Delta Electronics AH500 Manuale utente

www.deltaww.com

AH500 Motion Control

Module Manual

2013-09-30

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 Ofce

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

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 Ofce

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 Ofce

Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista

01332-000-São Paulo-SP-Brazil

TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865

Europe

Deltronics (The Netherlands) B.V.

Eindhoven Ofce

De Witbogt 15, 5652 AG Eindhoven, The Netherlands

TEL: 31-40-2592850 / FAX: 31-40-2592851

AH-0101620-01

*We reserve the right to change the information in this manual without prior notice.

AH500 Motion Control Module Manual

www.importsnab24.ru

AH500 Motion Control Module Manual

Table of Contents

Chapter 1 Framework of an AH500 Series Motion Control Module

1.1 Framework of a AH500 Series Motion Control Module..............................1-2

1.2 Structure of O100......................................................................................1-4

1.2.1 Manual Function of O100...................................................................1-5

1.3 Structure of Ox Motion Subroutines ..........................................................1-5

1.4 Structure of P Subroutines ........................................................................1-7

1.5 Using O100, Ox Motion Subroutines, and P Subroutines........................1-10

1.5.1 Structure of a Program.....................................................................1-10

Chapter 2 Hardware Specifications and Wiring

2.1 Hardware Specifications............................................................................2-2

2.1.1 General Specifications........................................................................2-2

2.1.2 Electrical Specifications for the Input Terminals .................................2-2

2.1.3 Electrical Specifications for the Output Terminals...............................2-9

2.1.4 Dimensions ......................................................................................2-14

2.1.5 Profiles.............................................................................................2-16

2.2 Wiring......................................................................................................2-19

2.2.1 I/O Extension Cables, and External Terminal Modules.....................2-20

2.2.2 Wiring Input Terminals......................................................................2-25

2.2.3 Wiring Output Terminals...................................................................2-27

2.2.4 Wiring AH10PM-5A and an Inferior Servo Drive...............................2-30

2.3 Communication Ports..............................................................................2-35

Chapter 3 Devices

3.1 Device List.................................................................................................3-2

3.2 Values, Constants, and Floating-point Numbers.......................................3-2

3.3 External Input Devices and External Output Devices................................3-4

3.4 Auxiliary Relays.........................................................................................3-6

3.5 Special Auxiliary Relays............................................................................3-6

3.6 Stepping Relays........................................................................................3-6

3.7 Timers .......................................................................................................3-6

3.8 Counters....................................................................................................3-7

3.9 Data Registers and Index Registers........................................................3-12

3.9.1 Data Registers..................................................................................2-12

3.9.2 Index Registers................................................................................2-12

3.10 Special Data Registers............................................................................3-13

3.11 Pointers...................................................................................................3-13

3.12 Specail Auxiliary Relays and Special Data Registers..............................3-13

3.12.1 Special Auxiliary Relays...................................................................2-13

3.12.2 Special Data Registers.....................................................................2-17

3.13 Functions of Special Auxiliary Relays and Special Data Registers.........3-28

3.14 Special Data Registers for Motion Axes..................................................3-40

Chapter 4 Basic Instructions

4.1 Table of Basic Instructions........................................................................4-2

4.2 Descriptions of the Basic Instructions .......................................................4-4

Chapter 5 Applied Instructions

5.1 Table of Applied Instructions.....................................................................5-3

5.2 Structure of an Applied Instruction............................................................5-9

5.3 Processing Values...................................................................................5-11

5.4 Using Index Registers to Modify Operands.............................................5-14

5.5 Instruction Index......................................................................................5-14

5.6 Descriptions of the Applied Instructions ..................................................5-18

5.7 Motion Control Function Block Table.....................................................5-126

5.8 Introduction of the Pins in a Motion Control Function Block..................5-128

5.8.1 Definitions of Input Pins/Output Pins..............................................5-128

5.8.2 Timing Diagram for Input/Output Pins............................................5-130

5.8.3 Introducing the Use of PMSoft.......................................................5-131

5.9 Delta-defined Parameter Table..............................................................5-133

5.10 Uniaxial Motion Control Function Blocks...............................................5-136

5.10.1 Absolute Single-speed Motion .......................................................5-136

5.10.2 Relative Single-speed Motion ........................................................5-139

5.10.3 Absolute Two-speed Motion...........................................................5-144

5.10.4 Relative Two-speed Motion............................................................5-148

5.10.5 Inserting Single-speed Motion........................................................5-152

5.10.6 Inserting Two-speed Motion...........................................................5-156

5.10.7 JOG Motion....................................................................................5-160

5.10.8 Manual Pulse Generator Mode......................................................5-163

5.10.9 Returning Home.............................................................................5-166

5.10.10 Stopping Uniaxial Motion ...............................................................5-169

iii

5.10.11 Parameter Setting I ........................................................................5-172

5.10.12 Parameter Setting II .......................................................................5-174

5.10.13 Reading the Present Position/Speed of an Axis .............................5-177

5.10.14 State of an Axis...............................................................................5-179

5.10.15 Setting the Present Position of an Axis...........................................5-181

5.10.16 Setting the Polarities of Input Terminals .........................................5-183

5.10.17 Electronic Gear Motion...................................................................5-186

5.10.18 Electronic Cam Motion...................................................................5-188

5.10.19 Reading a Cam Point.....................................................................5-192

5.10.20 Writing a Cam Point .......................................................................5-194

5.10.21 Calculating a Synchronization Ratio...............................................5-196

5.10.22 Creating a Cam Curve....................................................................5-198

5.10.23 Updating a Cam Curve...................................................................5-201

5.11 Multiaxial Motion Control Function Blocks.............................................5-203

5.11.1 Setting the Parameters of G-code Motion......................................5-203

5.11.2 Executing G-code Motion...............................................................5-204

5.11.3 Stopping G-code Motion.................................................................5-207

5.11.4 Reading an M-code........................................................................5-209

5.11.5 Multiaxial Absolute Linear Interpolation..........................................5-212

5.11.6 Multiaxial Relative Linear Interpolation...........................................5-214

5.11.7 Stopping Multiaxial Linear Interpolation..........................................5-216

5.12 Network Function Blocks.......................................................................5-217

5.12.1 Starting/Stopping a Servo Drive .....................................................5-217

5.12.2 Resetting a Servo Drive .................................................................5-219

5.12.3 Writing the Value of a Parameter into a Servo Drive ......................5-221

5.12.4 Reading the Value of a Parameter from a Servo Drive...................5-224

5.12.5 Instructing a Servo Drive to Return Home......................................5-227

5.12.6 Initializing a Servo Drive.................................................................5-230

5.12.7 Instructing a Servo Drive to Capture Values...................................5-233

5.12.8 Setting an Ethernet IPAddress ......................................................5-235

5.13 Other Motion Control Function Blocks...................................................5-237

5.13.1 Backing a Main Program up onto an SD Card ...............................5-237

5.13.2 Backing the Values in Devices up onto an SD Card.......................5-238

5.13.3 Restoring the Values in Devices in an SD Card .............................5-240

5.13.4 High-speed Counter.......................................................................5-242

5.13.5 High-speed Timer...........................................................................5-244

5.13.6 Setting High-speed Comparison.....................................................5-246

5.13.7 Resetting High-speed Comparison.................................................5-249

5.13.8 Setting High-speed Capture...........................................................5-251

5.13.9 High-speed Masking......................................................................5-254

5.13.10 Setting an Interrupt ........................................................................5-255

5.13.11 Absolute Encoder...........................................................................5-257

Chapter 6 Data Transmission

6.1 Functions ..................................................................................................6-2

6.2 Parameters ...............................................................................................6-2

6.3 Usage........................................................................................................6-5

Chapter 7 Uniaxial Motion

7.1 Functions of Uniaxial Motion.....................................................................7-2

7.2 Introduction of Uniaxial Motion................................................................7-14

7.3 Introduction of JOG Motion.....................................................................7-15

7.3.1 Related Special Data Registers.......................................................7-15

7.3.2 Operation.........................................................................................7-16

7.4 Introduction of Variable Motion................................................................7-17

7.4.1 Related Special Data Registers.......................................................7-17

7.4.2 Operation.........................................................................................7-17

7.5 Introduction of a Manual Pulse Generator Mode.....................................7-18

7.5.1 Related Special Data Registers.......................................................7-18

7.5.2 Operation.........................................................................................7-20

7.6 Introduction of a Mode of Triggering the Return to Home .......................7-20

7.6.1 Related Special Data Registers.......................................................7-20

7.6.2 Operation.........................................................................................7-23

7.7 Introduction of Single-speed motion........................................................7-26

7.7.1 Related Special Data Registers.......................................................7-26

7.7.2 Operation.........................................................................................7-27

7.8 Introduction of Inserting Single-speed Motion.........................................7-28

7.8.1 Related Special Data Registers.......................................................7-28

7.8.2 Operation.........................................................................................7-29

7.9 Introduction of Two-speed Motion...........................................................7-30

7.9.1 Related Special Data Registers.......................................................7-30

7.9.2 Operation.........................................................................................7-31

7.10 Introduction of Inserting Two-speed Motion ............................................7-32

7.10.1 Related Special Data Registers.......................................................7-32

7.10.2 Operation.........................................................................................7-33

7.11 Status Flags and Status Registers ..........................................................7-34

Chapter 8 Electronic Cam

8.1 Introduction of Electronic Cams.................................................................8-2

8.2 Operation of an Electronic Cam ................................................................8-3

8.2.1 Initial Setting.......................................................................................8-3

8.2.1.1 Creating Electronic Cam Data.....................................................8-3

8.2.1.2 Setting an Input/a Output Pulse Type..........................................8-3

8.2.2 Setting a Master/Slave Axis and Operating an Electronic Cam..........8-5

8.2.2.1 Setting a Master Axis ..................................................................8-5

8.2.2.2 Setting the Starting Angle of a Master Axis .................................8-6

8.2.2.3 Setting a Slave Axis ....................................................................8-7

8.2.3 Starting/Stopping an Electronic Cam Operating Cyclically.................8-7

8.2.3.1 Staring an Electronic Cam Operating Cyclically..........................8-7

8.2.3.2 Stopping an Electronic Cam Operating Cyclically .......................8-8

8.3 Creating Electronic Cam Data.................................................................8-10

8.3.1 Creating a CAM Chart in PMSoft......................................................8-10

8.3.1.1 Function Relates the Positions of a Master Axis to the Positions of

a Slave Axis...............................................................................8-10

8.3.1.2 Measuring the Relation between the Positions of a Master Axis and

the Positions of a Slave Axis at Work........................................8-14

8.3.1.3 Creating/Modifying Electronic Cam Data...................................8-16

8.4 Application of an Electronic Cam—Using a Rotary Cutter.......................8-18

8.4.1 Creating Rotary Cut Data ......................................................................8-20

8.4.2 Function Block—T_CamCurve.........................................................8-21

8.4.3 Function Block—T_CamCurveUpdate .............................................8-26

8.4.4 Example...........................................................................................8-27

Chapter 9 Multiaxial Interpolation

9.1 Introduction of Multiaxial Interpolation.......................................................9-2

9.2 Table of O Pointers/M-codes and Table of G-codes..................................9-2

9.3 Composition of a G-code...........................................................................9-2

9.4 Descriptions of G-code Instructions...........................................................9-5

9.5 O Pointers/M-codes.................................................................................9-22

9.6 Description of TO ....................................................................................9-24

Chapter 10 High-speed Counters and High-speed Timers

10.1 High-speed Counters...........................................................................10-2

10.2 High-speed Timers...............................................................................10-5

Chapter 11 High-speed Capture and High-speed Comparison

11.1 Format of an Instruction.......................................................................11-2

11.2 Comparison.........................................................................................11-2

11.3 Clearing an Output ..............................................................................11-8

11.4 Capture................................................................................................11-9

11.5 Masking.............................................................................................11-14

Chapter 12 Setting an Ethernet Network

12.1 Functions ................................................................................................12-2

12.2 Specifications..........................................................................................12-2

12.3 Introduction of Parameters......................................................................12-2

12.4 Communication Function of PMSoft........................................................12-2

12.5 Modbus Communication .........................................................................12-5

12.6 Troubleshooting ......................................................................................12-7

Chapter 13 Expansion Storage Device

13.1 Functions ................................................................................................13-2

13.2 Parameters .............................................................................................13-2

13.3 Reading and Executing G-codes ............................................................13-4

13.4 Device Backup and Restoration..............................................................13-4

13.4.1 Backup.............................................................................................13-5

13.4.2 Restoration.......................................................................................13-6

13.5 Program Backup and Restoration...........................................................13-7

13.5.1 Backup.............................................................................................13-7

13.5.2 Restoration.......................................................................................13-8

13.6 Updating Firmware..................................................................................13-8

Chapter 14 DMCNET

14.1 Functions ................................................................................................14-2

14.2 Specifications..........................................................................................14-2

14.3 Parameters .............................................................................................14-3

14.4 DMCNET Connection..............................................................................14-7

14.5 Reading Data from a Servo Drive/Writing Data into a Servo Drive .........14-9

14.6 DMCNET Motion Control ......................................................................14-11

14.7 Examples..............................................................................................14-16

14.7.1 Connecting an Incremental Servo Drive ........................................14-16

14.7.2 Connecting an Absolute Servo Drive.............................................14-17

vii

14.8 Troubleshooting.....................................................................................14-18

Chapter 15 Setting USB Communication in PMSoft

15.1 Functions.................................................................................................15-2

15.2 Specifications..........................................................................................15-2

15.3 Communicating with PMSoft ...................................................................15-2

Appendix A Error Code Table

A.1 Error Code Table......................................................................................A-2

viii

Chapter 1 Framework of an AH500 Series

Motion Control Module

Table of Contents

1.1 Framework of a AH500 Series Motion Control Module..............................1-2

1.2 Structure of O100......................................................................................1-4

1.2.1 Manual Function of O100...................................................................1-5

1.3 Structure of Ox Motion Subroutines...........................................................1-5

1.4 Structure of P Subroutines.........................................................................1-7

1.5 Using O100, Ox Motion Subroutines, and P Subroutines........................1-10

1.5.1 Structure of a Program.....................................................................1-10

1-1

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