Documentation of The Library Wagoappstepper: Release 1.6.1.1

Documentation of the library
WagoAppStepper
Release 1.6.1.1
Contents
1 Description 1
2 20 Program Organization Units 3

2.1 Additional . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1.1 FbMoveAbsolute_2 (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2.1.2 FbMoveVelocity_2 (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.1 eMode (ENUM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.2 typConfiguration_670 (STRUCT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2.6 typStepperVisu_670 (STRUCT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3 FbCAM_Table (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.4 FbConfigurationTable (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.5 FbConfigurationValue (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2.6 FbDriveProgram (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.7 FbDriveProgramTable (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2.8 FbGetVariable (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.9 FbHome (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.10 FbJog_670 (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.11 FbJog_672 (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.12 FbMoveAbsolute (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.13 FbMoveRelative (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.14 FbMoveTorque2_673 (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.15 FbMoveTorque_673 (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.16 FbMoveVelocity (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.17 FbPWM_Mode_670 (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.18 FbPositionTable (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.19 FbPower (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.20 FbReadActualPosition (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.21 FbReadError (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
2.22 FbReset (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.23 FbRestoreDefault (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.24 FbSetFilterValue (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
2.25 FbSetPosition (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.26 FbStepperControlBasic (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.27 FbStop (FB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
2.28 FuModeSelect (FUN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
i
3 80 Status 55
3.1 Status (GVL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.2 eStatus (ENUM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4 ParameterList (PARAMS) 62
5 VersionHistory (GVL) 63
6 Library Reference 64
ii
CHAPTER 1
Description
This document is automatically generated. Because of this, the chapter 30 Visualization is not shown in this
document. If you are interested in getting to know more about visualization, we refer to the library manager of
e!Cockpit.
Subject to Changes
WAGO Kontakttechnik GmbH Co. KG reserves the right to provide for any alterations or modifications. 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.
Personnel Qualification
All tasks that are carried out with libraries made for the e!COCKPIT software must only be performed by qualified
electrical specialists instructed in PLC programming according to IEC 61131-3.
All tasks that have an effect on the properties or the behavior of automation hardware or software products must
only be performed by qualified employees with a thorough knowledge of handling the products concerned.
Intended Use of e!COCKPIT Libraries
Libraries created for the e!COCKPIT software are used to simplify the development of application projects in the
IEC 61131-3 programming languages.
For automation tasks, WAGO offers programmable logic controllers in a wide variety of performance classes.
In combination with a wide range of I/O modules, the controllers can process standard types of field signals.
Controllers can be implemented centrally or in decentralized configurations. The controllers offer interfaces for
the most commonly used fieldbuses for use in decentralized configurations. Fieldbus independent I/O modules
are then linked via fieldbus couplers. WAGO controllers offer a runtime environment for user programs called
e!RUNTIME. Software projects for implementation in e!RUNTIME environments can be created in e!COCKPIT.
The programming environment in e!COCKPIT is based on the established CODESYS 3 industrial standard. Users
with a previous knowledge of CODESYS 3 will thus find this environment largely familiar. The following pro-
gramming languages of the IEC 61131-3 standard are available:
• Structured Text (ST)
• Ladder Diagram (LD)
• Function Block Diagram (FBD)
• Instruction List (IL)
• Sequential Function Chart (SFC)
• Continuous Function Chart (CFC)
The individual programming languages can also be combined as required during the development of the software.
A portfolio of prepared libraries can be accessed for many frequently used functions in order to make software
development more efficient. This document provides an overview of the WagoAppStepper that WAGO offers for
e!COCKPIT.
1
WagoAppStepper, Release 1.6.1.1
Handling modules 750-670, 750-671, 750-672, 750-673

The function blocks of this library are NOT thread safe and must be called from one CODESYS task only!
Concurrent calls from different tasks may cause loss or corruption of data. 1
Further library information are summerized here:
Company WAGO
Title WagoAppStepper
Version 1.6.1.1
Categories WAGO LayerView|App; WAGO FunctionalView|Device|IO; Application
Author WAGO/u010663
Placeholder WagoAppStepper
Based on WagoAppStepper.library, last modified 13.08.2019, 20:03:42.

The content of this file was automatically generated with None on 13.08.2019, 20:03:52
2
CHAPTER 2
20 Program Organization Units
2.1 Additional
2.1.1 FbMoveAbsolute_2 (FB)
Interface variables
Scope Name Type Comment

xEnable BOOL Start drive
I_Port WagoTypesModule_75x_67x.I_Module_75x_67x
Basic stepper interface
Input iSpeed INT Speed 1...25000 while po-
sitioning
wAcceleration WORD Acceleration and decelera-
tion 1...32767
diPosition DINT Position range from
-8388607... +8388607
xDone BOOL Stepper on target
xBusy BOOL Job active
Output
xError BOOL Error occured
oStatus WagoSysErrorBase.FbResult
Function
A base function block which allows an absolute movement of a stepper drive
Graphical Illustration
Function description
The positioning job is defined by the inputs iSpeed, wAcceleration and diPosition. The parameter
iSpeed is allowed in the range of 1..25000 while wAcceleration is allowed from 0..32767. The job will be
started by the variable xEnable. Parameter changes(iSpeed or diPosition) on the fly are supported.
3
2.1.2 FbMoveVelocity_2 (FB)
Interface variables

xEnable BOOL Enable velocity control
Input
iSpeed INT Reference speed -
25000...25000
tion 1...32767
xInVelocity BOOL Target speed reached
Output
Function
A base function block which allows velocity control of a stepper drive
This block allows changes of the velocity on the fly, so there is no need to disable the block if a new speed value
is assigned. This behaviour is different to FbMoveVelocity.
Attention: If used with module 750-670 and 750-671 this block modifies the configuration value “Applica-
tion_Selector”! Please make sure this value is reset by the application programm in case of e.g. absolute po-
sitioning.
2.1. Additional 4
2.2 Data types
2.2.1 eMode (ENUM)
Name Initial Comment

0 Move to an absolute position
MoveAbsolute
1 Move relative to the actual position
MoveRelative
2 Performe a homing movement
Homing
3 Jogging of the stepper
JogMode
4 Velocity controlled movement
VelocityControl
6 Run a drive program, defined by the drive program table
DriveProgramMode
7 Torque controlled movement
InOut: TorqueControlEdge
8 Torque controlled movement
TorqueControlLevel
9 Set the actual position
SetPosition
50 Stop requested
StopActivated
51 Power stage disabled
PowerDisabled
52 Reading error details
ReadingError
53 Performs a reset command
Resetting
-1 No mode detected
NoModeIdentified
Description: eMode
Commands defined to control the stepper as well as status information
2.2.2 typConfiguration_670 (STRUCT)
InOut:
Name Type Initial Comment

User_Conf_Id WORD 16#0 Extended Register 0
ConfVersion BYTE 16#4
Application_Selector BYTE 16#1
Freq_Div WORD 16#C8 Extended Register 4
Acc_Fact WORD 16#8
Curr_pass WORD 16#C58A Extended Register 8
Curr_Corr WORD 16#0 do not modify
Curr_Ctrl WORD 16#554 Extended Register 12
Current BYTE 16#A
Current_Ratio_StandStill BYTE 16#21
Current_Ratio_RampUp BYTE 16#64 Extended Register 16
Current_Ratio_Drive BYTE 16#32
Current_Ratio_RampDown BYTE 16#5A
HwSwConfig BYTE 16#0
Pos_Mult WORD 16#1 Extended Register 20
Pos_Div WORD 16#1
Continued on next page
2.2. Data types 5

Table 2.1 – continued from previous page

Enc_Mult WORD 16#1 Extended Register 24
Enc_Div WORD 16#1
Speed_Mult WORD 16#1 Extended Register 28
Speed_Div WORD 16#1
Acc_Mult WORD 16#1 Extended Register 32
Acc_Div WORD 16#1
Spare_36 WORD 16#0 Extended Register 36
Spare_38 WORD 16#0
Speed WORD 16#A Extended Register 40
Speed_Limit WORD 16#61A8
SetupSpeed WORD 16#64 Extended Register 44
Acceleration_Stop_Fast WORD 16#3E8
Acceleration_RampUp WORD 16#A Extended Register 48
Acceleration_RampDown WORD 16#A
Acceleration_RampUp_Param DWORD 16#12C Extended Register 52
Acceleration_RampDown_Param DWORD 16#12C Extended Register 56
Acceleration_Modes BYTE 16#0 Extended Register 60
Current_Ratio_Stop BYTE 16#64
SetupAcceleration WORD 16#A
Rotary_Axis_Period DWORD 16#0 Extended Register 64
Rotary_Axis_Range_Neg DINT -8388607 Extended Register 68
Rotary_Axis_Range_Pos DINT 16#7FFFFF Extended Register 72
Spare_76 DINT 16#0 Extended Register 76
PWM_Period DWORD 16#0 Extended Register 84
Camshaft_Ch9_Start DINT 16#0 Extended Register 88
Camshaft_Ch9_Period DWORD 16#64 Extended Register 92
Camshaft_Ch9_Pulsewidth DWORD 16#32 Extended Register 96
Braketime_Turn_On DWORD 16#0 Extended Register 100
Braketime_Turn_Off DWORD 16#0 Extended Register 104
Reference_Offset DINT 16#0 Extended Register 108
Reference_Mode BYTE 16#0 Extended Register 112
CFG_DiagReport BYTE 16#0
Spare_114 WORD 16#0
Report_Warnings BYTE 16#0 Extended Register 116
Spare_117 BYTE 16#0
Spare_118 BYTE 16#0
Spare_119 BYTE 16#0
Spare_120 DWORD 16#0 Extended Register 120
Ptr_KBUS_ST1_0 BYTE 16#10 Extended Register 128
Ptr_KBUS_ST1_1 BYTE 16#11
2.2. Data types 6


Ptr_KBUS_ST2_2 BYTE 16#A
Ptr_KBUS_ST2_3 BYTE 16#B
Ptr_KBUS_ST2_4 BYTE 16#C Extended Register 140
Ptr_KBUS_ST2_5 BYTE 16#D
Ptr_KBUS_ST2_6 BYTE 16#E
Ptr_KBUS_ST2_7 BYTE 16#F
Ptr_KBUS_ST3_6 BYTE 16#1A
Spare_152 BYTE 16#0 Extended Register 152
Spare_153 BYTE 16#0
Spare_154 BYTE 16#0
Spare_155 BYTE 16#0
Spare_157 BYTE 16#0
Spare_158 BYTE 16#0
Spare_159 BYTE 16#0
Ptr_OUT1 BYTE 16#8 Extended Register 160
Ptr_OUT2 BYTE 16#F
Spare_162 BYTE 16#0
Spare_163 BYTE 16#0
Spare_165 BYTE 16#0
Spare_166 BYTE 16#0
Spare_167 BYTE 16#0
Ptr_FILT1 BYTE 16#0 Extended Register 168
Ptr_FILT2 BYTE 16#0
Ptr_FILT3 BYTE 16#0
Ptr_FILT4 BYTE 16#0
Ptr_FILT6 BYTE 16#0
Ptr_FILT7 BYTE 16#0
Ptr_FILT8 BYTE 16#0
Ptr_Enable BYTE 16#40 Extended Register 176
Ptr_Stop2_N BYTE 16#41
Ptr_Start BYTE 16#42
Ptr_M_Positioning BYTE 16#43
Ptr_M_Program BYTE 16#44 Extended Register 180
Ptr_M_Reference BYTE 16#45
Ptr_M_Jog BYTE 16#46
Ptr_M_DriveByMbx BYTE 16#47
Ptr_Enable_Drive BYTE 16#1 Extended Register 184
Ptr_Reset_Quit BYTE 16#57
Ptr_Direction_Pos BYTE 16#52
Ptr_Direction_Neg BYTE 16#53
2.2. Data types 7


Ptr_Set_Reference BYTE 16#31 Extended Register 188
Ptr_PreCalc BYTE 16#4E
Ptr_SetupSpeed_Active BYTE 16#56
Ptr_Error_Quit BYTE 16#4F
Ptr_LimitSwitch_Pos BYTE 16#54 Extended Register 192
Ptr_LimitSwitch_Neg BYTE 16#55
Spare_195 BYTE 16#0
Ptr_Freq_Range_Sel_0 BYTE 16#48 Extended Register 196
Ptr_Freq_Range_Sel_1 BYTE 16#49
Ptr_Acc_Range_Sel_0 BYTE 16#4A
Ptr_Acc_Range_Sel_1 BYTE 16#4B
Ptr_Set_Actual_Pos BYTE 16#50 Extended Register 200
Spare_201 BYTE 16#0
Ptr_Jog_Pos BYTE 16#0
Ptr_Jog_Neg BYTE 16#0
Spare_205 BYTE 16#0
Spare_206 BYTE 16#0
Spare_207 BYTE 16#0
Ptr_LED_B BYTE 16#9 Extended Register 208
Ptr_LED_C BYTE 16#1B
Ptr_LED_D BYTE 16#11
Ptr_LED_A BYTE 16#19
Ptr_LED_E BYTE 16#0 Extended Register 212
Ptr_LED_F BYTE 16#0
Spare_214 BYTE 16#0
Spare_215 BYTE 16#0
Spare_217 BYTE 16#0
Spare_218 BYTE 16#0
Spare_219 BYTE 16#0
Spare_221 BYTE 16#0
Ptr_Trace_Trigger BYTE 16#9
Ptr_Trace_Armed BYTE 16#3
Filter1_Function BYTE 16#0 Extended Register 224
Filter2_Function BYTE 16#0
Filter1_Time DWORD 16#0 Extended Register 232
2.2. Data types 8


TraceVar1 DWORD 16#1 Extended Register 264
TraceMsecCycleTime DWORD 16#1 Extended Register 272
IdentNumber DWORD 16#0 Extended Register 276
Spare_280 DWORD 16#0
2.2. Data types 9


Description: Configuration values modul 750-670

Structure is preset with default values For more details please refere to the manual
InOut:

Acc_Fact WORD 16#8
Current BYTE 16#A
Pos_Div WORD 16#1
Enc_Div WORD 16#1
Speed_Div WORD 16#1
Acc_Div WORD 16#1
Spare_38 WORD 16#0
2.2. Data types 10


Spare_114 WORD 16#0
Spare_117 BYTE 16#0
Spare_118 BYTE 16#0
Spare_119 BYTE 16#0
2.2. Data types 11


Spare_153 BYTE 16#0
Spare_154 BYTE 16#0
Spare_155 BYTE 16#0
Spare_157 BYTE 16#0
Spare_158 BYTE 16#0
Spare_159 BYTE 16#0
Ptr_OUT2 BYTE 16#F
Spare_162 BYTE 16#0
Spare_163 BYTE 16#0
Spare_165 BYTE 16#0
Spare_166 BYTE 16#0
Spare_167 BYTE 16#0
Ptr_FILT2 BYTE 16#0
Ptr_FILT3 BYTE 16#0
Ptr_FILT4 BYTE 16#0
Ptr_FILT6 BYTE 16#0
Ptr_FILT7 BYTE 16#0
Ptr_FILT8 BYTE 16#0
Spare_195 BYTE 16#0
2.2. Data types 12


Spare_201 BYTE 16#0
Spare_205 BYTE 16#0
Spare_206 BYTE 16#0
Spare_207 BYTE 16#0
Ptr_LED_F BYTE 16#0
Spare_214 BYTE 16#0
Spare_215 BYTE 16#0
Spare_217 BYTE 16#0
Spare_218 BYTE 16#0
Spare_219 BYTE 16#0
Spare_221 BYTE 16#0
IdentNumber DWORD 16#0 Extended Register 276
2.2. Data types 13


2.2. Data types 14


Description: Configuration modul values 750-671

InOut:

Acc_Fact WORD 16#8
Current BYTE 16#32
Pos_Div WORD 16#1
Enc_Div WORD 16#1
Speed_Div WORD 16#1
Acc_Div WORD 16#1
Spare_38 WORD 16#0
2.2. Data types 15


Spare_114 WORD 16#0
Spare_117 BYTE 16#0
Spare_118 BYTE 16#0
Spare_119 BYTE 16#0
Spare_153 BYTE 16#0
Spare_154 BYTE 16#0
Spare_155 BYTE 16#0
Spare_157 BYTE 16#0
2.2. Data types 16


Spare_158 BYTE 16#0
Spare_159 BYTE 16#0
Ptr_OUT2 BYTE 16#F
Spare_162 BYTE 16#0
Spare_163 BYTE 16#0
Spare_165 BYTE 16#0
Spare_166 BYTE 16#0
Spare_167 BYTE 16#0
Ptr_FILT2 BYTE 16#0
Ptr_FILT3 BYTE 16#0
Ptr_FILT4 BYTE 16#0
Ptr_FILT6 BYTE 16#0
Ptr_FILT7 BYTE 16#0
Ptr_FILT8 BYTE 16#0
Spare_195 BYTE 16#0
Spare_201 BYTE 16#0
Spare_205 BYTE 16#0
Spare_206 BYTE 16#0
Spare_207 BYTE 16#0
2.2. Data types 17


Ptr_LED_F BYTE 16#27
Spare_214 BYTE 16#0
Spare_215 BYTE 16#0
Spare_217 BYTE 16#0
Spare_218 BYTE 16#0
Spare_219 BYTE 16#0
Spare_221 BYTE 16#0
IdentNumber DWORD 16#B7450 Extended Register 276
2.2. Data types 18


MotorAlignment BYTE 16#0 Extended Register 380
Fan_Config BYTE 16#0
Spare_382 WORD 16#0
Current_Ctrl_Hysteresis WORD 16#FA Extended Register 384
Spare_386 WORD 16#0
Current_Ctrl_TZMin WORD 16#2 Extended Register 388
Spare_390 WORD 16#0
Current_Ctrl_TZMax WORD 16#1E Extended Register 392
Current_Pass2 WORD 16#C038
Current_Ctrl_Type WORD 16#0 Extended Register 396
Spare_398 WORD 16#0
Spare_404 WORD 16#0
Warn_Treshold_Temperatur WORD 16#258 Extended Register 404
DC_Link_Umin WORD 16#96 Extended Register 408
DC_Link_Umax WORD 16#320 800->80 Volt
Trace_QuickVar_Index BYTE 16#0 Extended Register 412
Encoder_Config BYTE 16#0
Encoder_Config_QDECCTL WORD 16#0
EncoderResolution DWORD 16#7D0 Extended Register 416
MotorFullStepsPerTurn WORD 16#C8 Extended Register 420
Spare_422 WORD 16#0
EncoderIndexMeasureJitterRange WORD 16#14 20
SpeedMeasureTimeA DWORD 16#64 Extended Register 428
SpeedMeasureTimeoutA DWORD 16#64 Extended Register 432
SpeedMeasureTimeV DWORD 16#3 Extended Register 436
SpeedMeasureTimeoutV DWORD 16#0 Extended Register 440
Controller_v_Kp DWORD 16#1388 Extended Register 444
Controller_v_Ti DWORD 16#1388 Extended Register 448
Controller_s_Kp DWORD 16#7D0 Extended Register 452
Controller_s_Ti DWORD 16#0 Extended Register 456
Controller_s_Td DWORD 16#0 Extended Register 460
Controller_s_Tddi DWORD 16#0 Extended Register 464
TargetWindowSpeed WORD 16#2 100
TargetWindowPosition DWORD 16#0 Extended Register 472
Speed_Filter WORD 16#2000 Extended Register 480
2.2. Data types 19


TrackingError_Range_Speed WORD 16#64
TrackingError_Range_Position DWORD 16#64 Extended Register 484
TrackingError_Delay DWORD 16#64 Extended Register 488

InOut:

Acc_Fact WORD 16#8
Current BYTE 16#32
Pos_Div WORD 16#1
Enc_Div WORD 16#1
Speed_Div WORD 16#1
Acc_Div WORD 16#1
Spare_38 WORD 16#0
2.2. Data types 20


Rotary_Axis_Range_Neg DINT -16#7FFFFF Extended Register 68
Spare_114 WORD 16#0
Spare_117 BYTE 16#0
Spare_118 BYTE 16#0
Spare_119 BYTE 16#0
Spare_153 BYTE 16#0
2.2. Data types 21


Spare_154 BYTE 16#0
Spare_155 BYTE 16#0
Spare_157 BYTE 16#0
Spare_158 BYTE 16#0
Spare_159 BYTE 16#0
Ptr_OUT2 BYTE 16#F
Spare_162 BYTE 16#0
Spare_163 BYTE 16#0
Spare_165 BYTE 16#0
Spare_166 BYTE 16#0
Spare_167 BYTE 16#0
Ptr_FILT2 BYTE 16#0
Ptr_FILT3 BYTE 16#0
Ptr_FILT4 BYTE 16#0
Ptr_FILT6 BYTE 16#0
Ptr_FILT7 BYTE 16#0
Ptr_FILT8 BYTE 16#0
Spare_195 BYTE 16#0
Spare_201 BYTE 16#0
2.2. Data types 22


Spare_205 BYTE 16#0
Spare_206 BYTE 16#0
Spare_207 BYTE 16#0
Ptr_LED_F BYTE 16#27
Spare_214 BYTE 16#0
Spare_215 BYTE 16#0
Spare_217 BYTE 16#0
Spare_218 BYTE 16#0
Spare_219 BYTE 16#0
Spare_221 BYTE 16#0
IdentNumber DWORD 16#B7451 Extended Register 276
2.2. Data types 23


MotorAlignment BYTE 16#0 Extended Register 380
Fan_Config BYTE 16#0
Spare_382 WORD 16#0
Current_Ctrl_Hysteresis WORD 16#FA Extended Register 384
Spare_386 WORD 16#0
Current_Ctrl_TZMin WORD 16#2 Extended Register 388
Spare_390 WORD 16#0
Current_Ctrl_TZMax WORD 16#1E Extended Register 392
Current_Pass2 WORD 16#C038
Current_Ctrl_Type WORD 16#0 Extended Register 396
Spare_398 WORD 16#0
Spare_404 WORD 16#0
Warn_Treshold_Temperatur WORD 16#258 Extended Register 404
DC_Link_Umin WORD 16#96 Extended Register 408
DC_Link_Umax WORD 16#320 800->80 Volt
Trace_QuickVar_Index BYTE 16#0 Extended Register 412
Encoder_Config BYTE 16#0
Encoder_Config_QDECCTL WORD 16#0
EncoderResolution DWORD 16#7D0 Extended Register 416
MotorFullStepsPerTurn WORD 16#C8 Extended Register 420
Spare_422 WORD 16#0
EncoderIndexMeasureJitterRange WORD 16#14 20
SpeedMeasureTimeA DWORD 16#64 Extended Register 428
SpeedMeasureTimeoutA DWORD 16#64 Extended Register 432
SpeedMeasureTimeV DWORD 16#3 Extended Register 436
SpeedMeasureTimeoutV DWORD 16#0 Extended Register 440
Controller_v_Kp DWORD 16#1388 Extended Register 444
Controller_v_Ti DWORD 16#1388 Extended Register 448
Controller_s_Kp DWORD 16#7D0 Extended Register 452
Controller_s_Ti DWORD 16#0 Extended Register 456
Controller_s_Td DWORD 16#0 Extended Register 460
Controller_s_Tddi DWORD 16#0 Extended Register 464
2.2. Data types 24


TargetWindowSpeed WORD 16#64 100
TargetWindowPosition DWORD 16#A Extended Register 472
Speed_Filter WORD 16#2000 Extended Register 480
TrackingError_Range_Speed WORD 16#64
TrackingError_Range_Position DWORD 16#64 Extended Register 484
TrackingError_Delay DWORD 16#64 Extended Register 488

Structure is preset with default values. For more details please refere to the manual.
2.2.6 typStepperVisu_670 (STRUCT)
InOut:

executeCT BOOL
readCT BOOL
writeCT BOOL
doneCT BOOL
busyCT BOOL
errorCT BOOL
ConfigurationCT FbConfigurationTable
statusCT WagoSysErrorBase.FbResult
BasicStepper FbStepperControlBasic
BasicEnable BOOL
BasicDone BOOL
BasicJobType eMode
BasicModule WORD 670
BasicPos BOOL
BasicNeg BOOL
BasicStop BOOL
BasicSpeed INT 5000
BasicAcceleration WORD 10000
BasicDeceleration WORD 10000
BasicRefPosition DINT 100000
BasicStart BOOL
BasicReset BOOL
BasicBusy BOOL
BasicActualPosition DINT
BasicActualSpeed INT
BasicMailboxActive BOOL
BasicError BOOL
BasicResetWarning BOOL
2.2. Data types 25


BasicErrorCodes eStatus
BasicStatus1 WagoSysErrorBase.FbResult
ConfigurationData_670 typConfiguration_670
MoveAbs BOOL Visu
MoveRel BOOL
Homing BOOL
Jog BOOL
Velocity BOOL
Drive BOOL
TorqueEdge BOOL
TorqueLevel BOOL
SetPosition BOOL
Description: Used with visu template for module 750-670
InOut:

executeCT BOOL
readCT BOOL
writeCT BOOL
doneCT BOOL
busyCT BOOL
errorCT BOOL
BasicEnable BOOL
BasicDone BOOL
BasicJobType eMode
BasicPos BOOL
BasicNeg BOOL
BasicStop BOOL
BasicSpeed INT 5000
BasicStart BOOL
BasicReset BOOL
BasicBusy BOOL
BasicError BOOL
2.2. Data types 26


MoveAbs BOOL Visu
MoveRel BOOL
Homing BOOL
Jog BOOL
Velocity BOOL
Drive BOOL
TorqueEdge BOOL
TorqueLevel BOOL
SetPosition BOOL
InOut:

executeCT BOOL
readCT BOOL
writeCT BOOL
doneCT BOOL
busyCT BOOL
errorCT BOOL
BasicEnable BOOL
BasicDone BOOL
BasicJobType eMode
BasicPos BOOL
BasicNeg BOOL
BasicStop BOOL
BasicSpeed INT 5000
BasicStart BOOL
BasicReset BOOL
BasicBusy BOOL
BasicError BOOL
MoveAbs BOOL Visu
2.2. Data types 27


MoveRel BOOL
Homing BOOL
Jog BOOL
Velocity BOOL
Drive BOOL
TorqueEdge BOOL
TorqueLevel BOOL
SetPosition BOOL
InOut:

executeCT BOOL
readCT BOOL
writeCT BOOL
doneCT BOOL
busyCT BOOL
errorCT BOOL
BasicEnable BOOL
BasicDone BOOL
BasicJobType eMode
BasicPos BOOL
BasicNeg BOOL
BasicStop BOOL
BasicSpeed INT 5000
BasicStart BOOL
BasicReset BOOL
BasicBusy BOOL
BasicError BOOL
MoveAbs BOOL Visu
MoveRel BOOL
Homing BOOL
2.2. Data types 28


Jog BOOL
Velocity BOOL
Drive BOOL
TorqueEdge BOOL
TorqueLevel BOOL
SetPosition BOOL
2.3 FbCAM_Table (FB)
Interface variables
2.3. FbCAM_Table (FB) 29


xExecute BOOL Execute drive program
download or upload
Input I_Port WagoTypesModule_75x_67x.I_Module_75x_67x
xRead BOOL Read drive program table
-> eihter xRead or xWrit-
eRam or xWriteFlash must
be set
xWriteRam BOOL Write to the RAM -> ei-
hter xRead or xWriteRam
or xWriteFlash must be set
bCamCount BYTE
xDone BOOL Command succesful exe-
cuted
Output
xBusy BOOL Command in progress
xError BOOL Command with error exe-
cuted
Status codes:
-
FunctionBlockNotEnabled
-
WritingSettings
-
ReadingSettings
-OK
Error codes: -
InvalidParameter-
>input wData
exceeds size
of data area
defined in
“DRIVE_PROGRAM_TABL
-
DownloadNotPossible
-Timeout,
mailbox com-
munication not
finished within
requested time
“MBX1_TIMEOUT”
Inout aCamData ARRAY

[0..CAM_TABLE_SIZE]
OF BYTE
Function
Reading and writing of the terminals internal CAM table
2.3. FbCAM_Table (FB) 30

Reading and writing of the terminals internal cam table RAM 1
2.4 FbConfigurationTable (FB)
Interface variables

xExecute BOOL Execute command
Input xRead BOOL Read configuration table
xWriteFlash BOOL Write configuration table
to flash, a write command
will always write to the
flash
pData POINTER TO ARRAY Pointer to the con-
[0..511] OF BYTE figuration data -
>typConfiguration_67x
cuted
Output xBusy BOOL Command in progress
cuted
eErrorCodes eStatus Feedback information
Function
Reading and writing the terminals internal configuration
2.4. FbConfigurationTable (FB) 31

This functionblock allows to read and write the configuration table at once. To start the process set xExecute
to TRUE. If the action is finished the output xDone becomes True. The output oStatus shows any error. After
writing the configuration table the modul resets itself. Therefore the actual position will be reset to Zero.
Visualization
For each module a visualisation template tplConfiguration_67x is available. The data structure
typConfiguration_67x contains the default values. The visualisation template shows the most important
values. This template needs the instance of the function block FbConfigurationTable as input.
2.5 FbConfigurationValue (FB)
Interface variables
2.5. FbConfigurationValue (FB) 32


wAddress WORD 0..511 ->address within
Input the configuration table
bValueSize BYTE
xRead BOOL Read configuration value
xWriteRam BOOL Write configuration value
to ram
xWriteFlash BOOL Write configuration value
to flash
cuted
Output xBusy BOOL Command in progress
cuted
Status codes:
-OK
-
WritingSettings
-
ReadingSettings
Error codes: -
CommandError-
>neither xRead
nor xWriteRam
nor xWriteFlash
activated
-
InvalidParameter
->input “bVal-
ueSize” or
“wAddress”
invalid
-Timeout
-
CommandAborted
eFeedback eStatus Feedback information

Inout dwValue DWORD Data ->Input in case of
write command, output in
case of read command
Function
Reading and writing of a single value within the configuration table
2.5. FbConfigurationValue (FB) 33

This functionblock allows to read and write a single parameter from the configuration table. Writing differentiates
between temporarily changes(write to ram) which are lost after power on of the stepper modul and permanent(write
to flash) changes.
2.6 FbDriveProgram (FB)
Interface variables

xEnable BOOL Enable drive program
wStartPositionDriveProgram WORD Start position within the
drive program table if the
block is enabled
xValid BOOL Some drive commands
show there execution by
Output this bit,e.g. move absolute
xBusy BOOL Drive program active
wActualDriveProgramPositionWORD Actual position within
drive program table
Function
Use the drive program capability of a stepper drive
This functionblock allows to execute a drive program. The input wStartPositionDriveProgram allows to
determine the start address within the drive program. While setting up drive program mode, the output oStatus will
show “InProgress”. If the initialization is finished status OK will be set. Initialization will not start, if the function
2.6. FbDriveProgram (FB) 34

block FbPower is not active or the function block FbStop is activated. The variable wActualDriveProgramPosition
shows the ProgramPosition of the next Position.
2.7 FbDriveProgramTable (FB)
Interface variables

xExecute BOOL Execute drive program
download or upload
Input
xRead BOOL Read drive program table
be set
xWriteRam BOOL Write to the RAM -> ei-
hter xRead or xWriteRam
or xWriteFlash must be set
xWriteFlash BOOL Write to the flash memory
be set
wDataCount WORD
cuted
Output
cuted
Status codes:
-
FunctionBlockNotEnabled
-
WritingSettings
-
ReadingSettings
-OK
Error codes: -
InvalidParameter-
>input wData
exceeds size
of data area
defined in
“DRIVE_PROGRAM_TABL
-
DownloadNotPossible
-Timeout,
mailbox com-
munication not
finished within
requested time
“MBX1_TIMEOUT”
Inout aData ARRAY Max number of data sets =

[0..Drive_Program_Table_Size]
400
OF BYTE
2.7. FbDriveProgramTable (FB) 35

Function
Reading and writing of the terminals internal drive program table
If the input xWriteFlash is True the drive program will be stored to the flash memory after it is downloaded to the
module. After power on reset the drive program is therefore still available and can be directly executed by using
the function block FbDriveProgram.
2.8 FbGetVariable (FB)
Interface variables

xExecute BOOL Execute set postion com-
Input mand
iIndex INT Index according to manual
of the module
xDone BOOL Position set
Output xError BOOL Error occured
dwValue DWORD Actual value
Function
A base function block which allows to read any variable available by an index
2.8. FbGetVariable (FB) 36

2.9 FbHome (FB)
Interface variables

xExecute BOOL Execute relative homing
job
Input
xRefPositive BOOL Reference in positive di-
rection
xRefNegative BOOL Reference in negative di-
rection
xDone BOOL Homing done
Output
Function
A base function block which allows a homing movement of a stepper drive
This function block allows to start a homing job. Please make sure either xRefPositive or xRefNegative
is choosen if the input “xExecute” becomes high. Homing mode, speed and acceleration a configured by the
configuration table (Reference_Mode,SetupSpeed and SetupAcceleration).
2.10 FbJog_670 (FB)
Interface variables
2.9. FbHome (FB) 37


xEnable BOOL Enable jog mode
Input xPos BOOL Request to jog in positive
direction
xNeg BOOL Request to jog in negative
direction
wJogTimeOut WORD Timeout->0 no timeout
xValid BOOL Valid
Output
xJoggingPositive BOOL Stepper is jogging in posi-
tive direction
xJoggingNegative BOOL Stepper is jogging in nega-
tive direction
Function
A base function block which allows to jog the stepper modules 750-670 and 750-671
2.11 FbJog_672 (FB)
Interface variables

xEnable BOOL Enable jog mode
wJogTimeOut WORD Timeout-> 0 no timeout
xValid BOOL Valid
xBusy BOOL Jogging mode enabled
Output
xJoggingPositive BOOL Stepper is jogging in posi-
tive direction
xJoggingNegative BOOL Stepper is jogging in nega-
tive direction
Function
A base function block which allows to jog the stepper modules 750-672 and 750-673
2.11. FbJog_672 (FB) 38

The jogging is performed by digital inputs direct on the module.
2.12 FbMoveAbsolute (FB)
Interface variables

xExecute BOOL Execute absolute position-
ing command
iSpeed INT Reference speed 1...25000
while positioning
wAcceleration WORD Reference acceleration
1...32767
diPosition DINT Reference position
range from -8388607...
+8388607
Output
Function
A base function block which allows an absolute movement of a stepper drive
The input wAcceleration will be taken for the decelarion as well. The job will be started by the variable
xExecute. Parameter changes on the fly are not supported.
2.12. FbMoveAbsolute (FB) 39

2.13 FbMoveRelative (FB)
Interface variables

xExecute BOOL Execute a relative move-
ment
Input
while positioning
wAcceleration WORD Reference acceleration
1...32767
wDeceleration WORD Reference deceleration
1...32767
diDistance DINT Reference distance
range from -8388607...
+8388607
Output
Function
A base function block which allows a relative movement of a stepper drive
2.14 FbMoveTorque2_673 (FB)
Interface variables

xEnable BOOL Enable speed job with torque control
I_Port WagoTypesMod- Basic stepper interface
Input
ule_75x_67x.I_Module_75x_67x
iSpeed INT Reference speed 1...25000 while positioning
wCurrent WORD Reference current 1...150%
xValid BOOL Stepper on target
Output
oStatus WagoSysError- Error object. (Listed in Status) The content of the error
Base.FbResult object could be displayed via the FbShowResult from the
WagoSysErrorBase library.
2.13. FbMoveRelative (FB) 40

Function
A base function block which allows a torque movement of a stepper drive using module 750-673
2.15 FbMoveTorque_673 (FB)
Interface variables

xExecute BOOL Start drive
Input
while positioning
wCurrent WORD Reference current
1...150%
Output
Function
A base function block which allows a torque movement of a stepper drive using module 750-673
2.16 FbMoveVelocity (FB)
Interface variables
2.15. FbMoveTorque_673 (FB) 41


xExecute BOOL Execute movement
Input
iSpeed INT Reference speed -
25000...25000
tion 1...32767
xInVelocity BOOL Target speed reached
Output
Function
A base function block which allows velocity control of a stepper drive
Attention: If used with module 750-670 and 750-671 this block modifies the configuration value “Applica-
tion_Selector”! Please make sure this value is reset by the application programm in case of e.g. absolute po-
sitioning. Please use FbConfigurationValue.
2.17 FbPWM_Mode_670 (FB)
Interface variables
2.17. FbPWM_Mode_670 (FB) 42


xEnable BOOL
Input
xStart BOOL Start outputs
Inout xStop BOOL Stop outputs
xErrorReset BOOL Reset errors
wPulsDuty- WORD Puls duty of the signal e.g. 5000 -> 50%on 50%off
Input Factor
udiPulsPe- UDINT Periode in µs e.g. 10.000 -> 10ms on
riod
wAccelera- WORD Acceleration 0..32767
tion
xValid BOOL Operation finished
xBusy BOOL Operation busy
Output xError BOOL An error occurred while executing
Base.FbResult object could be displayed via the FbShowResult from the
wActu- WORD Actual pulse duty factor
alPulsDuty-
Factor
Function
A base function block which supports PWM mode using module 750-670
High wAcceleration values ensure a quick increase of the pulswidth rate. Additional it may be necessary to
increase the default value for ACC_Fact(see the configuration table) from 80 to 10000 to archieve an even steeper
increase. Once started, changes in the input parameters will only be overtaken by a positive edge of the xEnable
input.
2.18 FbPositionTable (FB)
Interface variables
2.18. FbPositionTable (FB) 43


xRead BOOL Read table -> eihter xRead
Input
or xWriteRam or xWrite-
Flash must be set
xWriteRam BOOL Write table to the RAM -
> eihter xRead or xWrit-
be set
xWriteFlash BOOL Write table to the flash
memory -> eihter xRead
or xWriteRam or xWrite-
Flash must be set
bDataCount BYTE 1..50 -> Number of data
sets for up-/download
xDone BOOL Command successful exe-
cuted
Output
cuted
Inout aData ARRAY [0..POSI- Max number of data sets =
TION_TABLE_SIZE] 50
OF BYTE
Function
Reading or writing of the terminals internal position table
This function block allows to read and write the position table. Each position in the table is 4 byte long. Input
bDataCount is the number of positions in the table. The size of the position table may be changed through
POSITION_TABLE_SIZE in the parameter list.
2.19 FbPower (FB)
Interface variables

xEnable BOOL Enable power stage
Input
I_Port WagoTypesModule_75x_67x.I_Module_75x_67x Basic stepper interface
xStatus BOOL Power stage enabled
Output
xError BOOL True, if input I_Port=0
2.19. FbPower (FB) 44

Function
Enable the power stage of a stepper drive
This function block must be used except for running the stepper drive by the function block FbStepperControlBa-
sic. Bit 0 in the Control Byte 1 ist directly controlled. The output xStatus displays directly Bit 0 from Status
Byte 1.
2.20 FbReadActualPosition (FB)
Interface variables

xEnable BOOL Read position and speed
Input
xValid BOOL Position valid
xBusy BOOL Busy
xError BOOL Error reading position
Output Base.FbResult object could be displayed via the FbShowResult from the
diActualPo- DINT Actual position
sition
iActual- INT Actual speed
Speed
eAc- eMode Actual mode
tualMode
xMailbox- BOOL ActualPosition and actualSpeed are latched
Active
xResetRe- BOOL Module has performed a warmstart, therefore a reset by the
quired application is needed
Function
A base function block which allows to read the actual position of a stepper drive
2.20. FbReadActualPosition (FB) 45

This function block shows the actual position as well as the actual speed. The output bActualMode displays the
operating modes according to the enumeration eMode:
2.21 FbReadError (FB)
Interface variables

xEnable BOOL Enable reading error details
Input
xValid BOOL eFeedback valid
xError BOOL Only True if reading error information
Output
failed
oStatus WagoSysErrorBase.FbResult Only data, if xError is True
xModule- BOOL Modul error bit Status 2.7
Fault
eFeedback eStatus Error details->codes according to
stepper manual
Function
A base function block which allows to read the error information of a stepper drive
If the module status 2.7 (error) is TRUE, the output xMouduleFault is set. If an error occured, detailed infor-
mation will be read, using the mailbox command 0x49 ERR_GET. The details will be displayed in eFeedback.
2.21. FbReadError (FB) 46

Output xError will only be set, if the mailbox command 0x49 shows an error. The output xModuleFault
will show directly status byte Status2.7.
2.22 FbReset (FB)
Interface variables

xExecute BOOL Execute a reset command
Input
xDone BOOL Reset performed
xBusy BOOL Busy
Output
Function
A base function block which allows to reset a stepper drive
This function block performs a reset. Bit 7 in the Control Byte 3 and Control Byte 2 ist directly controlled
2.23 FbRestoreDefault (FB)
Interface variables
2.22. FbReset (FB) 47

Scope Name Type Initial Comment

Input I_Port WagoTypesModule_75x_67x.I_Module_75x_67xBasic stepper inter-
face
wFactoryDefault_No WORD 2
xDone BOOL Command succesful
executed
Output
xBusy BOOL Command in
progress
xError BOOL Command with error
executed
Status codes:
-OK
Error codes: -
InvalidParameter-
>input
wFactoryDefaul
invalid
-Timeout
Function
Restore Default values
2.24 FbSetFilterValue (FB)
Interface variables

mand
Input
iFilter INT 1..8 according to the filter
number
wSetValue WORD Reference value for the fil-
ter
Output
Function
A base function block which allows to set the filter value
2.24. FbSetFilterValue (FB) 48

2.25 FbSetPosition (FB)
Interface variables

Input mand
diPosition DINT Position range from
-8388607... +8388607
Output
Function
A base function block which allows to set the actual position
2.26 FbStepperControlBasic (FB)
Interface variables
2.25. FbSetPosition (FB) 49


xEnable BOOL Enable Stepper module
eJobType eMode 0..9 ->e.g.MoveAbsolute, etc.
Input xDirPos BOOL Direction positive
xDirNeg BOOL Direction negative
iSpeed INT Speed 1...25000 while positioning,-25000...25000 while
velocity control
wAccelera- WORD Acceleration 1...32767 or if torque control mode 0..150%
tion
wDecelera- WORD Deceleration 1...32767
tion
diPosition DINT Position range from -8388607... +8388607
xTrigger- BOOL Start control action
Inout
Start
xTrigger- BOOL Reset error
ErrorReset
Input xStop BOOL Stop drive
xJobFin- BOOL Stepper has finished the requested job
ished
Output oStatus WagoSysError- Error object. (Listed in Status) The content of the error
Base.FbResult object could be displayed via the FbShowResult from
the WagoSysErrorBase library.
eError- eStatus Error value
Codes
diActualPo- DINT Actual position or in drive program mode actual table index
sition
iActual- INT Actual speed
Speed
xMailbox- BOOL Actual position and actual speed are latched
Active
xReset- BOOL Warmstart occured
Warning
Function
A base function block which allows to control a stepper drive
2.26. FbStepperControlBasic (FB) 50

This function block supports different modes of the stepper module:

0: Absolute positioning
1: Relative positioning
2: Homing
3: Jogging
4: Velocity control
6: Executing a drive program
7: Torque controlled movement
8: Torque controlled movement
9: Set the actual position
• Absolute positioning The positioning job is defined by the inputs iSpeed, wAcceleration, wDeceleration and
diPosition. The parameter iSpeed is allowed in the range of 1..25000 while acceleration and deceleration
are allowed from 0..32767. The job will be started by the variable xTriggerStart. If the job is done, the
variable xTriggerStart will be reset by the functionblock.
• Relative positioning The positioning job is defined by the inputs iSpeed, wAcceleration, wDeceleration and
diPosition. The parameter iSpeed is allowed in the range of 1..25000 while acceleration and deceleration
are allowed from 0..32767. The job will be started by the variable xTriggerStart. If the job is done, the
variable xTriggerStart will be reset by the functionblock.
• Homing The Homing job is defined by the inputs xDirPos or xDirNeg and xTriggerStart. The job will
be started by the variable xTriggerStart. If the job is done, the variable xTriggerStart will be reset by the
functionblock. Homing speed, acceleration and mode are defined through the values in the configuration
table.
• Jogging Depending on the module the jogging mode is started differently. 750-670,750-671: The Jogging
job is defined by the inputs xDirPos or xDirNeg and xTriggerStart. The job will be started by the variable
xDirPos or xDirNeg and xTriggerStart=True, and runs as long as the appropriate input xDirPos or xDirNeg
is true. Jogging speed and acceleration are defined through the values in the configuration table(SetupSpeed
and SetupAcceleration).
750-672,750-673: The Jogging job is defined by the input xTriggerStart. The job will be started by phys-
ical inputs of the module. Jogging speed and acceleration are defined through the values in the config-
uration table(SetupSpeed and SetupAcceleration). Output xBusy will be True, if the stepper is actually
jogging(xJobfinished without any meaning in this operation mode).
• Velocity Control The Velocity control job is defined by the inputs iSpeed, wAcceleration, wDecceleration.
The parameter iSpeed is allowed in the range of -25000..25000.
While running it is possible to change the speed. Therfore the input iSpeed has to be set to the new speed
and the xTriggerStart variable needs to be set again.
• Drive Program This mode expects a drive program table within the stepper module. This program will be
started at table index diPosition when xTriggerStart becomes true.
• General Inputs: The input xEnable needs to be true to run the stepper. If this variable is set to zero the
module will stop immediately without any ramp. By xEnable=True the power stage of the module will be
enabled. xTriggerStart needs to be set by the user to start serveral jobs. This inout variable will be reset by
the function block(except for jogging mode). Once a job is started no action will be taken by the function
block, if the user resets the variable (silently ignored).
If a job is choosen and the input eMode is changed while the job is still active, a stop will be performed.
The input xStop will stop each movement. The stop ramp is defined by the configuration parameter Accel-
eration_Stop_Fast (address 46).
xReset allows to reset an error.
2.26. FbStepperControlBasic (FB) 51

• General Outputs: xJobFinished indicates that a positioning or homing job is finished. In case of the ve-
locity control mode this output indicates that the reference speed is reached. xBusy is high while a job is
running xMailBoxActive indicates, that the values for diActualPosition and diActualSpeed are latched and
will no be updated any more xError indicates any error eErrorCodes shows details according to the enumer-
ation eFeedbackStatus in verbal form oStatus shows detailed status information xResetWarning indicates a
warmstart of the module. This output correspondends directly to status byte S3.7 as described in the stepper
manual.
• MoveAbsolute: iSpeed, wAcceleration, diPosition On the fly changes (iSpeed or wAcceleration or diPosi-
tion) are not supported
• Homing: eJobType=Homing either xDirPos=TRUE or xDirNeg=TRUE ->otherwise CommandError
• Velocity Control: xTriggerStart As long as xTriggerStart is TRUE, the values for iSpeed,wAcceleration and
wDeceleration may be changed during an active command. To stop a velocity movement, eihter set speed
to ZERO or use “xStop” input.
• Jogging: xTriggerStart must be set to true to ativate jog mode. In this operation mode, the variable must be
reset by the user, if the jogging mode should be finished. 670,671: Jogging will be performed if either input
xDirPos or xDirNeg becomes high 672,673: Jogging will be performed if either module input DI3 or DI4
becomes high
Visualization
For each module a visualisation template tplMoveStepper_67x is available. The input m_input_drive of the
visualisation template is of type typStepperVisu_67x. According to this example the input m_input_drive
must be assigned by Stepper1.
2.27 FbStop (FB)
Interface variables
2.27. FbStop (FB) 52


xExecute BOOL Execute a stop command
Input
I_Port WagoTypesModule_75x_67x.I_Module_75x_67x Basic stepper interface
xDone BOOL Stepper standstill
xBusy BOOL Stepper tries to reach standstill
Output
xError BOOL For future use
oStatus WagoSysErrorBase.FbResult For future use
Function
A base function block which allows to stop a stepper drive
This function block must be used except for running the stepper drive by the function block FbStepperControlBa-
sic. This functionblock allows to stop the stepper motor. The deceleration ramp is determined by the configuration
value AccelerationStopFast.
2.28 FuModeSelect (FUN)
Interface variables

Return FuModeSelect eMode
xMoveAbsoluteRequest BOOL Choose absolute positioning mode
xMoveRelativeRequest BOOL Choose relativee positioning mode
xHomingRequest BOOL Choose homing mode
xJoggingRequest BOOL Choose jogging mode
Input xVelocityCtrlRequest BOOL Choose velocity control mode
xDrivePrgRequest BOOL Choose drive program mode
xTorqueEdge BOOL Choose torque edge mode
xTorqueLevel BOOL Choose torque level mode
xSetPosition BOOL Request ->set position
Function
A base function which allows to select one operating mode
2.28. FuModeSelect (FUN) 53

2.28. FuModeSelect (FUN) 54

CHAPTER 3
80 Status
3.1 Status (GVL)
Scope Name Type

Constant ARRAY [0..18] OF
StatusStep-
WagoSysErrorBase.WagoTypesErrorBase.typResultItem
per_67x
Description: Status information
55
Value Level Description

OK WagoSysError- ‘OK’
Base.WagoTypesErrorBase.WagoTypes.eSeverity.info
FunctionBloc- WagoSysError- ‘FunctionBloc-
kNotEnabled Base.WagoTypesErrorBase.WagoTypes.eSeverity.infokNotEnabled’
InProgress WagoSysError- ‘InProgress’
Timeout WagoSysError- ‘Timeout’
Base.WagoTypesErrorBase.WagoTypes.eSeverity.error
ReadingSettings WagoSysError- ‘ReadingSettings’
WritingSettings WagoSysError- ‘WritingSettings’
PowerMissing WagoSysError- ‘PowerMissing’
StopCommandAc- WagoSysError- ‘StopActivated’
tivated Base.WagoTypesErrorBase.WagoTypes.eSeverity.info
Occupied WagoSysError- ‘Occupied’
PowerStageDis- WagoSysError- ‘PowerStageDis-
abled Base.WagoTypesErrorBase.WagoTypes.eSeverity.infoabled’
CommandAborted WagoSysError- ‘CommandAborted’
CommandError WagoSysError- ‘ErrorExecuting-
Command’
InvalidParameter WagoSysError- ‘InvalidParameter’
DownloadNotPos- WagoSysError- ‘DownloadNotPos-
sible Base.WagoTypesErrorBase.WagoTypes.eSeverity.error
sible’
ActualCommand- WagoSysError- ‘ActualCommand-
StillActive Base.WagoTypesErrorBase.WagoTypes.eSeverity.error
StillActive’
CommandDenied WagoSysError- ‘CommandDenied’
CommandUn- WagoSysError- ‘CommandUn-
known Base.WagoTypesErrorBase.WagoTypes.eSeverity.error
known’
AccessDenied WagoSysError- ‘AccessDenied’
UndefinedInterface WagoSysError- ‘No interface
connected’
3.2 eStatus (ENUM)
InOut:

OK 0 OK
FunctionBlockNotEnabled 1 Function block not enabled
Timeout 2 Timeout occured
InProgress 3 Job is active
ReadingSettings 4 Reading configuration values
WritingSettings 5 Writing configuration values
PowerMissing 6 Power missing
StopCommandActivated 7 Stop activated
3.2. eStatus (ENUM) 56


Occupied 8 Module is occupied by another function block, this func
PowerStageDisabled 9 The power stage is disabled
CommandAborted 10 xExecute reset by user before command regular finished
UndefinedInterface 11 Input I_Port not assigned
InvalidParameter 48 Invalid parameter
CommandError 49 More than one command active,e.g. xStart and xJogPos
DownloadNotPossible 64 FbConfigurationTable
ActualCommandStillActive 65 Move Relative ->0x11 manual opcode 0x06
CommandDenied 66 Move Relative ->0x12 manual opcode 0x06
CommandUnknown 67 Move Relative ->0x13 manual opcode 0x06
AccessDenied 68 Move Relative ->0x23 manual opcode 0x06
CI_UNKNOWNCOMMAND 1111 from here module specific errors
CI_UNKNOWNCOMMAND2 1112
CI_ERR1 1113
CI_NOTIMPLEMENTED 1114
CI_COMMAND_DENIED 1115
CI_SPEED1 1116
CI_SPEED2 1117
CI_SPEED3 1118
CI_ACC1 1121
CI_ACC2 1122
CI_ROUNDARYSHAFT_SETPOINT 1123
CI_POS_TABLE 1124
CI_SET_POS 1125
CI_ALIGN_LIMITSWITCH 1126
CM_UNKNOWN_CMDSOURCE 1141
CM_AUTOSTART_NOT_POSSIBLE 1142
CONFIG_WRITE_SIZE 1161
CONFIG_WRONGPASSWORD 1162
CTRLOUT_FREF 1211
CTRLOUT_F_FREF 1212
CTRLOUT_CURRENT_SCALE 1213
CTRLOUT_OPERATION_MODE 1214
CTRLOUTP_CURR_PARAM 1215
CTRLOUTP_F_DIV 1216
CTRLOUT_CURRENT_FACTOR 1217
CTRLOUTP_CURR_PARAM2 1218
IO_BITINDEXTOLARGE 1241
IO_ILLEGAL_USERBITNR 1242
IO_USERBIT_READONLY 1243
IO_RECURSIVE_LINK 1245
IO_TIMER_1 1246
IO_UNKNOWN_TIMER 1247
IO_TIMERMODE 1248
IO_BITNOTIMPLEMENTED 1249
IO_DIVISION_ZERO 1251
MEAS_SETPOSITION 1261
TBL_PROGRAM_STOP1 1311


TBL_PROGRAM_END 1319
TBL_UNKNOWN_CMD 1321
TBL_LABELNOTFOUND 1322
TBL_ENDOFTABLE 1323
TBL_ACTIVATE 1325
TBL_CAM9PARMS 1331
TBL_INDEX_OUT_OF_RANGE 1332
TBL_INVALID_1333 1333
TBL_COPY_FAILED 1334
OPC_START 1351
OPC_TBL_START 1352
INV_CONTR_IN_PULSE_MODE 1353
OPC_MULTIMODE_1 1354
OPC_MULTIMODE_2 1355
OPC_WHOOPS1 1356
OPC_EXT_ERROR 1358
OPC_MODE 1359
OPC_QUIT_START 1361
OPC_TMS_RDY 1362
OPC_TMS_SPI 1363
PARTMODL_CURRENT 1411
PARTMODL_CURRENT_SET 1412
PARTMODL_CURRENT_TIME 1413
PARTMODL_FIFONOTREADY 1414
PARTMODL_POSITION_RANGE 1415
PARTMODL_SPEED_RANGE 1416
PARTMODL_INTERN1 1417
PARTMODL_ALIGNTIMEOUT 1418
PROT_REF_DIR 1431
PULSE_TRAIN_NO_CAM_ACTIVE 1432
PROT_UNKNOW_MODE 1433
PROT_TEST_MODE 1434
PROT_CURR 1435
REF_SWITCH_NOT_FOUND 1451
REF_LIM_SWITCH 1452
REF_SPEED 1453
REF_START_DIR_LIMIT 1454
ERR_REF_LIM_SWITCH_NOT_EXPECTED 1455
REF_ALIGNMENT_NEEDS_ENCODER 1456
UNITS_POS_INT_RESULT 1511
UNITS_POS_USER_RESULT 1512
UNITS_SPEED_INT_RESULT 1513
UNITS_SPEED_USER_RESULT 1514
UNITS_ACC_INT_RESULT 1515
UNITS_ACC_USER_RESULT 1516
UNITS_PARAM_ZERO 1517


SYS_MODE 1521
MCALC_SPEED1 1551
MCALC_SPEED2 1552
MCALC_SPEED3 1553
MCALC_ACC1 1554
MCALC_ACC2 1555
MCALC_ACC3 1556
MCALC_PARA 1557
MCALC_TIME1 1561
MCALC_TIME2 1562
MCALC_TIME3 1563
MCALC_TIME4 1564
MCALC_DIST1 1565
MCALC_DIST2 1566
MCALC_DIST3 1567
MCALC_DIST4 1568
MCALC_DIST5 1569
MCALC_MOVE1 1571
MCALC_MOVE2 1572
MCALC_MOVE3 1573
MCALC_CURR 1574
ERR_ILLEGAL_ERRORCODE 1611
SPI_TELEGRAM3_FAIL 1715
SPI_VAR_READ_FAIL 1716
SPI_VAR_READ_FAIL2 1717
SPI_VAR_LAST_READ 1718
TMS 1811
TMS_OVERCURRENT_HW 1812
TMS_OVERVOLTAGE_24V 1813
TMS_UNDERVOLTAGE_24V 1814
TMS_OVERVOLTAGE_V_DC 1815
TMS_UNDERVOLTAGE_V_DC 1816
TMS_V_DC 1817
TMS_ENC_RESOLUTION 1818
TMS_MOTOR_FULL_STEPS 1819
TMS_SPEEDMEASURETIMEA 1823
TMS_SPEEDMEASURETIMEOUTA 1824
TMS_SPEEDMEASURETIMEV 1825
TMS_SPEEDMEASURETIMEOUTV 1826
TMS_SENSOR_SUPPLY_SHORT 1827
TMS_SPEEDMEASUREDIVZERO_1 1831
TMS_SPEEDMEASUREDIVZERO_2 1832
TMS_ENCODER_RESOLUTION 1833
TMS_MODE_ERROR 1854
TMS_CURRENT_CONTR_TYPE 1859
TMS_PARAM_CHANGED 1881
TMS_PARAM_NOT_OK 1882
TMS_NOT_ALIGNED 1884
TMS_SWITCHING_FREQUENCY 1886
TMS_BRIDGE_A_LOW 1887


TMS_BRIDGE_B_LOW 1889
TMS_TRACKING_V 1891
TMS_TRACKING_S 1892
TMS_TEMP_HIGH 1893
TMS_TEMP_HIGH_WARN 1894
COMMAND_IS_RUNNING 1911
HIGH_PRIO_COMMAND_IS_RUNNING 1912
PARTMODL_LIMITSWITCH 1931
KBUS 2811
CFG_FACTORY_LOAD 2821
MEASURE_ERR1 2831
MEASURE_ERR2 2832
MCALC_INTERN1 2833
MCALC_INTERN2 2834
MCALC_INTERN3 2835
MCALC_INTERN4 2836
MCALC_INTERN5 2837
MCALC_INTERN6 2838
MCALC_INTERN7 2839
MCALC_INTERN8 2841
MCALC_INTERN9 2842
MCALC_INTERN10 2843
MCALC_INTERN11 2844
MCALC_BUFFER_FULL 2845
OVECALC_ACC2 2846
TEST_EEPROM_FAILURE 2863
TEST_CPLD_FAILURE 2864
TEST_INVALID_MODULE 2865
GENERIC_TEST 2866
RS232_TX_TIMEOUT 2871
SYS_IDLE_RECURSIVE 2881
SYS_SPI_TIMEOUT 2882
SPI_CONTACT_LOST 2883
VERSION_UNKNOWN_IDENT 2891
VERSION_NOT_COMPATIBLE_HW 2892
VERSION_WRONG_TMS_VERSION 2893
TMS_NOTSPEZIFIED 2911
TMS_RESET 2912
SPI_TMS_PARAMINDEX 2913
SPI_TMS_TOGGLETIMEOUT 2914
SPI_TMS_SENSORDIRECTION 2915
SPI_TMS_NO_SENSOR 2916
SPI_TMS_Z_JITTER 2917
ALIGN_WITHOUT_Z 2918
INT_KBUS 3111
INT_WATCHDOG 3112
INT_SPURIOUS 3113
INT_UNUSED 3114
INT_FIQ 3115
INT_SWI 3116


INT_UNDEF_INST 3117
INT_FETCH 3118
INT_DATA_ACESS 3119
INT_ROM_ISR 3121
INT_STACK_OVERFLOW 3122
SYS_PLL_NOT_LOCKED 3142
SYS_ADC_TIMEOUT 3143
SYSTEMEXIT 3144
ERR_ILLEGAL_ERRORCODE1 3155
OPC_MULTIMODE_1_INTERN 3166
OPC_MULTIMODE_2_INTERN 3167
CONVERSION_OPC_WHOOPS1_INTERN 3168 Original enum value contained multiple underscores!
TBL_COPY_FAILED_INTERN 3179
CONVERSION_PARTMODL_FIFONOTREADY_INTERN 3211 Original enum value contained multiple underscores!
PARTMODL_POSITION_RANGE_INTERN 3212
PARTMODL_SPEED_RANGE_INTERN 3213
PARTMODL_INTERN1_INTERN 3214
PARTMODL_ERR4 3215
PARTMODL_ERR5 3216
TBL_INVALID_3231 3231
TBL_CP2EEPROM_FAIL 3232
TBL_COPY_INVALID 3233
TBL_UNKNOWN_TTYPE 3234
TEST_FLASH 3271
TEST_FLASH_CRCGEN 3272
TEST_EERPOM_FAILURE 3273
TEST_CPLD_FAILURE_INTERN 3274
TEST_INVALID_MODULE_INTERN 3275
GENERIC_TEST_INTERN 3276
TEST_ENDOF_FUNCTION 3277
TMS_SWITCH_ALIGN 3811
ERROR_WARN_BRIDGE_A_LOW 5887
ERROR_WARN_BRIDGE_B_LOW 5889
TRACKING_ERROR_SPEED 5891
TRACKING_ERROR_POSITION 5892
TEMPERATUR_HIGH 5893
ERROR_JITTER_Z_IMPULS 5917
Description: Status information

Codes from 1000 are described in detail in the appropriate stepper manual

CHAPTER 4
ParameterList (PARAMS)
Scope Name Type Initial Comment

WORD 60 1..1599,each command takes 4
DRIVE_PROGRAM_TABLE_SIZE
bytes ->400 commands
WORD 20 1..199,each position takes 4 bytes
POSI-
Constant ->50 positions
TION_TABLE_SIZE
TIME TIME#3s0ms Watchdog for function blocks with
STATEMA-
internal statemachine
CHINE_WATCHDOG
InOut:
TIME TIME#1m20s0ms
Timeout according to table
WATCH-
commands
DOG_TIME_TABLE_READ_WRITE
TIME TIME#1s0ms Timeout according to MBX1
MBX1_TIMEOUT
commands
TIME TIME#0ms FbStepperControlBasic Timeout
JOG_TIMEOUT
for Jog functionalty 0->no timeout
WORD 199 1..199
CAM_TABLE_SIZE
62
CHAPTER 5
VersionHistory (GVL)
Name Type
ProjectInfo
Info
WagoAppStepper.library
date version author change
12.06.2019 1.6.1.1 u010663 Library inserted by placeholder
08.01.2019 1.6.1.0 u015842 Properties: free placeholder added
14.09.2018 1.6.0.12 u010663 Bugfix FbPWM_Mode_670
27.11.2017 1.6.0.10 u010663 Bugfix FbMoveAbsolute_2
29.05.2017 1.6.0.9 u010663 Bugfix FbMoveRelative
27.04.2017 1.6.0.8 u010663 Bugfix FbStepperControlBasic
27.03.2017 1.6.0.7 u010663 Bugfix FbStepperControlBasic in jog mode
19.01.2017 1.6.0.6 u010663 FbStepperControlBasis allow “Change on the Fly” for absolute
positioning jobs
25.11.2015 1.6.0.5 u010663 Add FbCAM_Table
16.06.2015 1.5.0.0 u010663 Released
Release Notes:
63
CHAPTER 6
Library Reference
This is a dictionary of all referenced libraries and their name spaces.
Standard
Library Identification:
Placeholder: Standard
Default Resolution: Standard, * (System)
Namespace: Standard
Library Properties:
• LinkAllContent: False
• QualifiedOnly: False
• SystemLibrary: False
• Optional: False
VisuDialogs
Placeholder: VisuDialogs
Default Resolution: VisuDialogs, * (System)
Namespace: VisuDialogs
Library Properties:
• Optional: False
• PublishSymbolsInContainer: True
VisuElem3DPath
Placeholder: System_VisuElem3DPath
Default Resolution: VisuElem3DPath, 3.5.10.0 (System)
Namespace: VisuElem3DPath
64
Library Properties:
• SystemLibrary: True
• Optional: False
Library Parameter:
Parameter: GC_POINTS_PER_POLYGON = 100
VisuElemCamDisplayer
Placeholder: System_VisuElemCamDisplayer
Default Resolution: VisuElemCamDisplayer, 3.5.10.0 (System)
Namespace: VisuElemCamDisplayer
Library Properties:
• Optional: False
Library Parameter:
Parameter: GC_POINTS_PER_CAM = 100
VisuElemMeter
Placeholder: System_VisuElemMeter
Default Resolution: VisuElemMeter, 3.5.10.0 (System)
Namespace: VisuElemMeter
Library Properties:
• Optional: False
VisuElemTextEditor
Placeholder: System_VisuElemTextEditor
Default Resolution: VisuElemTextEditor, 3.5.10.0 (System)
Namespace: VisuElemTextEditor
Library Properties:
65
• Optional: False
VisuElemTrace
Placeholder: System_VisuElemTrace
Default Resolution: VisuElemTrace, 3.5.10.0 (System)
Namespace: VisuElemTrace
Library Properties:
• Optional: False
VisuElemXYChart
Placeholder: System_VisuElemXYChart
Default Resolution: VisuElemXYChart, 3.5.14.0 (System)
Namespace: VisuElemXYChart
Library Properties:
• Optional: False
VisuElems
Placeholder: System_VisuElems
Default Resolution: VisuElems, 3.5.10.0 (System)
Namespace: VisuElems
Library Properties:
• Optional: False
VisuElemsAlarm
Placeholder: System_VisuElemsAlarm
66
Default Resolution: VisuElemsAlarm, 3.5.10.0 (System)

Namespace: VisuElemsAlarm
Library Properties:
• Optional: False
VisuElemsDateTime
Placeholder: System_VisuElemsDateTime
Default Resolution: VisuElemsDateTime, 3.5.10.0 (System)
Namespace: VisuElemsDateTime
Library Properties:
• Optional: False
VisuElemsSpecialControls
Placeholder: System_VisuElemsSpecialControls
Default Resolution: VisuElemsSpecialControls, 3.5.10.0 (System)
Namespace: VisuElemsSpecialControls
Library Properties:
• Optional: False
VisuElemsWinControls
Placeholder: System_VisuElemsWinControls
Default Resolution: VisuElemsWinControls, 3.5.10.0 (System)
Namespace: VisuElemsWinControls
Library Properties:
67
• Optional: False
VisuInputs
Placeholder: system_visuinputs
Default Resolution: VisuInputs, 3.5.14.0 (System)
Namespace: visuinputs
Library Properties:
• Optional: False
VisuNativeControl
Placeholder: System_VisuNativeControl
Default Resolution: VisuNativeControl, 3.5.10.0 (System)
Namespace: VisuNativeControl
Library Properties:
• Optional: False
VisuSymbols
Name: VisuSymbols
Version: 3.5.7.0
Company: System
Namespace: VisuSymbols
Library Properties:
• QualifiedOnly: True
• Optional: False
WagoSysErrorBase
Placeholder: WagoSysErrorBase
68
Default Resolution: WagoSysErrorBase, * (WAGO)

Namespace: WagoSysErrorBase
Library Properties:
• Optional: False
WagoSysVersion
Name: WagoSysVersion
Version: 1.0.0.0
Company: WAGO
Namespace: WagoSysVersion
Library Properties:
• Optional: False
WagoTypesErrorBase
Placeholder: WagoTypesErrorBase
Default Resolution: WagoTypesErrorBase, * (WAGO)
Namespace: WagoTypesErrorBase
Library Properties:
• Optional: False
WagoTypesModuleBase
Placeholder: WagoTypesModuleBase
Default Resolution: WagoTypesModuleBase, * (WAGO)
Namespace: WagoTypesModuleBase
Library Properties:
69
• Optional: False
Library Parameter:
Parameter: MAX_MBX_SIZE = 18
WagoTypesModule_75x_67x
Placeholder: WagoTypesModule_75x_67x
Default Resolution: WagoTypesModule_75x_67x, * (WAGO)
Namespace: WagoTypesModule_75x_67x
Library Properties:
• Optional: False
WagoVisuIcons
Placeholder: WagoVisuIcons
Default Resolution: WagoVisuIcons, * (WAGO)
Namespace: WagoVisuIcons
Library Properties:
• Optional: False
© WAGO Kontakttechnik GmbH & Co. KG, Germany 2018 – All rights reserved. For the avoidance of doubt,
this copyright notice does not only apply to the information above but also and primarily to the described library
itself. Please note that third-party products are always mentioned without reference to intellectual property rights,
including patents, utility models, designs and trademarks, accordingly the existence of such rights cannot be
excluded. WAGO is a registered trademark of WAGO Verwaltungsgesellschaft mbH.
70

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2 20 Program Organization Units 3

Handling modules 750-670, 750-671, 750-672, 750-673

Based on WagoAppStepper.library, last modified 13.08.2019, 20:03:42.

20 Program Organization Units

2.1.1 FbMoveAbsolute_2 (FB)

Scope Name Type Comment

2.1.2 FbMoveVelocity_2 (FB)

Scope Name Type Comment

2.2 Data types

2.2.1 eMode (ENUM)

Name Initial Comment

2.2.2 typConfiguration_670 (STRUCT)

Name Type Initial Comment

2.2. Data types 5

Table 2.1 – continued from previous page

2.2. Data types 6

Table 2.1 – continued from previous page

2.2. Data types 7

Table 2.1 – continued from previous page

2.2. Data types 8

Table 2.1 – continued from previous page

2.2. Data types 9

Table 2.1 – continued from previous page

Description: Configuration values modul 750-670

2.2.3 typConfiguration_671 (STRUCT)

Name Type Initial Comment

2.2. Data types 10

Table 2.2 – continued from previous page

2.2. Data types 11

Table 2.2 – continued from previous page

2.2. Data types 12

Table 2.2 – continued from previous page

2.2. Data types 13

Table 2.2 – continued from previous page

2.2. Data types 14

Table 2.2 – continued from previous page

Description: Configuration modul values 750-671

2.2.4 typConfiguration_672 (STRUCT)

Name Type Initial Comment

2.2. Data types 15

Table 2.3 – continued from previous page

2.2. Data types 16

Table 2.3 – continued from previous page

2.2. Data types 17

Table 2.3 – continued from previous page

2.2. Data types 18

Table 2.3 – continued from previous page

2.2. Data types 19

Table 2.3 – continued from previous page

Description: Configuration values modul 750-672

2.2.5 typConfiguration_673 (STRUCT)

Name Type Initial Comment

2.2. Data types 20

Table 2.4 – continued from previous page

2.2. Data types 21

Table 2.4 – continued from previous page

2.2. Data types 22