AH Motion Controller – Operation Manual 1.1 Features of AH Motion AH Motion Controller is the advanced motion control series with dedicated motion control CPUs and shares the same modules with AH series PLC s. Through the motion control network, such as EtherCAT, AH Motion Controller CPU can perform high-speed, high-precision machine control with the connected servo drives on the motion network. _1 1.1.1. PLCopen based Motion Control Instructions AH Motion Controller CPUs offers motion control instructions that are standardized by PLCopen*.
In addition, you can also use the convenient function block instructions developed by Delta together with the PLCopen based instructions to optimize the control flexibility. These instructions help you achieve single-axis motion, multi-axis interpolation, G-code programming, synchronized motion (e.g. electronic cam/gear), velocity control, and torque control. You can specify the motion parameters in the motion control instructions and the axis parameters according to the application. * Note : adopted for PLC progr amming. For more informati on regarding PLCopen, check the official website at:
PLCopen is an organization promoting industrial control based on IEC61131-3, which is an international standard widely http://www.plcopen.org/ 1.1.2. Motion Network Communications The AH Motion Controller CPU with built-in motion network (e.g. EtherCAT) port can be connected with Delta servo drives that supports the same motion network to perform dat a exchange of all con trol information via high-s peed communications. In comparison with the traditi onal pulse-type motion controllers, the motion contr ol instructions in network-type controllers are sent via data communications, meaning the servo motors performance is optimized and is not limited by the interface specifications, e.g.
the response frequency of the feedback from encoders. The motion network communications allows users to achieve a real-time control and monitoring system. 1-2