Delta AH Motion Series User manual

www.deltaww.com
AH Motion -
Hardware Manual
2016-07-15
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
Delta Electronics (Netherlands) B.V.
Eindhoven Ofce
De Witbogt 20, 5652 AG Eindhoven, The Netherlands
TEL : [phone] / FAX : [phone]
AH-0259520-01
*We reserve the right to change the information in this manual without prior notice.
AH Motion - Hardware Manual

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AH Motion - Hardware Manual
Contents
Preface
P.1 Introduction ..................................................................................... II
P.1.1 Applicable Products ......................................................................... II
P.1.2 Related Manuals ............................................................................. II
P.2 Navigation between Manuals...........................................................III
Chapter 1 Product Introduction
1.1 The AH Series Motion Controller .....................................................1-2
1.1.1. Product Features...........................................................................1-2
1.1.2. Overview of the System Configurations ............................................1-6
1.2 AH Motion CPU Specifications.........................................................1-9
1.2.1 Environmental Specifications..........................................................1-9
1.2.2 General Specifications ....................................................................1-9
Chapter 2 System Configuration
2.1 Basic System Configuration ............................................................2-2
2.1.1. AH Motion CPU Network Configuration..............................................2-3
2.1.2. AH500 Series Module Configuration .................................................2-4
2.2 Software Connection ....................................................................2-10
2.3 Overall Network Configuration .....................................................2-11
Chapter 3 Product Specifications
3.1 Environmental Specifications..........................................................3-3
3.2 AH Motion CPU................................................................................3-3
3.2.1 General Specifications....................................................................3-3
3.2.2 Motion Control Function Specifications..............................................3-6
3.2.3 Communication Ports.....................................................................3-7
3.2.4 I/O Addressing of AH Motion CPU ....................................................3-8
3.2.5 Profiles and Dimensions ............................................................... 3-16

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3.2.6 Arrangement of Terminals.............................................................3-17
3.2.7 Memory Card Slot........................................................................3-18
3.3 AH Motion Backplane.................................................................... 3-19
3.3.1 General Specifications ..................................................................3-19
3.3.2 Profile and Dimensions .................................................................3-19
3.4 Power Supply Module ................................................................... 3-21
3.4.1 General Specifications ..................................................................3-21
3.4.2 Profile and Dimensions .................................................................3-22
3.4.3 Arrangement of Terminals.............................................................3-24
3.5 Motion Control Modules................................................................ 3-25
3.5.1 General Specifications ..................................................................3-25
3.5.2 Profiles and Dimensions................................................................3-35
3.5.3 Arrangement of Input/Output Terminals..........................................3-46
3.6 Digital Input/Output Modules ...................................................... 3-52
3.6.1 General Specifications ..................................................................3-52
3.6.2 Profile and Dimensions .................................................................3-55
3.6.3 Arrangement of Input/Output Terminals..........................................3-71
3.7 Analog Input/Output Modules...................................................... 3-81
3.7.1 General Specifications ..................................................................3-81
3.7.2 Profiles and Dimensions................................................................3-86
3.7.3 Arrangement of Input/Output Terminals..........................................3-89
3.8 Temperature Measurement Modules............................................. 3-91
3.8.1 General Specifications ..................................................................3-91
3.8.2 Profiles and Dimensions................................................................3-93
3.8.3 Arrangement of Input/Output Terminals..........................................3-97
3.9 Network Modules.......................................................................... 3-98
3.9.1 General Specifications ..................................................................3-98
3.9.2 Profiles and Dimensions................................................................3-99
3.9.3 Arrangement of Input/Output Terminals........................................3-103
3.10 Dummy Module........................................................................... 3-104
3.10.1 Profiles and Dimensions..............................................................3-104

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Chapter 4 Installation and Wiring
4.1 Quick Review before Installation....................................................4-3
4.1.1 AH Motion Hardware Components....................................................4-3
4.2 Points to Note on Installation.........................................................4-7
4.3 Installation.....................................................................................4-7
4.3.1 CPU Rack Installation in a Control Panel ...........................................4-7
4.3.2 Mounting a Backplane....................................................................4-7
4.3.3 Installing a Module...................................................................... 4-10
4.3.4 Installing a Removable Terminal Block............................................ 4-11
4.3.5 Installing an External Terminal Module ........................................... 4-14
4.3.6 Connecting Communication Cables ................................................ 4-14
4.3.7 Installing and Removing a Memory Card......................................... 4-15
4.4 Points to Note about Wiring..........................................................4-16
4.5 Wiring Power Supply Modules ......................................................4-18
4.5.1 Precautions ................................................................................ 4-18
4.5.2 Ground...................................................................................... 4-19
4.5.3 Wiring Power Supply Modules........................................................ 4-19
4.5.4 Power Consumption..................................................................... 4-22
4.6 Wiring AH Motion CPU Modules ....................................................4-24
4.6.1 Specifications of Inputs and Outputs.............................................. 4-24
4.6.2 Wiring AHxxEMC-5A .................................................................... 4-27
4.7 Wiring Motion Control Modules.....................................................4-31
4.7.1 Specifications of Inputs and Outputs.............................................. 4-31
4.7.2 Wiring AH02HC-5A and AH04HC-5A............................................... 4-41
4.7.3 Wiring AH05PM-5A, AH10PM-5A, and AH15PM-5A............................ 4-45
4.7.4 Wiring AH20MC-5A...................................................................... 4-59
4.7.5 I/O Extension Cables and External Terminal Modules........................ 4-61
4.8 Wiring Digital Input/Output Modules ...........................................4-64
4.8.1 Wiring AH16AM10N-5A ................................................................ 4-64
4.8.2 Wiring AH16AM30N-5A ................................................................ 4-65
4.8.3 Wiring AH16AN01S-5A................................................................. 4-66
4.8.4 Wiring AH16AN01R-5A................................................................. 4-67
4.8.5 Wiring AH16AN01T-5A ................................................................. 4-68
4.8.6 Wiring AH16AN01P-5A................................................................. 4-69

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4.8.7 Wiring AH16AP11R-5A..................................................................4-70
4.8.8 Wiring AH16AP11T-5A ..................................................................4-71
4.8.9 Wiring AH16AP11P-5A..................................................................4-72
4.8.10 Wiring AH32AM10N-5A.................................................................4-73
4.8.11 Wiring AH32AM10N-5B.................................................................4-74
4.8.12 Wiring AH32AM10N-5C.................................................................4-75
4.8.13 Wiring AH32AN02T-5A..................................................................4-76
4.8.14 Wiring AH32AN02T-5B..................................................................4-77
4.8.15 Wiring AH32AN02T-5C..................................................................4-78
4.8.16 Wiring AH32AN02P-5A..................................................................4-80
4.8.17 Wiring AH32AN02P-5B..................................................................4-81
4.8.18 Wiring AH32AN02P-5C..................................................................4-82
4.8.19 Wiring AH64AM10N-5C.................................................................4-84
4.8.20 Wiring AH64AN02T-5C..................................................................4-85
4.8.21 Wiring AH64AN02P-5C..................................................................4-86
4.9 Wiring Digital Input/Output Terminals......................................... 4-87
4.9.1 Wiring Digital Input Terminals........................................................4-87
4.9.2 Wiring Digital Output Terminals......................................................4-90
4.10 Wiring Analog Input/Output Modules........................................... 4-97
4.10.1 Wiring AH04AD-5A/AH08AD-5A .....................................................4-97
4.10.2 Wiring AH08AD-5B.......................................................................4-98
4.10.3 Wiring AH08AD-5C.......................................................................4-99
4.10.4 Wiring AH04DA-5A/AH08DA-5A .....................................................4-99
4.10.5 Wiring AH08DA-5B.....................................................................4-100
4.10.6 Wiring AH08DA-5C.....................................................................4-101
4.10.7 Wiring AH06XA-5A.....................................................................4-102
4.11 Wiring Temperature Measurement Modules ............................... 4-103
4.11.1 Wiring AH04PT-5A .....................................................................4-103
4.11.2 Wiring AH08PTG-5A ...................................................................4-104
4.11.3 Wiring AH04TC-5A .....................................................................4-105
4.11.4 Wiring AH08TC-5A .....................................................................4-105
4.12 Wiring Network Modules ............................................................ 4-106
4.12.1 Wiring AH10SCM-5A...................................................................4-106
4.12.2 Wiring AH10COPM-5A.................................................................4-106

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Chapter 5 Maintenance and Inspection
5.1 Cautions .........................................................................................5-2
5.2 Daily Maintenance ..........................................................................5-2
5.2.1 Tools Required for Inspection..........................................................5-3
5.2.2 Daily Inspection............................................................................5-3
5.3 Periodic Maintenance......................................................................5-4
5.3.1 Tools Required for Inspection..........................................................5-4
5.3.2 Periodic Inspection ........................................................................5-4
Appendices
A.1 EMC Standards for an AH Motion System...........................................A-2
A.1.1 EMC Standards Applicable to an AH Motion System............................A-2
A.1.2 Installation Instructions for the EMC Standards .................................A-3
A.1.3 Cables.........................................................................................A-4

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P
Preface
Table of Contents
P.1 Introduction ....................................................................................................II
P.1.1 Applicable Products.......................................................................................II
P.1.2 Related Manuals ...........................................................................................II
P.2 Navigation between Manuals......................................................................... III

AH Motion – Hardware Manual
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P.1 Introduction
Thank you for purchasing the AH series Motion CPU with our advanced motion control system.
This manual introduces the hardware structures, specifications, and the installation of AH motion system products based
on AH motion CPUs. Please ensure that you understand the configuration and operations of the AH series motion control
system, and use the AH series motion CPU correctly.
To obtain required information for different system configurations, you can navigate between different manuals of AH
Motion series manuals and other related manuals.
P.1.1 Applicable Products
This manual relates to the following products
- AHxxEMC-5A (AH08EMC-5A/AH10EMC-5A/AH20EMC-5A)
- AH500 series modules
P.1.2 Related Manuals
The related manuals of the AH Motion series motion controllers are composed of the following.
1. AH Motion - Hardware Manual
It introduces function specifications, electrical specifications, appearances, dimensions, and etc.
2. ISPSoft User Manual
It introduces the use of ISPSoft, the programming languages (ladder diagrams, instruction lists, sequential function
charts, function block diagrams, and structured texts), the concept of POUs, the concept of tasks, and the operation of
motion control programming.
3. AH Motion - Standard Instructions Manual
It introduces the elements for standard programming including devices, symbols and standard instructions.
4. AH Motion - Operation Manual
It introduces basic knowledge of motion control structure, software/hardware setup, quick start of Software operations,
devices to be used, motion control operations and troubleshooting.
5. AH Motion - Motion Control Instructions Manual
It introduces the elements for motion control programming including axis parameters, symbols and single
axis/multi-axes motion instructions.
6. AH Motion - Communication Manual
It introduces the concept of communication protocols (e.g. EtherCAT) and the configuration of AH Motion products
based on the protocols.
7. AH500 Motion Control Module Manual
It introduces the specifications for the AH500 series motion control modules, the wiring, the instructions, and the
functions.
8. AH500 Module Manual
It introduces the use of special I/O modules of AH500 series PLCs. For example, network modules, analog I/O
modules, temperature measurement modules, and etc.

Preface
III
P_
P.2 Navigation between Manuals
Before using the products, there are three manuals that should be utilized as fundamental information: AH Motion -
Hardware Manual,ISPSoft User Manual, and AH Motion - Standard Instructions Manual.
With the fundamental manuals, you can understand the basic information of hardware configuration, operation procedures
of the software, and the basic instructions for using the system.
To obtain required information for different system configurations and applications, refer to other manuals as indicated in
the table below. Reading all manuals related to your system configuration helps you make the most use of the AH series
motion control system.
Related manuals
General operation procedures
AH Motion series manuals
AH500 Motion Control Module Manual
AH500 Module Manual
Fundamental
AH Motion – Operation Manual
AH Motion – Motion Control Instructions Manual
AH Motion – Communication Manual
AH Motion – Hardware Manual
ISPSoft User Manual
AH Motion – Standard Instructions Manual
1. Overview of AH Motion series products V
2. Setting up hardware configuration for the
system
V
for motion control applications V
for communication (e.g. EtherCAT) V
for additional motion control modules V
for I/O extension using AH500 series
modules
V
3. Getting started with the software
V
for motion control applications V
for communication (e.g. EtherCAT) V
for additional motion control modules V
for I/O extension using AH500 series
modules V
4. Programming
V
V
for motion control applications V V
for communication (e.g. EtherCAT) V

AH Motion – Hardware Manual
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Related manuals
General operation procedures
AH Motion series manuals
AH500 Motion Control Module Manual
AH500 Module Manual
Fundamental
AH Motion – Operation Manual
AH Motion – Motion Control Instructions Manual
AH Motion – Communication Manual
AH Motion – Hardware Manual
ISPSoft User Manual
AH Motion – Standard Instructions Manual
for additional motion control modules V
for I/O extension using AH500 series
modules V
5. Testing and troubleshooting
V V
for motion control applications V*
for communication (e.g. EtherCAT) V
for additional motion control modules
V*
V
for I/O extension using AH500 series
modules
V* V
6. Maintenance and Inspection V
*Note: Information regarding Error codes and Indicators and the associated troubleshooting information are attached as
Appendices for a quick reference. For the complete troubleshooting of the system, refer to AH Motion – Operation
Manual.