Delta Electronics AH500 User manual

www.deltaww.com
AH500 Motion Control
Module Manual
2013-09-30
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: [phone] / FAX: [phone]
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province, P.R.C. 215200
TEL: [phone] / FAX: [phone]
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C. 201209
TEL: [phone] / FAX: [phone]
Delta Electronics (Japan), Inc.
Tokyo Ofce
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: [phone] / FAX: [phone]
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: [phone] / FAX: [phone]
Delta Electronics Int’l (S) Pte Ltd.
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: [phone] / FAX: [phone]
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : [phone] / FAX : [phone]
Americas
Delta Products Corporation (USA)
Raleigh Ofce
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: [phone] / FAX: [phone]
Delta Greentech (Brasil) S.A.
Sao Paulo Ofce
Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: [phone] / FAX: [phone]
Europe
Deltronics (The Netherlands) B.V.
Eindhoven Ofce
De Witbogt 15, 5652 AG Eindhoven, The Netherlands
TEL: [phone] / FAX: [phone]
AH-0101620-01
*We reserve the right to change the information in this manual without prior notice.
AH500 Motion Control Module Manual
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AH500 Motion Control Module Manual
Table of Contents
Chapter 1 Framework of an AH500 Series Motion Control Module
1.1 Framework of a AH500 Series Motion Control Module..............................1-2
1.2 Structure of O100......................................................................................1-4
1.2.1 Manual Function of O100...................................................................1-5
1.3 Structure of Ox Motion Subroutines ..........................................................1-5
1.4 Structure of P Subroutines ........................................................................1-7
1.5 Using O100, Ox Motion Subroutines, and P Subroutines........................1-10
1.5.1 Structure of a Program.....................................................................1-10
Chapter 2 Hardware Specifications and Wiring
2.1 Hardware Specifications............................................................................2-2
2.1.1 General Specifications........................................................................2-2
2.1.2 Electrical Specifications for the Input Terminals .................................2-2
2.1.3 Electrical Specifications for the Output Terminals...............................2-9
2.1.4 Dimensions ......................................................................................2-14
2.1.5 Profiles.............................................................................................2-16
2.2 Wiring......................................................................................................2-19
2.2.1 I/O Extension Cables, and External Terminal Modules.....................2-20
2.2.2 Wiring Input Terminals......................................................................2-25
2.2.3 Wiring Output Terminals...................................................................2-27
2.2.4 Wiring AH10PM-5A and an Inferior Servo Drive...............................2-30
2.3 Communication Ports..............................................................................2-35
Chapter 3 Devices
3.1 Device List.................................................................................................3-2
3.2 Values, Constants, and Floating-point Numbers.......................................3-2
3.3 External Input Devices and External Output Devices................................3-4
3.4 Auxiliary Relays.........................................................................................3-6
3.5 Special Auxiliary Relays............................................................................3-6
3.6 Stepping Relays........................................................................................3-6
3.7 Timers .......................................................................................................3-6
3.8 Counters....................................................................................................3-7
3.9 Data Registers and Index Registers........................................................3-12
3.9.1 Data Registers..................................................................................2-12

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3.9.2 Index Registers................................................................................2-12
3.10 Special Data Registers............................................................................3-13
3.11 Pointers...................................................................................................3-13
3.12 Specail Auxiliary Relays and Special Data Registers..............................3-13
3.12.1 Special Auxiliary Relays...................................................................2-13
3.12.2 Special Data Registers.....................................................................2-17
3.13 Functions of Special Auxiliary Relays and Special Data Registers.........3-28
3.14 Special Data Registers for Motion Axes..................................................3-40
Chapter 4 Basic Instructions
4.1 Table of Basic Instructions........................................................................4-2
4.2 Descriptions of the Basic Instructions .......................................................4-4
Chapter 5 Applied Instructions
5.1 Table of Applied Instructions.....................................................................5-3
5.2 Structure of an Applied Instruction............................................................5-9
5.3 Processing Values...................................................................................5-11
5.4 Using Index Registers to Modify Operands.............................................5-14
5.5 Instruction Index......................................................................................5-14
5.6 Descriptions of the Applied Instructions ..................................................5-18
5.7 Motion Control Function Block Table.....................................................5-126
5.8 Introduction of the Pins in a Motion Control Function Block..................5-128
5.8.1 Definitions of Input Pins/Output Pins..............................................5-128
5.8.2 Timing Diagram for Input/Output Pins............................................5-130
5.8.3 Introducing the Use of PMSoft.......................................................5-131
5.9 Delta-defined Parameter Table..............................................................5-133
5.10 Uniaxial Motion Control Function Blocks...............................................5-136
5.10.1 Absolute Single-speed Motion .......................................................5-136
5.10.2 Relative Single-speed Motion ........................................................5-139
5.10.3 Absolute Two-speed Motion...........................................................5-144
5.10.4 Relative Two-speed Motion............................................................5-148
5.10.5 Inserting Single-speed Motion........................................................5-152
5.10.6 Inserting Two-speed Motion...........................................................5-156
5.10.7 JOG Motion....................................................................................5-160
5.10.8 Manual Pulse Generator Mode......................................................5-163
5.10.9 Returning Home.............................................................................5-166
5.10.10 Stopping Uniaxial Motion ...............................................................5-169

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5.10.11 Parameter Setting I ........................................................................5-172
5.10.12 Parameter Setting II .......................................................................5-174
5.10.13 Reading the Present Position/Speed of an Axis .............................5-177
5.10.14 State of an Axis...............................................................................5-179
5.10.15 Setting the Present Position of an Axis...........................................5-181
5.10.16 Setting the Polarities of Input Terminals .........................................5-183
5.10.17 Electronic Gear Motion...................................................................5-186
5.10.18 Electronic Cam Motion...................................................................5-188
5.10.19 Reading a Cam Point.....................................................................5-192
5.10.20 Writing a Cam Point .......................................................................5-194
5.10.21 Calculating a Synchronization Ratio...............................................5-196
5.10.22 Creating a Cam Curve....................................................................5-198
5.10.23 Updating a Cam Curve...................................................................5-201
5.11 Multiaxial Motion Control Function Blocks.............................................5-203
5.11.1 Setting the Parameters of G-code Motion......................................5-203
5.11.2 Executing G-code Motion...............................................................5-204
5.11.3 Stopping G-code Motion.................................................................5-207
5.11.4 Reading an M-code........................................................................5-209
5.11.5 Multiaxial Absolute Linear Interpolation..........................................5-212
5.11.6 Multiaxial Relative Linear Interpolation...........................................5-214
5.11.7 Stopping Multiaxial Linear Interpolation..........................................5-216
5.12 Network Function Blocks.......................................................................5-217
5.12.1 Starting/Stopping a Servo Drive .....................................................5-217
5.12.2 Resetting a Servo Drive .................................................................5-219
5.12.3 Writing the Value of a Parameter into a Servo Drive ......................5-221
5.12.4 Reading the Value of a Parameter from a Servo Drive...................5-224
5.12.5 Instructing a Servo Drive to Return Home......................................5-227
5.12.6 Initializing a Servo Drive.................................................................5-230
5.12.7 Instructing a Servo Drive to Capture Values...................................5-233
5.12.8 Setting an Ethernet IPAddress ......................................................5-235
5.13 Other Motion Control Function Blocks...................................................5-237
5.13.1 Backing a Main Program up onto an SD Card ...............................5-237
5.13.2 Backing the Values in Devices up onto an SD Card.......................5-238
5.13.3 Restoring the Values in Devices in an SD Card .............................5-240
5.13.4 High-speed Counter.......................................................................5-242
5.13.5 High-speed Timer...........................................................................5-244
5.13.6 Setting High-speed Comparison.....................................................5-246
5.13.7 Resetting High-speed Comparison.................................................5-249

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5.13.8 Setting High-speed Capture...........................................................5-251
5.13.9 High-speed Masking......................................................................5-254
5.13.10 Setting an Interrupt ........................................................................5-255
5.13.11 Absolute Encoder...........................................................................5-257
Chapter 6 Data Transmission
6.1 Functions ..................................................................................................6-2
6.2 Parameters ...............................................................................................6-2
6.3 Usage........................................................................................................6-5
Chapter 7 Uniaxial Motion
7.1 Functions of Uniaxial Motion.....................................................................7-2
7.2 Introduction of Uniaxial Motion................................................................7-14
7.3 Introduction of JOG Motion.....................................................................7-15
7.3.1 Related Special Data Registers.......................................................7-15
7.3.2 Operation.........................................................................................7-16
7.4 Introduction of Variable Motion................................................................7-17
7.4.1 Related Special Data Registers.......................................................7-17
7.4.2 Operation.........................................................................................7-17
7.5 Introduction of a Manual Pulse Generator Mode.....................................7-18
7.5.1 Related Special Data Registers.......................................................7-18
7.5.2 Operation.........................................................................................7-20
7.6 Introduction of a Mode of Triggering the Return to Home .......................7-20
7.6.1 Related Special Data Registers.......................................................7-20
7.6.2 Operation.........................................................................................7-23
7.7 Introduction of Single-speed motion........................................................7-26
7.7.1 Related Special Data Registers.......................................................7-26
7.7.2 Operation.........................................................................................7-27
7.8 Introduction of Inserting Single-speed Motion.........................................7-28
7.8.1 Related Special Data Registers.......................................................7-28
7.8.2 Operation.........................................................................................7-29
7.9 Introduction of Two-speed Motion...........................................................7-30
7.9.1 Related Special Data Registers.......................................................7-30
7.9.2 Operation.........................................................................................7-31
7.10 Introduction of Inserting Two-speed Motion ............................................7-32
7.10.1 Related Special Data Registers.......................................................7-32
7.10.2 Operation.........................................................................................7-33
7.11 Status Flags and Status Registers ..........................................................7-34

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Chapter 8 Electronic Cam
8.1 Introduction of Electronic Cams.................................................................8-2
8.2 Operation of an Electronic Cam ................................................................8-3
8.2.1 Initial Setting.......................................................................................8-3
8.2.1.1 Creating Electronic Cam Data.....................................................8-3
8.2.1.2 Setting an Input/a Output Pulse Type..........................................8-3
8.2.2 Setting a Master/Slave Axis and Operating an Electronic Cam..........8-5
8.2.2.1 Setting a Master Axis ..................................................................8-5
8.2.2.2 Setting the Starting Angle of a Master Axis .................................8-6
8.2.2.3 Setting a Slave Axis ....................................................................8-7
8.2.3 Starting/Stopping an Electronic Cam Operating Cyclically.................8-7
8.2.3.1 Staring an Electronic Cam Operating Cyclically..........................8-7
8.2.3.2 Stopping an Electronic Cam Operating Cyclically .......................8-8
8.3 Creating Electronic Cam Data.................................................................8-10
8.3.1 Creating a CAM Chart in PMSoft......................................................8-10
8.3.1.1 Function Relates the Positions of a Master Axis to the Positions of
a Slave Axis...............................................................................8-10
8.3.1.2 Measuring the Relation between the Positions of a Master Axis and
the Positions of a Slave Axis at Work........................................8-14
8.3.1.3 Creating/Modifying Electronic Cam Data...................................8-16
8.4 Application of an Electronic Cam—Using a Rotary Cutter.......................8-18
8.4.1 Creating Rotary Cut Data ......................................................................8-20
8.4.2 Function Block—T_CamCurve.........................................................8-21
8.4.3 Function Block—T_CamCurveUpdate .............................................8-26
8.4.4 Example...........................................................................................8-27
Chapter 9 Multiaxial Interpolation
9.1 Introduction of Multiaxial Interpolation.......................................................9-2
9.2 Table of O Pointers/M-codes and Table of G-codes..................................9-2
9.3 Composition of a G-code...........................................................................9-2
9.4 Descriptions of G-code Instructions...........................................................9-5
9.5 O Pointers/M-codes.................................................................................9-22
9.6 Description of TO ....................................................................................9-24
Chapter 10 High-speed Counters and High-speed Timers
10.1 High-speed Counters...........................................................................10-2
10.2 High-speed Timers...............................................................................10-5

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Chapter 11 High-speed Capture and High-speed Comparison
11.1 Format of an Instruction.......................................................................11-2
11.2 Comparison.........................................................................................11-2
11.3 Clearing an Output ..............................................................................11-8
11.4 Capture................................................................................................11-9
11.5 Masking.............................................................................................11-14
Chapter 12 Setting an Ethernet Network
12.1 Functions ................................................................................................12-2
12.2 Specifications..........................................................................................12-2
12.3 Introduction of Parameters......................................................................12-2
12.4 Communication Function of PMSoft........................................................12-2
12.5 Modbus Communication .........................................................................12-5
12.6 Troubleshooting ......................................................................................12-7
Chapter 13 Expansion Storage Device
13.1 Functions ................................................................................................13-2
13.2 Parameters .............................................................................................13-2
13.3 Reading and Executing G-codes ............................................................13-4
13.4 Device Backup and Restoration..............................................................13-4
13.4.1 Backup.............................................................................................13-5
13.4.2 Restoration.......................................................................................13-6
13.5 Program Backup and Restoration...........................................................13-7
13.5.1 Backup.............................................................................................13-7
13.5.2 Restoration.......................................................................................13-8
13.6 Updating Firmware..................................................................................13-8
Chapter 14 DMCNET
14.1 Functions ................................................................................................14-2
14.2 Specifications..........................................................................................14-2
14.3 Parameters .............................................................................................14-3
14.4 DMCNET Connection..............................................................................14-7
14.5 Reading Data from a Servo Drive/Writing Data into a Servo Drive .........14-9
14.6 DMCNET Motion Control ......................................................................14-11
14.7 Examples..............................................................................................14-16
14.7.1 Connecting an Incremental Servo Drive ........................................14-16
14.7.2 Connecting an Absolute Servo Drive.............................................14-17

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14.8 Troubleshooting.....................................................................................14-18
Chapter 15 Setting USB Communication in PMSoft
15.1 Functions.................................................................................................15-2
15.2 Specifications..........................................................................................15-2
15.3 Communicating with PMSoft ...................................................................15-2
Appendix A Error Code Table
A.1 Error Code Table......................................................................................A-2

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Chapter 1 Framework of an AH500 Series
Motion Control Module
Table of Contents
1.1 Framework of a AH500 Series Motion Control Module..............................1-2
1.2 Structure of O100......................................................................................1-4
1.2.1 Manual Function of O100...................................................................1-5
1.3 Structure of Ox Motion Subroutines...........................................................1-5
1.4 Structure of P Subroutines.........................................................................1-7
1.5 Using O100, Ox Motion Subroutines, and P Subroutines........................1-10
1.5.1 Structure of a Program.....................................................................1-10
1-1