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Delta Electronics · AH · 476 стр.
AH Motion Controller - Motion Control Instrucitons Manual
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Contents
Cover_AH Motion Controller - Motion Control Instructions Manual
1
Revision History
2
Contents
3
Preface
9
P.1 Introduction
10
P.1.1. Applicable Products
10
P.1.2. Related Manuals
10
P.2 Navigation between Manuals
11
Chapter 1 Introduction to Motion Control Instructions
13
1.1 Motion Control Instructions
14
1.1.1 Fundamentals of Motion Control Instructions
14
1.2 Points to Note about Motion Control Instructions
17
1.3 Categories of Motion Control Instructions
19
Chapter 2 Devices, Symbols and Instructions
21
2.1 Common Devices
23
2.1.1. Functions of Common Devices
23
2.1.2. Common Device List
23
2.1.3. Latched Devices
24
2.1.4. Input Relays (X)
26
2.1.5. Output Relays (Y)
26
2.1.6. Auxiliary Relays (M)
27
2.1.7. Special Auxiliary Relays (SM)
27
2.1.8. Data Registers (D)
27
2.1.9. Special Data Registers (SR)
27
2.1.10. Link Registers (L)
28
2.1.11. Stepping Relays (S)
28
2.1.12. Timers (T)
28
2.1.13. Counters (C)
28
2.1.14. 32-bit Counters (HC/AC)
29
2.1.15. Values and Constants (K, 16#)
29
2.1.16. Floating-point Numbers (F, DF)
30
2.1.17. Strings (“$”)
30
2.1.18. Pointers (PR)
30
2.1.18.1 Pointer Registers of Timers (T_Pointer) (TR)
30
2.1.18.2 Pointer Registers of 16-bit Counters (C_Pointer) (CR)
31
2.1.18.3 Pointer Registers of 32-bit Counters (HC_Pointer) (HCR)
31
2.2 Motion Control Devices
32
2.2.1 Parameters for Motion Axes: Structure
32
2.3 EtherCAT Symbols
35
2.4 Symbols
35
2.4.1 Application of Symbols
35
2.4.2 Classes
35
2.4.3 Data Types
36
2.4.4 Using instructions, Devices and Symbols
37
2.4.5 Modifying a Symbol with an Index Register
38
2.5 Data Type Unit (DUT): ENUM
40
2.6 Instructions
41
2.6.1 Categories of Motion Control Instructions
41
2.6.2 List of Motion Control Instructions
41
Chapter 3 Motion Control Instructions
59
3.1 Applying This Chapter
61
3.1.1 The Interface of a Motion Control Function Block
61
3.1.2 PDO Mapping
64
3.1.3 List of Motion Control Related Instructions (Sort by function)
64
3.2 PLCopen-based Motion Control Instructions
68
MC_Power
70
MC_Home
82
MC_Stop
90
MC_Halt
96
MC_MoveAbsolute
101