Delta AX-3 Series Operation Manual

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A X-3 - 0339420 - 01

2020/08/19

AX-3 Series

Operation Manual

www.deltaww.com

Table of Contents

Chapters

Table of Contents

Troubleshooting

Summary of Contents for Delta AX-3 Series

Page 1 TEL: +7 495 644 3240 Raleigh Office P.O. Box 12173, 5101 Davis Drive, Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey) Şerifali Mah. Hendem Cad. Kule Sok. No:16-A Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3813 / FAX: 1-919-767-3969 34775 Ümraniye – İstanbul Mail: Sales.IA.Turkey@deltaww.com...
Page 2 AX-3 Series 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 .
Page 3: Table Of Contents
Installing and Removing a Memory Card ........... 3-2 3.1.2 Installing and Replacing a Button Cell Battery ........3-3 3.1.3 Installing the AX-3 Series PLC in the Control Cabinet ......3-5 Installing and Uninstalling DIADesigner-AX ........3-7 3.2.1 Installing DIADesign-AX ..............3-8 3.2.2...
Page 4 Getting Started and Setting up Communication ....... 3-15 3.3.1 Getting Started ................3-15 3.3.2 Setting up Communication ............. 3-16 Chapter 4 Basic Operation Introduction on DIADesigner-AX ............4-2 4.1.1 Create a New Project ..............4-2 Setting Items on the Device Page ............4-4 4.2.1 CPU Parameter Settings ..............
Page 5 Chapter 7 Motion Control Basic Settings and Operation Introduction on Motion Control Instructions ........7-4 7.1.1 Motion Control Instructions ............. 7-4 7.1.2 Application Notes on Motion Control Instructions ........ 7-4 7.1.3 Categories of Motion Control Instructions .......... 7-5 Creating Motion Control Project ............7-6 7.2.1 Process Flowchart ................
Page 6 7.7.8 Other Features ................7-128 Programming Example ..............7-132 7.8.1 Device Framework ..............7-132 7.8.2 Examples ................... 7-132 Chapter 8 OPC UA Server OPC UA Server ................... 8-2 8.1.1 Creating a Project for OPC UA Access ..........8-2 Setting up a Connection with the “UaExpert” Client ......8-4 Setting up a Certificated Connection ..........
Page 7 A.2.2 ERROR LED Indicators Blinking Rapidly Every 0.2 Seconds ....A-8 A.2.3 ERROR LED Indicators Slow Blinking Every 3 Seconds and Lighting up for 1 Second .................. A-8 A.2.4 BAT. LOW LED Indicators Are ON ............. A-8 A.2.5 BAT. LOW LED Indicators Blinking Every 0.5 Seconds ......A-8 A.2.6 Others ..................
Page 8 Chapter 1 Product Introduction Table of Contents Overview ................... 1-2 1.1.1 Related Manuals ................1-2 1.1.2 Models Descriptions................ 1-3 DIADesigner-AX Software Overview ..........1-9 1.2.1 Features ..................1-9 1 - 1...
Page 9: Overview
A X- 3 S e r i e s O p e r a t i o n M a n u a l 1.1 Overview This manual introduces the AX-3 Series CPU functions, devices, module tables, troubleshooting, and so forth. 1.1.1 Related Manuals The related manuals for AX-3 Series programmable logic controllers are listed below.
Page 10: Models Descriptions
C h a p t e r 1 P r o d u c t I n t r o d u c t i o n 1.1.2 Models Descriptions Classification Model Name Description Input: 100-240 VAC, 50/60 Hz AS-PS02 Output: 24VDC/2A, 48W (for PLC internal use) Power supply Input: 100-240 VAC, 50/60 Hz...
Page 11 A X- 3 S e r i e s O p e r a t i o n M a n u a l Classification Model Name Description 24VDC AS16AM10N-A 16 inputs Spring-clamp terminal block 5 - 30VDC 0.5A/output, 4A/COM AS16AN01P-A 16 outputs Sourcing output...
Page 12 C h a p t e r 1 P r o d u c t I n t r o d u c t i o n Classification Model Name Description 24VDC 8 inputs 5 - 30VDC AS16AP11T-A 0.5A/output, 4A/COM 8 outputs Sinking output Spring-clamp terminal block...
Page 13 A X- 3 S e r i e s O p e r a t i o n M a n u a l Classification Model Name Description Hardware resolution: 16 bits 0/4–20mA, -20mA–+20mA Conversion time: 2 ms/channel 4-channel analog output module Hardware resolution: 12 bits AS04DA-A -10 to +10V, 0–20mA, 4–20mA...
Page 14 C h a p t e r 1 P r o d u c t I n t r o d u c t i o n Classification Model Name Description Highest accuracy: 0.04% of full-scale ADC Resolution : 24 bits Conversion time: 2.5–400 ms (nine options to choose from) UC-PRG015-01A Used for the connection between a PLC and a PC via a mini...
Page 15 A X- 3 S e r i e s O p e r a t i o n M a n u a l Classification Model Name Description UC-EMC200-02A Ethernet communication cable, 20M UC-EMC003-02B Ethernet communication cable, 0.3M UC-EMC005-02B Ethernet communication cable, 0.5M UC-EMC010-02B Ethernet communication cable, 1M UC-EMC020-02B...
Page 16: Diadesigner-Ax Software Overview
C h a p t e r 1 P r o d u c t I n t r o d u c t i o n 1.2 DIADesigner-AX Software Overview Conformed to IEC61131-3, DIADesigner-AX is a new programming tool for a new generation Delta PLC. With the abundant applied instructions and an adequate motion function library, DIADesigner-AX provides a friendly and multilingual programming interface for a more convenient and efficient development environment.
Page 17 A X- 3 S e r i e s O p e r a t i o n M a n u a l MEMO 1 - 1 0...
Page 18: Chapter 2 Specifications And System Configurations
Chapter 2 Specifications and System Configurations Table of Contents General Specifications ............... 2-2 CPU Module Specifications ..............2-4 2.2.1 Functional specifications ..............2-4 2.2.2 Electrical specifications ..............2-7 2.2.3 CPU Module Profiles ................ 2-9 2.2.4 CPU Module Input/Output Terminals ..........2-11 Power Supply Module Specifications ..........
Page 19: General Specifications
Storage:1080 ~ 660hPa (-1000 ~ 3500 m) pressure-altitude *1: Leave the AX-3 Series PLC in an environment within the operating temperature for at least one hour to ensure the AX-3 Series PLC temperature is within the operating temperature. •...
Page 20 A X- 3 S e r i e s O p e r a t i o n M a n u a l • Environmental Reference Test Test level phenomenon standard ± 4 kV Contact Electrostatic IEC 61000-4-2 ± 8 kV discharge 1 V/m 2.0-2.7 GHz...
Page 21: Cpu Module Specifications
C h a p t e r 2 Sp e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o 2.2 CPU Module Specifications 2.2.1 Functional specifications Type...
Page 22 A X- 3 S e r i e s O p e r a t i o n M a n u a l 10/100/1000 Mbps Transmission speed Cable Category 5e or later, 100 meters (Max.) ARP, IP, TCP, UDP, MODBUS TCP, Protocols EtherNet/IP Number of ports...
Page 23 C h a p t e r 2 Sp e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o Maximum number of the CIP connections (Output O->T)
Page 24: Electrical Specifications
A X- 3 S e r i e s O p e r a t i o n M a n u a l authentication Number of certificates that Trusted applications: 32 can be Issuer certificiates: 32 Rejected applications: 32 stored User Method of user...
Page 25 C h a p t e r 2 Sp e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o ...
Page 26: Cpu Module Profiles
A X- 3 S e r i e s O p e r a t i o n M a n u a l CPU Module Profiles 2.2.3 • AX-308EA0MA1T/ AX-364ELA0MA1T 11 12 PO WER AX -30 8E RU N ER RO R RU N BAT.
Page 27 C h a p t e r 2 Sp e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o Number Name Description...
Page 28: Cpu Module Input/Output Terminals
A X- 3 S e r i e s O p e r a t i o n M a n u a l 2.2.4 CPU Module Input/Output Terminals AX-308EA0MA1T / AX-364ELA0MA1T ENCNDOR X0.0 X0.8 DATA+ P OWE R DATA- X0.1 X0.9 S S I...
Page 29: Power Supply Module Specifications
C h a p t e r 2 Sp e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o 2.3 Power Supply Module Specifications 2.3.1 General Specifications...
Page 30: Power Supply Module Terminals
A X- 3 S e r i e s O p e r a t i o n M a n u a l  AS-PS02A POWER POWER PS02A PS02A +24V +24V OUTPUT OUTPUT INPUT INPUT WARNING WARNING Risk of electrical shock. Risk of electrical shock.
Page 31 C h a p t e r 2 Sp e c i f i c a t i o n s a n d S y s t e m C o n f i g u r a t i o ...
Page 32: Extension Modules
A X- 3 S e r i e s O p e r a t i o n M a n u a l 2.4 Extension Modules You can connect the AS Series modules to AX-3 Series CPU. Refer to AS Series Module Manual for more information.
Page 33: Chapter 3 Installing Hardware And Getting Started
Installing and Removing a Memory Card ........... 3-2 3.1.2 Installing and Replacing a Button Cell Battery........3-3 3.1.3 Installing the AX-3 Series PLC in the Control Cabinet ......3-5 Installing and Uninstalling DIADesigner-AX ........3-7 3.2.1 Installing DIADesign-AX ..............3-8 3.2.2...
Page 34: Installing Hardware
A X- 3 S e r i e s O p e r a t i o n M a n u a l 3.1 Installing Hardware 3.1.1 Installing and Removing a Memory Card  Memory Card Slot of the CPU Module The memory card slot is on the front side of the AX Series PLC.
Page 35: Installing And Replacing A Button Cell Battery
RTC through DIADesigner-AX. Follow the steps below for installing a battery. Pull out the battery holder from the AX-3 Series PLC with the tip of a screwdriver at the concave part of the battery compartment as shown below.
Page 36 When the BAT LOW indicator of the AX-3 Series PLC is red, it indicates there is no battery installed or the battery voltage is low and you need to install or replace the battery of the AX-3 Series PLC. It is suggested to replace the battery while the AX-3 Series PLC is powered on.
Page 37: Installing The Ax-3 Series Plc In The Control Cabinet
The control cabinet should be grounded.  Use the AX-3 Series PLC according to the instructions on the manual. If operating the AX-3 Series PLC in a manner not specified by the manufacturer, it may weaken the protection provided. ...
Page 38 Installing the AX-3 Series PLC on DIN rail Pull out the fixing clips at the rear of the AX-3 Series PLC. Then edge in the horizontal slots which are at the rear of the AX-3 Series PLC on the DIN rail. And then push and lock the fixing clips to have the AX-3 Series PLC securely installed in the control cabinet.
Page 39: Installing And Uninstalling Diadesigner-Ax
C h a p t e r 3 I n s t a l l i n g H a r d wa r e a n d G e t t i n g S t a r t e d 3.2 Installing and Uninstalling DIADesigner-AX ...
Page 40: Installing Diadesign-Ax
A X- 3 S e r i e s O p e r a t i o n M a n u a l 3.2.1 Installing DIADesign-AX Before installation begins, make sure the computer used for installing DIADesigner-AX meets the minimum system requirements listed in section 3.2.
Page 41 C h a p t e r 3 I n s t a l l i n g H a r d wa r e a n d G e t t i n g S t a r t e d Follow the steps below for installing DIADesigner-AX.
Page 42 A X- 3 S e r i e s O p e r a t i o n M a n u a l An InstallShied Wizard shows up and starts installing. Click Next. The window of License Agreement shows up. Select “I accept the terms in the license agreement” and then click Next.
Page 43 C h a p t e r 3 I n s t a l l i n g H a r d wa r e a n d G e t t i n g S t a r t e d Click Change…...
Page 44 A X- 3 S e r i e s O p e r a t i o n M a n u a l The window of Setup Type shows up as the image shown below. Select the one you need and then click Next. The window of Ready to Install the Program appears as below and then click Install.
Page 45 C h a p t e r 3 I n s t a l l i n g H a r d wa r e a n d G e t t i n g S t a r t e d It may take some time to install.
Page 46: Uninstalling Diadesigner-Ax
A X- 3 S e r i e s O p e r a t i o n M a n u a l 3.2.2 Uninstalling DIADesigner-AX Follow the steps below for uninstalling DIADesigner-AX. Double-click DIAInstaller icon to open and then click Uninstall. 2.
Page 47: Getting Started And Setting Up Communication
Getting Started After DIADesigner-AX is successfully installed, click Start , you can find it under the folder of Delta Industrial Automation and you can also find its short cut on the desktop. Double-click either one to start the software. You can open more than one DIADesigner-AX software to achieve multitasking.
Page 48: Setting Up Communication
Gateway. After that, the system starts Gateway automatically whenever you turn your computer on. And its icon will appear on the taskbar. If not, go to the execution file CODESYS Gateway V3 under the folder of Delta Industrial Automation or GatewaySysTray.exe in the Program Files folder to start the Gateway manually.
Page 49 C h a p t e r 3 I n s t a l l i n g H a r d wa r e a n d G e t t i n g S t a r t e d Click Stop Gateway if you need to stop gateway working.
Page 50 A X- 3 S e r i e s O p e r a t i o n M a n u a l You can configure the Local Gateway. Click Gateway and click the option Configure the Local Gateway to open the setting page.
Page 51 C h a p t e r 3 I n s t a l l i n g H a r d wa r e a n d G e t t i n g S t a r t e d You can find two interfaces under Local Gateway, including UDP interface and TCP interface.
Page 52 A X- 3 S e r i e s O p e r a t i o n M a n u a l You can add configuration settings under COM Port. Right-click the COM Port icon , select Add configuration setting…..
Page 53 C h a p t e r 3 I n s t a l l i n g H a r d wa r e a n d G e t t i n g S t a r t e d If the connection is established successfully, you can find that the status light is green and the detailed device information under the device image.
Page 54 A X- 3 S e r i e s O p e r a t i o n M a n u a l MEMO 3 - 2 2...
Page 55 Chapter 4 Basic Operation Table of Contents 4.1 Introduction on DIADesigner-AX ............4-2 4.1.1 Creating a New Project ..............4-2 4.2 Setting Items on the Device Page ............4-4 4.2.1 CPU Parameter Settings ..............4-4 4.3 Data Type and Variables ..............4-29 4.3.1 Data Type ..................
Page 56: Introduction On Diadesigner-Ax
AX - 3 S er ies O per a ti o n M a nu a l 4.1 Introduction on DIADesigner-AX DIADesigner-AX is an open platform for PLC development system and industrial automation. The adaptable DIADesigner- AX provides an easy way to create professional engineering of IEC 61131-3 automation projects. Based on the IEC 61131- 3 data structure and the high-level language programming, DIADesigner-AX is strong in functionality, easy to develop, reliable, extendable and open for development.
Page 57 Ch a pt er 4 B as ic O p e r at i on And a Standard Project dialog appears. You can select the device and the programming language from the drop-down list. Click OK, the system generates a cyclic task with a default PLC_PRG. After a new project is successfully created, you can see a project management area in the left side of the window.
Page 58: Setting Items On The Device Page
AX - 3 S er ies O per a ti o n M a nu a l 4.2 Setting Items on the Device Page This section introduces all the setting items on the Device Page. CPU Parameter Settings 4.2.1.1 Communication Settings On the Communication Settings page, you can define the communication method for DIADesigner-AX and controller.
Page 59 Ch a pt er 4 B as ic O p e r at i on  Status of the Connection The dots under the images of gateway and controller indicate the connection status. Red: Not be able to establish a connection Green: A connection is established.
Page 60 AX - 3 S er ies O per a ti o n M a nu a l Description : DIADesigner-AX saves the communication settings in the options of the local installation for reuse on the same computer. Note: When using DIADesigner-AX SVN, the option should be cleared in order to prevent blocking the device object.
Page 61 Ch a pt er 4 B as ic O p e r at i on 4.2.1.2 Applications Here you can check and manage the applications on the PLC. Button Description Remove: Deletes the application selected in the list. Remove / Remove All Remove All: Deletes all listed applications on the PLC.
Page 62 AX - 3 S er ies O per a ti o n M a nu a l 4.2.1.3 Backup and Restore You can backup and restore the application-specific file on the PLC by saving and reading a zip archive. Description Click Backup tab to see the followings ...
Page 63 Ch a pt er 4 B as ic O p e r at i on 4.2.1.4 Files You can transfer files between the computer and the PLC on this page through DIADesigner-AX. . Item Description Path in the file system of the computer. Subdirectories and files are shown in the Location lower part of the view with name, size, and change date.
Page 64 AX - 3 S er ies O per a ti o n M a nu a l Item Description : Default settings Offline logging : The PLC also records actions that are not related to the connection with the controller. However, this is currently available only for the safety version of CODESYS.
Page 65 Ch a pt er 4 B as ic O p e r at i on 4.2.1.6 PLC Settings You can make the basic settings for the configuration of the PLC here, for example the handling of inputs and outputs and the bus cycle task. ➀...
Page 66 AX - 3 S er ies O per a ti o n M a nu a l ➂ Bus Cycle Options Item Description Task that controls the bus cycle. By default the task defined by the device Bus cycle task description is entered.
Page 67 Ch a pt er 4 B as ic O p e r at i on 4.2.1.8 Users and Groups You can edit the device user management of the controller. You can define user accounts and user groups. In combination with the configuration on the Access Rights tab, you thus control access to control objects and files at runtime.
Page 68 AX - 3 S er ies O per a ti o n M a nu a l  Toolbar of the tab Item Description 1. Switches on and off the synchronization between the editor and the user management on the device. 2.
Page 69 Ch a pt er 4 B as ic O p e r at i on Note 1: The Add User setting page Item Description ➀ Name User name ➁ Default group Use the drop-down list to select the default group ➂...
Page 70 AX - 3 S er ies O per a ti o n M a nu a l Note 3: The Add Group setting page Type in the new group name and select the to-be-added group members for this new group and then click OK. Note 4: The Import Group setting page After selected the group from the list, click OK to import.
Page 71 Requirements for the access rights to be granted to user groups • A component for the user management has to be available on AX-3 Series PLC. That is the primary requirement. • Users and user groups have to be configured on the Users and Groups tab.
Page 72 AX-3 Series PLC. • Runtime objects ‣ /: In these objects, all objects are managed that have online access in the AX-3 Series PLC and therefore have to control the access rights. A description of the objects is located in the table. Overview of the objects Object groups and objects (indented) Example: Device with child nodes Logger, PlcLogic, Settings, UserManagement.
Page 73 Ch a pt er 4 B as ic O p e r at i on  Rights Description In general, the access rights are inherited from the root object (also Device or /) to the sub-objects. This means that if a permission of a user group is denied or explicitly granted to a parent object, then this first affects all child objects.
Page 74 AX - 3 S er ies O per a ti o n M a nu a l  Overview  Runtime objects > Device  Device > Logger The Logger object on the Access Rights tab was created by the “Logger” component and controls its access rights.
Page 75 Ch a pt er 4 B as ic O p e r at i on The following table shows which action is affected in particular when a specific access right is granted for an IEC application. x: The right has to be set explicitly. -: The right is not relevant.
Page 76 Additional external connections to the AX-3 Series PLC can be configured below this node. Currently, access to the OPC UA server can be configured here.  Settings This is the online access to the configuration settings of the AX-3 Series PLC. By default, access to Modify is granted only to the administrator.  UserManagement This is the online access to the user management of AX-3 Series PLC.
Page 77  File system objects > / All folders from the execution path of the AX-3 Series PLC are inserted below the “/” file system object. This allows you to grant specific rights to each folder of the file system. 4.2.1.10 Symbol Rights Here you can define the access rights of different user groups to the individual symbol sets available on the AX-3 Series PLC.
Page 78 In the Symbol Sets view, all symbol sets are listed below the Application node whose definition was downloaded with the application to the AX-3 Series PLC. In the Rights view, the user groups defined in the user management of the controller are listed in a table. When a symbol set is selected, you see the access rights of the corresponding user group to the symbols of this set.
Page 79 4.2.1.11 Runtime Clock Configuration Here you can set up the Runtime Clock for the AX-3 Series PLC. Before setting up, make sure that DIADesigner-AX is successfully connected to AX-3 Series PLC. Refer to section 4.2.1.1 for establishing the connection between DIADesigner-AX and AX-3 Series PLC.
Page 80 AX - 3 S er ies O per a ti o n M a nu a l 4.2.1.12 System Parameters Here you can set up the various parameters for the AX-3 Series PLC. Note that settings on this page do NOT support on-line editing.
Page 81 Ch a pt er 4 B as ic O p e r at i on  Show Battery Low Voltage Error The parameter sets whether the alarm is shown when the lithium battery for the real-time clock is of low voltage or is not installed.
Page 82 AX - 3 S er ies O per a ti o n M a nu a l 4.2.1.14 Status Here you can find the device status information, for example ‘Running’ or ‘Stopped’, and specific diagnostic messages from the respective device, also information about the card used and the internal bus system. 4.2.1.15 Information Here you can find general information that originates from the device description file: name, vendor, categories, version, order number, description, and other relevant information.
Page 83: Data Type And Variables
Ch a pt er 4 B as ic O p e r at i on 4.3 Data Type and Variables Data Type Data Type Minimum Value Maximum Value Data Width BOOL FALSE TRUE 1 bit BYTE 8 bit WORD 65535 16 bit DWORD 4294967295...
Page 84: Variables
AX - 3 S er ies O per a ti o n M a nu a l Variables Rules for identifiers of variables:  No spaces or special characters  Not case sensitive (For example, Var0 and VAR0 are seen as the same variable) ...
Page 85 (flag memory range). You can use specific character strings to express memory position and size. For the M flag memory range in AX-3 Series PLC, you cannot manually use the bit operation when in online mode. Syntax: %<Memory Area Prefix><Size Prefix><Memory Position>...
Page 86 AX - 3 S er ies O per a ti o n M a nu a l • Example Address Description %QX7.5 Single bit address of the output bit 7.5 %IW215 Word address of the input word 215 %QB7 Byte address of the output byte 7 %MD48 Address of a double word at memory position 48 in flag memory wVar0 AT %IW0 : WORD;...
Page 87 Ch a pt er 4 B as ic O p e r at i on • Constant Variables You can declare a variable as a constant variable. Constant variables can be accessed as read-only and without assigning an initialization value. Declaration of Constant Variables 4 - 3 3...
Page 88 AX - 3 S er ies O per a ti o n M a nu a l • Retain Variables You can declare a variable as retentive or use retain / persistent variable directly. Refer to the table below for differences among variable, retain variable and persistent variable.
Page 89 Ch a pt er 4 B as ic O p e r at i on If you need to declare a local variable as persistent, you need to add the variable instance path in the persistent variable list. 4 - 3 5...
Page 90 AX - 3 S er ies O per a ti o n M a nu a l 4.3.2.4 User-defined Data Types You can create your own data type, DUT (Data Type Unit) or UDT (User-defined Data Type), by clicking ADD Object and selecting DUT.
Page 91 Ch a pt er 4 B as ic O p e r at i on Example: Applications: • Enumeration： An enumeration is used to map a set of names to numeric values. Enumerated data types help make the code more self- documenting and make program listing more readable.
Page 92 AX - 3 S er ies O per a ti o n M a nu a l • Alias： Alias is a scalar data type for a variable that can save a single value and self-define the data type. Example: TYPE <Alias Name>...
Page 93: Task
Ch a pt er 4 B as ic O p e r at i on 4.4 Task Task Configuration You define one or more tasks for controlling and executing the program blocks (POUs) in the PLC. You define a task with a name, a priority, and a type, which determines which condition triggers the start of the task.
Page 94 AX - 3 S er ies O per a ti o n M a nu a l 4.4.1.2 Bus Cycle Task If the task condition is satisfied, then the system processes the task. Set the priority level from 0 to 31. If the set number is closer to 0, it has higher priority. The system processes the task in the order of Task Group in Task Configuration.
Page 95 Ch a pt er 4 B as ic O p e r at i on 4.4.1.3 Watchdog If the task exceeds the time set for the watchdog, then the task is halted with an error status. • Several consecutive timeouts: Sensitivity: 0, watchdog timeout = time *1 Sensitivity: n, watchdog timeout = time *n 4 - 4 1...
Page 96 AX - 3 S er ies O per a ti o n M a nu a l 4.4.1.4 Motion Instructions for Types of Tasks Here is the table of motion instructions for different task types. “V” means the motion instruction can be executed for the task type.
Page 97 Ch a pt er 4 B as ic O p e r at i on Task Type Classification Instruction Name Cyclic Freewheeling Bus Cycle EtherCAT MC_CamTableSelect MC_TouchProbe MC_AbortTrigger MC_DigitalCamSwitch DMC_GroupEnable DMC_GroupDisable DMC_GroupReadStatus DMC_GroupReadError DMC_GroupReset DMC_CamReadTappetStatus DMC_CamReadTappetValue DMC_CamWriteTappetValue DMC_CamAddTappet DMC_CamDeleteTappet DMC_CamReadPoint DMC_CamWritePoint DMC_ChangeMechanismGearRation DMC_ReadMotionState...
Page 98 AX - 3 S er ies O per a ti o n M a nu a l MEMO 4 - 4 4...
Page 99: Chapter 5 Hardware Configuration
Chapter 5 Hardware Configuration Table of Contents 5.1 Environment of Hardware Configuration ..........5-2 5.2. Add a Module ..................5-5 5.3 Remove a Module................... 5-7 5.4 Copy and Paste a Module ............... 5-9 5.4.1 Copy a Module ..................5-9 5.4.2 Paste a Module ................. 5-10 5.5 Cut and Paste a Module ...............
Page 100: Environment Of Hardware Configuration
AX - 3 S er ies O per a ti o n M a nu a l Hardware Configuration is the tools in DIADesign-AX for hardware configuration. Its functions include setting parameters for CPU and modules. This chapter will introduce the abovementioned funcitons. 5.1 Environment of Hardware Configuration Double-click on the Device section to open the Hardware Configurate (Device)
Page 101 Ch a pt er 5 Har d war e Co nf i g ur a t io n Click on the upper-left corner to see the current configurations. For example, the width of the total connected module, the current consumption and power current output. on the upper-right corner to rearrange the device image for better viewing experience and easier operation.
Page 102 AX - 3 S er ies O per a ti o n M a nu a l Enter a key word in the Search Toolbox on the right-side window and press “Enter” button on your keyboard to search for the matched modules. 5 - 4...
Page 103: Add A Module
PLC directly. Double-click or drag and drop the extension module that you’d like to add from the Product List. Newly added extension modules will apper on the right-side of the AX-3 Series PLC. And the device names will also show up on the left-side under Delta_LocalBus_Master.
Page 104  Method 2 If the AX-3 Series PLC and its connected extension module are powered on and the gateway is correctly set, you can use the icon to scan and add the modules in. Newly added extension modules will apper on the right-side of the AX-3 Series PLC.
Page 105: Remove A Module
Ch a pt er 5 Har d war e Co nf i g ur a t io n 5.3 Remove a Module You cannot remove a CPU. You can only delete extension modules.  Method 1 Right-click the module image that you’d like to remove to open the context menu and click the option Delete or use the Delete Button on your keyboard to remove the module.
Page 106 AX - 3 S er ies O per a ti o n M a nu a l  Method 2 Right-click the device name under Delta_LocalBus_Master that you’d like to remove to open the context menu and click the option Delete or use the Delete Button on your keyboard to remove the module. After that the device image will also be removed from the editing area.
Page 107: Copy And Paste A Module
Ch a pt er 5 Har d war e Co nf i g ur a t io n 5.4 Copy and Paste a Module You cannot use copy and paste on a CPU. You can only use copy and paste on extension modules. 5.4.1 Copy a Module ...
Page 108: Paste A Module
AX - 3 S er ies O per a ti o n M a nu a l 5.4.2 Paste a Module  Method 1 You can place the module between modules. Right-click where you’d like to paste the module to open the context menu and click the option Paste to place the module on the left of the module you had clicked.
Page 109: Cut And Paste A Module
Ch a pt er 5 Har d war e Co nf i g ur a t io n 5.5 Cut and Paste a Module You cannot use cut and paste on a CPU. You can only use cut and paste on extension modules. 5.5.1 Cut a Module ...
Page 110: Paste A Module
AX - 3 S er ies O per a ti o n M a nu a l 5.5.2 Paste a Module  Method 1 You can place the module between modules. Right-click where you’d like to paste the module to open the context menu and click the option Paste to place the module on the left of the module you had clicked.
Page 111: Chapter 6 Network Configuration
Chapter 6 Network Configuration Table of Contents Network Configuration ..............6-2 6.1.1 Introduction .................. 6-2 6.1.2 Basic Knowledge ................6-3 6.1.3 Creating a Network Topology............6-5 6 - 1...
Page 112: Network Configuration
AX - 3 S er ies O per a ti o n M a nu a l 6.1 Network Configuration DIADesigner-AX provides a Network Configuration tool for users to configure the network in a project. Detailed network setting information will be covered in the following sections. 6.1.1 Introduction You can use Network Configuration to:...
Page 113: Basic Knowledge
Ch a pt er 6 Ne t wor k C onf ig ur at i o n 6.1.2 Basic Knowledge Before creating networks, you need to have some basic knowledge. Here we provide some basic knowledge in the following sections for you. Device name Communication port Network number &...
Page 114 AX - 3 S er ies O per a ti o n M a nu a l  Network Type and Communication Port  EtherCAT The orange yellow line indicates the EtherCAT communication. Double-click the Master station node to open the EtherCAT setting page of the Master.
Page 115: Creating A Network Topology
Ch a pt er 6 Ne t wor k C onf ig ur at i o n 6.1.3 Creating a Network Topology 6.1.3.1 Station Nodes When you open the Network Configuration for the first time, the system creates a graphical representation automatically. You can use the following methods to add devices including PLCs, servo motors, and drives in the network topology.
Page 116 AX - 3 S er ies O per a ti o n M a nu a l  Method 2 Right-click the project name on the Device Tree to bring out the context menu. Double-click Add Device on the context menu to open a setting page for adding devices. Double-click the device you’d like to add or click Add Device to add the device in.
Page 117 Ch a pt er 6 Ne t wor k C onf ig ur at i o n 6.1.3.2 Creating a Connection After creating the station nodes, you can start to crate connections. The network types include Modbus, Ethernet, EtherCAT and CANOpen. Refer to 6.1.2 for more information. You can use the following methods to add created network connections.
Page 118 AX - 3 S er ies O per a ti o n M a nu a l MEMO 6 - 8...
Page 119 12 7 Chapter 7 Motion Control Setup & Operation Table of Contents Introduction on Motion Control Instructions ........7-4 7.1.1 Motion Control Instructions ............. 7-4 7.1.2 Application Notes on Motion Control Instructions ........ 7-4 7.1.3 Categories of Motion Control Instructions .......... 7-5 Creating Motion Control Project ............
Page 120 A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.6.4.1 Types of Positions ..............7-62 7.6.5 CAM Tables and Framework ............... 7-62 7.6.5.1 E-CAM Framework ..............7-62 7.6.5.2 Creating E-CAM .................
Page 121 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.8.2.7 Switch CAM Table during CAM Operation ........
Page 122: Introduction On Motion Control Instructions
The motion control (MC) instructions are developed based on the specifications of PLCopen* motion control function blocks. This section gives an overview of the motion control instructions for both PLCopen-based function blocks and Delta- defined function blocks. PLCopen defines the program and function block interfaces so as to achieve a standardized motion control programming environment for the languages specified in IEC61131-3.
Page 123: Categories Of Motion Control Instructions
“SMC”: Motion instructions “MC_”: PLCopen motion Velocity control on single axis control instructions Motion Torque control on single axis Single-axis motion “DMC_”: Delta motion control control instructions instructions Synchronized control on single “MC_XXX_DML”: Delta motion axis control instructions, used with...
Page 124: Creating Motion Control Project
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.2 Creating Motion Control Project 7.2.1 Process Flowchart The following flowchart shows the process of creating motion control project and positioning axis. 7 - 6...
Page 125: Process For Creating A Project
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.2.2 Process for Creating a Project ●...
Page 126 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Double-click on “Network Configuration” to continue with EtherCAT settings.  “Network Configuration Editor” window will pop up after double-click. Find the target slave devices from “Product List Editor”...
Page 127 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 128 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Double-click on the yellow box of master device to continue on parameter settings for EtherCAT master device.
Page 129 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 130 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Afterwards, you can start writing programs with motion function blocks in POUs, which should be placed under “EtherCAT+Task”, to ensure normal operation of function blocks.
Page 131: Commissioning
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.3 Commissioning 7.3.1 Procedure for Commissioning...
Page 132 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Axis configuration screen  Parameters setting Name Setting Axis Type Linear Axis Command pulse per motor rotation 10,000 Pitch...
Page 133: Perform Axes Commissioning
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.3.3 Perform Axes Commissioning ...
Page 134 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Open “Commissioning” tab after entering the setting screen of axis parameters.  Introduction of commissioning screen ...
Page 135 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 136: Motion Control Device
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.4 Motion Control Device 7.4.1 Overview Motion control devices are mainly used for configuring parameters for motion axis. In most applications, you can set up axis parameters in DIADesigner-AX software, a convenient environment for you, where axis parameters required for configuring motion control on axis are defined as Structure.
Page 137 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 138 A X- 3 S e r i e s O p e r a t i o n M a n u a l   Velocity Ramp Type Name Function Trapezoid/Sin2/Quadratic/ Motion curves setting for axes Quadratic(Smooth)   Position Lag Supervision Function Name Positon Lag Reaction...
Page 139 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 140 A X- 3 S e r i e s O p e r a t i o n M a n u a l   Homing Setting Name Function Homing Mode Configure homing mode setting. Homing Speed during search for switch Set the homing speed during search for switch.
Page 141 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 142: Axis Application In Program
A X- 3 S e r i e s O p e r a t i o n M a n u a l Name Function Unit Denominator Denominator of electronic gear ratio Pulses/rotation(PPR) Value of pulses in rotation (PPR) ...
Page 143: Procedure For Single-Axis Configuration
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.4.3 Procedure for Single-axis Configuration ...
Page 144 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Click “ASD-A2-E” after entering Network Configuration page and connect to the line above.  Double-click on the slave device after finishing the connection. ...
Page 145 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 146 A X- 3 S e r i e s O p e r a t i o n M a n u a l  After finishing the settings of axis communication, double-click on “SM_Drive_ETC_Delta_ASDA_A2”.  Axis settings page Options of axis type: “Rotary Axis” and “Liner Axis” ...
Page 147 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 148 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Scan PLC controller  Add the newly scanned PLC controller and click “OK”. 7 - 3 0...
Page 149 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 150: Axis Group Settings
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.4.4 Axis Group Settings Axis group movement will be functioned when executes linear interpolation and circular interpolation with multiple axes.
Page 151 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 152: Using Axis Groups In Program
A X- 3 S e r i e s O p e r a t i o n M a n u a l  S Curve Note 3:  Max Velocity Limit：An error occurs when the velocity exceeds the setting value. ...
Page 153: Procedure For Axis Group Configuration
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.4.5 Procedure for Axis Group Configuration ...
Page 154 A X- 3 S e r i e s O p e r a t i o n M a n u a l After finish creating axes, select “Application” and right click “Add Object”  “Delta Axis Group” Set the name for axis group on the “Add Delta Axis Group” page, then click “Add” 7 - 3 6...
Page 155 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Afterwards, “DMC_Axis_Group”...
Page 156 A X- 3 S e r i e s O p e r a t i o n M a n u a l Click “Bus Task” to enter “Input Assistant”, then choose “EtherCAT_Task” on the screen and click “OK” with “EtherCAT_Task”...
Page 157 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n After the program writing is completed, click the Compile button to confirm the validity.
Page 158: Motion Axis Variables
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.5 Motion Axis Variables Variable 7.5.1 s for Single Axis After creating axes in the Project tree with DIADesigner_AX, the corresponding axis parameters (read-only) will be generated automatically.
Page 159 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Default Numbering Name...
Page 160 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Positioning Axis (Axis_REF_DML) Numbering Name Data Type Default value Descripyion Operating state of the current SML_AS_PowerO 1000 nAxisState...
Page 161: Variables For Axis Group
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.5.2 Variables for Axis Group After creating axis groups in project tree with DIADesigner-AX, the corresponding axis variables will be generated...
Page 162 A X- 3 S e r i e s O p e r a t i o n M a n u a l Setting Value Name Data Type Function (Default Value) (1000000) lrMaxAcceleration Positive number or zero LREAL The max acceleration of axis group Limit (2000000) Positive number or zero...
Page 163: Motion Control Programming
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.6 Motion Control Programming 7.6.1 Motion Control Program Before programming in DIADesigner-AX, please take the following description as reference.
Page 164: Pou In Diadesigner-Ax
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.6.1.2 POU in DIADesigner-AX All POUs created by you are listed in the project management area with programs and function blocks been managed separately.
Page 165 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 166: Pdo Mapping
A X- 3 S e r i e s O p e r a t i o n M a n u a l  Choose POU in EtherCAT_Task item to compile a program . 7.6.1.4 PDO Mapping Before using motion control instructions, the communication of PDO (Process Data Objects) Mapping between the software DIADesigner-AX and AX motion CPU must be setup first.
Page 167: Axis State Transitions
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.6.2 Axis State Transitions This section introduces single axis state transitions and multi-axis state transitions in axis groups for multiple...
Page 168 A X- 3 S e r i e s O p e r a t i o n M a n u a l State Meaning Disabled Axis during servo OFF, standstill, ready to execute Standstill Axis during servo ON, standstill Discrete Motion The state would be Discrete Motion while executing single-axis motion instructions.
Page 169: Axis Group State
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n State Meaning Disabled...
Page 170: Execution And Status Indication For Motion Control Instructions
DMC_ Delta self-defined function blocks* *Note: Delta self-defined function blocks (DMC) include motion control type and other administrative/ non- administrative type applicable for AX series motion CPU. Please find AX General pins for motion control function blocks include input, output and in-out. The section explains the meanings and behaviors of these pins.
Page 171: Basic Rules Of Executing Instructions
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.6.3.1 Basic Rules of Executing Instructions ●...
Page 172 A X- 3 S e r i e s O p e r a t i o n M a n u a l which need to be continuously updated. (Refer to each function block for more detail). Input value exceeds range When a motion control function block is enabled, the system restricts you to input values that exceeds the permitted range.
Page 173: Timing Diagram For Input/Outputs
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.6.3.2 Timing Diagram for Input/Outputs Situation 1: The execution of motion control function block is aborted.
Page 174: Multi-Execution Of Motion Control Instructions
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.6.3.4 Multi-execution of Motion Control Instructions This section describes executing multiple motion control instructions for the same axis or axis group within the same scan period.
Page 175 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n BufferMode Description of Operation The buffered instruction is executed after the target position of the current...
Page 176 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Buffermode=mcBuffered The instruction transferred and the present The instruction transferred and the present instruction are in same direction. instruction are in opposite direction.
Page 177 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 178 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Buffermode=mcBlendingNext The velocity of current instruction is slower 2. The velocity of current instruction is greater Cur rent ins tr uc tion ex ecution is c ompleted The buffer ed instruc ti on...
Page 179 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 180: Position
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.6.4 Position This section describes the position processes of motion control programming. 7.6.4.1 Types of Positions MC function blocks are formed by the following two types of positions.
Page 181 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.6.5.2 Creating E-CAM The data that defines the relationship between master/slave (CAM axis) is called E-CAM data.
Page 182 A X- 3 S e r i e s O p e r a t i o n M a n u a l (2) Type the name of the CAM table. (3) After clicking “Add”, CAM icon is shown on the left item box. 7 - 6 4...
Page 183 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Click “Cam Table”...
Page 184 A X- 3 S e r i e s O p e r a t i o n M a n u a l (7) You can configure tappets on “Tappet table” page and read the status of tappets with SMC_GetTappetValue, which can also be modified according to the settings in “Tappet table”...
Page 185: Motion Control Functions
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7 Motion Control Functions 7.7.1 System Structure The single axis motion instructions of MC function blocks can generate specified motion path for axis based on...
Page 186: Profile Position Mode
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.2.2 Profile Position Mode After the servo drive receives position demands from the master device, the drive controls the motor to reach the target position.
Page 187: Stop Method
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 188 A X- 3 S e r i e s O p e r a t i o n M a n u a l - The state of “Stopping” continues until velocity reaches 0 or Execute becomes False. When velocity is 0, Done changes to True.
Page 189 Hardware limit: Since the EtherCAT servo wires carry the hardware limit signals, the stop method for hardware ASDA-A2-E servo limit may be different between companies and brands. The following description takes Delta drive as example: Use MC_Jog function block to perform axis rotating in positive direction. Once the hardware...
Page 190: Mc_Gearin
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.2.5 MC_GearIn Use MC_GearIn instruction to control gear movement and cancel synchronization via MC_Gear Out instruction In MC_GearIn, the master and slave axes, gear ratio numerator and gear ratio denominator, acceleration, deceleration as well as jerk are specified.
Page 191 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Velocity Slave 2000...
Page 192: Mc_Gearinpos
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.2.6 MC_GearInPos You can adopt MC_GearInPos to assign the synchronous starting positions of master and slave axis. ▓...
Page 193 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.2.7 MC_CamIn The slave axis follows the master axis for synchronized motion based on CAM table.
Page 194 A X- 3 S e r i e s O p e r a t i o n M a n u a l *Note: For more details of pins definition, please refer to AX Series Motion Controller Manual. Master as external pulse counter The sources of E-CAM master include actual and virtual axes as well as the counter.
Page 195: Mc_Camin
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n The CAM phase derives from the axis position and conversion may take place.
Page 196 A X- 3 S e r i e s O p e r a t i o n M a n u a l Offset and scaling (MasterOffset/MasterScaling/SlaveOffset/Slavescaling) Since the CAM mechanism between master and slave are pre-planned, when executing CAM, you can adopt Offset and Scaling parameters to pre-plane position offset or scaling.
Page 197 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n When position offset or scaling is not in default value, the following diagrams show the effects of the corresponding relationship between master and slave actual positions during CAM execution: For master and slave offset as 0, the effects from scaling of master and slave for actual CAM execution...
Page 198 A X- 3 S e r i e s O p e r a t i o n M a n u a l Situation 5: When master scaling ratio is 0.5, slave scaling ratio is 1 and offset for both axes is 0, the master position that corresponds to the slave position is half the amount of pre-planned measurement.
Page 199 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 200 A X- 3 S e r i e s O p e r a t i o n M a n u a l You adopt graphs to edit CAM table, horizontal coordinates as master position and master axis length to determine CAM operating range.
Page 201 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 202 A X- 3 S e r i e s O p e r a t i o n M a n u a l  The first Cam table  The second Cam table (Cam_1)  Timing diagram for switching of Cam table When switching Cam tables, the slave moves along the motion path based on the first CAM table until the master position reaches to the next critical point and then start to follow th motion path based on the second.
Page 203: Velocity Control
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.3 Velocity Control There are three kinds of motion control modes, the Cyclic Synchronous Position (CSP), the Cyclic Synchronous...
Page 204: Csv Mode
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.3.2 CSV Mode The CSV mode is the cyclic synchronous velocity mode (CSV). Under this mode, the controller can calculate the velocity for per cycle based on the assigned velocity (including acceleration, deceleration and jerk) then send this command to the servo for execution.
Page 205: Torque Control
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.4 Torque control Torque control can be categorized into Cyclic Synchronous Torque mode (CST) and Profile Torque mode (PT).
Page 206: Common Functions For Single-Axis Control
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.5 Common Functions for Single-axis Control The common functions for single-axis control are described in the following section. 7.7.5.1 Command Position ...
Page 207 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Descriptions for the relevant parameters are as follows: ...
Page 208: Velocity Command
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.5.2 Velocity Command  Types of velocity The following two types of velocity are used in MC function modules. Position type Meaning Command...
Page 209 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.5.3 Acceleration and Deceleration Command ...
Page 210: Jerk Command
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.5.4 Jerk Command The jerk assigns the changes in acceleration or deceleration rate. When the jerk is specified, the velocity waveform is in S-curve (the ramp of acceleration increases or decreases, no jerk) can reduce the shock on machines.
Page 211: Axis Direction
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.5.5 Axis Direction The following situation requires specified operation directions:...
Page 212 A X- 3 S e r i e s O p e r a t i o n M a n u a l (2) Execute MC_MoveAbsolute (Position = 180, Velocity = Acceleration = Deceleration = 1000, Direction = shortest) When MC_MoveAbsolute.Execute triggers, the system determines the shortest way to reach position 180 is to move in negative direction (350 –...
Page 213: Axis Group Control
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.6 Axis Group Control An axis group must consists of at least one axis configured via DIADesigner-AX.
Page 214: Circular Interpolation
A X- 3 S e r i e s O p e r a t i o n M a n u a l  TransitionMode: For the below situation, set the mode to be Overlap, then choose Blending. Plan with reference to acceleration and deceleration given to the motion function block of each axis group. 7.7.6.2 Circular Interpolation Circular movements can be run in the three main planes of the spatial coordinate system, only using X, Y, Z axis and three additional follower axes.
Page 215 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Follower A ...
Page 216 A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.6.3 Group Stop Command There’re two different ways to stop axis group motion:  Programming stop Use DMC_GroupStop in the programming to decelerate the moving axis group to a stop.
Page 217: High-Speed Io
C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.7 High-speed IO The chapter contains information regarding CPU with IOs for configuration and parameter settings.
Page 218: Dio Setting
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.7.2 DIO Setting The section describes setting funcitons including interrupt, filter and polarity of IOs in DIO device. Double-click on “DIO”...
Page 219 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 220 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Then choose the corresponding interrupt contact from the drop down list of External event.  The setting value for hardware filter time is smaller than IN input duty on time as shown below: ...
Page 221 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.7.7.3 SSI Encoder Setting The IO end of AS508ECT supports one set of SSI encoder function.
Page 222 A X- 3 S e r i e s O p e r a t i o n M a n u a l  SSI Encoder Configuration page. The SSI related configuration can be set on the Refer to below descriptions for settings respectively.
Page 223 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Setting value Item Function...
Page 224 A X- 3 S e r i e s O p e r a t i o n M a n u a l Item Description Amount of pulses that the encoder counts per revolution of (1) Command Pulse per motor rotation the motor (4) Pitch Pitch of screw...
Page 225 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Item Description Amount of pulses that the encoder counts per revolution of...
Page 226 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Use SSI Encoder in program The SSI encoder device contains variables of axis encoder that can be used for MC function blocks in POU. (Ex. MC_CamIn).
Page 227 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 228 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Enable hign speed IO function  A number of 8 counters are displayed on BuiltIn_IO page. Select Counter 0, then click “Counter Configuration”...
Page 229 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 230 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Use Counter in program The high speed counter contains variables of axis encoder that can be used for MC function blocks in POU. ...
Page 231 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 232 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Timer mapping variable setting  Right click “BuiltIn_IO” and choose Edit IO Mapping.  Click to add new variables on Edit IO Mapping page.
Page 233 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 234 A X- 3 S e r i e s O p e r a t i o n M a n u a l  To enable Timer function, DFB_HTmr_0 is required to use. For DFB_HTmr_0 function block in POU, enter Timer_0 as the axis name.
Page 235 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 236 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Use Capture in program The Capture variables can be used for MC function blocks in POU. ...
Page 237 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 238 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Then choose the external trigger output from the drop-down list after activating Compare.  Use Compare in program The Compare variables can be used for MC function blocks in POU.
Page 239 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 240 A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.7.6 Pulse Output Function Setting This section introduces pulse output function modules with built in IO shown as follows. A maximum of 4 groups pulse-output unit can be chosen to use with AX series motion controllers.
Page 241 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 242 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Axis-related settings can be configured on Pulse Output Setting page, which is described in the following information.
Page 243 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ②...
Page 244 A X- 3 S e r i e s O p e r a t i o n M a n u a l ⑧ Homing Setting  Item Funtion Setting Value (Default) Homing Mode Set the homing mode. (Mode 351) Homing speed during search for Set the homing speed during search for switch.
Page 245 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 246: Other Features
A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.8 Other Features 7.7.8.1 Change Current Position  MC_SetPosition This function block is to change the current position by shifting the coordinate system of an axis. The changing of the coordinate system is made by modifying both the current position of the instruction (command position) and the actual position from the feedback signals with the same value.
Page 247 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 248 A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.7.8.4 Cam Switch Function MC_DigitalCamSwitch Specify the tappet position. True when the moving axis reaches the specified position, then turn to False when passing it.
Page 249 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n At the first activation of the trigger input signal, the signal is not accepted because the axis position hasn’t reach the specified window mask section.
Page 250: Programming Example
Reference CPU and Power Chapter 2 in this manual Related configuration description in Servo driver Delta servo drive user manuals Delat ASDA A2-E EtherCAT Wiring for EtherCAT slave device Interface Servo Drive User Manual 7.8.1.2 Configuration The following configuration is applied in the example in the next section.
Page 251 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n The Interval time for ECAT synchronization is set to be 4 ms.
Page 252 A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.8.2.1 Servo On Execute MC_Power (Servo on) instruction to activate the servo driver after the EtherCAT communication is built in the following example with LD and ST programming languages supported.
Page 253 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.8.2.2 Reset and Control Single-axis Error You can view the error information of variable status through Watch table.
Page 254 A X- 3 S e r i e s O p e r a t i o n M a n u a l  LD Language Via function SMC_ClearFBError that error can be deleted and output FBErrorOccured of MC_ReadStatus would shift to Fulse, once an error occurs in the function block.
Page 255 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Set acceleration of MC_MoveVelocity to be 10000 and restart (Execute is True).
Page 256 A X- 3 S e r i e s O p e r a t i o n M a n u a l InVelocity=> , Busy=> , CommandAborted=> , Error=> , ErrorID=> ); MC_ReadStatus_0( Axis:= SM_Drive_Virtual, Enable:= TRUE ); 7.8.2.3 Control on Instruction Errors If an error occurs while executing instruction MC_Power (Servo On), no further action will be taken, while ProgNext indicates whether execution can be moved on.
Page 257 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 258 A X- 3 S e r i e s O p e r a t i o n M a n u a l 7.8.2.4 Quick Stop for Single Axes MC_Stop can be used to stop the moving axis when an error occurs during execution of MC_MoveAbsolute instruction.
Page 259 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 260 /6099sub1(Speed during search for switch) /6099sub2(Speed during search for zero). For more details, please refer to Delta High Resolution AC Servo Drive ASDA-A2 Series User Manual. For the following example, specify the parameters of OD as mentioned above after adding A2-E sevo in EtherCAT Slave.
Page 261 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 262 A X- 3 S e r i e s O p e r a t i o n M a n u a l  LD language The state would be Standstill when the outputs of MC_Power are under normal status. Shift to state Homing when execute MC_Home, then back toStandstill after home positioning is completed.
Page 263 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.8.2.6 Absolute Positioning Via MC_MoveAbsolute instruction used in the following example that you are able to understand how to perform displacement at one speed.
Page 264 A X- 3 S e r i e s O p e r a t i o n M a n u a l  ST language MC_Home_0( Axis:= Axis_1, Execute:= , Position:= 0, Done=> , Busy=> , CommandAborted=> , Error=>...
Page 265 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Default Variable Data Type...
Page 266 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Timing diagram  LD language Set StartFlag to be TRUE, then the normal operation of communications for both master and slave axis would be checked respectively 7 - 1 4 8...
Page 267 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Under normal condition, Servo ON state will be set to master and slave axis.
Page 268 A X- 3 S e r i e s O p e r a t i o n M a n u a l When the instruction position of master axis is below 3000, use CamTable1 (CamTable1_En=True, CamTable2_En=False). Conversely, when position is over 3000, use CamTable2 (CamTable1_En=False, CamTable2_En=True).
Page 269 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 270 A X- 3 S e r i e s O p e r a t i o n M a n u a l Execute:= MC_Home0_Execute, Position:= 0, Done=> MC_Home0_Done, Busy=> , CommandAborted=> , Error=> , ErrorID=>); MC_Home_1( Axis:= Axis_Slave, Execute:= MC_Home1_Execute, Position:= 0, Done=>...
Page 271 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n MC_CamTableSelect( Master:= Axis_Master, Slave:= Axis_Slave,...
Page 272 A X- 3 S e r i e s O p e r a t i o n M a n u a l Deceleration:= 1000, Jerk:= , TappetHysteresis:= , InSync=> MC_CamIn2_Insync, Busy=> , CommandAborted=> , Error=> , ErrorID=> , EndOfProfile=>...
Page 273 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Variable Data Type Default...
Page 274 A X- 3 S e r i e s O p e r a t i o n M a n u a l  Timing diagram  LD language Set StartFlag to be TRUE, then the normal operation of communications for both master and slave axis would be checked respectively.
Page 275 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Under normal condition, Servo ON state will be set to master and slave axis.
Page 276 A X- 3 S e r i e s O p e r a t i o n M a n u a l After the master axis reaches the target velocity, execute MC_CamIn with the Cam table specified by MC_CamTableSelect.
Page 277 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n According to above setting to perform phase offset of the master axis, the slave axis synchronizes with the phase after offset completed and the PhaseShift would be fixed, which the PhaseShift between master and slave would be 500, taking the cursor timing 3500-3000 as example, and the velocity of slave axis would be 200 while...
Page 278 A X- 3 S e r i e s O p e r a t i o n M a n u a l bDriveStartRealState=> , Busy=> , Error=> , ErrorID=> ); MC_Power_1( Axis:= Axis_Slave, Enable:= MC_Power1_Enable, bRegulatorOn:= MC_Power1_RegulatorOn, bDriveStart:= MC_Power1_DriveStart, Status=>...
Page 279 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n InVelocity=>...
Page 280 A X- 3 S e r i e s O p e r a t i o n M a n u a l MC_Phasing( Master:= Axis_Master, Slave:= Axis_Slave, Execute:= MC_Phasing_Execute, PhaseShift:= MC_Phasing_PhaseShift, Velocity:= MC_Phasing_Velocity, Acceleration:= MC_Phasing_Acc, Deceleration:= MC_Phasing_Dec, Jerk:= , Done=>...
Page 281 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 282 A X- 3 S e r i e s O p e r a t i o n M a n u a l After the homing operation of axis is completed, execute MC_MoveRelative The target position of relative displacement = 8000 When the current position of axis passes 4000, execute MC_SetPosition (Mode = Relative，Distance = 3000) so as to change the current position to be the assigned target position.
Page 283 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n The difference between the above and the picture below is that the mode of MC_SetPoition is changed to Absolute (Position = 3000).
Page 284 A X- 3 S e r i e s O p e r a t i o n M a n u a l //Under Servo On state and unsure of the start position, home positioning operation will be required. IF MC_Power0_Status = TRUE THEN MC_Home0_Execute := TRUE;...
Page 285 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n 7.8.2.10 Perform Superimposed during Gear Engagment Perform MC_MoveSuperImposed on the particular slave axis while the gear has been engaged in the following example.
Page 286 A X- 3 S e r i e s O p e r a t i o n M a n u a l Variable Data Type Default Note Output Done variables of MC_Move- MC_MoveSuperImposed SuperImposed for slave axis. BOOL FALSE _Done TRUE when the superimposed...
Page 287 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 288 A X- 3 S e r i e s O p e r a t i o n M a n u a l After the homing operation is completed, execute MC_GearIn to activate a master-slave coupling (gear coupling). Right after the engage action completed with output InGear, execute MC_MoveAbsolute to the master axis. At the same time, when the slave axis moves to the preset triggering position=2000 based on the coupling relationship, MC_MoveSuperImposed would be executed which the slave axis would move a superimposed distance of specific displacement on the original preset target position.
Page 289 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n ...
Page 290 A X- 3 S e r i e s O p e r a t i o n M a n u a l MC_Power_1( Axis:= Axis_Slave, Enable:= MC_Power1_Enable, bRegulatorOn:= MC_Power1_RegulatorOn, bDriveStart:= MC_Power1_DriveStart, Status=> MC_Power1_Status, bRegulatorRealState=> , bDriveStartRealState=> , Busy=> , Error=>...
Page 291 C h a p t e r 7 M o t i o n C o n t r o l B a s i c S e t t i n g s & O p e r a t i o n Execute:= MC_Home0_Done, RatioNumerator:= MC_GearIn_RatioNumerator, RatioDenominator:= MC_GearIn_RatioDenominator,...
Page 292 A X- 3 S e r i e s O p e r a t i o n M a n u a l Jerk:= , Done=> MC_MoveSuperImposed_Done, Busy=> , CommandAborted=> , Error=> , ErrorID=> ); 7 - 1 7 4...
Page 293: Chapter 8 Opc Ua Server
Chapter 8 OPC UA Server Table of Contents OPC UA Server ................... 8-2 8.1.1 Creating a Project for OPC UA Access ............ 8-2 Setting up a Connection with the “UaExpert” Client ......8-4 Setting up a Certificated Connection ..........8-8 8.3.1 Creating a Certificate for the DIADesigner-AX OPC UA Server ....
Page 294: Opc Ua Server
AX - 3 S er ies O per a ti o n M a nu a l 8.1 OPC UA Server The standard installation of DIADesigner-AX includes an OPC UA server. You can use it to access the variable interface of the controller via a client.
Page 295 Click Build on the Symbol Configuration setting page. The variables are shown in a tree structure. Select the variables that you want to change with an OPC UA client. Specify the access rights. After setting, click Build again. Download the project to the AX-3 Series PLC. 8 - 3...
Page 296: Setting Up A Connection With The "Uaexpert" Client
AX - 3 S er ies O per a ti o n M a nu a l 8.2 Setting up a Connection with the “UaExpert” Client The OPC UA client “UaExpert” is freely accessible software. You can download the software here: https://www.unified- automation.com/downloads/opc-ua-clients.html Using this client, you can connect to the OPC UA server.
Page 297 Ch a pt er 8 O PC U A S e r v er After that you can find AX308E under the opc.tcp://192.168.1.5. Select OPCUAServer@AX-308EA0MA1T and click OK to close the window. If the connection type is NOT an encrypted one, the node None-None appears under the added server.
Page 298 AX - 3 S er ies O per a ti o n M a nu a l Change the Endpoint Url from OPCUAServer@AX-308EA0MA1T:4840 to opc.tcp://192.168.1.5:4840 and click OK to close the window. Right-click AX308 to open a context menu. Click Connect to AX308E. 8 - 6...
Page 299 Ch a pt er 8 O PC U A S e r v er After establishing the connection, you can change the variables in AX308E through the OPC UA client UaExpert. Select and drag the variables you’d like to modify from the left view “Address Space” to the right view “Default DA View”...
Page 300: Creating A Certificate For The Diadesigner-Ax Opc Ua Server
AX - 3 S er ies O per a ti o n M a nu a l 8.3 Setting up an Encrypted Connection To have a successful encrypted connection, you need to follow the sections below to create certificates for OPC UA server and OPC UA client.
Page 301 Ch a pt er 8 O PC U A S e r v er Open DIADesigner-AX to create a project and then right-click AX-308EA0MA1T to bring out a context menu. Click Add Object and select Marikon FLEX OPC UA Server…. to open the setting page and add Marikon FLEX IPC US Server in.
Page 302 AX - 3 S er ies O per a ti o n M a nu a l The setting page of Matrikon FLEX OPC UA Server Setting up the Ethernet interface by click Browse…. Select the network you need and click OK. 8 - 1 0...
Page 303 8.3.1.2 Setting up User Account and Password Setting up an account and password for OPC UA Server is the same as setting up the account for AX-3 Series PLC. Refer to section 4.2.1.8 of AX-3 Series Operation Manual for more information.
Page 304: Creating A Certificate For The Diadesigner-Ax Opc Ua Client
AX - 3 S er ies O per a ti o n M a nu a l 8.3.2 Creating a Certificate for the DIADesigner-AX OPC UA Client In order to encrypt data and exchange it with the client safely, the server needs a certificate that the client must classify as trusted when a connection is established for the first time.
Page 305 Ch a pt er 8 O PC U A S e r v er Select the Devices tab. Click to refresh and all services of the controller that require a certificate are displayed in the right view.， Select the service OPC UA Server and then click to open the Certificate Settings page for the creation of a new certificate for the device.
Page 306 AX - 3 S er ies O per a ti o n M a nu a l Again select the service Encrypted Application and then click to open the Certificate Settings page for the creation of a new certificate for the device. After setting up the certificate parameters, click OK. And the certificate is created on the controller.
Page 307 Ch a pt er 8 O PC U A S e r v er 8.3.2.2 Setting up an Encrypted Connection with the “Prosys OPC UA Client” The OPC UA client “Prosys OPC UA Client” is freely accessible software. You can download the software here: https://downloads.prosysopc.com/opc-ua-client-downloads.php Using this client, you can connect to the OPC UA server.
Page 308 AX - 3 S er ies O per a ti o n M a nu a l as shown in ② to connect to the AX-3 Series PLC. You will see a warning, stating the server If you click does not accept this application’s certificate. That is because ProsysOpcUaClient is not a trusted certificate for AX- 3Series PLC.
Page 309 After establishing the connection, you can edit the settings in AX308E through ProsysOpcUaClient. If you connect to the AX-3 Series PLC as a guest. You do not have permission to make any change on the settings. 8 - 1 7...
Page 310 AX - 3 S er ies O per a ti o n M a nu a l MEMO 8 - 1 8...
Page 311: Chapter 9 Communication
Chapter 9 Communication Table of Contents 9.1 Introduction to EtherCAT Communication ..........9-2 9.1.1 Features of EtherCAT Fieldbux .............. 9-2 9.1.2 Settings up EtherCAT Master ..............9-3 9.1.3 Setting up the EtherCAT Slave .............. 9-5 9.2 Introduction to Modbus Serial Communication ........9-8 9.2.1 Modbus Serial Port ................
Page 312: Introduction To Ethercat Communication
AX - 3 S er ies O per a ti o n M a nu a l 9.1 Introduction to EtherCAT Communication 9.1.1 Features of EtherCAT Fieldbux The EtherCAT bus is the Ethernet-based fieldbus. The communication rate of the EtherCAT network is 100Mbps and the distance between two adjacent nodes is within 50 metres.
Page 313: Settings Up Ethercat Master
Ch a pt er 9 Com m unic at i on 9.1.2 Settings up EtherCAT Master This section introduces functions in the tab of AX_308_Series_EtherCAT_Master_SoftMotion. Refer to Chapter 6 for Network Configuration and how to create an EtherCAT connection. ① ②...
Page 314 AX - 3 S er ies O per a ti o n M a nu a l  Here you can view the PLC log. It lists the events that wer recorded on the target system. Refer to section 4.2.1.5 Log for more information.
Page 315: Setting Up The Ethercat Slave
Ch a pt er 9 Com m unic at i on 9.1.3 Setting up the EtherCAT Slave This section introduces functions in the tab of Slaves. You can either scan the network to add the slaves in or add slaves from the Product list.
Page 316 AX - 3 S er ies O per a ti o n M a nu a l  Process Data The data mapping of the EtherCAT network is a cyclic data exchange between the master and slave through the CoE-based PDO mapping. The data that a slave sends to the master are packed in TxPDO and the data that the slave reads from the master are packed in RxPDO.
Page 317 Ch a pt er 9 Com m unic at i on  Startup Parameters The table shows the commands which have been defined by default in ESI file when the master will read and write values to the slave in the specific status of EtherCAT network operation. Users can add or reduce or modify commands in the table.
Page 318: Introduction To Modbus Serial Communication
Right-click the PLC in the tree view to open up a conext menu. And click Add Device…to open the Add Device setting window. Find Delta Modbus COM (Fieldbuses -> Modbus -> Modbus Serial Port -> Delta Modbus COM) and then double-click it or click Add Device to add this port in.
Page 319 Ch a pt er 9 Com m unic at i on Find the added port Delta_Modbus_COM (Delta Modbus COM) in the tree view and double-click it to open the setting window to set up. 9.2.1.2 Setting up Delta Modbus COM ...
Page 320 AX - 3 S er ies O per a ti o n M a nu a l  Status Here you can find the device status information, for example ‘Running’ or ‘Stopped’, and specific diagnostic messages from the respective device, also information about the card used and the internal bus system. Item Description Modbus Serial...
Page 321: Modbus Serial Master
Ch a pt er 9 Com m unic at i on 9.2.2 Modbus Serial Master AX-3 Series PLC can act as a Modbus Serial Master, after you have created Modbus Master COM port and Modbus Slave COM port. Follow the below section to set up the Modbus Serial Master.
Page 322 Find and double-click Delta Modbus Master COM Port (Fieldbuses -> Modbus -> Modbus Serial Master -> Delta Modbus Master COM Port) or click Add Device to add this port in. You can only add one Master COM Port. After you added one master, the other added devices are slave ports: Delta_Modbus_Master_COM_Port, the Delta_Modbus_Slave_COM_Port.
Page 323 Ch a pt er 9 Com m unic at i on 9.2.2.2 Setting up Delta Modbus Master COM  General Here you can configure the basic settings for Modbus Serial Master. Item Description Retry Count Set up the number of times for the COM port to reconnect if the connection is lost.
Page 324 AX - 3 S er ies O per a ti o n M a nu a l  Delta Modbus Serial Master IEC Objects Here is the correspondings of the DFB_ModbusCOMMaster function block. You can check the status of Modbus Serial Master under this tab.
Page 325 Ch a pt er 9 Com m unic at i on 9.2.2.3 Setting up Delta Modbus Slave COM In the tree view, find the added port Delta_Modbus_Slave_COM_Port (Delta Modbus Slave COM Port). Double-click it to open the setting window to set up.
Page 326 Here you can define slave channels. Each channel represents a single Modbus request. You can create up to 10 channels for each slave. AX-3 Series PLC will send out Modbus request packets in chronological order. All channels share the same Modbus connection.
Page 327 DFB_ModbusComChannel triggered by DFB_ModbusComChannel Comment Description of the channel Device Delta register address (will be converted into Modbus protocol address Address Modbus protocl in the background) Number of the register to be read/written to. Number of the register to be read/written to.
Page 328  Modbus Slave Init After the Modbus connection between AX-3 Series PLC and the slaves is established, you can use Add Channel button to edit the Initialization Value of the Coil/Register. Click Add Channel, you can edit the Access Type, Device Address, Length, Initialization Value and Comment.
Page 329 Ch a pt er 9 Com m unic at i on  Delta Modbus Serial Slave IEC Objects Here is the correspondings of the DFB_ModbusCOMMaster function block. You can check the status of Modbus Serial Slave under this tab. Expression...
Page 330 AX - 3 S er ies O per a ti o n M a nu a l  Information Here you can find general information that originates from the device description file: name, vendor, categories, version, order number, description, and other relevant information. 9 - 2 0...
Page 331: Modbus Serial Slave
9.2.3 Modbus Serial Slave AX-3 Series PLC can act as a Modbus Serial Slave, after you add Modbus Serial Device in and set up the allowable areas for Coils/Register. If Modbus Serial Master uses Delta device communication protocol, there is no access restrictions.
Page 332 AX - 3 S er ies O per a ti o n M a nu a l Find the added port Delta_Modbus_Serial_Device (Delta Modbus Serial Device) in the tree view and double-click it to open the setting window to set up.
Page 333 Ch a pt er 9 Com m unic at i on  Delta Modbus Serial SlaveI/O Mapping Bus cycle task: Select a bus cycle task to synchronize with the Modbus communication time. When the option “Use parent bus cycle setting is selected”, the system use the shortest cycle time as the bus cycle time. Refer to section 4.2.1.6 PLC Settings for more information.
Page 334: Ethernet Port
AX - 3 S er ies O per a ti o n M a nu a l 9.3 Introduction to Ethernet Communication 9.3.1 Ethernet Port DIADesigner-AX supports the following Modbus network types, including Modbus TCP and EtherNet/IP. Follow the below section to set up the basic settings for communication via the Ethernet Adapter.
Page 335 Ch a pt er 9 Com m unic at i on Find the added Ethernet (Ethernet) in the tree view and double-click it to open the setting window to set up. 9.3.1.2 Setting up the Ethernet  General Here you can configure Ethernet Parameters. Settings include Interface, IP address, Subnet mask, Default gateway and Adjust operating system settings can be set here.
Page 336 AX - 3 S er ies O per a ti o n M a nu a l  Status Here you can find the device status information, for example ‘Running’ or ‘Stopped’, and specific diagnostic messages from the respective device. Item Description Ethenet Device...
Page 337 Ch a pt er 9 Com m unic at i on  Ethernet Device IEC Objects Here you can find the objects defined by Ethernet Adapter Device. “Objects” are listed that allow for access to the device from the IEC application. In online mode, you can use the table of IEC objects as a monitoring view. ...
Page 338: Modbus Tcp Master (Client)
AX - 3 S er ies O per a ti o n M a nu a l 9.3.2 Modbus TCP Master (Client) AX-3 Series PLC can act as a Modbus TCP Master, after you have created Modbus TCP Master and Modbus TCP Slave. Follow the below section to set up the Modbus TCP Master.
Page 339 Right-click Delta_Modbus_TCP_Master under the Ethernet node in the tree view to open up a conext menu. And click Add Device…to open the Add Device setting window. Find and double-click Delta Modbus TCP Slave (Fieldbuses -> Modbus -> Modbus TCP Slave -> Delta Modbus TCP Slave) or click Add Device to add this port in.
Page 340 AX - 3 S er ies O per a ti o n M a nu a l After that you can find Delta_Modbus_TCP_Slave under the Delta_Modbus_TCP_Master node in the tree view. Find the added port Delta_Modbus_TCP_Master (Delta Modbus TCP Master) in the tree view and double- click it to open the setting window to set up.
Page 341 TRUE => connection/communication with the Slave is abnormal  uiConnectedSlaves: the number of the connected Slaves EX: (ST programming language): Delta Modbus TCP Master.bStop:= TRUE;  Status Here you can find the device status information, for example ‘Running’ or ‘Stopped’, and specific diagnostic messages from the respective device, also information about the card used and the internal bus system.
Page 342 AX - 3 S er ies O per a ti o n M a nu a l 9.3.2.3 Setting up the Modbus TCP Slave In the tree view, find the Delta_Modbus_TCP_Slave (Delta Modbus TCP Slave) and double-click it to open the setting window to set up.
Page 343 Here you can define slave channels. Each channel represents a single Modbus request. You can create up to 10 channels for each slave. AX-3 Series PLC will send out Modbus request packets in chronological order. All channels share the same Modbus TCP connection.
Page 344  Application: The Modbus request is triggered by DFB_ModbusTCPChannel triggered by DFB_ModbusTCPChannel Comment Description of the channel Device Delta register address (will be converted into Modbus protocol address Address Modbus protocl in the background) Number of the register to be read/written to. Length Number of the register to be read/written to.
Page 345  Modbus Slave Init After the Modbus connection between AX-3 Series PLC and the slaves is established, you can use Add Channel button to edit the Initialization Value of the Coil/Register. Click Add Channel, you can edit the Access Type, Device Address, Length, Initialization Value and Comment.
Page 346 Access Type in Modbus Slave Channel tab. When the Trigger type is set to Rising edge in Modbus Slave Channel, the description here adds one more condition, Trigger variable.  Delta Modbus TCP Slave IEC Objects You can check the status of Modbus TCP Slave under this tab.
Page 347 Ch a pt er 9 Com m unic at i on  Status Here you can find the Modbus TCP Slave status information, for example ‘Running’ or ‘Stopped’, and specific diagnostic messages from the respective device, also information about the card used and the internal bus system.
Page 348: Modbus Tcp Slave (Server)
9.3.3 Modbus TCP Slave (Server) AX-3 Series PLC can act as a Modbus TCP Slave, after you add Modbus TCP Slave Device in and set up the allowable areas for Coils/Register. If Modbus TCP Master uses Delta device communication protocol, there is no access restrictions.
Page 349 9.3.3.2 Setting up the Modbus TCP Slave Device  General Here you can configure the basic settings for Modbus TCP Slave Device. Set up the allowable areas for Coils/Register. If Modbus TCP Slave uses Delta device communication protocol, there is no access restrictions. 9 - 3 9...
Page 350 AX - 3 S er ies O per a ti o n M a nu a l  Delta Modbus TCP Slave Device I/O Mapping Bus cycle task: Select a bus cycle task to synchronize with the Modbus communication time. When the option “Use parent bus cycle setting is selected”, the system use the shortest cycle time as the bus cycle time.
Page 351: Appendix A Troubleshooting
12 A Appendix A Troubleshooting Table of Contents Troubleshotting ................. A-2 A.1.1 Basic Troubleshooting Steps ............A-2 A.1.2 Clear the Error States ..............A-2 A.1.3 Troubleshooting SOP ..............A-3 A.1.4 Viewing Log .................. A-3 Troubleshooting of CPU Modules ............A-6 A.2.1 ERROR LED Indicators Blinking Every 0.5 Seconds ......
Page 352: Troubleshotting
(2) Check the following operational functions:  Switch the RUN/STOP state  Check the settings for the AX-3 Series to RUN/STOP  Check and eliminate errors from external devices  Use the System Log function in DIADesigner-AX to check system operation and logs (3) Identify possible causes: ...
Page 353: Troubleshooting Sop
A pp e nd ix A Tr o ub l es ho o ti n g A.1.3 Troubleshooting SOP An error occured Basic Contact the local Error LED The problem persists troubleshooting Refer to section A.1.1 Refer to section A.2. authorized Blinking after restarting the...
Page 354 AX - 3 S er ies O per a ti o n M a nu a l Files The system generates log files (.csv) when the PLC is power-off or the log exceeds 64 KB. You can read the log file from the Files tab of the Device setting page.
Page 355 A pp e nd ix A Tr o ub l es ho o ti n g A - 5...
Page 356: Troubleshooting Of Cpu Modules
AX - 3 S er ies O per a ti o n M a nu a l A.2 Troubleshooting of CPU Modules Check the LED indicators and the error codes from the CPU module and refer to the following table for troubleshooting. A.2.1 ERROR LED Indicators Blinking Every 0.5 Seconds CPU ERROR...
Page 357 A pp e nd ix A Tr o ub l es ho o ti n g  EtherCAT ERROR Error Code Description Solution (16#) Make sure the terminal and cable are properly connected to the CPU EtherCAT communication lost module. Execute the function block, DFB_ResetECATMaster, to reset the EtherCAT Master.
Page 358: Error Led Indicators Blinking Rapidly Every 0.2 Seconds
AX - 3 S er ies O per a ti o n M a nu a l A.2.2 ERROR LED Indicators Blinking Rapidly Every 0.2 Seconds The blinking happens when the power supply 24 VDC of the CPU module is disconnected, or the power supply is not sufficient, not stable or abnormal.
Page 359: Others
A pp e nd ix A Tr o ub l es ho o ti n g A.2.6 Others Error Code Description Solution (16#) The firmware version of the PLC is not Check the firmware version o fthe PLC and the requirement on 2500 in accordance with what stated on the the DDF.
Page 360 AX - 3 S er ies O per a ti o n M a nu a l A.3 Troubleshooting of the Funciton Blocks A.3.1 DL_BuiltInIO_AX3 The following errors are specified as warnings; however no error indicators will appear and the AX-3 Series CPU can still run. Error Code...
Page 361 A pp e nd ix A Tr o ub l es ho o ti n g Error Code Item Name Description Solution (16#) Make sure to select Compare on the IO The variable of the function DFB_CMP_INVALID_CO Configuration setting page and import IEC 186B6 block pin is NOT a MPARE_REF...
Page 362 AX - 3 S er ies O per a ti o n M a nu a l Error Code Item Name Description Solution (16#) DMC_PresetValue and is not done yet. DFB_PV_CANNOT_ The counter is executing Disable the sample function of this counter. 186D3 PRESET_WHEN_SAMP DFB_Sample.
Page 363: Motion Control Related Instructions
Motion Control Related Instructions The errors occured in DL_MotionControl or DL_MotionControlLight are specified as warnings; however no error indicators will appear and the AX-3 Series CPU can still run. Refer to AX Series Motion Controller Manual for the troubleshooting of DL_MotionControl.
Page 364: Troubleshooting Of Analog Modules (Ad/Da/Xa) And Temperature Modules (Rtd/Tc
Introduction to troubleshotting modules The following AS series modules can be installed in an AX-3 Series system. There are 2 types of error codes; error and warning. The CPU module and its modules stop operating when errors occur. The CPU modules and its modules do not stop operating when warnings are triggered.
Page 365 A pp e nd ix A Tr o ub l es ho o ti n g Error Code Description Solution (16#) The signal received by channel 5 16#180C exceeds the range of analog inputs Check the signal received by channel 5 (temperature).
Page 366: Troubleshooting Of Loadcell Modules As02Lc
ERROR LED Indicators Blinking Every 0.2 Seconds The following errors are specified as warnings to ensure that the AX-3 Series CPU can still run even when the warnings are triggered by its LC modules. If you need the CPU STOP running immediately when the first 4 errors occur, you need to set the them as errors.
Page 367: Error Codes And Led Indicators For Cpu Modules
A pp e nd ix A Tr o ub l es ho o ti n g A.5 Error Codes and LED Indicators for CPU Modules Columns Error code: If an error occurs in the system, an error code is generated. Description: The description of the error CPU status: If the error occurs, the CPU stops running, keeps running, or shows the status you defined for the error.
Page 368 AX - 3 S er ies O per a ti o n M a nu a l A.5.1 Error Codes and LED Indicators for CPU Modules Refer to Section A.2 for the status descriptions of the Error LED indicators. CPU ERROR ...
Page 369 A pp e nd ix A Tr o ub l es ho o ti n g  EtherCAT ERROR ERROR LED indicator Error Code Description status Blinking Blinking Blinking (16#) fast normally slowly Continue EtherCAT communication lost Continue EtherCAT data mapping failed Continue Incorrect EtherCAT network name Continue...
Page 370: Error Codes And Led Indicators For Analog And Temperature Module
(temperature). The errors are specified as warnings to ensure that the AX-3 Series CPU can still run even when the warnings are triggered by its AIO modules. If you need the CPU STOP running immediately when the first 4 errors occur, you need to set the them as errors.

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Ax-308ea0ma1t Ax-364ela0ma1t

Delta AX-3 Series Operation Manual

Revision History

Chapter 1 Product Introduction

Chapter 2 Specifications and System Configurations

Chapter 3 Installing Hardware and Getting Started

Chapter 4 Basic Operation

Chapter 5 Hardware Configuration

Chapter 6 Network Configuration

7 Chapter 7 Motion Control Setup

8 Chapter 8 Opc Ua Server

Chapter 9 Communication

Appendix A Troubleshooting

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Chapters

Troubleshooting

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Summary of Contents for Delta AX-3 Series

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Table of Contents