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Delta AH Series Hardware Manual

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

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  • Page 1 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 AH Motion Controller - TEL: 82-2-515-5303 / FAX: 82-2-515-5302 Delta Electronics Int’l (S) Pte Ltd. Hardware Manual 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228 Delta Electronics (India) Pvt.
  • Page 2 AH Motion Controller Hardware Manual Revision History Ve r s i o n R e v i s i o n D a t e T h e f i r s t v e r s i o n w a s p u b l i s h e d . 2 0 1 7 / 0 9 / 2 0 A H 1 0 E N - 5 A , A H 1 5 E N - 5 A , 1 .

  • Page 3: Table Of Contents

    Applicable Products ................. II P.1.2 Related Manuals ................II Navigation between Manuals ............III Chapter 1 Product Introduction The AH Series Motion Controller ............. 1-2 1.1.1. Product Features ................1-3 1.1.2. Overview of the System Configurations ..........1-6 AH Motion CPU Specifications ............1-8 1.2.1...
  • Page 4 3.2.6 Dimensions ................. 3-15 3.2.7 Arrangement of Terminals ............. 3-16 3.2.8 Memory Card Slot ................ 3-16 I/O Modules ................. 3-17 Chapter 4 Installation and Wiring Quick Review before Installation ............ 4-2 4.1.1 AH Motion Hardware Components ........... 4-2 Points to Note on Installation ............4-6 Installation ..................
  • Page 5 5.2.2 Daily Inspection ................5-3 Periodic Maintenance ..............5-4 5.3.1 Tools Required for Inspection ............5-4 5.3.2 Periodic Inspection ................ 5-4 Appendices 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 .........

  • Page 6: Preface

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

  • Page 7: Introduction

    AH M o ti on Co n tro l ler – H ardw are Ma nua l 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.

  • Page 8: Navigation Between Manuals

    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.
  • Page 9 AH M o ti on Co n tro l ler – H ardw are Ma nua l Related manuals AH Motion series manuals Fundamental General operation procedures for communication (e.g. EtherCAT) for additional motion control modules for I/O extension using AH500 series modules Testing and troubleshooting for motion control applications...

  • Page 10: Chapter 1 Product Introduction

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

  • Page 11: The Ah Series Motion Controller

    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.

  • Page 12: Product Features

    Ch ap te r 1 Prod uc t In tr od uc tion 1.1.1. Product Features Hardware Features 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.
  • Page 13 AH Mo tion Co n tro ller – H ardw are Ma nua l 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.
  • Page 14 Ch ap te r 1 Prod uc t In tr od uc tion Software Features 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. ...

  • Page 15: Overview Of The System Configurations

    AH Mo tion Co n tro ller – H ardw are Ma nua l 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.
  • Page 16 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.

  • Page 17: Ah Motion Cpu Specifications

    AH Mo tion Co n tro ller – H ardw are Ma nua l  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...
  • Page 18 Ch ap te r 1 Prod uc t In tr od uc tion 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 1-32000 The scan cycle time can be Constant scan cycle (ms) (The scan cycle can be increased by one specified by parameters.
  • Page 19 AH Mo tion Co n tro ller – H ardw are Ma nua l General Specifications AHxxEMC-5A Remark USB port Mini USB Memory card slot Supports Micro SD card (SD 2.0) The function is available when the Years, months, days, hours, minutes, Real-time clock CPU is used together with the seconds, and weeks...

  • Page 20: Chapter 2 System Configuration

    Chapter 2 System Configuration Table of Contents Basic System Configuration ................ 2-2 2.1.1. AH Motion CPU Network Configuration ............2-3 2.1.2. AH500 Series Module Configuration ............. 2-4 Software Connection ................2-10 Overall Network Configuration ..............2-11 2.3.1 EtherNet/IP ....................2-12...

  • Page 21: Basic System Configuration

    AH Mo tion Co n tro ller – H ardw are Ma nua l 2.1 Basic System Configuration An AH Motion series CPU provides two types of configurations as follows. Basic Configurations The basic configurations explained in this section include the CPU network configuration and the configuration of the I/O modules which are controlled by the CPU.

  • Page 22: Ah Motion Cpu Network Configuration

    Ch ap te r 2 Sys tem Co n figur a tio n AH500 Series Module Configuration Power supply module AH Motion CPU Digital I/O, Special I/O Motion backplane EtherCAT network AH Motion CPU Network Configuration configuration(AH10EMC) EtherCAT slaves Servo Drives Inverters General-prupose slaves 2.1.1.

  • Page 23: Ah500 Series Module Configuration

    AH M o ti on Co n tro l ler – Har dware Manual AH Motion CPU EtherCAT EtherCAT slaves Servo drives Inverters General-purpose slaves 2.1.2. AH500 Series Module Configuration The AH Motion CPU rack consists of a motion backplane with a power supply module and a motion CPU. You can mount additional AH500 series moudles to the right for different applications.
  • Page 24 Ch ap te r 2 Sys tem Co n figur a tio n  Components Component Model Name Description 100~240 VAC AHPS05-5A Power supply 50/60 Hz module AHPS15-5A 24 VDC AH08EMC-5A: 8 axes; AH10EMC-5A: 16 axes; AH20EMC-5A: 32 axes One EtherCAT port AH Motion AHxxEMC-5A One EtherNet/IP port (adapter)
  • Page 25 AH M o ti on Co n tro l ler – Har dware Manual Component Model Name Description 12~24 VDC 0.5 A AH16AN01T-5A 16 outputs Sinking output Terminal block 12~24 VDC 0.5 A AH16AN01P-5A 16 outputs Sourcing output Terminal block 12~24 VDC 0.1 A AH32AN02T-5A...
  • Page 26 Ch ap te r 2 Sys tem Co n figur a tio n Component Model Name Description 12~24 VDC 0.1 A AH64AN02P-5C 64 outputs Sourcing output MIL connector 100~240 VAC 0.5 A AH16AN01S-5A 16 outputs TRIAC Terminal block Four-channel analog input module Hardware resolution: 16 bits AH04AD-5A 0/1 V~5 V, -5 V~5 V, 0 V~10 V, -10 V~10 V, 0/4 mA~20 mA, and -20...
  • Page 27 (Four axes: 1 MHz; Two axes: 200 kHz) AH15PM-5A Four-axis pulse train motion control module (1 MHz ) Twelve-axis DMCNET (Delta Motion Control Network) motion control AH20MC-5A module (10 Mbps) It is an Ethernet communication module with two Ethernet ports, and supports Modbus TCP protocols, and EtherNet/IP software (V2.0).
  • Page 28 Ch ap te r 2 Sys tem Co n figur a tio n Component Model Name Description AH10PFBM-5A It is a PROFIBUS communication module. It can function as a master. AH10PFBS-5A It is a PROFIBUS communication module. It can function as a slave. It is a CANopen communication module.

  • Page 29: Software Connection

    AH M o ti on Co n tro l ler – Har dware Manual Component Model Name Description Dummy AHASP01-5A Dummy module used for an empty I/O slot module 2.2 Software Connection Through the network interfaces on the AH motion CPU and the motion backplane, you can connect the CPU to the host computer with RS-232(USB), RS-485, and Ethernet networks.

  • Page 30: Overall Network Configuration

    Ch ap te r 2 Sys tem Co n figur a tio n 2.3 Overall Network Configuration AHxxEMC In addition to the AH Motion CPU network, e.g. EtherCAT, you can expand AH Motion system with additional networks such as CANopen network and serial communication networks. The diagram below shows the overall network configuration of different layers.

  • Page 31: Ethernet/Ip

    (CIP) with host personal communications port computer EtherNet/IP Automatic data exchange EtherNet/IP MODBUS TCP Control Layer between controllers (no MODBUS TCP Delta controllers MODBUS programming required) Serial communications RS-422/RS-485 Communication between MODBUS Serial communication PLC and devices with Serial communications RS-422/RS-485 module serial interface.

  • Page 32: Chapter 3 Product Specifications

    Chapter 3 Product Specifications Table of Contents Environmental Specifications ..............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 ....................

  • Page 33: Environmental Specifications

    AH M o ti on Co n tro l ler – H ardw are Ma nua l 3.1 Environmental Specifications Environmental Specifications Operating temperature -20~60°C Storage temperature -40~70°C 5~95% Operating humidity No condensation 5~95% Storage humidity No condensation International standards IEC 61131-2, IEC 68-2-6 (TEST Fc)/ Vibration/Shock resistance IEC 61131-2 &...
  • Page 34 Ch ap te r 3 Prod uc t Sp eci fica tio ns General Specifications AHxxEMC-5A Remark X/Y devices (bit): 8192 Number of input/output (X0.0~X511.15/Y0.0~Y511.15) Number of devices which can be devices X/Y devices (word): 512 used in a program (X0~X511/Y0~Y511) Number of inputs/outputs Number of inputs/outputs...
  • Page 35 AH M o ti on Co n tro l ler – H ardw are Ma nua l Rated input Response Terminal Description characteristic Current Voltage Common input terminals. The functions of the terminals:  High-speed count:  The terminals are the RESET input X0.2, X0.3, terminals for counter 2~counter 5.

  • Page 36: Motion Control Function Specifications

    Ch ap te r 3 Prod uc t Sp eci fica tio ns *1. If the frequency of input signals received by an input terminal must be 200 kHz, the input terminal must be connected to a 1 kΩ (2 W) resistor in parallel *2.

  • Page 37: Communication Ports

    EtherCAT: An EtherCAT port can be used to perform motion control function based on EtherCAT communications. Specifications Electrical isolation 500 VDC Connector RJ45 Delta Cable UC-EMC003-02 (0.3M), UC-EMC005-02 (0.5M), UC-EMC010-02 (1M), Transmission cable UC-EMC020-02 (2M), UC-EMC050-02 (5M), UC-EMC100-02 (10M), UC-EMC200-02 (20M) 3 - 6...

  • Page 38: I/O Addressing Of Ah Motion Cpu

    Ch ap te r 3 Prod uc t Sp eci fica tio ns Communication specifications: Interface Mini USB Specifications Serial transmission rate 9,600~57,600 bps Number of data bits 7 bits~8 bits Parity bit Even parity bit/Odd parity bit/None Number of stop bits 1 data bit~2 data bits ASCII mode Slave stations are supported.
  • Page 39 AH M o ti on Co n tro l ler – H ardw are Ma nua l  Software-defined Addresses Digital Input/Output Modules Input/Output devices are automatically assigned to a digital input/output module through HWCONFIG in ISPSoft according to the number of inputs/outputs which the digital input/output module has. The default start addresses are shown below.
  • Page 40 Ch ap te r 3 Prod uc t Sp eci fica tio ns 4 input channels. The input device range occupies 8 data registers. 04AD 8 input channels. The input device range occupies 16 data registers 08AD 4 input channels, and 2 output channels. The input device range occupies 8 data registers, and the 06XA output device range occupies 4 data registers.
  • Page 41 AH M o ti on Co n tro l ler – H ardw are Ma nua l Motion Control Modules Input/Output data registers are automatically assigned to a motion control module through HWCONFIG in ISPSoft according to the number of registers which is defined for the motion control module. Note: The below diagram only shows the list of the modules and is not an actual configuration.
  • Page 42 Ch ap te r 3 Prod uc t Sp eci fica tio ns 10EN/15EN The input device range occupies 20 data registers and output device range 20 data registers. 10SCM The input device range occupies 18 data registers. 10DNET No input device and output device will be occupied. 10PFBS No input device and output device will be occupied.
  • Page 43 AH M o ti on Co n tro l ler – H ardw are Ma nua l Analog Input/Output Modules You can assign input registers and output registers to an analog input/output module through HWCONFIG in ISPSoft. The input registers and the output registers should be within the range between D0 and D65535. Take AH06XA-5A for example.
  • Page 44 Ch ap te r 3 Prod uc t Sp eci fica tio ns  The user-defined input device range: D60~D75 Motion Control Modules You can assign input registers and output registers to a motion control module through HWCONFIG in ISPSoft. The input registers should be within the range between D0 and D65535, and the output registers should be within the range between D0 and D65535.

  • Page 45: Profiles

    AH M o ti on Co n tro l ler – H ardw are Ma nua l  The default input device range: D0~D19  The user-defined input device range: D150~D169 3.2.5 Profiles  AHxxEMC-5A 10EMC ERRO R ERRO R Et he rC A T S TO P R UN...

  • Page 46: Dimensions

    Ch ap te r 3 Prod uc t Sp eci fica tio ns Number Name Description Error status of the CPU module ON: A serious error occurs in the system. ERROR LED indicator OFF: The system is normal. Blink: A slight error occurs in the system. Error status of the I/O bus ON: A serious error occurs in the I/O bus.

  • Page 47: Arrangement Of Terminals

    AH M o ti on Co n tro l ler – H ardw are Ma nua l 3.2.7 Arrangement of Terminals  AHxxEMC-5A Function Function Terminal Terminal Pulse Count Pulse Count Y0.11 Out3 Y0.10 Out2 Y0.9 Out1 Y0.8 Out0 X1.3 CntA5 X1.5 Rst5...

  • Page 48: I/O Modules

    Ch ap te r 3 Prod uc t Sp eci fica tio ns Specifications for Memory Cards The specifications of SD cards can also be classified into three types according to capacity: SD cards, SDHC cards, and SDXC cards. The AH Motion CPU supports MicroSDHC in FAT32 file system as below. Be sure to purchase products which meet the specifications.
  • Page 49 AH M o ti on Co n tro l ler – H ardw are Ma nua l MEMO 3 - 1 8...
  • Page 50 Chapter 4 Installation and Wiring Table of Contents Quick Review before Installation ..............4-2     4.1.1 AH Motion Hardware Components ............... 4-2     Points to Note on Installation ..............4-6     Installation ....................4-7     4.3.1 CPU Rack Installation in a Control Panel ............

  • Page 51: Quick Review Before Installation

    Ch ap te r 4 Ins ta l la tion a nd Wiring 4.1 Quick Review before Installation Before you start the installation and wiring of AH Motion system, we suggest that you review your actual application and have a clear idea of the required components in your system. This section will give you a quick overview of the components in AH Motion CPU rack configuration.
  • Page 52 Ch ap te r 4 Ins ta l la tion a nd Wiring Power supply modules A power supply module functions to convert alternating current to direct current, or directly provides direct current. It provides power for the modules installed on it. A Motion backplane must `be assigned a power supply module. A power supply module has to be installed on the left-most side of a backplane.
  • Page 53 (Four axes: 1 MHz; Two axes: 200 kHz) Four-axis pulse train motion control module (1 MHz ) AH15PM-5A Twelve-axis DMCNET (Delta Motion Control Network) motion control module (10 Mbps) AH20MC-5A Digital input/output modules: 24 VDC, 5 mA, 16 inputs, Terminal block...
  • Page 54 Ch ap te r 4 Ins ta l la tion a nd Wiring Analog input/output modules: Four-channel analog input module 16-bit resolution AH04AD-5A -10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V, 0/4~20 mA, or -20~+20 mA Eight-channel analog input module 16-bit resolution AH08AD-5A -10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V, 0/4~20 mA, or -20~+20 mA...

  • Page 55: Points To Note On Installation

    AH Mo tion Co n tro ller – H ardw are Ma nua l Modbus and UD Link protocols. One part of communication is isolated from the other part of the communication, and one part of power is isolated from the other part of the power.

  • Page 56: Installation

    Ch ap te r 4 Ins ta l la tion a nd Wiring 4.3 Installation 4.3.1 CPU Rack Installation in a Control Panel The motion controller has to be installed in a closed control box. In order to ensure that the PLC disapates heat properly, the space between the motion controller and the control box has to be larger than 50 millimeters.
  • Page 57 AH Mo tion Co n tro ller – H ardw are Ma nua l 2. Tighten the two screws in the holes indicated by b. ｂ ｂ  Installing a DIN rail 1. The installation is applicable to a 35 millimeter DIN rail. 2.

  • Page 58: Installing A Module

    Ch ap te r 4 Ins ta l la tion a nd Wiring  Removing a DIN rail Step 1: Press the hook in the direction indicated by the arrow. Step 2: Remove the backplane. DIN rail 4.3.3 Installing a Module Insert a module into a slot, make sure that the module is installed on the backplane properly, and tighen the the screw, as illustrated below.

  • Page 59: Installing A Removable Terminal Block

    AH Mo tion Co n tro ller – H ardw are Ma nua l 3. Tighten the screw on the module. 4.3.4 Installing a Removable Terminal Block  Installation 1. Align a terminal block with the printed circuit board, and press it into the module. Type 1 4 - 1 0...
  • Page 60 Ch ap te r 4 Ins ta l la tion a nd Wiring Type 2 2. Press the clip in the direction indicated by the arrow. For high-definition terminals(Type 2), a flat head screw driver is required to fasten the screws on both ends. Type 1 Type 2 ...
  • Page 61 AH Mo tion Co n tro ller – H ardw are Ma nua l Type 1 Type 2 Pull up the clip. High-definition terminals(Type 2) can be pull out directly. Type 1 4 - 1 2...
  • Page 62 Ch ap te r 4 Ins ta l la tion a nd Wiring Type 2 3. The terminal block is removed. Type 1 Type 2 4 - 1 3...

  • Page 63: Installing An External Terminal Module

    AH Mo tion Co n tro ller – H ardw are Ma nua l 4.3.5 Installing an External Terminal Module  Installation One side of an external terminal module has to be fixed first. Press the terminal module in the direction indicated by arrow 1, and make sure that the groove is combined with the DIN rail.

  • Page 64: Connecting Communication Cables

    Ch ap te r 4 Ins ta l la tion a nd Wiring 4.3.6 Connecting Communication Cables Plug a communication cable in the port on a Motion CPU module, and make sure that the connector of the cable is joined to the port properly.

  • Page 65: Points To Note About Wiring

    AH Mo tion Co n tro ller – H ardw are Ma nua l  Installing a Memory Card Insert a memory card into the SD slot in a Motion CPU module, and push it downward until it clicks. After the memory card is installed, it is fixed firmly in the slot.
  • Page 66 Ch ap te r 4 Ins ta l la tion a nd Wiring be damaged.  The external connections should be crimped or press-welded by specific tools, or soldered correctly. The improper connections will result in a short circuit, a fire accident, or erroneous operation. ...

  • Page 67: Wiring Power Supply Modules

    AH Mo tion Co n tro ller – H ardw are Ma nua l Note The 110 V/220 V power cable and the 24 VDC power cable should be thick cables. (The area of the cross-section of the cable is 2 mm , and the diameter of the cable is 14 AWG.) Be sure to twist the power cables at terminal screws.

  • Page 68: Ground

    Ch ap te r 4 Ins ta l la tion a nd Wiring Isolating transformer 24 V DC powe r AHPS15-5A supply AC power supply 100-240 V I/O equipment Another piec e of equipment The 110 VAC cable, the 220 VAC cable, and the 24 VDC cable should be twisted, and connected to a module within a short distance.

  • Page 69: Wiring Power Supply Modules

    AH Mo tion Co n tro ller – H ardw are Ma nua l 4.5.3 Wiring Power Supply Modules  Connecting an AC power cable *1. 24V on the external power supply is connected to VS+ and VS- on the power supply module. VS+ and VS- can be used to detect whether the voltage of the external power supply is stable.
  • Page 70 Ch ap te r 4 Ins ta l la tion a nd Wiring  Safety wiring: The PLC controls many devices, and the activity of any device affects the activity of other devices. If any device breaks down, the whole automatic control system goes out of control, and the danger occurs. The protection circuit is shown below.
  • Page 71 AH Mo tion Co n tro ller – H ardw are Ma nua l  Connecting a DC power cable *1. 24V on the external power supply is connected to VS+ and VS- on the power supply module. VS+ and VS- can be used to detect whether the voltage of the external power supply is stable.

  • Page 72: Power Consumption

    Ch ap te r 4 Ins ta l la tion a nd Wiring 4.5.4 Power Consumption Products Model name Internal power consumption External power consumption AHxxEMC-5A AH Motion CPU AHBP03M2-5A 1.2 W Motion control backplane AHBP05M2-5A 1.2 W AH02HC-5A 2.4 W AH04HC-5A 2.4 W AH05PM-5A...

  • Page 73: Wiring Ah Motion Cpu Modules

    AH Mo tion Co n tro ller – H ardw are Ma nua l Products Model name Internal power consumption External power consumption AH08DA-5B 0.25 W 2.2 W AH08AD-5C 1.6 W AH08DA-5C 0.25 W 3.7 W AH04PT-5A AH08PTG-5A 0.7W Temperature measurement module AH04TC-5A 1.5 W...
  • Page 74 Ch ap te r 4 Ins ta l la tion a nd Wiring General Specifications AHxxEMC-5A Remark Modules are installed directly on a Installation of modules backplane. Five input/output modules at most can be Number of modules installed on a motion backplane. 283 tasks (32 cyclic tasks;...
  • Page 75 AH Mo tion Co n tro ller – H ardw are Ma nua l Description of the terminals Rated input Response Terminal Description characteristic Current Voltage 1. Differential input terminals. 2. The functions of the terminals: High-speed count:   The terminals are the RESET input terminals for counter 0~counter 1.

  • Page 76: Wiring Ahxxemc-5A

    Ch ap te r 4 Ins ta l la tion a nd Wiring Rated input Response Terminal Description characteristic Current Voltage X1.0 and X1.1 are for counter 4. X1.2, X1.2 and X1.3 are for counter 5. X1.3 High-speed capture: The terminals can function ...
  • Page 77 AH Mo tion Co n tro ller – H ardw are Ma nua l  MDR36 connector Function Function Y0.11 Y0.10 Y0.9 Y0.8 X1.3 X1.5 X1.2 X1.1 X1.4 X1.0 X0.15 X0.3 X0.14 X0.13 X0.2 X0.12 X0.1- X0.1+ X0.11- X0.11+ X0.10- X0.10+ X0.0- X0.0+...
  • Page 78 Ch ap te r 4 Ins ta l la tion a nd Wiring (negative pole)  EtherCAT port Signal Description Transmitting data (positive pole) Transmitting data (negative pole) Receiving data (positive pole) Receiving data (negative pole) Wiring the Differential Input Terminals The direct-current signals in voltage 5 V can pass through the high-speed input terminals X0.0+~X0.1+, X0.0-~X0.1-, X0.8+~X0.11+, and X0.8-~X0.11- on AHxxEMC-5A.
  • Page 79 AH Mo tion Co n tro ller – H ardw are Ma nua l C OM    Direct-current power supply Emergency stop Fuse The output terminals of a transistor module are open-collector output terminals. If Y0.8 is a pulse train output terminal of a transistor module, the output current passing through its output pull-up resistor must be greater than 0.1 A to ensure that the transistor module operates normally.

  • Page 80: Wiring I/O Modules

    Ch ap te r 4 Ins ta l la tion a nd Wiring 4.7 Wiring I/O Modules AH motion controller PLC supports the following I/O module types: digital input/output modules, analog input/output modules, temperature measurement modules, network modules, motion control modules, remote I/O modules. Refer to Chapter 5 of the AH500 Hardware Manual for more details.
  • Page 81 AH Mo tion Co n tro ller – H ardw are Ma nua l MEMO 4 - 3 2...
  • Page 82 Chapter 5 Maintenance and Inpection Table of Contents Cautions ..................... 5-2 Daily Maintenance ..................5-2 5.2.1 Tools Required for Inspection ..............5-3 5.2.2 Daily Inspection ..................5-3 Periodic Maintenance ................. 5-4 5.3.1 Tools Required for Inspection ..............5-4 5.3.2 Periodic Inspection ..................5-4 5 - 1...

  • Page 83: Cautions

    AH Mo t io n C on tr o ll er – Har d war e M a nu a l 5.1 Cautions Before users undertake the maintenance and the inspection, they have to pay attention to the following items. The incorrect or careless operation will lead to damage to the staff and the equipment.

  • Page 84: Tools Required For Inspection

    Ch a pt er 5 M ai n te n an c e an d I ns p ec t i o n 5.2.1 Tools Required for Inspection  A screwdriver  Industrial alcohol  A clean cotton cloth 5.2.2 Daily Inspection Item Inspection Criterion...

  • Page 85: Periodic Maintenance

    AH Mo t io n C on tr o ll er – Har d war e M a nu a l 5.3 Periodic Maintenance Under the condition that the daily inspection is undertaken, users are suggested that they should carry out the periodic maintenance according to the actual operating environment.
  • Page 86 Ch a pt er 5 M ai n te n an c e an d I ns p ec t i o n Item Inspection Criterion Action Check the state of SR413 and The maximum scan cycle must Check the reason that of SR414 through the Maximum scan time be within the range specified in...
  • Page 87 AH Mo t io n C on tr o ll er – Har d war e M a nu a l MEMO 5 - 6...
  • Page 88 Appendices Table of Contents EMC Standards for an AH Motion Controller System ......... 2 A.1.1 EMC Standards Applicable to an AH Motion Controller System ......2 A.1.2 Installation Instructions for the EMC Standards ..........3 A.1.3 Cables ......................4 A - 1...

  • Page 89: Emc Standards For An Ah Motion Controller System

    AH Mo t io n C on tr o ll er – Har d war e M a nu a l A.1 EMC Standards for an AH Motion Controller System A.1.1 EMC Standards Applicable to an AH Motion Controller System The EMC standards which are applicable to an AH Motion Controller system are listed below.

  • Page 90: Installation Instructions For The Emc Standards

    A pp e nd ic es  Conducted immunity test Radio frequency Environmental phenomenon Fast transient burst High energy surge interference Reference standard IEC 61000-4-4 IEC 61000-4-5 IEC 61000-4-6 Specific Interface/Port Test level Test level Test level interface/port 1 kV 1 kV CM Shielded cable Data...

  • Page 91: Cables

    AH Mo t io n C on tr o ll er – Har d war e M a nu a l The diameter of a hole in the control box must be less than 10 millimeters, i.e. 3.94 inches. If the diameter of the hole is larger than 10 millimeters, the radio frequency noise may be emitted.

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Ahxxemc-5a series

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