Name: Delta AH Series
Brand: Delta
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AH Motion Controller – Operation Manual

7-22

Compared with a traditional cam, an electronic cam has the following advantages.

1. Friendlier user interface

2. Different products require different cam curves. Users can modify the electronic cam data in an electronic cam in

software. Users do not need to modify the mechanical design.

3. High acceleration

4. Smoother operation

7.9.2 Operation of an Electronic Cam

Default Chapter3
- Table of Contents3
Preface9
Introduction10
- Applicable Products10
- Related Manuals10
Navigation between Manuals11
Chapter 1 Introduction to Motion Control Operation13
Features of AH Motion14
- Plcopen Based Motion Control Instructions14
- Motion Network Communications14
AH Motion System Configurations15
Basic Operating Procedures for Motion Control16
Specifications of AH Motion CPU18
- General Specifications18
- Motion Control Specifications20
Chapter 2 Hardware Setup21
Installation22
- CPU Rack Installation in a Control Panel22
- Mounting a Backplane22
- Installing a Cpu/Module24
- Installing a CPU Module24
Wiring26
- Basic System Configurations26
- Wiring Power Supply Modules26
- Wiring AH Motion CPU Modules32
- Wiring AH Motion Controller CPU Modules32
Chapter 3 Software Setup39
Installing and Uninstalling Ispsoft40
- Installing Ispsoft41
- Uninstalling Ispsoft44
Installing and Uninstalling COMMGR46
- Installing COMMGR46
- Uninstalling COMMGR48
Connecting Ispsoft with AH Motion CPU50
- Direct Connection Via USB50
- Direct Connection Via Ethernet50
Chapter 4 Operating Ispsoft51
Quick Start52
- Example52
- Hardware52
- Program53
Procedures for Creating a Project in Ispsoft53
Creating a Project54
Hardware Configuration55
- Configuring a Module55
- Setting the Parameters in a CPU and a Module57
- Setting Module Parameters59
- Setting PLC Parameters66
Creating a Program68
- Adding a Ladder Diagram69
- Basic Editing─Creating a Contact and a Coil71
- Basic Editing─Inserting a Network and Typing an Instruction74
- Basic Editing - Selection of a Network and Operation76
- Basic Editing - Connecting a Contact in Parallel78
- Basic Editing─Editing a Comment79
- Basic Editing─Inserting an Applied Instruction80
- Basic Editing─Creating a Comparison Contact and Typing a Constant82
- Writing a Program83
- Checking and Compiling a Program84
Testing and Debugging a Program85
- Creating a Connection85
- Downloading a Program and Parameters88
- Connection Test90
- Setting a Real-Time Clock96
Chapter 5 Understanding Common Devices100
Introduction100
Common Devices100
- Functions of Common Devices100
- Device List100
- Latched Devices102
- Input Relays (X)103
- Output Relays (Y)103
- Auxiliary Relays (M)104
- Special Auxiliary Relays (SM/AM)104
- Data Registers (D)104
- Special Data Registers (SR/AR)105
- Link Registers (L)105
- Stepping Relays (S)105
- Timers (T)105
- Counters (C)107
- 32-Bit Counters (HC/AC)108
- Index Registers (E)108
- Values and Constants (K, 16#)109
- Floating-Point Numbers (F, DF)110
- Strings ("$")112
Ethercat Symbols114
Symbols114
- Application of Symbols114
- Classes114
- Data Types115
- Using Devices, Symbols and Instructions116
- Modifying a Symbol with an Index Register117
User-Defined Data Type (ENUM)118
Chapter 6 Understanding Motion Control Devices121
Motion Control Devices122
- Structures Applicable for Motion Control122
- Parameters for Motion Axes122
Chapter 7 Motion Control Programming128
Introduction128
- Program Organization Units and Tasks128
Motion Control Program129
- Program Architecture and Types in Ispsoft129
- Pous in Ispsoft130
- Managing the Tasks in Ispsoft130
Motion Control Instructions131
- Function Blocks for AH Motion Controller CPU131
Axis133
State Transitions136
- Axis States136
- Axis Group State137
Buffer Mode138
Execution of Function Block Instructions143
- The Interface of a Motion Control Function Block143
- Timing Diagram for Input/Outputs146
Positions147
- Postion Types147
- Applicable Postions for each Axis Type147
Electronic Cam147
- Introduction of Electronic Cams147
- Operation of an Electronic Cam148
- Creating Electronic Cam Data157
  - Creating a CAM Chart in Ispsoft157
- Application of an Electronic Cam-Using a Rotary Cutter166
  - Creating Rotary Cut Data169
Chapter 8 Memory Card178
Overview of Memory Cards178
- Appearances of Memory Cards178
- Specifications for SD Cards178
Using a Memory Card179
- Formatting a Memory Card179
Installing and Removing a Memory Card181
- SD Slot in a CPU181
- Installing a Memory Card182
- Removing a Memory Card182
Contents of a Memory Card183
- Initializing a Memory Card183
- Folder Structure in a Memory Card183
Reading/Writing a Memory Card184
- Backing up the System184
- Restoring the System184
CARD Utility184
Backup186
Restoration190
Chapter 9 Troubleshooting195
Inspection and Troubleshooting197
- Basic Inspection197
- Clearing the Error State197
- Troubleshooting Procedure198
- Viewing Error Logs199
Error Codes and Indicators200
- Ahxxemc-5A201
- Analog I/O Modules and Temperature Measurement Modules222
- Ah02Hc-5A/Ah04Hc-5A224
- Ah05Pm-5A/Ah10Pm-5A/Ah15Pm-5A224
- Ah20Mc-5A226
- Ah10En-5A/Ah15En-5A227
- Ah10Scm-5A/Ah15Scm-5A227
- Ah10Dnet-5A227
- Ah10Pfbm-5A228
- Ah10Pfbs-5A228
- Ah10Copm-5A229
Troubleshooting for CPU230
- ERROR Indicator on230
- ERROR Indicator Blinking232
- BUS FAULT Indicator on249
- BUS FAULT Indicator Blinking250
- Others251
Troubleshooting for I/O Modules263
- Analog I/O Modules and Temperature Measurement Modules263
- Ah02Hc-5A/Ah04Hc-5A266
- Ah05Pm-5A/Ah10Pm-5A/Ah15Pm-5A268
- Ah20Mc-5A270
- Ah10En-5A/Ah15En-5A271
- Ah10Scm-5A/Ah15Scm-5A272
- Ah10Dnet-5A272
- Ah10Pfbm-5A273
- Ah10Pfbs-5A274
- Ah10Copm-5A274
Troubleshooting for Limitation Errors276
- Software Limit Errors276
- Hardware Limit Errors277
Appendices279
Installing the USB Driver for an AH Motion CPU on Windows 7280
Device Addresses283
Operating Principles of the CPU Module285
- Operation of the CPU Module285
- Operating Modes of the CPU Module287

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Brand	Delta
Model	AH Series
Category	Controller
Language	English