Delta AH Series User manual

www.deltaww.com
AH Motion Controller -
Hardware Manual
2018-08-31
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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
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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
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_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

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1
1.1 The AH Series Motion Controller
The AH series motion controllers are the new generation motion controllers that provide high-speed performance through
high speed interface, e.g. EtherCAT, and abundant functionality by the various functional modules. In machine automation
applications, they provide accessibility, maintainability and reliability which are demanded in machine automation
controllers.
The AH series motion controllers support the functionality of AH500 series PLCs, and are fully comply with PLCopen
motion control function blocks that are required for motion control. The built-in high-speed motion network interface is
capable of synchronizing I/O devices quickly and can be used in motion control devices, machine vision equipment, I/O
devices, and more. With these products, you can build up a machine automation system easily through ISPSoft software
to achieve maximum functionality and user-friendly operation.
With the machine automation system that is built from Delta products, you can connect devices easily and apply the
system as a complete solution with functionality and usability.
ISPSoft
PLC
Software
AH series motion controller
Servodrives
I
n
v
e
r
te
r
s
General-purpose slaves

Chapter 1 Product Introduction
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1
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1.1.1. Product Features
Hardware Features
1. High performance motion control
AHxxEMC-5A features EtherCAT motion control interface and is capable of controlling up to 32 axes. Maximum 6
axes synchronous linear interpolation and 3 axes synchronous circular interpolation.
Supports PLCopen motion control standard function blocks.
2. High efficiency
The AH Motion CPU adopts a 32-bit high-speed processor. The instructions are executed at a speed of 0.3
milliseconds per 1k steps. (50% of the instructions are ladder instructions, and 50% of the instructions are other
standard instructions.)
3. Multiple I/O modules
The I/O modules supported by the AH Motion CPU are digital input/output modules, analog input/output modules,
temperature measurement modules, network modules, motion control modules and remote I/O modules.
Module Description
Digital
input/output
module
Digital input/output
AH16AM10N-5A, AH16AM30N-5A, AH16AN01P-5A, AH16AN01R-5A, AH16AN01S-5A,
AH16AN01T-5A, AH16AP11P-5A, AH16AP11R-5A, AH16AP11T-5A, AH32AM10N-5A,
AH32AM10N-5B, AH32AM10N-5C, AH32AN02P-5A, AH32AN02P-5B, AH32AN02P-5C,
AH32AN02T-5A, AH32AN02T-5B, AH32AN02T-5C, AH64AM10N-5C, AH64AN02P-5C and
AH64AN02T-5C
Analog
input/output
module
Analog input/output
AH04AD-5A, AH04DA-5A, AH06XA-5A, AH08AD-5A, AH08AD-5B, AH08AD-5C,
AH08DA-5A, AH08DA-5B, and AH08DA-5C
Temperature
measurement
module
Measuring the temperature
AH04PT-5A, AH04TC-5A, AH08TC-5A, and AH08PTG-5A
Motion control
module Controlling the motion
AH02HC-5A, AH04HC-5A, AH05PM-5A, AH10PM-5A, AH15PM-5A, AH20MC-5A
Network
module
Additional communication interface
AH10SCM-5A, AH10COPM-5A, AH10EN-5A, AH15EN-5A, AH10SCM-5A, AH15SCM-5A,
AH10DNET-5A, AH10PFBS-5A, AH10PFBM-5A
Remote I/O
Module It can be installed on the main backplane to work as a RTU workstation. (it supports multiple communication ports) AHRTU-DNET-5A, AHRTU-PFBS-5A and AHRTU-ETHN-5A.
4. Larger program capacity and memory
The program capacity of the AH Motion CPU can be up to 256k steps. Users do not need to change to a more
advanced CPU if the user program grows bigger.
The AH Motion CPU offers 128k words of data registers; 64k words of D devices and 64k words of L devices.

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5. Serial control interface with multiple functions
AHxxEMC-5A provides one serial interface through USB: COM1.
AHBP03M2-5A/AHBP05M2-5A (AH motion backplane) provides one serial interface through terminal block:
COM2.
You can use the USB serial interface (COM1) as RS-232 and terminal block serial interface (COM2) as RS-485
according to the application. The data transfer rate can be increased from 9600 bps to 115200bps.
ISPSoft,can perform automatic data exchange simply by filling the data exchange form in the software. Users do
not need to write any program for this purpose and can save time and efforts. For details of data exchange
between devices, refer to ISPSoft User Manual.
6. Memory card
The memory card has the following functions.
System backup: for user program, CPU parameters, module tables, and setting values in devices.
System recovery: for user program, CPU parameters, module tables, and setting values in devices.
Parameter storage: The values in the devices
Log storage: The system error log and the system status log
7. Hot swap
The AH motion series I/O modules support the on-line uninterruptible hot swapping. When the system runs, users
can replace the module with error without stopping the system or setting the module to offline state. After the
module is replaced, the new module will resume normal operation automatically.

Chapter 1 Product Introduction
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1
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Software Features
1. Complying with IEC 61131-3
The AH Motion CPU complies with IEC 61131-3 editing environment which supports various programming
languages, multiple function blocks, tasks, and symbol tables.
The programming languages which are supported are, structured texts (ST), ladder diagrams (LD), sequential
function charts (SFC), and Continuous Function Chart (CFC).
You can select a programming language according to your preference and the convenience. The programming
languages support one another so that the programs written by different users are related.
2. Various function blocks*
In addition to standard IEC61131-3 function blocks (including PLCopen motion control function blocks), we also
offer various convenient function blocks (DFB). You can write the program frequently executed in a function block
so that the program becomes more structured and can be executed more conveniently.
The encryption function supported by ISPSoft provides the secrecy of function blocks for special businesses. The
program inside a function block cannot be learned, and the patent of a business will not be infringed.
*Note: A function block is a program element equipped with the operation function. It is similar to a subroutine, and is
a type of POU (Program Organization Unit). It cannot operate by itself, and has to be called through the program POU.
After the related parameters are transmitted, the function defined by a function block is executed. Besides, the final
operation result can be sent to the device or variable used in the superior POU after the execution of the function
block is complete.
3. Task
The user program supports 283 tasks at most: 32 cyclic tasks, 32 I/O interrupt tasks, 212 external interrupt tasks, 1
24V LV detection, 4 timed interrupt tasks, and 2 communication interrupt tasks.
Users can enable and disable a task during the execution of a program by means of TKON and TKOFF.
4. On-line debugging mode
After a single instruction step has been complete, or after a breakpoint is specified, users can easily find the bug in
the program by means of the on-line debugging mode supported by the AH Motion CPU.
Note: Structured Text (ST) do not support on-line debugging mode, and sequential function charts (SFC)
programming support the debugging mode during the action and the transition.

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5. On-line editing mode
When the system runs, users can make use of the on-line editing mode to update the program without affecting
the operation of the system.
1.1.2. Overview of the System Configurations
The two categories of system configurations of AH Motion series motion control CPU are as follows.
Basic System Configurations
The AH Motion series CPU basic configurations include the AH Motion CPU Network Configuration, AH500 Series
Module Configuration, and Supported Software.
AH Motion Network Configuration
- AHxxEMC-5A
You can use the EtherCAT master port built in on the CPU interface to connect to slave devices such as analog and digital
I/O, servo drives, AC motor drives and encoder input devices. With EtherCAT network configuration, you can design a
system capable of performing very accurate sequence and motion control in a fixed cycle.
AH500 Series Module Configuration
With the motion backplane, you can also add AH500 series I/O modules* in addition to the EtherCAT network. AH500
series modules can be installed directly to the motion backplane where the CPU module is mounted.
*Note: a few of AH500 series I/O modules are not supported by the motion backplane. Refer to Ch2 System
Configuration for the list of supported products.
Supported Software
ISPSoft is the major programming software that you use for an AH Motion series motion controller. You can connect the
software on the computer to the USB interface on the CPU module through a commercially available USB cable. You can
also connect ISPSoft to the Ethernet port on the CPU module with an Ethernet cable or to the built-in RS-485 port on the
Motion backplane with a RS-485 cable and a converting device, e.g. IFD6500 USB/RS-485 converter. In addition to
ISPSoft, you can also use other software for configuring various applications based on different networks.

Chapter 1 Product Introduction
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1
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Support Software
ISPSoft
USB(RS-232)
LAN or EtherNet/IP
AHMotionCPU
AH I/Omodules
CPU
Rack
Power
Supply
Bullt-InEtherNet/IP port
Bullt-In EtherCAT port
Servodrives/encoder
inputslaves General-purpose slaves
EtherCAT
CPU
AH MotionNetwork
Configuration
AH500 Series Module
Configuration
Other Network Configurations
Through the network interfaces on the AH motion CPU and the motion backplane, you can connect host computers,
Human Machine Interfaces (HMI) and other AH series PLCs with RS-232(USB), RS-485, and EtherNet/IP networks. In
addition, you can also create CANopen network and additional serial communication network (RS-485) by mounting
AH500 series network modules on the motion backplane.
PC HMI
DVS Series
Ethernet Switch
USB RS-485
Power CPU
CANopenSerial communications
Serial Comm.
Module
EtherNet/IP (Adapter)
EtherNet/IP Scanner
(AH500 Series PLC)
CANopen
Module
0

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1
Supported Software
ISPSoft is the major programming software that you use for an AH Motion series motion controller. You can use ISPSoft to
set up the controller configurations, parameters, and to develop the program. Debugging and simulate operation.
Required software
- ISPSoft: Programming and hardware configuration
- COMMGR: Communication management
- EtherCAT Builder: EtherCAT network configurator (for AHxxEMC-5A)
Optional software
- EtherNet/IP Builder: EtherNet/IP network configurator
- CANopen Builder: CANopen network configurator
1.2 AH Motion CPU Specifications
1.2.1 Environmental Specifications
Environmental Specifications
Operating temperature -20~60°C
Storage temperature -40~70°C
Operating humidity 5~95%
No condensation
Storage humidity 5~95%
No condensation
Vibration/Shock
resistance International standards IEC 61131-2, IEC 68-2-6 (TEST Fc)/
IEC 61131-2 & IEC 68-2-27 (TEST Ea)
Operating environment No corrosive gas exists.
Installation location In a control box
Pollution degree 2
1.2.2 General Specifications
General Specifications
AHxxEMC-5A Remark
Execution The program is executed cyclically.
Input/Output control Cyclically refreshed inputs/outputs
Direct inputs/outputs
The inputs and outputs can be
controlled through the direct
inputs (DX device) and direct
outputs (DY device).
Programming language IEC 61131-3

Chapter 1 Product Introduction
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General Specifications
AHxxEMC-5A Remark
Ladder diagram (LD), continuous function
chart (CFC), structured text (ST), and
sequential function chart (SFC).
Instruction execution speed 0.3 ms/K steps
Constant scan cycle (ms) 1-32000
(The scan cycle can be increased by one
millisecond.)
The scan cycle time can be
specified by parameters.
Program capacity (step) 256K steps
Installation DIN rails or screws
Installation of modules Modules are installed directly on a backplane.
Number of modules Five input/output modules at most can be
installed on a motion backplane.
Number of tasks
283 tasks (32 cyclic tasks, 32 I/O interrupt
tasks, 212 external interrupt tasks, 1 24V LV
detection, 4 timed interrupt tasks, and 2
communication interrupt tasks).
Number of input/output
devices
X/Y devices (bit): 8192
(X0.0~X511.15/Y0.0~Y511.15)
X/Y devices (word): 512
(X0~X511/Y0~Y511)
Number of devices which can be
used in a program
Number of inputs/outputs 338 inputs/ 324 outputs (AHBP05M2-5A) Number of inputs/outputs
accessible to an CPU
Input relay [X] 8192 (X0.0~X511.15)
Output relay [Y] 8192 (Y0.0~Y511.15)
Auxiliary relay [M] 8192 (M0~M8191)
Timer [T] 2048 (T0~T2047)
Counter [C] 2048 (C0~C2047)
32-bit counter [HC/AC] HC: 64 (HC0~HC63)
AC: 56 (AC0~ AC55)
Data register [D] D device (bit): 1048576 (D0.0~D65535.15)
D device (word): 65536 (D0~D65535)
Stepping relay [S] 2048 (bit) (S0~S2047)
Index register [E] 32 (word) (E0~E31)
Special auxiliary relay [SM] SM(bit): 2048 (SM0~SM2047)
Special data register [SR] SR(word): 2048 (SR0~SR2047)
Serial communication port One RS-232(USB), One RS-485
communication port
Ethernet port 10/100 M

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General Specifications
AHxxEMC-5A Remark
USB port Mini USB
Memory card slot Supports Micro SD card (SD 2.0)
Real-time clock Years, months, days, hours, minutes,
seconds, and weeks
The function is available when the
CPU is used together with the
motion backplane

2
Chapter 2 System Configuration
Table of Contents
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