position table
5 ... 255: Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x44
MB1 T Return Code
MB2 Status
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x30: Table active
0x31: General error
Status 0: Successfully deleted
1: Deleting aborted
Table manager
EEPROM RAM2 RAM1
WAGO Factory User User User
R/W + ERA + CPY
R/W + R/W +
ERA + ERA +
CPY CPY
Move program Move program Move program
Camshaft Camshaft Camshaft
Position Position Position
Configuration Configuration Configuration
SAVE / RESTORE
RESTORE
Data recorder
R/W Read/Write
ERA Erase
CPY Copy
Fig. 3.1.4-1: Table manager g067120e
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.4.2 TABLE_COPY (0x45)
Tables will be copied.
The target may not be identical to the source.
A table can not be specified either as the target nor as the source of the
copying command 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_STORAGE).
The tables located in the EEPROM are always copied to RAM 1 when the
system is started up. This command can not be used for copying out of the
EEPROM.
A configuration table can not be copied with this command (see also
CFG_SAVE, CONFIG_RESTORE).
Copying options:
1. RAM  RAM
2. RAM  EERPOM
WAGO-I/O-SYSTEM 750
I/O Modules
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x44
MB1 T -
MB2 Table type
MB3 Data source
MB4 Storage target
MB5 Reserved
1: Move program:
2: Camshaft
3: Position table
4: Reserved
5: Status query for a previous copying process (see also
DIAG_QUERY_STORAGE)
6 ... 255: Reserved
Data source 0: Reserved
1: RAM Table 1
2: RAM Table 2
3 ... 255: Reserved
Storage 0: EEPROM table
target
1: RAM Table 1
2: RAM Table 2
3 ... 255: Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x44
MB1 T Return Code
MB2 Status
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x31: General error
0x33: Copying process still active
0x34: EEPROM copying process aborted
0x35: Target table not empty
Status 0: Successfully copied
1: Copying aborted
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.4.3 TABLE_START (0x46)
Activates a table Only a valid table can be activated (transfer using

DLD_START, DLD_CONT and DLD_END completed successfully and
checksum valid). This command can only be used after the Move program has
been stopped.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x46
MB1 T -
MB3 Table type
MB4 Reserved
MB5 Reserved
Storage 0: No table
location
1: RAM Table 1
2: RAM Table 2
3 ... 255: Reserved
1: Move program:
2: Camshaft
3: Position table
4 ... 255: Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x46
MB1 T Return Code
MB2 Status
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x31: General error
Status 0: Successfully activated
1: Activation aborted
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.4.4 TABLE_STOP (0x48)
Ends table processing; after this, the STOP_FAST command is executed

internally in the system.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x48
MB1 T -
MB2 Reserved
MB3 Reserved
MB4 Reserved
MB5 Reserved
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x48
MB1 T Return Code
MB2 Status
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x01: General error
(error code
for 0x11: The last command is still being executed
previous
0x12: Command not accepted, for example, when a Move
command
command has not yet been completed.
SPEED_
STOP_ 0x23: Access denied
IMM)
Status exact error code, when return code <> 0
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.4.5 TABLE_GET_ACTIVE (0x4F)
Determine the active table.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x4F
MB1 T -
MB2 Table type
MB3 Reserved
MB4 Reserved
MB5 Reserved
1: Move program:
2: Camshaft
3: Position table
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
MB5 Reserved
Return 0x00: OK
Code
0x31: Invalid table type
Status Table 0: No table active (even when 0x31 returned)
type 1, 2,
1: RAM Table 1 active
3
2: RAM Table 2 active
3 … 255: Reserved
Table 0: Reserved (even when 0x31 returned)
type 4
1: User data set active
2: Factory default active
3 … 255: Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Diagnostics Commands
3.1.4.5 Diagnostics Commands
3.1.4.5.1 DIAG_RD_ERROR (0x49)
Information about error is retrieved from the error memory.
Request
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x49
MB1 T -
MB2 Reserved
MB3 Reserved
MB4 Reserved
MB5 Reserved
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x49
MB1 T Return Code
MB2 Error code (LSB)
MB3 Error code (MSB)
MB4 Extra information (LSB)
MB5 Extra information (MSB)
Return 0x00: OK
Code
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.5.2 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 20
MB0 0x4A
MB1 T Return Code
MB2 Reserved
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.5.3 DIAG_RD_VAR (0x4C)
Read out status variable. The variable number determines the source to be
read from.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x4C
MB1 T -
MB2 Variable number
MB3 Reserved
MB4 Reserved
MB5 Reserved
Variable 0… predefined variables are read (see chapter 3.6,
number 0x1000: “Internal Status Variables”)
0x1000 … predefined bits 0 ….. 0x100 are read (see chapter
0x1100: 3.4, “Bit field for I/O driver
“)
0x40000000 … Direct reading out of RAM
0x40004000:
0xE0000000 … Direct reading out of controller periphery
0xE0200000:
0xFFE00000 … Direct reading out of controller periphery
0xFFFFFFFF:
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x4C
MB1 T Return Code
MB2 Variable (LSB)
MB3 Variable
MB4 Variable
MB5 Variable (MSB)
Return 0x00: OK
Code
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.5.4 DIAG_RD_BIT (0x4D)
Read out status bit (see also chapter 3.4, “Bit 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.
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x4D
MB1 T Return Code
MB2 Status
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
Status 0: Bit deleted
1: Bit set
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.5.5 DIAG_QUERY_STORAGE (0x4E)
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 Code
MB2 Status
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
Status 0: Storing completed
1 ... 255: Storing in progress
WAGO-I/O-SYSTEM 750
I/O Modules
Configuration Table Commands
3.1.4.6 Configuration Table Commands
3.1.4.6.1 CONFIG_SET_PTR (0x50)
Set address for data access to the configuration, see chapter 2.1.2.11.1,
“Configuration Table”. 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
Number of 0: Reserved
bytes
1 ... 4: Number of bytes that are written for access with
Config_WR.
5 ... 255: Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x50
MB1 T Return Code
MB2 Reserved
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x23: Access denied; invalid number of bytes or invalid index
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.6.2 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
MB1 T Return Code
MB2 Reserved
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x23: Access denied
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.6.3 CONFIG_RD (0x52)
Read access to configuration value. The value 0 is returned 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
Number of 0: Reserved
bytes
1 ... 4: Number of bytes that are written for access with
Config_RD.
5 ... 255: Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x52
MB1 T Return Code
MB2 Data (LSB)
MB3 Data
MB4 Data
MB5 Data (MSB)
Return 0x00: OK
Code
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.6.4 CONFIG_SAVE (0x53)
Saves the current RAM configuration in the EEPROM. The configuration is

saved as a user data set in the EEPROM with password 0x0001. The
configuration is saved as RACTORY_DEFAULT in the EEPROM with
password 0xE17E. At the same time, EEPROM sectors of the module registry
set are also saved. A FACTORY_DEFAULT data set that has been 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 data set is
conducted only after a (manual) restart of the module.
The Reset status bit is set after the warm start; this must be canceled using
Reset_Quit.
Only then is the module operational again.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x53
MB1 T -
MB2 Password (LSB)
MB3 Password
MB4 Password
MB5 Password (MSB)
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x53
MB1 T Return Code
MB2 Reserved
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x31: Fault
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.6.5 CONFIG_RESTORE (0x54)
The configuration is restored and the user data set overwritten. A warm start is
carried out after the command has been successfully executed to ensure that
all data is accepted.
Warning
During warm start the mailbox data are undefined. They may be evaluated
only again if the status bit Reset signals the end of warm start.
Request
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x54
MB1 T -
MB2 Restore
MB3 Warm start
MB4 Reserved
MB5 Reserved
Restore 0: Reserved
1: Last saved user data set loaded from EEPROM
2: User data set overwritten with FACTORY_DEFAULT
3 ... 255: Reserved
Warm start 0: User data set overwritten and warm start carried out
1: The required data set is only loaded to the RAM, without
a warm start being performed. Error 2821 =
CFG_FACTORY_LOAD is reported. A warm start is
carried out only when this error is acknowledged, with
the original configuration being restored.
2 ... 255: Reserved
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
Return 0x00: OK
Code
0x31: Fault
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.7 Position table commands
3.1.4.7.1 POS_TABLE_CREATE (0x5C)
Generates a position table in the RAM. The table status is set to "valid".
Request
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x5C
MB1 T -
MB3 Number of elements
MB4 Initialization
MB5 Reserved
Storage 0: Reserved
location
1: RAM Table 1
2: RAM Table 2
3 ... 255: Reserved
Number of 1 … 50: Number of elements
elements
51 … 255: Reserved
Initializatio 0: Install table completely with 0x80000000
n
1: Expand existing table (all existing entries are retained).
Is executed only when the new size is larger than the
existing table!
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x5C
MB1 T Return Code
MB2 Status
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x32: Invalid table specified
0x3A: Invalid number of elements
Status 0: Initialization successful
1: Initialization aborted
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.7.2 POS_TABLE_SET_PTR (0x5D)
Sets an index for the subsequent entry to be written with POS_TABLE_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
Index 0 ... 49: Index
50 ... 255: Reserved
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x5D
MB1 T Return Code
MB2 Status
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x37: Table does not exist, or index not assigned
Status 0: Successfully indexed
1: Indexing aborted
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.7.3 POS_TABLE_WR (0x5E)
Writes an entry to the active position table. The table index that was last set
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
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x5E
MB1 T Return Code
MB2 Status
MB3 Reserved
MB4 Reserved
MB5 Reserved
Return 0x00: OK
Code
0x37: Table does not exist, or index not set
Status 0: Writing completed successfully
1: Writing aborted
WAGO-I/O-SYSTEM 750
I/O Modules
3.1.4.7.4 POS_TABLE_TEACH (0x5F)
Writes the current position to the active position table.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x5F
MB1 T -
MB2 Target for measured value
MB3 Measurement
MB4 Reserved
MB5 Reserved
Target for 0 ... 49: Index at which the current position in the currently
measured active position table is to be filed (see also
value TABLE_START)
-1 (0xFF): Save current position as negative limit
Drive_Range_Neg (see configuration table)
-2 (0xFE): Save current position as positive limit
Drive_Range_Pos (see configuration table)
-3 (0xFD): The current position is the zero point for a relevant
measurement
50 ... 252: Reserved
Measureme 0: Absolute measurement: Save current position
nt
1: Relative measurement: Zero point for relative
measurement – save current position
2 ... 255: Reserved
WAGO-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
Return 0x00: OK
Code
0x37: Table or specified index does not exist
Status 0: Writing completed successfully
1: Writing aborted
WAGO-I/O-SYSTEM 750
I/O Modules
Overview of Commands for Move Mode • 173
3.2 Commands for Move Mode

3.2.1 Overview of Commands for Move Mode

Setpoint commands
Each MOVE command starts one
MOVE 0x02 180
positioning process.
MOVE_IMMEDIATE 0x03 181
MOVE_TABLE 0x04 182
MOVE_TABLE_ Each MOVE command starts one
0x05 183
IMMEDIATE positioning process.
MOVE_REL 0x06 184
MOVE_TABLE_REL 0x08 185
The SPEED commands run the drive up
SPEED 0x10 186
to a defined speed.
SPEED_IMMEDIATE 0x11 187
to a defined speed.
The SPEED commands run the drive to
STOP_FAST 0x18 188
a defined speed.
STOP_NO_RAMP 0x19 189
a defined speed.
START_REFERENCING 0x20 Starts a reference run. 190
Sets the acceleration and deceleration
SET_ACC_MODE 0x21 191
mode.
Sets acceleration and/or delay; valid as
SET_ACC 0x22 193
of the next positioning process.
Set the Acc_ParamUp parameter for
SET_ACC_PARAM_UP 0x23 acceleration; valid as of the next 194
Set the Acc_ParamDown parameter for
SET_ACC_PARAM_
0x24 delay (deceleration); valid as of the next 195
DOWN
Sets the positioning speed; valid as of
SET_VELOCITY 0x25 196
the next positioning process.
Velocity to target position. Valid only
SET_VELOCITY_ for the next positioning process and is
0x2B 197
TARGET then reset automatically to zero after the
next positioning process.
The current position is applied to the
SET_ACTUALPOSITON 0x2E 198
transferred value.
WAGO-I/O-SYSTEM 750
I/O Modules
174 • Overview of Commands for Move Mode

SET_ACTUALPOSITION_
0x2F The current position is set to zero 199
ZERO
Sets the motor current for drive
SET_CURRENT 0x39 200
movement.
Math commands
Sets one of the variables FILT1 ...
VAR_SET 0x50 201
FILT8 to the specified value
Adds the specified value to one of the
VAR_INC 0x51 202
variables FILT1 … FILT8.
Subtracts the specified value from one
VAR_DEC 0x52 203
of the variables FILT1 … FILT8.
Adds two variables and writes the
VAR_ADD 0x53 204
results to a third variable.
Subtracts two variables and writes the
VAR_SUB 0x54 205
Multiplies one variable by another one
VAR_MUL 0x55 206
and writes the results to a third variable.
VAR_COPY 0x56 Copes one variable to another variable. 207
Divides one variable by another one and
VAR_DIV 0x57 208
writes the results to a third variable.
Waits a defined time period before
WAIT_TIME 0x70 209
processing the next command.
Before processing the next command
WAIT_TEST_BIT 0x71 waits until the specified bit has the 210
status 0 or 1.
Auxiliary commands
WR_BIT 0x78 Sets a bit to 0 or 1. 211
NOP 0xF0 No function 212
PROG_STOP 0xF1 Ends table processing. 213
0x00 or
PROG_END End of table. 214
0xFF
Continues table process at the addressed
GOTO 0xF5 215
entry.
If a bit has been set, table processing is
GOTO_IF 0xF6 continued at the addressed entry; 216
otherwise from the next entry.
If a bit has been deleted, table
GOTO_IF_NOT 0xF7 processing is continued at the addressed 217
entry; otherwise from the next entry.
Continues table process from a defined
GOTO_LABEL 0xF8 218
label.
Continues table processing for a defined
GOTO_LABEL_IF 0xF9 219
label if a bit has been set.
WAGO-I/O-SYSTEM 750
I/O Modules
Overview of Commands for Move Mode • 175

GOTO_LABEL_IF_NOT 0xFA 220
label if a bit has been deleted.
LABEL 0xFB Defines a label for a step target 221
WAGO-I/O-SYSTEM 750
I/O Modules
176 • Overview of Move Mode Commands, Sorted by Opcodes
3.2.2 Overview of Move Mode Commands, Sorted by Opcodes

0x00 or
0xFF
MOVE 0x02 180
MOVE_TABLE 0x04 182
0x05 183
MOVE_REL 0x06 184
SPEED 0x10 186
to a defined speed.
to a defined speed.
STOP_FAST 0x18 188
a defined speed.
a defined speed.
mode.
SET_ACC 0x22 193
SET_ACC_PARAM_
DOWN
0x2B 197
transferred value.
SET_ACTUALPOSITION_
ZERO
WAGO-I/O-SYSTEM 750
I/O Modules
Overview of Move Mode Commands, Sorted by Opcodes • 177

movement.
VAR_SET 0x50 201
VAR_INC 0x51 202
VAR_DEC 0x52 203
VAR_ADD 0x53 204
VAR_SUB 0x54 205
VAR_MUL 0x55 206
VAR_DIV 0x57 208
WAIT_TIME 0x70 209
status 0 or 1.
GOTO 0xF5 215
entry.
Continues table process from a defined
GOTO_LABEL 0xF8 218
label.
WAGO-I/O-SYSTEM 750
I/O Modules
178 • Overview of Move Mode Commands, Sorted by Function
3.2.3 Overview of Move Mode Commands, Sorted by Function

GOTO 0xF5 215
entry.
Continues table processing from a
GOTO_LABEL 0xF8 218
defined label.
MOVE 0x02 180
MOVE_REL 0x06 184
MOVE_TABLE 0x04 182
0x05 183
0x00 or
0xFF
SET_ACC 0x22 193
SET_ACC_
PARAM_DOWN
mode.
SET_ACTUALPOSITION_
ZERO
WAGO-I/O-SYSTEM 750
I/O Modules
Overview of Move Mode Commands, Sorted by Function • 179

transferred value.
movement.
0x2B 197
SPEED 0x10 186
a defined speed.
a defined speed.
STOP_FAST 0x18 188
a defined speed.
a defined speed.
VAR_ADD 0x53 204
VAR_DEC 0x52 203
VAR_DIV 0x57 208
VAR_INC 0x51 202
VAR_MUL 0x55 206
VAR_SET 0x50 201
VAR_SUB 0x54 205
status 0 or 1.
WAIT_TIME 0x70 209
WAGO-I/O-SYSTEM 750
I/O Modules
180 • Reference Commands for Move Mode
Setpoint commands
3.2.4 Reference Commands for Move Mode

3.2.4.1 Setpoint commands
3.2.4.1.1 MOVE (0x02)
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. The acceleration and velocity
specified by SET_ACC (0x22) and SET_VELOCITY (0x25) are used for
positioning commands.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x02
MB3 Position (LSB)
MB4 Position
MB5 Position (MSB)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x02
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Reference Commands for Move Mode • 181
Setpoint commands
3.2.4.1.2 MOVE_IMMEDIATE (0x03)

command 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 (0x25) are
used for positioning commands.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x03
MB3 Position (LSB)
MB4 Position
MB5 Position (MSB)
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x03
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.3 MOVE_TABLE (0x04)

completed and the "On_Target" 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 used for positioning commands.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x04
MB3 No. of table entry with target position
MB4 Reserved SRC
MB5 Reserved
SRC 0: Read out from position table.
1: Read out from variables FILT1 ... FILT8.
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x04
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.4 MOVE_TABLE_IMMEDIATE (0x05)

command will interrupt any positioning process that may already be in
progress and immediately starts 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 (0x25) are used for positioning commands.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x05
MB4 Reserved SRC
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x05
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.5 MOVE_REL (0x06)

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 velocity specified by SET_ACC (0x22)
and SET_VELOCITY (0x25) are used for positioning commands.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x06
MB3 Position (LSB)
MB4 Position
MB5 Position (MSB)
Antwort
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x06
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.6 MOVE_TABLE_REL (0x08)

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 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x08
MB4 Reserved SRC
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x08
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.7 SPEED (0x10)
Runs the drive up to a defined speed. On execution of this command, the

"On_Target" bit is deleted immediately and then set when the target speed 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 has been set.
Speed range: -25000 … 25000.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x10
MB3 Speed (LSB)
MB4 Speed (MSB)
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x10
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.8 SPEED_IMMEDIATE (0x11)
Runs the drive up to a defined speed. On execution of this command, the

"On_Target" bit is deleted immediately and then set when the target 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 speed
control.
Speed range: -25000 … 25000.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x11
MB3 Speed (LSB)
MB4 Speed (MSB)
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x11
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.9 STOP_FAST (0x18)
Brakes the drive directly with the acceleration command SET_ACC_STOP

down to standstill. Internal processing is structured such that 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 limit switch or stop input.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x18
MB3 Reserved
MB4 Reserved
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x18
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.10 STOP_NO_RAMP (0x19)
Sets the output frequency immediately to zero. Internal processing is

structured such that this command is 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 been set.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x19
MB3 Reserved
MB4 Reserved
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x19
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.11 START_REFERENCING (0x20)
Starts a reference run. This command immediately deletes the bits On_Target
and Reference_OK and sets them when the reference value is reached. The
Busy bit is set during a reference run.
The reference run is always performed at the setup speed SpeedSetup and at
the setup acceleration SetupAcceleration.
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
SWT 0: Reference run to reference switch:
1: Reference run to limit switch:
STD If SWT = 0, then STD indicates the starting direction, if SWT = 1, then
STD specifies the limit switch.
0: Starting direction negative / negative limit switch:
1: Starting direction positive / positive limit switch:
DIR DIR is evaluated only when SWT = 1.
0: Reference run started from negative end.
1: Reference run started from positive end.
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x20
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.12 SET_ACC_MODE (0x21)
Set the type of acceleration and delay; valid as of the next positioning process.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x21
MB3 DEC_M DEC_T ACC_M ACC_T
MB4 Reserved
MB5 Reserved
ACC_T 0: constant acceleration
1: linear increase in acceleration
With ACC_M = 0, the period for acceleration increase is
Acc_ParamUp, the increase in acceleration is calculated at
ACC_M <> 0.
2: sin^2 increase in acceleration
With ACC_M = 0, the period for acceleration increase is
Acc_ParamUp, the increase in acceleration is calculated at
ACC_M <> 0.
3: Reserved
ACC_M 0: no modification
1: Acc_ParamUp interpreted as the acceleration period
2: Acc_ParamUp interpreted as the acceleration path
3: Reserved
DEC_T 0: constant deceleration
1: linear deceleration
With DEC_M = 0, the period for deceleration is Acc_ParamDown,
the increase in deceleration is calculated at DEC_M <> 0.
2: sin^2 deceleration
With DEC_M = 0, the period for deceleration is Acc_ParamDown,
the increase in deceleration is calculated at DEC_M <> 0.
3: Reserved
DEC_M 0: no modification
1: Acc_ParamDown interpreted as the deceleration period
2: Acc_ParamDown interpreted as the deceleration path
3: Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x21
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.13 SET_ACC (0x22)
Sets the type and rate of acceleration; valid as of the next positioning process
(see also positioning commands MOVE…, 0x02, 0x03, 0x04, 0x05, 0x06,
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
SEL 0: Sets the value for acceleration and brake phase.
1: Sets the value for acceleration phase only.
2: Sets the value for brake phase only.
3: Sets the value for acceleration and brake phase.
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x22
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.14 SET_ACC_PARAM_UP (0x23)
Set the Acc_ParamUp parameter for acceleration; valid as of the next

The function for the acceleration parameter as a function of the set

acceleration modification is shown in the following table.
Acceleration modification Acceleration parameter

(SET_ACC_MODE  ACC_M) Acc_ParamUp
none Time constant for acceleration increase
with linear or sin2*t acceleration
constant acceleration period Acceleration time
constant acceleration path Acceleration path
Acceleration parameter range: 1 … 16777215.
Request
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x23
MB3 Acceleration parameter (LSB)
MB4 Acceleration parameter
MB5 Acceleration parameter (MSB)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x23
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.15 SET_ACC_PARAM_DOWN (0x24)
Set the Acc_ParamDown parameter for delay (deceleration); valid as of the

The function for the delay parameter as a function of the set delay
modification is shown in the following table.
Deceleration modification Delay parameter

(SET_ACC_MODE  DEC_M) Acc_ParamDown
none Time constant for deceleration increase with
linear or sin2*t deceleration
constant delay period Delay time
constant delay path Delay path
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x24
MB3 Deceleration parameter (LSB)
MB4 Deceleration parameter
MB5 Deceleration parameter (MSB)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x24
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.16 SET_VELOCITY (0x25)
Sets the positioning velocity; valid 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 (LSB)
MB4 Velocity (MSB)
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x25
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.17 SET_VELOCITY_TARGET (0x2B)
Sets the target velocity for the 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 Velocity (LSB)
MB4 Velocity (MSB)
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x2B
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.18 SET_ACTUALPOSITON (0x2E)
The current position is set to the 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 Position (LSB)
MB4 Position
MB5 Position (MSB)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x2E
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.19 SET_ACTUALPOSITION_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
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x2F
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Setpoint commands
3.2.4.1.20 SET_CURRENT (0x39)
Sets the motor current for drive movement.
The corresponding bit in the valid range must be set to 1 for the working range
for which the motor current is to be set. Several bits can be set simultaneously.
If the corresponding bit 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 Motor current
MB4 Reserved Valid range
MB5 Reserved
Valid range Bit 0: Set motor current for standstill
Bit 1: Set motor current for acceleration
Bit 2: Set motor current for drive movement
Bit 3: Set motor current for deceleration
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x39
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Math commands
3.2.4.2 Math commands
3.2.4.2.1 VAR_SET (0x50)
Sets a variable to the defined value.
Request
7 6 5
Byte 2 2 2 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)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x50
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Math commands
3.2.4.2.2 VAR_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
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x51
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Math commands
3.2.4.2.3 VAR_DEC (0x52)
Subtracts the given value from a variable.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x52
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x52
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Math commands
3.2.4.2.4 VAR_ADD (0x53)
Adds two variables and writes the 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 corresponds to FILT1 … FILT8)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x53
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Math commands
3.2.4.2.5 VAR_SUB (0x54)
Subtracts one variable from another one and 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 Subtrahend (1 … 8 corresponds to FILT1 … FILT8)
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x54
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Math commands
3.2.4.2.6 VAR_MUL (0x55)
Multiplies one variable by another one and writes 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 Multiplicand 1 (1 … 8 corresponds to FILT1 …
FILT8)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x55
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Math commands
3.2.4.2.7 VAR_COPY (0x56)
Copes 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
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x56
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Math commands
3.2.4.2.8 VAR_DIV (0x57)
Divides one variable by another one and 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 (1 … 8 corresponds to FILT1 … FILT8)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x57
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Wait Commands
3.2.4.3 Wait Commands
3.2.4.3.1 WAIT_TIME (0x70)
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 Waiting time (MSB)
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x70
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Wait Commands
3.2.4.3.2 WAIT_TEST_BIT (0x71)
Before processing the next command waits until the specified bit has the
specified status 0 or 1.
Refer to Chapter 3.4, “Bit field for I/O driver” for the bit number.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x71
MB3 Bit No.
MB4 Specified status of bit (0 or 1)
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x71
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4 Auxiliary Commands
3.2.4.4.1 WR_BIT (0x78)
Sets a bit B to 0 or 1.
Refer to Chapter 3.4, “Bit field for I/O driver” for the bit number.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0x78
MB3 Bit No.
MB4 Specified status of bit (0 or 1)
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x78
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
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 0x40
MB1 T Return Code
MB2 0xF0
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4.3 PROG_STOP (0xF1)
Ends table processing. Sets velocity to zero, deactivates 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
Error 0: No error message
message
1 ... 8: Error message ERROR_TBL_PROGRAM_STOP1 ... 8
9 ... 255 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0xF1
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4.4 PROG_END (0x00 oder 0xFF)
End of table (default command for a 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 Reserved
MB4 Reserved
MB5 Reserved
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0x00 or 0xFF
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4.5 GOTO (0xF5)
Continues 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 Reserved
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0xF5
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4.6 GOTO_IF (0xF6)
If a bit has been set, table processing is continued at the addressed entry;
otherwise the next table entry is used.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0xF6
MB5 Number of bit to be checked
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0xF6
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4.7 GOTO_IF_NOT (0xF7)
If a bit has not been set, table processing is continued at the addressed entry;
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0xF7
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0xF7
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4.8 GOTO_LABEL (0xF8)
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
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0xF8
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4.9 GOTO_LABEL_IF (0xF9)
If a bit has been set, table processing is continued at the addressed entry;
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0xF9
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0xF9
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4.10 GOTO_LABEL_IF_NOT (0xFA)
If a bit has not been set, table processing is continued at the addressed entry;
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0xFA
Response
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0xFA
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.2.4.4.11 LABEL (0xFB)
Defines a label as a step target for a GOTO command; no further function. If

more than one identical label numbers are defined, the one at the lowest
address in the table shall be valid.
Request
Byte 27 26 25 24 23 22 21 20
MB0 0x40
MB1 T -
MB2 0xFB
MB5 Reserved
Response
7 6 5
Byte 2 2 2 24 23 22 21 20
MB0 0x40
MB1 T Return Code
MB2 0xFB
MB3 Reserved
MB4 Reserved
MB5 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.3 Error Blink Codes

The fault message consists of a 4-place digit.
The error display starts with the first blinking sequence (approx. 10 Hz).
After a short break, the second blinking sequence starts (approx. 2 Hz). This
sequence represents the highest digit for the 4-place error code.
All of the other digits then appear at 1 second intervals, down to the lowest
value digit.
The blinking sequence is then repeated.
Errors with numbers of type "1nnn" can be acknowledged, with 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
node goes into the "Stop" status. The node must then be restarted.
Errors can also be reported in status byte S0, bit 6 (ERR) and thus initiate an
acyclic diagnostics message.
This bit is addressed continuously as long as the error is present.
Enabling for the indication is set using the configuration parameter
Error_Notification Bit 0.
This bit has the following meaning:
0: Errors are not reported via status byte S0, bit 6 (ERR).
1: Errors are reported via status byte S0, bit 6 (ERR).
An explanation of the individual error numbers is given in the following table.
WAGO-I/O-SYSTEM 750
I/O Modules
Overview of Error Blink Codes • 223
Auxiliary Commands
3.3.1 Overview of Error Blink Codes
Error Name Description Possible cause/Remedy

No.
1111 CI_UNKNOWN INT
COMMAND
1112 CI_UNKNOWN Unknown command A Drive command was
COMMAND2 received with an unknown
command. Check command
(and possibly the move
program)
1113 CI_ERR1 Unknown command, Same as for Error 1112
like Error 1112
1114 CI_NOT Command not Command has been
IMPLEMENTED implemented prepared but has not (yet)
been implemented,
otherwise same as Error
1112
1115 CI_COMMAND_ Could not execute It was not possible to
DENIED command execute a command, as the
marginal conditions do not
permit it. (incorrect mode,
incorrect parameter, .... for
this command)
1116 CI_SPEED1 Configuration: Invalid Unacceptable value
maximum frequency specified for maximum
frequency
1117 CI_SPEED2 Invalid frequency value Unacceptable value
specified for set frequency
1118 CI_SPEED3 internal
1121 CI_ACC1 Invalid acceleration Check the specified
value acceleration value
(configuration, Move
program, process data ….)
1122 CI_ACC2 Invalid acceleration Same as for Error 1121
value
1123 CI_ Operation with rotary During operation with the
ROUNDARYSHAFT shaft: absolute position rotary shaft, the absolute
_ setpoint output of rotary position must lie within the
SETPOINT shaft range range 0 …
RotaryShaftRange. Check
the position data and
parameters for the rotary
shaft.
1124 CI_POS_TABLE Invalid table selected for Check Parameter 2 for a
positioning to position command "MOVE_L"
table
WAGO-I/O-SYSTEM 750
I/O Modules
224 • Overview of Error Blink Codes
Auxiliary Commands

No.
1125 CI_SET_POS Actual value can not be The drive must be
set (e.g. while motionless for one
positioning task in SET_POS command.
progress)
1141 CM_UNKNOWN_ internal
CMDSOURCE
1142 CM_AUTOSTART_ Autostart of a Move Load the Move program to
NOT_POSSIBLE program not possible the module, or de-activate
(not available) the autostart.
1161 CONFIG_WRITE_ Invalid size specified for An attempt was made to
SIZE writing of the enter an element into the
configuration configuration with a length
less than 1 byte or greater
than 4 bytes.
1162 CONFIG_ Password not accepted Specify a correct password
WRONGPASSWORD
1211 CTRLOUT_FREF Configuration: Invalid The maximum frequency
maximum frequency must be between
1…..25000
1212 CTRLOUT_F_FREF Maximum frequency An attempt was made to
reached specify a frequency that is
greater than the maximum
frequency. Check the
specified target frequency
and the maximum frequency
values.
1213 CTRLOUT_ Configuration: Invalid Incorrect rated motor
CURRENT_SCALE rated current current specified. Check the
configuration.
1214 CTRLOUT_ Configuration: The Check the configuration
OPERATION_MODE selected application is value for Mode 1.
not present in this
module.
1215 CTRLOUTP_CURR_ Configuration: Password Configuration: Check the
PARAM for current regulation parameters for current
does not agree with the regulation with the
current regulation password for current
parameters. regulation.
1216 CTRLOUTP_F_DIV Configuration: Configuration: Check
Frequency prescaler parameters for frequency
faulted prescaler
1217 CTRLOUT_ Current setting incorrect Invalid parameterization for
CURRENT_FACTOR (greater than 150%) current setting, check
configuration, check Move
program of Mailbox
commands where applicable
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

No.
1241 IO_BITINDEX Access to non-available Configuration, check Move
TOLARGE bit (internal) program and Mailbox
commands for incorrect bit
addresses
1242 IO_ILLEGAL_ Bit can not be modified An attempt was made to
USERBITNR by user change a bit not linked to
MZERO or MONE using
the Move program of
Mailbox command
1243 IO_USERBIT_ Bit can not be written Bit not authorized for
READONLY external write access
1245 IO_RECURSIVE_ Excessive nesting for A linkable bit was linked to
LINK linked bit a linkable bit that was
linked to a linkable bit; a
linkable bit may be linked
to itself.
1246 IO_TIMER_1 Configuration: Filter Check configuration for
function not defined filter functions
1247 IO_UNKNOWN_ Filter with this number Check configuration for
TIMER not available filter functions
1248 IO_TIMERMODE Filter function does not The current filter function
permit write access configuration does not
permit writing of the filter
1249 IO_BITNOT Requested bit not A bit being used can not be
IMPLEMENTED implemented (internal) queried (internal error)
1311 TBL_PROGRAM_ Move program Check the termination
STOP1 terminated with error condition of the Move
message 1 program
message 2 program
message 3 program
message 4 program
message 5 program
message 6 program
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

No.
message 7 program
1319 TBL_PROGRAM_ Move program not Move program ended
END ended properly without the regular Stop
command
1321 TBL_UNKNOWN_ Unknown command for (internal)
CMD table processing
(internal)
1322 TBL_ Label not available as Check the definition of the
LABELNOTFOUND step target in Move label in the Move program
program
1322 TBL_ Label not available as Check the definition of the
LABELNOTFOUND step target in Move label in the Move program
program
1323 TBL_ENDOFTABLE Step target outside of the Check the step targets in the
Move program Move program
1331 TBL_CAM9PARMS Configuration: Invalid Check configuration for
parameter for camshaft camshaft channel 9, the
channel 9 cycle may not be 0
1332 TBL_INDEX_OUT_ Table access outside of Check the tables and table
OF_RANGE table access
1333 TBL_INVALID Access to invalid table Check access to tables
1334 TBL_COPY_FAILED Version can not be EEPROM defective
written to EEPROM
1351 OPC_START START command not Start may only be set when
accepted a mode is active
1352 OPC_TBL_START Move program can not Move program can not be
be started (not available) started (not available)
1353 INV_CONTR_IN_ Mode not available in Check the activation of the
PULSE_MODE selected application modes and configuration for
Application_Selector
1353 INV_CONTR_IN_ Mode not available in Check the activation of the
PULSE_MODE selected application modes and configuration for
Application_Selector
1354 OPC_ Multiple modes selected Selection of mode is
MULTIMODE_1 ambiguous
1355 OPC_ Multiple modes selected Selection of mode is
MULTIMODE_2 ambiguous
1356 OPC_WHOOPS1 Unknown mode selected Unknown mode selected
(internal) (internal)
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

No.
1411 PARTMODL_ internal internal
CURRENT
1412 PARTMODL_ Could not execute Check parameter for Move
CURRENT_SET current setting command SET_CURRENT
1413 PARTMODL_ Time limit reached for The drive has been operated
CURRENT_TIME overcurrent too long at a current
>150%. Check move profile
and current setting.
1414 PARTMODL_ internal internal
FIFONOTREADY
1415 PARTMODL_ The movement Check movement
POSITION_RANGE calculator has parameters. This error
determined partial occurs on unrealistic
movement that exceeds settings for velocity,
the internal 32-bit acceleration or positions.
position range. With extreme parameters,
braking from a high speed,
for example, at the lowest
deceleration yields a brake
path that far exceeds the
internal value range.
1416 PARTMODL_ The movement Check the specified
SPEED_RANGE calculator has velocities
determined partial
movement that exceeds
the permissible velocity
range.
1417 PARTMODL_ Unknown status of internal
INTERN1 internal FIFO: internal
1431 PROT_REF_DIR Reference run without The reference run via the
direction setting process image must be
informed of the starting
direction through
C3_Setup_Dir_Neg or
C3_Setup_Dir_Pos.
1432 PULSE_TRAIN_NO_ Pulse chain generator Download the definition for
CAM_ACTIVE can not be started if the the pulse chain from the
camshaft is not defined camshaft table
1433 PROT_UNKNOW_ No application selected Check configuration for
MODE Application_Selector
1434 PROT_TEST_MODE Special function, The modules are switched
integration test, active to the test mode via register
32
1451 REF_SWITCH_NOT_ Reference contact not Check reference switch
FOUND found
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

No.
1452 REF_LIM_SWITCH Reference switch not Both limit switches active
clearly identified on start simultaneously during
of reference run search for reference switch
1453 REF_SPEED Speed setting missing Referencing speed of 0 is
for reference run unacceptable
1454 REF_START_DIR_ Reference run to limit Reference run to limit
LIMIT switch: Limit switch switch: Limit switch already
already actuated actuated
1455 ERROR_REF_LIM_ Reference run: Check limit switch wiring;
SWITCH_NOT_ Unexpected limit switch was the reference run
EXPECTED started beyond the limit
switch?
1511 UNITS_POS_INT_ Conversion of position Configuration: Check units
RESULT from user-specific unit conversion
to internal unit: Range
exceeded
1512 UNITS_POS_USER_ Conversion of position Configuration: Check units
RESULT from internal unit to conversion
user-specific unit: Range
exceeded
1513 UNITS_SPEED_INT_ Conversion of speed Configuration: Check units
RESULT from user-specific unit conversion
to internal unit: Range
exceeded
1514 UNITS_SPEED_ Conversion of speed Configuration: Check units
USER_RESULT from internal unit to conversion
user-specific unit: Range
exceeded
1515 UNITS_ACC_INT_ Conversion of Configuration: Check units
RESULT acceleration from user- conversion
specific unit to internal
unit: Range exceeded
1516 UNITS_ACC_USER_ Conversion of Configuration: Check units
RESULT acceleration from conversion
internal unit to user-
specific unit: Range
exceeded
1517 UNITS_PARAM_ Parameter for Configuration: Units
ZERO conversion is zero conversion: Divisor is zero
1521 SYS_MODE Configuration: Check configuration for
Application can not be Application_Selector
executed at this module.
(Module 2, 3, 4 only for
stepper position control
or frequency control)
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

No.
1551 MCALC_SPEED1 internal internal
1554 MCALC_ACC1 During the ramp run at a Adapt ramp time setting as
defined ramp time the appropriate
movement calculator has
determined partial
the internal value range
for acceleration
1555 MCALC_ACC2 same as MCALC_ACC1 same as MCALC_ACC1
1556 MCALC_ACC3 During the ramp run at a Adapt ramp path setting as
defined ramp path the appropriate
movement calculator has
determined partial
the internal value range
for acceleration
1557 MCALC_PARA The movement Check all parameters;
calculator has received Acceleration, moving
invalid parameters velocity, ramp time, ramp
path, ramp type, starting
position, target position
1561 MCALC_TIME1 Internal range exceeded internal *
for moving time
1562 MCALC_TIME2 The movement Check movement
calculator has parameters. This error
determined partial occurs on unrealistic
movement that exceeds settings for velocity,
the internal time range acceleration or positions.
(>500 h). With extreme parameters,
moving at the lowest
acceleration, for example,
yields a movement time that
far exceeds the internal
value range of 2^31ms.
1563 MCALC_TIME3 Internal range exceeded internal *
for moving time
1564 MCALC_TIME4 The movement Check movement
calculator has parameters. This error
determined a movement occurs on unrealistic
sequence that exceeds settings for velocity,
the internal time range acceleration or positions.
(>500 h). With extreme parameters,
moving at the lowest
acceleration, for example,
yields a movement time that
far exceeds the internal
value range of 2^31ms.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

No.
1565 MCALC_DIST1 Internal range exceeded internal *
for movement path
for movement path
1567 MCALC_DIST3 same as PARTMODL_ same as PARTMODL_
POSITION_RANGE POSITION_RANGE
for movement path
1569 MCALC_DIST5 same as PARTMODL_ same as PARTMODL_
POSITION_RANGE POSITION_RANGE
1571 MCALC_MOVE1 internal: Movement internal
calculator can find no
solution
solution
solution
1611 ERR_ILLEGAL_ Invalid error code to be internal
ERRORCODE reported
1911 COMMAND_IS_ Command can not be internal
RUNNING executed, as another
command is currently
being processed
1912 HIGH_PRIO_ Command can not be internal
COMMAND_IS_ executed, as another
RUNNING command of higher
priority is currently
being processed
1931 PARTMODL_ Command can not be Move drive away from limit
LIMITSWITCH executed, as a limit switch
switch is active
2811 KBUS internal internal *
2821 CFG_FACTORY_ A Factory_Default data A CONFIG_RESTORE

LOAD set has been copied for command has been
upload to RAM executed without a warm
start. The module is not
operational is this state. 
Conduct a warm start or
Power-on reset
2831 MEASURE_ERR1 internal: Unknown internal

hardware
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

No.
2832 MEASURE_ERR2 same as internal
MEASURE_ERR1
2833 MCALC_INTERN1 internal: Error in path internal

calculation
2834 MCALC_INTERN2 internal: Error in path internal

calculation
2835 MCALC_INTERN3 intern: unknown internal

acceleration profile
2836 MCALC_INTERN4 MCALC_INTERN3 internal
2845 MCALC_BUFFER_ internal: buffer overflow internal

FULL
2846 MOVECALC_ACC2 internal internal
2863 TEST_EERPOM_ Self test: EEPROM Hardware defective

FAILURE faulted
2864 TEST_CPLD_ Self test: CPLD faulted Hardware defective

FAILURE
2865 TEST_INVALID_ Self test: Unknown Hardware defective

MODULE hardware
2866 GENERIC_TEST Self test: Wrong Hardware defective

hardware
2871 RS232_TX_ internal: Timeout at internal

TIMEOUT debug interface
2881 SYS_IDLE_ internal: internal

RECURSIVE
2882 SYS_SPI_ internal: internal

TIMEOUT
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

No.
2891 VERSION_ Unknown hardware Hardware defective
UNKNOWN_IDENT
2892 VERSION_NOT_ Hardware not Hardware defective

COMPATIBLE_HW compatible with
software
2893 ERROR_VERSION_ This software checked Module send to manufature

NOT_COMPATIBLE the CPLD version and
_CPLD reported to
inconsistency the error
3111 INT_KBUS internal internal
3112 INT_WATCHDOG internal: Watchdog internal
3113 INT_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 INT_DATA_ACESS internal internal
3121 INT_ROM_ISR internal internal
3122 INT_STACK_ internal internal

OVERFLOW
3142 SYS_PLL_NOT_ internal internal

LOCKED
3143 SYS_ADC_ internal internal

TIMEOUT
3144 SYSTEMEXIT internal internal
3155 ERR_ILLEGAL_ Invalid error code to be internal

ERRORCODE reported
3166 OPC_ internal internal *

MULTIMODE_1
3167 OPC_ internal internal *

MULTIMODE_2
3168 OPC_WHOOPS1 internal internal *
3179 TBL_COPY_FAILED Error while writing to internal *

EEPROM
3211 PARTMODL_ internal internal *

FIFONOTREADY
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

No.
POSITION_RANGE

SPEED_RANGE

INTERN1
3215 PARTMODL_ERR4 internal internal *
3216 PARTMODL_ERR5 internal internal *
3231 TBL_INVALID internal internal *
3232 TBL_CP2EEPROM_ internal internal *

FAIL
3233 TBL_COPY_ internal internal *

INVALID
3234 TBL_UNKNOWN_ internal internal *

TTYPE
3271 TEST_FLASH Program memory internal

checksum corrupted
3272 TEST_FLASH_ Program memory internal

CRCGEN checksum not available
3273 TEST_EERPOM_ Self test: EEPROM internal

FAILURE faulted
3274 TEST_CPLD_ Self test: CPLD faulted internal

FAILURE
3275 TEST_INVALID_ Self test: Unknown internal

MODULE hardware
3276 GENERIC_TEST Self test: Wrong internal

hardware
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.4 Bit field for I/O driver

The bit functions described in this table refer to the stepper positioning
controller standard application.
If the bits have a different function with other applications, this is noted in the
description for the specific application.
The following conventions apply:
 Source bits are assigned numbers 0 to 127 and may not be used as target
bits. A source bit may reference several target bits.
 Target bits are assigned numbers 128 to 255 and may also be used as
source bits. Target bits have exactly one source.
 References are stored in the configuration table. The names 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". This corresponds to the WAGO default settings
(FACTORY_DEFAULT_1).
Bit number Default

Name Type Description
Dec. Hex. Target/Source Bit no.
ZERO 0 0x00 SRC 0 - Bit always (false 0)
ONE 1 0x01 SRC 1 - Bit always (true 1)
MZERO 2 0x02 SRC 0 - A bit that is linked to MZERO is first false
after a reset, but can be manipulated as
required using the mailbox command or the
Move program.
MONE 3 0x03 SRC 1 - A bit that is linked to MZERO is first true after
a reset, but can be manipulated as required
using the mailbox command or the Move
program.
Reset 4 0x04 SRC KBUS_ST3_7 0x97 The controller with this bit can detect a module
reset.
The bit is true after a reset and is confirmed
and false by Reset_Quit.
1: A reset has been carried out but not yet
confirmed with Reset_Quit. Parameters,
data or tables not stored in the EEPROM
are no longer valid.
5 0x05
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

KBUS_ 6 0x06 SRC - - I/O module communication active
Active
0: No I/O module communication for more
than 100 ms
1: I/O module communication present
7 0x07
On_Target 8 0x08 SRC KBUS_ST2_0 0x88 The significance of this bit depends on the
selected operating mode.
OUT1 0xA0
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: The Move program was terminated by the
PROG_STOP drive command.
Reference run:
0: The bit is set to 0 when the reference run
is started.
1: Not used.
Jog Mode:
0: The bit is set to 0 when the Jog mode is
started.
1: Not used.
Mailbox mode:
0: Moving to a new position.
1: The current command has been
successfully concluded.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

Busy 9 0x09 SRC KBUS_ST2_1 0x89 Busy: The selected operating mode is active
and not yet finished. This operating mode may
LED E 0xD0 have been discontinued.
Step positioning:
0: Step positioning not running.
1: Step positioning running.
Move program:
0: The Move program is not running.
1: The Move program is running.
Reference run:
0: Reference run not in operation.
1: Reference run in operation.
Jog Mode:
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.
1: A command is active.
StandStill 10 0x0A SRC KBUS_ST2_2 0x8A Drive at standstill, or frequency output at 0.
On_Speed 11 0x0B SRC KBUS_ST2_3 0x8B Running speed achieved.
0: The drive has not reached its setpoint
speed.
Direction 12 0x0C SRC KBUS_ST2_4 0x8C Direction of rotation is valid only when
StandStill is not set to 1.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

Reference_ 13 0x0D SRC KBUS_ST2_5 0x8D Set when reference run has been successfully
OK concluded
0: This bit is at 0 when the module is
activated. Additionally, it is also set to 0
when the reference run is started.
1: The reference point has been successfully
located in the reference run mode.
PreCalc_Ack 14 0x0E SRC KBUS_ST2_6 0x8E Setpoints from Mode 2.2 saved.
This bit is set when the setpoint save mode has
been requested with PreCalc and precalculation
of a movement has been successfully
completed.
0: Precalculation not yet performed.
1: Precalculation performed.
Error 15 0x0F SRC KBUS_ST2_7 0x8F Drive error status.
An error can be acknowledged using
OUT2 0xA1 Error_Quit.
Ready 16 0x10 SRC KBUS_ST1_0 0x80 Ready for operation

0: The module is not ready for operation.
Either a corresponding request is present
via Enable, or an error has resulted in
cancellation of Ready. When the bit
switches from 1 to 0 the output stage is
deactivated, or the output frequency is set
to 0.
1: Readiness for operation has been
requested via Enable and no error is
present.
Stop_N_AC 17 0x11 SRC KBUS_ST1_1 0x81 Drive Stop inverted
K
LED G 0xD2 0: The bit Stop1_N or Stop2_N is set to 0.
The motor, or frequency output for
module 1 750-670, is also set to 0
(StandStill set to 1). Start cannot be used
to start-up the unit.
1: The bits Stop1_N and Stop2_N are both
set to 1, or the drive is braking the unit.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

Start_ACK 18 0x12 SRC KBUS_ST1_2 0x82 Start sequence in the operating mode.
0: This bit is also set to 0 when the Start
request is canceled.
1: The rising edge function is a function of
the selected operating mode.
M_Positioning (step positioning)
The currently specified setpoint in the Mode
2.2 process image has been assumed.
Movement is made directly to the new target
position, even if the drive is already turning,
(Change on the fly) when PreCalc_Ack is set,
the movement sequence has already been
precalculated and will not be started
immediately.
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 the
reference run is still in operation, the (new)
setpoints are again accepted and calculated
(same procedure as for step positioning). The
reference run is then restarted.
M_Jog (JogMode)
No effect. The drive is started using the
pushbutton Direction_Pos or Direction_Neg.
M_DriveByMbx (Mailbox mode)
No effect. Various commands can be issued via
mailbox as soon as the Mailbox mode is
activated.
M_ 19 0x13 SRC KBUS_ST1_3 0x83 Step positioning mode
Positioning_
ACK 0: The Step positioning mode is not active
(selected).
1: The Step positioning mode is active.
Movement is made to the active setpoint
on the next rising edge for Start.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

M_Program_ 20 0x14 SRC KBUS_ST1_4 0x84 Move program mode
ACK
0: The Move program mode is not active
(selected).
1: The Move program mode is active. The

Move program is started with the first
command on the next rising edge for
Start.
M_ 21 0x15 SRC KBUS_ST1_5 0x85 Reference run mode
Reference_
ACK 0: The Reference run mode is not active
(selected).
1: The Reference run mode is active and the
drive is started at the setup speed on the
next rising edge for Start.
M_Jog_ACK 22 0x16 SRC KBUS_ST1_6 0x86 Jog mode
1: The Jog mode is active.
M_DriveBy 23 0x17 SRC KBUS_ST1_7 0x87 Mailbox mode
Mbx_ACK
0: The Mailbox mode is not active
(selected).
1: The Mailbox mode is active.
Brake 24 0x18 SRC - - Brake
0: The brake is not released.
1: The brake is released.
ERR_Code 25 0x19 SRC LED H 0xD3 This bit is normally linked with an LED. If an
error is present, it is output as a blink code.
SetupSpeed_ 26 0x1A SRC KBUS_ST3_6 0x96 Setup mode is active.
Active_ACK When this bit is set the drive speed is limited to
the defined setup speed. Acceleration is not
limited. The currently valid acceleration value
is applied.
0: Setup mode is not active.
1: Setup mode is active.
Program 27 0x1B SRC A Move program is currently in progress.
Running
Ramp_Up 28 0x1C SRC - - Set during the acceleration phase
Ramp_Down 29 0x1D SRC - - Set during the deceleration phase
30 0x1E
31 0x1F
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

Trace_Stored 32 0x20 SRC - - This bit is set when all 200 data sets
TRACE_VARI/2 have been saved in the Trace
table. Trace_Stored is cleared each time trace
recording is started (01 to Trace_Trigger
when Trace_Armed is also set). A trace can be
read out using the table commands
DLD_START, DLD_CONT and DLD_END.
33 0x21
34 0x22
35 0x23
36 0x24
37 0x25
38 0x26
39 0x27
Err_Range_ 40 0x28 SRC - - Moving range exceeded when moving in
Neg negative direction.
0: The bottom limit for the movement range
has not been violated.
1: The bottom limit for the movement range
has been violated.
Err_Range_ 41 0x29 SRC - - Moving range exceeded when moving in
Pos positive direction.
0: The top limit for the movement range has
not been violated.
1: The top limit for the movement range has
been violated.
Err_Range 42 0x2A SRC - - Parameter is set when it has been detected by
Err_Range_Neg, Err_Range_Pos,
LimitSwitch_Pos or LimitSwitch_Neg that the
permissible movement range has been violated.
43 0x2B
44 0x2C
45 0x2D
46 0x2E
CAM9 47 0x2F SRC - - Camshaft 9
Stop1_N 0xC2
Set_Reference 0xBC
50 0x32
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

51 0x33
52 0x34
53 0x35
54 0x36
55 0x37
CAM1 56 0x38 SRC - - Camshaft 1
CAM2 57 0x39 SRC - - Camshaft 2
CAM3 58 0x3A SRC - - Camshaft 3
CAM4 59 0x3B SRC - - Camshaft 4
CAM5 60 0x3C SRC - - Camshaft 5
CAM6 61 0x3D SRC - - Camshaft 6
CAM7 62 0x3E SRC - - Camshaft 7
CAM8 63 0x3F SRC - - Camshaft 8
KBUS_ 64 0x40 SRC Enable 0xB0 Internal bus control byte 1 bit 0
CTRL1_0
KBUS_ 65 0x41 SRC Stop2_N 0xB1 Internal bus control byte 1 bit 1
CTRL1_1
KBUS_ 66 0x42 SRC Start 0xB2 Internal bus control byte 1 bit 2
CTRL1_2
KBUS_ 67 0x43 SRC M_Positioning 0xB3 Internal bus control byte 1 bit 3
CTRL1_3
KBUS_ 68 0x44 SRC M_Program 0xB4 Internal bus control byte 1 bit 4
CTRL1_4
KBUS_ 69 0x45 SRC M_Reference 0xB5 Internal bus control byte 1 bit 5
CTRL1_5
KBUS_ 70 0x46 SRC M_Jog 0xB6 Internal bus control byte 1 bit 6
CTRL1_6
KBUS_ 71 0x47 SRC M_DriveBxMb 0xB7 Internal bus control byte 1 bit 7
CTRL1_7 x
KBUS_ 72 0x48 SRC Freq_Range_S 0xC4 Internal bus control byte 2 bit 0
CTRL2_0 el_0
KBUS_ 73 0x49 SRC Freq_Range_S 0xC5 Internal bus control byte 2 bit 1
CTRL2_1 el_1
KBUS_ 74 0x4A SRC Acc_Range_Se 0xC6 Internal bus control byte 2 bit 2
CTRL2_2 l_0
KBUS_ 75 0x4B SRC Acc_Range_Se 0xC7 Internal bus control byte 2 bit 3
CTRL2_3 l_1
KBUS_ 76 0x4C SRC - - Internal bus control byte 2 bit 4
CTRL2_4
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

KBUS_ 77 0x4D SRC - - Internal bus control byte 2 bit 5
CTRL2_5
KBUS_ 78 0x4E SRC PreCalc 0xBD Internal bus control byte 2 bit 6
CTRL2_6
KBUS_ 79 0x4F SRC Error_Quit 0xBF Internal bus control byte 2 bit 7
CTRL2_7
KBUS_ 80 0x50 SRC Set_Actual_Po 0xC8 Internal bus control byte 3 bit 0
CTRL3_0 s
KBUS_ 81 0x51 SRC - - Internal bus control byte 3 bit 1
CTRL3_1
KBUS_ 82 0x52 SRC Direction_Pos 0xBA Internal bus control byte 3 bit 2
CTRL3_2
KBUS_ 83 0x53 SRC Direction_Neg 0xBB Internal bus control byte 3 bit 3
CTRL3_3
KBUS_ 84 0x54 SRC LimitSwitch_P 0xC0 Internal bus control byte 3 bit 4
CTRL3_4 os
KBUS_ 85 0x55 SRC LimitSwitch_N 0xC1 Internal bus control byte 3 bit 5
CTRL3_5 eg
KBUS_ 86 0x56 SRC SetupSpeed_A 0xBE Internal bus control byte 3 bit 6
CTRL3_6 ctive
KBUS_ 87 0x57 SRC Reset_Quit 0xB9 Internal bus control byte 3 bit 7
CTRL3_7
88 0x58
89 0x59
90 0x5A
91 0x5B
92 0x5C
93 0x5D
94 0x5E
95 0x5F
96 0x60
97 0x61
98 0x62
99 0x63
100 0x64
101 0x65
102 0x66
103 0x67
104 0x68
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

105 0x69
106 0x6A
107 0x6B
108 0x6C
109 0x6D
110 0x6E
111 0x6F
112 0x70
113 0x71
114 0x72
115 0x73
116 0x74
117 0x75
118 0x76
119 0x77
120 0x78
121 0x79
122 0x7A
123 0x7B
124 0x7C
125 0x7D
126 0x7E
127 0x7F
KBUS_ 128 0x80 DST/ Ready 0x10 Internal bus status byte 1 bit 0
ST1_0 SRC
KBUS_ 129 0x81 DST/ Stop_N_ACK 0x11 Internal bus status byte 1 bit 1
ST1_1 SRC
KBUS_ 130 0x82 DST/ Start_ACK 0x12 Internal bus status byte 1 bit 2
ST1_2 SRC
KBUS_ 131 0x83 DST/ M_Positioning 0x13 Internal bus status byte 1 bit 3
ST1_3 SRC _ACK
KBUS_ 132 0x84 DST/ M_Program_A 0x14 Internal bus status byte 1 bit 4
ST1_4 SRC CK
KBUS_ 133 0x85 DST/ M_Reference_ 0x15 Internal bus status byte 1 bit 5
ST1_5 SRC ACK
KBUS_ 134 0x86 DST/ M_Jog_ACK 0x16 Internal bus status byte 1 bit 6
ST1_6 SRC
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

KBUS_ 135 0x87 DST/ M_DriveByMb 0x17 Internal bus status byte 1 bit 7
ST1_7 SRC x_ACK
KBUS_ 136 0x88 DST/ On_Target 0x08 Internal bus status byte 2 bit 0
ST2_0 SRC
KBUS_ 137 0x89 DST/ Busy 0x09 Internal bus status byte 2 bit 1
ST2_1 SRC
KBUS_ 138 0x8A DST/ StandStill 0x0A Internal bus status byte 2 bit 2
ST2_2 SRC
KBUS_ 139 0x8B DST/ On_Speed 0x0B Internal bus status byte 2 bit 3
ST2_3 SRC
KBUS_ 140 0x8C DST/ Direction 0x0C Internal bus status byte 2 bit 4
ST2_4 SRC
KBUS_ 141 0x8D DST/ Reference_OK 0x0D Internal bus status byte 2 bit 5
ST2_5 SRC
KBUS_ 142 0x8E DST/ PreCalc_ACK 0x0E Internal bus status byte 2 bit 6
ST2_6 SRC
KBUS_ 143 0x8F DST/ Error 0x0F Internal bus status byte 2 bit 7
ST2_7 SRC
KBUS_ 144 0x90 DST/ Input1 0x30 Internal bus status byte 3 bit 0
ST3_0 SRC
ST3_1 SRC
ST3_2 SRC
ST3_3 SRC
ST3_4 SRC
ST3_5 SRC
KBUS_ 150 0x96 DST/ SetupSpeed_A 0x1A Internal bus status byte 3 bit 6
ST3_6 SRC ctive_ACK
KBUS_ 151 0x97 DST/ Reset 0x04 Internal bus status byte 3 bit 7
ST3_7 SRC
152 0x98
153 0x99
154 0x9A
155 0x9B
156 0x9C
157 0x9D
158 0x9E
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

159 0x9F
160 0xA0
161 0xA1
162 0xA2
163 0xA3
164 0xA4
165 0xA5
166 0xA6
167 0xA7
FILT1 168 0xA8 FILT ZERO 0x00 Timer / Filter 1 0: The value for the
timer or filter is
FILT2 169 0xA9 FILT ZERO 0x00 Timer / Filter 2 equal to 0
FILT3 170 0xAA FILT ZERO 0x00 Timer / Filter 3
FILT4 171 0xAB FILT ZERO 0x00 Timer / Filter 4
FILT5 172 0xAC FILT ZERO 0x00 Timer / Filter 5 1: The value for the
timer or filter is
FILT6 173 0xAD FILT ZERO 0x00 Timer / Filter 6 not equal to 0
FILT7 174 0xAE FILT ZERO 0x00 Timer / Filter 7
FILT8 175 0xAF FILT ZERO 0x00 Timer / Filter 8
Enable 176 0xB0 DST/ KBUS_CTRL1 0x40 Module enable
SRC _0
0: The module is not enabled. When this bit
is reset during ongoing operation,
frequency output is immediately set to 0.
1: The module is enabled and can be started
when the corresponding return message
is also available in the status.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

Stop2_N 177 0xB1 DST/ KBUS_CTRL1 0x41 Drive Stop 2 inverted
SRC _1 This bit can be used to deactivate the drive
from the control system.
The acknowledgement is transmitted via
Stop_N_ACK bit. Stop1_N and Stop2_N are
always taken into account at that bit.
0: Current is supplied to the motor, but it is
at standstill. If the motor is still turning it
is put into standstill by the STOP
acceleration command. The motor cannot
be started-up.
Start 178 0xB2 DST/ KBUS_CTRL1 0x42 The drive, or frequency output, is started in the
SRC _2 selected mode on the positive edge. If the edge
is not accepted (in the Jog or Mailbox mode),
an error message is generated.
01: The drive is started accordingly on the
rising edge.
M_Positioning (step positioning):
Positioning is conducted to the current setpoint
given in the process image, Mode 2.2.
Movement is made directly to the new target
position, even if the drive is already turning.
(Change on the fly)
A previously calculated movement sequence is
started immediately when PreCalc_ACK bit is
set.
M_Program (Move program):
The current 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 started.
M_Jog (JogMode):
No effect. The drive is started only when the
pushbutton Direction_Pos or Direction_Neg is
actuated.
M_DriveByMbx (Mailbox mode):
May not be set when the mailbox has not been
activated; otherwise an error message is issued.
Various commands can be issued via mailbox
as soon as the Mailbox mode is activated.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

M_ 179 0xB3 DST/ KBUS_CTRL1 0x43 Step positioning mode The mailbox may not be
Positioning SRC _3 active in this mode.
0: The Step positioning mode is not active

(selected).
1: The Step positioning mode is selected.
M_Program 180 0xB4 DST/ KBUS_CTRL1 0x44 Move program mode
SRC _4
0: The Move program mode is not active
(selected).
1: The Move program mode has been
selected.
M_Reference 181 0xB5 DST/ KBUS_CTRL1 0x45 Reference run mode
SRC _5
0: The Reference run mode is not active
(selected).
1: The Reference run mode has been
selected.
M_Jog 182 0xB6 DST/ KBUS_CTRL1 0x46 Jog mode
SRC _6 The drive can be run manually at the setup
speed when the Jog mode is active. Control is
implemented using Direction_Pos and
Direction_Neg.
M_DriveBy 183 0xB7 DST/ KBUS_CTRL1 0x47 Mailbox mode
Mbx SRC _7 In this mode, all movement commands are
issued directly via mailbox.
0: The Mailbox mode is not active
(selected).
1: The Mailbox mode has been selected.
184 0xB8
Reset_Quit 185 0xB9 DST/ KBUS_CTRL3 0x57 Reset acknowledgement
SRC _7
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

Direction_ 186 0xBA DST/ KBUS_CTRL3 0x52 Move in positive direction.
Pos SRC _2 This bit is required for the Jog mode. When
this mode has been selected, the drive is
controlled using these bits.
In the Reference run mode this bit defines that
the reference switch be searched for in a
positive direction.
0: Drive not to move in a positive direction.
1: Drive should move in a positive
direction. The drive is deactivated when
the bit Direction_Neg is set at the same
time.
Direction_ 187 0xBB DST/ KBUS_CTRL3 0x53 Move in negative direction.
Neg SRC _3 This bit is required for the Jog mode. When
this mode has been selected, the drive is
controlled using these bits.
In the Reference run mode this bit defines that
the reference switch be searched for in a
negative direction.
0: Drive not to move in a negative
direction.
1: Drive should move in a negative
direction. The drive is deactivated when
the bit Direction_Pos is set at the same
time.
Set_ 188 0xBC DST/ Input2 0x31 Reference input
Reference SRC Input 2 is set to this bit in the standard
configuration.
0: The reference switch is not actuated.
1: The reference switch is actuated.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

PreCalc 189 0xBD DST/ KBUS_CTRL2 0x4E Save setpoints from Module 2.2 and, where
SRC _6 applicable, calculate a movement sequence in
advance.
0: Each setpoint that is transmitted via
cyclic telegram traffic must be accepted
and processed. Any precalculated
movement sequence is rejected. A
movement sequence can be calculated
and started using Start.
1: The setpoints from the cyclic telegram
traffic are ignored and the setpoint saved
for the 01 edge used instead. If the
starting speed is zero, a movement
sequence will be calculated in advance
using this setpoint; this sequence can
then be started with the normal delay
using Start.
Setup_ 190 0xBE DST/ KBUS_CTRL3 0x56 Setup mode selected.
Speed_Active SRC _6 When the bit SetupSpeed_Active_ACK is set
the drive speed is limited to the defined setup
speed.
0: Setup mode not selected.
1: Setup mode selected.
Error_Quit 191 0xBF DST/ KBUS_CTRL2 0x4F Acknowledge error.
SRC _7 All errors that are present are acknowledged at
the rising edge from 0 to 1. After
acknowledgement, the error switches to 0, or a
new error is present.
LimitSwitch_ 192 0xC0 DST/ KBUS_CTRL3 Limit switch input on movement in positive
Pos SRC _4 direction.
This bit is linked to the internal bus.
0: The positive direction limit switch is not

actuated.
1: The positive direction limit switch is
actuated. The drive is being run down.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

LimitSwitch_ 193 0xC1 DST/ KBUS_CTRL3 Limit switch input on movement in negative
Neg SRC _5 direction.
This bit is linked to the internal bus.
0: The negative direction limit switch is not

actuated.
1: The negative direction limit switch is
actuated. The drive is being run down.
Stop1_N 194 0xC2 DST/ Input1 0x30 Drive Stop 1 inverted
SRC This bit is linked to Input 1 of the module.
The return message is transmitted via
Stop_N_ACK bit. Stop1_N and Stop2_N are
always taken into account at that bit.
0: Current is being supplied to the motor,
but it is at standstill. If the motor is still
turning it is put into standstill by the
STOP acceleration command. The motor
cannot be started-up.
Brake_ 195 0xC3 DST/ ZERO 0x00 Manual control of brake
Manual SRC
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

Freq_Range_ 196 0xC4 DST/ KBUS_CTRL2 0x48 Configuration of velocity prescaler:
Sel_0 SRC _0 The Freq-Prescaler prescaler for velocity is
set using these two bits. These values are
Freq_Range_ 197 0xC5 DST/ KBUS_CTRL2 0x49 accepted only when Enable is set to 0.
Sel_1 SRC _1
Freq_ Freq_
Range_ Range_
Sel_0 Sel_1
0 0 The Freq_Prescaler
prescaler is loaded with
the parameter Freq_Div
from the current
configuration data set
(*).
0 1 Freq_Prescaler = 80
Fmax = 25 kHz
Fmax = 100 kHz
Fmax = 500 kHz
(*) If the parameter Freq_Div in the
configuration data set has been assigned a
value of zero, the prescaler will be set to
Freq_Prescaler = 200 (Fmax = 10 kHz) for
Freq_Range_Sel_0 = 0 and
Freq_Range_Sel_1 = 0.
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

Acc_Range_ 198 0xC6 DST/ KBUS_CTRL2 0x48 Configuration factor Acceleration.
Sel_0 SRC _0 These two bits are used to set the
ACC_Multiplier factor for acceleration.
Acc_Range_ 199 0xC7 DST/ KBUS_CTRL2 0x49 These values are accepted only when Enable
Sel_1 SRC _1 is set to 0.
Acc_ Acc_
Range_ Range_
Sel_0 Sel_1
0 0 The factor
Acc_Multiplier is
loaded with the
parameter Acc_Fact
from the current
configuration data set
(*).
0 1 Acc_Multiplier = 80
T = 760 ms
T = 76 ms
T = 7.6 ms
(*) If the parameter Acc_Fact in the
configuration data set has been assigned a
value of zero, the factor is set to
Acc_Multiplier = 8 (T = 7.6s) for
Acc_Range_Sel_0 = 0 and
Acc_Range_Sel_1 = 0.
Set_Actual_ 200 0xC8 DST/ KBUS_CTRL3 0x50 The actual value is set to the reference position
POS SRC _0 (configuration parameter Reference_Offset) on
a rising edge from the bit Set_Actual_POS.
This function cannot be performed while a
positioning run is ongoing.
201 0xC9
202 0xCA
203 0xCB
204 0xCC
205 0xCD
206 0xCE
207 0xCF
LED E 208 0xD0 DST/ Busy 0x09 LED E
SRC
LED F 209 0xD1 DST/ M_Program_A 0x1B LED F
SRC CK
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

LED G 210 0xD2 DST/ On_Speed 0x0B LED G
SRC
LED H 211 0xD3 DST/ ERR_Code 0x19 LED H
SRC
212 0xD4
213 0xD5
214 0xD6
215 0xD7
216 0xD8
217 0xD9
218 0xDA
219 0xDB
220 0xDC
221 0xDD
Trace_ 222 0xDE DST/ Busy 0x09 A trace is started with a positive edge when
Trigger SRC Trace_Armed is set. The Trace_Var1/2
variables given in the configuration are
recorded using the time frame specified in
Trace_MsecCycleTime.
Trace_ 223 0xDF DST/ MONE 0x03 Activation of trace.
Armed SRC
224 0xE0
225 0xE1
226 0xE2
227 0xE3
228 0xE4
229 0xE5
230 0xE6
231 0xE7
232 0xE8
233 0xE9
234 0xEA
235 0xEB
236 0xEC
237 0xED
238 0xEE
239 0xEF
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
Bit number Default

240 0xF0
241 0xF1
242 0xF2
243 0xF3
244 0xF4
245 0xF5
246 0xF6
247 0xF7
248 0xF8
249 0xF9
250 0xFA
251 0xFB
252 0xFC
253 0xFD
254 0xFE
255 0xFF
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.5 Configuration Variables

Configuration Address Data Default Range Description
variable type
Dec. Hex.
User_Conf_Id 0 0x00 UINT16 0 0 ... 50000 The user can freely assign data set
numbers. However, numbers greater
then 50000 are reserved.
ConfVersion 2 0x02 UINT8 4 0 ... 254 Configuration version number
Application_ 3 0x03 UINT8 1 0 ... 4 Switching of applications. The
Selector appropriate process image is activated
when a new application is selected.
0: Reserved
1: Positioning controller
2: Velocity control
Frequency output
Pulse duration modulation
3: Pulse chain
4: Single Shot
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 acceleration
Reserved_14 14 0x0E UINT8 Reserved
Current_Ratio_ 15 0x0F UINT8 33 0 ... 150 Current factor at standstill in [%], based
StandStill on motor rated current "Current"
Current_Ratio_ 16 0x10 UINT8 120 0 ... 150 Current factor for ramp-up in [%], based
RampUp on motor rated current "Current"
Current_Ratio_ 17 0x11 UINT8 50 0 ... 150 Current factor for drive in [%], based on
Drive motor rated current "Current"
Current_Ratio_ 18 0x12 UINT8 90 0 ... 150 Current factor for ramp-down in [%],
RampDown based on motor rated current "Current"
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
HwSwConfig 19 0x13 UINT8 0 Bit 0: Output_Type
0: Clock/Direction
1: Signals A and B, shifted by 90°
Bit 1: Reserved
Bit 2: Drive_Direction
(Direction of rotation inversion)
0: Output signal processed directly
1: Output signal: Direction of

rotation inverted
Bit 3 … 6: Reserved
Bit 7: Program_Autostart
(Move program Autostart – Normal
mode)
0: Move program only activated via
Move program or Mailbox mode.
1: Move program activated
immediately after startup, see
description.
Pos_Mult 20 0x14 UINT16 1 1 ... 65535 Scaling factors for positions
Pos_Div 22 0x16 UINT16 1 1 ... 65535 Scaling factors for positions
24 0x18
26 0x1A
Speed_Mult 28 0x1C UINT16 1 1 ... 65535 Scaling factors for speed
Speed_Div 30 0x1E UINT16 1 1 ... 65535 Scaling factors for speed
Acc_Mult 32 0x20 UINT16 1 1 ... 65535 Scaling factors for acceleration
Acc_Div 34 0x22 UINT16 1 1 ... 65535 Scaling factors for acceleration
Reserved_36 36 0x24 UINT16 0 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Speed 40 0x28 INT16 10 1 ... 25000 Default speed
Speed_Limit 42 0x2A INT16 25000 1 ... 25000 Default maximum speed; the drive is
switched off if this speed is exceeded
SetupSpeed 44 0x2C INT16 100 1 ... 25000 Default setup speed; the current moving
speed is used when this parameter is 0.
Acceleration_ 46 0x2E INT16 1000 0 ... 32767 Default acceleration for STOP mode;
Stop_Fast the current acceleration is used when
this parameter is 0.
Acceleration_ 48 0x30 INT16 10 0 ... 32767 Default acceleration for acceleration
RampUp phase
Acceleration_ 50 0x32 INT16 10 0 ... 32767 Default acceleration for deceleration
RampDown phase
Acceleration_ 52 0x34 INT32 300 0 ... Default acceleration time or acceleration
RampUp_Param 16777216 path
Acceleration_ 56 0x38 INT32 300 0 ... Default deceleration time or deceleration
RampDown_ 16777216 path
Param
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Acceleration_ 60 0x3C UINT8 0 Bit 0 ... 1: AccType
Modes (Acceleration type)
0: Constant acceleration
1: Linear rise in acceleration; the
period for acceleration increase is
Acceleration_RampUp_Param
2: Sin2 rise in acceleration; the period
for acceleration increase is
3: Reserved
Bit 2 ... 3: AccParam
(Acceleration parameter)
0: No modification
1: Acceleration_RampUp_Param
interpreted as the acceleration
period
interpreted as the acceleration path
3: Reserved
Bit 4 ... 5: DecType
(Deceleration type)
0: Constant acceleration
1: Linear rise in acceleration; the
period for acceleration increase is
2: Sin2 rise in acceleration; the period
for acceleration increase is
3: Reserved
Bit 6..7: DecParam
(Deceleration parameter)
0: No modification
interpreted as the acceleration
period
interpreted as the acceleration path
3: Reserved
Current_Ratio_ 61 0x3D UINT8 100 0 ... 150 Current factor for STOP mode in [%],
Stop based on motor rated current "Current"
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Setup 62 0x3E UINT16 10 0 ... 32767 Acceleration for JOG and Reference
Acceleration mode
Rotary_Axis_ 64 0x40 INT32 0 0 ... Sets the period P for a rotary axis; zero
Period 16777216 is entered here for a linear axis.
Drive_Range_ 68 0x44 INT32 -0x7fffff 0 Acceptable moving range in negative
Neg direction
Drive_Range_ 72 0x48 INT32 0x7fffff 0 Acceptable moving range in positive
Pos direction
Reserved_76 76 0x4C UINT32 0 Reserved
PWM_Period 84 0x54 UINT32 0 0 ... In the Frequency output / Pulse duration
4294967295 modulation mode Period duration for
PWM in [µs]
Camshaft_Ch9_ 88 0x58 INT32 0 ±8388607 Camshaft channel 9 position, starting
Start edge
Camshaft_Ch9_ 92 0x5B INT32 100 1 ... Camshaft channel 9 period
Period 8388607
Camshaft_Ch9_ 96 0x60 INT32 50 0 ... Camshaft channel 9 pulse width
Pulsewidth 8388607
Braketime_Turn_ 100 0x64 UINT32 0 1 ... Starting time for brake in [ms]
On 8388607
Braketime_Turn_ 104 0x68 UINT32 0 0 ... Switch-off time for brake in [ms]
Off 8388607
Reference_Offset 108 0x6C UINT32 0 ±8388607 Position of reference switch
Reference_Mode 112 0x70 UINT8 0 Mode for reference run at the start of a
reference run via control byte
C1_M_Reference (for starting a
reference run using the move command
START_REFERENCING, call
parameters are used, but not the
following configuration bits)
Bit 0:
0: Reference run to reference switch
1: Reference run to limit switch
Bit 1:
0: Reference run to negative end of a

reference switch
1: Reference run to positive end of a
reference switch
Bit 2..7: Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Error_ 113 0x71 UINT8 0 Bit 0: Mode
Notification (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
Bit 1..7: Reserved
Reserved_114 114 0x72 INT16 0 Reserved
Reserved_124 124 0x7C INT32 0 Reserved
Ptr_KBUS_ 128 0x80 UINT8 0x10 0 ... 255 Source for linkable bit 0x80
ST1_0
ST1_1
ST1_2
ST1_3
ST1_4
ST1_5
ST1_6
ST1_7
ST2_0
ST2_1
Ptr_KBUS_ 138 0x8A UINT8 0x0A 0 ... 255 Source for linkable bit 0x8A
ST2_2
Ptr_KBUS_ 139 0x8B UINT8 0x0B 0 ... 255 Source for linkable bit 0x8B
ST2_3
Ptr_KBUS_ 140 0x8C UINT8 0x0C 0 ... 255 Source for linkable bit 0x8C
ST2_4
Ptr_KBUS_ 141 0x8D UINT8 0x0D 0 ... 255 Source for linkable bit 0x8D
ST2_5
Ptr_KBUS_ 142 0x8E UINT8 0x0E 0 ... 255 Source for linkable bit 0x8E
ST2_6
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Ptr_KBUS_ 143 0x8F UINT8 0x0F 0 ... 255 Source for linkable bit 0x8F
ST2_7
ST3_0
ST3_1
ST3_2
ST3_3
ST3_4
ST3_5
Ptr_KBUS_ 150 0x96 UINT8 0x1A 0 ... 255 Source for linkable bit 0x96
ST3_6
ST3_7
Reserved_152 152 0x98 UINT8 0x00 0 ... 255 Source for linkable bit Bit 0x98
Reserved_153 153 0x99 UINT8 0x00 0 ... 255 Source for linkable bit 0x99
Reserved_154 154 0x9A UINT8 0x00 0 ... 255 Source for linkable bit it 0x9A
Reserved_155 155 0x9B UINT8 0x00 0 ... 255 Source for linkable bit 0x9B
Reserved_156 156 0x9C UINT8 0x00 0 ... 255 Source for linkable bit 0x9C
Reserved_157 157 0x9D UINT8 0x00 0 ... 255 Source for linkable bit 0x9D
Reserved_158 158 0x9E UINT8 0x00 0 ... 255 Source for linkable bit 0x9E
Reserved_159 159 0x9F UINT8 0x00 0 ... 255 Source for linkable bit 0x9F
Ptr_OUT1 160 0xA0 UINT8 0x08 0 ... 255 Source for linkable bit 0xA0
Ptr_OUT2 161 0xA1 UINT8 0x0F 0 ... 255 Source for linkable bit 0xA1
Reserved_162 162 0xA2 UINT8 0x00 0 ... 255 Source for linkable bit 0xA2
Ptr_FILT3 170 0xAA UINT8 0x00 0 ... 255 Source for linkable bit 0xAA
Ptr_FILT4 171 0xAB UINT8 0x00 0 ... 255 Source for linkable bit 0xAB
Ptr_FILT5 172 0xAC UINT8 0x00 0 ... 255 Source for linkable bit 0xAC
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Ptr_FILT6 173 0xAD UINT8 0x00 0 ... 255 Source for linkable bit 0xAD
Ptr_FILT7 174 0xAE UINT8 0x00 0 ... 255 Source for linkable bit 0xAE
Ptr_FILT8 175 0xAF UINT8 0x00 0 ... 255 Source for linkable bit 0xAF
Ptr_Enable 176 0xB0 UINT8 0x40 0 ... 255 Source for linkable bit 0xB0
Ptr_Stop2_N 177 0xB1 UINT8 0x41 0 ... 255 Source for linkable bit 0xB1
Ptr_Start 178 0xB2 UINT8 0x42 0 ... 255 Source for linkable bit 0xB2
Ptr_M_ 179 0xB3 UINT8 0x43 0 ... 255 Source for linkable bit 0xB3
Positioning
Ptr_M_Program 180 0xB4 UINT8 0x44 0 ... 255 Source for linkable bit 0xB4
Ptr_M_Reference 181 0xB5 UINT8 0x45 0 ... 255 Source for linkable bit 0xB5
Ptr_M_Jog 182 0xB6 UINT8 0x46 0 ... 255 Source for linkable bit 0xB6
Ptr_M_ 183 0xB7 UINT8 0x47 0 ... 255 Source for linkable bit 0xB7
DriveByMbx
Ptr_Enable_ 184 0xB8 UINT8 0x01 0 ... 255 Source for linkable bit 0xB8
Drive
Ptr_Reset_ 185 0xB9 UINT8 0x57 0 ... 255 Source for linkable bit 0xB9
Quit
Ptr_Direction_ 186 0xBA UINT8 0x52 0 ... 255 Source for linkable bit 0xBA
Pos
Ptr_Direction_ 187 0xBB UINT8 0x53 0 ... 255 Source for linkable bit 0xBB
Neg
Ptr_Set_ 188 0xBC UINT8 0x31 0 ... 255 Source for linkable bit 0xBC
Reference
Ptr_PreCalc 189 0xBD UINT8 0x4E 0 ... 255 Source for linkable bit 0xBD
Ptr_SetupSpeed_ 190 0xBE UINT8 0x56 0 ... 255 Source for linkable bit 0xBE
Active
Ptr_Error_Quit 191 0xBF UINT8 0x4F 0 ... 255 Source for linkable bit 0xBF
Ptr_ 192 0xC0 UINT8 0x54 0 ... 255 Source for linkable bit 0xC0
LimitSwitch_
Pos
Ptr_ 193 0xC1 UINT8 0x55 0 ... 255 Source for linkable bit 0xC1
LimitSwitch_
Neg
Ptr_Stop1_N 194 0xC2 UINT8 0x30 0 ... 255 Source for linkable bit 0xC2
Reserved_195 195 0xC3 UINT8 0x00 0 ... 255 Source for linkable bit it 0xC3
Ptr_Freq_Range_ 196 0xC4 UINT8 0x48 0 ... 255 Source for linkable bit 0xC4
Sel_0
Ptr_Freq_Range_ 197 0xC5 UINT8 0x49 0 ... 255 Source for linkable bit 0xC5
Sel_1
Ptr_Acc_Range_ 198 0xC6 UINT8 0x4A 0 ... 255 Source for linkable bit 0xC6
Sel_0
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Ptr_Acc_Range_ 199 0xC7 UINT8 0x4B 0 ... 255 Source for linkable bit 0xC7
Sel_1
Ptr_Set_Actual_ 200 0xC8 UINT8 0x50 0 ... 255 Source for linkable bit 0xC8
POS
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_203 203 0xCB UINT8 0x00 0 ... 255 Source for linkable bit 0xCB
Reserved_204 204 0xCC UINT8 0x00 0 ... 255 Source for linkable bit 0xCC
Reserved_205 205 0xCD UINT8 0x00 0 ... 255 Source for linkable bit 0xCD
Reserved_206 206 0xCE UINT8 0x00 0 ... 255 Source for linkable bit 0xCE
Reserved_207 207 0xCF UINT8 0x00 0 ... 255 Source for linkable bit 0xCF
Ptr_LED_E 208 0xD0 UINT8 0x09 0 ... 255 Source for linkable bit 0xD0
Ptr_LED_F 209 0xD1 UINT8 0x1B 0 ... 255 Source for linkable bit 0xD1
Ptr_LED_G 210 0xD2 UINT8 0x11 0 ... 255 Source for linkable bit 0xD2
Ptr_LED_H 211 0xD3 UINT8 0x19 0 ... 255 Source for linkable bit 0xD3
Reserved_212 212 0xD4 UINT8 0x00 0 ... 255 Source for linkable bit 0xD4
Reserved_218 218 0xDA UINT8 0x00 0 ... 255 Source for linkable bit 0xDA
Reserved_219 219 0xDB UINT8 0x00 0 ... 255 Source for linkable bit 0xDB
Reserved_220 220 0xDC UINT8 0x00 0 ... 255 Source for linkable bit 0xDC
Reserved_221 221 0xDD UINT8 0x00 0 ... 255 Source for linkable bit 0xDD
Ptr_Trace_ 222 0xDE UINT8 0x09 0 ... 255 Source for linkable bit 0xDE
Trigger
Ptr_Trace_ 223 0xDF UINT8 0x03 0 ... 255 Source for linkable bit 0xDF
Armed
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Filter1_Function 224 0xE0 UINT8 0 0 ... 11 Filter Function:
0: No filtering
1: Inversion
2: Detection of starting edge
3: Low pass
4: Pulse extension
5: One-shot
6: Delay
7: Math
8: Incrementing counter
9: Incrementing counter to zero
10: Decrementing counter
11: Decrementing counter to zero
Filter2_Function 225 0xE1 UINT8 0 0 ... 11 Function of filter: see Filter1_Function
Filter1_Time 232 0xE8 UINT32 0 0 ... Filter Time constant in [ms]
16777215
Filter2_Time 236 0xEB UINT32 0 0 ... Filter Time constant in [ms]
16777215
Filter3_Time 240 0xF0 UINT32 0 0 ... Filter Time constant in [ms]
16777215
16777215
16777215
FIlter6_Time 252 0xFC UINT32 0 0 ... Filter Time constant in [ms]
16777215
Filter7_Time 256 0x100 UINT32 0 0 ... Filter Time constant in [ms]
16777215
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Filter8_Time 260 0x104 UINT32 0 0 ... Filter Time constant in [ms]
16777215
TraceVar1 264 0x108 UINT32 1 Variable number 1 for trace memory
TraceVar2 268 0x10C UINT32 2 Variable number 2 for trace memory
TraceMsecCycle 272 0x110 UINT32 1 0 ... Cycle time for recording the variables
Time 16777215 given in TraceVar1/2 in [ms]
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

variable type
Dec. Hex.
Reserved_416 416 0x1A0 UINT32 0 Reserved
Reserved_428 428 0x1AC UINT32 0 Reserved
Reserved_432 432 0x1B0 UINT32 0 Reserved
Reserved_444 444 0x1BC UINT32 0 Reserved
Reserved_448 448 0x1C0 UINT32 0 Reserved
Reserved_460 460 0x1CC UINT32 0 Reserved
Reserved_464 464 0x1D0 UINT32 0 Reserved
Reserved_476 476 0x1DC UINT32 0 Reserved
Reserved_480 480 0x1E0 UINT32 0 Reserved
Reserved_492 492 0x1EC UINT32 0 Reserved
Reserved_496 496 0x1F0 UINT32 0 Reserved
Reserved_508 508 0x1FC UINT32 0 Reserved
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
3.6 Internal Status Variables

Index Variable Value
Dec. Hex.
0 0x00 Time since start of program [ms]
1 0x01 Current position (measured value) [user unit]
2 0x02 Current output frequency [user unit]
3 0x03 Number of status variables
4 0x04 0
5 0x05 0
6 0x06 0
7 0x07 0
8 0x08 Software Version ASCII
9 0x09 HardwareVersion
10 0x0A HardwareIdent 2: Module 750-670
4: Module 750-671
8: Module 750-672
16: Module 750-673
11 0x0B CompilationMonth mmmm ASCII
12 0x0C CompilationDayYear ddyy ASCII
13 0x0D Compilationtime hhmm ASCII
14 0x0E CPLD 1: no CPLD
2: CPLD not
recognized
3: CPLD Type 3
4: CPLD Type 4
15 0x0F Expecting configuration version
16 0x10 Version of current configuration
17 0x11 0
18 0x12 0
19 0x13 0
20 0x14 0
21 0x15 0
22 0x16 0
23 0x17 PARTMODEL status
24 0x18 Specified position for position encoder
25 0x19 Specified velocity for position encoder
26 0x1A Current position (internal measured value)
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

Dec. Hex.
27 0x1B Current position (internal offset)
28 0x1C Current position (internal OffsetSampled)
29 0x1D Current position (internal LastPosition)
30 0x1E Last target position
31 0x1F Acceleration factor
32 0x20 Position error
33 0x21 Current output frequency (internal)
34 0x22 Current position (internal CPLD emulation)
35 0x23 0
36 0x24 0
37 0x25 0
38 0x26 0
39 0x27 0
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 current command (internal)
49 0x31 Current acceleration
50 0x32 Current deceleration
51 0x33 Acceleration modification (path, time)
52 0x34 Deceleration modification (path, time)
53 0x35 Ramp mode
54 0x36 Maximum velocity (internal)
55 0x37 Prescaler velocity
56 0x38 Present current factor
57 0x39 Original status for camshaft 1 ... 9
58 0x3A Reference run status
59 0x3B Reference run limit switch contact status
60 0x3C Referencing speed (internal)
61 0x3D Reference run: Creep speed
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

Dec. Hex.
62 0x3E 0
63 0x3F 0
64 0x40 Fast timer min. computing time [us]
65 0x41 Fast timer max. computing time [us]
66 0x42 Fast timer avg. computing time [us]
67 0x43 Main loop min. computing time [us]
68 0x44 Main loop max. computing time [us]
69 0x45 Main loop avg. computing time [us]
70 0x46 Main timer min. computing time [us]
71 0x47 Main timer max. computing time [us]
72 0x48 Main timer avg. computing time [us]
73 0x49 Background min. computing time [us]
74 0x4A Background max. computing time [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. computing time [us]
80 0x50 WA200 Interrupt max. computing time [us]
81 0x51 WA200 Interrupt avg. computing time [us]
82 0x52 WA200 Interrupt min. period [us]
83 0x53 WA200 Interrupt max. period [us]
84 0x54 WA200 Interrupt avg. period [us]
85 0x55 Internal bus interrupt min. period [us]
86 0x56 Internal bus interrupt max. period [us]
87 0x57 Internal bus interrupt avg. period [us]
88 0x58 0
89 0x59 0
90 0x5A 0
91 0x5B Status variable Filter1
92 0x5C Status variable Filter2
93 0x5D Status variable Filter3
94 0x5E Status variable Filter4
95 0x5F Status variable Filter5
96 0x60 Status variable Filter6
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands

Dec. Hex.
99 0x63 0
WAGO-I/O-SYSTEM 750
I/O Modules
Auxiliary Commands
WAGO-I/O-SYSTEM 750
I/O Modules
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
Internet: http://www.wago.com

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Fieldbus Independent

Copyright  2011 by WAGO Kontakttechnik GmbH & Co. KG

WAGO Kontakttechnik GmbH & Co. KG

1 Important Notes .......................................................................................... 8

2 I/O Modules ............................................................................................... 14

2.1.2.13.4 Control of a Motor Brake ....................................................... 109

3 Appendix .................................................................................................. 136

3.1.4.6.3 CONFIG_RD (0x52).............................................................. 164

3.2.4.4.3 PROG_STOP (0xF1).............................................................. 213

1.1 Legal Bases

1.1.2 Personnel Qualifications

All responsible persons have to familiarize themselves with the underlying

1.1.3 Use of the 750 Series in Compliance with Underlying

1.1.4 Technical Condition of Specified Devices

1.2 Standards and Guidelines for Operating the 750 Series

ESD (Electrostatic Discharge)

1.4 Safety Information

ESD (Electrostatic Discharge)

1.5 Font Conventions

italic Menu items are marked in italic-type, bold letters.

\ A backslash between two names characterizes the selection of a

END Pushbuttons are marked as bold with small capitals

<> Keys are marked bold within angle brackets

Courier The print font for program codes is Courier.

1.6 Number Notation

2.1.1.2 Structure of Positioning Controller

The following figure illustrates the structure of a typical positioning

Power section Net

Drive Mechanical Software

Fig. 2.1.1-1: Structure of position control system g067x00e

2.1.1.2.1 Control Section

2.1.1.2.2 Power Section

4-wire--engine bipolar 6-wire-motor bipolar

The following must be considered when selecting an appropriate motor:

 type of connection and number of phases

Depending on the motor model and design, a corresponding current must be

2.1.1.2.4 Mechanical Section

A distinction is made here between absolute and relative positioning.

2.1.1.3.1 Absolute Positioning

Positioning from the absolute position X to absolute position Y.

2.1.1.3.2 Relative Positioning

Positioning from absolute position X to absolute position Y by the difference

2.1.1.3.3 On-the-Fly Positioning

Termination of ongoing positioning (such as Move to Y) and execution of the

Abort of the current

 Event-dependent changing of target position

Referencing is the setup of a measuring system. A distinction is drawn here

The reference value (usually 0) is accepted at the corresponding edge.

2.1.1.3.5 Jogging Mode

2.1.1.3.6 Rotary Axis

2.1.1.3.7 Types of Acceleration

2.1.1.3.7.1 Constant Acceleration

Acceleration has a constant value during the acceleration phase.

Fig. 2.1.1-7: Constant acceleration g067x06e

 Peak acceleration at specified acceleration value,

2.1.1.3.7.2 Linear Acceleration

Acceleration increases and decreases during the acceleration phase with a

Fig. 2.1.1-8: Linear acceleration g067x07e

 Soft start (jolt reduction)