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Delta AH Series User Manual
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AH
Motion
Contr
oll
er
-
Operatio
n Manual
A
-
6
_A
1
HC
Bit
DD
HC0~HC63
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or
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0000FC00~00
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E
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ord
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DDDDD.D
L0.0~L655
35.15
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ord
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285
Table of Contents
Default Chapter
3
Table of Contents
3
Preface
9
Introduction
10
Applicable Products
10
Related Manuals
10
Navigation between Manuals
11
Chapter 1 Introduction to Motion Control Operation
13
Features of AH Motion
14
Plcopen Based Motion Control Instructions
14
Motion Network Communications
14
AH Motion System Configurations
15
Basic Operating Procedures for Motion Control
16
Specifications of AH Motion CPU
18
General Specifications
18
Motion Control Specifications
20
Chapter 2 Hardware Setup
21
Installation
22
CPU Rack Installation in a Control Panel
22
Mounting a Backplane
22
Installing a Cpu/Module
24
Installing a CPU Module
24
Wiring
26
Basic System Configurations
26
Wiring Power Supply Modules
26
Wiring AH Motion CPU Modules
32
Wiring AH Motion Controller CPU Modules
32
Chapter 3 Software Setup
39
Installing and Uninstalling Ispsoft
40
Installing Ispsoft
41
Uninstalling Ispsoft
44
Installing and Uninstalling COMMGR
46
Installing COMMGR
46
Uninstalling COMMGR
48
Connecting Ispsoft with AH Motion CPU
50
Direct Connection Via USB
50
Direct Connection Via Ethernet
50
Chapter 4 Operating Ispsoft
51
Quick Start
52
Example
52
Hardware
52
Program
53
Procedures for Creating a Project in Ispsoft
53
Creating a Project
54
Hardware Configuration
55
Configuring a Module
55
Setting the Parameters in a CPU and a Module
57
Setting Module Parameters
59
Setting PLC Parameters
66
Creating a Program
68
Adding a Ladder Diagram
69
Basic Editing─Creating a Contact and a Coil
71
Basic Editing─Inserting a Network and Typing an Instruction
74
Basic Editing - Selection of a Network and Operation
76
Basic Editing - Connecting a Contact in Parallel
78
Basic Editing─Editing a Comment
79
Basic Editing─Inserting an Applied Instruction
80
Basic Editing─Creating a Comparison Contact and Typing a Constant
82
Writing a Program
83
Checking and Compiling a Program
84
Testing and Debugging a Program
85
Creating a Connection
85
Downloading a Program and Parameters
88
Connection Test
90
Setting a Real-Time Clock
96
Chapter 5 Understanding Common Devices
100
Introduction
100
Common Devices
100
Functions of Common Devices
100
Device List
100
Latched Devices
102
Input Relays (X)
103
Output Relays (Y)
103
Auxiliary Relays (M)
104
Special Auxiliary Relays (SM/AM)
104
Data Registers (D)
104
Special Data Registers (SR/AR)
105
Link Registers (L)
105
Stepping Relays (S)
105
Timers (T)
105
Counters (C)
107
32-Bit Counters (HC/AC)
108
Index Registers (E)
108
Values and Constants (K, 16#)
109
Floating-Point Numbers (F, DF)
110
Strings ("$")
112
Ethercat Symbols
114
Symbols
114
Application of Symbols
114
Classes
114
Data Types
115
Using Devices, Symbols and Instructions
116
Modifying a Symbol with an Index Register
117
User-Defined Data Type (ENUM)
118
Chapter 6 Understanding Motion Control Devices
121
Motion Control Devices
122
Structures Applicable for Motion Control
122
Parameters for Motion Axes
122
Chapter 7 Motion Control Programming
128
Introduction
128
Program Organization Units and Tasks
128
Motion Control Program
129
Program Architecture and Types in Ispsoft
129
Pous in Ispsoft
130
Managing the Tasks in Ispsoft
130
Motion Control Instructions
131
Function Blocks for AH Motion Controller CPU
131
Axis
133
State Transitions
136
Axis States
136
Axis Group State
137
Buffer Mode
138
Execution of Function Block Instructions
143
The Interface of a Motion Control Function Block
143
Timing Diagram for Input/Outputs
146
Positions
147
Postion Types
147
Applicable Postions for each Axis Type
147
Electronic Cam
147
Introduction of Electronic Cams
147
Operation of an Electronic Cam
148
Initial Setting
149
Setting a Master/Slave Axis and Operating an Electronic Cam
150
Starting/Stopping an Electronic Cam Operating Cyclically
154
Creating Electronic Cam Data
157
Creating a CAM Chart in Ispsoft
157
Application of an Electronic Cam-Using a Rotary Cutter
166
Creating Rotary Cut Data
169
Chapter 8 Memory Card
178
Overview of Memory Cards
178
Appearances of Memory Cards
178
Specifications for SD Cards
178
Using a Memory Card
179
Formatting a Memory Card
179
Installing and Removing a Memory Card
181
SD Slot in a CPU
181
Installing a Memory Card
182
Removing a Memory Card
182
Contents of a Memory Card
183
Initializing a Memory Card
183
Folder Structure in a Memory Card
183
Reading/Writing a Memory Card
184
Backing up the System
184
Restoring the System
184
CARD Utility
184
Backup
186
Restoration
190
Chapter 9 Troubleshooting
195
Inspection and Troubleshooting
197
Basic Inspection
197
Clearing the Error State
197
Troubleshooting Procedure
198
Viewing Error Logs
199
Error Codes and Indicators
200
Ahxxemc-5A
201
Analog I/O Modules and Temperature Measurement Modules
222
Ah02Hc-5A/Ah04Hc-5A
224
Ah05Pm-5A/Ah10Pm-5A/Ah15Pm-5A
224
Ah20Mc-5A
226
Ah10En-5A/Ah15En-5A
227
Ah10Scm-5A/Ah15Scm-5A
227
Ah10Dnet-5A
227
Ah10Pfbm-5A
228
Ah10Pfbs-5A
228
Ah10Copm-5A
229
Troubleshooting for CPU
230
ERROR Indicator on
230
ERROR Indicator Blinking
232
BUS FAULT Indicator on
249
BUS FAULT Indicator Blinking
250
Others
251
Troubleshooting for I/O Modules
263
Analog I/O Modules and Temperature Measurement Modules
263
Ah02Hc-5A/Ah04Hc-5A
266
Ah05Pm-5A/Ah10Pm-5A/Ah15Pm-5A
268
Ah20Mc-5A
270
Ah10En-5A/Ah15En-5A
271
Ah10Scm-5A/Ah15Scm-5A
272
Ah10Dnet-5A
272
Ah10Pfbm-5A
273
Ah10Pfbs-5A
274
Ah10Copm-5A
274
Troubleshooting for Limitation Errors
276
Software Limit Errors
276
Hardware Limit Errors
277
Appendices
279
Installing the USB Driver for an AH Motion CPU on Windows 7
280
Device Addresses
283
Operating Principles of the CPU Module
285
Operation of the CPU Module
285
Operating Modes of the CPU Module
287
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Delta AH Series Specifications
General
Brand
Delta
Model
AH Series
Category
Controller
Language
English
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