Delta AH Series User manual

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

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 Controller series manuals
AH500 Motion Control Module Manual
AH500 Module Manual
Fundamental
AH Motion Controller – Operation Manual
AH Motion Controller –
Motion Control 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
for communication (e.g. EtherCAT)
for additional motion control modules V

AH Motion Controller – Operation Manual
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Related manuals
General operation procedures
AH Motion Controller series manuals
AH500 Motion Control Module Manual
AH500 Module Manual
Fundamental
AH Motion Controller – Operation Manual
AH Motion Controller –
Motion Control Instructions Manual
AH Motion Controller – Hardware Manual
ISPSoft User Manual
AH Motion Controller –
Standard Instructions Manual
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 associate 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 Introduction to Motion Control
Operation
Table of Contents
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......................................................................1-8

AH Motion Controller – Operation Manual
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1.1 Features of AH Motion
AH Motion Controller is the advanced motion control series with dedicated motion control CPUs and shares the same
modules with AH series PLCs. Through the motion control network, such as EtherCAT, AH Motion Controller CPU can
perform high-speed, high-precision machine control with the connected servo drives on the motion network.
1.1.1. PLCopen based Motion Control Instructions
AH Motion Controller CPUs offers motion control instructions that are standardized by PLCopen*. In addition, you can
also use the convenient function block instructions developed by Delta together with the PLCopen based instructions to
optimize the control flexibility. These instructions help you achieve single-axis motion, multi-axis interpolation, G-code
programming, synchronized motion (e.g. electronic cam/gear), velocity control, and torque control. You can specify the
motion parameters in the motion control instructions and the axis parameters according to the application.
*Note:
PLCopen is an organization promoting industrial control based on IEC61131-3, which is an international standard widely
adopted for PLC programming. For more information regarding PLCopen, check the official website at:
http://www.plcopen.org/
1.1.2. Motion Network Communications
The AH Motion Controller CPU with built-in motion network (e.g. EtherCAT) port can be connected with Delta servo drives
that supports the same motion network to perform data exchange of all control information via high-speed
communications. In comparison with the traditional pulse-type motion controllers, the motion control instructions in
network-type controllers are sent via data communications, meaning the servo motors performance is optimized and is not
limited by the interface specifications, e.g. the response frequency of the feedback from encoders. The motion network
communications allows users to achieve a real-time control and monitoring system.

Chapter 1 Introduction to Motion Control Operation
1-3
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1.2 AH Motion System Configurations
The AH Motion Controller series CPU basic configurations include the AH Motion Controller CPU Network
Configuration, AH500 Series Module Configuration, and Supported Software.
AH Motion Controller 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 Controller series. 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.
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

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1.3 Basic Operating Procedures for Motion Control
n

Chapter 1 Introduction to Motion Control Operation
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AH Motion Controller – Operation Manual
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1.4 Specifications of AH Motion CPU
1.4.1 General Specifications
AHxxEMC-5A
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
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
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

Chapter 1 Introduction to Motion Control Operation
1-7
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General Specifications
AHxxEMC-5A Remark
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 328 inputs/ 324 outputs (AHxxEMC) 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) (AHxxEMC)
Data register [D] D device (bit): 1048576 (D0.0~D65535.15)
D device (word): 65536 (D0~D65535)
Stepping relay [S] 2048 (S0~S2047)
Index register [E] 32 (E0~E31)
Special auxiliary relay [SM] SM: 2048 (SM0~SM2047)
Special data register [SR] SR: 2048 (SR0~SR2047)
Serial communication port One RS-232(USB), One RS-485
communication port
Ethernet port 10/100 M
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

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1.4.2 Motion Control Specifications
AHxxEMC-5A
Specifications AHxxEMC-5A
Number of substantial axes
supported
AH08EMC: 8 axes / AH10EMC: 16 axes / AH20EMC: 32 axes
(Axis 1~axis 32)
Storage The capacity of the built-in storage is 256K steps.
Unit Motor unit and mechanical unit
Motor control EtherCAT high-speed motion control system
The response time is 100 Mbps.
Maximum speed
EtherCAT: 100M bps
Differential input: 1 MHz
Open collector input: 200 KHz
Open collector output: 200 KHz
Input signal
Operating
switch RUN-STOP switch
Input terminal X0.0+, X0.0-, X0.1+, X0.1-, X0.8+, X0.8-, X0.9+, X0.9-, X0.10+, X0.10-, X0.11+,
X0.11-;
X0.2, X0.3, X0.12, X0.13, X0.14, X0.15, X1.0, X1.1, X1.2, X1.3, X1.4, X1.5
Output
signal
Output terminal Y0.8, Y0.9, Y0.10, and Y0.11
External
communication
port
Mini USB port
Ethernet port
EtherCAT port
Memory card slot Supports Micro SD card
The maximum capacity is 32 GB.
M-code
M00~M01, M03~M101, and M103~M65535: The execution of a program pauses.
(WAIT)
You 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
Number of high-speed
capture/comparison 6
Number of interrupt devices 216