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
www.importsnab24.ru

i
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

ii
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

iii
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

iv
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

v
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

vi
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

vii
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

viii

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

AH500 Motion Control Module Manual
The Delta programmable logic controllers AH20MC-5A,AH10PM-5A, andAH05PM-5A can put axes
in particular positions at high-speeds, create linear interpolations, and circular interpolations. They
can execute basic instruction, applied instructions, motion instructions, and G-codes.
In this manual, AH20MC-5A, AH10PM-5A, and AH05PM-5Aare calledAH500 series motion control
modules.
In this chapter, the basic frameworks of AH20MC-5A, AH10PM-5A, and AH05PM-5A are described.
Owing to the fact that the functionality of anAH500 series motion control module is composed of
sequence control and positioning control, a program comprises O100, Ox motion subroutines, and P
subroutines. O100, Ox motion subroutines, and P subroutines are described in this chapter. Basic
instructions, applied instructions, motion instructions, and G-codes will be introduces in other
chapters.
1.1 Framework of a AH500 Series Motion Control
Module
Specifications
Item AH20MC-5A AH10PM-5A AH15PM-5A AH05PM-5A
Number of substantial
axes supported 12 axes
(Axis 1~axis 12) 6 axes (Axis 1~axis 6) 4 axes (Axis 1~axis 4) 2 axes (Axis 1~axis 2)
Number of virtual
axes supported 4 axes
(Axis 13~axis 16) 10 axes (Axis 7~axis 16) 12 axes (Axis 5~axis 16) 14 axes (Axis 3~axis 16)
Storage The capacity of the built-in storage is 64K steps.
Unit Motor unit, mechanical unit, and compound unit
Connection with a
CPU module
Users can set the initial register involved in data exchange in a CPU
module, and the number of registers involved in the data exchange in
the CPU module. Four hundred D/M registers at most can be involved
in data exchange. Three pulse output modes: Pulse/Direction;
Counting up/Counting down; A/B-phase output
These modes are differential output modes.
Motor control
Delta high-speed
motion control
system DMCNET
(Delta Motion
Control Network)
The response
time is one
millisecond.
The output
terminals used
as the first
axis~the fourth
axis are
differential
output
terminals. The
output
terminals used
as the fifth
axis~the sixth
axis are
transistors
whose
collectors are
open
collectors.
All are differential outputs
Maximum speed Single axis: 1M pps
Multiaxial interpolation: 1M pps
1-2

Chapter 1 Framework of an AH500 Series Motion Control Module
1-3
Specifications
Item AH20MC-5A AH10PM-5A AH15PM-5A AH05PM-5A
Operating
switch RUN-STOP switch None
Input
signal Input
terminal
X0.0+, X0.0-,
X0.1+, X0.1-,
X0.2+, X0.2-,
X0.3+, X0.3-,
X0.8+, X0.8-,
X0.9+, X0.9-,
X0.10+, X0.10-,
X0.11+, X0.11-,
X0.12+, X0.12-,
X0.13+, X0.13,
X0.14+, X0.14-,
X0.15+, and
X0.15-
X0.0+, X0.0-,
X0.1+, X0.1-,
X0.2+, X0.2-,
X0.3+, X0.3-,
X0.8, X0.9,
X0.10, X0.11,
X0.12, X0.13,
X0.14, and
X0.15
X0.0+, X0.0-,
X0.1+, X0.1-,
X0.2+, X0.2-,
X0.3+, X0.3-,
X0.4, X0.5,
X0.6, X0.7,
X0.8+, X0.8-,
X0.9+, X0.9-,
X0.10, X0.11,
X0.12, X0.13,
X0.14, X0.15,
X1.0, X1.1,
X1.2, X1.3,
X1.4, X1.5
X0.0, X0.1,
X0.8, X0.9,
X0.12, and
X0.13
Output
terminal Y0.8, Y0.9, Y0.10,
and Y0.11
Y0.0+, Y0.0-,
Y0.1+, Y0.1-,
Y0.2+, Y0.2-,
Y0.3+, Y0.3-,
Y0.4+, Y0.4-,
Y0.5+, Y0.5-,
Y0.6+, Y0.6-,
Y0.7+, Y0.7-,
Y0.8, Y0.9,
Y0.10, Y0.11
Y0.0+, Y0.0-,
Y0.1+, Y0.1-,
Y0.2+, Y0.2-,
Y0.3+, Y0.3-,
Y0.4+, Y0.4-,
Y0.5+, Y0.5-,
Y0.6+, Y0.6-,
Y0.7+, Y0.7-,
Y0.8, Y0.9,
Y0.10, Y0.11
Y0.0+, Y0.0-,
Y0.1+, Y0.1-,
Y0.2+, Y0.2-,
Y0.3+, Y0.3-,
Y0.8, and Y0.9
Output
signal
External
communic
ation port
Mini USB port
Ethernet port
DMCNET port
Mini USB port
Ethernet port Mini USB port Ethernet port Mini USB port
Expansion storage
device Mini SD card
The maximum capacity is 32 GB. None
Number of basic
instructions 27
Number of applied
instructions 130
M-code
Ox0~Ox99 (motion subroutine/positioning program): M02 (The
execution of a program stops. (END))
M00~M01, M03~M101, and M103~M65535: The execution of a
program pauses. (WAIT)
Users can use them freely.
G-code
G0 (rapid positioning), G1 (linear interpolation), G2 (circular
interpolation, clockwise), G3 (circular interpolation, counterclockwise),
G4 (dwell), G17 (XY plane selection), G18 (ZX plane selection), G19
(YZ plane selection), G90 (absolute programming), and G91
(incremental programming)
Number of counters 6 6 6 1
Number of
high-speed
catchers/comparators 8 8 8 3
Number of interrupt
devices 9 9 9 5

AH500 Motion Control Module Manual
1.2 Structure of O100
O100 is a sequence control program. It is the main program in an AH500 series motion control
module. It only supports basic instructions and applied instructions. Users can use these two types
of instructions to process I/O data, call P subroutines, and enable Ox motion subroutines
(Ox0~Ox99). O100 functions as a main program. Motion subroutines are enabled through O100.
There is hierarchical relation between O100 and motion subroutines. The characteristics of O100
are described below.
1. There are two methods of enabling O100.
If the “RUN-STOP” switch of an AH500 series motion control module is turned form the
“STOP” position to the “RUN” position when the AH500 series motion control module is
powered, SM072 will be ON, and O100 will run.
If an AH500 series motion control module is powered, users can use communication to set
SM072 to ON, and to run O100.
Communication
"RUN-STOP switch"S2M07 O100
runs.
2. O100 is scanned cyclically. The scan of the main program O100 starts from the starting flag
O100. After the ending instruction M102 is scanned, the scan of the main program O100 will go
back to the starting flag O100.
O100
M102
.
.
.
The main program starts.
The main program ends.
The sequence control
program is scanned cyclically.
Main Program
3. There are three methods of disabling O100.
If the “RUN-STOP” switch of an AH500 series motion control module is turned form the
“RUN” position to the “STOP” position when the AH500 series motion control module is
powered, SM072 will be OFF, and O100 will stop. If O100 stops, Ox motion subroutines and
P subroutines will not be executed.
If an AH500 series motion control module is powered, users can use communication to set
SM072 to OFF, and to stop O100. If O100 stops, Ox motion subroutines and P subroutines
will not be executed.
If an error occurs when O100 is compiled or when O100 runs, O100 will stop automatically.
4. O100 supports basic instructions and applied instructions. Users can write a control program
according to their needs. They can set the parameters of motion instructions, and motion
subroutine numbers (Ox0~Ox99) in O100.
O100 does not support motion instructions and G-codes. Motion instructions and G-codes
must be used in the motion subroutines Ox0~Ox99. Please refer to section 1.2 for more
information.
O100 can call P subroutines. Please refer to section 1.4 for more information.
5. The description of O100 is shown below.
O100 Description
Enabling O100 Starting flag O100 (If O100 is a ladder diagram in PMSoft, the starting flag in O100 will be set automatically, and users do not have to write the
starting flag.)
1-4

Chapter 1 Framework of an AH500 Series Motion Control Module
1-5
O100 Description
Disabling O100 Ending instruction M102 (If O100 is a ladder diagram in PMSoft, the ending instruction M102 will be set automatically, and users do not have
to write the ending instruction M102.)
Executing O100 1. The “RUN-STOP” switch of a AH500 series motion control module is
turned form the “STOP” position to the “RUN” position
2. Users use communication to set SM072 to ON.
Operation
characteristic O100 is scanned cyclically.
Instruction Basic instructions and applied instructions are supported.
Number There is only one O100 in a program.
Characteristic
and Function
1. It is a sequence control program.
2. It can enable the motion subroutines Ox0~Ox99, and call P
subroutines.
3. If O100 is used with Ox motion subroutines and P subroutines,
O100, the Ox motion subroutines, and the P subroutines can be
arranged in any order.
1.2.1 Manual Function of O100
Users can set motion modes by means of special registers in O100. (Please refer to chapter 7 fore
more information.)
1.3 Structure of Ox Motion Subroutines
The motion subroutines Ox0~Ox99 are motion control programs. They are subroutines which
control the motion of the axes of an AH500 series motion control module. Ox0~Ox99 support basic
instructions, applied instructions, motion instructions, and G-codes. They can call P subroutines.
Users can control the paths of the axes of an AH500 series motion control module through Ox
motion subroutines. The characteristics of Ox motion subroutines are described below.
1. There are two methods of enabling an Ox motion subroutine.
When O100 runs, users can set motion subroutine numbers in O100. (The motion
subroutine numbers must be in the range of Ox0 to Ox99. The users can set a motion
subroutine number in O100 by setting SR1052. The value in SR1052 must be in the range
of 16#8000 to 16#8063.) If the users want to enable an Ox motion subroutine, they have to
set bit 12 in SR1030 to ON.
Before an Ox motion subroutine is enabled, users have to make sure that no Ox motion
subroutine runs.
Oxn
(Motionsubroutinenumber)
O100
RUN
Bit 12 in SR1030
is set to ON. Oxn
runs.

AH500 Motion Control Module Manual
2. Whenever an Ox motion subroutine is enabled, it is executed once. After O100 enables an Ox
motion subroutine, the execution of the Ox motion subroutine will start from the starting flag in
the Ox motion subroutine. After the ending instruction M2 in the Ox motion subroutine is
executed, the execution of the Ox motion subroutine will stop.
MOV
.
.
.
.
.
.
.
.
.
16#800A SR1052 Setting the Ox number Ox10, and setting bit 15 to ON.
If X0.0 is ON, the motion subroutine Ox10 will be enabled.
Cyclic scan
It is executed once.
X0.0
X0.0is ON.
O100
Main program
Ox10
Motion subroutine
.
.
.
MOVP K100
SR1020
MOVP K100 SR1021
MOV 16#1000 SR1030
If X0.0 is ON, the motion subroutine Ox10 will be enabled.After the ending instruction M2 in
Ox10 is executed, the execution of Ox10 will stop. (Ox10 is executed once. If Ox10 needs to be
executed again, X0.0 has to be set to ON.)
3. There are four methods of disabling an Ox motion subroutine.
If the “RUN-STOP” switch of an AH500 series motion control module is turned form the
“RUN” position to the “STOP” position when the AH500 series motion control module is
powered, SM072 will be OFF, O100 will stop, and Ox motion subroutines will not be
executed.
If an AH500 series motion control module is powered, users can use communication to set
SR1030 to 0, or to set SM072 to OFF, and to stop the execution of Ox motion subroutines.
If an error occurs when an Ox motion subroutine is compiled or when an Ox motion
subroutine is executed, the execution of the Ox motion subroutine will stop automatically.
4. An Ox motion subroutine supports basic instructions, applied instructions, motion instructions,
and G-codes. Users can write a motion program according to their needs. They can control the
motion of the axes of an AH500 series motion control module by set the parameters of the axes.
Basic instructions, applied instructions, motion instructions and G-codes must be used in
the motion subroutines Ox0~Ox99.
Ox motion subroutines can call P subroutines. Please refer to section 1.3 for more
information.
5. The description of Ox motion subroutines is shown below.
Ox motion
subroutine Description
Enabling a Ox
motion
subroutine
There are 100 Ox motion subroutines (Ox0~Ox99).
(If an Ox motion subroutine is a ladder diagram in PMSoft, the starting flag
in the Ox motion subroutine will be set automatically, and users do not
have to write the starting flag.)
Disabling a Ox
motion
subroutine
Ending instruction M2 (If a Ox motion subroutine is a ladder diagram in
PMSoft, the ending instruction M2 will be set automatically, and users do
not have to write the ending instruction M2.)
1-6

Chapter 1 Framework of an AH500 Series Motion Control Module
1-7
Ox motion
subroutine Description
Executing a
Ox motion
subroutine
1. If users set bit 12 in SR1030 to ON when O100 runs, an Ox motion
subroutine will be enabled.
2. If users use communication to set bit 12 in SR1030 to ON when O100
runs, an Ox motion subroutine will be enabled.
Note: Before an Ox motion subroutine is enabled, users have to make sure
that no Ox motion subroutine runs.
Operation
characteristic
Whenever an Ox motion subroutine is enabled, it is executed once. If an
Ox motion subroutine needs to be executed again, it has to be enabled
again.
Instruction Basic instructions, applied instructions, motion instructions, and G-codes
are supported.
Note: Users have to avoid using pulse instructions.
Number There are 100 Ox motion subroutines. If users want to enable a motion subroutine number, they have to set SR1052, and set bit 12 in SR1030 to
ON.
Characteristic
and Function
1. Ox0~Ox99 are motion subroutines. (They can only be enabled by
O100.)
2. They can control the motion of the axes of anAH500 series motion
control module. Please refer to the description of G-code for more
information.
3. An Ox motion subroutine can be enabled/disabled by a program or
communication.
4. Ox motion subroutines can call P subroutines.
5. If Ox motion subroutines are used with O100 and P subroutines, the
Ox motion subroutines, O100, and the P subroutines can be arranged
in any order.
1.4 Structure of P Subroutines
P subroutines are general subroutines. They can be called by O100 and Ox motion subroutines. If P
subroutines are called by O100, the P subroutines will support basic instructions and applied
instructions. If P subroutines are called by Ox0~Ox99, the P subroutines will support basic
instructions, applied instructions, motion instructions, and G-codes. After O100 or an Ox motion
subroutine calls a P subroutine, the P subroutine will be executed. After SRET in the P subroutine is
executed, the lines under the instruction which calls the P subroutine will be executed.
1. There are two methods of enabling a P subroutine.
O100 can call P subroutines.
Ox motion subroutines can call P subroutines.

AH500 Motion Control Module Manual
2. Whenever a P subroutine is called, it is executed once. After O100 or an Ox motion subroutine
calls a P subroutine, the P subroutine will be executed. After the ending instruction SRET in the
P subroutine is executed, the execution of the P subroutine will stop, and the lines under the
instruction which calls the P subroutine will be executed.
MOV
CALL
.
.
.
.
.
.
16#800A SR1052
X0.0
.
.
.
.
.
P0
P2
CALL
b
a
M1000
M1000
Calling P0
Setting themotion subroutine number Ox10
If X0.0 isON, Ox10 willbe enabled.
The path a is valid.
Calling P2
O100 and Ox10
diverge.
Subroutine
section
OX10
Motion subroutine
O100
Main program P2
subroutine P0
subroutine
Cyclic scan
Ox10isexecutedonce.
MOVP K100
ABST
DRV X-20000 Y20000
MOVP K100
.
.
.
.
MOV 16#1000 SR1030
SR1020
SR1021
Ox10isexecutedonce.
P2isexecutedonce.
P2isexecutedonce.
Ox10isexecutedonce.
The subroutine P0 supports basic instructions and applied instructions. The subroutine P2
supports basic instructions, applied instructions, motion instructions, and G-codes.
3. There are three methods of disabling a P subroutine.
If the “RUN-STOP” switch of an AH500 series motion control module is turned form the
“RUN” position to the “STOP” position when the AH500 series motion control module is
powered, SM072 will be OFF, O100 will stop, and Ox motion subroutines and P subroutines
will not be executed.
If an AH500 series motion control module is powered, users can use communication to set
SR1030 to 0, to stop the execution of Ox motion subroutines, and to stop the execution of P
subroutines.
If an error occurs when a P subroutine is executed, the execution of the P subroutine will
stop automatically. Please refer to appendix A for more information.
4. If P subroutines are called by O100, the P subroutines will support basic instructions and
applied instructions. If P subroutines are called by Ox0~Ox99, the P subroutines will support
basic instructions, applied instructions, motion instructions, and G-codes.
1-8

Chapter 1 Framework of an AH500 Series Motion Control Module
5. The description of P subroutines is shown below.
P subroutine Description
Enabling a P
subroutine
There are 256 P subroutines (P0~P255).
(If a P subroutine is a ladder diagram in PMSoft, the starting flag in the P
subroutine will be set automatically, and users do not have to write the
starting flag.)
Disabling a P
subroutine
Ending instruction SRET (If a P subroutine is a ladder diagram in PMSoft,
the ending instruction SRET will be set automatically, and users do not have
to write the ending instruction SRET.)
Executing a P
subroutine 1. O100 can call P subroutines.
2. Ox motion subroutines can call P subroutines.
Operation
characteristic Whenever a P subroutine is enabled, it is executed once. If a Pn subroutine
needs to be executed again, it has to be enabled again.
Instruction
1. If P subroutines are called by O100, the P subroutines will support basic
instructions and applied instructions.
2. If P subroutines are called by Ox motion subroutines, the P subroutines
will support basic instructions, applied instructions, motion instructions,
and G-codes.
Note: If P subroutines are called by Ox motion subroutines, users have to
avoid using pulse instructions.
Number There are 256 P subroutines.
Characteristic
and Function
1. P subroutines are general subroutines.
2. P subroutines can be called by O100 and Ox motion subroutines.
3. If P subroutines are used with O100 and Ox motion subroutines, the P
subroutines, O100, and the Ox motion subroutines can be arranged in
any order.
1-9

AH500 Motion Control Module Manual
1.5 Using O100, Ox Motion Subroutines, and P
Subroutines
O100, Ox motion subroutines, and P subroutines are introduced in section 1.1~section 1.3. In this
section, a program composed of O100, Ox motion subroutines, and P subroutines is described.
1.5.1 Structure of a Program
Suppose a program is composed of O100, Ox0, Ox3, P1, and P2. The five program blocks are
shown below.
Mainprogram
O100
M102
．
．
．
．
．
．
．
．
．
．
．
．
．
Calling Ox0
Calling P2
Motion subroutine
Ox0
Calling P1
．
．
．
．
．
M2
Subroutine
P2
Calling Ox3
．
．
．
．
．
SRET
Motion subroutine
Ox3
．
．
M2
Subroutine
P1
．
．
SRET
1-10

Chapter 1 Framework of an AH500 Series Motion Control Module
In order to describe the program, the program is divided into 5 sections (section (1)~section (5)).
.
.
.
.
.
.
.
.
(1)
(3)
(2)
(5)
.
.
.
.
.
.
.
.
(4)
.
.
.
.
Calling P1
Ox0
Motion subroutine
O100
Main program P1
Subroutine Ox3
Motion subroutine P2
Subroutine
.
.
.
M1000
CALL P1
MOV 16#8000 SR1052
CALL P2
M1000
BRET
DMOV
MOV 16#8003
Setting the motionsubroutine number Ox0
Enabling Ox0
Calling P2
Setting the motionsubroutine number Ox3
Enabling Ox3
K0 SR1032
M1000
.
.
16#1000
MOV SR1030
16#1000
MOV SR1030
SR1052
1-11