Delta Electronics AH500, Manual

Page: 15 / 547

A H 5 0 0 M o t i o n C o n t r o l M o d u l e M a n u a l
2. Whenever an Ox motion subroutine is enabled, it is executed once. After O100 enables an Ox
motion subroutine, the execution of the Ox motion subroutine will start from the starting flag in
the Ox motion subroutine. After the ending instruction M2 in the Ox motion subroutine is
executed, the execution of the Ox motion subroutine will stop.
MOV
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1 6# 80 0 A SR 10 52
Se ttin g th e O x n um be r O x10 , an d se ttin g b it 1 5 to ON .
If X0 .0 i s O N, th e mo tio n su bro ut in e Ox1 0 w il l be en a bl ed .
Cy
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It
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.
X0 .0
X0 .0 is ON .
O1
0
0
Ma
in
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Ox
1
0
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o
tion
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u
bro
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tin
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.
.
.
MOVP K1 00 SR 10 20
MOVP K1 00 SR 10 21
MOV 1 6# 10 0 0 SR 10 30
If X0.0 is ON, the motion subroutine Ox10 will be enabled. After the ending instruction M2 in
Ox10 is executed, the execution of Ox10 will stop. (Ox10 is executed once. If Ox10 needs to be
executed again, X0.0 has to be set to ON.)
3. There are four methods of disabling an Ox motion subroutine.

If the “RUN-STOP” switch of an AH500 series motion control module is turned form the
“RUN” position to the “STOP” position when the AH500 series motion control module is
powered, SM072 will be OFF, O100 will stop, and Ox motion subroutines will not be
executed.

If an AH500 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 subroutine is compiled or when an Ox motion
subroutine is executed, the execution of the Ox motion subroutine will stop automatically.
4. An Ox motion subroutine supports basic instructions, applied instructions, motion instructions,
and G-codes. Users can write a motion program according to their needs. They can control the
motion of the axes of an AH500 series motion control module by set the parameters of the axes.

Basic instructions, applied instructions, motion instructions and G-codes must be used in
the motion subroutines Ox0~Ox99.

Ox motion subroutines can call P subroutines. Please refer to section 1.3 for more
information.
5. The description of Ox motion subroutines is shown below.
Ox motion
subroutine
Description
Enabling a Ox
motion
subroutine
There are 100 Ox motion subroutines (Ox0~Ox99).
(If an Ox motion subroutine is a ladder diagram in PMSoft, the starting flag
in the Ox motion subroutine will be set automatically, and users do not
have to write the starting flag.)
Disabling a Ox
motion
subroutine
Ending instruction M2 (If a Ox motion subroutine is a ladder diagram in
PMSoft, the ending instruction M2 will be set automatically, and users do
not have to write the ending instruction M2.)
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