Features Of Ah Motion; Plcopen Based Motion Control Instructions; Motion Network Communications - Delta AH Series Operation Manual

AH Mo tion Co n tro ller – Oper a tion Ma nua l
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Features of AH Motion

AH Motion Controller is the advanced motion control series with dedicated motion control CPUs and shares the same
modules with AH series PLCs. Through the motion control network, such as EtherCAT, AH Motion Controller CPU can
perform high-speed, high-precision machine control with the connected servo drives on the motion network.

1.1.1. PLCopen based Motion Control Instructions

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AH Motion Controller CPUs offers motion control instructions that are standardized by PLCopen*. In addition, you can
also use the convenient function block instructions developed by Delta together with the PLCopen based instructions to
optimize the control flexibility. These instructions help you achieve single-axis motion, multi-axis interpolation, G-code
programming, synchronized motion (e.g. electronic cam/gear), velocity control, and torque control. You can specify the
motion parameters in the motion control instructions and the axis parameters according to the application.
*Note:
PLCopen is an organization promoting industrial control based on IEC61131-3, which is an international standard widely
adopted for PLC programming. For more information regarding PLCopen, check the official website at:
http://www.plcopen.org/

1.1.2. Motion Network Communications

The AH Motion Controller CPU with built-in motion network (e.g. EtherCAT) port can be connected with Delta servo drives
that supports the same motion network to perform data exchange of all control information via high-speed
communications. In comparison with the traditional pulse-type motion controllers, the motion control instructions in
network-type controllers are sent via data communications, meaning the servo motors performance is optimized and is not
limited by the interface specifications, e.g. the response frequency of the feedback from encoders. The motion network
communications allows users to achieve a real-time control and monitoring system.
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