Minimal Example Wago 750 671 and 672

Complete Hardware + Software Walkthrough

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Table of Contents

1. Introduction
2. Requirements
3. Hardware Setup
4. Software Setup
5. Demo
6. References

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1. Introduction

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.

Model Differences at a Glance

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)

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2. Requirements

2.1 Hardware

• 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

2.2 Software

See Device Example Basics for software prerequisites.
Additionally: WAGO I/O CHECK (750-671 only — required to set Application Selector)

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3. Hardware Setup

3.1 Schematic

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⚠️ 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.

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3.4 Coupler Wiring

Wire the 750-354 EtherCAT Coupler:

1. Red wire (+24V)
2. Black wire (0V)

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3.5 Power Terminal Integration

Slide the 750-602 EtherCAT Power Terminal onto the right side of the 750-354 Coupler until it locks.

Wire as follows:

1. Green wire (Ground) → Terminal 4
2. Red wire (+24V) from 750-602 → Terminal 2
3. Black wire (0V) from 750-602 → Terminal 3
4. Red wire (+24V) from 750-354 → Terminal 6
5. Black wire (0V) from 750-354 → Terminal 7

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3.6 Stepper Controller Terminal Integration

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.

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3.7 End Module Assembly

Slide the 750-600 EtherCAT End Module onto the right side of the stepper terminal until it locks.

No wiring required.

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3.8 Power & Ethernet Connections

Power

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.

Ethernet

1. PC → 852-1322 Ethernet Switch
2. Switch → 750-354 EtherCAT Coupler

(Optinal Plug the Ethernet Switch directly from your into the Coupler)

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3.9 Pre-Configuration (750-671 Only)

The 750-671 requires speed control mode to be activated in WAGO I/O CHECK before use:

1. Connect to the terminal via WAGO I/O CHECK. (This requires a specific cable.
2. Set Application_Selector = 2 (Speed Control).
3. Set PWM_Period = 0.
4. 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.

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4. Software Setup

See Device Example Basics to install and run the software, then return here for the device-specific demo steps.

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5. Demo

5.1 Assigning Devices

After backend and frontend are running, you should see:

• WAGO 750-354 (Coupler)
• WAGO Module (Stepper Controller Terminal)

Steps:

1. Click Assign on the WAGO module.
2. Select testmachinestepper.
3. Enter a serial number (must not be 0).
4. Click Write.

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5.2 Configuring Prescalers

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

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5.3 Enabling the Motor & Setting Velocity

Navigate to:

Machines → TestMachineStepper

Steps:

1. Click Enable — the controller runs through its initialization sequence (typically 5–10 ms).
2. Once the status shows Running, enter a target velocity (e.g., 5000).
3. 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.

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5.4 Disabling the Motor

Click Disable in the dashboard.

The motor will decelerate to a stop and the controller will return to the Off state.

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6. References

This guide incorporates information from official WAGO documentation.

• WAGO 750-671 Documentation
• WAGO 750-672 Documentation
• WAGO 750-354 Documentation
• WAGO 750-602 Documentation
• WAGO 750-600 Documentation