AH500 Motion Control Module Manual 1.2 Structure of O100 O100 is a sequence control program. It is the main program in an AH500 series motion control module. It only supports basic instructions and applied instructions. Users can use these two types of instructions to process I/O data, call P subroutines, and enable Ox motion subroutines (Ox0~Ox99). O100 functions as a main program. Motion subroutines are enabled through O100. There is hierarchical relation between O100 and motion subroutines. The characteristics of O100 are described below. 1. There are two methods of enabling O100.
If the STOP/RUN switch of an AH500 series motion control module is turned form the “STOP” position to the “RUN” position when the AH500 series motion control module is powered, SM072 will be ON, and O100 will run. If an AH500 series motion control module is powered, users can use communication to set SM072 to ON, and to run O100. STOP/RUN switch Communication 2. O100 is scanned cyclically. The scan of the main program O100 starts from the starting flag O100. After the ending instruction M102 is scanned, the scan of the main program O100 will go back to the starting flag O100. The main program starts. Main Program The sequence control program is scanned cyclically. The main program ends.
3. There are three methods of disabling O100. If the STOP/RUN switch of an AH500 series motion control module is turned form the “RUN” position to the “STOP” position when the AH500 series motion control module is powered, SM072 will be OFF, and O100 will stop. If O100 stops, Ox motion subroutines and P subroutines will not be executed. If an AH500 series motion control module is powered, users can use communication to set SM072 to OFF, and to stop O100. If O100 stops, Ox motion subroutines and P subroutines will not be executed. If an error occurs when O100 is compiled or when O100 runs, O100 will stop automatically. 4. O100 supports basic instructions and applied instructions.
Users can write a control program according to their needs. They can set the parameters of motion instructions, and motion subroutine numbers (Ox0~Ox99) in O100. O100 does not support motion instructions and G-codes. Motion instructions and G-codes must be used in the motion subroutines Ox0~Ox99. Please refer to section 1.2 for more information. O100 can call P subroutines. Please refer to section 1.4 for more information. 5. The description of O100 is shown below. 1-4 SM072 O100 runs. O100 . . .
M102 M102 O100 Description Enabling O100 Starting flag O100 (If O100 is a ladder diagram in PMSoft, the starting flag in O100 will be set automatically, and users do not have to write the starting flag.)