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Chapter 1

Framework of an AH500 Series
Motion Control Module

Table of Contents

1.1

Framework of a AH500 Series Motion Control Module..............................1-2

1.2 Structure

of O100 ......................................................................................1-4

1.2.1 Manual

Function of O100 ...................................................................1-5

1.3

Structure of Ox Motion Subroutines...........................................................1-5

1.4 Structure

P Subroutines.........................................................................1-7

1.5

Using O100, Ox Motion Subroutines, and P Subroutines........................1-10

1.5.1 Structure

of a Program .....................................................................1-10

1 - 1

Summary of Contents for AH500

Page 1: ...cha Gasan dong Geumcheon gu Seoul Korea 153 704 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 TEL 65 6747 5155 FAX 65 6744 9228 Delta...

Page 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 2 2 Wiring 2 19 2 2 1 I O Extension Cables...

Page 3: ...odify Operands 5 14 5 5 Instruction Index 5 14 5 6 Descriptions of the Applied Instructions 5 18 5 7 Motion Control Function Block Table 5 126 5 8 Introduction of the Pins in a Motion Control Function...

Page 4: ...l Absolute Linear Interpolation 5 212 5 11 6 Multiaxial Relative Linear Interpolation 5 214 5 11 7 Stopping Multiaxial Linear Interpolation 5 216 5 12 Network Function Blocks 5 217 5 12 1 Starting Sto...

Page 5: ...troduction of a Manual Pulse Generator Mode 7 18 7 5 1 Related Special Data Registers 7 18 7 5 2 Operation 7 20 7 6 Introduction of a Mode of Triggering the Return to Home 7 20 7 6 1 Related Special D...

Page 6: ...rt in PMSoft 8 10 8 3 1 1 Function Relates the Positions of a Master Axis to the Positions of a Slave Axis 8 10 8 3 1 2 Measuring the Relation between the Positions of a Master Axis and the Positions...

Page 7: ...rage Device 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...

Page 8: ...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 A 1 Error Code Tabl...

Page 9: ...viii...

Page 10: ...mework of a AH500 Series Motion Control Module 1 2 1 2 Structure of O100 1 4 1 2 1 Manual Function of O100 1 5 1 3 Structure of Ox Motion Subroutines 1 5 1 4 Structure of P Subroutines 1 7 1 5 Using O...

Page 11: ...M 5A AH05PM 5A Number of substantial axes supported 12 axes Axis 1 axis 12 6 axes Axis 1 axis 6 4 axes Axis 1 axis 4 2 axes Axis 1 axis 2 Number of virtual axes supported 4 axes Axis 13 axis 16 10 axe...

Page 12: ...Y0 4 Y0 4 Y0 5 Y0 5 Y0 6 Y0 6 Y0 7 Y0 7 Y0 8 Y0 9 Y0 10 Y0 11 Y0 0 Y0 0 Y0 1 Y0 1 Y0 2 Y0 2 Y0 3 Y0 3 Y0 8 and Y0 9 Output signal External communic ation port Mini USB port Ethernet port DMCNET port...

Page 13: ...main program ends The sequence control program is scanned cyclically Main Program 3 There are three methods of disabling O100 If the RUN STOP switch of an AH500 series motion control module is turned...

Page 14: ...f special registers in O100 Please refer to chapter 7 fore more information 1 3 Structure of Ox Motion Subroutines The motion subroutines Ox0 Ox99 are motion control programs They are subroutines whic...

Page 15: ...0 series motion control module is powered users can use communication to set SR1030 to 0 or to set SM072 to OFF and to stop the execution of Ox motion subroutines If an error occurs when an Ox motion...

Page 16: ...es 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 3 An Ox motion sub...

Page 17: ...he subroutine P0 supports basic instructions and applied instructions The subroutine P2 supports basic instructions applied instructions motion instructions and G codes 3 There are three methods of di...

Page 18: ...utines Operation characteristic Whenever a P subroutine is enabled it is executed once If a Pn subroutine needs to be executed again it has to be enabled again Instruction 1 If P subroutines are calle...

Page 19: ...this section a program composed of O100 Ox motion subroutines and P subroutines is described 1 5 1 Structure of a Program Suppose a program is composed of O100 Ox0 Ox3 P1 and P2 The five program block...

Page 20: ...alling P1 Ox0 Motion subroutine O100 M ain pro gram P1 Su brou tine Ox3 M oti on su brout ine P2 Su brou tine M1000 CALL P1 MOV 16 8000 SR1052 CALL P2 M1000 BRET DMOV MOV 16 8003 Setting the motion su...

Page 21: ...uted once If an Ox motion subroutine needs to be executed again it has to be enabled again The instructions supported by O100 Ox0 Ox3 P1 and P3 are described below O Supported X Not supported Section...

Page 22: ...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 2 2 Wiring 2 19 2 2 1 I O Extension Cables and External Terminal Modules...

Page 23: ...ion voltage 2 500 VDC Weight 150 g Noise immunity ESD IEC 61131 2 IEC 61000 4 2 10 kV air discharge EFT IEC 61131 2 IEC 61000 4 4 Communication I O 4 kV CS IEC 61131 2 IEC 61000 4 6 0 15 80 MHz 3 Vrms...

Page 24: ...for counter 3 and counter 5 High speed comparison and capture The terminals can function as trigger signals for high speed capture Interrupt input terminals 200 kHz 15 mA 5 24 V X0 8 X0 8 X0 9 and X0...

Page 25: ...nd X0 11 are B phase input terminals for counter 1 X0 13 and X0 13 are B phase input terminals for counter 2 and counter 4 X0 15 and X0 15 are B phase input terminals for counter 3 and counter 5 High...

Page 26: ...2 and counter 4 X0 3 and X0 3 are the RESET input terminals for counter 3 and counter 5 High speed comparison and capture The terminals can function as trigger signals for high speed capture Interrupt...

Page 27: ...X0 13 is a B phase input terminal for counter 2 and counter 4 and X0 15 is a B phase input terminal for counter 3 and counter 5 High speed comparison and capture The terminals can function as trigger...

Page 28: ...d comparison and capture The terminals can function as trigger signals for high speed capture Interrupt input terminals 200 kHz 15 mA 5 24 V X0 4 X0 5 X0 6 and X0 7 1 They are single A B phase input t...

Page 29: ...nal for counter 1 X0 13 is a B phase input terminal for counter 2 and counter 4 and X0 15 is a B phase input terminal for counter 3 and counter 5 High speed comparison and capture The terminals can fu...

Page 30: ...l for counter 0 and X0 9 is a B phase input terminal for counter 0 High speed comparison and capture The terminals can function as trigger signals for high speed capture Interrupt input terminals 200...

Page 31: ...output terminal 4 A COM Inductance 12 W 24 V DC Current specifications Bulb 2 W 24 V DC OFF ON Response time ON OFF 0 2 us Overcurrent protection Yes No Maximum output Terminal Description Response c...

Page 32: ...are B phase output terminals for axis 1 Y0 3 and Y0 3 are B phase output terminals for axis 2 Y0 5 and Y0 5 are B phase output terminals for axis 3 Y0 7 and Y0 7 are B phase output terminals for axis...

Page 33: ...ls for axis 1 Y0 2 and Y0 2 are A phase output terminals for axis 2 Y0 4 and Y0 4 are A phase output terminals for axis 3 Y0 6 and Y0 6 are A phase output terminals for axis 4 Y0 1 and Y0 1 are B phas...

Page 34: ...tions of the terminals Motion control Y0 8 is the CLR output terminal for axis 1 and Y0 9 is the CLR output terminal for axis 2 High speed comparison and capture They can be used as high speed compari...

Page 35: ...AH500 Motion Control Module Manual 2 1 4 Dimensions AH20MC 5A 20MC 20MC NET ETH ERROR RUN NET ETH ERROR RUN Unit mm AH10PM 5A 10PM E RROR E TH RUN Unit mm 2 14...

Page 36: ...er 2 Hardware Specifications and Wiring AH15PM 5A 15PM Unit mm AH05PM 5A 110 35 103 05PM Y0 3 COM Y0 3 Y0 8 Y0 9 X0 13 Y0 1 Y0 2 Y0 2 Y0 0 Y0 0 Y0 1 X0 8 X0 9 X0 12 S S X0 0 X0 1 RU N ERR OR 6 Unit mm...

Page 37: ...OFF The Ethernet connection is disconnected 5 DMCNET connection LED indicator green Status of the DMCNET connection ON The DMCNET connection is being connected OFF The DMCNET connection is disconnecte...

Page 38: ...ator green Status of the Ethernet connection ON The Ethernet connection is being connected OFF The Ethernet connection is disconnected 5 USB port Providing the mini USB communication interface 6 RUN S...

Page 39: ...green Status of the Ethernet connection ON The Ethernet connection is being connected OFF The Ethernet connection is disconnected 5 USB port Providing the mini USB communication interface 6 RUN STOP...

Page 40: ...nsion port Updating the firmware 8 Label Nameplate 9 Set screw Fixing the module 10 Connector Connecting the module and a backplane 11 Projection Fixing the module 2 2 Wiring An AH500 series motion co...

Page 41: ...2 20 Y0 10 Out2 3 C1 COM1 21 Y0 9 Out1 4 C0 COM0 22 Y0 8 Out0 5 NC 23 NC 6 NC 24 NC 7 X0 3 Rst3 Rst5 25 X0 3 Rst3 Rst5 8 X0 15 DOG3 CntB3 CntB5 26 X0 15 DOG3 CntB3 CntB5 9 X0 14 DOG2 CntA3 CntA5 27 X0...

Page 42: ...NC 6 Y0 7 B3 31 Y0 7 B3 7 Y0 6 A3 32 Y0 6 A3 8 Y0 5 B2 33 Y0 5 B2 9 Y0 4 A2 34 Y0 4 A2 10 Y0 3 B1 35 Y0 3 B1 11 Y0 2 A1 36 Y0 2 A1 12 Y0 1 B0 CLR5 37 Y0 1 B0 CLR5 13 Y0 0 A0 CLR4 38 Y0 0 A0 CLR4 14 N...

Page 43: ...0 Y0 1 B0 35 Y0 0 A0 11 Y0 0 A0 36 S S S S S S 12 X1 5 CHG3 37 X1 4 CHG2 13 X1 3 CHG1 38 X1 2 CHG0 14 X1 1 LSN3 39 X1 0 LSP3 15 X0 15 LSN2 CntB3 CntB5 40 X0 14 LSP2 CntB3 CntA5 16 X0 13 LSN1 CntB2 Cnt...

Page 44: ...MPGA CntA0 Y0 2 A1 X0 9 MPGB CntB0 Y0 3 B1 X0 12 DOG0 Y0 3 B1 X0 13 DOG1 Y0 8 CLR0 Y0 0 A0 Y0 9 CLR1 Y0 3 COM Y0 3 Y0 8 Y0 9 X0 13 Y0 1 Y0 2 Y0 2 Y0 0 Y0 0 Y0 1 X0 8 X0 9 X0 12 S S X0 0 X0 1 Y0 0 A0 C...

Page 45: ...0 10 X0 0 X0 9 X0 8 NC 24V 24V 3 External terminal module for AH10PM 5A DVPAETB IO24C 1 st from the upper left C3 C2 C1 C0 N C Y0 7 Y0 6 Y0 5 Y0 4 Y0 3 Y0 2 Y0 1 Y0 0 N C 15 th from the upper left N C...

Page 46: ...om the lower left Y0 10 Y0 8 Y0 7 Y0 6 Y0 5 Y0 4 Y0 3 Y0 2 Y0 1 Y0 0 S S Y1 4 Y1 2 Y1 0 15 th from the lower left X0 14 X0 12 X0 10 X0 9 X0 8 X0 6 X0 4 X0 3 X0 2 X0 1 X0 0 N C 24V 24V 2 2 2 Wiring Inp...

Page 47: ...g 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 The frequency of input signals can be up to 200 kHz These high speed input terminal...

Page 48: ...current power supply whose voltage is in the range of 5 V to 24 V as shown below Take AH20MC 5A for instance Sinking 24 V sinking NPN Sensor 5 24 V X0 8 X0 8 Sourcing 24 V sourcing 5 24 V PNP Sensor...

Page 49: ...cted to a power supply directly The output wiring must be connected to a load Mutually exclusive output Y0 10 controls the clockwise rotation of the motor and Y0 11 controls the counterclockwise rotat...

Page 50: ...AC servo drive Optocoupler circuit Optocoupler circuit Driver FP RP FG0 Y0 0 Y0 0 Y0 1 Y0 1 PLS 21 PLS 22 SIGN 19 SIGN 20 Wiring the differential output terminals on AH10PM 5A and a ASDA AB series AC...

Page 51: ...ule Manual 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 Wiring AH10PM 5A and a Delta ASDA A ser...

Page 52: ...Chapter 2 Hardware Specifications and Wiring Wiring AH10PM 5A and a Panasonic CN5 series servo drive 2 31...

Page 53: ...AH500 Motion Control Module Manual Wiring AH10PM 5A and a Yaskawa servo drive 2 32...

Page 54: ...Chapter 2 Hardware Specifications and Wiring Wiring AH10PM 5A and a Mitsubishi MJR2 series servo drive 2 33...

Page 55: ...AH500 Motion Control Module Manual Wiring AH10PM 5A and a Fuji servo drive 2 34...

Page 56: ...tion architecture Communication port Communication parameter Mini USB Serial transmission rate 9 600 57 600 bps Number of data bits 7 bits 8 bits Parity bit Even parity bit Odd parity bit None Number...

Page 57: ...munication port which has a RJ45 interface It can function as a master station The communication protocol that an Ethernet port supports is Modbus TCP IP and the transmission rate supported is 10 100...

Page 58: ...6 3 7 Timers 3 6 3 8 Counters 3 7 3 9 Data Registers and Index Registers 3 12 3 9 1 Data Registers 3 12 3 9 2 Index Registers 3 12 3 10 Special Data Registers 3 13 3 11 Pointers 3 13 3 12 Specail Aux...

Page 59: ...lues Constants and Floating point Numbers K Decimal system 16 bit operation 32768 32767 32 bit operation 2147483648 2147483647 Constant 16 Hexadecimal system 16 bit operation 16 0 16 FFFF 32 bit opera...

Page 60: ...n an applied instruction e g MOV K123 D0 K indicates that the value following it is a constant Decimal numbers can be used as external input numbers e g X0 0 X0 15 and X1 0 X 1 15 Decimal number can b...

Page 61: ...ontact of an X device can be used in a program The state of an X device varies with the state of the input device to which the X device is connected Users can turn X devices ON OFF by means of SM304 I...

Page 62: ...dule reads the states of the input signals sent to it next time The time it takes for an input device in the program to receive the state of an external signal is about 10 milliseconds The time it tak...

Page 63: ...cimal numbers There are 1024 S devices S0 S1023 in an AH500 series motion control module Functions of stepping relays A S device has an output coil and a Form A contact Form B contact There is no limi...

Page 64: ...PM 5A Function Range Remark 16 bit up counter C0 C199 200 counters 32 bit up down counter C240 C255 16 counters Accumulation 216 counters in total If the present value of the counter specified by the...

Page 65: ...the instruction RST is executed the present value will becomes zero and the contact will be reset to OFF Actions of contacts After the scan of a program is complete the contacts will act After the sc...

Page 66: ...y relays SM240 SM255 determine whether the 32 bit general up down counters C240 C255 count up or count down For example C240 will count up if SM240 is OFF and C240 will count down if SM240 is ON 2 The...

Page 67: ...ll increase by one or decrease by one 4 If the present value of the counter C255 increases from K 6 to K 5 the contact C255 will be turned form OFF to ON If the present value of the counter C255 decre...

Page 68: ...If SM207 is ON the function of resetting C204 will be enabled Resetting signals are controlled by X0 1 C208 Users can select a mode of counting by setting SM208 and SM209 Input signals are controlled...

Page 69: ...register is a 16 bit value The highest bit in a 16 bit data register represents an algebraic sign The value stored in a data register must be in the range of 32 768 to 32 767 Two 16 bit data register...

Page 70: ...rs Pointer P P0 P255 256 pointers Pointer A pointer is used with API 00 CJ API 256 CJN or API 257 JMP Please refer to chapter 5 for more information about the use of CJ CJN JMP Conditional jump CJ X0...

Page 71: ...OFF R OFF 009 The low voltage signal has ever occurred OFF R OFF 011 10 millisecond clock pulse The pulse is ON for 5 milliseconds and is OFF for 5 milliseconds OFF R OFF 012 100 millisecond clock pu...

Page 72: ...OFF R W OFF 240 ON C240 counts down OFF R W OFF 241 ON C241 counts down OFF R W OFF 242 ON C242 counts down OFF R W OFF 243 ON C243 counts down OFF R W OFF 244 ON C244 counts down OFF R W OFF 245 ON C...

Page 73: ...ag in the Ox motion subroutine OFF R OFF 1066 Carry flag in the Ox motion subroutine OFF R OFF 1067 An error occurs in a floating point operation in the Ox motion subroutine OFF R OFF 1 05M AH05PM 5A...

Page 74: ...cable model 1 SM number Function 05M 15M 10M 20M OFF ON STOP RUN RUN STOP Attribute Default mn04 The cyclic motion of the electronic cam stops OFF R W OFF mn08 Setting an offset for the master axis of...

Page 75: ...e Unit 1 millisecond 0 R NO 0 012 Maximum scan time Unit 1 millisecond 0 R NO 0 020 Filtering the inputs Unit ms 10 R W NO 10 039 Fixed scan time Unit ms 0 R W NO 0 121 Communication address of the AH...

Page 76: ...32 bit counters backed up onto the SD card end X 0 R W NO 0 208 Stepping relay from which the stepping relays backed up onto the SD card start X 0 R W NO 0 209 Stepping relay at which the stepping re...

Page 77: ...routine 0 R NO 0 704 Dwell duration which is set 0 R NO 0 705 Present dwell duration 0 R NO 0 706 Number of times the instruction RPT in the Ox motion subroutine is executed 0 R NO 0 707 Number of tim...

Page 78: ...TOP RUN RUN STOP Attribute Default 1041 Ox motion subroutine error code 0 R 0 1049 Mode of stopping Ox0 Ox99 K1 The execution of Ox0 Ox99 will resume next time Ox0 Ox99 are started K2 The next instruc...

Page 79: ...mn 21 Axis number 13 14 15 16 Special data register SR2200 SR2299 mn 22 SR2300 SR2399 mn 23 SR2400 SR2499 mn 24 SR2500 SR2599 mn 25 The special data registers starting from SR2600 are not used Applica...

Page 80: ...xis specified rotates Low word mn07 Maximum speed VMAX at which the axis specified rotates High word R W NO 500K mn08 Start up speed VBIAS at which the axis specified rotates Low word mn09 Start up sp...

Page 81: ...8 Home position of the axis specified Low word R W NO 0 mn19 Home position of the axis specified High word R W NO 0 mn20 Time TACC it takes for the axis specified to accelerate R W NO 500 mn21 Time TD...

Page 82: ...ed Pulse High word 0 R W NO 0 mn34 Present command speed of the axis specified PPS Low word mn35 Present command speed of the axis specified PPS High word 0 0 0 R W NO 0 mn36 Present command position...

Page 83: ...e axis specified Low word 0 R W NO 0 mn47 Number of pulses generated by the manual pulse generator for the axis specified High word 0 R W NO 0 mn48 Response speed of the manual pulse generator for the...

Page 84: ...the servo drive for the axis specified on a DMCNET Reading data from the servo drive for the axis specified on a DMCNET Low word X X X R W NO 0 mn77 Writing data into the servo drive for the axis spe...

Page 85: ...r is used to monitor a scan cycle If the scan cycle is greater than the watchdog timer value the ERROR LED indicator on the module will be turned ON and all the output devices will be turned OFF 2 The...

Page 86: ...istor capacitor circuits in series the shortest time it takes for the input terminals to respond is 50 microseconds SM000 Normally open contact MOV K0 SR020 4 If high spedd counters and interrupts are...

Page 87: ...d C212 SM216 and C216 SM220 and C220 There are six high speed counters Mode of counting Number Counter number Device Setting value 1 External resetting terminal External input terminal 2 1 C200 K1SM20...

Page 88: ...he program for step 3 and step 4 is shown below MOVP 16 A K1SM204 X0 0 DCNT C204 K10 High speed timing SM200 and C201 SM204 and C205 SM208 and C209 SM212 and C213 There are four high speed timers Mode...

Page 89: ...The interval is written into C209 Unit 0 01 microseconds t1 t2 X0 2 t C209 C209 General mode Unit 0 01 s The program is shown below MOVP K4 K1SM208 X0 0 DCNT C208 K10 Example 2 Using the third timer i...

Page 90: ...tion of the present program will stop and the interrupt will be executed After an interrupt is executed the program which is executed before the interrupt is triggered will be executed Time interrupt...

Page 91: ...R1626 SR1727 SR1726 Parameter 9 th axis 10 th axis 11 th axis 12 th axis Stopping at the angle specified SM1817 SM1917 SM2017 SM2117 Angle SR1823 SR1822 SR1923 SR1922 SR2023 SR2022 SR2123 SR2122 Numbe...

Page 92: ...0 pulses 65000 pulses 90 degrees Random angle 25001 pulses 45000 pulses 90 degrees Clearing the motion error SMmn49 SM1049 SM1149 SM2549 SRmn41 SR1041 SR1141 SR2541 If errors occur in axis 1 axis 16 t...

Page 93: ...h the y axis moves will form a smooth curve G01 X100 F1000 Block A Y100 Block B Y X The path along which the x axis moves and the path along which the y axis moves form a smooth curve Block A Block B...

Page 94: ...X0 1 9 X0 9 2 X0 2 10 X0 10 3 X0 3 11 X0 11 4 X0 4 1 12 X0 12 5 X0 5 1 13 X0 13 6 X0 6 1 14 X0 14 7 X0 7 1 15 X0 15 1 Only AH15PM 5A has X0 4 X0 5 X0 6 and X0 7 Setting a filter 1 Users can set the ha...

Page 95: ...eenth axis bit Parameter of the axis bit Parameter of the axis 0 8 Direction in which the axis returns home 3 1 Unit 1 9 Mode of returning home 3 2 10 Mode of triggering the return to home 3 3 11 Dire...

Page 96: ...ed by a transition in DOG s signal from high to low The setting of bit 13 is applicable to the insertion of single speed motion and the insertion of two speed motion 14 Bit 14 0 Trapezoid curve Bit 14...

Page 97: ...bit 3 15 Bit 15 1 The values of parameters are restored to factory settings State of the axis SRmn40 SR1040 SR1140 SR2540 SR1040 is for the first axis SR1140 is for the second axis SR1240 is for the t...

Page 98: ...999 999 K0 mn20 Time TACC it takes for the axis specified to accelerate 10 32 767 ms K100 mn21 Time TDEC it takes for the axis specified to decelerate 10 32 767 ms K100 mn23 mn22 Target position of t...

Page 99: ...ve for the axis specified on a DMCNET 4 Users have to set a value according to their needs K0 mn75 mn74 Servo drive error code 4 Users have to set a value according to their needs K0 mn77 mn76 Writing...

Page 100: ...Chapter 4 Basic Instructions Table of Contents 4 1 Table of Basic Instructions 4 2 4 2 Descriptions of the Basic Instructions 4 4 4 1...

Page 101: ...in parallel X Y M S T C 0 22 0 22 0 22 0 11 3 4 6 ANB Connecting circuit blocks in series None 0 12 0 12 0 12 0 25 3 4 7 ORB Connecting circuit blocks in parallel None 0 12 0 12 0 12 0 25 3 4 7 Output...

Page 102: ...T C 0 39 0 39 0 39 0 23 3 4 12 ORP Connecting rising edge detection in parallel X Y M S T C 0 37 0 37 0 37 0 04 3 4 13 ORF Connecting falling edge detection in parallel X Y M S T C 0 37 0 37 0 37 0 0...

Page 103: ...escription LD X0 0 Loading the Form A contact X0 0 AND X0 1 Connecting the Form A contact X0 1 in series OUT Y0 1 Driving the coil Y0 1 Instruction code Operand Function LDI S Loading a Form B contact...

Page 104: ...Loading the Form B contact X0 1 AND X0 0 Connecting the Form A contact X0 0 OUT Y0 1 Driving the coil Y0 1 Instruction code Operand Function ANI S Connecting a Form B contact in series Device X Y M S...

Page 105: ...ing the Form A contact X0 0 OR X0 1 Connecting the Form A contact X0 1 in parallel OUT Y0 1 Driving the coil Y0 1 Instruction code Operand Function ORI S Connecting a Form B contact in parallel Device...

Page 106: ...g the Form A contact X0 3 in parallel ANB Connecting the circuit blocks in series OUT Y0 1 Driving the coil Y0 1 Instruction code Operand Function ORB Connecting circuit blocks in parallel Explanation...

Page 107: ...scription LDI X0 0 Loading the Form B contact X0 0 AND X0 1 Connecting the Form A contact X0 1 in series OUT Y0 1 Driving the coil Y0 1 Instruction code Operand Function SET S Keeping a device ON Devi...

Page 108: ...code Description LD X0 0 Loading the Form A contact X0 0 RST Y0 5 Resetting Y0 5 Instruction code Operand Function TMR S1 S2 16 bit timer Device X Y M S K 16 F KnM KnS D W T C V Z S1 S2 Explanation Wh...

Page 109: ...remain unchanged Example Ladder diagram X0 0 C20 CNT K100 Instruction code Description LD X0 0 Loading the Form A contact X0 0 CNT C20 K100 The setting value in the counter C20 is K100 Instruction cod...

Page 110: ...d contact in an AH500 series motion controller is ON before the AH500 series motion controller is powered it is TRUE after the AH500 series motion controller is powered Please refer to the specificati...

Page 111: ...contact X0 0 ANDP X0 1 Connecting the rising edge triggered contact X0 1 in series OUT Y0 1 Driving the coil Y0 1 Instruction code Operand Function ANDF S Connecting falling edge detection in series D...

Page 112: ...A contact X0 0 ORP X0 1 Connecting the rising edge triggered contact X0 1 in parallel OUT Y0 1 Driving the coil Y0 1 Instruction code Operand Function ORF S Connecting falling edge detection in parall...

Page 113: ...ut instruction When X0 0 is turned from OFF to ON the instruction PLS is executed M0 sends a pulse for a scan cycle Example Ladder diagram X0 0 M0 PLS M0 Y0 0 SET Timing diagram X0 0 M0 Y0 0 One scan...

Page 114: ...g edge triggered LD M0 Loading the Form A contact M0 SET Y0 0 Y0 0 remains ON Instruction code Operand Function P Pointer Explanation A pointer indicates a subroutine It is in the range of P0 to P255...

Page 115: ...AH500 Motion Control Module Manual 4 16 MEMO...

Page 116: ...6 5 10 7 JOG Motion 5 160 5 10 8 Manual Pulse Generator Mode 5 163 5 10 9 Returning Home 5 166 5 10 10 Stopping Uniaxial Motion 5 169 5 10 11 Parameter Setting I 5 172 5 10 12 Parameter Setting II 5 1...

Page 117: ...5 233 5 12 8 Setting an Ethernet IP Address 5 235 5 13 Other Motion Control Function Blocks 5 237 5 13 1 Backing a Main Program up onto an SD Card 5 237 5 13 2 Backing the Values in Devices up onto an...

Page 118: ...Comparing values 7 9 5 27 11 ZCP DZCP Zonal comparison 9 12 5 28 12 MOV DMOV Transferring a value 5 6 5 29 14 CML DCML Inverting bits 5 6 5 30 15 BMOV Transferring values 7 5 31 16 FMOV DFMOV Transfer...

Page 119: ...s complement of a number 3 3 5 46 30 ROR DROR Rotating bits rightwards 5 6 5 48 31 ROL DROL Rotating bits leftwards 5 6 5 49 32 RCR DRCR Rotating bits rightwards with a carry flag 5 6 5 50 33 RCL DRCL...

Page 120: ...5 66 48 SQR DSQR Square root of a binary number 5 6 5 67 Data 49 DFLT Converting a binary integer into a binary floating point number 6 5 68 High speed processing 50 REF Refreshing the states of I O d...

Page 121: ...22 DEMUL Binary floating point multiplication 9 5 83 123 DEDIV Binary floating point division 9 5 84 124 DEXP Exponent of a binary floating point number 6 5 85 125 DLN Natural logarithm of a binary fl...

Page 122: ...loating point number 6 5 100 137 DCOSH Hyperbolic cosine of a binary floating point number 6 5 101 138 DTANH Hyperbolic tangent of a binary floating point number 6 5 102 172 DADDR Floating poin t addi...

Page 123: ...8 AND DAND S1 S2 5 7 5 111 240 OR DOR S1 S2 5 7 5 112 241 OR DOR S1 S2 5 7 5 112 242 OR DOR S1 S2 5 7 5 112 244 OR DOR S1 S2 5 7 5 112 245 OR DOR S1 S2 5 7 5 112 Comparison instruction 246 OR DOR S1 S...

Page 124: ...ed to the back of its instruction code If an instruction is used as a 32 bit instruction D will be added to the front of its instruction code For example in D P is an instruction code 4 A 32 bit float...

Page 125: ...tion The applied instructions can be grouped into continuity instructions and pulse instructions in terms of the ways the applied instructions are executed If an instruction in a program is not execut...

Page 126: ...in a word device composed of bit devices K1 4 bits 0 15 K1 4 bits 0 15 K2 8 bits 0 255 K2 8 bits 0 255 K3 12 bits 0 4 095 K3 12 bits 0 4 095 K4 16 bits 32 768 32 767 K4 16 bits 0 65 535 K5 20 bits 0 1...

Page 127: ...ue is moved will be set to 0 As a result operations will be performed on positive numbers if Kn is in the range of K1 K3 or K4 K7 M0 BIN K2M4 D0 The binary coded decimal number in M4 M11 is converted...

Page 128: ...2 23 0 is represented by a 32 bit floating point number 23 1 is converted in the same way as 23 0 Users only need to change the sign bit to 1 A motion control module uses two consecutive registers to...

Page 129: ...w byte 16 bits V devices are 16 bit registers Data can be freely written into a V device and data can be freely read from a V device If a 32 bit value is required please use a Z device Index registers...

Page 130: ...ting one from a binary number 3 3 5 42 41 DECO Decoder 7 5 59 117 DDEG Converting a radian to a degree 6 5 80 23 DIV DDIV Binary division 7 9 5 40 175 DDIVR Floating point division 9 5 106 120 DEADD B...

Page 131: ...DMULR Floating point multiplication 9 5 105 N 29 NEG DNEG Taking the two s complement of a number 3 3 5 46 221 OR DOR S1 S2 5 7 5 109 223 OR DOR S1 S2 5 7 5 109 222 OR DOR S1 S2 5 7 5 109 242 OR DOR S...

Page 132: ...number 5 6 5 67 2 SRET Indicating that a subroutine ends 1 5 22 21 SUB DSUB Binary subtraction 7 9 5 38 43 SUM DSUM Number of bits whose states are ON 5 5 5 62 S 152 SWAP DSWAP Interchanging the high...

Page 133: ...pecified by CJ can not be the same as the pointer specified by CALL otherwise an error will occur When the instruction CJ CJP in a program is executed the actions of the devices in the program are as...

Page 134: ...imer T0 is reset to 0 M6 is OFF M6 is turned from OFF to ON The timer T240 does not count 10 millisecond timers M6 is ON M6 is turned from ON to OFF The timer T240 stops counting immediately When M0 i...

Page 135: ...ut When M0 is OFF Y0 1 is controlled by M1 When M0 is ON Y0 1 is controlled by M12 CJ P0 M0 M1 M2 M3 M4 M5 M6 M7 M10 M11 M0 M12 M13 RST RST RST T240 C0 D0 Y0 1 CJ P63 S1 TMR T0 K10 TMR RST RST CNT MOV...

Page 136: ...struction Explanation A pointer is in the range of P0 P255 S Pointer which points to a subroutine The subroutine to which a pointer points should be written after M102 M2 and the instruction SRET The...

Page 137: ...e 2 When X2 0 is turned from OFF to ON the instruction CALL P10 is executed and the execution of the program jumps to the subroutine to which P10 points When X1 1 is ON the instruction CALL P11 is exe...

Page 138: ...0 2 X1 1 CALL P11 INC D11 Y0 5 SRET INC D20 X0 2 P11 Y0 6 X1 2 CALL P12 X0 2 INC D21 Y0 7 SRET Subroutine Main Program X0 2 X1 3 X0 2 X0 2 X0 2 X1 4 X0 2 P13 P14 P12 INC D30 Y1 0 CALL P13 INC D31 Y1 1...

Page 139: ...ting value in D1000 There are two ways users can use to improve the situation 1 Using the instruction WDT T1 T2 O100 M102 WDT 2 Changing the value in D1000 The default setting is 200 milliseconds Exam...

Page 140: ...nested loop Device X Y M S K 16 F KnM KnS D W T C V Z S Pulse instruction 16 bit instruction 3 steps 32 bit instruction Explanation There is only one RPT RPE loop in a program If there is more than on...

Page 141: ...e instruction RPE is before the instruction RPT there is RPT but there is no RPE the number of times RPT is used is not the same as the number of times RPE is used There is only one RPT RPE loop in a...

Page 142: ...MP is executed and Y0 0 Y0 1 or Y0 2 is ON When X1 0 is OFF the execution of the instruction CMP stops and the states of Y0 0 Y0 1 and Y0 2 remain unchanged If the operand D is Y0 0 Y0 0 Y0 1 and Y0 2...

Page 143: ...tored in D S1 Minimum value S2 Maximum value S Comparison value D Comparison result The value in S2 must be greater than that in S1 The operand D occupies three consecutive devices Example When X0 0 i...

Page 144: ...esult by means of the instruction DMOV Example If users want to move a 16 bit value they have to use the instruction MOV 1 When X0 0 is OFF the value in D0 is unchanged When X0 0 is ON the value K10 i...

Page 145: ...n 6 steps Explanation The instruction is used to invert the bits in S 0 1 and 1 0 and transfer the inversion result to D S Source D Destination Example When X1 0 is ON bit 0 bit 3 in D1 are inverted a...

Page 146: ...rred to D20 D23 X2 0 D20 K4 D0 D1 D2 D3 D20 D21 D22 D23 n 4 D0 BMOV Example 2 If users specify KnM and KnS n in KnM must be the same as n in KnS M1000 K1M0 K1S0 K3 M0 M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 n...

Page 147: ...steps 32 bit instruction 8 steps Explanation The value in S is transferred to the n registers starting from D If n is not in the range available a value will only be transferred to registers availabl...

Page 148: ...in D40 X0 0 XCHP D20 D40 D40 D20 120 40 Before the instruction is executed After the instruction is executed 40 120 D20 D40 Additional remark bits are interchanged with the low 16 bits When X0 0 is ON...

Page 149: ...e range of 0 to 99 999 999 the instruction DBCD will not be executed The binary value in S is converted into a binary coded decimal value and the conversion result is transferred to D BCD can be used...

Page 150: ...coded decimal value in K1M0 is converted into a binary value and the conversion result is stored in D10 BIN D10 K1M0 X0 0 BIN D10 K1M0 Additional 1 remark Applications of the instructions BCD and BIN...

Page 151: ...the carry flag in an Ox motion subroutine and SM970 is the carry flag in O100 The flags related to 16 bit binary addition and 32 bit binary addition are listed below 16 bit binary addition 1 If the op...

Page 152: ...1 0 1 32 767 0 1 2 Borrow flag Carry flag Negative number The value of the highest bit is 1 Positive number The value of the highest bit is 0 Zero flag Zero flag 2 1 0 2 147 483 648 1 0 1 2 147 483 6...

Page 153: ...flag in O100 The flags related to 16 bit binary subtraction and 32 bit binary subtraction are listed below 16 bit binary subtraction 1 If the operation result gotten is 0 a zero flag will be ON 2 If...

Page 154: ...b0 Bit 15 is a sign bit Bit 15 is a sign bit Bit 31 is a sign bit B it 15 in D 1 is a sign bit S D 1 2 D S 1 Sign bit 0 Positive sign Sign bit 1 Negative sign 32 bit binary multiplication X Bit 31 is...

Page 155: ...nary division is done S1 Dividend S2 Divisor D Quotient and remainder If the divisor in S2 is 0 the instruciton will not be executed 16 bit binary division b15 b0 S1 S2 D D 1 b15 b0 b15 b0 b15 b0 Quot...

Page 156: ...the instruction used is not a pulse instruction the value in D used by the instruction increases by one whenever the instruction is executed D Destination device Generally the pulse instructions INCP...

Page 157: ...n If the instruction used is not a pulse instruction the value in D used by the instruction decreases by one whenever the instruction is executed D Destination device Generally the pulse instructions...

Page 158: ...and performs the logical AND operation on each pair of corresponding bits and the operation result is stored in Y4 X0 0 WAND D0 D2 D4 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0...

Page 159: ...ce D2 and performs the logical inclusive OR operation on each pair of corresponding bits and the operation result is stored in D4 X0 0 WOR D0 D2 D4 Before the instruction is executed After the instruc...

Page 160: ...performs the exclusive OR operation on each pair of corresponding bits and the operation result is stored in D4 X0 0 WXOR D0 D2 D4 Before the instruction is executed After the instruction is executed...

Page 161: ...becomes 0 1 is added to the result and the final value is stored in the original register D10 X0 0 NEGP D10 Example 2 Getting the aboluste value of a negative number 1 When bit 15 in D0 is 1 M0 is ON...

Page 162: ...0 0 0 0 0 0 0 0 0 0 0 0 0 D0 2 D0 1 D0 0 1 1 1 0 D0 1 D0 2 D0 3 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 D0 4 D0 5 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1...

Page 163: ...the pulse instructions RORP and DRORP are used If the operand D is KnM KnS Kn in KnM KnS must be K4 16 bits or K8 32 bits 16 bit instruction 1 n 16 32 bit instruction 1 n 32 SM1066 is the carry flag i...

Page 164: ...bits or K8 32 bits If KnM KnS is used it is suggested that M device numbers S device numbers should start from a number which is a multiple of 16 in the decimal numeral system e g K4M0 and K4S16 deci...

Page 165: ...S must be K4 16 bits or K8 32 bits If KnM KnS is used it is suggested that M device numbers S device numbers should start from a number which is a multiple of 16 in the decimal numeral system e g K4M0...

Page 166: ...must be K4 16 bits or K8 32 bits If KnM KnS is used it is suggested that M device numbers S device numbers should start from a number which is a multiple of 16 in the decimal numeral system e g K4M0...

Page 167: ...om D S Initial device which is moved D Initial device which is moved n1 Number of bits which are moved n2 Number of bits forming a group Generally the pulse instruction SFTRP is used 1 n2 n1 1024 Exam...

Page 168: ...bit device which is moved D Initial bit device which is moved n1 Number of bits which are moved n2 Number of bits forming a group Generally the pulse instruction SFTRP is used 1 n2 n1 1024 Example Wh...

Page 169: ...he word devices starting from D Generally the pulse instruction WSFRP is used If KnM KnS is used it is suggested that M device numbers S device numbers should start from a number which is a multiple o...

Page 170: ...word devices starting from D Generally the pulse instruction WSFLP is used If KnM KnS is used it is suggested that M device numbers S device numbers should start from a number which is a multiple of...

Page 171: ...rry flag SM22 is ON SM1066 is the carry flag in an Ox motion subroutine and SM970 is the carry flag in O100 If KnM KnS is used it is suggested that M device numbers S device numbers should start from...

Page 172: ...d When the value in S is equal to 0 the instruction does not process the reading of the values and the zero flag SM20 is ON If KnM KnS is used it is suggested that M device numbers S device numbers sh...

Page 173: ...the contacts and the coils are reset to OFF When X0 0 is ON the auxiliary relays M300 M399 are reset to OFF When X1 0 is ON the timers T0 T127 are reset The values of T0 T127 are cleared to 0 and the...

Page 174: ...0 M107 If the value in S is 3 M103 will be ON After the instruciton is executed X2 0 will be OFF and the states of M100 M107 will remain unchanged DECOP X0 0 K3 M100 X2 0 X0 2 X0 1 X0 0 M107 M106 M105...

Page 175: ...the 16 bit instructions used Z devices can not be used If the 32 bit instruction is used V devices can not be used If S is a bit device n is in the range of 1 to 8 If S is a word device n is in the ra...

Page 176: ...s turned from OFF to ON the instruction ENCOP encodes the 8 bits in D10 as the low 3 bits in D0 and b15 b3 in D0 become 0 After the instruction ENCOP is executed and X0 0 will be OFF and the data in D...

Page 177: ...evice If the bits in S are 0 a zero flag will be ON If the 32 bit instruction is used D will occupy two registers If KnM KnS is used it is suggested that M device numbers S device numbers should start...

Page 178: ...Bit whose state is judged 16 bit instruction n 0 15 32 bit instruction n 0 31 If KnM KnS is used it is suggested that M device numbers S device numbers should start from a number which is a multiple o...

Page 179: ...lid range only the devices in the valid range will be processed If KnM KnS is used it is suggested that M device numbers S device numbers should start from a number which is a multiple of 16 in the de...

Page 180: ...D Annunciator S T0 T183 m K1 K32 767 Unit 100 ms D S912 S1023 See the explanation of ANR for more information The instruction supports V devices and Z devices If the 16 bit instructions used Z device...

Page 181: ...is used Example If X2 0 and X2 1 are ON for more than 2 seconds the annunciator S912 will be ON If X2 0 and D2 1 are turned OFF S912 will still be ON T10 will be reset to OFF and the value of T10 wil...

Page 182: ...ill occur and the instruction will not be executed The value stored in D is an integer The fractional part of a square root calculated is dropped If the fractional part of a square root calculated is...

Page 183: ...lt is less than the mimum floating point vlaue available a borrow flag will be ON 3 If the conversion result is 0 a zero flag will be ON SM1064 is the zero flag in an Ox motion subroutine and SM968 is...

Page 184: ...refresh the I O devices in a digital extension module D must be an I O device in a PLC If D is X0 0 and n is less than or equal to 8 the states of X0 0 X0 7 will be refreshed If n is greater than 8 t...

Page 185: ...e five registers starting from D If the 32 bit instruction is used S1 S2 D and n will be 32 bit registers 16 bit instruction n 1 256 n 1 128 32 bit instruction If KnM KnS is used it is suggested that...

Page 186: ...the value in D0 D11 100 1 Equal D51 1 Number of the first value which is equal to the value in D0 D12 110 2 D52 8 Number of the last value which is equal to the value in D0 D13 150 3 D53 7 Number of t...

Page 187: ...ON for the first time Y0 0 is ON When X0 0 is turned from OFF to ON for the second time Y0 0 is OFF X0 0 ALTP Y0 0 X0 0 Y0 0 Example 2 In the beginning M0 is OFF and therefore Y0 0 is ON and Y0 1 is...

Page 188: ...e stored n Quantity of data which will be read 16 bit instruction 1 500 m2 32 bit instruction 1 500 m2 2 A motion control module can read the data in a control register in a special module by means of...

Page 189: ...0 to 499 D Data which will be written into a control register n Quantity of data which will be written 16 bit instruction 1 500 m2 32 bit instruction 1 500 m2 2 A motion control module can write data...

Page 190: ...ed the absolute value of the value in D is gotten D Device whose absolute value will be gotten If KnM KnS is used it is suggested that M device numbers S device numbers should start from a number whic...

Page 191: ...ating point number Example When X0 0 is ON the instruction DECMP is executed and M10 M11 or M12 is ON When X0 0 is OFF the execution of the instruction DECMP stops and the states of M10 M11 and M12 re...

Page 192: ...mber the instruction will be used to compare the binary floating point value in S1 with the floating point number If the binary floating point value in S1 is greater than that in S2 the binary floatin...

Page 193: ...Destination When the instruction is executed the value in S is transferred to D When the instruction is not executed the value in D is unchanged If KnM KnS is used it is suggested that M device numbe...

Page 194: ...oint value available a borrow flag will be ON If a converseion result is 0 a zero flag will be ON SM1064 is the zero flag in an Ox motion subroutine and SM968 is the zero flag in O100 SM1065 is the bo...

Page 195: ...point value available a borrow flag will be ON If a converseion result is 0 a zero flag will be ON SM1064 is the zero flag in an Ox motion subroutine and SM968 is the zero flag in O100 SM1065 is the b...

Page 196: ...erally the pulse instruction DEADDP is used If the absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an...

Page 197: ...scan cycle Generally the pulse instruction DESUBP is used If the absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolut...

Page 198: ...can cycle Generally the pulse instruction DEMULP is used If the absolute value of an oepration result is greater than the maximum floating point value available a carry flag will be ON If the absolute...

Page 199: ...on result is greater than the maximum floating point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borr...

Page 200: ...ry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON If an operation result is 0 a zero flag will be ON SM10...

Page 201: ...ting point value available a carry flag will be ON If the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON If an operation result...

Page 202: ...the absolute value of an oepration reuslt is less than the minimum floating point value available a borrow flag will be ON If an operation result is 0 a zero flag will be ON SM1064 is the zero flag in...

Page 203: ...broutine and SM968 is the zero flag in O100 SM1049 is the operation error flag in an Ox motion subroutine and SM953 is the operation error flag in O100 If the value in S is not a positive value an ope...

Page 204: ...greater than the maximum floating point value available a carry flag will be ON If the absolute value of an operation reuslt is less than the minimum floating point value available a borrow flag will...

Page 205: ...SM968 is the zero flag in O100 SM1065 is the borrow flag in an Ox motion subroutine and SM969 is the borrow flag in O100 SM1066 is the carry flag in an Ox motion subroutine and SM970 is the carry fla...

Page 206: ...ration result is 0 a zero flag will be ON The sine of the source value in S is stored in D The relation between radians and sine values is shown below R S S Radian R Sine value 2 3 2 2 2 3 2 2 2 1 1 0...

Page 207: ...Binary floating point value D15 D14 x 180 Degree D41 D40 Radian Binary floating point value D41 D40 Radian D51 D50 Sine Binary floating point value Example 3 A radian degree flag is set to ON The val...

Page 208: ...a radian degree flag is ON the source value in S is a degree 0o Degree 3600 If an operation result is 0 a zero flag will be ON The cosine of the source value in S is stored in D The relation between r...

Page 209: ...ian Degree 180 X Binary floating point value D 1 D 0 S D D 11 D 10 Example 2 A radian degree flag is set to ON The value in D1 D0 is a degree in the range of 0 to 360 When X0 0 is ON the cosine of the...

Page 210: ...If a radian degree flag is OFF the source value in S is a radian Radian Degree 180 If a radian degree flag is ON the source value in S is a degree 0o Degree 3600 If an operation result is 0 a zero fla...

Page 211: ...ian Degree 180 X Binary floating point value D 1 D 0 S D D 11 D 10 Example 2 A radian degree flag is set to ON The value in D1 D0 is a degree in the range of 0 to 360 When X0 0 is ON the tangent of th...

Page 212: ...the range of 1 0 to 1 0 If it is not in the range the instruction will not be executed an operation error flag will be ON and the error code 16 0E19 will appear If a conversion result is 0 a zero fla...

Page 213: ...ly be in the range of 1 0 to 1 0 If it is not in the range the instruction will not be executed an operation error flag will be ON and the error code 16 0E19 will appear If a conversion result is 0 a...

Page 214: ...ent values and arctangent values is shown below R S 2 2 0 S Tangent value R Arctangent value If a conversion result is 0 a zero flag will be ON SM1064 is the zero flag in an Ox motion subroutine and S...

Page 215: ...t value D 1 D 0 S D D 11 D 10 Hyperbolic sine value If the absolute value of a conversion result is greater than the maximum floating point value available a carry flag will be ON If the absolute valu...

Page 216: ...nt value D 1 D 0 S D D 11 D 10 Hyperbolic cosine value If the absolute value of a conversion result is greater than the maximum floating point value available a carry flag will be ON If the absolute v...

Page 217: ...nt value D 1 D 0 S D D 11 D 10 Hyperbolic tangent value If the absolute value of a conversion result is greater than the maximum floating point value available a carry flag will be ON If the absolute...

Page 218: ...the conditional contact is ON in a scan cycle Generally the pulse instruction DADDRP is used If the absolute value of an oepration result is greater than the maximum floating point value available a c...

Page 219: ...never the conditional contact is ON in a scan cycle Generally the pulse instruction DSUBRP is used If the absolute value of an oepration result is greater than the maximum floating point value availab...

Page 220: ...never the conditional contact is ON in a scan cycle Generally the pulse instruction DMULRP is used If the absolute value of an oepration result is greater than the maximum floating point value availab...

Page 221: ...the conditional contact is ON in a scan cycle Generally the pulse instruction DDIVRP is used If the absolute value of an oepration result is greater than the maximum floating point value available a...

Page 222: ...ical exclusive OR operation If a 32 bit counter is used the 32 bit insturciton DLD must be used If a 32 bit counter and the 16 bit instruction LD are used a program error will occur and the ERROR LED...

Page 223: ...ation If a 32 bit counter is used the 32 bit instruction DAND must be used If a 32 bit counter and the 16 bit instruction AND are used a program error will occur and the ERROR LED indicator on the mot...

Page 224: ...2 bit counter is used the 32 bit instruction DOR must be used If a 32 bit counter and the 16 bit instruction OR are used a program error will occur and the ERROR LED indicator on the motion control mo...

Page 225: ...2 Source device 2 The instruction LD can be connected to a busbar directly API No 16 bit instruction 32 bit instruction ON OFF 224 LD DLD S1 S2 S1 S2 225 LD DLD S1 S2 S1 S2 226 LD DLD S1 S2 S1 S2 228...

Page 226: ...on AND is connected to a contact in series API No 16 bit instruction 32 bit instruction ON OFF 232 AND DAND S1 S2 S1 S2 233 AND DAND S1 S2 S1 S2 234 AND DAND S1 S2 S1 S2 236 AND DAND S1 S2 S1 S2 237 A...

Page 227: ...Source device 1 S2 Source device 2 The instruction OR is connected to a contact in parallel API No 16 bit instruction 32 bit instruction ON OFF 240 OR DOR S1 S2 S1 S2 241 OR DOR S1 S2 S1 S2 242 OR DO...

Page 228: ...ction is executed the high eight bits in S are interchanged with the low eight bits in S and the high eight bits in S 1 are interchanged with the low eight bits in S 1 Generally the pulses instruction...

Page 229: ...The value in S1 and the value in S2 are in the range of K0 to K2 147 483 647 The value in S1 must be less than the value in S2 If the value in S1 is greater than the value in S2 an operation error wi...

Page 230: ...6 bit integer To obtain the value in S3 the users have to use the offset equation below round the result to the nearest integer and get a 16 bit integer Slope equation S2 Maximum destination value Min...

Page 231: ...be used If users do not know a slope and an offset are unknown it is suggested that users should use the instruction SCLP The value in S2 must be in the range of 32 768 to 32 767 The actual value in S...

Page 232: ...stination value S2 6 S2 7 Minimum destination value 2 147 483 648 2 147 483 647 32 bit floating point values available If the 32 bit instruction is used S2 will occupy eight consecutive devices Flag M...

Page 233: ...Destination value Maximum destination value Minimum destination value Example 1 Suppose the value in S1 is 500 the maximum source value in D0 is 3 000 the minimum source value in D1 is 200 the maximu...

Page 234: ...D3 Source value Maximum source value 3000 Minimum source value 200 Destination value Maximum destination value 30 Minimum destination value 500 S1 500 D 0 Suppose S1 is D100 the value in D100 is F500...

Page 235: ...483 648 to 2 147 483 647 If the integer in S1 exceeds the minimum source value the maximum source value the minimum source value the maximum source value will be used 32 bit instruction The floating...

Page 236: ...ify the same pointer repeatedly The pointer specified by CJN can not be the same as the pointer specified by CALL otherwise an error will occur When the instruction CJN CJNP in a program is executed t...

Page 237: ...ot supported The function of JMP is similar to the function of CJ CJ must be driven by a contact whereas JMP does not have to be driven by a contact Example After address 0 is scanned address N will b...

Page 238: ...riven by a conditional contact will seem to be connected to a busbar and will be executed The instruction BRET does not have to be driven by a contact Example In the general program shown below the in...

Page 239: ...o the 32 bit device D The sign bit in S is duplicated and stored in D S Source device 16 bit device D Destination device 32 bit device Example When X2 3 is ON the value in D4 is transferred to D6 and...

Page 240: ...ansferred to the 16 bit device D The sign bit in S is retained S Source device 32 bit device D Destination device 16 bit device Example When X2 4 is ON data in D6 and D7 is transferred to D4 X2 4 RMOV...

Page 241: ...etting the present position of an axis Setting the present position of an axis 5 181 Setting the polarities of input terminals Setting the polarities of input terminals 5 183 Electronic gear motion St...

Page 242: ...capture values 5 233 Network function blocks Setting an Ethernet IP address Setting the Ethernet IP address of the module used 5 235 Backing a main program up onto an SD card Backing a main program up...

Page 243: ...BOOL There is a transition in the Valid output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high Busy The motion control function block is bein...

Page 244: ...ut pin that a motion control function block has is the Enable input pin the Valid output pin and the Error output pin are mutually exclusive and only the Valid output pin or the Error output pin can b...

Page 245: ...s the Busy output pin to indicate whether output data states are valid The Valid output pin is set to True only when the Enable input pin is set to true or output data state are valid If an error occu...

Page 246: ...on area in PMSoft Click Add Motion Control Function Blocks on the context menu 2 The Add Function Block window appears Users can select motion control function blocks in the Add Function Block window...

Page 247: ...of the folders SingleAxis Uniaxial motion Uniaxial point to point motion electronic gear synchronization and electronic cam synchronization MultiAxis Multi axis motion G code execution multi axis lin...

Page 248: ...ion mcSCurve BOOL True Speed curve curve mcTrapezoid BOOL False T_AxisSetting2 Speed curve Trapezoid curve mcNC BOOL True Normally closed contact mcNO BOOL False T_InputPolatiry Normally open contact...

Page 249: ...esent position of the second axis mcCmpAxis3 WORD 2 The source of a comparison is the present position of the third axis mcCmpAxis4 WORD 3 The source of a comparison is the present position of the fou...

Page 250: ...capture is the value of C208 mcCapC212 WORD 10 T_Capture The source of capture is the value of C212 mcCapX0 WORD 0 The source of a capture signal is X0 0 mcCapX1 WORD 1 The source of a capture signal...

Page 251: ...n the Execute input pin s signal from low to high BOOL True False Position Absolute position DWORD K 2 147 483 648 K2 147 483 647 The value of the Position input pin is valid when there is a transitio...

Page 252: ...mmand BOOL The execution of the motion control function block is interrupted by a command There is a transition in the Aborted output pin s signal from high to low when there is a transition in the Ex...

Page 253: ...ction block named FIRST is set so that the first axis moves at a speed of 2 000 pulses per second and moves for 10 000 pulses The motion control function block named SECOND is set so that the first ax...

Page 254: ...he second single speed motion is executed before the execution of the first single speed motion is complete When Error2 is set to True the first axis moves for 10 000 pulses The motion control functio...

Page 255: ...47 483 648 K2 147 483 647 The value of the Distance input pin is valid when there is a transition in the Execute input pin s signal from low to high Velocity Target speed DWORD K1 K2 147 483 647 When...

Page 256: ...mmand BOOL The execution of the motion control function block is interrupted by a command There is a transition in the Aborted output pin s signal from high to low when there is a transition in the Ex...

Page 257: ...ction block named FIRST is set so that the first axis moves at a speed of 2 000 pulses per second and moves for 10 000 pulses The motion control function block named SECOND is set so that the first ax...

Page 258: ...motion control function block named SECOND will be executed When the motion control function block named SECOND is executed the first axis moves for 15 000 pulses The second single speed motion is exe...

Page 259: ...nd the target position is an absolute position 2 Input pins Output pins Input pin Name Function Data type Setting value Time when a value is valid Axis Motion axis number WORD K1 K16 The value of the...

Page 260: ...in s signal from low to high Velocity2 Target speed of the second motion DWORD K1 K2 147 483 647 The value of the Velocity2 input pin is valid when there is a transition in the Execute input pin s sig...

Page 261: ...ecution of the motion control function block is interrupted by a command There is a transition in the Aborted output pin s signal from high to low when there is a transition in the Execute input pin s...

Page 262: ...an axis The first motion is set so that the first axis moves at a speed of 2 000 pulses per second and moves for 10 000 pulses The second motion is set so that the first axis moves at a speed of 3 00...

Page 263: ...d the distance is a relative distance 2 Input pins Output pins Input pin Name Function Data type Setting value Time when a value is valid Axis Motion axis number WORD K1 K16 The value of the Axis inpu...

Page 264: ...rget speed of the second motion DWORD K1 K2 147 483 647 The value of the Velocity2 input pin is valid when there is a transition in the Execute input pin s signal from low to high Output pin Name Func...

Page 265: ...ecution of the motion control function block is interrupted by a command There is a transition in the Aborted output pin s signal from high to low when there is a transition in the Execute input pin s...

Page 266: ...an axis The first motion is set so that the first axis moves at a speed of 2 000 pulses per second and moves for 10 000 pulses The second motion is set so that the first axis moves at a speed of 3 00...

Page 267: ...e value of the Axis input pin is valid when there is a transition in the Execute input pin s signal from low to high Execute Motion is started when there is a transition in the Execute input pin s sig...

Page 268: ...sition in the Execute input pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal from low to...

Page 269: ...from low to high If the value of the DogEdge input pin is mcFalling motion will be triggered by a transition in DOG s signal from high to low 3 Troubleshooting Error Troubleshooting The values of inpu...

Page 270: ...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...

Page 271: ...gered by a transition in DOG s signal from low to high or from high to low The value of the Velocity2 input pin indicates the speed of the motion triggered by a transition in DOG s signal from low to...

Page 272: ...ow DWORD K 2 147 483 648 K 2 147 483 647 The value of the Distance input pin is valid when there is a transition in the Execute input pin s signal from low to high Velocity2 Target speed after a trans...

Page 273: ...tput pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low If the Execute input pin is set to False when the execution of the motion control funct...

Page 274: ...eed motion which is triggered by a transition in DOG s signal from low to high The motion control function block named T_TrSeg2_U1 is set so that the first axis moves at a speed of 3 000 pulses per se...

Page 275: ...pin Name Function Data type Setting value Time when a value is valid Axis Motion axis number WORD K1 K16 The value of the Axis input pin is valid when there is a transition in the Execute input pin s...

Page 276: ...pin is updated repeatedly Output pin Name Function Data type Time when there is a transition in an output pin s signal from low to high Time when there is a transition in an output pin s signal from h...

Page 277: ...in the Error output pin s signal from high to low when there is a transition in the PositiveEnable input pin s signal from high to low or when there is a transition in the NegativeEnable input pin s s...

Page 278: ...AH20MC 5A 5 10 8 Manual Pulse Generator Mode 1 Motion control function block The motion control function block T_MPG is used to enable a manual pulse generator mode The value of the Axis input pin ind...

Page 279: ...atioDen Denominator of an electronic gear ratio WORD K1 K32 767 When the motion control function block is executed the value of the RatioDen input pin is updated repeatedly State output pin Name Funct...

Page 280: ...ion block is interrupted by a command There is a transition in the Aborted output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low Error An er...

Page 281: ...in indicates whether the axis specified returns home in the positive direction or in the negative direction The value of the VRT input pin indicates the speed at which the axis specified returns home...

Page 282: ...47 The value of the HomePosition input pin is valid when there is a transition in the Execute input pin s signal from low to high VRT Speed at which the axis specified returns home DWORD K1 K1000000 V...

Page 283: ...low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output p...

Page 284: ...dules which are supported The motion control function block T HomeReturn supports AH05PM 5A AH15PM 5A and AH10PM 5A 5 10 10 Stopping Uniaxial Motion 1 Motion control function block The motion control...

Page 285: ...rom high to low when there is a transition in the Done output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Err...

Page 286: ...d Before Done 1 is set to True Execute2 is used to start the motion control function block named Second After the motion control function block named First is started the first axis will move at a spe...

Page 287: ...eed the time it takes for its maximum speed to decrease to its start up speed its start up speed its maximum speed and its execution speed VBIAS VRUN VMAX Velocity TACC TDEC Time VRUN is the execution...

Page 288: ...RD K0 K32 767 The value of the Tdec input pin is valid when there is a transition in the Execute input pin s signal from low to high State output pin Name Function Data type Time when there is a trans...

Page 289: ...low when there is a transition in the Aborted output pin s signal from low to high Error An error occurs in the motion control function block BOOL Input values are incorrect There is transition in the...

Page 290: ...s signal from low to high OutputType AH20MC 5A is not supported Output type WORD mcUD 0 mcPD 1 mcAB 2 mc4AB 3 The value of the OutputType input pin is valid when there is a transition in the Execute...

Page 291: ...is a transition in the Execute input pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal fro...

Page 292: ...is valid when there is a transition in the Enable input pin s signal from low to high Enable Manual pulse generator mode BOOL True False State output pin Name Function Data type Time when there is a...

Page 293: ...in the motion control function block BOOL Input values are incorrect There is a transition in the Error output pin s signal from high to low when there is a transition in the Enable input pin s signal...

Page 294: ...ous state of the axis specified 2 Input pins Output pins Input pin Name Function Data type Setting value Time when a value is valid Axis Motion axis number WORD K1 K16 The value of the Axis input pin...

Page 295: ...o low when there is a transition in the Enable input pin s signal from high to low There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output...

Page 296: ...002 16 C4FF An error occurs in the AH500 series motion control module 16 8001 16 8380 An error occurs in the ASD A2 F series servo drive Please refer to appendix A for more information about error cod...

Page 297: ...ition is complete There is a transition in the Done output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low Busy The motion control function...

Page 298: ...series motion control module used 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 i...

Page 299: ...n s signal from low to high Time when there is a transition in an output pin s signal from high to low Valid The execution of the motion control function block is complete BOOL There is a transition i...

Page 300: ...True and the input terminals are OFF there are transitions in these output pins signals from low to high When the values of input pins are set to False and the input terminals are ON there are transi...

Page 301: ...er Master axis number WORD 0 16 200 204 208 212 216 1 The value of the Master input pin is valid when there is a transition in the Enable input pin s signal from low to high Slave Slave axis number WO...

Page 302: ...L The execution of the motion control function block is interrupted by a command There is a transition in the Busy output pin s signal from high to low when there is a transition in the Enable input p...

Page 303: ...ins are in the ranges allowed 4 Modules which are supported The motion control function block T_GearIn supports AH05PM 5A AH15PM 5A AH10PM 5A and AH20MC 5A 5 10 18 Electronic Cam Motion 1 Motion contr...

Page 304: ...ified BOOL True False The value of the CamOut input pin is used when the motion control function block is executed CycleStop Stopping a whole cycle BOOL True False The value of the CycleStop input pin...

Page 305: ...of the motion control function block is interrupted by a command There is a transition in the Busy output pin s signal from high to low when there is a transition in the Enable input pin s signal fro...

Page 306: ...en there is a transition in the CamOut input pin s signal from high to low Value output pin Name Function Data type Output range Update Index Index of a point WORD K1 K2047 When the motion control fun...

Page 307: ...s the position of the master axis specified and the value of the SlavePosition output pin indicates the position of the slave axis specified 2 Input pins Output pins Input pin Name Function Data type...

Page 308: ...able input pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low There is a...

Page 309: ...aster axis specified and the value of the SlavePosition indicates the position of the slave axis specified 2 Input pins Output pins Input pin Name Function Data type Setting value Time when a value is...

Page 310: ...re is a transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high There is a transition in the Busy output pin s signal...

Page 311: ...gnal from low to high the calculation of a synchronization ratio is enabled BOOL True False M360Length Distance for which the master axis specified moves in a cycle DWORD K1 K2 147 483 647 The value o...

Page 312: ...ut pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a tra...

Page 313: ...nges allowed 4 Modules which are supported The motion control function block T_CamSyncRatio supports AH05PM 5A AH15PM 5A AH10PM 5A and AH20MC 5A 5 10 22 Creating a Cam Curve 1 Motion control function...

Page 314: ...er axis specified DWORD K1 K2 147 483 647 The value of the SSyncLength input pin is valid when there is a transition in the Execute input pin s signal from low to high SSyncRatio Synchronization ratio...

Page 315: ...e is a transition in the Execute input pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Done output pin s signal f...

Page 316: ...M 5A AH10PM 5A and AH20MC 5A 5 10 23 Updating a Cam Curve 1 Motion control function block The motion control function block T_CamCurveUpdate is used to update a cam chart so that the cam curve in the...

Page 317: ...ut pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a tr...

Page 318: ...is a transition in the Execute input pin s signal from low to high BOOL True False ContIP Minimum speed to which the speed of continuous interpolation decreases DWORD K0 K500000 The value of the ContI...

Page 319: ...alues are incorrect There is transition in the Error output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low 3 Troubleshooting Error Troubles...

Page 320: ...xecuted BOOL There is a transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high There is a transition in the Busy outp...

Page 321: ...pins are in the ranges allowed 4 Example Purposes After the first G code motion is complete the second G code motion will be executed The second G code motion is executed before the execution of the f...

Page 322: ...is used to stop the execution of an Ox motion subroutine 2 Input pins Output pins Input pin Name Function Data type Setting value Time when a value is valid Execute G code motion stops when there is...

Page 323: ...a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from h...

Page 324: ...d The motion control function block T_GcodeStop supports AH05PM 5A AH15PM 5A AH10PM 5A and AH20MC 5A 5 11 4 Reading an M code 1 Motion control function block The motion control function block T_Mcode...

Page 325: ...gh to low when there is a transition in the Enable input pin s signal from low to high There is a transition in the CLRMcode input pin s signal from low to high when the Valid output pin is set to Tru...

Page 326: ...on subroutine is executed the motion control function block T_Mcode is used to check the status of an M code If an M code is executed the motion control function block T_Mcode will be used to clear th...

Page 327: ...rol function block T_AbsMoveLinear is used to start multiaxial absolute linear interpolation Users can set the axes which execute interpolation by means of the AxesGroup input pin set the target posit...

Page 328: ...signal from high to low Done The execution of the motion control function block is complete BOOL There is a transition in the Done output pin s signal from low to high when the execution of the motion...

Page 329: ...eLinear supports AH05PM 5A AH15PM 5A AH10PM 5A and AH20MC 5A 5 11 6 Multiaxial Relative Linear Interpolation 1 Motion control function block The motion control function block T_RelMoveLinear is used t...

Page 330: ...from high to low when there is a transition in the Execute input pin s signal from high to low Busy The motion control function block is being executed BOOL There is a transition in the Busy output pi...

Page 331: ...s stopped when there is a transition in the Execute input pin s signal from low to high BOOL True False AxesGroup Axes which execute interpolation WORD 6 _ _ _ _ _ _ 0 Not setting axes n Adding the nt...

Page 332: ...s are incorrect There is transition in the Error output pin s signal from high to low when there is a transition in the Execute input pin s signal from high to low 3 Troubleshooting Error Troubleshoot...

Page 333: ...transition in the Busy output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to high There is a transition in the Busy output pin s signal from high...

Page 334: ...me when there is a transition in an output pin s signal from high to low Done The execution of the motion control function block is complete BOOL There is a transition in the Done output pin s signal...

Page 335: ...he input pins are in the ranges allowed 4 Example Purpose Users can reset the servo drive specified on a DMCNET by means of the motion control function block T_DMCRest and then start the servo drive b...

Page 336: ...he Axis input pin indicates an axis number the value of the Group input pin indicates a group number the value of the Parameter input pin indicates a parameter number the value of the DataType input p...

Page 337: ...Value input pin is valid when there is a transition in the Execute input pin s signal from low to high DataType Data type BOOL mc16bits False mc32bits True The value of the DataType input pin is vali...

Page 338: ...roubleshooting The values of input pins in the motion control function block are incorrect Check whether the values of the input pins are in the ranges allowed 4 Example Purpose Users can reset the se...

Page 339: ...the value of the Group input pin indicates a group number the value of the Parameter input pin indicates a parameter number and the value of the Value input pin indicates the value read from the servo...

Page 340: ...the value of a parameter from the servo drive specified is complete There is a transition in the Done output pin s signal from high to low when there is a transition in the Execute input pin s signal...

Page 341: ...ive specified The motion control function block named FB2 is set so that the value written into the servo drive is read The value of the Group input pin in the motion control function block named FB1...

Page 342: ...indicates an axis number and the value of the Mode input pin indicates a mode of returning home After the servo drive specified returns home the value of the Offset input pin will indicate an offset...

Page 343: ...ate output pin Name Function Data type Time when there is a transition in an output pin s signal from low to high Time when there is a transition in an output pin s signal from high to low Done The ex...

Page 344: ...are incorrect Check whether the values of the input pins are in the ranges allowed 4 Example Purpose The motion control function block T_DMCPowerUp is used to start the servo drive specified and then...

Page 345: ...o drive specified on a DMCNET The value of the Axis input pin indicates an axis number The value of the DMC RatioNum is the numerator of an electronic gear ratio The value of the DMC RatioDen is the d...

Page 346: ...high Time when there is a transition in an output pin s signal from high to low Done The execution of the motion control function block is complete BOOL There is a transition in the Done output pin s...

Page 347: ...put pins in the motion control function block are incorrect Check whether the values of the input pins are in the ranges allowed 4 Example Purpose The motion control function block T_DMCControllnit is...

Page 348: ...Function Data type Setting value Time when a value is valid Axis Motion axis number WORD K1 K12 The value of the Axis input pin is valid when there is a transition in the Enable input pin s signal fr...

Page 349: ...he motion control function block is being executed BOOL There is a transition in the Busy output pin s signal from low to high when there is a transition in the Enable input pin s signal from low to h...

Page 350: ...he IPv4_1 input pin the IPv4_2 input pin the IPv4_3 input pin and the IPv4_4 input pin 2 Input pins Output pins Input pin Name Function Data type Setting value Time when a value is valid Execute The v...

Page 351: ...nction block is being executed BOOL There is a transition in the Busy output pin s signal from low to high when there is a transition in the Execute input pin s signal from low to high There is a tran...

Page 352: ...to high BOOL True False FileName Filename WORD K0 4095 The value of the FileName input pin is valid when there is a transition in the Execute input pin s signal from low to high State output pin Name...

Page 353: ...transition in the Done output pin s signal from low to high Error An error occurs in the motion control function block BOOL Input values are incorrect There is transition in the Error output pin s sig...

Page 354: ...signal from high to low when there is a transition in the Execute input pin s signal from high to low Busy The motion control function block is being executed BOOL There is a transition in the Busy ou...

Page 355: ...ue Time when a value is valid Execute The restoration of values is enabled when there is a transition in the Execute input pin s signal from low to high BOOL True False FileName Filename WORD K0 4095...

Page 356: ...n there is a transition in the Execute input pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s s...

Page 357: ...l Counter WORD 0 5 1 The value of the Channel input pin is valid when there is a transition in the Enable input pin s signal from low to high Enable The motion control function block is enabled when t...

Page 358: ...tion in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to lo...

Page 359: ...e TriggerMode indicates a mode of triggering the measurement of time and the value of the TimerValue output pin the value in the timer specified 2 Input pins Output pins Input pin Name Function Data t...

Page 360: ...Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when ther...

Page 361: ...start high speed comparison The value of the Channel input pin indicates a comparator the value of the Source input pin indicates a source the value of the CmpMode input pin indicates a comparison con...

Page 362: ...The value of the CmpMode input pin is valid when there is a transition in the Enable input pin s signal from low to high OutputDevice Output device WORD mcCmpY8 0 Y0 8 mcCmpY9 1 Y0 9 mcCmpY10 2 Y0 10...

Page 363: ...to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin...

Page 364: ...hich will be reset 2 Input pins Output pins Input pin Name Function Data type Setting value Time when a value is valid Enable The motion control function block is enabled when there is a transition in...

Page 365: ...when there is a transition in the Error output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Enable input pin s...

Page 366: ...value of the TriggerDevice input pin indicates the device which triggers the capture of a value the value of the InitialValue input pin is an initial value and the value of the CapValue output pin is...

Page 367: ...input pin is valid when there is a transition in the Enable input pin s signal from low to high TriggerDevice Device which triggers the capture of a value WORD mcCapX0 0 X0 0 mcCapX1 1 X0 1 mcCapX2 2...

Page 368: ...There is a transition in the Busy output pin s signal from high to low when there is a transition in the Enable input pin s signal from high to low Error An error occurs in the motion control function...

Page 369: ...MaskValue Rnage which is masked DWORD K1 2 147 483 647 When the motion control function block is executed the value of the MaskValue input pin is updated repeatedly State output pin Name Function Dat...

Page 370: ...rror occurs in the motion control function block BOOL Input values are incorrect The source specified has been occupied There is a transition in the Error output pin s signal from high to low when the...

Page 371: ...tate output pin Name Function Data type Time when there is a transition in an output pin s signal from low to high Time when there is a transition in an output pin s signal from high to low Valid An I...

Page 372: ...d 4 Modules which are supported The motion control function block T_Interrupt supports AH05PM 5A AH15PM 5A AH10PM 5A and AH20MC 5A 5 13 11 Absolute Encoder 1 Motion control function block The motion c...

Page 373: ...Done output pin s signal from low to high There is a transition in the Busy output pin s signal from high to low when there is a transition in the Error output pin s signal from low to high There is a...

Page 374: ...Y0 4 X0 2 X0 2 4 Y0 6 Y0 6 X0 3 X0 3 2 Setting the resolution of an encoder Specifications for an SSI encoder Item Specification Resolution per rotation 8192 13 bits Number of rotations 4096 12 bits...

Page 375: ...AH500 Motion Control Module Manual 5 260 MEMO...

Page 376: ...Chapter 6 Data Transmission Table of Contents 6 1 Functions 6 2 6 2 Parameters 6 2 6 3 Usage 6 5 6 1...

Page 377: ...e users can control or monitor the AH500 series motion control module by means of the 400 word devices and the 400 bit devices in the AH500 series motion control module The users can write values into...

Page 378: ...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...

Page 379: ...H500 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...

Page 380: ...ed will be stored AH500 series CPU module AH20MC 5A D5400 D3000 D3400 D5799 D3399 D3799 D5399 D5000 The AH500 series CPU module writes values into 400 devices in AH20MC 5A and reads values in 400 D de...

Page 381: ...ONFIG 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...

Page 382: ...e 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 The values in D3401 and D3402 are written into...

Page 383: ...AH500 Motion Control Module Manual 6 8 MEMO...

Page 384: ...ion 7 20 7 6 Introduction of a Mode of Triggering the Return to Home 7 20 7 6 1 Related Special Data Registers 7 20 7 6 2 Operation 7 23 7 7 Introduction of Single speed motion 7 26 7 7 1 Related Spec...

Page 385: ...he motor of the axis specified rotate once B 1 2 147 483 647 2 K1 000 SR1007 100 N SR1006 100 N Maximum speed VMAX at which the axis specified rotates 0 2 147 483 647 3 K10 500 000 SR1009 100 N SR1008...

Page 386: ...N SR1026 100 N Target position of the axis specified P II 2 147 483 648 2 147 483 647 1 K0 SR1029 100 N SR1028 100 N Speed at which the axis specified rotates V II 0 2 147 483 647 2 K2 000 SR1030 100...

Page 387: ...mber of pulses generated by the manual pulse generator for the axis specified K0 SR1048 100 N Response speed of the manual pulse generator for the axis specified Response speed of the manual pulse gen...

Page 388: ...cal unit or a compound unit users need to set SR1002 100 N and SR1003 100 N SR1007 100 N SR1006 100 N Maximum speed VMAX at which the axis specified rotates SR1009 100 N SR1008 100 N Start up speed VB...

Page 389: ...d SR1031 100 N Mode of operation SR1033 100 N SR1032 100 N Present command position of the axis specified Pulse SR1035 100 N SR1034 100 N Present command speed of the axis specified PPS SR1037 100 N S...

Page 390: ...R1052 100 N Setting an Ox motion subroutine number SR1053 100 N Step address in the Ox motion subroutine at which an error occurs Common special data registers are described below 1 Setting the parame...

Page 391: ...rns home speed VCR to which the speed of the axis specified decreases when the axis returns home speed at which the axis specified rotates V I and speed at which the axis specified rotates V II Exampl...

Page 392: ...takes for the axis specified to move to the target position specified pulses 200 000 B A I P A B m I P Bit 4 and bit 5 in SR1000 100 N Output type b5 b4 Output type positive logic Description 0 0 FP...

Page 393: ...tor to rotate once is 20 000 and the resolution of Delta ASDA A2 series servo drive is 1 280 000 the gear ratio which should be set is 128 2 The unit used is determined by bit 0 and bit 1 in SR1000 10...

Page 394: ...of the axis specified to increase from its start up speed to its maximum speed The value in SR1020 100 N is in the range of 0 to 32 767 A millisecond is a unit If the value in SR1020 100 N is less tha...

Page 395: ...f 0 to 2 147 483 647 10 Present command position of the axis specified Unit 1 N th axis HW LW SR1037 100 N SR1036 100 N Description The value in SR1037 100 N SR1036 100 N is in the range of 2 147 483...

Page 396: ...JOG mode The motion of the axis specified is stopped by software Description If a bit in SR1030 100 N is turned from OFF to ON when SM1048 100 N is ON motion will be activated When bit 0 in SR1030 100...

Page 397: ...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 or...

Page 398: ...e in SR1009 100 N SR1008 100 N is greater than 1000K the frequency of pulses generated will be 1000K PPS If the value in SR1009 100 N SR1008 100 N is less than 10 the frequency of pulses generated wil...

Page 399: ...OG mode The axis specified operates in JOG mode The motion of the axis specified is stopped by software Bit 2 1 Positive JOG motion Bit3 1 Negative JOG motion 7 3 2 Operation When bit 2 in SR1030 100...

Page 400: ...b0 The execution of the Ox motion subroutine set starts A mode of inserting two speed motion is activated A mode of two speed motion is activated A mode of inserting single speed motion is activated...

Page 401: ...nput terminal The relation between the position of the axis specified and the input pulses generated by the manual pulses used is shown below A phase B phase FP RP Servo drive Servo motor Frequency of...

Page 402: ...ual pulse generator for the axis specified are counterclockwise pulses the value in SR1047 100 N SR1046 100 N will decrease The value in SR1047 100 N SR1046 100 N does not vary with the values in SR10...

Page 403: ...5 in SR1030 100 N is set to 1 a manual pulse generator mode will be activated The value in SR1047 100 N SR1046 100 N indicates the number of pulses generated by the manual pulse generator for the axi...

Page 404: ...isely it is suggested that the VCR set should be a low speed When the motion of returning home is executed the VRT set can not be changed 3 Number of PG0 pulses for the axis specified 1 N th axis HW L...

Page 405: ...8 0 The value indicating the present command position of an axis specified decreases and the axis returns home in the negative direction Bit 8 1 The value indicating the present command position of a...

Page 406: ...want to activate a mode of triggering the return to home they have to set bit 6 in SR1030 100 N to 1 7 6 2 Operation When bit 6 in SR1030 100 N is turned from OFF to ON a mode of triggering the return...

Page 407: ...w DOG Number of PG0 pulses Number of supplementary pulses VRT VCR Away from DOG s signal Close to DOG s signal Direction in which the axis specified returns home VCR A transition in DOG s signal from...

Page 408: ...mentary pulses and then stop If the number of PG0 pulses or the number of supplementary pulses is not large the speed of the motor used will decrease to the speed VCR after DOG s signal is generated A...

Page 409: ...se to DOG s signal Direction in which the axis specified returns home Velocity PPS DOG VCR VCR VRT 7 7 Introduction of Single speed motion 7 7 1 Related Special Data Registers 1 Target position of the...

Page 410: ...on is activated A mode of two speed motion is activated A mode of inserting single speed motion is activated A mode of single speed motion is activated A mode of triggering the return to home is activ...

Page 411: ...gle speed Motion 7 8 1 Related Special Data Registers 1 Target position of the axis specified P I 1 N th axis HW LW SR1023 100 N SR1022 100 N Description The value in SR1023 100 N SR1022 100 N is in t...

Page 412: ...lse generator is operated A mode of variable motion is activated The axis specified operates in JOG mode The axis specified operates in JOG mode The motion of the axis specified is stopped by software...

Page 413: ...he axis specified P II 1 N th axis HW LW SR1027 100 N SR1026 100 N Description The value in SR1027 100 N SR1026 100 N is in the range of 2 147 483 648 to 2 147 483 647 The unit used is determined by b...

Page 414: ...ggering the return to home is activated A manual pulse generator is operated A mode of variable motion is activated The axis specified operates in JOG mode The axis specified operates in JOG mode The...

Page 415: ...the V II to the VBIAS set until the present command position of the axis specified is near the P II set Velocity Start Time TACC TDEC VMAX VBIAS V I V II P II P I 7 10 Introduction of Inserting Two s...

Page 416: ...fied operates in JOG mode The axis specified operates in JOG mode The motion of the axis specified is stopped by software If users want to activate a mode of inserting two speed motion they have to se...

Page 417: ...rates by means of the flag for the axis Description of SM1048 SM1048 is ON before the first axis operates After the first axis begins to operate SM1048 will be turned from ON to OFF After the operatio...

Page 418: ...r SR1040 100 N b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 The axis pauses An error occurs The axis specified is being operating Negative pulses are being output Positive pulses are being ou...

Page 419: ...AH500 Motion Control Module Manual 7 36 MEMO...

Page 420: ...g Cyclically 8 7 8 2 3 1 Staring an Electronic Cam Operating Cyclically 8 7 8 2 3 2 Stopping an Electronic Cam Operating Cyclically 8 8 8 3 Creating Electronic Cam Data 8 10 8 3 1 Creating a CAM Chart...

Page 421: ...iform sequential and regular motion 3 A support is a piece that which is used to support a mechanical cam and a follower Compared with a traditional cam an electronic cam has the following advantages...

Page 422: ...is specified 3 Setting a slave axis 3 Starting Stopping a cam which operates cyclically 3 8 2 1 Initial Setting 8 2 1 1 Creating Electronic Cam Data There are two methods of creating electronic cam da...

Page 423: ...output pulse type If a pulse type motion controller an AH10PM series motion control module is used to execute cam motion an output pulse type has to be set If a communication type motion controller is...

Page 424: ...m motion set 8 2 2 1 Setting a Master Axis Users can set a master axis by means of the Master input pin in the motion control function block T_CamIn 1 Value of the Master input pin Input value Definit...

Page 425: ...on K0 K2 147 483 647 Starting angle of the master axis specified A pulse is a unit The value of the Masteroffset input pin indicates the starting point of a cam curve Position of the master axis Displ...

Page 426: ...cam moves in accordance with electronic cam data when the master axis of the electronic cam moves Electronic cam data defines only one cycle The relation between the positions of a master axis and the...

Page 427: ...n of the electronic cam is complete the electronic cam operates cyclically and the motion of the slave axis specified follows the motion of the master axis specified in accordance with the electronic...

Page 428: ...am operating cyclically CamOut input pin Not meshing with the master axis specified InCam output pin The slave axis specified meshes with the master axis specified 5 Stopping electronic cam motion by...

Page 429: ...the relation between the positions of a master axis and the positions of a slave axis Method 1 Function that relates the positions of a master axis to the positions of a slave axis Method 2 Measuring...

Page 430: ...mum speed of the slave axis are shown in this section They are calculated by the system according to the data related to displacement Users can change the maximum speed of the slave axis and the minim...

Page 431: ...and must be in numerical order Slave Axis Users can set the displacement of the master axis A pulse is a unit of the measurement for displacement The values that the users type in the Slave Axis pulse...

Page 432: ...in the folder in which PMSoft is installed There are three files in the CAMData folder Folder in which PMSoft is installed CAMData Data_S txt Displacement Folder in which PMSoft is installed CAMData D...

Page 433: ...slave axis specified in a file in the CAMData folder and then import the relation into a cam chart in PMSoft The steps of importing the relation between the positions of the master axis specified and...

Page 434: ...d a velocity chart and an acceleration chart will be drawn in accordance with the contents of Data_S txt 4 After Import Speed Data is clicked PMSoft will read Data_S txt and draw a velocity chart in t...

Page 435: ...otion control function block T_CamWrite is used to modify a particular point in a cam chart CamRead CamWrite 1 Example Function Users can modify a particular point in a cam chart In figure a there is...

Page 436: ...Chapter 8 Electronic Cam 8 17...

Page 437: ...ry cut is unidirectional motion The cam curve for rotary cut is different from the cam curve for flying shear The application of rotary cut is described below 1 2 3 4 1 2 3 AH500 serie s motion contro...

Page 438: ...n the speed of a material when it comes into contact with the material the material will be jammed 3 The design of a synchronization zone affects the operation of equipment The bigger the synchronizat...

Page 439: ...master axis Length of a cutting Two times the circumference of the blade used The length of a cutting is greater than two times the circumference of the blade It is a common situation After the blade...

Page 440: ...s stored in the cam chart 2 Setting the motion control function block T_CamCurve Users have to set the parameters related to a rotary cutter including the distance for which the master axis specified...

Page 441: ...h the master axis specified PPS SSyncRatio Synchronization ratio of the speed of the slave axis specified to the speed of the master axis specified Float 1 1755x10 38 3 4028x10 38 Synchronization rati...

Page 442: ...block BOOL True False An error occurs when a curve is created Value output pin Name Function Data type Output range Description ErrNo Error code WORD 0 2 Error code SyncBegin Starting point of synchr...

Page 443: ...AH500 Motion Control Module Manual 2 SingleHypot curve 3 Cycloid 2 Value of the eCamCurve input pin 0 leftCAM 1 midCAMall 2 midCAMbegin 3 midCAMend 5 rightCAM 8 24...

Page 444: ...ified is synchronized with the m aster axis specified 300 Distance for which the master axis specified moves 1 000 Synchronization ratio of the speed of the slave axis specified to the speed of the ma...

Page 445: ..._CamCurveUpdate After the motion control function block T_CamCurve is executed the motion control function block T_CamCurveUpdate can be used If users want to modify a rotary cut curve they can create...

Page 446: ...False A cam curve is being updated State output pin Name Function Data type Output range Description Error An error occurs in the motion control function block BOOL True False An error occurs when a...

Page 447: ...e axis Second axis Master axis 5 Function blocks Name Motion control function block Function Calculating a synchronization ratio The motion control function block is used to calculate the value of the...

Page 448: ...of pulses it takes for the master axis specified to rotate once is 10 000 The circumference of the slave axis specified is 188 mm The number of pulses it takes for the slave axis specified to rotate o...

Page 449: ...r axis specified is the same as the value of the SyncRatio output pin in the motion control function block T_CamSyncRatio The distance for which the slave axis specified is synchronized with the maste...

Page 450: ...tents 9 1 Introduction of Multiaxial Interpolation 9 2 9 2 Table of O Pointers M codes and Table of G codes 9 2 9 3 Composition of a G code 9 2 9 4 Descriptions of G code Instructions 9 5 9 5 O Pointe...

Page 451: ...on two axes 01 Linear interpolation three axes 02 Circular interpolation clockwise arc center 02 Helical interpolation clockwise arc center 02 Circular interpolation clockwise radius 02 Helical interp...

Page 452: ...a program The other G codes individaully occupy one step in a program If the value of a paramter is an arabic integer it will occupy three steps in a program If the value of a parameter is a D W regi...

Page 453: ...0 N0002 G02 X100 0 Y25 0 I400 5 F2 N0003 G01 X 200 0 Y50 0 G90 and G91 have high prio r G codes G90 G01 X100 0 Y300 0 F500 0 G90 G01 G01 G90 X100 0 Y300 0 F500 0 G90 G01 X100 0 Y300 0 F500 0 Whether...

Page 454: ...lue of a parameter is a floating point value it must be in the range of 2 147 483 648 to 2 147 483 647 Users do not need to set the speeds at which the axes used moves The speed at which an axis moves...

Page 455: ...0 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 The speeds...

Page 456: ...st be in the range of 2 147 483 648 to 2 147 483 647 and the value of V must be in the range of 0 to 500 0 If users specify a speed for G01 the speed of interpolation will be the speed specified If no...

Page 457: ...0 0 100 0 to the target position 200 0 400 0 250 0 If G90 precedes the instruction the target position is an absolute position If G91 precedes the instruction the target position is a relative positio...

Page 458: ...483 648 to 2 147 483 647 and the value of V must be in the range of 0 to 500 000 If the value of P1 P2 P3 P4 P5 P6 is a floating point value it must be in the range of 2 147 483 648 to 2 147 483 647 a...

Page 459: ...does not change helical interpolation will be equivalent to circular interpolation X axis Y axis Z axis Z 0 End point x y z Start point Center point I J Center point I J Start point End point x y I J...

Page 460: ...e to specify the speed of interpolation 2 If there is no vector from the present position of an axis to its target position users do not need to specify the target position of the axis 3 If there is n...

Page 461: ...3 X P1 Y P2 Z P3 J P4 34 X P1 Y P2 Z P3 J P4 F V 35 X P1 Y P2 Z P3 I P3 J P4 36 X P1 Y P2 Z P3 I P3 J P4 F V 37 X P1 K P6 38 X P1 K P6 F V 39 X P1 I P3 K P6 40 X P1 I P3 K P6 F V 41 Z P3 I P3 42 Z P3...

Page 462: ...K P6 F V 77 X P1 Y P2 Z P3 J P4 K P6 78 G02 G03 X P1 Y P2 Z P3 J P4 K P6 F V The path of circular interpolation can be a 360 arc The path of helical interpolation which is viewed from the top can be...

Page 463: ...8 and G02 are used The arc end point set is 10 15 35 and the arc cent point set is 10 0 5 The output speed set is 2000 Hz Z axis X axis End point 10 15 35 Center point 10 0 5 Y axis Start point 20 0 5...

Page 464: ...range of 2 147 483 648 to 2 147 483 647 and the value of V must be in the range of 0 to 500 0 L If the angle subtended by an arc is less than 180 the value of R is a positive value If the angle subte...

Page 465: ...is used and the position of a z axis does not change helical interpolation will be equivalent to circular interpolation Y axis Z axis End point Start point Center point Center point Start point End po...

Page 466: ...ition of an axis to its target position users do not need to specify the target position of the axis The circular helical instrctions listed below are available NO G code Combination of operands G17 G...

Page 467: ...0000 R5000 F1000 Example 2 Absolute coordinates are set and G03 is used The arc start point set is 30 0 0 the arc end point set is 0 30 15 and L is 30 0 The angle subtended by the arc is less than 180...

Page 468: ...ds if G4 X2 5 is used If the operand X is used a millisecond is a unit of measurement for dwell duration For example the dwell period set 0 1 seconds if G4 P100 is used and the dwell priod set is 4 5...

Page 469: ...on 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 When a program is executed the th...

Page 470: ...ate clockwise If the target position of an axis is less than its present position the motor for the axis will rotate counterclockwise G91 Positioning defined with reference to the present position of...

Page 471: ...want to store a G code subroutine pointer in the low byte in SR1052 they have to set bit 14 or bit 15 in SR1052 to 1 After bit 12 in SR1030 is set to ON the execution of the Ox motion subroutine spec...

Page 472: ...rol conditions in O100 by means of this character When M50 is executed Y0 8 is ON The execution of M50 will be complete after one second O100 is shown below M codes can be used in two modes If an M co...

Page 473: ...he use of TO to set linear interpolation is described below CR 2 Starting interpolation X0 TO K253 K2 S N CR number Module number Quantity of data Initial device Data Device Setting S S 1 Axes specifi...

Page 474: ...is 6th axis 5th axis 4th axis 3rd axis 2nd axis 1st axis Evey axis is controlled by two bits in S S 1 Value Definition 0 Not participating in interpolation 1 Stopping linear interpolation 2 Not used 3...

Page 475: ...ise pulses RP Counterclockwise pulses Counting up down 0 1 FP Pulses RP Directions Counterclockwise Clockwise Pulses Directions 1 0 A B phase pulses 1 1 Counterclockwise Clockwise FP A phase pulses RP...

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 10 1...

Page 477: ...D 1 P D 2 A B One time the frequency of A B phase inputs 3 4A B Four times the frequency of A B phase inputs SM223 X0 3 and X0 3 X0 14 X0 15 and S S 1 The input terminals of AH20MC 5A are differentia...

Page 478: ...pul ses Counting pulses Present value in C208 C216 C208 C216 Pulse U A B Dir D SM209 SM208 Mode of counting X0 13 X0 12 SM211 1 X0 2 C212 Users can select a mode of counting by setting SM212 and SM213...

Page 479: ...Function block 3 If users want to clear the present counter value by means of an external signal they have to write 16 A into K1SM204 Ladder diagram K1SM204 16 A SM204 SM205 SM206 SM207 0 1 0 1 Functi...

Page 480: ...eneral mode The interval between the rising edge of a pulse and the falling edge of the pulse is measured 2 1 Cyclic mode The interval between the rising edge of a pulse and the rising edge of the nex...

Page 481: ...have to write K5 into K1SM208 2 C208 is enabled The interval between the rising edge of a pulse received through X0 2 and the rising edge of the next pulse is measured The interval is written into C2...

Page 482: ...Chapter 10 High speed Counters and High speed Timers 3 The cyclic mode is used to measure a frequency 10 7...

Page 483: ...AH500 Motion Control Module Manual 10 8 MEMO...

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: ...ice number Module number Data length X0 0 FROM K253 K1 S N 11 2 Comparison Control X0 0 TO K253 K1 S N Control register number Initial device number Module number Data length Definitions Device Contro...

Page 486: ...4 5 6 7 8 9 10 11 12 13 14 15 Comparison source Comparison result Bit Item Conditi on Output action Item Bit Value AH20MC 5A AH10PM 5A AH15PM 5A AH05PM 5A 0 Present position of the 1st axis Present po...

Page 487: ...ontrol register n n 0 7 E Comparison source F Comparison condition G Output terminal Counter The dotted lines are data procedures and the solid lines are control procedures Block A The instruction TO...

Page 488: ...d to the terminal 24G Y0 9 is connected to X0 2 X0 2 is connected to 24V and X0 10 and X0 11 are connected to a manual pulse generator Steps 1 After O100 is started the initial setting of two high spe...

Page 489: ...s started when M5 is set to ON Mode of counting Pulse Direction 6 Use the manual pulse generator and check whether C204 counts 7 Use the manual pulse generator Check whether X0 2 is ON by means of PMS...

Page 490: ...gram in PMSoft Ladder diagram SM002 MOV K0 D0 MOV MOV M1 M2 TO K253 K1 RST M2 K0 D1 K10 D20 MOV K10 D60 MOV H125 D2 MOV MOV K100 D4 H165 D6 MOV K300 D8 RST M1 RST D0 D20 M3 FROM K253 K1 RST M3 D40 D60...

Page 491: ...rs can set the function corresponding to the output of a high speed comparison by means of S 3 S 2 Setting Bit AH20MC 5A AH10PM 5A AH15PM 5A AH05PM 5A 0 Y0 8 Y0 8 Y0 8 1 Y0 9 Y0 9 Y0 9 2 Y0 10 Y0 10 3...

Page 492: ...n 7 S 33 S 32 Data registers whose group numbers are n 7 N Data length 2 m 4 m number of groups 8 groups at most can be used Reading Control register number Initial device number Module number Data le...

Page 493: ...resent position of the 3rd axis 3 Present position of the 4th axis Present position of the 4th axis Present position of the 4th axis 4 Value in C200 Value in C200 Value in C200 5 Value in C204 Value i...

Page 494: ...The values stored in the data registers are values captured Procedure for a high speed capture The instruction TO is used to write data into control registers block A An input terminal is set to ON b...

Page 495: ...is started when M5 is set to ON Mode of counting Pulse Direction 6 Use a manual pulse generator and check whether C204 counts 7 Use the manual pulse generator and set X0 1 to ON 8 The value captured i...

Page 496: ...Program in PMSoft Ladder diagram SM002 MOV K0 D0 MOV MOV M1 M2 TO K253 K1 RST M2 K0 D1 K6 D20 MOV K6 D60 MOV H1004 D2 MOV K100 D4 RST RST M1 D0 D20 M3 FROM K253 K1 RST M3 D40 D60 M4 MOV K1 K1SM204 SE...

Page 497: ...time is in the range which can be masked the signal which triggers the capture of the value this time will be disregarded Setting Control register number Initial device number Module number Data lengt...

Page 498: ...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 Trou...

Page 499: ...et 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 SR808 High byte Low byte High...

Page 500: ...rsonal computer is incorrect Setting COMMGR 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 Select a network interfac...

Page 501: ...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 1 Start PM...

Page 502: ...s 192 168 0 100 Users can change the Ethernet IP address of an AH500 series motion control module by means of SR808 and SR809 or by means of the motion control function block T_TcpIPAddr An AH500 seri...

Page 503: ...he 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 After the users select the link name created...

Page 504: ...If the IP address of the AH500 series motion control module and the IP address of the driver created are not in the same domain the AH500 series motion can not be connected to PMSoft A Modbus TCP con...

Page 505: ...AH500 Motion Control Module Manual 12 8 MEMO...

Page 506: ...s 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 B...

Page 507: ...r for a memory card backup SR207 End address of a 32 bit counter for a memory card backup SR208 Start address of an S device for a memory card backup SR209 End address of an S device for a memory card...

Page 508: ...SR213 Start End address of a W device 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 W device 8 SR214 Control r...

Page 509: ...es Ox100 199 subsequent to the built in subroutines Ox0 Ox99 The file name 100 refers to Ox100 the file name 101 refer to Ox101 and so forth So the file name 199 refers to Ox199 As shown in the figure...

Page 510: ...bit 15 in SR214 to 1 For example if the value in SR214 is A000H devices will be backed up the name of the backup file will be 0 and the file 0 csv can be found in AHMotion Device in a memory card The...

Page 511: ...counter C32b and C32W stand for the state and value of a 32 bit counter D stands for a D device and W stands for a W device 13 4 2 Restoration Before restoring devices the file to be restored should...

Page 512: ...module by PMSoft and stop the operation under the monitoring Alternatively set SM072 to 0 to stop O100 2 Set SR214 by a device monitoring table or external communication Set bit 12 bit 0 in SR214 to b...

Page 513: ...in SR214 The values of bit 12 bit 0 in SR214 represent a backup filename To restore set bit13 in SR214 to 0 To backup the program in the motion control module set bit 14 in SR214 to 1 The table above...

Page 514: ...in are saved in the folder 4 Insert a memory card into the memory card slot and supply the module with power When the RUN LED indicator blinks the firmware of the motion control module is updated Afte...

Page 515: ...AH500 Motion Control Module Manual 13 10 MEMO...

Page 516: ...rs 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 Serv...

Page 517: ...lve Delta ASDA A2 F AC servo drives Users can write the values of parameters into a servo drive and read the values of parameters from the servo drive by means of a DMCNET User can instruct an axis to...

Page 518: ...specified on a DMCNET returns home SR1078 SR1178 SR1278 SR1378 SR1478 SR1578 SR1678 SR1778 Parameter Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 Command sent to the servo drive for...

Page 519: ...servo drive used to return home by means of a DMCNET x5xx Setting a DMCNET motion mode by means of DMCNET Setting the servo drive used to OFF ON User can set the servo drive used to OFF or ON After th...

Page 520: ...xx2 The servo drive used is ON x2xx Control command error xx1x An error occurs in the servo drive used If the status of a servo drive is that the servo drive is disconnected the servo drive is not con...

Page 521: ...the error will be cleared to 0 SR1077 SR1076 SR1177 SR1176 SR1277 SR1276 SR1377 SR1376 SR1477 SR1476 SR1577 SR1576 SR1677 SR1676 SR1777 SR1776 SR1877 SR1876 SR1977 SR1976 SR2077 SR2076 SR2177 SR2176...

Page 522: ...SR2478 SR2578 Parameter position in the servo drive for the axis specified on a DMCNET The value of the high byte in SR1078 SR1178 SR1278 SR1378 indicates a group number and the value of the low byte...

Page 523: ...s AC servo drive is in the range of 1 to 12 The node ID of a servo drive can not be the same as the node ID of another servo drive Node ID 1 represents the first axis node ID 2 represents the second a...

Page 524: ...ta 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 o...

Page 525: ...SR1176 SR1277 SR1276 If the writing of a value is successful the value of bit 11 bit8 in SR1073 SR1173 SR1273 will be 0 9 The users can write a value into another servo drive or read a value from anot...

Page 526: ...return home by means of a DMCNET they have to make sure of the following points 1 The value of bit 0 bit 3 in SR1073 SR1173 SR1273 is 2 that is the servo drive used is ON 2 When the servo drive used...

Page 527: ...ockwise After a transition in DOG s signal from low to high occurs the motor will rotate clockwise until a transition in a Z phase signal from low to high occurs 2 The value in SR1078 SR1178 SR1278 is...

Page 528: ...high to low occurs the motor will rotate counterclockwise until a transition in a Z phase signal from low to high occurs Mode 9 The motor used rotates counterclockwise After a transition in DOG s sig...

Page 529: ...en DOG s signal is ON Mode 11 The motor used rotates counterclockwise After a transition in DOG s signal from high to low occurs the motor will rotate counterclockwise until a transition in a Z phase...

Page 530: ...SR1278 is in the range of 1 to 14 motor specified stops when a transition in a Z phase signal from low to high occurs If the value in SR1078 SR1178 SR1278 is in the range of 17 to 30 the motor specif...

Page 531: ...change the value indicating the present position of the motor specified to the value stored in SRmn33 SRmn32 by writing 35 into SR1078 SR1178 SR1278 mn 10 25 Users can use the motion control function...

Page 532: ...ervo Drive Setting a servo drive Set P2 08 to 16 10 Restore the servo drive to its factory setting Turn off the servo drive Turn on the servo drive Set P1 01 to 16 0B Set the servo drive to DMCNET mod...

Page 533: ...n control module is not ON Check whether a networking cable is connected to the AH500 series motion control module correctly and check whether a terminal resistor is connected correctly The value of b...

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 15 1...

Page 535: ...Communicating with PMSoft Setting a connection environment Before users use the mini USB port on an AH500 series motion control module they have to install a USB driver on a computer The default path...

Page 536: ...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 installa...

Page 537: ...500 Motion Control Module Manual 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 15...

Page 538: ...he 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 2...

Page 539: ...will return to their default values If users do not know the communication protocol for exchanging data through a communication port on a device connected the users can connect the device to an RS 23...

Page 540: ...ated information in the IP Address section the Port Number column and the Comment column Users can type the IP address of a device connected in this cell Users can type the communication port number s...

Page 541: ...AH500 Motion Control Module Manual 15 8 driver according to their needs MSoft necting to PMSoft directly 3 Using P Con 1 Start PMSoft and click Communication Setting on the Communication menu...

Page 542: ...n setting varies with the driver selected RS232 and USB 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 I...

Page 543: ...arried out 15 10 The users also have to select the IP address created in COMMGR in the IP Address drop down list box Using IS After us Commu U option b Please refer to PMSoft User Manual for more info...

Page 544: ...Appendix A Error Code Table Table of Contents A 1 Error Code Table A 2 A 1...

Page 545: ...y motion are inhibited 0004 There is a subroutine pointer in the main program 0033 The motor used comes into contact with the left right limit switch set 0005 Lack of a subroutine 0040 A device exceed...

Page 546: ...register in AH20MC 5A will include a servo error code The error code stored in an error register in AH20MC 5A is composed of an AL code and 16 8000 Error code Description Error code Description 8001 O...

Page 547: ...AH500 Motion Control Module Manual A 4 MEMO...

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