Page 1 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 AH500 Motion Control TEL: 82-2-515-5303 / FAX: 82-2-515-5302 Delta Electronics Int’l (S) Pte Ltd. 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 Module Manual TEL: 65-6747-5155 / FAX: 65-6744-9228 Delta Electronics (India) Pvt. Ltd.
Page 2: Table Of Contents
AH500 Motion Control Module Manual Table of Contents Chapter 1 Framework of an AH500 Series Motion Control Module Framework of a AH500 Series Motion Control Module......1-2 Structure of O100 ..................1-4 1.2.1 Manual Function of O100 ..............1-5 Structure of Ox Motion Subroutines ............1-5 Structure of P Subroutines ................1-7...
Page 3 3.9.2 Index Registers ................2-12 3.10 Special Data Registers................3-13 3.11 Pointers....................3-13 3.12 Specail Auxiliary Relays and Special Data Registers......3-13 3.12.1 Special Auxiliary Relays ..............2-13 3.12.2 Special Data Registers..............2-17 3.13 Functions of Special Auxiliary Relays and Special Data Registers ..3-28 3.14 Special Data Registers for Motion Axes..........
Page 4 5.10.11 Parameter Setting I ................5-172 5.10.12 Parameter Setting II ...............5-174 5.10.13 Reading the Present Position/Speed of an Axis ......5-177 5.10.14 State of an Axis................5-179 5.10.15 Setting the Present Position of an Axis...........5-181 5.10.16 Setting the Polarities of Input Terminals .........5-183 5.10.17 Electronic Gear Motion..............5-186 5.10.18 Electronic Cam Motion ..............5-188 5.10.19 Reading a Cam Point ..............5-192...
Page 5 5.13.8 Setting High-speed Capture............5-251 5.13.9 High-speed Masking ..............5-254 5.13.10 Setting an Interrupt ................5-255 5.13.11 Absolute Encoder................5-257 Chapter 6 Data Transmission Functions ....................6-2 Parameters ....................6-2 Usage......................6-5 Chapter 7 Uniaxial Motion Functions of Uniaxial Motion ..............7-2 Introduction of Uniaxial Motion ..............7-14 Introduction of JOG Motion ..............
Page 6 Chapter 8 Electronic Cam Introduction of Electronic Cams..............8-2 Operation of an Electronic Cam ..............8-3 8.2.1 Initial Setting..................8-3 8.2.1.1 Creating Electronic Cam Data.............8-3 8.2.1.2 Setting an Input/a Output Pulse Type..........8-3 8.2.2 Setting a Master/Slave Axis and Operating an Electronic Cam..8-5 8.2.2.1 Setting a Master Axis ..............8-5 8.2.2.2 Setting the Starting Angle of a Master Axis .........8-6...
Page 7 Chapter 11 High-speed Capture and High-speed Comparison 11.1 Format of an Instruction............... 11-2 11.2 Comparison ..................11-2 11.3 Clearing an Output ................11-8 11.4 Capture....................11-9 11.5 Masking ..................... 11-14 Chapter 12 Setting an Ethernet Network 12.1 Functions ....................12-2 12.2 Specifications ..................
Page 8 14.8 Troubleshooting..................14-18 Chapter 15 Setting USB Communication in PMSoft 15.1 Functions....................15-2 15.2 Specifications ..................15-2 15.3 Communicating with PMSoft ..............15-2 Appendix A Error Code Table Error Code Table ..................A-2 v i i...
Page 9 v i i i...
Page 10: Chapter 1 Framework Of An Ah500 Series Motion Control Module
Chapter 1 Framework of an AH500 Series Motion Control Module Table of Contents Framework of a AH500 Series Motion Control Module......1-2 Structure of O100 ..................1-4 1.2.1 Manual Function of O100 ..............1-5 Structure of Ox Motion Subroutines............1-5 Structure of P Subroutines.................1-7 Using O100, Ox Motion Subroutines, and P Subroutines......1-10...
Page 11: Framework Of A Ah500 Series Motion Control Module
In this chapter, the basic frameworks of AH20MC-5A, AH10PM-5A, and AH05PM-5A are described. Owing to the fact that the functionality of an AH500 series motion control module is composed of sequence control and positioning control, a program comprises O100, Ox motion subroutines, and P subroutines.
Page 12 Ch ap te r 1 Fr amework o f an AH5 00 Ser ies Mo tion Con tro l Mod ule Specifications Item AH20MC-5A AH10PM-5A AH15PM-5A AH05PM-5A Operating RUN-STOP switch None switch X0.0+, X0.0-, X0.0+, X0.0-, X0.1+, X0.1-, X0.1+, X0.1-, X0.2+, X0.2-, X0.2+, X0.2-, X0.0+, X0.0-,...
Page 13: Structure Of O100
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 1.2 Structure of O100 O100 is a sequence control program. It is the main program in an AH500 series motion control module. It only supports basic instructions and applied instructions. Users can use these two types of instructions to process I/O data, call P subroutines, and enable Ox motion subroutines (Ox0~Ox99).
Page 14: Manual Function Of O100
G-codes. They can call P subroutines. Users can control the paths of the axes of an AH500 series motion control module through Ox motion subroutines. The characteristics of Ox motion subroutines are described below.
Page 15 G-codes. Users can write a motion program according to their needs. They can control the motion of the axes of an AH500 series motion control module by set the parameters of the axes.  Basic instructions, applied instructions, motion instructions and G-codes must be used in the motion subroutines Ox0~Ox99.
Page 16: Structure Of P Subroutines
SR1052, and set bit 12 in SR1030 to 1. Ox0~Ox99 are motion subroutines. (They can only be enabled by O100.) 2. They can control the motion of the axes of an AH500 series motion control module. Please refer to the description of G-code for more information.
Page 17 3. There are three methods of disabling a P subroutine.  If the “RUN-STOP” switch of an AH500 series motion control module is turned form the “RUN” position to the “STOP” position when the AH500 series motion control module is powered, SM072 will be OFF, O100 will stop, and Ox motion subroutines and P subroutines will not be executed.
Page 18 Ch ap te r 1 Fr amework o f an AH5 00 Ser ies Mo tion Con tro l Mod ule 5. The description of P subroutines is shown below. P subroutine Description There are 256 P subroutines (P0~P255). Enabling a P (If a P subroutine is a ladder diagram in PMSoft, the starting flag in the P subroutine subroutine will be set automatically, and users do not have to write the...
Page 19: Using O100, Ox Motion Subroutines, And P Subroutines
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 1.5 Using O100, Ox Motion Subroutines, and P Subroutines O100, Ox motion subroutines, and P subroutines are introduced in section 1.1~section 1.3. In this section, a program composed of O100, Ox motion subroutines, and P subroutines is described.
Page 20 Ch ap te r 1 Fr amework o f an AH5 00 Ser ies Mo tion Con tro l Mod ule In order to describe the program, the program is divided into 5 sections (section (1)~section (5)). M 1000 CALL Call ing P1 M OV 16#8000 SR1052 Sett ing the motio n sub ro utin e number Ox0...
Page 21 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l The program is described below. 1. Section (1)~section (5) are created in numerical order, but they can be arranged in any order. 2.
Page 22: Chapter 2 Hardware Specifications And Wiring
Chapter 2 Hardware Specifications and Wiring Table of Contents Hardware Specifications ................2-2 2.1.1 General Specifications................2-2 2.1.2 Electrical Specifications for the Input Terminals .........2-2 2.1.3 Electrical Specifications for the Output Terminals.......2-9 2.1.4 Dimensions ..................2-14 2.1.5 Profiles .....................2-16 Wiring ......................2-19 2.2.1 I/O Extension Cables, and External Terminal Modules.....2-20 2.2.2 Wiring Input Terminals ..............2-25 2.2.3...
Page 23: Hardware Specifications
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2.1 Hardware Specifications Electrical specifications and wiring are described in this chapter. Please refer to other chapters for more information about the writing of a program and the use of instructions. For more information about the peripherals purchased, please refer to the manuals attached to them.
Page 24 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g Maximum input Response Terminal Description characteristic Current Voltage 1. They are differential input terminals. 2. Functions of the terminals: ...
Page 25 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Maximum input Response Terminal Description characteristic Current Voltage 1. They are differential inputs. 2. Functions of the terminals:  High-speed counter: ...
Page 26 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g Maximum input Response Terminal Description characteristic Current Voltage 1. They are differential input terminals. 2. Functions of the terminals: ...
Page 27 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Maximum input Response Terminal Description characteristic Current Voltage They are single/A/B-phase input terminals. Functions of the terminals:  Motion control: They are the DOG input terminals for axis 1~axis 6.
Page 28 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g Maximum input Response Terminal Description characteristic Current Voltage They are differential input terminals. Functions of the terminals: ...
Page 29 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Maximum input Response Terminal Description characteristic Current Voltage They are single/A/B-phase input terminals. Functions of the terminals:  Motion control: They are the LSP/NSP input terminals for axis 1~axis 4.
Page 30: Electrical Specifications For The Output Terminals
C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g Maximum input Response Terminal Description characteristic Current Voltage 1. They are single/A/B-phase input terminals. 2. Functions of the terminals: ...
Page 31 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Maximum output Response Terminal Description characteristic Current Voltage 1. The high-speed pulse output terminals are transistors whose collectors are open collectors. Y0.8, Y0.9, 2.
Page 32 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g Maximum output Response Terminal Description characteristic Current Voltage They are differential output terminals. Function of the terminals: ...
Page 33 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Maximum output Response Terminal Description characteristic Current Voltage The high-speed pulse output terminals are transistors whose collectors are open collectors. Functions of the terminals: ...
Page 34 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g Item Differential output Transistor output Specifications OFFON Response 0.2 us time ONOFF Overcurrent protection Maximum output Response Terminal Description...
Page 35: Dimensions
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2.1.4 Dimensions  AH20MC-5A 20MC 20MC RU N RU N ERR OR ERR OR Unit: mm  AH10PM-5A 10 PM R U N E RR OR E TH Unit: mm...
Page 36 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g  AH15PM-5A 15PM Unit: mm  AH05PM-5A 05PM RU N ERR OR X0.0 X0.1 X0.8 X0.9 X0.12 X0.13...
Page 37: Profiles
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2.1.5 Profiles  AH20MC-5A 20MC 20MC ERROR ERROR STOP Micro SD Number Name Description Model name Model name of the module Operating status of the module RUN LED indicator ON: The module is running.
Page 38 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g  AH10PM-5A 10 PM R U N E RROR E TH S TO P M icro S D Number Name Description...
Page 39 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  AH15PM-5A 15PM E RRO R E TH ST O P RU N M icr o SD Number Name Description Model name Model name of the module Operating status of the module RUN LED indicator...
Page 40: Wiring
Fixing the module 2.2 Wiring An AH500 series motion control module is an open-type device. It has to be installed in a control box which is free from dust, moisture, and shock/vibration. In order to prevent people who are not maintenance men from operating the device, protective measures are required (e.g.
Page 41: I/O Extension Cables, And External Terminal Modules
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2.2.1 I/O Extension Cables, and External Terminal Modules  External devices for AH20MC-5A 20MC 20MC ERROR ERROR External terminal module STOP MicroSD Micro SD ...
Page 42 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g  External devices for AH10PM-5A 10PM ERROR External terminal module STOP MicroSD Line driver Micro SD HTR1/CLR ...
Page 43 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  External devices for AH15PM-5A  Connector on AH15PM-5A Function Function Pin Terminal Pin Terminal Pulse Count Pulse Count Y0.11 CLR3 Y0.10 CLR2 Y0.9...
Page 44 CLR1 Y0.9 Y0.0- An I/O extension cable connects the connector on an AH500 series motion control module to an external terminal module. Users can wire terminal blocks on the external terminal module. 1. I/O extension cable DVPACAB7D10/DVPACAB7E10 DVPACAB7D10 (36 pins): I/O extension cable for AH04HC-5A/AH20MC-5A...
Page 45 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2. External terminal module for AH20MC-5A: DVPAETB-IO16C X0.3- X0.15- X0.14- X0.2- X0.13- X0.12- X0.1- X0.11- X0.10- X0.0- X0.9- X0.8- Y0.11 Y0.10 Y0.9 Y0.8 X0.3+ X0.15+ X0.14+ X0.2+ X0.13+ X0.12+ X0.1+ X0.11+ X0.10+ X0.0+ X0.9+ X0.8+...
Page 46: Wiring Input Terminals
C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g 4. External terminal module for AH15PM-5A: DVPAETB-IO34C from the Y0.11 Y0.9 Y0.7- Y0.6- Y0.5- Y0.4- Y0.3- Y0.2- Y0.1-...
Page 47 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Sourcing Direct current Current flows from the common terminal S/S. Equivalent circuit of the input circuit X0.8 Internal circuit  Wiring differential input terminals The direct-current signals ranging in voltage from 5 V to 24 V can pass through the high-speed input terminals X0.8+~X0.15+, and X0.8-~X0.15- on AH20MC-5A.
Page 48: Wiring Output Terminals
C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g If the frequency of input signals is less than 50 kHz and there is not much noise, these high-speed input terminals can be connected to a direct-current power supply whose voltage is in the range of 5 V to 24 V, as shown below.
Page 49 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l The transistor outputs are open collectors. If Y0.8 is a pulse output, the output current passing through the output pull-up resistor must be larger than 0.1 A to ensure that the transistor operates normally.
Page 50 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g  Wiring the differential output terminals on AH10PM-5A, and a ASDA-B series AC servo drive Driver Y0.0+ /PLS 21...
Page 51: Wiring Ah10Pm-5A And An Inferior Servo Drive
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2.2.4 Wiring AH10PM-5A and an Inferior Servo Drive Take AH10PM-5A for instance. The wiring of AH10PM-5A and an inferior servo drive is described below.
Page 52 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g Wiring AH10PM-5A and a Panasonic CN5 series servo drive: 2 - 3 1...
Page 53 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Wiring AH10PM-5A and a Yaskawa servo drive: 2 - 3 2...
Page 54 C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g Wiring AH10PM-5A and a Mitsubishi MJR2 series servo drive: 2 - 3 3...
Page 55 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Wiring AH10PM-5A and a Fuji servo drive: 2 - 3 4...
Page 56: Communication Ports
C h ap te r 2 H a r dw ar e Sp eci f ica t io ns an d W ir in g 2.3 Communication Ports AH20MC-5A/AH10PM-5A/AH15PM-5A is equipped with a mini USB port and an Ethernet port. Besides, AH20MC-5A is equipped with a DMCNET port.
Page 57  Serial transmission rate: 9600 bps Mini USB port 1. The program in an AH500 series motion control module can be uploaded through the mini USB port on the AH500 series motion control module. Users can download a program to an AH500 series motion control module through the mini USB port on the AH500 series motion control module.
Page 58: Chapter 3 Devices
Chapter 3 Devices Table of Contents Device List....................3-2 Values, Constants, and Floating-point Numbers........3-2 External Input Devices and External Output Devices ........3-4 Auxiliary Relays..................3-6 Special Auxiliary Relays................3-6 Stepping Relays ..................3-6 Timers .......................3-6 Counters....................3-7 Data Registers and Index Registers ............3-12 3.9.1 Data Registers..................3-12 3.9.2 Index Registers ................3-12 3.10...
Page 59: Device List
32-bit number number ±1.17549435-38~±3.40282347+38 An AH500 series motion control module performs operations on three types of values according to various control purposes. The functions of the three types of values are described below. Binary number (BIN) The values on which an AH500 series motion control module performs operations, and the values stored in the AH500 series motion control module are binary numbers.
Page 60 Chapter 3 Devices Word: A word is composed of two consecutive bytes (i.e. 16 bits, b15~b0). Words can be used to represent 0000~FFFF in the hexadecimal system. Double word: A double word is composed of two consecutive words (i.e. 32 bits, b31~b0).
Page 61: External Input Devices And External Output Devices
After X devices in an AH500 series motion control module are connected to an input device, the input signals sent to the AH500 series motion control module will be read. There is no limitation on the number of times the Form A contact/the Form B contact of an X device can be used in a program.
Page 62 After the program is executed, the states of the Y devices used in the Output program will be stored in the device memory in the AH500 series motion control module. Regenerating an output signal: After M102 is executed, the states of the Y devices stored in...
Page 63: Auxiliary Relays
M devices, but can not drive external loads by means of M devices. If a power cut occurs when an AH500 series motion control module runs, the M devices in the AH500 series motion control module will be reset to OFF. When the supply of electricity is restored, the M devices are still OFF.
Page 64: Counters
Chapter 3 Devices Setting value: Actual time measured by a timer= Unit of measurement for time x Setting value 1. Constant preceded by K: A setting value can be a constant preceded by K. 2. Value in a data register A setting value can be the value in a data register.
Page 65 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  AH05PM-5A Function Range Remark C0~C199 16-bit up counter 200 counters If the present value of the counter specified by the counters instruction CNT (DCNT) matches the setting value, the C240~C255...
Page 66 Chapter 3 Devices Example: X0.0 X0.0 X0.1 X0.1 C0 K5 Y0.0 Y0.0 1. If X0.0 is ON, the instruction RST will be executed, the present value of C0 will become zero, and the output contact will be reset to OFF. 2.
Page 67 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Example: X1.0 X1.0 SM255 SM255 X1.1 X1.1 C255 C255 X1.2 X1.2 DCNT C255 DCNT C255 K-5 C255 C255 Y0.0 Y0.0 1. SM255 is driven by X1.0. The state of SM255 determines whether C255 counts up or counts down.
Page 68 Chapter 3 Devices 32-bit high-speed counter: 1. The setting value of s 32-bit high-speed counter must be in the range of K-2,147,483,648 to K2,147,483,647. 2. Mode of counting: Mode of counting External Resetting of External input Counter resetting *1 *2 a counter terminal Device...
Page 69: Data Registers And Index Registers
If users want to clear the value in a latching register, they can use the instruction RST or ZRST. There are no latching registers in AH500 series motion control modules. 3. Index register (V)/(Z): V devices are 16-bit registers, and Z devices are 32-bit registers.
Page 70: Special Data Registers
Chapter 3 Devices There are 6 V devices (V0~V5), and 8 Z devices (Z0~Z7) in an AH500 series motion control module. ※Constants and some instructions do not support the use of index registers. Please refer to section 5.4 for more information about using index registers to modify operands.
Page 71 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Applicable model STOP    Function Attribute Default number 05M 15M 10M 20M STOP If the module runs, SM000 will be a normally-open ○...
Page 72 Chapter 3 Devices Applicable model STOP    Function Attribute Default number 05M 15M 10M 20M STOP 200* C200: Selecting a mode of ○ ○ ○ ○ counting ○ ○ ○ ○ OFF Resetting C200 204* C204: Selecting a mode of ○...
Page 73 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Flags related to an Ox motion subroutine Applicable model STOP    Function Attribute Default number 05M 15M 10M 20M STOP Using a radian or a degree in ○...
Page 74: Special Data Registers
Chapter 3 Devices  The definitions of the special auxiliary relays for motion axis 1~motion axis 16 are shown below. Axis number SM1000~ SM1100~ SM1200~ SM1300~ SM1400~ SM1500~ Special SM1099 SM1199 SM1299 SM1399 SM1499 SM1599 auxiliary relay (mn=10) (mn=11) (mn=12) (mn=13) (mn=14) (mn=15)
Page 75 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Applicable model STOP    Function Attribute Latching Default number 05M 15M 10M 20M STOP Firmware version of the AH500 ○ ○ ○ ○ series motion control module (factory setting) Step address at which the ○ ○...
Page 76 Chapter 3 Devices Applicable model STOP    Function Attribute Latching Default number 05M 15M 10M 20M STOP 16-bit counter from which the ○ ○ ○ 16-bit counters backed up onto the SD card start 16-bit counter at which the 16-bit ○...
Page 77 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Applicable model STOP    Function Attribute Latching Default number 05M 15M 10M 20M STOP Enabling the ○ ○ ○ ○...
Page 78 Chapter 3 Devices Applicable model STOP    Function Attribute Latching Default number 05M 15M 10M 20M STOP Polarities of the ○ ○ ○ ○ 799* input terminals States of the ○ ○ ○ ○ 800* input terminals ○ ○...
Page 79 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l SR mn xx It indicates the definition of a special data register for an axis. If xx is 00, it indicates a special data register which users can use to set the parameters of an axis.
Page 80 Chapter 3 Devices Applicable model STOP    Function Attribute Latching Default number 05M 15M 10M 20M STOP Distance generated after the motor of mn04 the axis specified rotate once (B) (Low word) ○ ○ ○ ○ 1000 Distance generated after the motor of mn05 the axis specified...
Page 81 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Applicable model STOP    Function Attribute Latching Default number 05M 15M 10M 20M STOP Speed (V ) to which the speed of the axis specified mn14 decreases when the...
Page 82 Chapter 3 Devices Applicable model STOP    Function Attribute Latching Default number 05M 15M 10M 20M STOP Speed at which the axis specified mn28 rotates (V (II)) (Low word) ○ ○ ○ ○ 2000 2000 Speed at which the axis specified mn29 rotates (V (II)) (High...
Page 83 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Applicable model STOP    Function Attribute Latching Default number 05M 15M 10M 20M STOP Frequency of pulses generated by the manual pulse ○...
Page 84 Chapter 3 Devices Applicable model STOP    Function Attribute Latching Default number 05M 15M 10M 20M STOP Status of the servo drive for the axis ○ mn73 specified on a DMCNET Servo drive error ○ mn74 code (Low word) Servo drive error ○...
Page 85: Functions Of Special Auxiliary Relays And Special Data Registers
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 3.13 Functions of Special Auxiliary Relays and Special Data Registers SM000: If the module runs, SM000 will be a normally-open contact (Form A contact).
Page 86 Chapter 3 Devices Users can set the time it takes for the input terminals to respond by setting SR020. The value in SR020 must be in the range of 0 to 20. (Unit: I nput f ilter If the module is turned form OFF to ON, the value in SR020 will automatically become 10, and the value in SR021 will automatically become 10.
Page 87 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Users can specify an Ox motion subroutine by setting SR1052. The steps of Setting an OX setting SR1052 are as follows. motion subroutine The users have to set bit 14 in SR1052 to 1, set bit 15 in SR1052 to 1, or numb...
Page 88 Chapter 3 Devices The steps of setting the second counter are as follows. H ig h-s peed Write K2 into K1SM204. Enable C204. co unt in g The program for step 1 and step 2 is shown below. SM200 and C200 X0.0 SM204 and C204 MOVP...
Page 89 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Example 1: Using the third timer in general mode Users have to select the general mode, and enable the timer, that is, they H ig h-s peed have to write K4 into K1SM208.
Page 90 Chapter 3 Devices If SM304 in an AH500 series motion control module is ON, the X devices in the AH500 series motion control module can be turned ON/OFF by means of Tuning t he X PMSoft. devices ON/OFF SM304 SR400 is an interrupt register. If users set a bit in SR400 to ON, an interrupt will be enabled.
Page 91 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Stopping uniaxial motion at an angle specified Sto pp in g th e Parameter axis axis axis axis un ia xia l mo tio n a t Stopping at the the a ng le spe cifie d SM1017...
Page 92 Chapter 3 Devices If the number of pulses it takes for the motor of an axis to rotate once is If the number of pulses it takes for the motor of an axis to rotate once is Sto pp in g th e 20000, and the angle at which users want to stop the axis is 90 degrees, 20000, and the angle at which users want to stop the axis is 90 degrees, un ia xia l mo tio n...
Page 93 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l If the value in (SR797, SR796) is K0 (there is no continuous interpolation), the speed of motion will decrease to 0 Hz no matter what the actual deceleration is. Co nti n uo us Frequency(Hz) i nte rpo la tio n...
Page 94 Se tti ng a fil te r SR806. co effi cie nt fo r Users can set a filter coefficient for the input terminals of an AH500 series motion control module by setting the low byte in SR806. th e i np ut te rmin l 85000 ...
Page 95 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l If an error occurs in O100, SM953 will be ON, the error code corresponding to the error will be stored in SR802, and the step address at O1 00 er ror which the error occurs will be stored in SR803.
Page 96 Chapter 3 Devices Se tt in g t he bit# Description p ara mete rs Bit 8=0: The value indicating the present position of the axis of th e ax is decreases progressively. Bit 8=1: The value indicating the present position of the axis SRmn00 increases progressively.
Page 97: Special Data Registers For Motion Axes
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l SR1031 is for the first axis, SR1131 is for the second axis, SR1231 is for the Mod e of third axis, SR1331 is for the fourth axis, ……, SR2431 is for the fifteenth axis, and SR2531 is for the sixteenth axis.
Page 98 Chapter 3 Devices SR number Special data register Setting range Default value Number of pulses it takes for 1~2,147,483,647 mn03 mn02 the motor of the axis specified K2,000 pulses/revolution to rotate once (A) Distance generated after the mn05 mn04 motor of the axis specified 1~2,147,483,647 K1,000 rotate once (B)
Page 99 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l SR number Special data register Setting range Default value Frequency of pulses generated Frequency of pulses generated mn45 mn44 by the manual pulse generator by the manual pulse generator for for the axis specified the axis specified...
Page 100: Chapter 4 Basic Instructions
Chapter 4 Basic Instructions Table of Contents Table of Basic Instructions.................4-2 Descriptions of the Basic Instructions............4-4 4 - 1...
Page 101: Table Of Basic Instructions
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 4.1 Table of Basic Instructions  General instructions Execution speed (us) Instruction Page Function Operand Step code number 20MC 10PM 05PM 15PM Loading a Form A X, Y, M, S, T, C...
Page 102 Ch ap te r 4 Bas ic Instruc tions  Rising-edge/Falling-edge detection instructions Execution speed (us) Instruction Page Function Operand Step code number 20MC 10PM 05PM 15PM Starting rising-edge X, Y, M, S, T, C 0.39 0.39 0.39 0.23 4-11 detection Starting falling-edge X, Y, M, S, T, C...
Page 103: Descriptions Of The Basic Instructions
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 4.2 Descriptions of the Basic Instructions Instruction code Operand Function Loading a Form A contact Device KnM KnS    ...
Page 104 Ch ap te r 4 Bas ic Instruc tions Instruction code Operand Function Connecting a Form A contact in series KnM KnS Device        The instruction AND is used to connect a Form A contact in series. It reads the state of a contact which is connected in series, and performs E xp la nat io n the AND operation on the previous logical operation result.
Page 105 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Connecting a Form A contact in parallel Device KnM KnS        The instruction OR is used to connect a Form A contact in parallel.
Page 106 Ch ap te r 4 Bas ic Instruc tions Instruction code Operand Function Connecting circuit blocks in series  The instruction ANB is used to perform the AND operation on the logical operation result reserved previously and the contents of the E xp la nat io n present accumulation register.
Page 107 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Driving a coil Device KnM KnS     The logical operation result prior to the application of the instruction OUT is sent to the device specified.
Page 108 Ch ap te r 4 Bas ic Instruc tions Instruction code Operand Function Resetting a contact or a register KnM KnS Device         When the instruction RST is driven, the device specified acts in the way described below.
Page 109 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function S1, S2 16-bit counter Device KnM KnS      When the counter coil specified by the instruction CNT is turned from OFF to ON, the counter value increases by 1.
Page 110 Additio nal  If the state of a rising edge-triggered contact in an AH500 series motion re mark controller is ON before the AH500 series motion controller is powered, it is TRUE after the AH500 series motion controller is powered.
Page 111 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Connecting rising-edge ANDP detection in series Device KnM KnS        The instruction ANDP is used to connect a rising edge-triggered contact in series.
Page 112 Ch ap te r 4 Bas ic Instruc tions Instruction code Operand Function Connecting rising-edge detection in parallel KnM KnS Device        The instruction ORP is used to connect a rising edge-triggered contact in parallel. E xp la nat io n Ladder diagram Instruction code: Description:...
Page 113 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Rising-edge output Device KnM KnS    PLS is a rising-edge output instruction. When X0.0 is turned from OFF to ON, the instruction PLS is executed.
Page 114 Ch ap te r 4 Bas ic Instruc tions Instruction code Operand Function Falling-edge output KnM KnS Device    PLF is a falling-edge output instruction. When X0.0 is turned from ON to OFF, the instruction PLF is executed. MO sends a pulse for a scan E xp la nat io n cycle.
Page 115 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l MEMO 4 - 1 6...
Page 116: Chapter 5 Applied Instructions
Chapter 5 Applied Instructions Table of Contents Table of Applied Instructions..............5-3 Structure of an Applied Instruction............5-9 Processing Values ...................5-11 Using Index Registers to Modify Operands ..........5-14 Instruction Index ..................5-14 Descriptions of the Applied Instructions...........5-18 Motion Control Function Block Table .............5-126 Introduction of the Pins in a Motion Control Function Block ....5-128 5.8.1 Definitions of Input Pins/Output Pins ..........5-128...
Page 117 5.12.1 Starting/Stopping a Servo Drive..........5-217 5.12.2 Resetting a Servo Drive ............. 5-219 5.12.3 Writing the Value of a Parameter into a Servo Drive ....5-221 5.12.4 Reading the Value of a Parameter from a Servo Drive....5-224 5.12.5 Instructing a Servo Drive to Return Home ........5-227 5.12.6 Initializing a Servo Drive .............
Page 118: Table Of Applied Instructions
Ch ap te r 5 Ap plie d Instruc tions 5.1 Table of Applied Instructions Instruction code Model Step Pulse Page Type API Function 10PM/ number 16-bit 32-bit instruction 16-bit 32-bit 20MC 05PM 15PM Conditional     00 CJ –...
Page 119 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Model Step Pulse Page Type API Function 10PM/ number 16-bit 32-bit 16-bit 32-bit instruction 20MC 05PM 15PM Adding one to ...
Page 120 Ch ap te r 5 Ap plie d Instruc tions Instruction code Model Step Pulse Page Type API Function 10PM/ number 16-bit 32-bit instruction 20MC 05PM 16-bit 32-bit 15PM Resetting a     40 ZRST – – 5-58 zone ...
Page 121 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Model Step Pulse Page Type API Function 10PM/ number 16-bit 32-bit 16-bit 32-bit instruction 20MC 05PM 15PM Transferring a ...
Page 122 Ch ap te r 5 Ap plie d Instruc tions Instruction code Model Step Pulse Page Type API Function 10PM/ number 16-bit 32-bit instruction 20MC 05PM 16-bit 32-bit 15PM Tangent of a binary     – DTAN – 5-95 floating-point number...
Page 123 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Model Step Pulse Page Type API Function 10PM/ number 16-bit 32-bit 16-bit 32-bit instruction 20MC 05PM 15PM –  ...
Page 124: Structure Of An Applied Instruction
Ch ap te r 5 Ap plie d Instruc tions Additional remark: 05PM=AH05PM-5A; 15PM=AH15PM-5A; 10PM=AH10PM-5A; 20MC=AH20MC-5A 5.2 Structure of an Applied Instruction  An applied instruction is composed of an instruction name and operands. Instruction name: An instruction name represents a function. Operand: An operand is the object of an operation.
Page 125 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l MOV K1 0 D 10 Instruction Oper ands code The instruction is used to move the value in the operand S to the operand D. Source operand If there is more one source operand, the source operands will be represented by S...
Page 126: Processing Values
Ch ap te r 5 Ap plie d Instruc tions 4. If a 32-bit instruction uses D0 as an operand, the 32-bit data register composed of D1 and D0 will be used. D1 occupies the high 16 bits, and D0 occupy the low 16 bits. Timers and the 16-bit counters C0~C199 can be used in the same way.
Page 127 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Valid data M1 5 M1 4 M1 3 M1 2 M11 M1 0 Low byte T he values in M0~M7 are mov ed. Bit 8~ bit 15 ar e set to 0.
Page 128 Ch ap te r 5 Ap plie d Instruc tions API 132 (D TAN) API 133 (D ASIN) API 134 (D ACOS) API 135 (D ATAN) API 136 (D SINH) API 137 (D COSH) API 138 (D TANH) Representations of binary floating-point numbers The floating-point numbers in a motion control module are 32-bit floating-point numbers, and the representations of the floating-point numbers conform to the IEEE 754 standard.
Page 129: Using Index Registers To Modify Operands
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Exponent: D1=-41~+35 Besides, the base 100 does not exist in D0 because 100 is represented by 1,000×10 decimal floating-point number is in the range of ±1,175×10 to ±3,402×10 ...
Page 130 Ch ap te r 5 Ap plie d Instruc tions Instruction code Step Pulse Page Type API Function instruction number 16-bit 32-bit 16-bit 32-bit Arcsine of a binary floating-point  – DASIN – 5-97 number Arctangent of a binary  –...
Page 131 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Step Pulse Page Type API Function instruction number 16-bit 32-bit 16-bit 32-bit 217 LD^ DLD^ – S1^S2 5-107 216 LD| DLD| –...
Page 132 Ch ap te r 5 Ap plie d Instruc tions Instruction code Step Pulse Page Type API Function instruction number 16-bit 32-bit 16-bit 32-bit  202 SCAL – Scale 5-115  203 SCLP DSCLP Parameter scale 5-117  61 SER DSER Searching data 5-70...
Page 133: Descriptions Of The Applied Instructions
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.6 Descriptions of the Applied Instructions Operand Function Instruction code Conditional jump Device KnM KnS Pulse instruction 16-bit instruction (3 steps) 32-bit instruction ...
Page 134 Ch ap te r 5 Ap plie d Instruc tions  States of devices States of contacts States of contacts States of output E xamp le 2 Device before the during the coils during the execution of CJ execution of CJ execution of CJ M1, M2, and M3 M1, M2, and M3...
Page 135 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Y0.1 is a dual output. When M0 is OFF, Y0.1 is controlled by M1. When M0 is ON, Y0.1 is controlled by M12. Y0.1 M 20 T240...
Page 136 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function CALL Calling a subroutine Device KnM KnS Pulse instruction 16-bit instruction (3 steps) 32-bit instruction   ─  S: Pointer which points to a subroutine ...
Page 137 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function ─ SRET Indicating that a subroutine ends Pulse instruction 16-bit instruction (1 step) 32-bit instruction  ─ ─...
Page 138 Ch ap te r 5 Ap plie d Instruc tions X0 .0 X0 .2 P1 2 D 30 IN C IN C Y0 .0 Y1 .0 X2 .0 X1 .3 C ALL P1 0 C ALL P1 3 Main Su brout in e X0 .0 X0 .2 Pr ogr am...
Page 139 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function ─ Watchdog timer Pulse instruction 16-bit instruction (1 step) 32-bit instruction   －  The instruction WDT is used to reset the watchdog timer in a motion control module.
Page 140 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Start of a nested loop Device KnM KnS          Pulse instruction 16-bit instruction (3 steps) 32-bit instruction  －...
Page 141 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function － End of a nested loop Pulse instruction 16-bit instruction (1step) 32-bit instruction  －－  RPT in a program specifies that the RPT-RPE loop in the program must be executed N times.
Page 142 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Comparing values Device KnM KnS                      ...
Page 143 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function , S, D Zonal comparison Device KnM KnS          ...
Page 144 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function S, D Transferring a value Device KnM KnS                   Pulse instruction 16-bit instruction (5 steps) 32-bit instruction (6 steps) ...
Page 145 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function S, D Inverting bits Device KnM KnS           ...
Page 146 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function BMOV S, D, n Transferring values Device KnM KnS               Pulse instruction 16-bit instruction (7steps) 32-bit instruction ...
Page 147 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Transferring a value to FMOV S, D, n several devices Device KnM KnS     ...
Page 148 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Interchanging values Device KnM KnS                 Pulse instruction 16-bit instruction (5 steps) 32-bit instruction (5 steps) ...
Page 149 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Converting a binary number into a S, D binary-coded decimal number Device KnM KnS    ...
Page 150 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Converting a binary-coded decimal S, D number into a binary number Device KnM KnS             ...
Page 151 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Binary addition Device KnM KnS             ...
Page 152 Ch ap te r 5 Ap plie d Instruc tions  The relations between flags and values are shown below. Zero flag Zero flag Additio nal 16-bit addition: Zero flag re mark 、、、、、、、、 -2 -1 0 -32,768 -1 0 1 32,767 0 1 2...
Page 153 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Binary subtraction Device KnM KnS             ...
Page 154 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Binary multiplication Device KnM KnS                      ...
Page 155 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Binary division Devi KnM KnS             ...
Page 156 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Adding one to a binary number Device KnM KnS         Pulse instruction 16-bit instruction (3 steps) 32-bit instruction (3 steps) ...
Page 157 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Subtracting one from a binary number Device KnM KnS         Pulse instruction 16-bit instruction (3 steps) 32-bit instruction (3 steps) ...
Page 158 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function WAND Logical AND operation Device KnM KnS                    ...
Page 159 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Logical OR operation Device KnM KnS            ...
Page 160 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Logical exclusive OR WXOR operation Device KnM KnS                   ...
Page 161 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Taking the two’s complement of a number Device KnM KnS        ...
Page 162 Ch ap te r 5 Ap plie d Instruc tions  he representation of a negative value and its absolute value are Additio nal described below. 1. Whether the value in a register is a positive value or a negative re mark value depends on the leftmost bit in the register.
Page 163 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Rotating bits D, n rightwards Device KnM KnS          ...
Page 164 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function D, n Rotating bits leftwards Device KnM KnS           Pulse instruction 16-bit instruction (5 steps) 32-bit instruction (6 steps) ...
Page 165 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Rotating bits D, n rightwards with a carry flag Device KnM KnS      ...
Page 166 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Rotating bits leftwards D, n with a carry flag Device KnM KnS           Pulse instruction 16-bit instruction (5 steps) 32-bit instruction (6 steps) ...
Page 167 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Moving the states of bit SFTR S, D, n devices rightwards Device KnM KnS    ...
Page 168 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Moving the states of bit SFTL S, D, n devices leftwards Device KnM KnS            Pulse instruction 16-bit instruction (9 steps) 32-bit instruction ...
Page 169 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Moving the values in WSFR S, D, n word devices rightwards Device KnM KnS    ...
Page 170 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Moving the values in WSFL S, D, n word devices leftwards Device KnM KnS             ...
Page 171 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Moving a value and SFWR S, D, n writing it into a word device Device KnM KnS ...
Page 172 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Moving a value and SFRD S, D, n reading it from a word device Device KnM KnS          ...
Page 173 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function ZRST Resetting a zone Device KnM KnS           ...
Page 174 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function DECO Decoder S, D, n Device KnM KnS                   ...
Page 175 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function ENCO S, D, n Encoder Device KnM KnS          ...
Page 176 Ch ap te r 5 Ap plie d Instruc tions  When S is a word device, n is in the range of 0 to 4. If n is 0, or larger than 4, an error will occur. E xamp le 2 ...
Page 177 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Number of bits whose S，D states are ON Device KnM KnS       ...
Page 178 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Checking the state of a S, D, n Device KnM KnS                ...
Page 179 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function MEAN S, D, n Mean Device KnM KnS          ...
Page 180 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Driving an annunciator S, m, D Device KnM KnS                  ...
Page 181 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Resetting an ─ annunciator Pulse instruction 16-bit instruction (1 step) 32-bit instruction   –  The instruction ANR is used to reset an annunciator. ...
Page 182 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Square root of a binary S, D number Device KnM KnS       Pulse instruction 16-bit instruction (5 steps) 32-bit instruction (6 steps) ...
Page 183 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Converting a binary integer S, D into a binary floating-point number Device KnM KnS    ...
Page 184 4 to the number of I/O devices in the motion control module used, and is a multiple of 4.  When X0.0 is ON, the AH500 motion control module reads the states of X0.0~X0.7 immediately. The input signals are refreshed without any E xamp le 1 delay.
Page 185 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function , D, n Searching data Device KnM KnS          ...
Page 186 Ch ap te r 5 Ap plie d Instruc tions Value Value which is Number Result D Value Description compared Number of values which are equal to the value in D0 Number of the first value D11 100 Equal which is equal to the value in Number of the last value...
Page 187 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Alternating between ON and OFF Device KnM KnS    Pulse instruction 16-bit instruction (3 steps) 32-bit instruction ...
Page 188 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Reading data from a FROM , D, n control register in a special module Device KnM KnS          ...
Page 189 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Writing data into a , S, n control register in a special module Device KnM KnS  ...
Page 190 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Absolute value Device KnM KnS         Pulse instruction 16-bit instruction (3 steps) 32-bit instruction (3 steps)    ...
Page 191 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Comparing binary ECMP floating-point numbers Device KnM KnS          Pulse instruction 16-bit instruction 32-bit instruction (9 steps) ...
Page 192 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Binary floating-point EZCP , S, D zonal comparison Device KnM KnS             Pulse instruction 16-bit instruction 32-bit instruction (12 steps) ...
Page 193 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Transferring a MOVR S, D floating-point value Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps) ...
Page 194 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Converting a degree to S, D a radian Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps)   –...
Page 195 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Converting a radian to a S, D degree Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps) ...
Page 196 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Binary floating-point EADD addition Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps)   – ...
Page 197 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Binary floating-point ESUB subtraction Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps) ...
Page 198 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Binary floating-point EMUL multiplication Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps)   – ...
Page 199 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Binary floating-point EDIV division Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps) ...
Page 200 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Exponent of a binary S, D floating-point number Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps)   –...
Page 201 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Natural logarithm of a S, D binary floating-point number Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps) ...
Page 202 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Logarithm of a binary floating-point number Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps)  ...
Page 203 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Square root of a binary ESQR S, D floating-point number Device KnM KnS     ...
Page 204 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Power of a floating-point number Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps)   –...
Page 205 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Converting a binary S, D floating-point number into a binary integer Device KnM KnS    ...
Page 206 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Sine of a binary S, D floating-point number Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps)   –...
Page 207 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  A radian/degree flag is OFF. A degree is set by means of X0.0 or X0.1. After the degree is converted into a radian, the sine of the radian will be E xamp le 2 calculated.
Page 208 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Cosine of a binary S, D floating-point number Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps)   –...
Page 209 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  A radian/degree flag is reset to OFF. The binary floating-point value in (D1, D0) is a radian. When X0.0 is ON, the cosine of the binary E xamp le 1 floating-point value in (D1, D0) is stored in (D11, D10).
Page 210 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Tangent of a binary S, D floating-point number Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps)   –...
Page 211 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  A radian/degree flag is reset to OFF. The binary floating-point value in (D1, D0) is a radian. When X0.0 is ON, the tangent of the binary E xamp le 1 floating-point value in (D1, D0) is stored in (D11, D10).
Page 212 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Arcsine of a binary ASIN S, D floating-point number Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps)  ...
Page 213 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Arccosine of a binary ACOS S, D floating-point number Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps) ...
Page 214 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Arctangent of a binary ATAN S, D floating-point number Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps)  ...
Page 215 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Hyperbolic sine of a SINH S, D binary floating-point number Device KnM KnS     ...
Page 216 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Hyperbolic cosine of a COSH S, D binary floating-point number Device KnM KnS      Pulse instruction 16-bit instruction 32-bit instruction (6 steps) ...
Page 217 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Hyperbolic tangent of a TANH S, D binary floating-point number Device KnM KnS     ...
Page 218 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function ADDR Floating-point addition Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps)   –  S : Augend;...
Page 219 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Floating-point SUBR subtraction Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps) ...
Page 220 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Floating-point MULR multiplication Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps)   –  S : Multiplicand;...
Page 221 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function DIVR Floating-point division Device KnM KnS         Pulse instruction 16-bit instruction 32-bit instruction (9 steps) ...
Page 222 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function 215~217 Logical operation Device KnM KnS                     Pulse instruction 16-bit instruction (5 steps) 32-bit instruction (7 steps) ...
Page 223 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function 218~220 AND# Logical operation Device KnM KnS           ...
Page 224 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function 221~223 Logical operation Device KnM KnS                     Pulse instruction 16-bit instruction (5 steps) 32-bit instruction (7 steps) ...
Page 225 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function 224~230 Comparing values LD※ Device KnM KnS           ...
Page 226 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function 232~238 Comparing values AND※ Device KnM KnS                    ...
Page 227 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function 240~246 Comparing values OR※ Device KnM KnS           ...
Page 228 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Interchanging the high byte in a device with SWAP the low byte in the device Device KnM KnS         Pulse instruction 16-bit instruction (3 steps) 32-bit instruction (3 steps) ...
Page 229 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function RAND Random value Device KnM KnS            ...
Page 230 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function SCAL Scale Device KnM KnS               Pulse instruction 16-bit instruction (7 steps) 32-bit instruction ...
Page 231 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Destination value Slope=168 Offset=-4 Sourc e value =500  Suppose the values in S , and S are 500, -168, and 534 respectively.
Page 232 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function SCLP Parameter scale Device KnM KnS           Pulse instruction 16-bit instruction (7 steps) 32-bit instruction (9 steps) ...
Page 233 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l destination value–Minimum destination value)÷(Maximum source value–Minimum source value)＋Minimum destination value  If the value in S is greater than the maximum source value, the value in will be equal to the maximum source value.
Page 234 Ch ap te r 5 Ap plie d Instruc tions  Suppose the value in S is 500, the maximum source value in D0 is 3,000, the minimum source value in D1 is 200, the maximum destination E xamp le 2 value in D2 is 30, and the minimum destination value in D3 is 500.
Page 235 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  16-bit instruction: The value in S is in the range of the minimum source A dditio nal value and the maximum source value, i.e. the value in S is in the range of -32,768 to 32,767.
Page 236 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Negated conditional jump Device KnM KnS Pulse instruction 16-bit instruction (3 steps) 32-bit instruction   –  S: Pointer (S is in the rage of P0~P255. A pointer does not support V devices and Z devices) E xp la nat io n ...
Page 237 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Unconditional jump Device KnM KnS Pulse instruction 16-bit instruction (3 steps) 32-bit instruction   –  The function of JMP is similar to the function of CJ.
Page 238 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function － BRET Returning to a busbar Pulse instruction 16-bit instruction (1 step) 32-bit instruction  – –  The instruction BRET does not have to be driven by a contact. ...
Page 239 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Instruction code Operand Function Converting a 16-bit MMOV S, D value into a 32-bit value Device KnM KnS    ...
Page 240 Ch ap te r 5 Ap plie d Instruc tions Instruction code Operand Function Converting a 32-bit RMOV S, D value into a 16-bit value Device KnM KnS             ...
Page 241: Motion Control Function Block Table
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.7 Motion Control Function Block Table Model Page Type Name Description 10PM/ 20MC 05PM 15PM Starting absolute single-speed    Absolute single-speed motion 5-136 motion...
Page 242 Ch ap te r 5 Ap plie d Instruc tions Model Page Type Name Description 10PM/ 20MC 05PM 15PM Starting or stopping the servo  Starting/Stopping a servo drive 5-217 drive specified on a DMCNET. Resetting the servo drive  Resetting a servo drive 5-219 specified on a DMCNET...
Page 243: Introduction Of The Pins In A Motion Control Function Block
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.8 Introduction of the Pins in a Motion Control Function Block 5.8.1 Definitions of Input Pins/Output Pins Common input pins and output pins in motion control function blocks are listed below. The pins listed below do not appear in a single motion control function block.
Page 244 Ch ap te r 5 Ap plie d Instruc tions output pin. The Busy output pin and the Done output pin in a function block indicate the state of the motion control function block. If the execution of motion control function block is to be interrupted by another motion control function block, the Aborted output pin will be added to the motion control function block.
Page 245: Timing Diagram For Input/Output Pins
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l generated. The Busy output pin in a motion control function block is set to True when there is a transition in the Enable input pin’s signal from low to high, and is set to True when the motion control function block is executed.
Page 246: Introducing The Use Of Pmsoft
Ch ap te r 5 Ap plie d Instruc tions 5.8.3 Introducing the Use of PMSoft The use of the motion control function blocks in PMSoft is introduced below. (1) Right-click Function Blocks in the system information area in PMSoft. Click Add Motion Control Function Blocks…...
Page 247 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l (3) After the users click OK, the motion control function blocks selected in the Add Function Block window will be automatically added to Function Blocks in the system information area. ...
Page 248: Delta-Defined Parameter Table
Ch ap te r 5 Ap plie d Instruc tions 5.9 Delta-defined Parameter Table Delta-defined parameters are for input pins in Delta motion control function blocks. Users can directly use Delta-defined parameters to operate motion control function blocks without having to know the descriptions of the input pins in the motion control function blocks.
Page 249 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Name Type Value Motion control function block Description An interrupt signal is triggered IntTimer WORD by a time interval. The source of an interrupt signal IntX8 WORD is X0.8.
Page 250 Ch ap te r 5 Ap plie d Instruc tions Name Type Value Motion control function block Description The source of capture is the mcCapAxis1 WORD present position of the first axis. The source of capture is the mcCapAxis2 WORD present position of the second axis.
Page 251: Uniaxial Motion Control Function Blocks
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.10 Uniaxial Motion Control Function Blocks 5.10.1 Absolute Single-speed Motion 1. Motion control function block The motion control function block T_AbsSeg1 is used to start absolute single-speed motion. The value of the Axis input pin indicates an axis number, and the value of the Velocity input pin indicates the speed of single-speed motion.
Page 252 Ch ap te r 5 Ap plie d Instruc tions Output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 253 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Error Troubleshooting Make sure that other uniaxial motion control function blocks are not started or the The motion control function block conflicts execution of other uniaxial motion control with other motion control function blocks.
Page 254: Relative Single-Speed Motion
Ch ap te r 5 Ap plie d Instruc tions Timing diagram:  After the first single-speed motion is complete, the second single-speed motion will be executed. After the execution of the motion control function block named FIRST is complete, the motion control function block named SECOND will be executed.
Page 255 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l value of the Axis input pin indicates an axis number, and the value of the Velocity input pin indicates the speed of single-speed motion. The value of the Distance input pin indicates the distance for which single-speed motion moves, and the distance is a relative distance.
Page 256 Ch ap te r 5 Ap plie d Instruc tions Output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 257 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Error Troubleshooting Make sure that other uniaxial motion control function blocks are not started or the The motion control function block conflicts execution of other uniaxial motion control with other motion control function blocks.
Page 258 Ch ap te r 5 Ap plie d Instruc tions Timing diagram:  After the first single-speed motion is complete, the second single-speed motion will be executed. When the motion control function block named FIRST is executed, the first axis moves for 10,000 pulses.
Page 259: Absolute Two-Speed Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.10.3 Absolute Two-speed Motion 1. Motion control function block The motion control function block T_AbsSeg2 is used to start absolute two-speed motion. The value of the Axis input pin indicates an axis number, and the value of the Velocity1 input pin indicates the speed of the first motion.
Page 260 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type K-2,147,483,648~ K2,147,483,647 (If the value of the Position1 input pin is greater than 0, the value of the Position2 input pin The value of the Position2 must be greater than...
Page 261 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 262 Ch ap te r 5 Ap plie d Instruc tions Error Troubleshooting Make sure that other uniaxial motion control function blocks are not started or the The motion control function block conflicts execution of other uniaxial motion control with other motion control function blocks. function blocks is complete before the motion control function block is started.
Page 263: Relative Two-Speed Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.10.4 Relative Two-speed Motion 1. Motion control function block The motion control function block T_RelSeg2 is used to start relative two-speed motion. The value of the Axis input pin indicates an axis number, and the value of the Velocity1 input pin indicates the speed of the first motion.
Page 264 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type K-2,147,483,648~ K2,147,483,647 (If the value of the Distance1 input pin is a positive value, Relative The value of the Distance2 the value of the distance for input pin is valid when...
Page 265 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 266 Ch ap te r 5 Ap plie d Instruc tions Error Troubleshooting Make sure that other uniaxial motion control function blocks are not started or the The motion control function block conflicts execution of other uniaxial motion control with other motion control function blocks. function blocks is complete before the motion control function block is started.
Page 267: Inserting Single-Speed Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.10.5 Inserting Single-speed Motion 1. Motion control function block The motion control function block T_TrSeg1 is used to insert single-speed motion. The value of the Axis input pin indicates an axis number, and the value of the Velocity input pin indicates the speed of motion.
Page 268 Ch ap te r 5 Ap plie d Instruc tions Output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 269 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 270 Ch ap te r 5 Ap plie d Instruc tions Execute Busy Done Motion 3000 Velocity 5000 Position Example2:  The motion control function block T_TrSeg1 is used to insert single-speed motion which is triggered by a transition in DOG’s signal from low to high. The motion control function block named T_TrSeg1_U1 is set so that the first axis moves at a speed of 3,000 pulses per second, and will move for 5,000 pulses after a transition in DOG’s signal from low to high.
Page 271: Inserting Two-Speed Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Execute Busy Done Motion 3000 Velocity 5000 Position (Rising edge-triggered) 5. Modules which are supported The motion control function block T_TrSeg1 supports AH05PM-5A, AH15PM-5A, AH10PM-5A, and AH20MC-5A.
Page 272 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type Motion is started when there is a transition in Execute BOOL True/False the Execute input pin’s signal from low to high.
Page 273 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 274 Ch ap te r 5 Ap plie d Instruc tions Error Troubleshooting Make sure that other uniaxial motion control function blocks are not started or the The motion control function block conflicts execution of other uniaxial motion control with other motion control function blocks. function blocks is complete before the motion control function block is started.
Page 275: Jog Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.10.7 JOG Motion 1. Motion control function block The motion control function block T_Jog is used to start jog motion. The value of the Axis input pin indicates an axis number, and the value of the Velocity input pin indicates the speed of JOG motion.
Page 276 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type  If the PositiveEnable input pin and the NegativeEnable input pin are set to True simultaneously, positive JOG motion will be enabled, and the NegativeEnable input pin...
Page 277 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 278: Manual Pulse Generator Mode
Ch ap te r 5 Ap plie d Instruc tions EnableP EnableN Busy Motion 10000 Velocity -10000 When EnableP is set to 1, the first axis moves at a speed of 10,000 pulses per second in the positive direction. When EnableN is set to 1, the first axis moves at a speed of 10,000 pulses per second in the negative direction.
Page 279 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Please refer to chapter 2 for more information about wiring a manual pulse generator. 2. Input pins/Output pins Input pin Data Name Function Setting value...
Page 280 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 281: Returning Home
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 3. Troubleshooting Error Troubleshooting The values of input pins in the motion control Check whether the values of the input pins function block are incorrect.
Page 282 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type Motion is started when there is a transition in Execute BOOL True/False the Execute input pin’s signal from low to high.
Page 283 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 284: Stopping Uniaxial Motion
Ch ap te r 5 Ap plie d Instruc tions 3. Troubleshooting Error Troubleshooting The values of input pins in the motion Check whether the values of the input pins control function block are incorrect. are in the ranges allowed. Make sure that other uniaxial motion control function blocks are not started or the The motion control function block conflicts...
Page 285 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 286 Ch ap te r 5 Ap plie d Instruc tions 4. Example The single-speed motion of an axis is started, and then the motion control function block T_AxisStop is used to stop the motion. The motion control function block named First is used to start single-speed motion. It is set so that the first axis moves for 50,000 pulses at a speed of 10,000 per second.
Page 287 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.10.11 Parameter Setting I 1. Motion control function block The motion control function block T_AxisSetting1 is used to set motion parameters. The value of the Axis input pin indicates an axis number.
Page 288 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type The value of the Vmax input pin is valid when there is a Maximum Vmax DWORD K1~K2,147,483,647 transition in the Execute speed...
Page 289 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 290 Ch ap te r 5 Ap plie d Instruc tions to rotate once and the distance for which the axis specified moves when the motor rotates once. 2. Input pins/Output pins Input pin Data Name Function Setting value Time when a value is valid type The value of the Axis input pin is valid when there is a...
Page 291 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 292 Ch ap te r 5 Ap plie d Instruc tions 5.10.13 Reading the Present Position/Speed of an Axis 1. Motion control function block The motion control function block T_MotionObserve is used to read the present position/speed of an axis. The value of the Axis input pin indicates an axis number. After the motion control function block is started, users can read the present position of the axis specified through the Position output pin, and the speed of the axis specified through the Velocity output pin.
Page 293 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 294 Ch ap te r 5 Ap plie d Instruc tions 5.10.14 State of an Axis 1. Motion control function block The motion control function block is T_AxisStatus is used to read and clear the present erroneous state of an axis. The value of the Axis input pin indicates an axis number. Users can clear the present erroneous state of the axis specified by means of the ClearError input pin.
Page 295 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 296 *2: Value of the AxisErrorID output pin Value Definition Value Definition 16#0 Idle An error occurs in the 16#0002~ AH500 series motion Uniaxial motion is being 16#C4FF 16#100 control module. stopped. An error occurs in the Absolute single-speed 16#8001~ 16#101...
Page 297 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2. Input pins/Output pins Input pin Data Name Function Setting value Time when a value is valid type The value of the Axis input pin is valid when there is a Motion axis Axis...
Page 298 Users can set the polarities of the input terminals in the AH500 series motion control module used by means of input pins, and read the states of the input terminals in the AH500 series motion control module by means of output pins.
Page 299 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Input pin Data Name Function Setting value Time when a value is valid type X0C_LSP1 Polarity BOOL X0D_LSN1 Polarity BOOL X0E_LSP2 Polarity BOOL X0F_LSN2...
Page 300 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high Pg0_X0 Polarity...
Page 301 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.10.17 Electronic Gear Motion 1. Motion control function block The motion control function block T_GearIn is used to start electronic gear motion. The value of the Master input pin indicates a master axis, and the value of the Slave input pin indicates a slave axis.
Page 302 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 303 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Value output pin Data Name Function Output range Update type When the motion control function block is executed, K-2,147,483,648~ Number of InputPulses DWORD the value of the InputPulses...
Page 304 Ch ap te r 5 Ap plie d Instruc tions 2. Input pins/Output pins Input pin Data Name Function Setting value Time when a value is valid type The value of the Master input pin is valid when there Master axis 0~16, 200, 204, Master WORD...
Page 305 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 306 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high Starting a cam cycle (The...
Page 307 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 4. Modules which are supported The motion control function block T_CamIn supports AH05PM-5A, AH15PM-5A, AH10PM-5A, and AH20MC-5A. 5.10.19 Reading a Cam Point 1.
Page 308 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 309 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 3. Troubleshooting Error Troubleshooting The values of input pins in the motion Check whether the values of the input pins control function block are incorrect. are in the ranges allowed.
Page 310 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type The value of the Position of SlavePosition input pin is K-2,147,483,647~ the slave valid when there is a SlavePosition DWORD axis...
Page 311 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.10.21 Calculating a Synchronization Ratio 1. Motion control function block The motion control function block T_CamSyncRatio is used to calculate a synchronization ratio. A synchronization ration is calculated by means of the M360Length input pin, the M360Pulse input pin, the S360Length input pin, and the S360Pulse input pin.
Page 312 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is a transition in Time when there is a Data Name Function an output pin’s transition in an output pin’s type signal from low to signal from high to low high ...
Page 313 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Value output pin Data Time when a value is Name Function Output range type valid Ratio of the distance for The value of the SRatio which a slave output pin is valid when K-2,147,483,647~...
Page 314 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type The creation of a cam curve is enabled when there is a Execute transition in the BOOL True/False Execute input...
Page 315 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 316 Ch ap te r 5 Ap plie d Instruc tions *1: Value of the AccCurve input pin *2: Value of the eCamCurve input pin Value Definition Value Definition Uniform curve leftCAM Uniform midCAMall acceleration midCAMbegin curve midCAMend SingleHypot rightCAM curve Cycloid 3.
Page 317 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 318 Ch ap te r 5 Ap plie d Instruc tions 5.11 Multiaxial Motion Control Function Blocks 5.11.1 Setting the Parameters of G-code Motion 1. Motion control function block The motion control function block T_GcodeSetting is used to set the parameters of G-code motion.
Page 319 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an transition in an output pin’s Name Function type...
Page 320 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type G-code motion stops when there is a transition in Execute BOOL True/False the Execute input pin’s signal from low to high.
Page 321 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 322 Ch ap te r 5 Ap plie d Instruc tions Timing diagram: Number1 = Number2 The second motion The second motion can not First follows the first motion. interrupt the first motion. Execute1 Busy1 Done1 Second Test Execute2 Busy2 Done2 Error2 5.
Page 323 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 324 Ch ap te r 5 Ap plie d Instruc tions Steps: (a) Set Execute1 to True. (b) Execute the G-codes in the Ox motion subroutine specified. (c) Set Execute2 to True before the execution of the G-codes in the Ox motion subroutine specified is complete.
Page 325 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Input pin Data Name Function Setting value Time when a value is valid type An M-code is cleared when The value of the CLRMcode there is a input pin is valid when the CLRMcode...
Page 326 Ch ap te r 5 Ap plie d Instruc tions Value output pin Data Name Function Output range Time when a value is valid type When the Valid output pin is set to True, the When the Valid output pin is value of the set to True, the value of the Value...
Page 327 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Timing diagram: Execute Busy1 Done Enable1 Valid Busy2 5. Modules which are supported The motion control function block T_Mcode supports AH05PM-5A, AH15PM-5A, AH10PM-5A, and AH20MC-5A.
Page 328 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type [_,_,_,_,_,_] 0: Not setting axes The value of the AxesGroup Axes which input pin is valid when there n: Adding the n AxesGroup execute...
Page 329 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 330 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type The value of the Distance [_,_,_,_,_,_] Distances for input pin is valid when there Distance which the axes DWORD[6] K-2,147,483,648~ is a transition in the...
Page 331 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 3. Troubleshooting Error Troubleshooting The values of input pins in the motion Check whether the values of the input pins control function block are incorrect. are in the ranges allowed.
Page 332 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 333 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Input pin Data Name Function Setting value Time when a value is valid type Starting a servo Enable BOOL True/False drive State output pin Time when there is Time when there is a...
Page 334 Ch ap te r 5 Ap plie d Instruc tions 5.12.2 Resetting a Servo Drive 1. Motion control function block The motion control function block T_DMCRest is used to reset the servo drive specified on a DMCNET. The value of the Axis input pin indicates an axis number. 2.
Page 335 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 336 Ch ap te r 5 Ap plie d Instruc tions Timing diagram: 5. Modules which are supported The motion control function block T_DMCRest supports AH20MC-5A. 5.12.3 Writing the Value of a Parameter into a Servo Drive 1. Motion control function block The motion control function block T_DMCServoWrite is used to write the value of a parameter into the servo drive specified on a DMCNET.
Page 337 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Input pin Data Name Function Setting value Time when a value is valid type The value of a parameter is written into a servo drive Execute when there is a...
Page 338 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 339 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Timing diagram: 5. Modules which are supported The motion control function block T_DMCServoWrite supports AH20MC-5A. 5.12.4 Reading the Value of a Parameter from a Servo Drive 1.
Page 340 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type The value of the Group input pin is valid when there Group Group number WORD is a transition in the Execute input pin’s signal from low to high.
Page 341 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Value output pin Data Name Function Output range Time when a value is valid type The value of the Value output pin is valid when K-2,147,483,647~ Value of a Value...
Page 342 Ch ap te r 5 Ap plie d Instruc tions Timing diagram: 5. Modules which are supported The motion control function block T_DMCServoRead supports AH20MC-5A. 5.12.5 Instructing a Servo Drive to Return Home 1. Motion control function block The motion control function block T_DMCServoHoming is used to instruct the servo drive specified on a DMCNET to return home.
Page 343 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Input pin Data Name Function Setting value Time when a value is valid type The value of the Mode input pin is valid when there is a Mode of Mode WORD...
Page 344 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 345 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Timing diagram: 5. Modules which are supported The motion control function block T_DMCServoHoming supports AH20MC-5A. 5.12.6 Initializing a Servo Drive 1. Motion control function block The motion control function block T_DMCControllnit is used to initialize the servo drive specified on a DMCNET.
Page 346 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type The servo drive specified is initialized when there Execute is a BOOL True/False transition in the Execute input pin’s signal from low to high.
Page 347 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 348 Ch ap te r 5 Ap plie d Instruc tions 5.12.7 Instructing a Servo Drive to Capture Values 1. Motion control function block The motion control function block T_DMCCapSet is used to instruct the servo drive specified on a DMCNET to capture values. The value of the Axis input pin indicates an axis number. The value of the CAP_Number input pin is the number of values which will be captured.
Page 349 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Input pin Data Name Function Setting value Time when a value is valid type The value of the TriggerTime input pin is Minimum time valid when there is a TriggerTime...
Page 350 Ch ap te r 5 Ap plie d Instruc tions *1: Value of the Source input pin Value Definition Invalid Auxiliary encoder Pulse command Main encoder 3. Troubleshooting Error Troubleshooting The values of input pins in the motion Check whether the values of the input pins control function block are incorrect.
Page 351 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Input pin Data Name Function Setting value Time when a value is valid type The value of the IPv4_4 input pin is valid when there Fourth byte of an IPv4_4 WORD...
Page 352 Ch ap te r 5 Ap plie d Instruc tions 5.13 Other Motion Control Function Blocks 5.13.1 Backing a Main Program up onto an SD Card 1. Motion control function block The motion control function block T_SDProgWrite is used to back a main program up onto an SD card.
Page 353 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 354 Ch ap te r 5 Ap plie d Instruc tions 2. Input pins/Output pins Input pin Data Name Function Setting value Time when a value is valid type A main program is backed up when there is a transition Execute BOOL True/False in the Execute...
Page 355 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 4. Modules which are supported The motion control function block T_SDDevWrite supports AH15PM, AH10PM-5A, and AH20MC-5A. 5.13.3 Restoring the Values in Devices in an SD Card 1.
Page 356 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 357 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5.13.4 High-speed Counter 1. Motion control function block The motion control function block T_HCnt is used to start a high-speed counter. The value of the Channel input pin indicates a counter, and the value of the InputType input pin indicates an input pulse type.
Page 358 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 359 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 3. Troubleshooting Error Troubleshooting The values of input pins in the motion Check whether the values of the input pins control function block are incorrect. are in the ranges allowed.
Page 360 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 361 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 3. Troubleshooting Error Troubleshooting The values of input pins in the motion Check whether the values of the input pins control function block are incorrect. are in the ranges allowed.
Page 362 Ch ap te r 5 Ap plie d Instruc tions Input pin Data Name Function Setting value Time when a value is valid type mcCmpAxis1 (0): Present position of the first axis mcCmpAxis2 (1): Present position of the second axis mcCmpAxis3 (2): Present position of the third axis...
Page 363 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 364 Ch ap te r 5 Ap plie d Instruc tions 5.13.7 Resetting High-speed Comparison 1. Motion control function block The motion control function block T_CmpOutRst is used to reset high-speed comparison, and check the comparison conditions used. CLR_Y8, CLR_Y9, CLR_Y10, CLR_Y10, CLR_C200Rst, CLR_ C204Rst, CLR_ C208Rst, and CLR_ C212Rst determine the output devices which will be reset.
Page 365 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 366 Ch ap te r 5 Ap plie d Instruc tions 4. Modules which are supported The motion control function block T_CmpOutRst supports AH05PM-5A, AH15PM-5A, AH10PM-5A, and AH20MC-5A. 5.13.8 Setting High-speed Capture 1. Motion control function block The motion control function block T_Capture is used to start high-speed capture. The value of the Channel input pin indicates a capturer.
Page 367 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Input pin Data Name Function Setting value Time when a value is valid type mcCmpAxis1 (0): Present position of the first axis mcCmpAxis2 (1): Present position of the second axis...
Page 368 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 369 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l and AH20MC-5A. 5.13.9 High-speed Masking 1. Motion control function block The motion control function block T_CapMask is used to start high-speed masking. The MaskValue input pin determines the range which will be masked.
Page 370 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 371 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2. Input pins/Output pins Input pin Data Name Function Setting value Time when a value is valid type IntTimer (0): Time interrupt IntX8 (1): X0.8 The value of the IntSCR...
Page 372 Ch ap te r 5 Ap plie d Instruc tions State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low from low to high ...
Page 373 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l State output pin Time when there is Time when there is a Data a transition in an Name Function transition in an output pin’s type output pin’s signal signal from high to low...
Page 374 Ch ap te r 5 Ap plie d Instruc tions Value output pin Data Name Function Output range Update type When there is a transition in the Done output pin’s signal Present position of Position DWORD K0~K2,147,483,647 from low to high, the value an encoder of the Position output pin is updated.
Page 375 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l MEMO 5 - 2 6 0...
Page 376 Chapter 6 Data Transmission Table of Contents Functions....................6-2 Parameters....................6-2 Usage ......................6-5 6 - 1...
Page 377 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 6.1 Functions Users can set the way in which an AH500 series CPU module exchange data with an AH500 series motion control module.
Page 378 The detailed parameters at the right side of the Parameter Setting window are described below.  AHCPU<<AH20MC-AHCPU D (M) Device Start Number: After the AH500 series CPU module reads the values in D (M) devices in AH20MC-5A, the values will be stored in the devices starting from a device in the AH500 series CPU module.
Page 379  AHCPU>>AH20MC-AHCPU D (M) Device Start Number: The values in the devices starting from a device in the AH500 series CPU module is written into D (M) devices in AH20MC-5A.  AHCPU>>AH20MC-AH20MC D (M) Device Start Number: The AH500 series CPU module writes values into the D (M) devices starting from a D (M) device in AH20MC-5A.
Page 380 The AH500 series CPU module writes values into 400 devices in AH20MC-5A, and reads values in 400 D devices in AH20MC-5A. The values in D5400~D5799 in the AH500 series CPU module are written into D3400~D3799 in AH20MC-5A. The values in D3000~D3399 in AH20MC are read, and stored in D5000~D5399 in the AH500 series CPU module.
Page 381 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 3. HWCONFIG After users double-click AH20MC-5A in the HWCONFIG window, the Parameter Setting window will appear. Click in the Setup cell for AHCPU<<AH20MC-AHCPU D (M) Device Start Number. In the Address window, type 5000 in the CPU Module Address box, type 3000 in the IO Module Address box, and type 400 in the Length box.
Page 382 After AH20MC-5A exchanging values with the AH500 series CPU module, it can write the values gotten from the AH500 series CPU module into SR registers by means of a program created in PMSoft. The program below is about single-speed motion.
Page 383 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l MEMO 6 - 8...
Page 384 Chapter 7 Uniaxial Motion Table of Contents Functions of Uniaxial Motion ..............7-2 Introduction of Uniaxial Motion ..............7-14 Introduction of JOG Motion..............7-15 7.3.1 Related Special Data Registers............7-15 7.3.2 Operation ..................7-16 Introduction of Variable Motion ..............7-17 7.4.1 Related Special Data Registers............7-17 7.4.2 Operation ..................7-17 Introduction of a Manual Pulse Generator Mode ........7-18 7.5.1...
Page 385: Functions Of Uniaxial Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 7.1 Functions of Uniaxial Motion The special data registers for motion axes are described below SR number Factory (1+N) axis Function Setting range setting Setting the...
Page 386 C h ap te r 7 U n ia x ia l Mo t io n SR number Factory (1+N) axis Function Setting range setting Home position SR1019+100*N SR1018+100*N of the axis 0~±999,999 specified Time (T ) it takes for the SR1020+100*N 10~32,767 ms K5,100...
Page 387 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l SR number Factory Function Setting range (1+N) axis setting Please refer to the error code SR1041+100*N Axis error code 16#0 tables in appendix A. Electronic gear ratio of the axis SR1042+100*N...
Page 388 C h ap te r 7 U n ia x ia l Mo t io n The special data registers related to uniaxial motion are described below. Motion SR number (1+N) axis Function Setting the parameters ◎ ◎ ◎ ◎ ◎...
Page 389 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Motion SR number (1+N) axis Function Speed at which the －－ ◎ ◎ ◎ ◎ ◎ － SR1025+100*N SR1024+100*N axis specified rotates (V (I)) Target position of the －...
Page 390 C h ap te r 7 U n ia x ia l Mo t io n Motion SR number (1+N) axis Function Response speed of the manual pulse －－－－－－－ ◎ SR1048+100*N generator for the axis specified Mode of stopping －...
Page 391 Position: µm Speed: Centimeter/minute (SR1003, SR1002)=1,000 (pulses/revolution) (SR1005, SR1004)=100 (micrometers/revolution) P (I)=10,000 (micrometers) V (I)=6 (centimeters/minute) The number of pulses sent by the AH500 series motion control module and the frequency of pulses are calculated below. Distance Revolution  ...
Page 392 (SR1005, SR1004)=100 (micrometers/revolution) P (I)=10,000 (micrometers) V (I)=10K (PPS) The number of pulses sent by the AH500 series motion control module is calculated below. Number of pulses it takes for the axis specified to move to the target position specified μm ...
Page 393 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l (2) Bit 11=1: When the motor rotates clockwise, the value indicating the present position of the axis decreases.  Bit 12 in SR1000+100*N: Relative/Absolute coordinates (1) Bit 12=0: Absolute coordinates (2) Bit 12=1: Relative coordinates ...
Page 394 C h ap te r 7 U n ia x ia l Mo t io n generated will be 1000K PPS. If the value in (SR1007+100*N, SR1006+100*N) is less than 10, the frequency of pulses generated will be 10 PPS. 5.
Page 395 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l +2,147,483,647.  The present command position of the axis specified is indicated by the number of pulses. (The unit used is determined by bit 0 and bit 1 in SR1000+100*N.) After the axis specified returns home, the value in (SR1019+100*N, SR1018+100*N) will be written into (SR1033+100*N, SR1032+100*N).
Page 396 C h ap te r 7 U n ia x ia l Mo t io n 12. Operation command (1+N) axis SR1030+100*N [Description] Special data register SR1030+100*N b15 b14 b13 b12 b11 [Description]  If a bit in SR1030+100*N is turned from OFF to ON when (SM1048+100*N) is ON, motion will be activated.
Page 397: Introduction Of Uniaxial Motion
5. Manual pulse generator mode 10. Inserting two-speed motion If a mode of motion is activated when another mode of motion is executed, the AH500 series motion control module will continue executing the original mode. 3. Uniaxial motion is controlled by SR1030+100*N. After the parameters related to motion are set, the motion can be started.
Page 398: Introduction Of Jog Motion
C h ap te r 7 U n ia x ia l Mo t io n 7.3 Introduction of JOG Motion 7.3.1 Related Special Data Registers 1. JOG speed (V ) at which the axis specified rotates (1+N) axis SR1011+100*N SR1010+100*N [Description] ...
Page 399: Operation
 After a JOG mode is activated, the AH500 series motion control module used will execute JOG motion. The speed of JOG motion can be modified when the JOG motion is executed. If the value in (SR1011+100*N, SR1010+100*N) is 0, the JOG motion of the axis specified will be stopped, and will needs to be started again.
Page 400: Introduction Of Variable Motion
V BIAS (I). When the axis operates, users can change its V (I) at will. The AH500 series motion control module accelerates or decelerates according to the V (I) set. 7 - 1 7...
Page 401: Introduction Of A Manual Pulse Generator Mode
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Diagram Vel oc ity D EC V(I) BIAS Time Start: Bit 4 =0 -> 1 Stop: Bit 4 = 1- > 0 7.5 Introduction of a Manual Pulse Generator Mode 7.5.1 Related Special Data Registers 1.
Page 402 C h ap te r 7 U n ia x ia l Mo t io n 3. Number of pulses generated by the manual pulse generator for the axis specified (1+N) axis SR1047+100*N SR1046+100*N [Description]  The value in (SR1047+100*N, SR1046+100*N) indicates the number of pulses generated by the manual pulse generator for the axis specified.
Page 403: Operation
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5. Operation command (1+N) axis SR1030+100*N [Description] Special data register SR1030+100*N b15 b14 b13 b12 b11 b10  If users want to activate a manual pulse generator mode, they have to set bit 5 in SR1030+100*N to 1.
Page 404 C h ap te r 7 U n ia x ia l Mo t io n the frequency of pulses generated will be 10 PPS.  >V >V BIAS  When an axis returns home, the speed at which the axis returns home can not be changed. 2.
Page 405 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  After the axis specified returns home, the value in (SR1019+100*N, SR1018+100*N) will be written into (SR1033+100*N, SR1032+100*N). 6. Mode of operation (1+N) axis SR1031+100*N...
Page 406 C h ap te r 7 U n ia x ia l Mo t io n 8. Operation command (1+N) axis SR1030+100*N [Description] Special data register SR1030+100*N b15 b14 b13 b12 b11 b10  If users want to activate a mode of triggering the return to home, they have to set bit 6 in SR1030+100*N to 1.
Page 407 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Steps: (1) The motor used rotates at the speed V (2) When DOG’s signal is generated, the speed of the motor begins to decrease to the speed V (3) After DOG’s signal goes from high to low, the motor will rotate for a specific number of PG0 pulses, and then rotate for a specific number of supplementary pulses, and finally...
Page 408 C h ap te r 7 U n ia x ia l Mo t io n Vel oc ity ( PPS) Away fr om DOG 's si gnal Close to DO G's signal Direction in which the axis specified returns hom e Number of supplementary pulses Number of PG0 puls es D OG...
Page 409: Introduction Of Single-Speed Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l and the return to home is not triggered by a transition in DOG’s signal from high to low. Steps: (1) The motor used rotates at the speed V (2) When DOG’s signal is generated, the speed of the motor begins to decrease to the speed V .
Page 410: Operation
C h ap te r 7 U n ia x ia l Mo t io n 2. Speed at which the axis specified rotates (V (I)) (1+N) axis SR1025+100*N SR1024+100*N [Description]  The value in (SR1025+100*N, SR1024+100*N) is in the range of 0 to +2,147,483,647. (The unit used is determined by bit 0 and bit 1 in SR1000+100*N.) ...
Page 411: Introduction Of Inserting Single-Speed Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Absolute single-speed motion: If the target position of the axis specified is greater than its present command position, the motor used will rotate clockwise. If the target position of the axis specified is less than its present command position, the motor used will rotate counterclockwise.
Page 412: Operation
V (I) set. BIAS  After DOG’s signal goes from low to high or from high to low, the AH500 series motion control modules used will continue sending pulses. The speed of the motion will not 7 - 2 9...
Page 413: Introduction Of Two-Speed Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l decrease from the V (I) set to the V set until the number of pulses output is near the P (I) BIAS set.
Page 414: Operation
C h ap te r 7 U n ia x ia l Mo t io n 4. Speed at which the axis specified rotates(V (II)) (1+N) axis SR1029+100*N SR1028+100*N [Description]  The value in (SR1029+100*N, SR1028+100*N) is in the range of 0 to 2,147,483,647. (The unit used is determined by bit 0 and bit 1 in SR1000+100*N.) ...
Page 415: Introduction Of Inserting Two-Speed Motion
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l decrease from the V (II) to the V set until the number of pulses output is near the P (II) set. BIAS ...
Page 416: Operation
C h ap te r 7 U n ia x ia l Mo t io n axis specified will move from its present command position to the target position (P (II)) set. If the relative target position specified is a positive value, the motor used will rotate clockwise. If the relative target position specified is a negative value, the motor used will rotate counterclockwise.
Page 417: Status Flags And Status Registers
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Vel oc ity D EC V(I) P(II) V(II) BIAS Time Start D OG 7.11 Status Flags and Status Registers 1. Ready flag (1+N) axis SM1048+100*N...
Page 418 C h ap te r 7 U n ia x ia l Mo t io n 3. State of the axis specified (1+N) axis SR1040+100*N [Description] Special data register SR1040+100*N b15 b14 b13 b12 b11 b10 4. Axis error code (1+N) axis SR1041+100*N...
Page 419 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l MEMO 7 - 3 6...
Page 420 Chapter 8 Electronic Cam Table of Contents Introduction of Electronic Cams..............8-2 Operation of an Electronic Cam ..............8-3 8.2.1 Initial Setting..................8-3 8.2.1.1 Creating Electronic Cam Data.............8-3 8.2.1.2 Setting an Input/a Output Pulse Type..........8-3 8.2.2 Setting a Master/Slave Axis and Operating an Electronic Cam..8-5 8.2.2.1 Setting a Master Axis ..............8-5 8.2.2.2...
Page 421: Introduction Of Electronic Cams
They do not need to modify a mechanism. 3. High acceleration 4. Smoother operation Mechanical cam El ectronic ca m Contr oller Motor D riv e Cardinal shaft AH500 ser ies motion control module Gear C lutch Differ ential Serv o gear Phase integr ation...
Page 422: Operation Of An Electronic Cam
Ch ap te r 8 El ec tro nic Ca m 8.2 Operation of an Electronic Cam Input sent by a master axis Electr onic c am Output sent by a s lave ax is Mot io n cont ro l module Pu lses sent by a ma st er axis Output...
Page 423 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2. Value of the InputType input pin Input Input type (positive logic) Description value FP Clo ckwise pu lse s mcUD (0) Counting up/down RP Cou nte rcl ockwi se p u lse s FP Pu lse s...
Page 424: Setting A Master/Slave Axis And Operating An Electronic Cam
Ch ap te r 8 El ec tro nic Ca m 8.2.2 Setting a Master/Slave Axis and Operating an Electronic User can set a master axis and a slave axis, and operate an electronic cam by means of the motion control function block T_CamIn.
Page 425: Setting The Starting Angle Of A Master Axis
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 8.2.2.2 Setting the Starting Angle of a Master Axis Users can set the starting angle of the master axis specified by means of the MasterOffset input pin in the motion control function block T_CamIn.
Page 426: Setting A Slave Axis
Ch ap te r 8 El ec tro nic Ca m 8.2.2.3 Setting a Slave Axis Users can set a slave axis by means of the Slave input pin in the motion control function block T_CamIn. 1. Value of the Slave input pin Input value Definition Description...
Page 427: Stopping An Electronic Cam Operating Cyclically
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 1. Value of the CycleStartFlag output pin Output value Definition Description When the output pin is set to True, a cam cycle True/False Starting a cam cycle begins.
Page 428 Ch ap te r 8 El ec tro nic Ca m 2. Value of the CycleStop input pin Input value Definition Description If the CycleStop input pin is set to True when the True/False Stopping a whole cycle Enable input pin is reset, cam motion will not stop until a cycle is complete.
Page 429: Creating Electronic Cam Data
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Displacement of the slav e axis Position of Starting the master axis electronic cam operating cy clic al ly E nable input pin) Stopping a whole cycl e Cy cleStop input pin) T he slave axis specified...
Page 430 Ch ap te r 8 El ec tro nic Ca m The CAM Chart-0 window is shown below.      Displacement: The relation between the master axis and the slave axis is described in terms of displacement. ...
Page 431 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Data Setting window after the Data Setting window is opened. If users click the Apply B-spline checkbox in the data setting area, B-spline will be automatically selected in the Data Setting window.
Page 432 Ch ap te r 8 El ec tro nic Ca m electronic cam chart created, and closing the Data Setting window  Cancel: Closing the Data Setting window.  Initial Setting: Setting the initial position of the slave axis After the users click “Export” in the CAM Chart-0 window, the displacement chart, the velocity chart, and the acceleration chart in the CAM Chart-0 window will be saved in the CAMData folder in the folder in which PMSoft is installed.
Page 433: Measuring The Relation Between The Positions Of A Master Axis And The Positions Of A Slave Axis At Work
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 8.3.1.2 Measuring the Relation between the Positions of a Master Axis and the Positions of a Slave Axis at Work Users can store the relation between the positions of the master axis specified and the positions of the slave axis specified in a file in the CAMData folder, and then import the relation into a cam chart in PMSoft.
Page 434 Ch ap te r 8 El ec tro nic Ca m 3. After Import is clicked, PMSoft will read Data_S.txt and draw a displacement chart in the CAM Chart window, and a velocity chart and an acceleration chart will be drawn in accordance with the contents of Data_S.txt.
Page 435: Creating/Modifying Electronic Cam Data
After users create electronic cam data in a cam chart in PMSoft, the cam data will be downloaded to an AH500 series motion control module. If the users modify the electronic cam data in PMSoft, they have to download the new electronic cam data created to the AH500 series motion control module again after they modify the electronic cam data.
Page 436 Ch ap te r 8 El ec tro nic Ca m 8 - 1 7...
Page 437: Application Of An Electronic Cam-Using A Rotary Cutter
The cam curve for rotary cut is different from the cam curve for flying shear. The application of rotary cut is described below. S er vo Length of the cutting AH500 serie s motion control mo dule CA M O utp ut o f the...
Page 438 Ch ap te r 8 El ec tro nic Ca m Home Cutting axis (Slave axis) Feeding axis (master axis) Sync hr onization zone (Cutting zone) Equal to the speed of the master axis Sync hr onization Deceleration Acc eleration D ista nce for w hi ch th e ma ster a xi s move s (Le n gth of a cu tti ng ) 2.
Page 439: Creating Rotary Cut Data
Users can create a rotary cut curve by means of creating electronic cam data in a way introduced in section 8.3. Besides, an AH500 series motion control module provides the motion control function block T_CamCurve. T_CamCurve can be used to automatically create cam data.
Page 440: Function Block-T_Camcurve
In order to create a rotary cut curve, the users need to type 300 in the Resolution box. Download the cam chart to an AH500 series motion control module. When the AH500 series motion control module operates, electronic cam data is stored in the cam chart.
Page 441 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Input pin Data Name Function Setting value Description type The creation of a rotary cut curve is enabled when there is a Starting the creation of a Execute BOOL...
Page 442 Ch ap te r 8 El ec tro nic Ca m State output pin Data Name Function Output range Description type The motion control function Busy BOOL True/False A curve is being created. block is being executed. An error occurs in the motion An error occurs when a Error...
Page 443 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2: SingleHypot curve 3: Cycloid *2: Value of the eCamCurve input pin 0: leftCAM 1: midCAMall 2: midCAMbegin 3: midCAMend 5: rightCAM 8 - 2 4...
Page 444 Download the program created to an AH500 series motion control module, and then execute the program.  After M1 is set to True, a rotary cut curve will be created.  Stop the AH500 series motion control module, and then upload the program in the AH500 series motion control module. 8 - 2 5...
Page 445: Function Block-T_Camcurveupdate
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  View the first curve in the CAM Chart-0 window. The curve is a rotary cut curve which is created automatically. 【Program in PMSoft】...
Page 446: Example
Ch ap te r 8 El ec tro nic Ca m Input pin Data Name Function Setting value Description type Motion axis Axis WORD 1~16 Slave axis number number When there is a transition in the Execute input Starting the update of a cam Execute pin’s signal from BOOL...
Page 447 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 2. The electronic gear ratio for the cutting roller used is 10,000 pulses per revolution, and the electronic gear ration for the feeding roller used is 10,000 pulses per revolution. 3.
Page 448 2. Main program in PMSoft 【Steps】 1. Open a CAM Chart window in PMSoft, and then type 300 in the Resolution box. 2. Download the program created to an AH500 series motion control module, and then execute the program. 8 - 2 9...
Page 449 4. After M10 is set to True, a cam curve will be created. The synchronization zone gotten is in the range of 9,927 pulses to 11,723 pulses. 5. Update the cam data in the AH500 series motion control module, and then check whether the cam chart created is correct.
Page 450 Chapter 9 Multiaxial Interpolation Table of Contents Introduction of Multiaxial Interpolation ............9-2 Table of O Pointers/M-codes and Table of G-codes ........9-2 Composition of a G-code................9-2 Descriptions of G-code Instructions............9-5 O Pointers/M-codes.................9-22 Description of TO..................9-24 9 - 1...
Page 451: Introduction Of Multiaxial Interpolation
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 9.1 Introduction of Multiaxial Interpolation AH500 series motion control modules support multiaxial interpolation. There are two types of interpolation.  Users can write G-codes in the motion subroutines Ox0~Ox99 to execute simple CNC.
Page 452 Ch ap te r 9 Mu ltia xial In terp ola tion  If the value of a parameter is a contant, it must be a 32-bit arabic integer. Example: G00 X100 Y100 Example 2: G00 X100.0 Y100.0。  If the value of a parameter is a floating-point constant, it will be converted into an integer after it is multiplied by 1000.
Page 453 If G00 is used, users do not have to set a velocity. Example: G00 X100.2 Y500.0; The speeds at which the axes mo ve are the maximum speeds set in the AH500 series motion control module used.  G00 and G01 can be extende d to the next line.
Page 454: Descriptions Of G-Code Instructions
Ch ap te r 9 Mu ltia xial In terp ola tion 9.4 Descriptions of G-code Instructions G-code Instruction code Operand Function 0000 Rapid positioning Device               ...
Page 455 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Example: G00 X250.0 Y150 The instruction moves two axes from the present position (50.0, 50.0) to the target position (250.0, 150.0). If G90 precedes the instruction, the target position is an absolute position. If G91 precedes the instruction, the target position is a relative position.
Page 456 Ch ap te r 9 Mu ltia xial In terp ola tion G-code Instruction code Operand Function Linear interpolation 0001 (The distance remaining can be considered.) Device              ...
Page 457 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Example: G01 X200.0 Y400.0 Z250.0 F400.0 The instruction moves three axes from the present position (0, 10.0, 100.0) to the target position (200.0, 400.0, 250.0).
Page 458 Ch ap te r 9 Mu ltia xial In terp ola tion G-code Instruction code Operand Function Clockwise circular/helical interpolation 0002 Counterclockwise circular/helical 0003 interpolation (arc center) Device             ...
Page 459 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Circular interpolation: Two axes which are perpendicular to each other are used. G17, G18, or G19 is used to control circular interpolation. Y-ax is Ar c s tar t point (P resent position)
Page 460 Ch ap te r 9 Mu ltia xial In terp ola tion  If G19 is used, and the postion of an x-axis does not change, helical interpolation will be equivalent to circular interpolation. Z-a xis Z-a xis Start point Center End point Center...
Page 461 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l G-code Combination of operands                  ...
Page 462 Ch ap te r 9 Mu ltia xial In terp ola tion G-code Combination of operands             G02/G03            The path of circular interpolation can be a 360° arc. The path of helical interpolation which is viewed from the top can be a full circle.
Page 463 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Example 2 Absolute coordinates are set. G18 and G02 are used. The arc end point set is (-10, 15, 35) and the arc cent point set is (-10, 0, 5).
Page 464 Ch ap te r 9 Mu ltia xial In terp ola tion G-code Instruction code Operand Function Clockwise circular/helical interpolation 0002 Counterclockwise circular/helical 0003 interpolation (radius) Device              ...
Page 465 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Circular interpolation: Two axes which are perpendicular to each other are used. G17, G18, or G19 is used to control circular interpolation. End poi nt ( End poi nt ( Center...
Page 466 Ch ap te r 9 Mu ltia xial In terp ola tion  If G19 is used, and the postion of an x-axis does not change, helical interpolation will be equivalent to circular interpolation. Z-a xis Z-a xis End point End point ( y, z) Center...
Page 467 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Y-axi s End point (Absolute posi tion) : Speed (10000,10000) 10000 R ( Radius ) =5000 C enter point 5000 Start point (Pres ent pos ition): (5000,5000) X-axi s 5000...
Page 468 Ch ap te r 9 Mu ltia xial In terp ola tion G-code Instruction code Operand Function 0004 Dwell Device       Description:  T: dwell time value  If the operand X is used, a second is a unit of measurement for dwell duration. For example, the dwell period set is one second if G4 X1 is used, and the dwell period set is 2.5 seconds if G4 X2.5 is used.
Page 469 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l G-code Instruction code Operand Function 0017 None XY-plane selection 0018 None ZX-plane selection 0019 None YZ-plane selection Description:  Users can select a plane for circular/helical interpolation by means of G17, G18, or G19. The three G-codes do not have any effect on linear interpolation.
Page 470 Ch ap te r 9 Mu ltia xial In terp ola tion G-code Instruction code Operand Function 0090 None Absolute programming 0091 None Incremental programming Description:  G90: Positioning defined with reference to part zero If the target position of an axis is greater than its present position, the motor for the axis will rotate clockwise.
Page 471: O Pointers/M-Codes
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 9.5 O Pointers/M-codes  O pointers All O pointers which can be used are shown below. O100 is a main program pointer. Ox0~Ox99 are motion subroutine pointers.
Page 472 Ch ap te r 9 Mu ltia xial In terp ola tion  M-codes Instruction code Operand Function M0~M65535 None M-code instructions Description:  M102 indicates the end of O100, and M02 indicates the end of a motion subroutine. Users should avoid using M102 and M02.
Page 473: Description Of To
G01 is complete, and create a program that starts the M-code again. 9.6 Description of TO An AH500 series motion control module can start and stop linear interpolation by means of the instruction TO. The use of TO to set linear interpolation is described below.
Page 474 Ch ap te r 9 Mu ltia xial In terp ola tion Value Definition Participating in interpolation Not used Not used  CR#3: Stopping interpolation K253 Module Initial Quantity number devic e of data number  Data Device Setting S, S Axes specified ...
Page 475 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Note 1: Motor unit Compound unit Mechanical unit pulse µm Position pulse mdeg pulse inches pulse/second centimeter/minute Speed pulse/second 10 degrees/minute pulse/second inch/minute Note 2:...
Page 476 Chapter 10 High-speed Counters and High-speed Timers Table of Contents 10.1 High-speed Counters ................10-2 10.2 High-speed Timers................10-5 1 0 - 1...
Page 477 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l An AH500 series motion control module is equipped with high-speed counter and virtual high-speed counter. These high-speed counters can be used as timers. The functions of high-speed counters and the functions of timers are described below.
Page 478 Ch ap te r 10 H igh -spe ed C oun ters a nd H igh -sp eed Ti me rs  C204: Users can select a mode of counting by setting SM204 and SM205. Input signals are controlled by X0.10 and X0.11. If SM207 is ON, the function of resetting C204 will be enabled.
Page 479 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Example: The steps of setting C204 are as follows. (1) Write K2 into K1SM204. (2) Enable C204. The program for step 1 and step 2 is shown below. ...
Page 480 Ch ap te r 10 H igh -spe ed C oun ters a nd H igh -sp eed Ti me rs  Function block 10.2 High-speed Timers The setting of high-speed counters is described below. Mode of measuring time External Storage Number Counter...
Page 481 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l The program is shown below.  Ladder diagram MOVP K1SM208 DCNT C208  Function block Example 2: Using C208 in cyclic mode 1.
Page 482 Ch ap te r 10 H igh -spe ed C oun ters a nd H igh -sp eed Ti me rs 3. The cyclic mode is used to measure a frequency. 1 0 - 7...
Page 483 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l MEMO 1 0 - 8...
Page 484 Chapter 11 High-speed Capture and High-speed Comparison Table of Contents 11.1 Format of an Instruction ...............11-2 11.2 Comparison ..................11-2 11.3 Clearing an Output................11-8 11.4 Capture ....................11-9 11.5 Mask ....................11-14 11 - 1...
Page 485 11.1 Format of an Instruction An AH500 series motion control module sets and reads values by means of the instructions FROM and TO. The use of FROM/TO to set high-speed comparison and high-speed capture, and to read values is described below.
Page 486 Ch ap te r 11 H igh -spe ed Cap tur e and Compare F unc tion  Reading X0.0 K253 F RO M Module Contr ol Initial Data number regis ter device length number number  Definitions Device Counter Status Reading Initial group number n (n=0~7) Control register whose group number is n Data Registers whose group numbers are n...
Page 487 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l AH10PM-5A/ Item Value AH20MC-5A AH05PM-5A AH15PM-5A Less than or Less than or Less than or Comparison [5-4] condition equal to (≦) equal to (≦) equal to (≦) Output...
Page 488 Ch ap te r 11 H igh -spe ed Cap tur e and Compare F unc tion set, the output terminal selected will be set to ON, the counter selected will be reset, the output terminal selected will be reset to OFF, or the counter selected will not be reset.
Page 489 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 4. The setting of the two high-speed comparisons is read when M3 is ON. 5. When M4 is ON, K1 is moved to SM204~SM207. C204 is started when M5 is set to ON. (Mode of counting: Pulse/Direction) 6.
Page 490 Ch ap te r 11 H igh -spe ed Cap tur e and Compare F unc tion 【Program in PMSoft】  Ladder diagram SM002 H125 K100 H165 K300 K253 F RO M K253 K1SM204 C204 DCNT 11 - 7...
Page 491 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Function blocks 11.3 Clearing an Output The output of a high-speed comparison can be cleared. X0.0 K253 Module Contr ol Data Initial number...
Page 492 Ch ap te r 11 H igh -spe ed Cap tur e and Compare F unc tion 11.4 Capture  Control X0.0 K253 Module Data Contr ol Initial number length regis ter device number number  Definitions Device Control Setting Initial group number n (n=0~7) Control register whose group number is n Data Registers whose group numbers are n...
Page 493 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Control/Reading (1) The format of a control register in a high-speed capture mode is described below. B it Item Setting C aptur e sourc e Tri gger AH10PM-5A/...
Page 494 Ch ap te r 11 H igh -spe ed Cap tur e and Compare F unc tion (2) A deviation often occurs when the present position of an axis or the value in C200/C204/C208/C212 is read. To prevent a deviation from occurring, users read a value immediately by setting an input terminal to ON.
Page 495 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 4. The setting of the high-speed capture is read when M3 is ON. 5. When M4 is ON, K1 is moved to SM204~SM207. C204 is started when M5 is set to ON. (Mode of counting: Pulse/Direction) 6.
Page 496 Ch ap te r 11 H igh -spe ed Cap tur e and Compare F unc tion 【Program in PMSoft】  Ladder diagram SM002 H1004 K100 K253 F RO M K253 K1SM204 C204 DCNT  Function blocks 11 - 1 3...
Page 497 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 11.5 Masking A value can be masked in a high-speed capture mode. If the relative difference between the value captured this time and the value captured last time is in the range which can be masked, the signal which triggers the capture of the value this time will be disregarded.
Page 498 Chapter 12 Setting an Ethernet Network Table of Contents 12.1 Functions .....................12-2 12.2 Specifications..................12-2 12.3 Introduction of Parameters..............12-2 12.4 Communication Function of PMSoft.............12-2 12.5 Modbus Communication ..............12-5 12.6 Troubleshooting ...................12-7 1 2 - 1...
Page 499 SR808 and SR809: Ethernet IP address [Description] If users want to set the IP address of an AH500 series motion control module, two registers will used. The initial IP address of an AH500 series motion control module is 192.168.0.100. SR809...
Page 500 ON.  Connecting the Ethernet port on an AH500 series motion control module to PMSoft If an AH500 series motion control module equipped with an Ethernet port is connected to PMSoft, users can upload/download and monitor a program through Ethernet.
Page 501 Time Interval of Auto-retry box.  Steps of setting PMSoft Connect a computer to the Ethernet port on an AH500 series motion control module in the way described below, and then follow the steps described below.
Page 502 If users connect an AH500 series motion control module by means of Ethernet, the AH500 series motion control module can function as a Modbus TCP slave. If an AH500 series motion control module is connected to a human-machine interface, the steps of setting the human-machine interface will be as follows.
Page 503 , they have to type a link name in the Link Name box, and select Delta DVP TCP/IP in the Controller drop-down list box. 6. The users have to set the IP address of the AH500 series motion control module in the Communication Parameter section 7.
Page 504 Check whether the IP address of the AH500 series motion control module is correct. If the IP address of the AH500 series An AH500 series motion can motion control module and the IP address of the driver created not be connected to PMSoft.
Page 505 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l MEMO 1 2 - 8...
Page 506 Chapter 13 Expansion Storage Device Table of Contents 13.1 Functions .....................13-2 13.2 Parameters ..................13-2 13.3 Reading and Executing G-codes ............13-4 13.4 Device Backup and Restoration............13-4 13.4.1 Backup..................13-5 13.4.2 Restoration ...................13-6 13.5 Program Backup and Restoration ............13-7 13.5.1 Backup..................13-7 13.5.2 Restoration ...................13-8 13.6 Updating Firmware................13-8 1 3 - 1...
Page 507: Functions
An AH500 series motion control module is embedded with a memory card slot for external memory extension. The slot is compatible with the memory card formats FAT16 and FAT 32, and the maximum storage is 4 GB. The four functions of the memory card for an AH500 series motion control module are, 1.
Page 508 Ch ap te r 13 Expa nsio n Storage De vice 4. SR206, SR207: Start/End address of a 32-bit counter for a memory card backup [Description] To perform restoration by a memory card, the parameters are used to set the start/end address of a 32-bit counter 5.
Page 509: Reading And Executing G-Codes
X0.0 H8064 SR1052 H1000 SR1030 13.4 Device Backup and Restoration An AH500 series motion control module provides the use of a memory card as the external storage space for device backup and restoration. 1 3 - 4...
Page 510: Backup
Device parameters can be changed via the CSV file in a general Windows environment. The format of the CSV file is as shown below. The first line indicates the format version of the memory cards for an AH500 series motion control module.
Page 511: Restoration
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l A table of values in all the devices is below the description of a PLC type and a firmaware version is. Users can modify the contents of the devices through this table in which M stands for an M device;...
Page 512: Program Backup And Restoration
 To backup, set bit 13 in SR214 to 1.  To backup the program in the AH500 series motion control module, set bit 14 in SR214 to 1. After the program backup is completed, a .raw file which includes the password for the backup program will be generated in \AHMotion\Program\ in a memory card.
Page 513: Restoration
Otherwise, the file can also be restored through the following procedures. 1. Monitor the AH500 series motion control module by PMSoft, and stop the operation under the monitoring. Alternatively, set SM072 to 0 to stop O100.
Page 514 Ch ap te r 13 Expa nsio n Storage De vice 3. Save different .bin files in the folder AHMotion\bin according to the model of an AH500 series motion control module. AH20MC-5A: C5A20MC.bin and G5A20MC.bin are saved in the folder.
Page 515 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l MEMO 1 3 - 1 0...
Page 516 Chapter 14 DMCNET Table of Contents 14.1 Functions .....................14-2 14.2 Specifications..................14-2 14.3 Parameters ..................14-3 14.4 DMCNET Connection ................14-7 14.5 Reading Data from a Servo Drive/Writing Data into a Servo Drive ..14-9 14.6 DMCNET Motion Control ..............14-11 14.7 Examples ...................14-16 14.7.1 Connecting an Incremental Servo Drive ........14-16 14.7.2 Connecting an Absolute Servo Drive ..........14-17...
Page 517: Functions
A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 14.1 Functions AH20MC-5A is equipped with a DMCNET port. A DMCNET is Delta motion control communication. It is a real-time system. It only takes 1 millisecond to update the commands sent to the twelve axes in AH20MC-5A.
Page 518: Parameters
Chapter 14 DMCNET 14.3 Parameters  Parameter table Parameter Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Command sent to the servo drive for the axis specified on a SR1072 SR1172 SR1272 SR1372 SR1472 SR1572 SR1672 SR1772 DMCNET Status of the servo drive for the SR1073 SR1173 SR1273 SR1373 SR1473 SR1573 SR1673 SR1773...
Page 519 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Introduction of the parameters  SR1072, SR1172, SR1272, SR1372, SR1472, SR1572, SR1672, SR1772, SR1872, SR1972, SR2072, SR2172, SR2272, SR2372, SR2472, SR2572: Command sent to the servo drive for the axis specified on a DMCNET [Description] axis...
Page 520 Chapter 14 DMCNET  SR1073, SR1173, SR1273, SR1373, SR1473, SR1573, SR1673, SR1773, SR1873, SR1973, SR2073, SR2173, SR2273, SR2373, SR2473, SR2573: Status of the servo drive for the axis specified on a DMCNET [Description] axis axis axis axis SR1073 SR1173 SR1273 SR1373 axis axis...
Page 521 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  SR1075, SR1074, SR1175, SR1174, SR1275, SR1274, SR1375, SR1374, SR1475, SR1474, SR1575, SR1574, SR1675, SR1674, SR1775, SR1774, SR1875, SR1874, SR1975, SR1974, SR2075, SR2074, SR2175, SR2174, SR2275, SR2274, SR2375, SR2374, SR2475, SR2474, SR2575, SR2574: Servo drive error code [Description] axis...
Page 522: Dmcnet Connection
Chapter 14 DMCNET  SR1078, SR1178, SR1278, SR1378, SR1478, SR1578, SR1678, SR1778, SR1878, SR1978, SR2078, SR2178, SR2278, SR2378, SR2478, SR2578: Parameter position in the servo drive for the axis specified on a DMCNET/Way in which the axis specified on a DMCNET returns home [Description] axis...
Page 523 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Hardware configuration  Wiring hardware When users wire DMCNET hardware, they have to use a Delta DMCNET cable, and install a Delta DMCNET terminal resistor ASD-TR-DM0008 in the whole system created to make communication stable.
Page 524: Reading Data From A Servo Drive/Writing Data Into A Servo Drive
Users can change or read the values of parameters in a servo drive on a DMCNET by means of the AH500 series motion control module which is connected to the servo drive. They can only set one servo drive at a time. After one servo drive is set, they can set another servo drive in the same way.
Page 525 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l the servo drive used is ON. For example, the group number assigned to the parameter P1-44 is 1, the parameter number assigned to it is 44, and the parameter is a 32-bit parameter.
Page 526: Dmcnet Motion Control
Chapter 14 DMCNET 16#012C. 4. The users have to write 3 into bit 11~bit 8 in SR1072 (SR1172, SR1272…). 5. The users can check whether the reading of a value is correct by means of bit 11~bit 8 in SR1073 (SR1173, SR1273…). If an error occurs, an error code will be stored in (SR1077, SR1076) ((SR1177, SR1176), (SR1277, SR1276)…).
Page 527 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l Please refer to chapter 5 for more information about the input pins and the output pins in the motion control function block T_DMCServoHoming. There are several modes of returning home.
Page 528 Chapter 14 DMCNET If the motor used comes into contact with a limit switch when it returns home, it will stop after an error code is generated.  The value in SR1078 (SR1178, SR1278…) is 7, 8, 9, or 10. If the value in SR1078 (SR1178, SR1278…) is 7, 8, 9, or 10, the motor used will rotate counterclockwise, and search for a transition in DOG’s signal.
Page 529 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  The value in SR1078 (SR1178, SR1278…) is 11, 12, 13, or 14. If the value in SR1078 (SR1178, SR1278…) is 7, 8, 9, or 10, the motor used will rotate clockwise, and search for a transition in DOG’s signal.
Page 530 Chapter 14 DMCNET signal from high to low occurs, the motor will rotate clockwise until a transition in a Z-phase signal from low to high occurs. Mode 13: The motor used rotates clockwise. After the motor comes into contact with the negative limit switch specified, it will rotate counterclockwise.
Page 531: Examples
If users use the motion control function block T_DMCControllnit to initialize the axis specified on a DMCNET, the servo drive specified will be started, the AH500 series motion control module used will be synchronized with the servo drive specified, and the servo drive specified will operate in a synchronous control mode.
Page 532: Connecting An Absolute Servo Drive
Chapter 14 DMCNET  Set P0-02 to 16#120. If the servo drive is connected successfully, the value shown on the display of the servo drive will be 16#80. If the value shown on the display is 16#06, users have to check whether there is a servo drive whose station address is 16#01. ...
Page 533: Troubleshooting
The DMCNET connection LED Check whether a networking cable is connected to the indicator on an AH500 series AH500 series motion control module correctly, and check motion control module is not ON. whether a terminal resistor is connected correctly. Users have to instruct the servo drive used to reset NMT by means of bit 0~bit 3 in SR1072 (SR1172, SR1272…).
Page 534 Chapter 15 Setting USB Communication in PMSoft Table of Contents 15.1 Functions .....................15-2 15.2 Specifications..................15-2 15.3 Communicating with PMSoft ..............15-2 1 5 - 1...
Page 535 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 15.1 Functions An AH500 series motion control module is equipped with a mini USB port. The mini USB port on an AH500 series motion control module can be connected to PMSoft. The functions that PMSoft can perform are listed below.
Page 536 Ch ap te r 15 Se tting USB Commun ica tio n in PMSoft 3. Select the I accept the terms of the license agreement option button, and then click Next. 4. Users can select an installation path in the window which appears. If they do not want to change the installation path in the window, they can click Next.
Page 537 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l 5. After the users click Install, the installation of the USB driver will begin. 6. After the installation of the USB driver is complete, the users have to click Finish. 1 5 - 4...
Page 538 Ch ap te r 15 Se tting USB Commun ica tio n in PMSoft  Setting a connection by means of PMSoft 1. Start COMMGR. If the icon representing COMMGR is not displayed on the system tray, the users can start COMMGR by clicking the shortcut on the Start menu (Start>Programs>Delta Industrial Automation>Communication>COMMGR).
Page 539 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Setting the parameters of an RS-232 driver  Users can type a driver name in the Driver Name box.  Select RS232 in the Type drop-down list box in the Connection Setup section.
Page 540 Ch ap te r 15 Se tting USB Commun ica tio n in PMSoft  Set ting the parameters of an Ethernet driver  Users can type a driver name in the Driver Name box.  Select Ethernet in the Type drop-down list box in the Connection Setup section. ...
Page 541 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l driver according to their needs. 3. Using P MSoft  Con necting to PMSoft directly (1) Start PMSoft, and click Communication Setting on the Communication menu. 1 5 - 8...
Page 542 0, a broadcast communication will be carried out. If the AH500 series motion control module used can not communicate with PMSoft, or the users do not know the station address of the AH500 series motion control module connected to the computer, they can select 0 in the Station drop-down list box.
Page 543 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l  Ethernet Users have to select the station address of the AH500 series motion control module connected to the computer in the Station drop-down list box. If the station address selected is 0, a broadcast communication will be carried out.
Page 544 Appendix A Error Code Table Table of Contents Error Code Table ..................A-2 A - 1...
Page 545 (devices) is incorrect, syntax is incorrect, or the setting of motion parameters is incorrect. Users can know the reasons for the errors occurring in an AH500 series motion control module by means of the error codes (hexadecimal codes) stored in error registers.
Page 546 Ap pen dix A Erro r Code Tab le Error Error Description Description code code The velocity (V ) to which the velocity of the axis specified A wrong instruction is used, or a device 0024 C4FF decreases when the axis returns used exceeds the range available.
Page 547 A H 5 00 M o ti on C on tr ol M od ul e Ma nua l MEMO A - 4...

Delta Electronics AH500 Manual

Table of Contents

Chapter 1 Framework of an AH500 Series Motion Control Module

Chapter 2 Hardware Specifications and Wiring

Chapter 3 Devices

Chapter 4 Basic Instructions

Chapter 5 Applied Instructions

Chapter 7 Uniaxial Motion

Chapter 8 Electronic Cam

Chapter 9 Multiaxial Interpolation

Chapter 13 Expansion Storage Device

Chapter 14 DMCNET

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Summary of Contents for Delta Electronics AH500

Table of Contents