AH Motion Controller Standard Instrucitons Manual (EN)

AH Motion Controller - Standard Instructions Manual

AH Motion Controller - Standard 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 - Standard 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-0259720-0 1 2017-0 9 - 20 *We reserve the right to change the information in this manual without prior notice. www.deltaww.com

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AH Motion Controller - Standard Instructions Manual

AH Motion Controller Standard Instructions Manual Revision History Version Revision Date 1 s t The first version was published. 2017/09/20

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Contents

AH Motion Controller – Standard 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 to Standard Instructions 1.1 Overview ........................................................................................

1-2 1.2 Categories of Standard Instructions ............................................... 1-2 Chapter 2 Devices, Symbols and Instructions 2.1 Common Devices ............................................................................ 2-2 2.1.1 Functions of Common Devices ......................................................... 2-2 2.1.2 Common Device List ....................................................................... 2-2 2.1.3 Latched Devices ............................................................................. 2-4 2.1.4 Input Relays (X) ............................................................................

2-5 2.1.5 Output Relays (Y) .......................................................................... 2-6 2.1.6 Auxiliary Relays (M) ....................................................................... 2-6 2.1.7 Special Auxiliary Relays (SM/AM) ..................................................... 2-6 2.1.8 Data Registers (D) ......................................................................... 2-6 2.1.9 Special Data Registers (SR/AR) ....................................................... 2-7 2.1.10 Link Registers (L) ...........................................................................

2-7 2.1.11 Stepping Relays (S) ....................................................................... 2-7 2.1.13 Counters (C) ................................................................................. 2-8 2.1.12 Timers (T) ..................................................................................... 2-7 2.1.14 32-bit Counters (HC/AC) ................................................................. 2-8 2.1.15 Index Registers (E) ........................................................................ 2-9 2.1.16 Values and Constants (K, 16#) ........................................................

2-9 2.1.17 Floating-point Numbers (F, DF) ....................................................... 2-10 2.1.18 Strings (“$”) ................................................................................. 2-10 i

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Contents

2.2 EtherCAT Symbols ........................................................................ 2-10 2.3 Symbols ........................................................................................ 2-10 2.3.1 Application of Symbols .................................................................. 2-10 2.3.2 Classes ........................................................................................ 2-11 2.3.3 Data Types .................................................................................. 2-11 2.3.4 Using Devices, Symbols and Instructions ......................................... 2-12 2.3.5 Modifying a Symbol with an Index Register ......................................

2-13 2.4 Data Type Unit (DUT): ENUM ........................................................ 2-15 2.5 Instructions .................................................................................. 2-16 2.5.1 Categories of Standard Instructions ................................................ 2-16 2.5.2 List of Standard Instructions .......................................................... 2-17 Chapter 3 Standard Instructions 3.1 Applying This Chapter ....................................................................

3-3 3.1.1 Items of Standard Instructions .........................................................3-3 3.1.2 Restrictions on the Use of Standard Instructions .................................3-8 3.2 Ladder Instructions ...................................................................... 3-10 3.3 Comparison Instructions .............................................................. 3-34 3.4 Arithmetic Instructions ................................................................ 3-70 3.5 Data Conversion Instructions ..................................................... 3-109 3.6 Data Transfer Instructions .........................................................

3-156 3.7 Jump Instructions ...................................................................... 3-182 3.8 Program Execution Instructions ................................................. 3-191 3.9 I/O Refreshing Instructions ....................................................... 3-199 3.10 Convenience Instructions ........................................................... 3-202 3.11 Logic Instructions ...................................................................... 3-239 3.12 Rotation Instructions ................................................................. 3-263 3.13 Basic Instructions ......................................................................

3-274 3.14 Shift Instructions ....................................................................... 3-282 ii

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