Delta AH Series User manual

www.deltaww.com
AH Motion Controller -
Hardware Manual
2018-08-31
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Asia
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*We reserve the right to change the information in this manual without prior notice.
AH Motion Controller - Hardware Manual

AH Motion Controller Hardware Manual
Revision History
Version
Revision
Date
1
st
The first version was published.
2017/09/20
2nd
1. Modules including AH10EN-5A, AH15EN-5A,
AH10SCM-5A, AH15SCM-5A, AH10DNET-5A,
AH10PFBS-5A, AH10PFBM-5A, AHRTU-DNET-5A,
AHRTU-PFBS-5A, AHRTU-ETHN-5A and
AHBP03M2-5A (AH motion backplane) were
added in Chapter 1.
2. The information on modules including
AH10EN-5A, AH15EN-5A, AH10SCM-5A,
AH15SCM-5A, AH10DNET-5A, AH10PFBS-5A,
AH10PFBM-5A, AHRTU-DNET-5A,
AHRTU-PFBS-5A, AHRTU-ETHN-5A,
AHBP03M2-5A (AH motion backplane) as well as
updates on I/O network and module configuration
were added in Chapter 2.
3. The reference information on modules in Chapter
3 has changed to AH500 Series Hardware
Manual.
4. The reference information on modules in Chapter
4 has changed to AH500 Series Hardware
Manual.
5. Section 3.2.7: Update information concerning
contact 5 and contact 29.
6. Chapter 4: Change C0,C1, C2, C3 in output
circuit diagrams of a transistor to COM
2018/08/31

i
AH Motion Controller - 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...........................................................................1-3
1.1.2. Overview of the System Configurations ............................................1-6
1.2 AH Motion CPU Specifications.........................................................1-8
1.2.1 Environmental Specifications ..........................................................1-8
1.2.2 General Specifications....................................................................1-8
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
2.3.1 EtherNet/IP..................................................................................... 2-12
Chapter 3 Product Specifications
3.1 Environmental Specifications..........................................................3-2
3.2 AH Motion CPU................................................................................3-2
3.2.1 General Specifications....................................................................3-2
3.2.2 Motion Control Function Specifications..............................................3-5
3.2.3 Communication Ports.....................................................................3-6
3.2.4 I/O Addressing of AH Motion CPU ....................................................3-7
3.2.5 Profiles...................................................................................... 3-14

ii
3.2.6 Dimensions.................................................................................3-15
3.2.7 Arrangement of Terminals.............................................................3-16
3.2.8 Memory Card Slot........................................................................3-16
3.3 I/O Modules ................................................................................. 3-17
Chapter 4 Installation and Wiring
4.1 Quick Review before Installation.................................................... 4-2
4.1.1 AH Motion Hardware Components ................................................... 4-2
4.2 Points to Note on Installation......................................................... 4-6
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........................................................................ 4-9
4.3.4 Installing a Removable Terminal Block............................................4-10
4.3.5 Installing an External Terminal Module............................................4-14
4.3.6 Connecting Communication Cables.................................................4-15
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........................................................4-20
4.5.4 Power Consumption .....................................................................4-23
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 I/O Modules...................................................................... 4-31
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

iii
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

I
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 Controller – Hardware Manual
II
_P
P.1 Introduction
Thank you for purchasing the AH series Motion Controller CPU with our advanced motion control system.
This manual introduces the hardware structures, specifications, and the installation of AH motion controller system
products based on AH motion controller CPUs. Please ensure that you understand the configuration and operations of the
AH series motion control system, and use the AH series Motion Controller CPU correctly.
To obtain required information for different system configurations, you can navigate between different manuals of AH
Motion Controller 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 Controller series motion controllers are composed of the following.
1. AH Motion Controller - 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 Controller - Standard Instructions Manual
It introduces the elements for standard programming including devices, symbols and standard instructions.
4. AH Motion Controller - 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 Controller - Motion Control Instructions Manual
It introduces the elements for motion control programming including axis parameters, symbols and single
axis/multi-axes motion instructions.
6. AH500 Motion Control Module Manual
It introduces the specifications for the AH500 series motion control modules, the wiring, the instructions, and the
functions.
7. 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
Controller - Hardware Manual,ISPSoft User Manual, and AH Motion Controller - 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
Controller – Operation Manual
AH Motion Control
ler - Instructions Manual
AH Motion
Controller – Hardware Manual
ISPSoft User Manual
AH Motion
Controller – Standard
Instructions Manual
1. Overview of AH Motion Controller series
products V
2. Setting up hardware configuration for the
system
V
for motion control applications V
for communication (e.g. EtherCAT)
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)
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

AH Motion Controller – Hardware Manual
IV
_P
Related manuals
General operation procedures
AH Motion series manuals
AH500 Motion Control Module Manual
AH500 Module Manual
Fundamental
AH Motion
Controller – Operation Manual
AH Motion Control
ler - Instructions Manual
AH Motion
Controller – Hardware Manual
ISPSoft User Manual
AH Motion
Controller – Standard
Instructions Manual
for communication (e.g. EtherCAT)
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)
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 Controller –
Operation Manual.

1-1
1
Chapter 1 Product Introduction
Table of Contents
1.1 The AH Series Motion Controller.................................................................1-2
1.1.1. Product Features.......................................................................................1-3
1.1.2. Overview of the System Configurations........................................................1-6
1.2 AH Motion CPU Specifications.....................................................................1-8
1.2.1 Environmental Specifications .....................................................................1-8
1.2.2 General Specifications ................................................................................1-8