AH500 Motion Control Module Manual Industrial Automation Headquarters Delta Electronics, Inc. Taoyuan Technology Center No.18, Xinglong Rd., Taoyuan City, Taoyuan County 33068, Taiwan TEL: 886-3-362-6301 / FAX: 886-3-371-6301 Asia Delta Electronics (Jiangsu) Ltd. Wujiang Plant 3 1688 Jiangxing East Road, Wujiang Economic Development Zone Wujiang City, Jiang Su Province, P.R.C. 215200 TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290 Delta Greentech (China) Co., Ltd. 238 Min-Xia Road, Pudong District, ShangHai, P.R.C. 201209 TEL: 86-21-58635678 / FAX: 86-21-58630003 Delta Electronics (Japan), Inc. Tokyo Office 2-1-14 Minato-ku Shibadaimon, Tokyo 105-0012, Japan TEL: 81-3-5733-1111 / FAX:

81-3-5733-1211 Delta Electronics (Korea), Inc. 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 TEL: 82-2-515-5303 / FAX: 82-2-515-5302 AH500 Motion Control Module Manual Delta Electronics Int’l (S) Pte Ltd. 4 Kaki Bukit Ave 1, #05-05, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228 Delta Electronics (India) Pvt. Ltd. Plot No 43 Sector 35, HSIIDC Gurgaon, PIN 122001, Haryana, India TEL : 91-124-4874900 / FAX : 91-124-4874945 Americas Delta Products Corporation (USA) Raleigh Office P.O. Box 12173,5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3800 / FAX: 1-919-767-8080 Delta Greentech (Brasil) S.A.

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Revision History

AH500 Motion Control Module Manual Revision History Version Revision Date 1st The first version was published. 2013/09/30 2nd 1. In section 2.1.2, the electrical specifications for the input terminals on AH05PM-5A are updated. 2. In section 2.3, the descriptions of the DMCNET port on AH20MC-5A are updated. 3. Six Delta DMCNET cable models are added to section 2.3. 4. The descriptions of SM303 and SM304 are added to section 3.12.1. 5. The instruction tables in section 4.1 are updated. 6. The device tables in section 4.2 are updated. 7. The descriptions of SM/SR devices and X/Y devices are added to section 5.2. 8.

In section 5.6, the device tables, the explanation of the instruction WDT, and the additional remarks on the instructions WDT and XCH are updated. 9. The descriptions of pins in section 5.10~section 5.13 are updated. 10. The description of (SR1069+100*N, SR1068+100*N) is added to section 7.1. 11. A note is added to section 8.3.1.3. 12. Section 11.2 and section 11.4 are updated. 13. In section A.1, the table of servo drive error codes is updated. 2014/12/01 3rd 1. Update information on section 6.2. 2. Add information concerning SR1069, SR1042~1068 to section 7.1 3. Update information concerning C220 counter to section 8.2.2.1. 4. Update information concerning instruction G02~G04 to chapter 9.

5. Update information on section 11.2~11.3. 6. Update images of updating firmware to section 12.3~12.5. 7. Update information concerning SR1078 to the section 14.6. 8. Chapter 15, page 8 and 11 are updated. 2016/08/15

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AH500 Motion Control Module Manual Table of Contents Chapter 1 Framework of an AH500 Series Motion Control Module 1.1 Framework of a AH500 Series Motion Control Module ............................ 1-2 1.2 Structure of O100 ..................................................................................... 1-4 1.2.1 Manual Function of O100 .................................................................. 1-5 1.3 Structure of Ox Motion Subroutines ......................................................... 1-5 1.4 Structure of P Subroutines .......................................................................

1-7 1.5 Using O100, Ox Motion Subroutines, and P Subroutines ........................1-10 1.5.1 Structure of a Program .....................................................................1-10 Chapter 2 Hardware Specifications and Wiring 2.1 Hardware Specifications ........................................................................... 2-2 2.1.1 General Specifications ....................................................................... 2-2 2.1.2 Electrical Specifications for the Input Terminals................................. 2-2 2.1.3 Electrical Specifications for the Output Terminals ..............................

2-8 2.1.4 Dimensions ......................................................................................2-13 2.1.5 Profiles .............................................................................................2-15 2.2 Wiring ......................................................................................................2-18 2.2.1 I/O Extension Cables, and External Terminal Modules .....................2-19 2.2.2 Wiring Input Terminals ......................................................................2-24 2.2.3 Wiring Output Terminals ...................................................................2-26 2.2.4 Wiring AH10PM-5A and an Inferior Servo Drive ...............................2-29 2.3 Communication Ports ..............................................................................2-34 Chapter 3 Devices 3.1 Device List ................................................................................................

3-2 3.2 Values, Constants, and Floating-point Numbers ...................................... 3-2 3.3 External Input Devices and External Output Devices ............................... 3-4 3.4 Auxiliary Relays ........................................................................................ 3-6 3.5 Special Auxiliary Relays ........................................................................... 3-6 3.6 Stepping Relays ....................................................................................... 3-6 3.7 Timers ......................................................................................................

3-6 3.8 Counters ................................................................................................... 3-7 3.9 Data Registers and Index Registers ........................................................3-12 i

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3.9.1 Data Registers ................................................................................. 3-12 3.9.2 Index Registers ................................................................................ 3-12 3.10 Special Data Registers ............................................................................ 3-13 3.11 Pointers ................................................................................................... 3-13 3.12 Specail Auxiliary Relays and Special Data Registers .............................. 3-14 3.12.1 Special Auxiliary Relays ...................................................................

3-14 3.12.2 Special Data Registers ..................................................................... 3-18 3.13 Functions of Special Auxiliary Relays and Special Data Registers ......... 3-28 3.14 Special Data Registers for Motion Axes .................................................. 3-40 Chapter 4 Basic Instructions 4.1 Table of Basic Instructions ........................................................................ 4-2 4.2 Descriptions of the Basic Instructions ....................................................... 4-4 Chapter 5 Applied Instructions 5.1 Table of Applied Instructions .....................................................................

5-3 5.2 Structure of an Applied Instruction ............................................................ 5-9 5.3 Processing Values ................................................................................... 5-12 5.4 Using Index Registers to Modify Operands ............................................. 5-15 5.5 Instruction Index ...................................................................................... 5-15 5.6 Descriptions of the Applied Instructions .................................................. 5-19 5.7 Motion Control Function Block Table .....................................................

5-128 5.8 Introduction of the Pins in a Motion Control Function Block .................. 5-130 5.8.1 Definitions of Input Pins/Output Pins .............................................. 5-130 5.8.2 Timing Diagram for Input/Output Pins ............................................ 5-132 5.8.3 Introducing the Use of PMSoft ....................................................... 5-133 5.9 Delta-defined Parameter Table .............................................................. 5-135 5.10 Uniaxial Motion Control Function Blocks ............................................... 5-138 5.10.1 Absolute Single-speed Motion .......................................................

5-138 5.10.2 Relative Single-speed Motion ........................................................ 5-141 5.10.3 Absolute Two-speed Motion ........................................................... 5-146 5.10.4 Relative Two-speed Motion ............................................................ 5-150 5.10.5 Inserting Single-speed Motion ........................................................ 5-154 5.10.6 Inserting Two-speed Motion ........................................................... 5-158 5.10.7 JOG Motion ....................................................................................

5-162 5.10.8 Manual Pulse Generator Mode ...................................................... 5-165 5.10.9 Returning Home ............................................................................. 5-168 5.10.10 Stopping Uniaxial Motion ............................................................... 5-171 ii

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