Delta Electronics AH500, Руководство пользователя

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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 a P subroutine is called, it is executed once. After O100 or an Ox motion subroutine
calls a P subroutine, the P subroutine will be executed. After the ending instruction SRET in the
P subroutine is executed, the execution of the P subroutine will stop, and the lines under the
instruction which calls the P subroutine will be executed.
MOV
C ALL
.
.
.
.
.
.
16#800A
SR 1052
X0 .0
.
.
.
.
.
P0
P2
C ALL
b
a
M1 00 0
M1000
Ca llin g P0
Setting th e moti on su broutin e number Ox1 0
If X0 .0 is ON, Ox1 0 wil l b e enab led .
The pa th a is vali d.
Ca llin g P2
O10 0 and Ox 10
dive rge.
Sub rou tine
s ec tion
OX
1
0
M
o
tion
s
ubr
ou
tine
O
100
M
ai
n p
rogr
am
P2
s
ubr
o
ut
ine
P0
s
ubr
o
u
tine
C
y
cl
ic
sc
a
n
O
x
10
is
e
x
e
c
ut
ed
o
nc
e.
MOV P
K100
ABST
D RV
X- 20000 Y20000
MOV P
K100
.
.
.
.
MOV 16#1000 SR 1030
SR 1020
SR 1021
O
x
10
is
ex
e
c
ut
ed
o
nc
e.
P
2
is
ex
e
c
ut
e
d
on
c
e
.
P
2
is
e
x
e
c
ut
ed
o
n
c
e.
O
x
10
is
ex
e
c
ut
ed
o
nc
e.
The 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 disabling a P 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 and P subroutines
will not be executed.

If an AH500 series motion control module is powered, users can use communication to set
SR1030 to 0, to stop the execution of Ox motion subroutines, and to stop the execution of P
subroutines.

If an error occurs when a P subroutine is executed, the execution of the P subroutine will
stop automatically. Please refer to appendix A for more information.
4. 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.
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