Delta Electronics AH500, Руководство пользователя

Страница: 16 / 547

C h a p t e r 1 F r a m e w o r k o f a n A H 5 0 0 S e r i e s M o t i o n C o n t r o l M o d u l e
1 - 7
Ox motion
subroutine
Description
Executing a
Ox motion
subroutine
1. If users set bit 12 in SR1030 to ON when O100 runs, an Ox motion
subroutine will be enabled.
2. If users use communication to set bit 12 in SR1030 to ON when O100
runs, an Ox motion subroutine will be enabled.
Note: Before an Ox motion subroutine is enabled, users have to make sure
that no Ox motion subroutine runs.
Operation
characteristic
Whenever an Ox motion subroutine is enabled, it is executed once. If an
Ox motion subroutine needs to be executed again, it has to be enabled
again.
Instruction
Basic instructions, applied instructions, motion instructions, and G-codes
are supported.
Note: Users have to avoid using pulse instructions.
Number
There are 100 Ox motion subroutines. If users want to enable a motion
subroutine number, they have to set SR1052, and set bit 12 in SR1030 to
ON.
Characteristic
and Function
1. Ox0~Ox99 are motion subroutines. (They can only be enabled by
O100.)
2. They can control the motion of the axes of an AH500 series motion
control module. Please refer to the description of G-code for more
information.
3. An Ox motion subroutine can be enabled/disabled by a program or
communication.
4. Ox motion subroutines can call P subroutines.
5. If Ox motion subroutines are used with O100 and P subroutines, the
Ox motion subroutines, O100, and the P subroutines can be arranged
in any order.
1.4 Structure of P Subroutines
P subroutines are general subroutines. They can be called by O100 and Ox motion subroutines. If P
subroutines are called by O100, the P subroutines will support basic instructions and applied
instructions. If P subroutines are called by Ox0~Ox99, the P subroutines will support basic
instructions, applied instructions, motion instructions, and G-codes. After O100 or an Ox motion
subroutine calls a P subroutine, the P subroutine will be executed. After SRET in the P subroutine is
executed, the lines under the instruction which calls the P subroutine will be executed.
1. There are two methods of enabling a P subroutine.

O100 can call P subroutines.

Ox motion subroutines can call P subroutines.