AH Motion Controller – Operation Manual 6.1 Motion Control Devices Motion control devices are manly used for configuring parameters for motion axis. In most applications, you can set up axis parameters in ISPSoft software, which is a convenient environment for users. In PLCopen technical standard, the information and parameters required for configuring motion control on axis are defined as Structures. A structure is a data type applicable to group the data elements together. You can refer to ISPSoft User Manual for the operation of using structures. 6.1.1. Structures Applicable for Motion Control For AH Motion Controller CPUs, the applicable Structure are as below.
AXIS_REF which is supported by AH Motion Controller CPU. *Note : refer to the 6.1.2 Parameters for Motion Axes of this manual for the list of parameters grouped in the Structure 6.1.2. Parameters for Motion Axes _6 For AH Motion Controller CPUs, the applicable structure for setting up axis parameters is AXIS_REF. The below table can be used in case there is a need to change axis parameters by modifying specific data registers. The d e tailed explanation also helps you to have a proper understanding of the axis parameters.
The axis parameters for motion axes 6-2 Structures Definition PLCopen Motion FBs AXIS REF* _ Applicable for MC / DFB _ _ function blocks Information and parameters required for configuring axis motion is grouped in this Structure. AXES GROUP REF _ _ N/A Information and parameters required for configuring axes group motion is included in this Structure. TRIGGER REF _ MC TouchProbe _ MC AbortTrigger _ Information on trigger inputs Specifications of the trigger Trigger activation patterns (rising-edge, falling edge, and etc.) INPUT REF _ N/A Information relating to the inputs. Virtual data could be included. OUTPUT REF _ N/A Information relating to physical outputs.
AXIS REF _ Description Setting range Factory setting Members Data type Function (Default) Parm setting _ WORD Setting the parameters of the axis specified Bit 0~bit15 0 Pulse of 1Rev _ _ DINT Number of pulses it takes for the motor of the axis specified to rotate once 1~99999999 pulses/revolution 10,000 Parm setti _ ng 32 DINT Distance generated after the motor of the axis specified rotate once 1~1000000 10,000