Structure Of P Subroutines - Delta Electronics AH500 Manual

Ch ap te r 1 Fr amework o f an AH5 00 Ser ies Mo tion Con tro l Mod ule
Ox motion
subroutine
1. If users set bit 12 in SR1030 to ON when O100 runs, an Ox motion
Executing a
2. If users use communication to set bit 12 in SR1030 to ON when O100
Ox motion
subroutine
Note: Before an Ox motion subroutine is enabled, users have to make sure
Whenever an Ox motion subroutine is enabled, it is executed once. If an
Operation
Ox motion subroutine needs to be executed again, it has to be enabled
characteristic
again.
Basic instructions, applied instructions, motion instructions, and G-codes
are supported.
Instruction
Note: Users have to avoid using pulse instructions.
There are 100 Ox motion subroutines. If users want to enable a motion
Number subroutine number, they have to set SR1052, and set bit 12 in SR1030 to
ON.
1. Ox0~Ox99 are motion subroutines. (They can only be enabled by
2. They can control the motion of the axes of an AH500 series motion
Characteristic
3. An Ox motion subroutine can be enabled/disabled by a program or
and Function
4. Ox motion subroutines can call P subroutines.
5. If Ox motion subroutines are used with O100 and P subroutines, the

1.4 Structure of P Subroutines

P subroutines are general subroutines. They can be called by O100 and Ox motion subroutines. If P
subroutines are called by O100, the P subroutines will support basic instructions and applied
instructions. If P subroutines are called by Ox0~Ox99, the P subroutines will support basic
instructions, applied instructions, motion instructions, and G-codes. After O100 or an Ox motion
subroutine calls a P subroutine, the P subroutine will be executed. After SRET in the P subroutine is
executed, the lines under the instruction which calls the P subroutine will be executed.
1. There are two methods of enabling a P subroutine.

O100 can call P subroutines.

Ox motion subroutines can call P subroutines.
subroutine will be enabled.
runs, an Ox motion subroutine will be enabled.
that no Ox motion subroutine runs.
O100.)
control module. Please refer to the description of G-code for more
information.
communication.
Ox motion subroutines, O100, and the P subroutines can be arranged
in any order.
Description
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