Minimal Example Wago 750 671 and 672
Complete Hardware + Software Walkthrough
The WAGO 750-671 / 750-672 Stepper Controller Example is a minimal demonstration showing how to drive a stepper motor via EtherCAT using the QiTech Machine Framework.
It represents one of the simplest possible motor control interactions in the system:
Controlling stepper motor velocity from the QiTech Control Dashboard.
| Feature | 750-671 | 750-672 |
|---|---|---|
| Max Voltage | 50 VDC | 70 VDC |
| Max Current | 5 A | 7.5 A |
| Speed Control Mode | Set via WAGO I/O CHECK config (Application_Selector = 2) |
Set via Control Byte C1 command (0x18) |
- WAGO 2787-2144 EtherCAT Power Supply
- WAGO 750-354 EtherCAT Coupler
- WAGO 750-602 EtherCAT Power Terminal
- WAGO 750-671 or 750-672 EtherCAT Stepper Controller Terminal
- WAGO 750-600 EtherCAT End Module
- WAGO 852-1322 Ethernet Switch
- 24V DC lab power supply (AC/DC adapter)
- Motor power supply (max 50 VDC for 750-671, max 70 VDC for 750-672)
- Bipolar stepper motor (4-wire)
- Linux PC (Ubuntu/Debian recommended)
- Standard Ethernet cables
- Flat screwdriver
See Device Example Basics for software prerequisites.
Additionally: WAGO I/O CHECK (750-671 only — required to set Application Selector)
⚠️ Always disconnect power before wiring. See Device Example Basics for the safe wiring procedure.
Ensure motor power voltage does not exceed the rated maximum for your terminal model.
Wire the 750-354 EtherCAT Coupler:
- Red wire (+24V)
- Black wire (0V)
Slide the 750-602 EtherCAT Power Terminal onto the right side of the 750-354 Coupler until it locks.
Wire as follows:
- Green wire (Ground) → Terminal 4
- Red wire (+24V) from 750-602 → Terminal 2
- Black wire (0V) from 750-602 → Terminal 3
- Red wire (+24V) from 750-354 → Terminal 6
- Black wire (0V) from 750-354 → Terminal 7
Slide the 750-671 or 750-672 EtherCAT Stepper Terminal onto the right side of the 750-602 until it locks.
Wire as follows:
| Terminal | Connection |
|---|---|
| DI1+ | 24V (Enable input — connect to 24V to allow motor operation) |
| DI− | 0V (Ground reference for DI1/DI2) |
| A1, A2 | Motor Winding A (phase A+ and A−) |
| B1, B2 | Motor Winding B (phase B+ and B−) |
Connect the motor power supply positive to the terminal's motor voltage input, and negative to the motor ground.
Slide the 750-600 EtherCAT End Module onto the right side of the stepper terminal until it locks.
No wiring required.
Connect the 2787-2144 power supply to a power outlet.
Connect the motor power supply to its outlet. Do not exceed the rated voltage for your terminal.
- PC → 852-1322 Ethernet Switch
- Switch → 750-354 EtherCAT Coupler
(Optinal Plug the Ethernet Switch directly from your into the Coupler)
The 750-671 requires speed control mode to be activated in WAGO I/O CHECK before use:
- Connect to the terminal via WAGO I/O CHECK. (This requires a specific cable.
- Set
Application_Selector = 2(Speed Control). - Set
PWM_Period = 0. - Write the configuration to the terminal.
This step is not required for the 750-672 — speed control mode is selected at runtime via the control bytes.
See Device Example Basics to install and run the software, then return here for the device-specific demo steps.
After backend and frontend are running, you should see:
- WAGO 750-354 (Coupler)
- WAGO Module (Stepper Controller Terminal)
Steps:
- Click Assign on the WAGO module.
- Select testmachinestepper.
- Enter a serial number (must not be 0).
- Click Write.
Before enabling the motor, configure the frequency and acceleration prescalers.
⚠ Prescalers cannot be changed while the motor is enabled. Always set them first.
Navigate to:
Machines → StepperVelocityMachine → Settings
| Setting | Recommended Starting Value | Effect |
|---|---|---|
| Freq Range Sel |
1 (prescaler 80) |
Sets velocity scaling |
| Acc Range Sel |
1 (multiplier 80) |
Sets acceleration scaling |
| Acceleration | 10000 |
Must be non-zero before enabling |
Navigate to:
Machines → TestMachineStepper
Steps:
- Click Enable — the controller runs through its initialization sequence (typically 5–10 ms).
- Once the status shows Running, enter a target velocity (e.g.,
5000). - Click Set Velocity.
Expected behavior:
- The stepper motor begins rotating.
- The On Speed indicator lights up once the target velocity is reached.
- The Actual Velocity readout updates in real time.
Apply a different velocity value and click Set Velocity again to change speed at runtime.
ℹ Each velocity change internally triggers a new Start pulse — this is handled automatically by the firmware.
Click Disable in the dashboard.
The motor will decelerate to a stop and the controller will return to the Off state.
This guide incorporates information from official WAGO documentation.