Delta AH Series User manual

www.deltaww.com
AH Motion Controller -
Operation Manual
2018-08-31
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Asia
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Tokyo Ofce
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TEL : [phone] / FAX : [phone]
AH-0259420-02
*We reserve the right to change the information in this manual without prior notice.
AH Motion Controller - Operation Manual

AH Motion Controller Operation Manual
Revision History
Version
Revision
Date
1
st
The first version was published.
2017/09/20
2nd
1.Correct C0, C1, C2, C3 to COM on the diagrams
depicting transistor output circuits in section 2.2.3.2
2.Add CPU module parameter settings in Chapter 4.
3.Add EtherCAT symbols; delete AR and AM device in
Chapter 5.
4.Revise motion axes parameter description; delete
un-used motion axes parameters in Chapter 6.
5.Revise axis states and state transitions; add BufferMode
function in Chapter 7.
6.Add memory card FTP description in Chapter 8.
7.Revise error codes indicators and troubleshooting;
delete AR and AM device in Chapter 9.
2018/08/31

i
AH Motion – Operation 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 Introduction to Motion Control Operation
1.1 Features of AH Motion ....................................................................1-2
1.1.1. PLCopen based Motion Control Instructions.......................................1-2
1.1.2. Motion Network Communications.....................................................1-2
1.2 AH Motion System Configurations...................................................1-3
1.3 Basic Operating Procedures for Motion Control ..............................1-4
1.4 Specifications of AH Motion CPU.....................................................1-6
1.4.1 General Specifications....................................................................1-6
1.4.2 Motion Control Specifications ........................................................ 1-10
Chapter 2 Hardware Setup
2.1 Installation.....................................................................................2-2
2.1.1 CPU Rack Installation in a Control Panel ...........................................2-2
2.1.2 Mounting a Backplane....................................................................2-2
2.1.3 Installing a CPU/Module .................................................................2-4
2.2 Wiring.............................................................................................2-6
2.2.1 Basic System Configurations...........................................................2-6
2.2.2 Wiring Power Supply Modules…………………………………………………………………….2-6
2.2.3 Wiring AH Motion CPU Modules...................................................... 2-12
Chapter 3 Software Setup
3.1 Installing and Uninstalling ISPSoft.................................................3-2
3.1.1 Installing ISPSoft ..........................................................................3-3
3.1.2 Uninstalling ISPSoft.......................................................................3-6

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3.2 Installing and Uninstalling COMMGR .............................................. 3-8
3.2.1 Installing COMMGR ....................................................................... 3-8
3.2.2 Uninstalling COMMGR...................................................................3-10
3.3 Connecting ISPSoft with AH Motion CPU ...................................... 3-12
3.3.1 Direct connection via USB.............................................................3-12
3.3.2 Direct connection via Ethernet.......................................................3-12
Chapter 4 Operating ISPSoft
4.1 Quick Start ..................................................................................... 4-2
4.1.1 Example...................................................................................... 4-2
4.1.2 Hardware .................................................................................... 4-2
4.1.3 Program...................................................................................... 4-3
4.2 Procedures for Creating a Project in ISPSoft.................................. 4-3
4.3 Creating a Project........................................................................... 4-4
4.4 Hardware Configuration ................................................................. 4-5
4.4.1 Configuring a Module..................................................................... 4-5
4.4.2 Setting the Parameters in a CPU and a Module.................................. 4-7
4.4.3 Setting Module Parameters ............................................................ 4-9
4.4.4 Setting PLC Parameters ................................................................4-16
4.5 Creating a Program ...................................................................... 4-18
4.5.1 Adding a Ladder Diagram..............................................................4-19
4.5.2 Basic Editing─Creating a Contact and a Coil.....................................4-21
4.5.3 Basic Editing─Inserting a Network and Typing an Instruction .............4-24
4.5.4 Basic Editing - Selection of a Network and Operation ........................4-26
4.5.5 Basic Editing - Connecting a Contact in Parallel ................................4-28
4.5.6 Basic Editing─Editing a Comment ...................................................4-29
4.5.7 Basic Editing─Inserting an Applied Instruction..................................4-30
4.5.8 Basic Editing─Creating a Comparison Contact and Typing a Constant ..4-32
4.5.9 Writing a Program........................................................................4-33
4.5.10 Checking and Compiling a Program ................................................4-34
4.6 Testing and Debugging a Program................................................ 4-35
4.6.1 Creating a Connection ..................................................................4-35
4.6.2 Downloading a Program and Parameters .........................................4-38
4.6.3 Connection Test...........................................................................4-40

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4.6.4 Setting a Real-time Clock ............................................................. 4-46
Chapter 5 Understanding Common Devices
5.1. Introduction ...................................................................................5-2
5.2. Common Devices ............................................................................5-2
5.2.1. Functions of Common Devices.........................................................5-2
5.2.2. Device List ...................................................................................5-2
5.2.3. Latched Devices............................................................................5-4
5.2.4. Input Relays (X) ...........................................................................5-5
5.2.5. Output Relays (Y) .........................................................................5-5
5.2.6. Auxiliary Relays (M) ......................................................................5-6
5.2.7. Special Auxiliary Relays (SM/AM) ....................................................5-6
5.2.8. Data Registers (D) ........................................................................5-6
5.2.9. Special Data Registers (SR/AR).......................................................5-7
5.2.10. Link Registers (L)..........................................................................5-7
5.2.11. Stepping Relays (S).......................................................................5-7
5.2.12. Timers (T)....................................................................................5-7
5.2.13. Counters (C) ................................................................................5-9
5.2.14. 32-bit Counters (HC/AC) .............................................................. 5-10
5.2.15. Index Registers (E) ..................................................................... 5-10
5.2.16. Values and Constants (K, 16#) ..................................................... 5-11
5.2.17. Floating-point Numbers (F, DF)..................................................... 5-12
5.2.18. Strings (“$”)............................................................................... 5-14
5.3. EtherCAT Symbols ........................................................................5-16
5.4. Symbols........................................................................................5-16
5.4.1 Application of Symbols................................................................. 5-16
5.4.2 Classes...................................................................................... 5-16
5.4.3 Data Types................................................................................. 5-17
5.4.4 Using Devices, Symbols and Instructions........................................ 5-18
5.4.5 Modifying a Symbol with an Index Register..................................... 5-19
5.5. User-defined Data Type (ENUM)...................................................5-20
Chapter 6 Understanding Motion Control Devices
6.1 Motion Control Devices...................................................................6-2

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6.1.1. Structures Applicable for Motion Control........................................... 6-2
6.1.2. Parameters for Motion Axes............................................................ 6-2
Chapter 7 Motion Control Programming
7.1 Introduction................................................................................... 7-2
7.1.1 Program Organization Units and Tasks ................................................ 7-2
7.2 Motion Control Program................................................................. 7-3
7.2.1 Program Architecture and Types in ISPSoft .......................................... 7-3
7.2.2 POUs in ISPSoft............................................................................... 7-4
7.2.3 Managing the Tasks in ISPSoft ........................................................... 7-4
7.3 Motion Control Instructions ........................................................... 7-5
7.3.1 Function Blocks for AH Motion Controller CPU....................................... 7-5
7.4 Axis................................................................................................ 7-7
7.5 State Transitions.......................................................................... 7-10
7.5.1 Axis States.....................................................................................7-10
7.5.2 Axis Group State.............................................................................7-11
7.6 Buffer Mode ................................................................................. 7-12
7.7 Execution of Function Block Instructions ..................................... 7-17
7.7.1 The Interface of a Motion Control Function Block .................................7-17
7.7.2 Timing Diagram for Input/Outputs.....................................................7-20
7.8 Positions ...................................................................................... 7-21
7.8.1 Postion Types .................................................................................7-21
7.8.2 Applicable Postions for Each Axis Type ...............................................7-21
7.9 Electronic Cam…………………………………………………………………..…7-21
7.9.1 Introduction of Electronic Cams.........................................................7-21
7.9.2 Operation of an Electronic Cam.........................................................7-22
7.9.2.1Initial Setting..............................................................................7-23
7.9.2.2Setting a Master/Slave Axis and Operating an Electronic Cam ............7-24
7.9.2.3Starting/Stopping an Electronic Cam Operating Cyclically ..................7-28
7.9.3 Creating Electronic Cam Data ........................................................7-31
7.9.3.1Creating a CAM Chart in ISPSoft ....................................................7-31
7.9.4 Application of an Electronic Cam—Using a Rotary Cutter....................7-40
7.9.4.1Creating Rotary Cut Data..............................................................7-43

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Chapter 8 Memory Card
8.1 Overview of Memory Cards.............................................................8-2
8.1.1 Appearances of Memory Cards........................................................8-2
8.1.2 Specifications for SD Cards.............................................................8-2
8.2 Using a Memory Card .....................................................................8-3
8.2.1. Formatting a Memory Card.............................................................8-3
8.3 Installing and Removing a Memory Card........................................8-5
8.3.1. SD Slot in a CPU ...........................................................................8-5
8.3.2. Installing a Memory Card ...............................................................8-6
8.3.3. Removing a Memory Card ..............................................................8-6
8.4 Contents of a Memory Card ............................................................8-7
8.4.1. Initializing a Memory Card..............................................................8-7
8.4.2. Folder Structure in a Memory Card ..................................................8-7
8.5 Reading/Writing a Memory Card....................................................8-8
8.5.1. Backing up the System ..................................................................8-8
8.5.2. Restoring the System ....................................................................8-8
8.6 CARD Utility....................................................................................8-8
8.7 Backup .........................................................................................8-10
8.8 Restoration ..................................................................................8-14
Chapter 9 Troubleshooting
9.1 Inspection and Troubleshooting.....................................................9-3
9.1.1. Basic Inspection............................................................................9-3
9.1.2. Clearing the Error State .................................................................9-3
9.1.3. Troubleshooting Procedure..............................................................9-4
9.1.4. Viewing Error Logs ........................................................................9-5
9.2 Error Codes and Indicators.............................................................9-6
9.2.1. AHxxEMC-5A ................................................................................9-7
9.2.2. Analog I/O Modules and Temperature Measurement Modules ............. 9-28
9.2.3. AH02HC-5A/AH04HC-5A .............................................................. 9-30
9.2.4. AH05PM-5A/AH10PM-5A/AH15PM-5A............................................. 9-30

vi
9.2.5. AH20MC-5A ................................................................................9-32
9.2.6. AH10EN-5A/AH15EN-5A ...............................................................9-33
9.2.7. AH10SCM-5A/AH15SCM-5A...........................................................9-33
9.2.8. AH10DNET-5A.............................................................................9-33
9.2.9. AH10PFBM-5A.............................................................................9-34
9.2.10. AH10PFBS-5A .............................................................................9-34
9.2.11. AH10COPM-5A ............................................................................9-35
9.3 Troubleshooting for CPU .............................................................. 9-36
9.3.1. ERROR Indicator ON.....................................................................9-36
9.3.2. ERROR Indicator Blinking..............................................................9-38
9.3.3. BUS FAULT Indicator ON ...............................................................9-55
9.3.4. BUS FAULT Indicator Blinking.........................................................9-56
9.3.5. Others .......................................................................................9-57
9.4 Troubleshooting for I/O Modules................................................. 9-69
9.4.1. Analog I/O Modules and Temperature Measurement Modules..............9-69
9.4.2. AH02HC-5A/AH04HC-5A ...............................................................9-72
9.4.3. AH05PM-5A/AH10PM-5A/AH15PM-5A..............................................9-74
9.4.4. AH20MC-5A ................................................................................9-76
9.4.5. AH10EN-5A/AH15EN-5A ...............................................................9-77
9.4.6. AH10SCM-5A/AH15SCM-5A...........................................................9-78
9.4.7. AH10DNET-5A.............................................................................9-78
9.4.8. AH10PFBM-5A.............................................................................9-79
9.4.9. AH10PFBS-5A .............................................................................9-80
9.4.10. AH10COPM-5A ............................................................................9-80
9.5 Troubleshooting for Limitation Errors .......................................... 9-82
9.5.1. Software limit errors ....................................................................9-82
9.5.2. Hardware limit errors ...................................................................9-83
Appendices
A.1 Installing the USB Driver for an AH Motion CPU on Windows 7 ......A-2
A.2 Device Addresses ...........................................................................A-5
A.3 Operating Principles of the CPU Module .........................................A-7
A.3.1 Operation of the CPU Module.......................................................... A-7
A.3.2 Operating Modes of the CPU Module ................................................ A-9

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 – Operation 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 concept of motion control operation, overview of software operation, motion control
programming procedures, and troubleshooting information of the system. 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 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.