Motion Control Devices; Structures Applicable For Motion Control; Parameters For Motion Axes - Delta AH Series Operation Manual

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. In PLCopen technical standard, the
information and parameters required for configuring motion control on axis are defined as Structures. A structure is a data
type applicable to group the data elements together. You can refer to ISPSoft User Manual for the operation of using
structures.

6.1.1. Structures Applicable for Motion Control

For AH Motion Controller CPUs, the applicable Structure are as below.
PLCopen
AXIS_REF*
AXES_GROUP_REF
TRIGGER_REF
INPUT_REF
OUTPUT_REF
*Note: refer to the 6.1.2 Parameters for Motion Axes of this manual for the list of parameters grouped in the Structure
AXIS_REF which is supported by AH Motion Controller CPU.

6.1.2. Parameters for Motion Axes

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For AH Motion Controller CPUs, the applicable structure for setting up axis parameters is AXIS_REF. The below table
can be used in case there is a need to change axis parameters by modifying specific data registers. The detailed
explanation also helps you to have a proper understanding of the axis parameters.

The axis parameters for motion axes
AXIS_REF
Members
Parm_setting
Pulse_of_1Rev
Parm_setti
32
ng
6 - 2
Structures
Motion FBs
Applicable
for MC_ / DFB_
function blocks
N/A
MC_TouchProbe
MC_AbortTrigger
N/A
N/A
Data type
WORD
Setting the parameters of the axis specified
Number of pulses it takes for the motor of
DINT
the axis specified to rotate once
Distance generated after the motor of the
DINT
axis specified rotate once
Information and parameters required for configuring axis
motion is grouped in this Structure.
Information and parameters required for configuring axes group
motion is included in this Structure.
Information on trigger inputs

Specifications of the trigger

Trigger activation patterns (rising-edge, falling edge,
and etc.)
Information relating to the inputs. Virtual data could be included.
Information relating to physical outputs.
Description
Function
Definition
Factory setting
Setting range
(Default)
Bit 0~bit15 0
1~99999999
10,000
pulses/revolution
1~1000000 10,000