860 pp.
Delta Electronics · AH · 476 pp.
AH Motion Controller - Motion Control Instrucitons Manual
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Cover_AH Motion Controller - Motion Control Instructions Manual
AH Motion Controller - Motion Control Instructions 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 AH Motion Controller - Motion Control Instructions 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. Sao Paulo Office Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista 01332-000-Sгo Paulo-SP-Brazil TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865 Europe Delta Electronics (Netherlands) B.V. Eindhoven Office De Witbogt 20, 5652 AG Eindhoven, The Netherlands TEL : +31 (0)40-8003800 / FAX : +31 (0)40-8003898 AH-0256920-01 2017- 09 - 20 *We reserve the right to change the information in this manual without prior notice. www.deltaww.com
Revision History
AH Motion Controller Motion Control Instruction Manual Revision History Version Revision Date 1 s t The first version was published. 2017/09/20
Contents
AH Motion - AH Motion – Motion Control Instructions Manual Contents Preface P.1 Introduction ..................................................................................... II P.1.1 Applicable Products ......................................................................... II P.1.2 Related Manuals ............................................................................. II P.2 Navigation between Manuals ........................................................... III Chapter 1 Introduction 1.1 Motion Control Instructions ............................................................ 1-2 1.1.1 Fundamentals of Motion Control Instructions ..........................................
1-2 1.2 Points to Note about Motion Control Instructions ........................... 1-6 1.3 Categories of Motion Control Instructions ...................................... 1-7 Chapter 2 Devices, Symbols and Instructions 2.1 Common Devices ............................................................................ 2-3 2.1.1. Functions of Common Devices ......................................................... 2-3 2.1.2. Common Device List ...................................................................... 2-3 2.1.3. Latched Devices ............................................................................ 2-4 2.1.4.
Input Relays (X) ........................................................................... 2-6 2.1.5. Output Relays (Y) ......................................................................... 2-6 2.1.6. Auxiliary Relays (M) ...................................................................... 2-7 2.1.7. Special Auxiliary Relays (SM) .......................................................... 2-7 2.1.8. Data Registers (D) ........................................................................ 2-7 2.1.9. Special Data Registers (SR) ............................................................ 2-7 2.1.10.
Link Registers (L) .......................................................................... 2-8 2.1.11. Stepping Relays (S) ....................................................................... 2-8 2.1.12. Timers (T) .................................................................................... 2-8 2.1.13. Counters (C) ................................................................................ 2-8 2.1.14. 32-bit Counters (HC/AC) ................................................................ 2-9 2.1.15. Values and Constants (K, 16#) ....................................................... 2-9 2.1.16.
Floating-point Numbers (F, DF) ..................................................... 2-10 2.1.17. Strings (“$”) ............................................................................... 2-10 2.1.18. Pointers (PR) .............................................................................. 2-10 i
Contents
2.1.18.1 Pointer Registers of Timers (T_Pointer) (TR) .................................... 2-10 2.1.18.2 Pointer Registers of 16-bit Counters (C_Pointer) (CR) ........................ 2-11 2.1.18.3 Pointer Registers of 32-bit Counters (HC_Pointer) (HCR) .................. 2-111 2.2 Motion Control Devices ................................................................. 2-12 2.2.1 Parameters for Motion Axes: Structure ........................................... 2-12 2.3 EtherCAT Symbols ........................................................................ 2-15 2.4 Symbols ........................................................................................
2-15 2.4.1 Application of Symbols ................................................................. 2-15 2.4.2 Classes ...................................................................................... 2-15 2.4.3 Data Types ................................................................................. 2-16 2.4.4 Using instructions, Devices and Symbols ......................................... 2-17 2.4.5 Modifying a Symbol with an Index Register ...................................... 2-18 2.5 Data Type Unit (DUT): ENUM ........................................................ 2-20 2.6 Instructions ..................................................................................
2-21 2.6.1 Categories of Motion Control Instructions ........................................ 2-21 2.6.2 List of Motion Control Instructions .................................................. 2-21 Chapter 3 Product Specifications 3.1 Applying This Chapter .................................................................... 3-3 3.1.1 The Interface of a Motion Control Function Block ............................... 3-3 3.1.2 PDO Mapping ............................................................................... 3-6 3.1.3 List of Motion Control Related Instructions (Sort by function) .............. 3-6 3.2 PLCopen-based Motion Control Instructions .................................
3-10 MC_Power ............................................................................................... 3-12 MC_Home ................................................................................................ 3-24 MC_Stop ................................................................................................. 3-32 MC_Halt ................................................................................................. 3-38 MC_MoveAbsolute ..................................................................................... 3-43 MC_MoveRelative ......................................................................................
3-53 MC_MoveAdditive ...................................................................................... 3-61 MC_MoveSuperimposed ............................................................................. 3-71 MC_HaltSuperimposed ............................................................................... 3-77 MC_MoveVelocity ...................................................................................... 3-81 ii