Chapter 1 Framework of an AH500 Series Motion Control Module 1.2.1 Manual Function of O100 Users can set motion modes by means of special registers in O100. (Please refer to Chapter 7 for more information.) 1.3 Structure of Ox Motion Subroutines The motion subroutines Ox0~Ox99 are motion control programs. They are subroutines which control the motion of the axes of an AH500 series motion control module. Ox0~Ox99 support basic instructions, applied instructions, motion instructions, and G-codes. They can call P subroutines. Users can control the paths of the axes of an AH500 series motion control module through Ox motion subroutines.
The characteristics of Ox motion subroutines are described below. 1. There are two methods of enabling an Ox motion subroutine. When O100 runs, users can set motion subroutine numbers in O100. (The motion subroutine numbers must be in the range of Ox0 to Ox99. The users can set a motion subroutine number in O100 by setting SR1052. The value in SR1052 must be in the range of 16#8000 to 16#8063.) If the users want to enable an Ox motion subroutine, they have to set bit 12 in SR1030 to ON. Before an Ox motion subroutine is enabled, users have to make sure that no Ox motion subroutine runs. Oxn (Motion subroutine number) O100 runs. Bit 12 in SR1030 is set to ON. Oxn runs.
1-5 O100 Description Disabling O100 Ending instruction M102 (If O100 is a ladder diagram in PMSoft, the ending instruction M102 will be set automatically, and users do not have to write the ending instruction M102.) Executing O100 1. The STOP/RUN switch of an AH500 series motion control module is turned form the “STOP” position to the “RUN” position. 2. Users use communication to set SM072 to ON. Operation O100 is scanned cyclically. characteristic Instruction Basic instructions and applied instructions are supported. Number There is only one O100 in a program. Characteristic and function 1. It is a sequence control program. 2.
It can enable the motion subroutines Ox0~Ox99, and call P subroutines. 3. If O100 is used with Ox motion subroutines and P subroutines, O100, the Ox motion subroutines, and the P subroutines can be arranged in any order.