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. Operation 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 Operation 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 1 .
Page 3: Table Of Contents
AH Motion – Operation Manual Contents Preface Introduction ..................II P.1.1 Applicable Products ................. II P.1.2 Related Manuals ................II Navigation between Manuals ............III Chapter 1 Introduction to Motion Control Operation Features of AH Motion ..............1-2 1.1.1. PLCopen based Motion Control Instructions ........1-2 1.1.2.
Page 4 Installing and Uninstalling COMMGR ..........3-8 3.2.1 Installing COMMGR ............... 3-8 3.2.2 Uninstalling COMMGR ..............3-10 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 Quick Start ..................
Page 5 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.
Page 6 6.1.1. Structures Applicable for Motion Control ........... 6-2 6.1.2. Parameters for Motion Axes ............6-2 Chapter 7 Motion Control Programming Introduction ................... 7-2 7.1.1 Program Organization Units and Tasks ..........7-2 Motion Control Program ..............7-3 7.2.1 Program Architecture and Types in ISPSoft .......... 7-3 7.2.2 POUs in ISPSoft ................
Page 7 Chapter 8 Memory Card Overview of Memory Cards ............. 8-2 8.1.1 Appearances of Memory Cards ............8-2 8.1.2 Specifications for SD Cards ............. 8-2 Using a Memory Card ..............8-3 8.2.1. Formatting a Memory Card ............. 8-3 Installing and Removing a Memory Card ........8-5 8.3.1.
Page 8 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 Troubleshooting for CPU .............. 9-36 9.3.1. ERROR Indicator ON ..............9-36 9.3.2. ERROR Indicator Blinking ..............
Page 9: Preface
Preface Table of Contents Introduction ....................II P.1.1 Applicable Products ..................II P.1.2 Related Manuals ................... II Navigation between Manuals ................. III...
Page 10: Introduction
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.
Page 11: 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 12 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l Related manuals AH Motion Controller series manuals Fundamental General operation procedures for I/O extension using AH500 series modules Testing and troubleshooting for motion control applications...
Page 13: Chapter 1 Introduction To Motion Control Operation
Chapter 1 Introduction to Motion Control Operation Table of Contents Features of AH Motion ................1-2 1.1.1. PLCopen based Motion Control Instructions ........... 1-2 1.1.2. Motion Network Communications ..............1-2 AH Motion System Configurations .............. 1-3 Basic Operating Procedures for Motion Control .......... 1-4 Specifications of AH Motion CPU ..............
Page 14: 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.
Page 15: Ah Motion System Configurations
Ch ap te r 1 In tro duc tio n to Mo tio n C on tr ol Op era tio n 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.
Page 16: Basic Operating Procedures For Motion Control
AH Mo tion Co n tro ller – Oper a tion Ma nua l Basic Operating Procedures for Motion Control 1 - 4...
Page 17 Ch ap te r 1 In tro duc tio n to Mo tio n C on tr ol Op era tio n 1 - 5...
Page 18: Specifications Of Ah Motion Cpu
AH Mo tion Co n tro ller – Oper a tion Ma nua l Specifications of AH Motion CPU 1.4.1 General Specifications  AHxxEMC-5A 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...
Page 19 Ch ap te r 1 In tro duc tio n to Mo tio n C on tr ol Op era tio n General Specifications AHxxEMC-5A Remark detection, 4 timed interrupt tasks, and 2 communication interrupt tasks). X/Y devices (bit): 8192 Number of input/output (X0.0~X511.15/Y0.0~Y511.15) Number of devices which can be...
Page 20: Motion Control Specifications
AH Mo tion Co n tro ller – Oper a tion Ma nua l 1.4.2 Motion Control Specifications  AHxxEMC-5A Specifications AHxxEMC-5A AH08EMC: 8 axes / AH10EMC: 16 axes / AH20EMC: 32 axes Number of substantial axes supported (Axis 1~axis 32) Storage The capacity of the built-in storage is 256K steps.
Page 21: Chapter 2 Hardware Setup
Chapter 2 Hardware Setup Table of Contents 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 Wiring ......................2-6 2.2.1 Basic System Configurations ............... 2-6 2.2.2 Wiring Power Supply Modules ..............
Page 22: Installation
AH M o ti on Co n tro l ler – Oper a tion Ma nua l Installation This section introduces the installation of the basic configuration with backplanes and CPU/modules. For detailed – installation information including other components, please refer to AH Motion Controller Hardware Manual.
Page 23 Ch ap te r 2 Har dware Se tu p 2. Tighten the two screws in the holes indicated by b. ｂｂ  Installing a DIN rail 1. The installation is applicable to a 35 millimeter DIN rail. 2. Install the mounting clips on a backplane. 3.
Page 24: Installing A Cpu/Module
AH M o ti on Co n tro l ler – Oper a tion Ma nua l D IN ra il  Removing a DIN rail Step 1: Press the hook in the direction indicated by the arrow. Step 2: Remove the backplane. D IN ra il 2.1.3 Installing a CPU Module...
Page 25 Ch ap te r 2 Har dware Se tu p 2. Push the module in the direction indicated by the arrow until it clicks. 3. Tighten the screw on the module. 2 - 5...
Page 26: Wiring
AH M o ti on Co n tro l ler – Oper a tion Ma nua l Wiring This section introduces the connection structure and the wiring of the basic configuration with power supplies and CPUs. – For detailed wiring information including other components, please refer to AH Motion Controller Hardware Manual.
Page 27 Ch ap te r 2 Har dware Se tu p 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. Do not bundle 110 VAC cable, the 220 VAC cable, the 24 VDC cable, the (high-voltage high-current) main circuit, and the I/O signal cable together.
Page 28 AH M o ti on Co n tro l ler – Oper a tion Ma nua l Points for attention: 1. The surge absorber and the PLC system should be grounded separately. 2. Please select the surge absorber whose working voltage is not less than the maximum allowable input voltage. ...
Page 29 Ch ap te r 2 Har dware Se tu p respectively. To prevent the system from becoming abnormal, the ground in the AC power cable has to be connected to LG on the power supply module. The power input of AHPS05-5A is the AC input. You have to pay attention to the following points when you use AHPS05-5A.
Page 30 AH M o ti on Co n tro l ler – Oper a tion Ma nua l 100~240VAC 50/60Hz 24VDC VS+ VS- DI/DO AI/AO PS05 ｍ d u le ｍ d u le 24VDC VS+ VS- AI/AO Network Motion PS05 ｍ...
Page 31 Ch ap te r 2 Har dware Se tu p  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. *2.
Page 32: Wiring Ah Motion Cpu Modules
AH M o ti on Co n tro l ler – Oper a tion Ma nua l 2.2.3 Wiring AH Motion Controller CPU Modules 2.2.3.1 Specifications of Inputs and Outputs for Wiring  AHxxEMC-5A Description of the terminals Rated input Response Terminal Description...
Page 33 Ch ap te r 2 Har dware Se tu p Rated input Response Terminal Description characteristic Current Voltage Common input terminals. The functions of the terminals:  High-speed count: X0.12,  The terminals are for counter 2~counter 5. X0.13,  X0.12 and X0.13 are for counter 2. X0.14, X0.14 and X0.15 are for counter 3.
Page 34 AH M o ti on Co n tro l ler – Oper a tion 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-...
Page 35 Ch ap te r 2 Har dware Se tu p Receiving data (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 36 AH M o ti on Co n tro l ler – Oper a tion Ma nua l  Transistor Output Circuit AHxx EM C-5 A Lo ad Y 0.8 < 0 .5 A L ED CO M Tra ns is tor Ou tp ut C OM ...
Page 37 Ch ap te r 2 Har dware Se tu p A bulb (incandescent lamp) is used as a DC load. A thermistor is connected in series to absorb the surge current which occurs when the load is ON. AHxxEMC-5A Y0 .9 Bulb N TC power s uppl y...
Page 38 AH M o ti on Co n tro l ler – Oper a tion Ma nua l MEMO 2 - 1 8...
Page 39: Chapter 3 Software Setup
Chapter 3 Software Setup Table of Contents Installing and Uninstalling ISPSoft ............. 3-2 3.1.1 Installing ISPSoft ..................3-3 3.1.2 Uninstalling ISPSoft ................... 3-6 Installing and Uninstalling COMMGR ............3-8 3.2.1 Installing COMMGR ..................3-8 3.2.2 Uninstalling COMMGR ................3-10 Connecting ISPSoft with AH Motion CPU ..........3-12 3.3.1 Direct connection via USB .................
Page 40: Installing And Uninstalling Ispsoft
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l Before developing an AH Motion system, you need to install ISPSoft and COMMGR, which are basic software. ISPSoft is a platform for integrating the program development of a whole system, hardware configuration, and network configuration.
Page 41: Installing Ispsoft
Ch a pt er 3 S of t war e S et up 3.1.1 Installing ISPSoft If an older version of ISPSoft has been installed on a computer, you have to uninstall it before install ISPSoft. Pleases refer to section 3.1.2 for more information about uninstalling ISPSoft. The following are the steps of installing ISPSoft. (1) Start the Windows 2000/NT/Me/XP/Vista/7/8/10 operating system.
Page 42 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l (4) Type related information in the User Name box and Organization box, and then click Next. eave the default path unchanged, or click Change…...
Page 43 Ch a pt er 3 S of t war e S et up (6) Check the installation information, and then click Install. (7) After ISPSoft is installed, shortcuts to the program are created on the desktop and the Start menu. Click Finish to complete the installation.
Page 44: Uninstalling Ispsoft
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 3.1.2 Uninstalling ISPSoft (1) There are two methods of uninstalling ISPSoft.  Method 1: Open the Control Panel window, and click Uninstall or change a program In the Currently installed programs box, click ISPSoft x.xx, and then click Uninstall 3 - 6...
Page 45 Ch a pt er 3 S of t war e S et up  Method 2: Start>Programs>Delta Industrial Automation>PLC>ISPSoft x.xx>Uninstall (2) After you click Yes, ISPSoft will be removed. 3 - 7...
Page 46: Installing And Uninstalling Commgr
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 3.2 Installing and Uninstalling COMMGR 3.2.1 Installing COMMGR If an older version of COMMGR has been installed on a computer, you have to uninstall it before install COMMGR. Pleases refer to section 3.2.2 for more information about uninstalling COMMGR.
Page 47 Ch a pt er 3 S of t war e S et up Type information in the User Name box and the Organization box, and then click Next. Check the installation information, and then click Install. 3 - 9...
Page 48: Uninstalling Commgr
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l After COMMGR is installed, a shortcut to the program is created on the Start menu. Click Finish to complete the installation.
Page 49 Ch a pt er 3 S of t war e S et up  Method 2: Start>Programs>Delta Industrial Automation>Communication>COMMGR>Uninstall (2) After you click Yes, COMMGR will be removed. 3 - 1 1...
Page 50: Connecting Ispsoft With Ah Motion Cpu
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 3.3 Connecting ISPSoft with AH Motion CPU There are two types of hardware connections that can be used to go online with a Controller. 3.3.1 Direct connection via USB The USB port on the computer is connected directly to the peripheral USB port on the Controller.
Page 51: Chapter 4 Operating Ispsoft
Chapter 4 Operating ISPSoft Table of Contents Quick Start ....................4-2 4.1.1 Example ....................4-2 4.1.2 Hardware ....................4-2 4.1.3 Program ....................4-3 Procedures for Creating a Project in ISPSoft ..........4-3 Creating a Project ..................4-4 Hardware Configuration ................4-5 4.4.1 Configuring a Module ..................
Page 52: Quick Start
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 4.1 Quick Start The section provides a simple example, and leads users to create a traditional ladder diagram in ISPSoft in a short time. In order to help users quickly understand the functions provided by ISPSoft, and create a traditional ladder diagram, programming concepts related to IEC 61131-3 are not introduced in this section.
Page 53: Program
Ch a pt er 4 O p er a t i ng I S P Sof t Program 4.1.3 When the START button (X2.0) is turned from OFF to ON, the internal operation flag is set to ON, and the conveyer (Y2.0) starts to run.
Page 54: Creating A Project
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 4.3 Creating a Project After ISPSoft is started, you can click the File menu, point to New, and click New to create a new project. You can also create a new project by clicking on the toolbar after ISPSoft is started.
Page 55: Hardware Configuration
Ch a pt er 4 O p er a t i ng I S P Sof t 4.4 Hardware Configuration After you double-click HWCONFIG in the project management area, the HWCONFIG window will appear. Configuring a Module 4.4.1 In the HWCONFIG window, there is a five-slot backplane on which a CPU module and a power supply module are installed.
Page 56 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l Unfold the Digital I/O Module section on the product list, find AH16AP11R-5A, and drag the module to a vacant slot on the backplane in the system configuration area.
Page 57: Setting The Parameters In A Cpu And A Module
Ch a pt er 4 O p er a t i ng I S P Sof t Setting the Parameters in a CPU and a Module 4.4.2 After AH16AP11R-5A is configured, you can set the parameters in the CPU module and the parameters in the extension module.
Page 58 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l The hardware configuration is not complete until the parameters in the CPU module and AH16AP11R-5A are set. However, the configuration and the setting must be downloaded to the CPU module so that you can take effect.
Page 59: Setting Module Parameters
Ch a pt er 4 O p er a t i ng I S P Sof t Setting Module Parameters 4.4.3 Setting Parameters for Analog Input/Output Modules (1) AH04AD-5A (2) AH08AD-5B (3) AH08AD-5C 4 - 9...
Page 60 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l (4) AH04DA-5A (5) AH08DA-5B (6) AH08DA-5C 4 - 1 0...
Page 61 Ch a pt er 4 O p er a t i ng I S P Sof t (7) AH06XA-5A Please refer to AH500 Module Manual for more information about setting parameters. Setting Paramters for Temperature Modules (1) AH04PT-5A 4 - 1 1...
Page 62 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l (2) AH08PTG-5A AH04TC-5A 4 - 1 2...
Page 63 Ch a pt er 4 O p er a t i ng I S P Sof t (4) AH08TC-5A Please refer to AH500 Module Manual for more information about setting parameters. Setting Paramters for Network Modules (1) AH10COPM-5A 4 - 1 3...
Page 64 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l (2) AH10SCM-5A Please refer to AH500 Module Manual for more information about setting parameters. Setting Paramters for Motion Control Modules (1) AH04HC-5A 4 - 1 4...
Page 65 Ch a pt er 4 O p er a t i ng I S P Sof t (2) AH02HC-5A (3) AH05PM-5A (4) AH10PM-5A 4 - 1 5...
Page 66: Setting Plc Parameters
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l (5) AH15PM-5A (6) AH20MC-5A Please refer to AH500 Module Manual for more information about setting parameters. Setting PLC Parameters 4.4.4 4.4.4.1 IO Input Filter...
Page 67 Ch a pt er 4 O p er a t i ng I S P Sof t  Setting up the responding time for the input filter; setting unit is ms, in the range of 0~1000. The responding time less than 1000 ms will be filtered out. ...
Page 68: Creating A Program
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l  The formula of filter frequency and time: Filter frequency (f)*= 1/2(filter time t) (Hz): refer to the table below. If the input frequency is higher than it is stated in the range below.
Page 69: Adding A Ladder Diagram
Ch a pt er 4 O p er a t i ng I S P Sof t 4.5.1 Adding a Ladder Diagram Right-click Programs in the project management area, point to POU on the context menu, and click New…. Type a program name in the POU Name box, select the Ladder Diagram (LD) option button in the Language section, and retain the other default values.
Page 70 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l After the POU is added, a program editing window will appear in the main working area. Local symbol table Program editing area After the program editing window is opened, the corresponding toolbar will appear in the window.
Page 71: Basic Editing─Creating A Contact And A Coil
Ch a pt er 4 O p er a t i ng I S P Sof t Basic Editing─Creating a Contact and a Coil 4.5.2 Click on the toolbar, and then move the mouse cursor to the red frame in network 1. The mouse cursor appears as a contact when the mouse cursor is moved to the left side of the red frame, the right side of the red frame, or the bottom of the red frame.
Page 72 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l Click the line at the right side of the contact, click on the toolbar, and move the mouse cursor to the red frame. Likewise, the mouse cursor appears as a coil when the mouse cursor is above or under the red frame.
Page 73 Ch a pt er 4 O p er a t i ng I S P Sof t Click ??? above the contact, type a device address in the box, and press Enter on the keyboard to jump to the next box in the network.
Page 74: Basic Editing─Inserting A Network And Typing An Instruction
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l Basic Editing─Inserting a Network and Typing an Instruction 4.5.3 After on the toolbar is clicked, a network will be under the network selected. After on the toolbar is clicked, a network will be put above the network selected.
Page 75 Ch a pt er 4 O p er a t i ng I S P Sof t Type the IL instruction “OUT Y0.0”, and write the program shown below. Additional remark A contact and a coil can be created by typing simple instructions. Please refer to the description below. (The instructions typed are case-insensitive.) ...
Page 76: Basic Editing - Selection Of A Network And Operation
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l Basic Editing - Selection of a Network and Operation 4.5.4 Before an object in a network is selected, users have to press Esc on the keyboard, or click on the toolbar.
Page 77 Ch a pt er 4 O p er a t i ng I S P Sof t If you right-click an object after the object is clicked, you can click an item on the context menu. Item Function Undoing the last action Undo (The number of previous actions that can be undone is 20.) Redo...
Page 78: Basic Editing - Connecting A Contact In Parallel
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 4.5.5 Basic Editing - Connecting a Contact in Parallel (1) Click on the toolbar, and then move the mouse cursor to the input contact in network 2. The mouse cursor will appear as a contact.
Page 79: Basic Editing─Editing A Comment
Ch a pt er 4 O p er a t i ng I S P Sof t Basic Editing─Editing a Comment 4.5.6 (1) Make sure that on the toolbar is pressed. Click the position above a device name, type a comment in the box, and press Enter on the keyboard.
Page 80: Basic Editing─Inserting An Applied Instruction
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l Basic Editing─Inserting an Applied Instruction 4.5.7 Put network 6 under network 5, and then write the program shown below. You can insert an applied instruction (standard instruction) in one of the three ways described below.
Page 81 Ch a pt er 4 O p er a t i ng I S P Sof t  Method 3 Click the position where an instruction will be inserted, click on the toolbar, select the instruction (INC in this example) which will be inserted in the API/FB window, and click Insert. After the instruction is inserted successfully, you can assign a device address to the operand, and write the program shown below.
Page 82: Basic Editing─Creating A Comparison Contact And Typing A Constant
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 4.5.8 Basic Editing─Creating a Comparison Contact and Typing a Constant A comparison contact can be inserted not only in one of the three ways described in section 4.5.7, but also by means of the following steps.
Page 83: Writing A Program
Ch a pt er 4 O p er a t i ng I S P Sof t 4.5.9 Writing a Program The creation of a traditional ladder diagram in ISPSoft has been introduced. You can write the program shown below in the way described in the previous sections.
Page 84: Checking And Compiling A Program
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 4.5.10 Checking and Compiling a Program After you write a program, you can check the syntax of the programming language or compile the program. The syntax and the structure in the present window will be checked after the Check function is enabled.
Page 85: Testing And Debugging A Program
COMMGR is not displayed on the system tray, you can start COMMGR by clicking the shortcut on the Start menu (Start>Programs>Delta Industrial Automation>Communication>COMMGR). Double-click the icon representing COMMGR on the system tray to open the COMMGR window. Click Add in the COMMGR window to create a driver.
Page 86 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l Set the parameters in the Driver Properties window, and then click OK. Type a driver name in the Driver Name box. Select RS232/422/485 in the Type drop-down list box in the Connection Setup section.
Page 87 Ch a pt er 4 O p er a t i ng I S P Sof t Start ISPSoft, and then click Communication Settings… on the Tools menu. In the Communication Setting window, select the driver which has been created in the Driver drop-down list box, appear, and select 0 in the Station Address drop-down list box, and click OK.
Page 88: Downloading A Program And Parameters
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 4.6.2 Downloading a Program and Parameters If ISPSoft is connected to a PLC normally, the parameters and the program in the project can be downloaded to the PLC. First, start ISPSoft and open the project created in the previous sections.
Page 89 Ch a pt er 4 O p er a t i ng I S P Sof t (3) After you click Download on the Option menu, or on the toolbar, the Transfer Items window will appear. Select the Download All Items checkbox, the hardware configuration and all types of paramaters will be downloaded to the CPU module after OK is clicked.
Page 90: Connection Test
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 4.6.3 Connection Test After a program is downloaded to a PLC, you can monitor the execution status of the PLC through ISPSoft. There are two monitoring modes that ISPSoft provide.
Page 91 Ch a pt er 4 O p er a t i ng I S P Sof t You can change the operating status of a PLC by the RUN/STOP switch on the PLC. You can also change the operating status of the PLC through the functions provided by ISPSoft. After you click Run on the PLC menu or on the toolbar, the PLC will begin to run.
Page 92 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l If you want to change the value in a device, you can click the device, right-click the device, click Change Present Value on the context menu, and set a present value in the Enter Present Value window.
Page 93 Ch a pt er 4 O p er a t i ng I S P Sof t However, an input contact can be forced ON or OFF during a test. You can click an input contact or output contact which will be set, right-click the contact, point to Force on the context menu, and select On (X/Y), Off (X/Y), Release (X/Y), or Release All.
Page 94 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l  Method 2 Right-click Device Monitoring Table in the project management area, point to Device Monitor on the context menu, and click Add.
Page 95 Ch a pt er 4 O p er a t i ng I S P Sof t After the item is double-clicked, a window will appear. You can add items which will be monitored to the window. If you want to add an item to the window, you have to double-click the blank in the monitoring table, or type a device name directly, and type a start address and the number of devices which will be monitored in the Device Monitor Input window.
Page 96: Setting A Real-Time Clock
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l The description of the columns in the monitoring table is as follows. Column Description Source The source of a symbol Identifier The identifier of a symbol Device name...
Page 97 Ch a pt er 4 O p er a t i ng I S P Sof t If the time on the computer’s clock is the time on the real-time clock, you can select the Computer option button, and click OK. If you want to set the real-time clock by yourselves, you can select the Custom option button, and type a date and a time in the boxes.
Page 98 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l MEMO 4 - 4 8...
Page 99 Chapter 5 Understanding Common Devices Table of Contents 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) ..................
Page 100: Introduction
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 5.1. Introduction The chapter introduces the concept of common devices which will be used thoughout the programming process. In addition to the common devices, to complete a more complicated program you may also need to use other elements such as symbols, enumerations which are also introduced in this chapter.
Page 101 Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s Type Device name Number of devices Range relay Stepping relay 2048 S0~S2047 Timer 2048 T0~T2047 Counter 2048 C0~C2047 HC: 64...
Page 102: Latched Devices
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 5.2.3. Latched Devices  Latched areas of each type of device Device Function Device range Latched area X devices (bit): Input relay X0.0~X511.15...
Page 103: Input Relays (X)
Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s  Behavior of non-latched and latched devices Device type Non-latched Latched Output relay PLC action Power: OFF→ON Cleared Retained Cleared...
Page 104: Auxiliary Relays (M)
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l transistors, and TRIACs (AC thyristors). Contact A or contact B of the output can be used several times in the program, but the output should be used only once in the program.
Page 105: Special Data Registers (Sr/Ar)
Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s 1. General-purpose register: If the PLC begins to run, or is disconnected, the value in the register will be cleared to zero. If you want to retain the data when the PLC begins to RUN, you can refer to ISPSoft User Manual for more information.
Page 106 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 9. When the instruction TMR is executed, the specified timer coil is ON and the timer begins to count. As the value of the timer matches the setting value, the state of the contact is as follows.
Page 107: Counters (C)
Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s T1+T2=10 sec X0. 0 SV: K100 T250(PV) Y0. 0  Timer used in the function block T1920~T2047 are the timers which users can use in the functional block or the interrupt.
Page 108: 32-Bit Counters (Hc/Ac)
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 4. You can use either the constant or the value in the register as the setting value of the counter. 5.
Page 109: Values And Constants (K, 16#)
Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s 5.2.16. Values and Constants (K, 16#) The explanation on data units which could be used in the system: Name Description A bit is the basic unit in the binary system.
Page 110: Floating-Point Numbers (F, Df)
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l The hexadecimal number in the PLC is used as;  the constant 16#: It is used as the operand in the applied instruction. For example, MOV 16#1A2B D0 (hexadecimal constant).
Page 111 Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s − × − × 1023 Equation: -1022 +1024 The double-precision floating-point numbers range from ±2 to ±2 , and correspond to the range from -308 +308...
Page 112: Strings ("$")
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 1 10000000011 0111000000000000000000000000000000000000000000000000 =C03700000000000  Decimal Floating-point Numbers Since single-precision floating-point numbers and double-precision floating-point numbers are not widely accepted by people, they can be converted into decimal floating-point numbers for people to make judgement.
Page 113 Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s 16#62 (b) 16#61 (a) 16#64 (d) 16#63 (b) 0 (NULL) 16#65 (e) *1: ASCII code chart ...
Page 114: Ethercat Symbols
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l 5.3. EtherCAT Symbols The EtherCAT symbols are used to read states of EtherCAT slave. The symbols can be seen from the EtherCAT symbol table in the ISPSoft software.
Page 115: Data Types
Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s class. In a ladder diagram, OUTPUTs are put at the right sides of function blocks with pins sending the operation results to the caller.
Page 116: Using Devices, Symbols And Instructions
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l Function Data type Name Description Program block If a symbol is declared as an array, the size of an array and an array data type must be ...
Page 117: Modifying A Symbol With An Index Register
Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s AH Motion Controller CPU Data type Device assigned by users Device assigned by the system number of devices in an array conforms to the size of the array. String *1.
Page 118: User-Defined Data Type (Enum)
AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l *1. The data stored in an index register indicates the offset for the device which the index register modifies. If the system automatically assigns a device to a symbol, the use of an index register to modify the symbol will cause the program to be executed incorrectly because users do not know which device is assigned to the symbol.
Page 119 Ch a pt er 5 Un d er s t a n d in g Com m on D e v ic e s  The two setting methods: Declare by the setting table Declare by texts For more information about the software operation, refer to ISPSoft User Manual. 5 - 2 1...
Page 120 AH Mo t io n C on tr o ll er – O p er a t io n M a nu a l MEMO 5 - 2 2...
Page 121: Chapter 6 Understanding Motion Control Devices
Chapter 6 Understanding Motion Control Devices Table of Contents Motion Control Devices................6-2 6.1.1. Structures Applicable for Motion Control ............6-2 6.1.2. Parameters for Motion Axes ................ 6-2 6 - 1...
Page 122: Motion Control Devices
AH M o ti on Co n tro l ler – Op era tion Ma nua l 6.1 Motion Control Devices Motion control devices are manly used for configuring parameters for motion axis. In most applications, you can set up axis parameters in ISPSoft software, which is a convenient environment for users.
Page 123 Ch ap te r 6 Und ers tan di ng M o tio n C on tr ol De vices AXIS_REF Description Factory setting Members Data type Function Setting range (Default) Userunit/ Pulse_of_ LREAL 1Rev revolution Maximum DINT _Speed Maximum speed (V ) at which the axis 0~2,147,483,647 100,000...
Page 124 AH M o ti on Co n tro l ler – Op era tion Ma nua l AXIS_REF Description Factory setting Members Data type Function Setting range (Default) （+-） Current_c md_positio LREAL 1.7976931348* n_UU_f （10 ） Current_a ctual_spee DINT 0~(2 -1) PPS Present command speed of the axis Current_a...
Page 125 Ch ap te r 6 Und ers tan di ng M o tio n C on tr ol De vices AXIS_REF Description Factory setting Members Data type Function Setting range (Default) State of the designed axis StateMachine_ Refer to the table WORD AxisStatus* below...
Page 126 AH M o ti on Co n tro l ler – Op era tion Ma nua l MEMO 6 - 6...
Page 127 Chapter 7 Motion Control Programming Table of Contents Introduction ....................7-2 7.1.1 Program Organization Units and Tasks ............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 Motion Control Instructions ................
Page 128: Introduction
AH M o ti on Co n tro l ler – Op era tion Ma nua l Introduction Program organization units (POUs) and tasks are important programming concepts related to IEC 61131-3. They upgrade programming from traditional program writing to project management. For details about the software operation and programming, please refer to ISPSoft User Manual.
Page 129: Motion Control Program
Ch ap te r 7 M oti on Co n tro l Prog ram m ing tasks which are supported by the PLC before you assign the POUs of the program type to tasks. A POU of the program type which is assigned to a conditional interrupt task is like an interrupt subroutine. If the condition of an interrupt is met, e.g.
Page 130: Pous In Ispsoft
 Cyclic task A POU assigned to a cyclic task is scanned back and forth. There are 32 cyclic tasks in a project for an AH series CPU. These cyclic tasks are numbered from 0 to 31. The smaller the task number is, the earlier the task is executed. Besides, AH series CPUs support the API (applied instructions) TKON and TKOFF which control tasks.
Page 131: Motion Control Instructions
AH Motion Controller CPU. In AH Motion Controller system, the naming of function blocks has two types. One is DFB instruction (Delta Function Block), which is developed by Delta to enhance the usability. Another one is MC, which complies with the motion control function block standard defined by PLCopen.
Page 132 AH M o ti on Co n tro l ler – Op era tion Ma nua l 7 - 6...
Page 133: Axis
Ch ap te r 7 M oti on Co n tro l Prog ram m ing Axis Minimum Parameter Maximum Setting Value Unit Default Description Value Value A real axis which produces actual Axis Type Setting output to the drive assembly Virtual servo axis A virtual servo axis on which the...
Page 134 AH M o ti on Co n tro l ler – Op era tion Ma nua l Users can set the upper limit of the acceleration of the axis. Maximum User Acceleration 200000 2147483647 (when the contact of the function Unit/s Setting block is set to 0, it will go maximum...
Page 135 Ch ap te r 7 M oti on Co n tro l Prog ram m ing The parameter is the speed while the Homing Velocity 2000 2147483647 homing is performed. While the homing is performed, the motor moves at the homing velocity Homing Closed at first.
Page 136: State Transitions
AH M o ti on Co n tro l ler – Op era tion Ma nua l State Transitions This section introduces the state transitions in single axis motion and axes group motion when multiple motion control function blocks are used. The transition rules comply with the PLCopen motion control standard. 7.5.1 Axis States Note1: Entering “ErrorStop”...
Page 137: Axis Group State
Ch ap te r 7 M oti on Co n tro l Prog ram m ing 7.5.2 Axis Group State Note1: The axis group moves by multi-axis motion control instructions. Note2: Entering “ErrorStop” state when an error occurs on the axis group. Note3: (1) When axis group is enabled and in ErrorStop state, the DFB_GroupReset becomes effective to switch group states.
Page 138: Buffer Mode
AH M o ti on Co n tro l ler – Op era tion Ma nua l Buffer Mode During the execution of a motion control instruction, it is possible to execute other motion instructions for the same axis. There are 6 buffer modes for users to choose from, switching from one motion instruction being executed to another motion instruction.
Page 139 Ch ap te r 7 M oti on Co n tro l Prog ram m ing  Demonstration: Using two MC_MoveRelative instructions for explanation The maximum velocity of the first MC_MoveRelative instruction is V and distance is S . The maximum velocity of .
Page 140 AH M o ti on Co n tro l ler – Op era tion Ma nua l  Buffermode = mcBuffered: see the two examples below. When the direction of the buffered instruction When the direction of the buffered instruction is the same as that of the current instruction is opposite to that of the current instruction.
Page 141 Ch ap te r 7 M oti on Co n tro l Prog ram m ing  Buffermode = mcBlendingPrevious: see the three examples below. When the target velocity of the current When the target velocity of the current instruction is less than that of the buffered instruction is greater than that of the buffered instruction.
Page 142 AH M o ti on Co n tro l ler – Op era tion Ma nua l When the velocity direction of the current instruction is opposite to that of the buffered instruction T he buffered i nstruction is s tarted T he buffer ed instruction s tarts to control the ax is w hen the moti on dir ections of buffered instruc ti on and curr ent instruc tion are...
Page 143: Execution Of Function Block Instructions
Ch ap te r 7 M oti on Co n tro l Prog ram m ing Whether the current instruction execution has been completed or not depends on the completion output parameter of the instruction. As the completion output parameter is TRUE, it indicates that the instruction execution is completed and the buffered instruction execution starts.
Page 144 AH M o ti on Co n tro l ler – Op era tion Ma nua l Inputs Name Description Date Type Setting value (Default) Receiving the logic state in front of this BOOL True/False (False) instruction. Enable Enabling the motion control function block BOOL True/False (False) Execute...
Page 145 Ch ap te r 7 M oti on Co n tro l Prog ram m ing An input value exceeds a range. After a motion control function block is started, the input values which are not in ranges allowed will be limited, or result in an error occurring in the motion control function block.
Page 146: Timing Diagram For Input/Outputs
AH M o ti on Co n tro l ler – Op era tion Ma nua l not be valid, and the Valid output will be set to False. The Valid output in a motion control function block will not be True until the error occurring in the motion control function block is eliminated, and output data/states become valid.
Page 147: Positions
Ch ap te r 7 M oti on Co n tro l Prog ram m ing Positions This section describes the positions that are used in motion control programming. 7.8.1 Postion Types Position Type Description Command position The command position is the position value that the Motion CPU outputs to drive an axis. Actual position The actual position is the position feedback value from the servo drive or the encoder.
Page 148: Operation Of An Electronic Cam
AH M o ti on Co n tro l ler – Op era tion Ma nua l Compared with a traditional cam, an electronic cam has the following advantages. Friendlier user interface Different products require different cam curves. Users can modify the electronic cam data in an electronic cam in software.
Page 149: Initial Setting
Ch ap te r 7 M oti on Co n tro l Prog ram m ing Step 1 Step 2 Step 3 Initial setting Setting a master axis and a slave axis Starting/Stopping an electronic cam Setting a master axis (3) Creating electronic cam data (1) Setting the starting angle of the master Starting/Stopping a cam which...
Page 150: Setting A Master/Slave Axis And Operating An Electronic Cam
AH M o ti on Co n tro l ler – Op era tion Ma nua l FP A -p ha se p u lse s Quadruple frequency of mc4AB (3) RP B- ph ase pu l ses A/B-phase pulses Cl ockwi se Co un ter clo ckwise 7.9.2.2 Setting a Master/Slave Axis and Operating an Electronic Cam...
Page 151 Ch ap te r 7 M oti on Co n tro l Prog ram m ing Setting a Master Axis  You can set a master axis by Master in the motion control function block MC_CamIn. Value of the Master Input value Definition Description...
Page 152 AH M o ti on Co n tro l ler – Op era tion Ma nua l Setting the Starting Engaging Position of a Master Axis  You can set the starting engaging position of the master axis specified by ActivationPosition in the motion control function block MC_CamIn.
Page 153 Ch ap te r 7 M oti on Co n tro l Prog ram m ing 7 - 2 7...
Page 154: Starting/Stopping An Electronic Cam Operating Cyclically
AH M o ti on Co n tro l ler – Op era tion Ma nua l Setting a Slave Axis  You can set a slave axis by Slave in the motion control function block MC_CamIn. Value of Slave Input value (Default value) Definition Description...
Page 155 Ch ap te r 7 M oti on Co n tro l Prog ram m ing Electronic cam data Slave axis =180 (Unit) M a x Master axis =360 (Unit) M a x Starting a Cyclic Electronic Cam Operation  After you set a master axis, a slave axis, and a starting angle by means of inputs in the motion control function block MC_CamIn, electronic cam motion will be started if the Enable is set to True and the Periodic is set to Ture.
Page 156 AH M o ti on Co n tro l ler – Op era tion Ma nua l Value of the EndofProfile Output value Definition Description Indicates the end point of the cam profile is completed. (Resets True/False Starting a cam cycle automatically) The steps of starting an electronic cam which operates cyclically are as follows.
Page 157: Creating Electronic Cam Data
Ch ap te r 7 M oti on Co n tro l Prog ram m ing 7.9.3 Creating Electronic Cam Data Electronic cam data defines the relation between the positions of a master axis and the positions of a slave axis. Before you create a cam chart in ISPSoft, you have to know the relation between the positions of a master axis and the position a slave axis.
Page 158 AH M o ti on Co n tro l ler – Op era tion Ma nua l After the parameters are set, click OK and the E-CAM editing window will be displayed as below. E-CAM curve area: the E-CAM curves of position, velocity and acceleration are established according to the specified data in the Data setting area.
Page 159 Ch ap te r 7 M oti on Co n tro l Prog ram m ing Function buttons for E-CAM chart: Icon Name Description Insert a point Inserting an data point to the position curve in the E-CAM curve area Inserting a section with two end points into the position curve in the E-CAM curve Insert a section area...
Page 160 AH M o ti on Co n tro l ler – Op era tion Ma nua l 7 - 3 4...
Page 161 Ch ap te r 7 M oti on Co n tro l Prog ram m ing (Insert a section) and move the cursor to the position where you want to insert a section. Click at You can click the data point to create the section, and the position/velocity/acceleration data of the two end points of the section will also be inserted in the Data setting area as below.
Page 162 AH M o ti on Co n tro l ler – Op era tion Ma nua l Click (Setting) to open the setting window for the current E-CAM chart.  Master position: defines the display range of the master axis in the E-CAM curve area. ...
Page 163 Ch ap te r 7 M oti on Co n tro l Prog ram m ing In the Data setting area, each column in the table can be specified to define the parameters of the data points which are listed in rows. The whole E-CAM curve are constructed by these data points (max. 20 rows), and the E-CAM cycle will operate according to the designed E-CAM curves.
Page 164 AH M o ti on Co n tro l ler – Op era tion Ma nua l Record and save the CAM data in CAM_1.txt. Open an E-CAM Chart window in ISPSoft. 7 - 3 8...
Page 165 Ch ap te r 7 M oti on Co n tro l Prog ram m ing After is clicked, select the file CAM_1.txt to import the recorded CAM data. Click Open, and the E-CAM curves will be drawn on the E-CAM Chart as below. Modifying the E-CAM Data Directly in the Program After you create electronic cam data in a cam chart in ISPSoft, the cam data will be downloaded to an AH Motion Controller CPU.
Page 166: Application Of An Electronic Cam-Using A Rotary Cutter
AH M o ti on Co n tro l ler – Op era tion Ma nua l 7.9.4 Application of an Electronic Cam—Using a Rotary Cutter In the application of cutting materials on a feeding belt, a traditional approach is that a cutting roller will rotate after a feeding roller rotates for a certain length, and the alternation of feeding materials and cutting the materials is repeated.
Page 167 Ch ap te r 7 M oti on Co n tro l Prog ram m ing Home Cutting axis (Slave axis) Feeding axis (master axis) Sync hr onization zone (Cutting zone) Equal to the speed of the master axis Sync hr onization Deceleration Acc eleration D ista nce for w hi ch th e ma ster a xi s move s...
Page 168 AH M o ti on Co n tro l ler – Op era tion Ma nua l  Length of a cutting=Circumference of the blade used: The cutting roller used rotates at a uniform speed. Ratio of the speed of the slave axis to the speed of the master axis...
Page 169: Creating Rotary Cut Data
Ch ap te r 7 M oti on Co n tro l Prog ram m ing 7.9.4.1 Creating Rotary Cut Data You can create a rotary cut E-CAM curve by means of the motion control function block DFB_CamCurve2 and DFBCamCurveUpdate2. Function Block —...
Page 170 AH M o ti on Co n tro l ler – Op era tion Ma nua l  Inputs Setting value Name Function Data type Timing for updating (Default value) True/False Executes the instruction to Execute BOOL create the cam curve (False) When Execute shifts to K1~K2,147,483,647...
Page 171 Ch ap te r 7 M oti on Co n tro l Prog ram m ing midCAMend rightCAM rightCAM midCAMbegin midCAMend Empty  Outputs Name Function Data type Output range (Default value) Done True when the cam curve is established. BOOL True/False (False) True when the instruction is executed.
Page 172 AH M o ti on Co n tro l ler – Op era tion Ma nua l  Function  AccCurve 0: Const speed 1: Constant Acceleration 2: SingleHypot 3: Cycloid 7 - 4 6...
Page 173 Ch ap te r 7 M oti on Co n tro l Prog ram m ing  eCamCurve 0: leftCAM 1: midCAMall 2: midCAMbegin 3: midCAMend 5: right CAM 7: midCAMbegin 8: midCAMend 9: Empty      ...
Page 174 AH M o ti on Co n tro l ler – Op era tion Ma nua l Distance for which the slave axis speci fied moves: 500 Displacement -500 100 200 300 400 500 600 700 800 900 1,000 Angle Distance for which the ax is s pec ified is sy nc hronized with the m as ter axis s pec ifi ed:300 Sync hr onization ratio of the speed of the s lave axi s...
Page 175 Ch ap te r 7 M oti on Co n tro l Prog ram m ing 7 - 4 9...
Page 176 AH M o ti on Co n tro l ler – Op era tion Ma nua l Function Block—DFB_CamCurveUpdate2  After DFB_CamCurve2 is executed, DFB_CamCurveUpdate2 can be used. If you want to modify a rotary cut curve, you can create a new rotary cut curve by DFB_CamCurve2, and then update the rotary cut curve by DFB_CamCurveUpdate2. ...
Page 177 Chapter 8 Memory Card Table of Contents Overview of Memory Cards ................ 8-2 8.1.1 Appearances of Memory Cards ..............8-2 8.1.2 Specifications for SD Cards ................. 8-2 Using a Memory Card ................. 8-3 8.2.1. Formatting a Memory Card................8-3 Installing and Removing a Memory Card ............ 8-5 8.3.1.
Page 178: Overview Of Memory Cards
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Overview of Memory Cards The AH Motion Controller CPU supports Micro SD cards. Users can purchase products which meet specifications. The specifications for the SD cards supported by the AH Motion Controller CPUs, and the usage of the SD cards are described in this chapter.
Page 179: Using A Memory Card
Ch a pt er 8 M em or y C ar d Using a Memory Card 8.2.1. Formatting a Memory Card A memory card that you use for the first time may not yet be formatted. The memory card which is not formatted can not be used in an AH Motion Controller CPU.
Page 180 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l The file system with which the memory card is formatted must be FAT. The other default setting is retained. Click Quick Format, and then click Start.
Page 181: Installing And Removing A Memory Card
Ch a pt er 8 M em or y C ar d Installing and Removing a Memory Card 8.3.1. SD Slot in a CPU As shown below, the SD slot is in the middle right area of the front of a CPU. 8 - 5...
Page 182: Installing A Memory Card
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l 8.3.2. Installing a Memory Card Insert a memory card into the SD slot in a CPU, and push it downward until it clicks. After the memory card is installed, it is fixed firmly in the slot.
Page 183: Contents Of A Memory Card
Ch a pt er 8 M em or y C ar d Contents of a Memory Card 8.4.1. Initializing a Memory Card The system initializes the SD card when power is supplied to a CPU or stop to run 8.4.2. Folder Structure in a Memory Card The default folder group used by an AH system is shown below.
Page 184: Reading/Writing A Memory Card
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Reading/Writing a Memory Card You can read/write data into/from a memory card to back up and update a system by means of the DIP switch on a CPU. 8.5.1.
Page 185 Ch a pt er 8 M em or y C ar d ISPSoft project. If you choose to restore the backup file to an ISPSoft project, the system will automatically skip the values in the devices and the network configuration in the backup file. After you double-click CARD Utility in the project management area, the system will open the CARD Utility window.
Page 186: Backup
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Backup If the backup source/backup destination is an AH Motion Controller CPU or the memory card inserted in an AH Motion Controller CPU, you have to make sure that ISPSoft is connected to the AH Motion Controller CPU normally.
Page 187 Ch a pt er 8 M em or y C ar d After you select the CPU (Need Connection) option button, you have to decide whether to include the values in the devices in the AH Motion Controller CPU which is connected to ISPSoft. Select a backup destination.
Page 188 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l After a backup destination is specified, you can set passwords for the backup file. You can either select “Same with Project passswrod”...
Page 189 Ch a pt er 8 M em or y C ar d After you make sure that the summary in the CARD Utility window is consistent with the desired data backup operation, you can click Execute. If you clicked Cancel to stop ISPSoft from backing up data from the CPU to the memory card, the CPU will be still in data backup process.
Page 190: Restoration
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l After the data backup is performed, you can click Home or Close in the CARD Utility window. Restoration If the restoration source/restoration destination is an AH Motion Controller CPU or the memory card inserted in an AH Motion Controller CPU, you have to make sure that ISPSoft is connected to the AH Motion Controller CPU normally.
Page 191 Ch a pt er 8 M em or y C ar d (2) Select a restoration source, click , and select a backup file. If the Memory Card (PLC side) (Need Connection) button is selected, the backup files in the memory card will be displayed in a window after is clicked.
Page 192 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l path. If the path specified point to a file which exists in the computer, the file will be overwritten after the data restoration is performed.
Page 193 Ch a pt er 8 M em or y C ar d If restoration source/restoration destination contains a password and an ID, the password and the ID will be processed as follows. Data restoration Description a. The ID in the backup file must be the same as the ID in the CPU, otherwise the data restoration will not be performed.
Page 194 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l MEMO 8 - 1 8...
Page 195: Chapter 9 Troubleshooting
Chapter 9 Troubleshooting Table of Contents 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 Error Codes and Indicators ................. 9-6 9.2.1.
Page 196 AH Mo t io n C on tr o ll er – Mo t io n C on tr ol I ns tr uc t i ons Ma n ua l 9.4.9. AH10PFBS-5A ..................9-80 9.4.10. AH10COPM-5A ..................9-80 Troubleshooting for Limitation Errors ............9-82 9.5.1.
Page 197: Inspection And Troubleshooting
Ch a pt er 9 T r o u bl es h oo t in g Inspection and Troubleshooting 9.1.1 Basic Inspection This chapter describes errors which occur when the system operates, the causes and the corrective actions for the the errors.
Page 198: Troubleshooting Procedure
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l 9.1.3 Troubleshooting Procedure An error occurs The basic Refer to 9.1.1 for the basic inspection inspection has been done 1.
Page 199: Viewing Error Logs
Ch a pt er 9 T r o u bl es h oo t in g 9.1.4 Viewing Error Logs When an error occurs, a corresponding error code generated by a system is recorded in a CPU. Twenty error logs at most can be stored in the CPU.
Page 200: Error Codes And Indicators
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Codes and Indicators  Columns Items provided in the table Error code If the error occurs in the system, the error code is generated Description The description of the error CPU status...
Page 201: Ahxxemc-5A
Ch a pt er 9 T r o u bl es h oo t in g Mode LED indicator Description System status of the CPU module ON: The external input/output is forced ON/OFF. SYSTEM OFF: The system is in the default status. Blinking: The CPU module is being reset./The retained values in the devices are being cleared .
Page 202 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l  Error codes and indicators LED indicator status Error code Description Status ERROR FAULT Scan timeout 16#000A Stop Blinking Keep...
Page 203 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT 16#0028 The latching data register range which is set is incorrect. Stop Keep 16#0029 The latching timer range which is set is incorrect. Stop Keep 16#002A...
Page 204 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT The actual arrangement of the I/O modules is not consistent with 16#1402 Stop Keep...
Page 205 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT 1. The instruction does not support the device. 2. Encoding error 16#2010 Stop Blinking Keep 3.
Page 206 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT There is a communication timeout when RS is executed. Self-define 16#2025 Blinking...
Page 207 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT 16#2042 I/O interrupt service routine 22 does not exist. Stop Blinking Keep 16#2043 I/O interrupt service routine 23 does not exist. Stop Blinking Keep...
Page 208 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT 16#206C External interrupt service routine 64 does not exist. Stop Blinking Keep...
Page 209 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT 16#208E External interrupt service routine 98 does not exist. Stop Blinking Keep 16#208F External interrupt service routine 99 does not exist. Stop Blinking Keep...
Page 210 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT 16#20B0 External interrupt service routine 132 does not exist. Stop Blinking Keep...
Page 211 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT 16#20D2 External interrupt service routine 166 does not exist. Stop Blinking Keep 16#20D3 External interrupt service routine 167 does not exist. Stop Blinking Keep...
Page 212 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT 16#20F4 External interrupt service routine 200 does not exist. Stop Blinking Keep...
Page 213 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT 16#2116 External interrupt service routine 234 does not exist. Stop Blinking Keep 16#2117 External interrupt service routine 235 does not exist. Stop Blinking Keep...
Page 214 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT Cutter compensation is triggered before the previous compensation 16#3108 Continue Blinking...
Page 215 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT 16#3507 The axis is in “ErrorStop” state. Continue Blinking Keep 16#3508 The axis is not in “StandStill” state. Continue Blinking Keep...
Page 216 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT AxisPara.SWPosLimit and AxisPara.SWNegLimit setting range 16#3637 error (both parameters are 0,both setting ranges are 0; the range Continue Blinking Keep...
Page 217 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT 16#3A06 Keep CamIn slave scaling is set to 0.0 Continue Blinking 16#3A07 Keep CamIn MasterSyncPosition setting error. Continue Blinking 16#3A08...
Page 218 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT The remote device involved in the data exchange does not 16#6502 Continue respond correctly.
Page 219 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT A CPU parameter downloaded is incorrect. The NTP client service 16#8236 Continue Keep Keep is set incorrectly. A CPU parameter downloaded is incorrect.
Page 220 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT An error occurs when COM2 communicates with slave 5 by 16#9B25 Continue Keep...
Page 221 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description Status ERROR FAULT An error occurs when COM2 communicates with slave 25 by 16#9B39 Continue Keep Keep MODBUS. An error occurs when COM2 communicates with slave 26 by 16#9B3A Continue...
Page 222: Analog I/O Modules And Temperature Measurement Modules
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Status ERROR FAULT 16#9B56 COM2 receives no response from slave 22 by MODBUS. Continue Keep Keep...
Page 223 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Module Error code Description ERROR FAULT The signal received by channel 2 exceeds the range of inputs which can be 16#A402 received by the hardware.
Page 224: Ah02Hc-5A/Ah04Hc-5A
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l 9.2.3. AH02HC-5A/AH04HC-5A LED indicator status Module Error code Description ERROR FAULT 16#A001 The linear accumulation in channel 0 exceeds the range. Blinking 16#A002 The scale set for channel 0 exceeds the range.
Page 225 Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Module Error code Description Error FAULT 16#A009 The pointer used in JMP is the same as the pointer used in CALL. Blinking 16#A00A The pointer used in JMP is the same as a subroutine pointer.
Page 226: Ah20Mc-5A
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l 9.2.5. AH20MC-5A LED indicator status Module Error code Description ERROR FAULT 16#A002 The subroutine has no data. Blinking 16#A003 CJ, CJN, and JMP have no matching pointers.
Page 227: Ah10En-5A/Ah15En-5A
Ch a pt er 9 T r o u bl es h oo t in g 9.2.6. AH10EN-5A/AH15EN-5A LED indicator status Module Error code Description Error FAULT 16#A001 The IP address of host 1 conflicts with another system on the network. Blinking 16#A002 The IP address of host 2 conflicts with another system on the network.
Page 228: Ah10Pfbm-5A
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Module BUS FAULT The data exchange between AH10DNET and AH CPU The red The green The green...
Page 229: Ah10Copm-5A
Ch a pt er 9 T r o u bl es h oo t in g LED indicator status Error code Description MODULE BUS FAULT AH10PFBS-5A has not been connected to the PROFIBUS-DP network. The red light The red light is The green 16#A4F6 PROFIBUS-DP master has not configured AH10PFBS-5A...
Page 230: Troubleshooting For Cpu
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l LED indicator status Error code Description Module BUS FAULT ERROR 16#A0FB The transmission registers in AH10COPM-5A are full. Blinking 16#A0FC The reception registers in AH10COPM-5A are full.
Page 231 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action Set the CPU parameter in HWCONFIG again, and 16#001D Timed interrupt 2 is set incorrectly. download the CPU parameter again. Set the CPU parameter in HWCONFIG again, and 16#001E Timed interrupt 3 is set incorrectly.
Page 232: Error Indicator Blinking
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action After users reset the CPU module or restore it to the factory 16#0053 The latched timers are abnormal.
Page 233 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action The contents of the system backup file 16#001A Create the system backup file again. (.dup file) are incorrect. 1. Check the program and the related special data The communication setting of COM1 is registers.
Page 234 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Check the program, compile the program again, and 16#2002 GOEND is used incorrectly. (SM5) download the program again.
Page 235 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action The value exceeds the range of values Check the program, compile the program again, and 16#2013 which can be represented by the download the program again.
Page 236 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Check the usage of the instruction and the setting of the The function code used in MODRW is operands.
Page 237 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action I/O interrupt service routine 0 does not Download I/O interrupt service routine 0 (I/O interrupt 0) 16#202C exist. Download I/O interrupt service routine 31 (I/O interrupt 16#204B I/O interrupt service routine 31 does not exist.
Page 238 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Cause: the master axis moves too fast to allow the Film axis position compensation is previous compensation to be finished.
Page 239 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action Cause: the comparison condition is set other than 0~2. Action: set up the comparison condition again and 16#3415 Comparison condition setting error. restart the function block.
Page 240 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Cause: the group is executing ImmediateStop 16#343A Group is executing ImmediateStop. Action: use DFB_GroupReset to clear the error Error occurred in the other axis of the Cause: error occurred in the other axis of the group 16#343B...
Page 241 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action Cause: the accleration time for the axis is set too short. The acceleration time for the axis is too 16#350B Action: adjust the accleration or increase the time to short.
Page 242 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Cause: the number of buffering instructions (with buffer mode enabled) reached 20. Action: 1.
Page 243 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action Cause: the sevo drive limit is reached Action: use MC_Reset to clear the axis error, and move 16#3614 The servo limit is exceeded. the position potively or negatively to the proprer position Cause: when executing, the acceleration exceeds the maximum acceleration value, or buffering exceeds the...
Page 244 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Cause: the AxisPara setting is wrong. 16#3636 Axis parameter setting error. Action: adjust AxisPara input values and restart the function blocks Cause: the setting range of AxisPara.SWPosLimit and AxisPara.SWNegLimit is wrong (both parameters are 0,...
Page 245 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action Cause: the specified value for PositiveValue or NegtiveValue is invalid. Torque limit setting error in 16#3906 Action: Check whether the specified value for MC_SetTorqueLimit PositiveValue or NegtiveValue is within available setting range of the servo drive.
Page 246 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Cause: GearInPos the main axis moves in opposite GearInPos the main axis moves in direction 16#3919 opposite direction...
Page 247 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action Cause: CamIn change to another CAM table when the 16#3A02 CamIn CAM table changed too soon one started has not finished Action: enable the CAM function again Cause: Activation Mode is not 0 or 1 CamIn activation mode setting exceeds...
Page 248 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Cause: more than 5 sets of Cams are waiting to start on Too many CamIn executing 16#3A19 the same axis...
Page 249: Bus Fault Indicator On
Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action 1. Use ECAT Builder to download the Ethernet parameter 16#8245 EtherCat Data ERROR again 16#8246 Axes Parameters Data ERROR 1.
Page 250: Bus Fault Indicator Blinking
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Check whether the setting of the parameter for the module is The I/O module can not run/stop. correct.
Page 251: Others
Ch a pt er 9 T r o u bl es h oo t in g 9.3.5. Others Error Code Description Corrective action The original program in the PLC is After users compile the program again, they can download the 16#000F damaged.
Page 252 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Cause: the value of the Gcode ID is not 1～136 16#342B GcodeID setting error Action: set up the GcodeID between 1 and 136 and restart the function block.
Page 253 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action Cause: the value in GroupNum is not in the range of 1~16. The group number exceeds the 16#3437 Action: set up the value of GroupNum again and restart the setting range.
Page 254 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Cause: CamCurve2 input error (e.g. if Concatenate is not True, or other input parameters are out of range). Action: Turn the PLC off and then on, execute the 16#3951...
Page 255 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action The remote device involved in the data exchange does not respond Check the device whose connection number corresponds to 16#6501 after the timeout period.
Page 256 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action Communication timeout 16#740F Check if the device to be connected is in normal operation. The received Function Code doesn’t match the current Function 16#7410...
Page 257 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action 1. Check the Ethernet parameters of the CPU in HWCONFIG. The CPU parameter downloaded is 16#8236 2. Check if CPU firmware version matches the HWCONFIG incorrect: wrong NTP settings version The CPU parameter downloaded is...
Page 258 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action An error occurs when COM1 1. Check the communication setting between the connecting communicates with slave 20 by devices.
Page 259 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action An error occurs when COM2 1. Check the communication setting between the connecting communicates with slave 9 by 16#9B29 devices.
Page 260 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action An error occurs when COM2 1. Check the communication setting between the connecting communicates with slave 21 by 16#9B35 devices.
Page 261 Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action 1. Check the communication setting between the connecting COM2 receives no response from 16#9B41 devices. slave 1 by MODBUS. 2.
Page 262 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Code Description Corrective action 1. Check the communication setting between the connecting COM2 receives no response from 16#9B4E devices.
Page 263: Troubleshooting For I/O Modules
Ch a pt er 9 T r o u bl es h oo t in g Error Code Description Corrective action 1. Check the communication setting between the connecting COM2 receives no response from 16#9B5B devices. slave 27 by MODBUS. 2.
Page 264 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error code Description Corrective action The signal received by channel 4 Check the module parameter in HWCONFIG. exceeds the range of inputs which 16#A004 Check whether the signal received by channel 4 exceeds...
Page 265 Ch a pt er 9 T r o u bl es h oo t in g Error code Description Corrective action The signal received by channel 6 Check the module parameter in HWCONFIG. exceeds the range of inputs which 16#A406 Check whether the signal received by channel 6 exceeds can be received by the hardware.
Page 266: Ah02Hc-5A/Ah04Hc-5A
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error code Description Corrective action The signal received by channel 6 Check the module parameter in HWCONFIG. exceeds the range of inputs which 16#A806 Check whether the signal received by channel 6 exceeds...
Page 267 Ch a pt er 9 T r o u bl es h oo t in g Error code Description Corrective action Check the module parameter in HWCONFIG. A limit value set for channel 2 is 16#A015 A limit value of set for channel 2 should be in the range of incorrect.
Page 268: Ah05Pm-5A/Ah10Pm-5A/Ah15Pm-5A
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l 9.4.3. AH05PM-5A/AH10PM-5A/AH15PM-5A The programs and the setting which are mentioned in the table below are edited in PMSoft version 2.02 or above. Error code Description Corrective action...
Page 269 Ch a pt er 9 T r o u bl es h oo t in g Error code Description Corrective action The negative pulses generated by The error occurs because the limit sensor is triggered. 16#A013 the single-axis counterclockwise Check the status of the limit sensor, and check whether the motion are inhibited.
Page 270: Ah20Mc-5A
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l 9.4.4. AH20MC-5A The programs and the setting which are mentioned in the table below are edited in PMSoft version 2.02 or above. Error code Description Corrective action...
Page 271: Ah10En-5A/Ah15En-5A
Ch a pt er 9 T r o u bl es h oo t in g Error code Description Corrective action The negative pulses generated by The error occurs because the limit sensor is triggered. 16#A013 the single-axis counterclockwise Check the status of the limit sensor, and check whether the motion are inhibited.
Page 272: Ah10Scm-5A/Ah15Scm-5A
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error code Description Remedy 16#A004 DHCP for host 2 fails. Please contact the network administrator Please restore the hardware to the factory setting. If the 16#A401 Hardware error error still occurs, please contact the factory.
Page 273: Ah10Pfbm-5A
Ch a pt er 9 T r o u bl es h oo t in g Error code Description Remedy Something is wrong with Supply power to AH10DNET-5A again. If the error still occurs, 16#A0F6 the internal memory of please contact the factory. AH10DNET-5A.
Page 274: Ah10Pfbs-5A
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error Description Remedy code Contact the factory if the error still exists after repowering 16#A406 Internal storage unit error AH10PFBM-5A.
Page 275 Ch a pt er 9 T r o u bl es h oo t in g Error code Description Corrective action The master station selected does not Check whether the bus cable on the CANopen network 16#A0B2 send a node guarding message after created is connected correctly.
Page 276: Troubleshooting For Limitation Errors
AH Mo t io n C on tr o ll er – O per a ti o n M an u a l Error code Description Corrective action 16#A0F8 Hardware error Make sure that the power supplied to AH10COPM-5A is 16#A0F9 Low voltage normal.
Page 277: Hardware Limit Errors
Ch a pt er 9 T r o u bl es h oo t in g 9.5.2. Hardware limit errors When the servo drive is driving a motion, the servo will stop when CWL(Clockwise limit) or CCWL(Counterclockwise limit) is On, no matter it’s running forward or reversely. AL014(CWL) or AL015(CCWL) will indicate such error. Servo status CWL (AL014) CWL=Off...
Page 278 AH Mo t io n C on tr o ll er – O per a ti o n M an u a l MEMO 9 - 8 4...
Page 279: Appendices
Appendices Table of Contents Installing the USB Driver for an AH Motion CPU on Windows 7 ....A-2 Device Addresses ..................A-5 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 A - 1...
Page 280: Installing The Usb Driver For An Ah Motion Cpu On Windows 7
AH Mo t io n C on tr o ll er - O p er at i on Ma n ua l A.1 Installing the USB Driver for an AH Motion CPU on Windows 7 The following example demonstrates the installation of the USB driver in Windows 7. For the installation in other operating system, please refer to the relevant description regarding hardware installation in the operation system.
Page 281 A pp e nd ix 1 . o n W indows 7 I n s ta l l i n g t h e U S B D r i v e r f o r a n A H Mo t i o n C P U Find in the ISPSoft installation path and double-click the left button to execute the installaiton: \ Driver \ CP210x_VCP \ CP210xVCPInstaller_x64.exe installation or \ Driver \ CP210x_VCP \ CP210xVCPInstaller_x86.exe installation;...
Page 282 AH Mo t io n C on tr o ll er - O p er at i on Ma n ua l Confirm whether the USB device (CP210x USB UART Brige Controller) has no yellow bang and display "Silicon Labs CP210x USB to UART Bridge" in Device Manager. If the yellow bang disappeared, it means the installation was successful.
Page 283: Device Addresses
A pp e nd ix 2 . De v ic e A ddr es s es A.2 Device Addresses Standard Modbus addresses of devices: Modbus address (Decimal AH500 Address Device Type Format Device range number) (Hexadecimal number) DDD.D X0.0~X511.15 124577~132768 6000~7FFF Word X0~X511...
Page 284 AH Mo t io n C on tr o ll er - O p er at i on Ma n ua l HC0~HC63 0000FC00~0000FC3F DWord HC0~HC63 0000FC00~0000FC3F Word E0~E31 0000FE00~0000FE1F DDDDD.D L0.0~L65535.15 52000000~520FFFFF Word DDDDD L0~L65535 62000000~6200FFFF DDDDD AM0~AM16383 90000000~90003FFF DDDDD.D AR0.15~AR65535.15 90000000~90003FFF...
Page 285: Operating Principles Of The Cpu Module
A pp e nd ix 3 . O p era t in g Pr i nc i p l es of t he CP U M od u l e A.3 Operating Principles of the CPU Module A.3.1 Operation of the CPU Module ...
Page 286 AH Mo t io n C on tr o ll er - O p er at i on Ma n ua l  I/O Refreshing and Communication Service I/O refreshing A CPU module reads external I/O data periodically or output data to external I/O. I/O refreshing includes the following.
Page 287: Operating Modes Of The Cpu Module
A pp e nd ix 3 . O p era t in g Pr i nc i p l es of t he CP U M od u l e A.3.2 Operating Modes of the CPU Module  Operating Modes There are two operating modes.
Page 288 AH Mo t io n C on tr o ll er - O p er at i on Ma n ua l MEMO A - 1 0...

This manual is also suitable for:

Ah500 series Ah10emc-5a Ah08emc-5a Ah20emc-5a Ah emc-5a series

Delta AH Series Operation Manual

Preface

Introduction

Navigation between Manuals

Chapter 1 Introduction to Motion Control Operation

Features of AH Motion

AH Motion System Configurations

Basic Operating Procedures for Motion Control

Specifications of AH Motion CPU

Chapter 2 Hardware Setup

Installation

Wiring

Chapter 3 Software Setup

Installing and Uninstalling Ispsoft

Installing and Uninstalling COMMGR

Connecting Ispsoft with AH Motion CPU

Chapter 4 Operating Ispsoft

Quick Start

Procedures for Creating a Project in Ispsoft

Creating a Project

Hardware Configuration

Creating a Program

Testing and Debugging a Program

Chapter 5 Understanding Common Devices

Introduction

Common Devices

Ethercat Symbols

Symbols

User-Defined Data Type (ENUM)

Chapter 6 Understanding Motion Control Devices

Motion Control Devices

Chapter 7 Motion Control Programming

Introduction

Motion Control Program

Motion Control Instructions

Axis

State Transitions

Buffer Mode

Execution of Function Block Instructions

Positions

Electronic Cam

Chapter 8 Memory Card

Overview of Memory Cards

Using a Memory Card

Installing and Removing a Memory Card

Contents of a Memory Card

Reading/Writing a Memory Card

CARD Utility

Backup

Restoration

Chapter 9 Troubleshooting

Inspection and Troubleshooting

Error Codes and Indicators

Troubleshooting for CPU

Troubleshooting for I/O Modules

Troubleshooting for Limitation Errors

Appendices

Installing the USB Driver for an AH Motion CPU on Windows 7

Device Addresses

Operating Principles of the CPU Module

Quick Links

Troubleshooting

Related Manuals for Delta AH Series

Summary of Contents for Delta AH Series