Delta AH Series, AHxxEMC-5A Series Hardware Manual

Page 1

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

AH Motion Controller - Hardware Manual

Delta Electronics (Japan), Inc.

Tokyo Ofce

2-1-14 Minato-ku Shibadaimon, Tokyo 105-0012, Japan TEL: 81-3-5733-11

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

11 / FAX: 81-3-5733-1211

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

AH Motion Controller Hardware Manual

Europe

Delta Electronics (Netherlands) B.V.

Eindhoven Ofce

De Witbogt 20, 5652 AG Eindhoven, The Netherlands TEL : +31 (0)40-8003800 / FAX : +31 (0)40-8003898

AH-0259520-02 *We reserve the right to change the information in this manual without prior notice.

2018-08-31

www.deltaww.com

Page 2

AH Motion Controller Hardware Manual

Version

Revision

Date

1st

The first version was published.

2017/09/20

1. Modules including AH10EN-5A, AH15EN-5A,

circuit diagrams of a transistor to COM

Revision History

AH10SCM-5A, AH15SCM-5A, AH10DNET-5A,

H10PFBS-5A, AH10PFBM-5A, AHRTU-DNET-5A

2nd

A A

HRTU-PFBS-5A, AHRTU-ETHN-5A HBP03M2-5A (AH motion backplane) wer

A added i

2. The information on modules including

n Chapter 1.

AH10EN-5A, AH15EN-5A, AH10SCM-5A A

H15SCM-5A, AH10DNET-5A, AH10PFBS-5A H10PFBM-5A, AHRTU-DNET-5A

A A

HRTU-PFBS-5A, AHRTU-ETHN-5A

and

, AHBP03M2-5A (AH motion backplane) as well as updates on I/O network and module configurati w

ere added in Chapter 2.

3. The reference information on modules in Chapter

3 has changed to AH500 Series Hardwar M

anual.

4. The reference information on modules in Chapter

4 has changed to AH500 Series Hardwar M

anual.

5. Section 3.2.7: Update information concer ning

ontact 5 and contact 29.

6. Chapter 4: Change C0,C1, C2, C 3 in output

2018/08/31

Page 3

AH Motion Controller - Hardware Manual

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 Product Introduction

1.1 The AH Series Motion Controller ..................................................... 1-2

1.1.1. Product Features ........................................................................... 1-3

1.1.2. Overview of the System Configurations ............................................ 1-6

1.2 AH Motion CPU Specifications ......................................................... 1-8

1.2.1 Environmental Specif ications .......................................................... 1-8

1.2.2 General Specifications .................................................................... 1-8

Cha

pter 2 System Configuration

2.1 Basic System Configuration ............................................................ 2-2

2.1.1. AH Motion CPU Network Configuration .............................................. 2-3

2.1.2. AH500 Series Module Configuration ................................................. 2-4

2.2 Software Connection .................................................................... 2-10

2.3 Overall Network Configuration ..................................................... 2-11

2.3.1 EtherNet/IP ..................................................................................... 2-12

Chapter 3 Product Specifications

3.1 Environmental Specifications .......................................................... 3-2

3.2 AH Motion CPU ................................................................................ 3-2

3.2.1 General Specifications .................................................................... 3-2

3.2.2 Motion Control Function Specifications .............................................. 3-5

3.2.3 Communication Ports ..................................................................... 3-6

3.2.4 I/O Addressing of AH Motion CPU .................................................... 3-7

3.2.5 Profiles ...................................................................................... 3-14

Page 4

3.2.6 Dimensions ................................................................................. 3-15

3.2.7 Arrangement of Terminals ............................................................. 3-16

3.2.8 Memory Card Slot ........................................................................ 3-16

3.3 I/O Modules ................................................................................. 3-17

Chapter 4 Installation and Wiring

4.1 Quick Review before Installation .................................................... 4-2

4.1.1 AH Motion Hardware Components ................................................... 4-2

4.2 Points to Note on Installation ......................................................... 4-6

4.3 Installation ..................................................................................... 4-7

4.3.1 CPU Rack Installation in a Control Panel ........................................... 4-7

4.3.2 Mounting a Backplane ................................................................... 4-7

4.3.3 Installing a Module ........................................................................ 4-9

4.3.4 Installing a Removable Terminal Block ............................................ 4-10

4.3.5 Installing an External Terminal Module ............................................ 4-14

4.3.6 Connecting Communicati o n Cabl es ................................................. 4-15

4.3.7 Installing and Removing a Memory Card ......................................... 4-15

4.4 Points to Note about Wiring ......................................................... 4-16

4.5 Wiring Power Supply Modules ...................................................... 4-18

4.5.1 Precautions ................................................................................. 4-18

4.5.2 Ground ....................................................................................... 4-19

4.5.3 Wiring Power Supply Module s ........................................................ 4-20

4.5.4 Power Consumption ..................................................................... 4-23

4.6 Wiring AH Motion CPU Modules .................................................... 4-24

4.6.1 Specifications of Inputs and Outputs ............................................... 4-24

4.6.2 Wiring AHxxEMC-5A ..................................................................... 4-27

4.7 Wiring I/O Modules ...................................................................... 4-31

Chapter 5 Maintenance and Inspection

5.1 Cautions ......................................................................................... 5-2

5.2 Daily Maintenance .......................................................................... 5-2

5.2.1 Tools Required for Inspection .......................................................... 5-3

Page 5

5.2.2 Daily Inspection ............................................................................ 5-3

5.3 Periodic Maintenance ...................................................................... 5-4

5.3.1 Tools Required for Inspection .......................................................... 5-4

5.3.2 Periodic Inspection ........................................................................ 5-4

Appendices

A.1 EMC Standards for an AH Motion System ........................................... A-2

A.1.1 EMC Standards Applicable to an AH Motion System ............................ A-2

A.1.2 Installation Instructions for the EMC Standards ................................. A-3

A.1.3 Cables ......................................................................................... A-4

iii

Page 6

Preface

Table of Contents

P.1 Introduction .................................................................................................... II

P.1.1 Applicable Products ..................................................................................... II

P.1.2 Related Manuals ......................................................................................... II

P.2 Navigation between Manuals ......................................................................... III

Page 7

AH Motion Controller – Hardware Manual

P.1 Introduction

Thank you for purchasing the AH series Motion Co ntroller CPU with our advanced motion control system.

This manual introduces the hardware structures, specifications, and the installation of AH motion controller system products based on AH motion controller CPUs. Please ensure that you understand the configuration and operations of the AH series motion control system, and us e the AH series Motion Controller CPU correctly.

To obtain required informatio n for different system configurations, you can navigate bet ween different manuals of AH Motion Controller series manuals and other relat ed manuals.

P.1.1 Applicable Products

This manual relates to the following products

- AHxxEMC-5A (AH08EMC-5A/AH10EMC-5A/AH20EMC-5A)

- AH500 series modules

P.1.2 Related Manuals

The related manuals of the AH Motion Controller series motion controllers are composed of the following.

1. AH Motion Controller - Hardware Manual It introduces function specific ations, electrical specifications, appearances, dimensions, and etc.

2. ISPSoft User Manual It introduces the use of ISPSoft, the progr amming languages (ladder diagrams, i nstruction lists, sequential function charts, function block diagrams, and structured texts), the concept of POUs, the concept of tasks, and the operation of motion control programming.

3. AH Motion Controller - Standard Instructions Manual It introduces the elements for standard programming including devices, symbols and standard instructions.

4. AH Motion Controller - Operation Manual It introduces basic knowledge of motion control structure, software/hardware setup, quick start of Software operations, devices to be used, motion control operations and troubleshooting.

5. AH Motion Controller - Motion Control Instructions Manual It introduces the elements for motion control programming including axis parameters, symbols and single axis/multi-axes motion instructions.

6. AH500 Motion Control Module Manual It introduces the specifications for the AH500 series motion control modules, the wiring, the instructions, and the functions.

7. AH500 Module Manual It introduces the use of special I/O modules of AH500 series PLCs. For example, network modules, analog I/O modules, temperature measurement modules, and etc.

Page 8

Preface

AH500 Motion Control Module Manual

AH500 Module Manual

AH Motion

AH Motion Control

AH Motion

Instructions Manual

modules

3. Getting started with the software

P.2 Navigation between Manuals

Before using the products, there are three manuals that should be utilized as fundamental information: AH Motion Controller - Hardware Manual, ISPSoft User Manual, and AH Motio n Controller - Standard Instructions Manual.

With the fundamental manuals, you can understand the basic information of hardware configuration, operation procedures of the software, and the basic instructions for using the system.

To obtain required information for di fferent system configurat ions and applic ations, refer t o other manual s as indicated i n the table below. Reading all manual s related to your s ystem configur ation hel ps you mak e the most us e of the AH s eries motion control system.

Related manuals

General operation procedures

1. Overview of AH Motion Controller series products

2. Setting up hardware configurati on for the system

for motion control applications V

AH Motion series manuals

Fundamental

ler - Instructions Manual

Controller – Standard

Controller – Hardware Manual

ISPSoft User Manual

Controller – Operation Manual

for communication (e.g. EtherCAT)

for motion control applications V for communication (e.g. EtherCAT) for additional motion control m odules V

4. Programming

for motion control applications V V

for additional motion control m odules V for I/O extension using AH500 series

for I/O extension using AH500 series modules

III

Page 9

AH Motion Controller – Hardware Manual

AH500 Motion Control Module Manual

AH500 Module Manual

AH Motion

AH Motion Control

AH Motion

Instructions Manual

for communication (e.g. EtherCAT)

for additional motion control modules

V* V

Related manuals

General operation procedures for communication (e.g. EtherCAT) for additional motion control modules V

for I/O extension using AH500 series modules

AH Motion series manuals

Fundamental

Controller – Standard

Controller – Hardware Manual

ISPSoft User Manual

ler - Instructions Manual

Controller – Operation Manual

5. Testing and troubleshooting for motion control applications V*

6. Maintenance and Inspection V

*Note: Information regarding Error codes and Indi cators and the associated troubleshooting information are attached as Appendices for a quick reference. For the complete troubleshooting of the system, refer to AH Motion Controller –

Operation Manual.

for I/O extension using AH500 series modules

V* V

Page 10

Chapter 1 Product Introduction

Table of Contents

1.1 The AH Series Motion Controller ................................................................. 1-2

1.1.1. Product Features ....................................................................................... 1-3

1.1.2. Overview of the System Configurations ........................................................ 1-6

1.2 AH Motion CPU Specifications ..................................................................... 1-8

1.2.1 Environmental Specifications ..................................................................... 1-8

1.2.2 General Specifications ................................................................................ 1-8

1-1

Page 11

AH Motion Controller – Hardware Ma nual

verter

1.1 The AH Series Motion Controller

The AH series motion controllers are the new generation motion controllers that provide high-speed performanc e throug h high speed interface, e.g. EtherCAT, and abundant functionality by the various functional modules. In machine automation applications, they provide accessibility, maintainability and reliability which are demanded in machine automation controllers.

The AH series motion controllers support the functionality of AH500 series PLCs, and are fully comply with PLCopen motion control function blocks that are required for motion control. T he built-in high-speed motion network interface is capable of synchronizing I/O devices quickly and can be used in motion control devices, machine vision equipment, I/O devices, and more. With these products, you can build up a machine automation system easily throu gh ISPSoft software to achieve maximum functionality and user-friendly operation.

With the machine automation system that is built from Delta products, you can connect devices easily and apply the system as a complete solution with functionality and usability.

PLC Software

ISPSoft

AH series motion controller

1-2

Servo driv es

General-purpose slaves

Page 12

Chapter 1 Product Introduction

1.1.1. Product Features

Hardware Features

1. High performance motion control

 AHxxEMC-5A features EtherCAT motion control interface and is capable of controlling up to 32 axes. Maximum 6

axes synchronous linear interpolation and 3 axes synchronous circu lar interpolation.

 Supports PLCopen motion control standard function blocks.

2. High efficiency

 The AH Motion CPU adopts a 32-bit high-speed processor. The instructions are executed at a speed of 0.3

milliseconds per 1k steps. (50% of the instructions are ladder instructions, and 50% of the instructions are other standard instructions.)

3. Multiple I/O modules

 The I/O modules supported by the AH Motion CPU are digital input/output modules, analog input/output modules,

temperature measurement modules, network modules, motion control modules and remote I/O modules.

Module Description

Digital input/output

Digital input/output module

Analog input/output module

Temperature measurement module

Motion control module

Network module

Remote I/O Module

AH16AM10N-5A, AH16AM30N-5A, AH16AN01P-5A, AH16AN01R-5A, AH16AN01S-5A, AH16AN01T-5A, AH16AP1 1P-5A, AH16AP1 1R-5A, AH16AP11T-5A, AH32AM10N-5A, AH32AM10N-5B, AH32AM10N-5C, AH32AN02P-5A, AH32AN02P-5B, AH32AN02P-5C, AH32AN02T-5A, AH32AN02T -5B, AH32AN02T-5C, AH64AM10N-5C, AH64AN02P-5C and AH64AN02T-5C

Analog input/output AH04AD-5A, AH04DA-5A, AH06XA-5A, AH08AD-5A, AH08AD-5B, AH08AD-5C,

AH08DA-5A, AH08DA-5B, and AH08DA-5C

Measuring the temperature AH04PT-5A, AH04TC-5A, AH08TC-5A, and AH08PTG-5A

Controlling the motion AH02HC-5A, AH04HC-5A, AH05PM-5A, AH10PM-5A, AH15PM-5A, AH20MC-5A

Additional communication interface AH10SCM-5A, AH10COPM-5A, AH10EN-5A, AH15EN-5A, AH10SCM-5A, AH15SCM-5A,

AH10DNET-5A, AH10PFBS-5A, AH10PFBM-5A It can be installed on the main backplane to work as a RTU workstation. (it supports multiple

communication ports) AHRTU-DNET-5A, AHRTU-PFBS-5A and AHRTU-ETHN-5A.

4. Larger program capacity and memory

 The program capacity of the AH Motion CP U can be up to 256k steps. Users do not need to change to a more

advanced CPU if the user program grows bigger.

 The AH Motion CPU offers 128k words of data registers; 64k words of D devices and 64k words of L devices.

1-3

Page 13

AH Motion Controller – Hardware Ma nual

5. Serial control interface with multiple functions

 AHxxEMC-5A provides one serial interface throu gh USB: COM1.

 AHBP03M2-5A/AHBP05M2-5A (AH motion backplane) provides one serial interface through terminal block:

COM2.

 You can use the USB serial interface (COM1) as RS-232 and terminal block serial interface (COM2) as RS-485

according to the application. The data transfer rate can be increased from 9600 bps to 115200bps.

 ISPSoft,can perform automatic data exchange simply by filling the data exchange form in the software. Users do

not need to write any program for this purpose and can save time and efforts. For details of data exchange between devices, refer to ISPSoft User Manual.

6. Memory card

 The memory card has the following functions.

System backup: for user program, CPU parameters, module tables, and setting values in devices. System recovery: for user program, CPU parameters, module tables, and setting values in devices. Parameter storage: The values in the devices Log storage: The system error log and the system status log

7. Hot swap

 The AH motion series I/O modules support the on-line uninterruptible hot swapping. W hen the s ystem runs, users

can replace the module with error without stopping the system or setting the module t o offline state. After the module is replaced, the new module will resume normal operation automatically.

1-4

Page 14

Chapter 1 Product Introduction

Software Features

1. Complying with IEC 61131-3

 The AH Motion CPU complies with IEC 61131-3 editing environment which supports various programming

languages, multiple function blocks, tasks, and symbol tables.

 The programming l anguages which are supported are, structured texts (ST), ladder diagrams (LD), sequential

function charts (SFC), and Continuous Function Chart (CFC).

 You can select a programming language according to your preference and the convenience. The programming

languages support one another so that the programs written by different users are related.

2. Various function blocks*

 In addition to standard IEC61131-3 function blocks (including PLCopen motion control function blocks), we also

offer various convenient function blocks (DFB). You can write the program frequently executed in a function block so that the program becomes more structured and can be executed more conveniently.

 The encryption function supported by ISPSoft provides the secrecy of function blocks for special businesses. The

program inside a function block cannot be learned, and the patent of a business will not be infringed.

*Note: A function block is a program element equipped with the operation function. It is similar to a subroutine, and is a type of POU (Program Organization Unit). It cannot operate by itself, and has to be called through the program POU. After the related parameters are transmitted, the function defined by a function block is executed. Besides, the fina l operation result can be sent to the device or variable used in the superior POU after the execution of the function block is complete.

3. Task

 The user program supports 283 tasks at most: 32 cyclic tasks, 32 I/O interrupt tasks, 212 external interrupt tasks, 1

24V LV detection, 4 timed interrupt tasks, and 2 communication interrupt tasks.

 Users can enable and disable a task during the execution of a program by means of TKON and TKOFF.

4. On-line debugging mode

 After a single instruction step has been complete, or after a breakpoint is specified, users can easily find the bug in

the program by means of the on-line debugging mode supported by the AH Motion CPU.

 Note: Structured Text (ST) do not support on-line debugging mode, and sequential function charts (SFC)

programming support the debugging mode during the action and the transition.

1-5

Page 15

AH Motion Controller – Hardware Ma nual

5. On-line editing mode

 When the system runs, users can make use of the on-line editing mode to update the program without affecting

the operation of the system.

1.1.2. Overview of the System Configurations

The two categories of system configurations of AH Motion series motion control CPU are as follows.

 Basic System Configurations

The AH Motion series CPU basic configurations include the AH Motion CPU Network Configuration, AH500 Series

Module Configuration, and Supported Software.

AH Motion Network Configuration

- AHxxEMC-5A You can use the EtherCAT master port built in on the CPU interface to connect to slave devices such as analog and digital I/O, servo drives, AC motor drives and encoder input devices. With EtherCAT network configuration, you can design a system capable of performing very accurate sequence and motion control in a fixed cycle.

AH500 Series Module Configuration

With the motion backplane, you can also add AH500 series I/O modules* in addition to the EtherCAT network. AH500 series modules can be installed directly to the motion backplane where the CPU module is mounted. *Note: a few of AH500 series I/O modules are not supported by the motion backplane. Refer to Ch2 System

Configuration for the list of supported products.

Supported Software

ISPSoft is the major programming software that you use for an AH Motion series motion controller. You can connect the software on the computer to the USB interface on the CPU module through a commercially available USB cable. You can also connect ISPSoft to the Ethernet port on the CPU module with an Ethernet cable or to the built-in RS-485 port on the Motion backplane with a RS-485 cable and a converting device, e.g. IFD6500 USB/RS-485 converter. In addition to ISPSoft, you can also use other software for configuring various applications based on different networks.

1-6

Page 16

Support Software

ISPSoft

AH Motion CPU

Power

Supply

CPU

Chapter 1 Product Introduction

AH500 Series Module

Configuration

AH I/O modules

USB(RS- 232)

LAN or EtherNet/IP

CPU Rack

AH MotionNetwork

Bullt-In EtherCAT port

Bullt- In Ether Net/IP port

EtherCAT

Servo drives/encoder

input slaves

General-purpose slaves

Configuration

 Other Network Configurations

Through the network interfaces on the AH motion CPU and the m otion backplane, you can connect host computers, Human Machine Interfaces (HMI) and other AH series PLCs with RS-232(USB), RS-485, and EtherNet/IP networks. In addition, you can also create CANopen network and additional serial communication network (RS-485) by mounting AH500 series network modules on the motion backplane.

PC HMI

Et herNet/IP Scanner ( A H 500 Se r i es PLC )

DVS Series Et h er n et Sw i tch

EtherNet/IP (Adapter)

USB RS-485

Power CPU

Serial Comm. Module

CANopen Module

CANo penSerial communications

1-7

Page 17

AH Motion Controller – Hardware Ma nual

 Supported Software

ISPSoft is the major programming software that you use for an AH Motion series motion controller. You can use ISPSoft to set up the controller configurations, parameters, and to develop the program. Debugging and simulate operation.

Required software

- ISPSoft: Programming and hardware configuration

- COMMGR: Communication management

- EtherCAT Builder: EtherCAT network configurator (for AHxxEMC-5A)

Optional software

- EtherNet/IP Builder: EtherNet/IP network configurator

- CANopen Builder: CANopen network configurator

1.2 AH Motion CPU Specifications

1.2.1 Environmental Specifications

Environmental Specifications

Operating temperature Storage temperature

Operating humidity

-20~60°C

-40~70°C 5~95%

No condensation

Storage humidity

Vibration/Shock resistance

Operating environment Installation location Pollution degree

5~95% No condensation

International standards IEC 61131-2, IEC 68-2-6 (TEST Fc)/ IEC 61131-2 & IEC 68-2-27 (TEST Ea)

No corrosive gas exists. In a control box 2

1.2.2 General Specifications

General Specifications

AHxxEMC-5A Remark

Execution

Input/Output control

Programming language

The program is executed cyclically.

Cyclically refreshed inputs/outputs Direct inputs/outputs

IEC 61131-3

The inputs and outputs can be controlled through the direct inputs (DX device) and direct outputs (DY device).

1-8

Page 18

Chapter 1 Product Introduction

General Specifications

AHxxEMC-5A Remark

Ladder diagram (LD), continuous function chart (CFC), structured text (ST), and sequential function chart (SFC).

Instruction execution speed

Constant scan cycle (ms)

Program capacity (step) Installation Installation of modules

Number of modules

Number of tasks

Number of input/output devices

Number of inputs/outputs

0.3 ms/K steps 1-32000

(The scan cycle can be increased by one millisecond.)

256K steps DIN rails or screws Modules are installed directly on a backplane. Five input/output modules at most can be

installed on a motion backplane. 283 tasks (32 cyclic tasks, 32 I/O interrupt

tasks, 212 external interrupt tasks, 1 24V LV detection, 4 timed interrupt tasks, and 2 communication interrupt tasks).

X/Y devices (bit): 8192 (X0.0~X511.15/Y0.0~Y511.15) X/Y devices (word): 512 (X0~X511/Y0~Y511)

338 inputs/ 324 outputs (AHBP05M2-5A)

The scan cycle time can be specified by parameters.

Number of devices which can be used in a program

Number of inputs/outputs accessible to an CPU

Input relay [X] Output relay [Y] Auxiliary relay [M] Timer [T] Counter [C]

32-bit counter [HC/AC]

Data register [D]

Stepping relay [S] Index register [E]

Special auxiliary relay [SM]

Special data register [SR]

Serial communication port

Ethernet port

8192 (X0.0~X511.15) 8192 (Y0.0~Y511.15) 8192 (M0~M8191) 2048 (T0~T2047) 2048 (C0~C2047) HC: 64 (HC0~HC63)

AC: 56 (AC0~ AC55) D device (bit): 1048576 (D0.0~D65535.15)

D device (word): 65536 (D0~D65535) 2048 (bit) (S0~S2047) 32 (word) (E0~E31)

SM(bit): 2048 (SM0~SM2047)

SR(word): 2048 (SR0~SR2047)

One RS-232(USB), One RS-485 communication port

10/100 M

1-9

Page 19

AH Motion Controller – Hardware Ma nual

General Specifications

AHxxEMC-5A Remark

USB port Memory card slot

Real-time clock

Mini USB Supports Micro SD card (SD 2.0)

Years, months, days, hours, minutes, seconds, and weeks

The function is available when the CPU is used together with the motion backplane

1-10

Page 20

Chapter 2 System Configuration

Table of Contents

2.1 Basic System Configuration ........................................................................ 2-2

2.1.1. AH Motion CPU Network Configuration ......................................................... 2-3

2.1.2. AH500 Series Module Configuration ............................................................. 2-4

2.2 Software Connection ................................................................................ 2-10

2.3 Overall Network Configuration ................................................................. 2-11

2.3.1 EtherNet/IP ................................................................................................. 2-12

Page 21

AH Motion Controller – Hardware Ma nual

2.1 Basic System Configuration

An AH Motion series CPU provides two types of configurations as follows.

1. Basic Configurations

The basic configurations explained in this section include the CPU network configuration and the configuration of the I/O modules which are controlled by the CPU.

- AH Motion CPU network configuration

- AH500 Series Module Configuration

2. Other Network Configurations

In addition to the main CPU network configuration, you can also set up other network configurations which are connecte d to the CPU’s built-in EtherNet/IP port and other network modules.

AH Motion CPU Network Configuration

- AHxxEMC The AH Motion CPU provides EtherCAT network as a basic motion system. With the EtherCAT network system, you can obtain execution results of both sequence and motion control operation in the

high speed communications period of EtherCAT network. This feature enables precise sequence control and motion control with a constant cycle time and steady operational results.

AH500 Series Module Configuration

CPU Rack

The CPU Rack consists of products as follows.

- AH Motion series CPU

- AH Motion series backplane

- AH500 series power supply module

- AH500 series motion control modules

- AH500 series network modules*

- AH500 series digital I/O modules and special I/O modules. *Note: Some AH500 series network modules are not supported by AH Motion CPU. Refer to 2.1.2 AH500 Series Module

Configuration for the supported models.

Page 22

AH500 Series Module Configuration

Chapter 2 System Configuration

Power supply module

Motion backplane

AH Motion CPU Network Configuration

EtherCAT slaves

AH Motion CPU

EtherCAT network configuration(AH10EMC)

Servo Drives

2.1.1. AH Motion CPU Network Configuration

Digital I/O, Special I/O

Inverters General-prupose slave s

AHxxEMC – EtherCAT The EtherCAT network configuration includes AHxxEMC which is the core motion CPU, an AH motion backplane*, and an

AH500 series power supply module. You can connect the built-in EtherCAT master port to the EtherCAT slave devces. The AHxxEMC can also be used as a motion control module in an AH500 series PLC configuration. You can install it onto

the AH500 series main backplane to perform motion control function. For more information about this application, refer to AH500 Motion Control Module Manual.

*Note: The AH motion backplane must be used together with AHxxEMC when you use AHxxEMC as a motion CPU.

2-3

Page 23

AH Motion Controller – Hardware Manual

HMotionCPU

EtherCAT

EtherCAT sla ves

Servo drives General-purpose slaves

Inverters

2.1.2. AH500 Series Module Configuration

The AH Motion CPU rack consists of a motion backplane with a power supply module and a motion CPU. You can mount additional AH500 series moudles to the right for different applications. T he available modules include d igital input/output modules, analog input/output modules, network modules, and motion control modules.

 AH Motion CPU Rack

A CPU module, a power supply module, and I/O modules are installed on a motion backplane.

Powre supply module

AH Motion CPU

10EMC

BUS FAULT

CN1

Ethernet EtherCAT

ERROR

SYSTEM

RUN

RUNSTOP

Micro SD

06XA 10SCM

ERROR

RUN

AH500 series modules

10DNET

RUN

ERROR COM1 RS485 COM2 RS485

TR1

TR2

OFF

COM1

TX+ TXRX+ RX-

COM2

TX+ TXRX+ RXGND FG

Node Address

D+ DGNDGND FG

OFF

D+ DGND FG

10COPM

x10

Node Address

x10

DR 1 DR 0 IN 1 IN 0

ERROR

16AN01T

RUN

312

124910

118

15147613

x16

DR 2 DR 1 DR 0 IN 0

CAN+

SHLD

CAN-

GND

AH Motion backplane

2-4

Page 24

Chapter 2 System Configuration

 Components

Component Model Name Description

Power supply module

AH Motion CPU

Motion backplane

AHPS05-5A

AHPS15-5A 24 VDC

AHxxEMC-5A

AHBP03M2-5A Three slots available for additional AH500 series modules. AHBP05M2-5A Five slots available for additional AH500 series modules. AHBP07M2-5A Seven slots available for additional AH500 series modules.

AH16AM10N-5A

AH32AM10N-5A

100~240 VAC 50/60 Hz

AH08EMC-5A: 8 axes; AH10EMC-5A: 16 axes; AH20EMC-5A: 32 axes One EtherCAT port One EtherNet/IP port (adapter) One built-in USB port (RS-232) One built-in micro SD interface

24 VDC 5 mA 16 inputs Terminal block

24 VDC 5 mA 32 inputs Terminal block

Digital input/output module

AH32AM10N-5B

AH32AM10N-5C

AH64AM10N-5C

AH16AM30N-5A

AH16AN01R-5A

24 VDC 5 mA 32 inputs DB37 connector

24 VDC 5 mA 32 inputs MIL connector

24 VDC

3.2 mA 64 inputs MIL connector

100~240 VAC

4.5 mA~9 mA (100 V, 50 Hz) 16 inputs Terminal block

240 VAC/24 VDC 2 A 16 outputs Relay Terminal block

2-5

Page 25

AH Motion Controller – Hardware Manual

Component Model Name Description

12~24 VDC

0.5 A

AH16AN01T-5A

AH16AN01P-5A

AH32AN02T-5A

AH32AN02T-5B

16 outputs Sinking output Terminal block

12~24 VDC

0.5 A 16 outputs Sourcing output Terminal block

12~24 VDC

0.1 A 32 outputs Sinking output Terminal block

12~24 VDC

0.1 A 32 outputs Sinking output DB37 connector

AH32AN02T-5C

AH32AN02P-5A

AH32AN02P-5B

AH32AN02P-5C

12~24 VDC

0.1 A 32 outputs Sinking output MIL connector

12~24 VDC

0.1 A 32 outputs Sourcing output Terminal block

12~24 VDC

0.1 A 32 outputs Sourcing output DB37 connector

12~24 VDC

0.1 A 32 outputs Sourcing output MIL connector

12~24 VDC

0.1 A

AH64AN02T-5C

2-6

64 outputs Sinking output MIL connector

Page 26

Chapter 2 System Configuration

Component Model Name Description

12~24 VDC

0.1 A

AH64AN02P-5C

AH16AN01S-5A

AH04AD-5A

AH08AD-5A

64 outputs Sourcing output MIL connector

100~240 VAC

0.5 A 16 outputs TRIAC Terminal block

Four-channel analog input module Hardware resolution: 16 bits 0/1 V~5 V, -5 V~5 V, 0 V~10 V, -10 V~10 V, 0/4 mA~20 mA, and -20 mA~20 mA Conversion time: 150 us/channel

Eight-channel analog input module Hardware resolution: 16 bits 0/1 V~5 V, -5 V~5 V, 0 V~10 V, -10 V~10 V, 0/4 mA~20 mA, and -20 mA~20 mA Conversion time: 150 us/channel

Analog input/output module

AH08AD-5B

AH08AD-5C

AH04DA-5A

AH08DA-5A

AH08DA-5B

AH08DA-5C

Eight-channel analog input module Hardware resolution: 16 bits 0/1 V~5 V, -5 V~5 V, 0 V~10 V, and -10 V~10 V Conversion time: 150 us/channel

Eight-channel analog input module Hardware resolution: 16 bits 0/4 mA~20 mA, and -20 mA~20 mA Conversion time: 150 us/channel

Four-channel analog output module Hardware resolution: 16 bits 0/1 V~5 V, -5 V~5 V, 0 V~10 V, -10 V~10 V, and 0/4 mA~20 mA Conversion time: 150 us/channel

Eight -channel analog output module Hardware resolution: 16 bits 0/1 V~5 V, -5 V~5 V, 0 V~10 V, -10 V~10 V, and 0/4 mA~20 mA Conversion time: 150 us/channel

Eight-channel analog output module Hardware resolution: 16 bits 0/1 V~5 V, -5 V~5 V, 0 V~10 V, and -10 V~10 V Conversion time: 150 us/channel

Eight-channel analog output module Hardware resolution: 16 bits 0/4 mA~20 mA Conversion time: 150 us/channel

AH06XA-5A

Four-channel analog input module Hardware resolution: 16 bits 0/1 V~5 V, -5 V~5 V, 0 V~10 V, -10 V~10 V, 0/4 mA~20 mA, and -20 mA~20 mA

2-7

Page 27

AH Motion Controller – Hardware Manual

Component Model Name Description

Conversion time: 150 us/channel Two-channel analog output module Hardware resolution: 16 bits 0/1 V~5 V, -5 V~5 V, 0 V~10 V, -10 V~10 V, and 0/4 mA~20 mA

Conversion time: 150 us/channel Four-channel four-wire/three-wire RTD

Sensor type: Pt100/Pt1000/Ni100/Ni1000 sensor, and 0~300 Ω input

impedance

Temperature measurement module

AH04PT-5A

AH08PTG-5A

AH04TC-5A

Resolution: 0.1°C/0.1°F (16 bits) Four-wire conversion time: 150 ms/channel Three-wire conversion time: 300 ms/channel

Eight-channel four-wire/three-wire/two-wire RTD Sensor type: Pt100/Pt1000/Ni100/Ni1000, and 0~300 Ω input impedance Resolution: 0.1°C/0.1°F (16 bits) Conversion time: 20 ms/4 channels and 200 ms/8 channels

Four-channel thermocouple Sensor type: J, K, R, S, T, E, N, and -150~+150 mV Resolution: 0.1°C/0.1°F Conversion time: 200 ms/channel

Motion control module

Network module

Eight-channel thermocouple

AH08TC-5A

AH02HC-5A Two-channel high-speed counter module (200 kHz) AH04HC-5A Four-channel high-speed counter module (200 kHz) AH05PM-5A Two-axis pulse train motion control module (1 MHz)

AH10PM-5A

AH15PM-5A Four-axis pulse train motion control module (1 MHz )

AH20MC-5A

AH10EN-5A

AH15EN-5A

AH10SCM-5A

Sensor type: J, K, R, S, T, E, N, and -150~+150 mV Resolution: 0.1°C/0.1°F Conversion time: 200 ms/channel

Six-axis pulse train motion control module (Four axes: 1 MHz; Two axes: 200 kHz)

Twelve-axis DMCNET (Delta Motion Control Network) motion control module (10 Mbps)

It is an Ethernet communication module with two Ethernet ports, and supports Modbus TCP protocols, and EtherNet/IP software (V2.0). It can function as a master or a slave.

It is an Ethernet communication module with two Ethernet ports, and supports Modbus TCP protocols, and IEC60870-5-104. It can function as a master or a slave.

It is a serial communication module with two RS-485/RS-422 ports, and supports Modbus and UD Link protocols. One part of communication is isolated from the other part of the communication, and one part of power is isolated from the other part of the power.

It is a serial communication module with two RS-232 ports, and supports

AH15SCM-5A

AH10DNET-5A

2-8

Modbus and UD Link protocols. One part of communication is isolated from the other part of the communication, and one part of power is isolated from the other part of the power.

It is a DeviceNet communication module. It can function as a master or slave. A maximum of 1Mbps per second can be transferred.

Page 28

Chapter 2 System Configuration

Component Model Name Description

AH10PFBM-5A It is a PROFIBUS communication module. It can function as a master. AH10PFBS-5A It is a PROFIBUS communication module. It can function as a slave.

Remote I/O module

I/O extension cable

AH10COPM-5A

AHRTU-DNET-5A It is a DeviceNet remote I/O communication module. AHRTU-PFBS-5A It is a PROFIBUS remote I/O communication module. AHRTU-ETHN-5A It is an Ethernet remote I/O communication module.

UC-ET010-24A or DVPACAB7A10

UC-ET010-24C or DVPACAB7B10

UC-ET010-33B or DVPACAB7C10

UC-ET010-13B or DVPACAB7D10

UC-ET010-15B or DVPACAB7E10

UB-10-ID32A or DVPAETB-ID32A

UB-10-OR16A or DVPAETB-OR16A

It is a CANopen communication module. It can function as a master or a slave.

1.0 meter I/O extension cable (MIL connector) for AH32AM10N-5C and AH64AM10N-5C

1.0 meter I/O extension cable (MIL connector) for AH32AN02T-5C, AH32AN02P-5C, AH64AN02T-5C and AH64AN02P-5C

1.0 meter I/O extension cable (DB37 connector) for AH32AM10N-5B, AH32AN02T-5B, and AH32AN02P-5B

1.0 meter I/O extension cable for AH04HC-5A and AH20MC-5A

1.0 meter I/O extension cable for AH10PM-5A and AH15PM-5A

I/O external terminal module for AH32AM10N-5C and AH64AM10N-5C 32 inputs

I/O external terminal module for AH32AN02T-5C and AH64AN02T-5C 16 relay outputs

External terminal module

UB-10-OR16B or DVPAETB-OR16B

UB-10-ID32B or DVPAETB-ID32B

UB-10-OR32A or DVPAETB-OR32A

UB-10-OR32B or DVPAETB-OR32B

UB-10-OT32A or DVPAETB-OT32A

UB-10-OT32B or DVPAETB-OT32B

UB-10-IO16C or DVPAETB-IO16C

UB-10-IO24C or DVPAETB-IO24C

UB-10-IO34C or DVPAETB-IO34C

I/O external terminal module for AH32AN02P-5C and AH64AN02P-5C 16 relay outputs

I/O external terminal module for AH32AM10N-5B 32 inputs

I/O external terminal module for AH32AN02T-5B 32 relay outputs

I/O external terminal module for AH32AN02P-5B 32 relay outputs

I/O external terminal module for AH32AN02T-5C, AH32AN02P-5C, AH64AN02T-5C, and AH64AN02P-5C 32 transistor outputs

I/O external terminal module for AH32AN02T-5B and AH32AN02P-5B 32 transistor outputs

I/O external terminal module for AH04HC-5A and AH20MC-5A

I/O external terminal module for AH10PM-5A

2-9

Page 29

AH Motion Controller – Hardware Manual

LCSof

Component Model Name Description

Dummy module

AHASP01-5A Dummy module used for an empty I/O slot

2.2 Software Connection

Through the network interfaces on the AH motion CPU and the motion backplane, you can connect the CPU to the host computer with RS-232(USB), RS-485, and Ethernet networks. In this configuration, you can also connect ISPSoft with AH500 series PLCs. Refer to Motion system and the ISPSoft.

ISPSoft User Manual

for information on the procedures of the connections between the AH

tware

ISPSoft

EtherNet/I P Ne twork

therNet/IP Scanner

RS-232

RS-485

AH500 AH Motion/ series PLCs

AH Motion CPU

2-10

Page 30

Chapter 2 System Configuration

nform

ati

yer

2.3 Overall Network Configuration

- AHxxEMC In addition to the AH Motion CPU network, e.g. EtherCAT, you can expand AH Motion system with additional networks

such as CANopen network and serial communication networks. The diagram below shows the overall network configuration of different layers.

For operation procedures on connecting different communication networks, refer to ISPSoft User Manual.

n L

EtherNet/IP

Control Layer

EtherNet/IP

AH Motion CPU

Serial communication module

CANopen module

AH500 series CPU

Bu ilt-in EtherNet/IP port

CANopen

EtherNet/IP module port

Built-in EtherNet/IP port

AH Motion CPU

HMI

Buil t-in EtherNet/IP port

Built-in EtherCAT port

EtherCAT

Robot

Device Layer

Servo Drives

Serial communications

RS-422/R S- 485 seri al-com m uni cat ons devices

Servo Drives

EtherCAT slaves

2-11

Page 31

AH Motion Controller – Hardware Manual

Layer Function Network type Protocols Devices

Message communications

Information Layer

Control Layer

Device Layer - field networks

(CIP) with host personal computer

Automatic data exchange between controllers (no programming required)

Communication between PLC and devices with serial interface.

High-speed, high accuracy communications with servo drives and slaves(32 axes)

High-speed, high accuracy communications with servo drives and slaves (16 axes)

EtherNet/IP

EtherNet/IP MODBUS TCP Serial communications

Serial communications

EtherCAT EtherCAT protocol

CANopen CANopen protocol CANopen module

2.3.1 EtherNet/IP

Please refer to EtherNet/IP operation manual for more details.

CIP message communications

EtherNet/IP MODBUS TCP MODBUS RS-422/RS-485

MODBUS RS-422/RS-485

Built-in EtherNet/IP port

Delta controllers

Serial communication module

Built-in EtherCAT port

2-12

Page 32

Chapter 3 Product Specifications

Table of Contents

3.1 Environmental Specificatio ns ..................................................................... 3-2

3.2 AH Motion CPU ........................................................................................... 3-2

3.2.1 General Specifications ............................................................................... 3-2

3.2.2 Motion Control Function Specifications ......................................................... 3-5

3.2.3 Communication Ports ................................................................................ 3-6

3.2.4 I/O Addressing of AH Motion CPU ................................................................ 3-7

3.2.5 Profiles ................................................................................................ 3-14

3.2.6 Dimensions ............................................................................................ 3-15

3.2.7 Arrangement of Terminals ........................................................................ 3-16

3.2.8 Memory Card Slot ................................................................................... 3-16

3.3 I/O Modules ............................................................................................. 3-17

3-1

Page 33

AH Motion Controller – Hardware Manual

Environmental Specifications

Operating temperature

Storage temperature

-40~70°C

No condensation

resistance

IEC 61131-2 & IEC 68-2-27 (TEST Ea)

Operating environment

Installation location

In a control box

Pollution degree

General Specifications

AHxxEMC-5A

Remark

Execution

The program is executed cyclical ly.

device).

sequential function chart (SFC ) .

Instruction execution speed

Program capacity (step)

256K steps

Installation

DIN rails or screws

installed on a motion backplane.

communication interrupt tasks).

3.1 Environmental Specifications

-20~60°C

Operating humidity

Storage humidity

Vibration/Shock

5~95%

International standards IEC 61131-2, IEC 68-2-6 (TEST Fc)/

No corrosive gas exists.

3.2 AH Motion CPU

3.2.1 General Specifications

 AHxxEMC-5A

Input/Output control

Cyclically refreshed inputs/outputs Direct inputs/outputs

The inputs and outputs can be controlled through the direct inputs (DX device) and direct outputs (DY

Programming language

Constant scan cycle (ms)

Installation of modules

Number of modules

Number of tasks

IEC 61131-3 Ladder diagram (LD), continuous f unction

chart (CFC), structured text (ST), and

0.3 ms/K steps 1-32000

(The scan cycle can be increased by one millisecond.)

Modules are installed directly on a backplane.

Five input/output modules at most c an be

283 tasks (32 cyclic tasks, 32 I/O interrupt tasks, 212 external interrupt tasks, 1 24V LV detection, 4 timed interrupt tasks, and 2

The scan cycle time can be specified by parameters.

3-2

Page 34

General Specifications

AHxxEMC-5A

Remark

Number of input/output

(X0~X511/Y0~Y511)

accessible to an CPU

Input relay [X]

Output relay [Y]

8192 (Y0.0~Y511.15)

Auxiliary relay [M]

8192 (M0~M8191)

Timer [T]

2048 (T0~T2047)

Counter [C]

2048 (C0~C2047)

AC: 56 (AC0~ AC55) (AHxxEMC)

D device (word): 65536 (D0~D65535)

Stepping relay [S]

Index register [E]

32 (E0~E31)

Special auxiliary relay [SM]

SM: 2048 (SM0~SM2047)

Special data register [SR]

communication port

Ethernet port

10/100 M

USB port

Mini USB

Memory card slot

Supports Micro SD card (SD 2.0)

motion backplane

Weight

230g

Rated input

Current

Voltage

1. Differential input terminals.

captures.

devices

X/Y devices (bit): 8192 (X0.0~X511.15/Y0.0~Y511.15) X/Y devices (word): 512

Chapter 3 Product Specifications

Number of devices which can be used in a program

Number of inputs/outputs

32-bit counter [HC/AC]

Data register [D]

Serial communication port

328 inputs/ 324 outputs (AHxxEMC)

8192 (X0.0~X511.15)

HC: 64 (HC0~HC63)

D device (bit): 1048576 (D0.0~D65535.15)

2048 (S0~S2047)

SR: 2048 (SR0~SR2047) One RS-232(USB), One RS-485

Number of inputs/outputs

Real-time clock

Description of the terminals

Terminal Description

X0.0+, X0.0-, X0.1+, X0.1(*2)

Years, months, days, hours, minutes, seconds, and weeks

2. The functions of the terminals:

 High-speed count:

 The terminals are the RESET input

terminals for counter 0~counter 1.

 X0.0+ and X0.0- are for counter 0.

X0.1+ and X0.1- are for count er 1.

 High-speed capture: The terminals can

function as trigger signals for hig h-speed

The function is available when the CPU is used together with the

Response

characteristic

1MHz +/-5mA +/-5V

3-3

Page 35

AH Motion Controller – Hardware Manual

Rated input

Current

Voltage

 Interrupt inputs

1. Differential input terminals.

 Interrupt inputs

interrupt inputs.

Y0.8,

Y0.11

function as high-speed comparison outputs.

Terminal Description

1. Common input terminals.

2. The functions of the terminals:

 High-speed count:

 The terminals are the RESET input

X0.2, X0.3, X1.4, X1.5 (*2)

X0.8+, X0.8-, X0.9+, X0.9(*2)

 High-speed capture: X0.2 and X0.3 can function

1. Differential input terminals.

2. The functions of the terminals:

 Motion control: The terminals are for a manual

 High-speed count:

 High-speed capture: The terminals can function

terminals for counter 2~counter 5.

 X0.2 is for counter 2.

X0.3 is for counter 3. X1.4 is for counter 4 X1.5 is for counter 5

as trigger signals for high-speed captures.

pulse generator.

 The terminals are for counter 0.  X0.8+ and X0.8- are the A-phase inputs for

counter 0. X0.9+ and X0.9- are the B-phase inputs for counter 0.

as trigger signals for high-speed captures.

Response

characteristic

100kHz(*1) 5mA 24V

1MHz +/-5mA +/-5V

2. The functions of the terminals:

X0.10+, X0.10-, X0.11+, X0.11(*2)

1. Common input terminals.

2. The functions of the terminals:

X0.12, X0.13, X0.14, X0.15, X1.0, X1.1, X1.2, X1.3 (*2)

1. Pulse output temrinals (ope n c ol lector).

Y0.9, Y0.10,

2. The function of the terminals:

 High-speed count:

 The terminals are for counter 1.  X0.10+ and X0.10- are the A-phase inputs

for counter 1. X0.11+ and X0.11- are the B-phase inputs for counter 1.

 High-speed capture: The terminals can function

as trigger signals for high-speed captures.

 High-speed count:

 The terminals are for counter 2~counter 5.  X0.12 and X0.13 are for counter 2.

X0.14 and X0.15 are for coun ter 3. X1.0 and X1.1 are for counter 4. X1.2 and X1.3 are for counter 5.

 High-speed capture: The terminals can function

as trigger signals for high-speed captures.

 Interrupt inputs:

X0.12, X0.13, X0.14 and X0.15 can function as

 High-speed comparison: The terminals can

1MHz +/-5mA +/-5V

100 kHz(*1) 5mA 24 V

200 kHz 15 mA 24 V

3-4

Page 36

Chapter 3 Product Specifications

Specifications

AHxxEMC-5A

supported

(Axis 1~axis 32)

Storage

The capacity of the built-in storage is 256K steps.

Unit

Open collector output:200KHz

Specifications

AHxxEMC-5A

Operating switch

RUN-STOP switch

Output terminal

Y0.8, Y0.9, Y0.10, and Y0.11

EtherCAT port

The maximum capacity is 32 GB.

You can use them freely.

Number of counters

capture/comparison

*1. If the frequency of input signals received by an input terminal must be 200 kHz, the input termi nal must be connected

to a 1 kΩ (2 W) resistor in parallel

*2. From HWCONFIG of the ISPSoft, two different filter settings for IO inputs can be set, X Input Sing le Filter Time and X

Input Single Frequency Filter Fac tor. For details, please refer to section 4.4.4.1 in the AH Motion Controller Operation Manual.

3.2.2 Motion Control Function Specifications

 AHxxEMC-5A

Number of substantial axes

Motor control

Maximum speed

Input signal

Input terminal

AH08EMC-5A: 8 axes; AH10EMC-5A: 16 axes; AH20EMC-5A: 32 axes

Motor unit, mechanical unit High-speed motion control system EtherCAT

The response time is 100Mbps. EtherCAT: 100M bps

Diffrential input: 1MHz Open collector input : 200KHz

X0.0+, X0.0-, X0.1+, X0.1-, X0.8+, X0.8-, X0.9+, X0.9-, X0.10+, X0.10-, X0.11+, X0. 11-, X0.2, X0.3, X0.12, X0.13, X0.14, X0.15, X1.0,X1.1, X1.2, X1.3, X1.4, X1.5,

Output signal

Memory card slot

M-code

G-code

Number of high-speed

External communication port

Mini USB port Ethernet port

Supports Micro SD card

M00~M01, M03~M101, and M103~M6553 5: The execution of a program pauses. (WAIT)

G0 (rapid positioning), G1 (linear i nterpolation), G2 (circular interpolation, clockwise), G3 (circular interp ol ation, counterclockwise), G4 (dwell), G17 (XY plane selection), G18 (ZX plane selection), G19 (YZ plane selection), G90 (absolute programming), and G 91 ( i nc remental programming)

3-5

Page 37

AH Motion Controller – Hardware Manual

Specifications

AHxxEMC-5A

Number of interrupt devices

Specifications

Electrical isolation

500 VDC

Connector

RJ45

Transmission cable

CAT-5, CAT-5e, CAT-6

Specifications

Electrical isolation

500 VDC

Connector

RJ45

UC-EMC200-02 (20M)

216

3.2.3 Communication Ports

 AHxxEMC-5A AHxxEMC is equipped with a mini USB port and an Ethernet port and an EtherCAT port. Mini USB: A mini USB port can function as a slave statio n. You can download or upload a pr ogram throug h a mini USB

port. The communication protoc ols supported by the mini USB port are MODBUS ASCII and MODBUS RTU (RS-232).

Ethernet: The Ethernet port supp orts communication protocol MODBUS TCP and EtherNet/IP adapter.

MODBUS TCP

The Ethernet port on AH Motion CPU c an exchange data with a device with Ethern et interface, e.g. AH500 series PLCs, through a common Ethernet cable.

- Can be c onnected to ISPSoft. A program can be uploaded/downloa ded and monitored.

- Can also function as a standard MODBUS TCP slave.

EtherNet/IP adapter

The Ethernet port on AH Motion CPU can be connected by an EtherNet/IP scanner and perform data exchange through a common Ethernet cable.

- Can b e connected to EtherNet/IP scanner through I/O connection.

- Can be connected to EtherNet/IP scanner through CIP Message.

EtherCAT: An EtherCAT port can be used to perform motion control function based on EtherCAT communications .

Delta Cable

Transmission cable

UC-EMC003-02 (0.3M), UC-EMC005-02 (0.5M), UC-EMC010-02 (1M), UC-EMC020-02 (2M), UC-EMC050-02 (5M), UC-EMC100-02 (10M),

3-6

Page 38

Communication specifications:

Specifications

Serial transmission rate

9,600~57,600 bps

Number of data bits

7 bits~8 bits

Parity bit

Even parity bit/Odd parity bit/None

Number of stop bits

1 data bit~2 data bits

ASCII mode

Slave stations are supported.

RTU mode

Slave stations are supported.

Number of data read/written (ASCII mode)

100 registers

Number of data read/written (RTU mode)

100 registers

Ethernet

MODBUS TCP

EtherNet/IP

Transmission rate

Communication protocol

Number of data read/written

Maximum transmission distance

Specifications

Serial transmission rate

Communication protocol

Chapter 3 Product Specifications

Specifications

Interface

Mini USB

10/100 Mbps 10/100 Mbps MODBUS TCP EtherNet/IP 100 registers 250 registers 100 meters 100 meters

EtherCAT

100 Mbps EtherCAT packet format

Number of axes supported

AH08EMC-5A: 8 axes; AH10EMC-5A: 16 axes;

AH20EMC-5A: 32 axes

3.2.4 I/O Addressing of AH Motion CPU

The I/O addressing bet ween A H Motion CP Us and AH500 I/O modules installed on the motion backplane is a part of the CPU specifications. The range of I/O addressing of AH Motion CPUs is explained in this section.

 Software-defined address

Every AH motion CPU supports software-defined addresses between AH Motion CPU and its I/O modules. As a default setting, a starting address is given by the soft ware and I /O addres ses are autom atic ally alloc ated according to the starting address. For example, AH16AM10N-5A, digital input module with 16 inputs, takes the input device range of 16 bits, starting from Xn.0 (Xn.0~Xn.15).

 User-defined address

If you want to define the I/O addresses according to actual needs, you can assign a starting address to an input/output module by software. You can benefit from the user-defined addresses that allow you to obtain a flexible and customized program. The available user-defined addresses for each I/O module will be listed later.

3-7

Page 39

AH Motion Controller – Hardware Manual

16AM

16 inputs. The input device range occupies 16 bits. (Xn.0~Xn.15)

16AN

16 outputs. The output device range occupies 16 bits. (Yn.0~Yn.15)

32AM

32 inputs. The input device range occupies 32 bits. (Xn.0~Xn+1.15)

64AM

64 inputs. The input device range occupies 64 bits. (Xn.0~Xn+3.15)

64AN

64 inputs. The output device range occupies 64 bits. (Yn.0~Yn+3.15)

 Software-defined Addresses

Digital Input/Output Modules

Input/Output devices are automatically assigned to a digital input/output module through HWCONFIG in ISPSoft according to the number of inputs/outputs which the digital input/output module has. The default start addresses are shown below.

Note:

1. The below diagram only shows the lis t of the modules and is not an actual configuration.

2. AH16AR10N-5A(16AR) is not supported.

16AP

32AN 32 outputs. The output device range occupies 32 bits. (Yn.0~Yn+1.15)

8 inputs and 8 outputs. The input device range occupies 16 bits, and the output device range occupies 16 bits. (X

.0~Xn.15, and Yn.0~Yn.15)

Analog Input/Output Modules

Input/Output data registers are automatically assigned to an analog input/output module through HWCONFIG in ISPSoft according to the number of registers which is defin ed for t he analog in put/out put module. A channel occupies two words.

Note: The below diagram only sho ws the list of the modules and is not an actual configuration.

3-8

Page 40

Chapter 3 Product Specifications

04AD

08AD

output device range occupies 4 data registers.

04DA

08DA

04PT

08PTG

04TC

08TC

4 input channels. The input device range occupies 8 data registers.

06XA

Temperature Measurement Modules

Input data registers are automatically assigned to a temperature measurement module through HWCONFIG in ISPSoft according to the number of register s which is defined for the temperatur e measurement module. A channel occupies two words.

8 input channels. The input device range occupies 16 data registers 4 input channels, and 2 output channels. The input device range occupies 8 data registers, and the

4 output channels. The output device range occupies 8 data registers 8 output channels. The output device range occupies 16 data registers.

Note: The below diagram only sho ws the list of the modules and is not an actual configuration.

4 input channels. The input device range occupies 8 data registers. 8 input channels. The input device range occupies 16 data registers 4 input channels. The input device range occupies 8 data registers. 8 input channels. The input device range occupies 16 data registers

3-9

Page 41

AH Motion Controller – Hardware Manual

occupies 2 data registers.

occupies 4 data registers.

Module Manual for more information about the parameter setting.

Motion Control Modules

Input/Output data registers are aut omatically assigned to a motion control modul e through HWCONFIG in ISPSoft according to the number of registers which is defined for the motion control module.

Note: The below diagram only sho ws the list of the modules and is not an actual configuration.

02HC

04HC

05PM

10PM

15PM

20MC

2 input channels. The input device range occupies 14 data registers, and the output device range

4 input channels. The input device range occupies 28 data registers, and the output device range

No input registers and no output regist ers are assigned to it. Please refer to AH500 Motion Control Module Manual for more information about the parameter setting.

No input registers and no output regist ers are assigned to it. Please refer to AH500 Motion Control

No input registers and no output regist ers are assigned to it. Please refer to AH500 Motion Control Module Manual for more information about the parameter setting.

Network Modules

Input/Output data registers are automatically assigned to a network module through HWCONFIG in ISPSoft according to the number of registers which is def ined for the network module.

Note: The below diagram only sho ws the list of the modules and is not an actual configuration.

3-10

Page 42

Chapter 3 Product Specifications

registers.

10SCM

10DNET

No input device and output device will be occupied.

10PFBS

No input device and output device will be occupied.

10PFBM

10COPM

The input device range occupies 2 data registers.

15SCM

The input device range occupies 18 data registers.

10EN/15EN

The input device range occupies 20 dat a r egisters and output device range 20 data

The input device range occupies 18 data registers.

The input device range occupies 15 data registers.

 User-defined Addresses

Digital Input/Output Modules

You can assign input devices and output devices to a digital input/output module through HWCONFIG in ISPSoft. The input devices should be within the range between X0.0 and X511.15, and the output devices should be within the range between Y0.0 and Y511.15. Take AH16AP11R-5A for example. The default input dev ices are X0.0~X0.15, and the default output devices are Y0.0~Y0.15. You can change the input device range from X0.0~X0.15 to X10.0~X10.15, and change the output device range from Y 0.0~Y0.15 to Y20.0~Y20.15.

 The default input/output device range: X0.0~X0.15, and Y0.0~Y0.15

 The user-defined input/output device range: X10.0~X10.15, and Y20.0~Y20.15

3-11

Page 43

AH Motion Controller – Hardware Manual

Analog Input/Output Modules

You can assign input registers and outp ut re gist ers t o an a nal og in put/ out put modu le thr oug h HWCONFIG in ISPSoft. The input registers and the output registers should be within the range between D0 and D65535. Take AH06XA-5A for example. The original input registers are D0~D7, and the original output registers are D8~D11. You can change the input device range from D0~D7 to D50~D57, and change the output device range from D8~D11 to D100~D103.

 The default input/output device range: D0~D7, and D8~D11

 The user-defined input/output device range: D50~D57, and D100~D103

Temperature Measurement Modules You can assign input registers to a t emperature measurement module through HWCONFIG in ISPSoft . The input

registers should be within the range between D0 and D65535. Take AH08T C-5A for example. The original input registers are D0~D15. You can change the input device range from D0~D15 to D60~D75.

 The default input device range: D0~D151

3-12

Page 44

Chapter 3 Product Specifications

 The user-defined input device range: D60~D75

Motion Control Modules

You can assign input registers and output registers to a motion control modu le through HWCONFIG in ISPSoft. The input registers should be within the range between D0 and D65535, and the output registers should be within the range between D0 and D65535. Take AH04HC -5A for example. The original input regis ters are D0~D27. You can change the input device range from D0~D27 to D200~D227.

 The default input device range: D0~D27

 The user-defined input device range: D200~D227

Network Modules You can ass ign input registers and output registers to a n etwork module through HWCONFIG in ISPSoft. The input

registers shou ld be within the r ange between D0 and D65535, and the output registers should be within the range between D0 and D65535. Take AH1 0EN-5A* for example. The original input registers are D0~D19. You can change the input device range from D0~D19 to D150~D169. *Note: The diagram below is only a demonstration on changing input device range.

3-13

Page 45

AH Motion Controller – Hardware Manual

RUN

ETH

ERRO R

RUN

Ethe rnet Eth erCAT

CN 1

R UN

S TO P

Mi cro S D

Et herC AT

10EMC

ETH

ERRO R

10....

Number

Name

Description

Model name

Model name of the CPU module

Blink: The user program is in a debugging mode.

 The default input device range: D0~D19

 The user-defined input device range: D150~D169

3.2.5 Profiles

 AHxxEMC-5A

RUN LED indicator

3-14

Operating status of the CPU module ON: The user program is being executed. OFF: The execution of the user program s tops.

Page 46

Number

Name

Description

ERROR LED

Blink: A slight error occurs in the system.

Blink: A slight error occurs in the I/O bus.

Blink: The CPU module is being reset / The value in the device is being cleared.

Mini USB port

Providing the RS-232 communicat ion interface

STOP: The execution of the user program st ops .

SD slot

Micro SD interface

Connector

Connecting the module and an I/O extension cable.

EtherCAT port

Providing the EtherCAT communication i nterface

Ethernet port

Providing the Ethernet communication interface

Set screw

Fixing the module

Hook

Connecting the module and a backplan e.

RUN

ETH

ERROR

RUN

Ethernet

EtherCAT

CN1

RUN

STOP

Micro SD

EtherCAT

10EMC

ETH

ERROR

indicator

BUS FAULT LED indicator

SYSTEM LED indicator

Chapter 3 Product Specifications

Error status of the CPU module ON: A serious error occurs in the system. OFF: The system is normal.

Error status of the I/O bus ON: A serious error occurs in the I/O bus. OFF: The I/O bus is normal.

System status of the CPU module ON: The external input/output is forced ON/OFF. OFF: The system is in a default status.

4 RUN/STOP switch

10 Label Nameplate

3.2.6 Dimensions

RUN: The user program is executed.

Dimensions are in mm.

3-15

Page 47

AH Motion Controller – Hardware Manual

Function

Pulse

Count

Pulse

Count

COM COM

Y0.11 Out3

COM COM

Y0.9 Out1

COM COM

Y0.8 Out0

X1.5 Rst5

X1.2 CntA5

S/S S/S

X1.1 CntA4

X1.4 Rst4

X1.0 CntA4

S/S S/S

X0.15

CntA3

X0.3 Rst3

X0.14

CntA3

S/S S/S

X0.13

CntA2

X0.1- Rst1-

X0.1+

Rst1+

X0.11-

CntB1-

X0.11+

CntB1+

X0.0- Rst0-

X0.0+ Rst0+

X0.9-

MPGB-

CntB0-

X0.9+

MPGA-

CntB0+

MiniSD

MicroS

3.2.7 Arrangement of Terminals

 AHxxEMC-5A

Pin Terminal

2 COM COM 20 Y0.10 Out2

5 S/S S/S 23 X1.3 CntA5

12 X0.2 Rst2 30 X0.12

DOG5-

15 X0.10-

DOG4-

CntA1- 33 X0.10+

Pin Terminal

DOG3 DOG2 DOG1 DOG0

DOG5+ DOG4+

CntA2

CntA1+

18 X0.8- MPGB+ CntA0- 36 X0.8+ MPGA+ CntA0+

3.2.8 Memory Card Slot

 AHxxEMC-5A The AH Motion seri es CPU modules support micro SD cards. You can purchase products which meet the specifications

supported by the memory card slot on the AH Motion CPU.

SD Cards

SD cards have three size types: SD cards, miniSD cards, and microSD cards. The AH Motion CPU supports Micro SDHC cards.

3-16

Page 48

Chapter 3 Product Specifications

Type

SDHC

SDXC

Capacity

32 GB max.

system

Size

SDHC

MiniSDHC

MicroSDHC

SDXC

MicroSDXC

Class 10 (Min. 10 MB/sec.)

Specifications for Memory Cards

The specifications of SD c ards can also be classified into three types according to capacity: SD cards, SDHC cards, and SDXC cards. The AH Motion CPU supports MicroSDHC in FAT32 file system as below. Be sure to purchase pr oducts which meet the specifications.

 SD card families

File

Speed

class

rating

2 GB Max.

FAT/FAT3

N/A

FAT16/FAT32

Class 2 (Min. 2 MB/sec.) Class 4 (Min. 4 MB/sec.) Class 6 (Min. 6 MB/sec.)

32 GB~2 TB

exFAT

Class 2 (Min. 2 MB/sec.) Class 4 (Min. 4 MB/sec.) Class 6 (Min. 6 MB/sec.) Class 10 (Min.

10 MB/sec.)

3.3 I/O Modules

AH motion controller PLC supports the following I/O module types: digital input/output modules, analog input/output modules, temperature measurement modules, network modules, motion control modules, r emote I/O modules. Refer to Chapter 3 of the AH500 Hardware Manual for more details.

3-17

Page 49

AH Motion Controller – Hardware Manual

MEMO

3-18

Page 50

Chapter 4 Installation and Wiring

Table of Contents

4.1 Quick Review before Installation ................................................................ 4-2

4.1.1 AH Motion Hardware Components ............................................................... 4-2

4.2 Points to Note on Installation ..................................................................... 4-6

4.3 Installation ................................................................................................. 4-7

4.3.1 CPU Rack Installation in a Control Panel ....................................................... 4-7

4.3.2 Mounting a Backplane ............................................................................... 4-7

4.3.3 Installing a Module .................................................................................... 4-9

4.3.4 Installing a Removable Terminal Block ....................................................... 4-10

4.3.5 Installing an External Terminal Module ....................................................... 4-14

4.3.6 Connecting Communication Cables ............................................................ 4-15

4.3.7 Installing and Removing a Memory Card .................................................... 4-15

4.4 Points to Note about Wiring ..................................................................... 4-16

4.5 Wiring Power Supply Modules .................................................................. 4-18

4.5.1 Precautions ............................................................................................ 4-18

4.5.2 Ground .................................................................................................. 4-19

4.5.3 Wiring Power Supply Modules ................................................................... 4-20

4.5.4 Power Consumption ................................................................................ 4-23

4.6 Wiring AH Motion CPU Modules ................................................................ 4-24

4.6.1 Specifications of Inputs and Outputs .......................................................... 4-24

4.6.2 Wiring AHxxEMC-5A ................................................................................ 4-27

4.7 Wiring I/O Modules .................................................................................. 4-31

4-1

Page 51

Chapter 4 Installation and Wiring

4.1 Quick Review before Installation

Before you start the installation and wiring of AH Motion system, we suggest that you review your actual application and

have a clear idea of the required components in your system. This section will give you a quick overview of the

components in AH Motion CPU rack configuration. You can also refer to CH2 System Configuration for planning the

system or CH3 Product Specifications for choosing proper products for your system.

4.1.1 AH Motion Hardware Components

A complete AH Motion CPU rack consists of a Motion backplane, a power supply module, a Motion CPU module, and

additional AH500 series I/O modules as below.

Powre supply module

AH Motion backplane

AH Motion CPU

10EMC

BUS FAULT

CN1

Ethernet EtherCAT

ERROR

SYSTEM

RUN

RUNSTOP

Micro SD

06XA 10SCM

ERROR

RUN

AH500 series modules

10DNET

RUN

ERROR

COM1 RS485

COM2 RS485

TR1

OFF

COM1

TX+

TX-

RX+

D+

RX-

D-

GNDGND

TR2

OFF

COM2

TX+

TX-

D+

RX+

D-

RX-

GND

Node Address

10COPM

x10

Node Address

x10

DR 1 DR 0 IN 1 IN 0

ERROR

16AN01T

RUN

312

124910

118

15147613

x16

DR 2 DR 1 DR 0 IN 0

CAN+

SHLD

CAN-

GND

AH Motion backplane

 Basic Components

An AH Motion CPU rack consists of the following four basic components.

- Motion backplane

A Motion CPU module and other modules are installed on a Motion backplane which functions as the

communication interface between CPU and modules. The Motion backplane also provides an additional COM port

(RS-485).

AHBP05M2-5A: supporting up to 5 additional I/O modules

4-2

Page 52

Chapter 4 Installation and Wiring

- Power supply modules

A power supply module functions to convert alternating current to direct current, or directly provides direct current.

It provides power for the modules installed on it. A Motion backplane must `be assigned a power supply module. A

power supply module has to be installed on the left-most side of a backplane.

AHPS05-5A AHPS15-5A

PS05

PS15

POW ER

- Motion CPU module

A Motion CPU module is the core of a complete AH Motion system. It is responsible for controlling and managing

the whole system, and is installed in the second slot from the left on the Motion backplane.

AHxxEMC-5A

10EMC

RUN

ERROR

EtherCAT

CN1

Ethernet EtherCAT

ETH

RUNSTOP

Micro SD

- Communication cables

Several communication interfaces are built in a Motion CPU module. You can select a suitable communication

cable according to the required application.

Refer to the following table for information about the communication interfaces and the main applications.

Interface Connector Application

EtherCAT RJ45 Industrial network connecting EtherCAT slaves

EtherNet RJ45

Computer/HMI communication/remote control/data exchange/industrial network

RS-232 Mini USB Programming

RS-485 Terminal block Programming

4-3

Page 53

AH Motion Controller – Hardware Manual

 Additional Modules

In addition to the basic components, you can also expand the function by attaching I/O modules or function modules.

The following are the applicable modules for an AH Motion CPU rack. You can select the proper products according to

your needs.

- Motion control modules:

AH02HC-5A

AH04HC-5A

AH05PM-5A

AH10PM-5A

AH15PM-5A

AH20MC-5A

- Digital input/output modules:

AH16AM10N-5A

AH32AM10N-5A

AH32AM10N-5B

AH32AM10N-5C

AH64AM10N-5C

AH16AM30N-5A

AH16AN01R-5A

AH16AN01T-5A

AH16AN01P-5A

Two-channel high-speed counter module (200 kHz)

Four-channel high-speed counter module (200 kHz)

Two-axis pulse train motion control module (1 MHz)

Six-axis pulse train motion control module

(Four axes: 1 MHz; Two axes: 200 kHz)

Four-axis pulse train motion control module (1 MHz )

Twelve-axis DMCNET (Delta Motion Control Network) motion control module (10 Mbps)

24 VDC, 5 mA, 16 inputs, Terminal block

24 VDC, 5 mA, 32 inputs, Terminal block

24 VDC, 5 mA, 32 inputs, DB37 connector

24 VDC, 5 mA, 32 inputs, MIL connector

24 VDC, 3.2 mA, 64 inputs, MIL connector

100~240 VAC, 4.5 mA/9 mA (100 V, 50 Hz), 16 inputs, Terminal block

240 VAC/24 VDC, 2 A, 16 outputs, Relay, Terminal block

12~24 VDC, 0.5 A ,16 outputs, Sinking output(NPN), Terminal block

12~24 VDC, 0.5 A, 16 outputs, Sourcing output(PNP), Terminal block

AH16AN01S-5A

AH32AN02T-5A

AH32AN02T-5B

AH32AN02T-5C

AH32AN02P-5A

AH32AN02P-5B

AH32AN02P-5C

AH64AN02T-5C

AH64AN02P-5C

AH16AP11R-5A

AH16AP11T-5A

AH16AP11P-5A

110/220 VAC, 0.5 A, 16 outputs, TRIAC, Terminal block

12~24 VDC, 0.1 A, 32 outputs, Sinking output(NPN), Terminal block

12~24 VDC, 0.1 A, 32 outputs, Sinking output(NPN), DB37 connector

12~24 VDC, 0.1 A, 32 outputs, Sinking output(NPN), MIL connector

12~24 VDC, 0.1 A, 32 outputs, Sourcing output(PNP), Terminal block

12~24 VDC, 0.1 A, 32 outputs, Sourcing output(PNP), DB37 connector

12~24 VDC, 0.1 A, 32 outputs, Sourcing output(PNP), MIL connector

12~24 VDC, 0.1 A, 64 outputs, Sinking output(NPN), MIL connector

12~24 VDC, 0.1 A, 64 outputs, Sourcing output(PNP), MIL connector

24 VDC, 5 mA, 8 inputs ,240 VAC/24 VDC, 2 A, 8 outputs, Relay ,Terminal block

24 VDC, 5 mA, 8 inputs, 12~24 VDC, 0.5 A, 8 output, Sinking output(NPN), Terminal block

24 VDC, 5 mA, 8 inputs, 12~24 VDC, 0.5 A, 8 outputs, Sourcing output(PNP), Terminal block

4-4

Page 54

- Analog input/output modules:

Four-channel analog input module

AH04AD-5A

AH08AD-5A

AH08AD-5B

AH08AD-5C

AH04DA-5A

AH08DA-5A

16-bit resolution

-10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V, 0/4~20 mA, or -20~+20 mA

Eight-channel analog input module

16-bit resolution

-10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V, 0/4~20 mA, or -20~+20 mA

Eight-channel analog input module

16-bit resolution

-10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V

Eight-channel analog input module

16-bit resolution

0/4~20 mA or -20~+20 mA

Four-channel analog output module

16-bit resolution

-10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V, or 0/4~20 mA

Eight-channel analog output module

16-bit resolution

-10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V, or 0/4~20 mA

Chapter 4 Installation and Wiring

Eight-channel analog output module

AH08DA-5B

AH08DA-5C

AH06XA-5A

- Temperature measurement modules:

AH04PT-5A

AH08PTG-5A

AH04TC-5A

AH08TC-5A

16-bit resolution

-10~+10 V, 0~10 V, -5~+5 V, or 0/1~5 V

Eight-channel analog output module

16-bit resolution

0/4~20 mA

Four-channel analog input and two-channel analog output module

16-bit resolution

Analog input: -10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V, 0/4~20 mA, or -20~+20 mA

Analog output: -10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V, or 0/4~20 mA

Four-channel four-wire/three-wire RTD

Sensor type: Pt100, Pt1000, Ni100, Ni1000, or 0~300 Ω input impedance

Eight-channel four-wire/three-wire/two-wire RTD

Sensor type: Pt100, Pt1000, Ni100, Ni1000, or 0~300 Ω input impedance

Four-channel thermocouple

Sensor type: J, K, R, S, T, E, N, or -150~+150 mV

Eight-channel thermocouple

Sensor type: J, K, R, S, T, E, N, or -150~+150 mV

- Network modules:

AH10EN-5A

AH15EN-5A

AH10SCM-5A It is a serial communication module with two RS-485/RS-422 ports, and supports

It is an Ethernet communication module with two Ethernet ports, and supports Modbus TCP protocols, and EtherNet/IP software (V2.0). It can function as a master or a slave.

It is an Ethernet communication module with two Ethernet ports, and supports Modbus TCP protocols, and IEC60870-5-104. It can function as a master or a slave.

4-5

Page 55

AH Motion Controller – Hardware Manual

Modbus and UD Link protocols. One part of communication is isolated from the other part of the communication, and one part of power is isolated from the other part of the power.

It is a serial communication module with two RS-232 ports, and supports Modbus and

AH15SCM-5A

UD Link protocols. One part of communication is isolated from the other part of the communication, and one part of power is isolated from the other part of the power.

AH10DNET-5A

AH10PFBM-5A It is a PROFIBUS communication module. It can function as a master.

AH10PFBS-5A It is a PROFIBUS communication module. It can function as a slave.

AH10COPM-5A It is a CANopen communication module. It can function as a master or a slave.

- Remote I/O module:

AHRTU-DNET-5A It is a DeviceNet remote I/O communication module.

AHRTU-PFBS-5A It is a PROFIBUS remote I/O communication module.

AHRTU-ETHN-5A It is an Ethernet remote I/O communication module.

- Dummy module:

AHASP01-5A

It is a DeviceNet communication module. It can function as a master or slave. A maximum of 1Mbps per second can be transferred.

Dummy module used for an empty I/O slot

4.2 Points to Note on Installation

 An AH Motion system only supports the horizontal installation, and a power supply module has to be installed on the

left-most side of a backplane.

 Product dimensions (modules, backplanes, cables and more) should be confirmed when making an installation layout.

To obtain sufficient installation space, you should also save proper wiring space for connectors, cables and other

instruments.

 Make sure that the work environment conforms to the specifications for the products. It is necessary to take account of

the basic temperature/humidity control and the dust/corrosion prevention.

 The electromagnetic interference will result in the wrong action of the whole system. Therefore, you have to do EMC

design carefully. Refer to Appendices in this manual for more information related to EMC standards.

 If the specifications for the components such as screws and washers are noted specifically in the manual, use the

components conforming to the specifications.

 If a cable is connected to a communication port, make sure that the connector of the cable is joined to the port on the

module properly.

 A backplane has to be mounted on a plane stably instead of being just set on the plane. After it is installed, make sure

that it is fixed on the plane.

4-6

Page 56

Chapter 4 Installation and Wiring

4.3 Installation

4.3.1 CPU Rack Installation in a Control Panel

The motion controller has to be installed in a closed control box. In order to ensure that the PLC disapates heat properly,

the space between the motion controller and the control box has to be larger than 50 millimeters.

50mm＞

10EMC 06XA 10SCM 10DNET 10COPM 16AN01T

50mm＞

 Keep the motion controller away from high-voltage equipment, high-voltage wires, and high-voltage motors.

 In order to prevent the temperature of a motion controller from rising, do not install the motion controller vertically on

the bottom/top in the control box.

 Install a motion controller horizontally in the control box, as shown above.

 If you intend to increase the number of modules, you have to leave some space for installing the modules in the control

box.

4.3.2 Mounting a Backplane

 Fixing a backplane by screws

Mount the backplane on a plane by means of M5 screws, as illustrated below. To fix the backplane, you need to

evaluate the length of a screw, the size of a thread, and whether to use a nut according to the actual condition of the

plane unless there are specific specifications for a screw which are indicated in the pictures below.

1. Tighten the M5 screws in the holes indicated by a.

4-7

Page 57

AH Motion Controller – Hardware Manual

2. Tighten the two screws in the holes indicated by b.

ｂ

 Installing a DIN rail

1. The installation is applicable to a 35 millimeter DIN rail.

2. Install the mounting clips on a backplane.

3. Install the backplane on a DIN rail.

ｂ

Step 1: Press the hook in the direction indicated by the arrow.

Step 2: Mount the DIN rail clips onto a DIN rail.

Step 3: Pull the hook to fix the clips and the DIN rail.

DIN rail

4-8

Page 58

 Removing a DIN rail

Step 1: Press the hook in the direction indicated by the arrow.

Step 2: Remove the backplane.

Chapter 4 Installation and Wiring

DIN rail

4.3.3 Installing a Module

Insert a module into a slot, make sure that the module is installed on the backplane properly, and tighen the the screw, as

illustrated below.

1. Insert the hook under the module into the hole in the backplane.

2. Push the module in the direction indicated by the arrow until it clicks.

4-9

Page 59

AH Motion Controller – Hardware Manual

3. Tighten the screw on the module.

4.3.4 Installing a Removable Terminal Block

 Installation

1. Align a terminal block with the printed circuit board, and press it into the module.

Type 1

4-10

Page 60

Type 2

Chapter 4 Installation and Wiring

2. Press the clip in the direction indicated by the arrow. For high-definition terminals(Type 2), a flat head screw driver

is required to fasten the screws on both ends.

Type 1

Type 2

 Removal

1. Pull the clip in the direction indicated by the arrow. For high-definition terminals(Type 2), a flat head screw driver is

required to loose the screws on both ends.

4-11

Page 61

AH Motion Controller – Hardware Manual

Type 1

Type 2

2. Pull up the clip. High-definition terminals(Type 2) can be pull out directly.

Type 1

4-12

Page 62

Type 2

3. The terminal block is removed.

Chapter 4 Installation and Wiring

Type 1 Type 2

4-13

Page 63

AH Motion Controller – Hardware Manual

4.3.5 Installing an External Terminal Module

 Installation

1. One side of an external terminal module has to be fixed first.

2. Press the terminal module in the direction indicated by arrow 1, and make sure that the groove is combined with

the DIN rail.

 Removal

1. Push the terminal module in the direction indicated by arrow 1.

2. Pull the terminal module in the direction indicated by arrow 2.

4-14

Page 64

Chapter 4 Installation and Wiring

4.3.6 Connecting Communication Cables

Plug a communication cable in the port on a Motion CPU module, and make sure that the connector of the cable is joined

to the port properly. RS-232 (USB), RS-485 (terminals on the backplane), CN1 and RJ45 cables could be used.

4.3.7 Installing and Removing a Memory Card

 Formatting of a Memory Card

A memory card needs to be formatted before the first use on an AH Motion CPU module. Make sure the file system

you use on formatting the SD card is FAT32.

 SD Slot on a Motion CPU

As shown below, the SD slot is in the middle of the front of a Motion CPU module.

SD slot

4-15

Page 65

AH Motion Controller – Hardware Manual

 Installing a Memory Card

Insert a memory card into the SD slot in a Motion CPU module, and push it downward until it clicks. After the memory

card is installed, it is fixed firmly in the slot. If the memory card is loose, it is not installed correctly. Besides, the

memory card has mistake-proofing design. If it is inserted in the wrong direction, it can not be pushed downward. This

is to prevent the CPU module from being damaged. The correct way to insert the memory card is shown below.

 Removing a Memory Card

After a memory card is pushed downward, it springs from the slot, and you can take it out.

4.4 Points to Note about Wiring

 Points for attention

 Before installing or wiring a module, you need to make sure that the external power supply is turned

DANGER

off. If the power supply is not turned off, you may get an electric shock, or the product may be damaged.

 If the installation of the module or the wiring of the module is complete, you need to make sure that a

terminal block cover is installed on the module before you turn on the power supply or operate the module. If the terminal block cover is not installed properly, you may get an electric shock, or the module may not operate normally.

4-16

 Be sure to connect the terminals FG and LG with protective grounding conductors. Otherwise, users

may get an electric shock, or the module may not operate normally.

 To ensure that a PLC is wired correctly, users need to check the rated voltage of the product, and the

arrangement of the terminals. If the PLC is connected to the power supply which does not conform to the rated voltage, or the product is not wired correctly, a fire accident will occur, or the product will

Page 66

Chapter 4 Installation and Wiring

be damaged.

 The external connections should be crimped or press-welded by specific tools, or soldered correctly.

The improper connections will result in a short circuit, a fire accident, or erroneous operation.

 Tighten the terminal screws with the specified torque. If the terminal screws are loose, a short circuit,

a fire accident, or erroneous operation will occur. Tightening the terminal screws too far, may cause damage to the terminal screws and the module, resulting in a short circuit or a malfunction.

 Make sure that there are no foreign substances such as iron filings or wiring debris inside the

module. Theses foreign substances may result in a fire accident, damage, or erroneous operation.

 Wiring an I/O module

(1) Definition of 2/3/4-wire connection:

- 2/3-wire connection(passive sensors): share the power circuit with the system

- 4-wire connection(active sensors): independently powered. Not recommended to share the same power circuit

with the system

(2) Terminals with insulation sleeves can not be arranged as a terminal block. It is recommended that the terminals

be covered with insulation tubes.

(3) Please use single-core cables or twin-core cables. The diameters of the cables used should be in the range of 12

AWG to 22 AWG. The torques applied to the screw terminals should be in the range of 5 kg-cm (4.3 Ib-in) to 8

kg-cm (6.9 Ib-in). Please use copper conducting wires. The temperature of the copper conducting wires should

be 60/75°C.

(4) Please keep the input cables, the output cables, and the power cable separate form one another.

(5) If the main circuit and the power cable can not be separated from each other, please use a shielded cable, and

ground it at the side of the I/O module. In some cases, the shielded cable is grounded at the opposite side.

Shilded cable

Load through which the alternating current passes

AC power suppl

(6) If you wire a module by means of piping, you need to ground the piping correctly.

(7) Please keep 24 VDC input cables separate from 110 VAC input cables and 220VDC input cables.

(8) If the wiring length is more than 200 meters (686.67 inches), the leakage current will result from parasitic

capacitance, and the system will break down.

 Grounding a cable

Please ground a cable according to the steps below.

(1) Please ground a cable correctly.

(2) The area of the cross-section of the cable which is grounded should be 2 mm

(3) The ground point should be near the PLC. Ground the cable properly.

or larger than 2 mm2.

4-17

Page 67

AH Motion Controller – Hardware Manual

Note

(1) The 110 V/220 V power cable and the 24 VDC power cable should be thick cables. (The area of the

cross-section of the cable is 2 mm at terminal screws. To prevent the short circuit which results from loose screws, you need to use solderless terminals with insulation sleeves.

, and the diameter of the cable is 14 AWG.) Be sure to twist the power cables

(2) If cables are connected to the terminals LG and FG, the cables need to be grounded. Do not connect LG and FG

to any devices. If LG and FG are not grounded, the PLC will be susceptible to noise. Since LG have potential, you will get an electric shock if you touch metal parts.

4.5 Wiring Power Supply Modules

4.5.1 Precautions

 Connecting AC power cables

(1) Please separate the power cable of AHPS05-5A from the power cables for I/O devices and other devices. If there

is much noise, connect an isolating transformer.

Isolating trans

ormer

AHPS05-5A

AC power supply

100-240 V

I/O equipment

Another piece of equipment

(2) The 110 VAC cable, the 220 VAC cable, and the 24 VDC cable should be twisted, and connected to a module

within a short distance.

(3) Do not bundle 110 VAC cable, the 220 VAC cable, the 24 VDC cable, the (high-voltage high-current) main circuit,

and the I/O signal cable together. Besides, it is recommended that the distance between adjacent cables should

be more than 100 millimeters.

(4) To prevent the surge resulting from lightning, please install a surge absorber in the way shown below.

Surge absorber

AC power supply

AHPS05-5A

I/O equipment

100-240V

Points for attention:

1. The surge absorber and the PLC system should be grounded separately.

2. Please select the surge absorber whose working voltage is not less than the maximum allowable input voltage.

 Connecting DC power cables

(1) AHPS15-5A is independently supplied with power by a DC power supply. Please separate the power cable of the

DC power supply from the power cables for I/O devices and other devices. If there is much noise, connect an

isolating transformer.

4-18

Page 68

Chapter 4 Installation and Wiring

Isolating transformer

24 V DC

AHPS15-5A

I/O equipment

Another piece of equipment

AC power supply

100-240 V

powe r

supply

(2) The 110 VAC cable, the 220 VAC cable, and the 24 VDC cable should be twisted, and connected to a module

within a short distance.

(3) Do not bundle 110 VAC cable, the 220 VAC cable, the 24 VDC cable, the (high-voltage high-current) main circuit,

and the I/O signal cable together. Besides, it is recommended that the distance between adjacent cables should

be more than 100 millimeters.

(4) To prevent the surge resulting from lightning, please install a surge absorber in the way shown below.

Surge absorber

AC power supply

100-240V

DC po w er s uppl y I/O equipment Another piece of equipment

Points for attention:

1. The surge absorber and the PLC system should be grounded separately.

2. Please select the surge absorber whose working voltage is not less than the maximum allowable input voltage.

4.5.2 Ground

 The diameter of the ground should not be less than the

diameters of the cables connected to the terminals L and N.

 If much equipment is used, please use single-point ground.

 If single-point ground can not be used, please use

common-point ground.

AHPS05-5A AHPS15-5A

The single-point ground is better.

AHPS05-5A AHPS15-5A

Another piece of

equipment

Another piece of

equipment

 you can not ground equipment in the way shown on

the right.

The common-point ground is permitted.

AHPS05-5A AHPS15-5A

An other piece of

equipment

The equipment can not be grounded in this way.

4-19

Page 69

AH Motion Controller – Hardware Manual

4.5.3 Wiring Power Supply Modules

 Connecting an AC power cable

*1. 24V on the external power supply is connected to VS+ and VS- on the power supply module. VS+ and VS- can be

used to detect whether the voltage of the external power supply is stable.

*2. FG on the power supply module is connected to the control box as the functional ground.

*3. The live wire and the neutral wire in the AC power cable are connected to L and N on the power supply module

respectively. To prevent the system from becoming abnormal, the ground in the AC power cable has to be

connected to LG on the power supply module.

The power input of AHPS05-5A is the AC input. You have to pay attention to the following points when you use

AHPS05-5A.

 The alternating-current input voltage is in the range of 100 VAC to 240 VAC. Please connect the power supply to

the terminals L and N. If the 110 VAC or the 220 VAC power supply is connected to the input terminals VS+ and

VS-, the PLC will be damaged.

 In order to ensure that the external power supply stably provides24 VDC power, the external power supply can be

connected to VS+ and VS-. If the PLC detects that the voltage of the external power supply is lower than the

working voltage, you can write a protective program.

 The length of the cable connecting with the ground should be more than 1.6 millimeters.

 If the power cut lasts for less than 10 milliseconds, the PLC keeps running without being affected. If the power cut

lasts for long, or if the voltage of the power supply decreases, the PLC stops running, and there is no output. When

the power supply returns to normal, the PLC resumes. (You have to notice that there are latched auxiliary relays

and registers in the PLC when you write the program.)

 Please use single-core cables or multicore cables. The diameters of the cables used should be in the range of 12

AWG to 22 AWG. The torque applied to the terminal screws should be 9.50 kg-cm (8.25 Ib-in). Please use copper

conducting wires. The temperature of the copper conductive cables should be 60/75°C.

4-20

Page 70

Chapter 4 Installation and Wiring

 Safety wiring: The PLC controls many devices, and the activity of any device affects the activity of other devices. If

any device breaks down, the whole automatic control system goes out of control, and the danger occurs. The

protection circuit is shown below.

100~240VAC 50/60Hz

VS+

VS-

24VDC

PS05 CPU

VS+

PS05

①

Alternating-current power supply: 100~240 VAC, and 50/60 Hz

VS-

24VDC

AI/AO

DI/DO AI/AO

ｍ duleo

Network Motion

ｍ duleoｍ duleo

ｍ duleo

②

Circuit breaker

Emergency stop: The emergency stop button can be used to cut off the power when an emergency

③

occurs.

④

Power indicator

⑤

Load through which the alternating current passes

⑥

2 A fuse

⑦

The ground impedance is less than 100 Ω.

○8

Direct-current power supply: 24 VDC

4-21

Page 71

AH Motion Controller – Hardware Manual

 Connecting a DC power cable

*1. 24V on the external power supply is connected to VS+ and VS- on the power supply module. VS+ and VS- can be

used to detect whether the voltage of the external power supply is stable.

*2. FG on the power supply module is connected to the control box as the functional ground.

*3. +24V and 24G on the power supply module are connected to 24V and 0V on the DC power supply. To prevent the

system from becoming abnormal, the ground of the DC power supply has to be connected to FE on the power

supply module.

The power input of AHPS15-5A is the DC input. You have to pay attention to the following points when you use

AHPS15-5A.

 In order to ensure that the external power supply stably provides 24 VDC power, the external power supply can be

connected to VS+ and VS-. If the PLC detects that the voltage of the external power supply is lower than the

working voltage, you can write a protective program.

 The length of the cable connecting with the ground should be more than 1.6 millimeters.

 If the power cut lasts for less than 10 milliseconds, the PLC keeps running without being affected. If the power cut

lasts for long, or if the voltage of the power supply decreases, the PLC stops running, and there is no output. When

the power supply returns to normal, the PLC resumes. (You have to notice that there are latched auxiliary relays

and registers in the PLC when you write the program.)

 Please use single-core cables or multicore cables. The diameters of the cables used should be in the range of 12

AWG to 22 AWG. The torque applied to the terminal screws should be 9.50 kg-cm (8.25 Ib-in). Please use copper

conducting wires. The temperature of the copper conductive cables should be 60/75°C.

4-22

Page 72

4.5.4 Power Consumption

Products Model name Internal power consumption External power consumption

Chapter 4 Installation and Wiring

AH Motion CPU

Motion control

backplane

Motion control module

AHxxEMC-5A 4 W -

AHBP03M2-5A 1.2 W -

AHBP05M2-5A 1.2 W

AH02HC-5A 2.4 W -

AH04HC-5A 2.4 W -

AH05PM-5A 2.7 W -

AH10PM-5A 2.7 W -

AH15PM-5A 2.7 W -

AH20MC-5A 3 W -

AH16AM10N-5A 0.1 W 1.9 W

AH16AM30N-5A 0.1 W -

AH16AN01P-5A 0.2 W 0.4 W

AH16AN01R-5A 2.1 W -

AH16AN01S-5A 0.6 W -

AH16AN01T-5A 0.2 W 0.4 W

AH16AP11P-5A 0.2 W 0.2 W

AH16AP11R-5A 1.1 W -

Digital I/O module

Analog I/O module

AH16AP11T-5A 0.2 W 0.2 W

AH32AM10N-5A 0.2 W 3.8 W

AH32AM10N-5B 0.2 W 3.8 W

AH32AM10N-5C 0.2 W 3.8 W

AH32AN02P-5A 0.4 W 0.8 W

AH32AN02P-5B 0.4 W 0.8 W

AH32AN02P-5C 0.4 W 0.8 W

AH32AN02T-5A 0.4 W 0.8 W

AH32AN02T-5B 0.4 W 0.8 W

AH32AN02T-5C 0.4 W 0.8 W

AH64AM10N-5C 0.2 W 4.9 W

AH64AN02P-5C 0.6 W 1.5 W

AH64AN02T-5C 0.6 W 1.5 W

AH04AD-5A 0.35 W 1 W

AH04DA-5A 0.34 W 2.6 W

AH06XA-5A 0.34 W 1.4 W

AH08AD-5A 1.1W -

AH08DA-5A 0.36W 4.55W

AH08AD-5B 1.9 W -

4-23

Page 73

AH Motion Controller – Hardware Manual

Products Model name Internal power consumption External power consumption

AH08DA-5B 0.25 W 2.2 W

AH08AD-5C 1.6 W -

AH08DA-5C 0.25 W 3.7 W

AH04PT-5A 2 W -

Temperature

measurement module

Network module

Remote I/O module

AH08PTG-5A 0.7W 4W

AH04TC-5A 1.5 W -

AH08TC-5A 1.5 W -

AH10EN-5A 1.6 W -

AH15EN-5A 1.6 W -

AH10SCM-5A 1.2 W -

AH15SCM-5A 1.2 W -

AH10DNET-5A 0.9 W 0.72 W

AH10PFBS-5A 1 W -

AH10PFBM-5A 2 W -

AH10COPM-5A 0.8 W -

AHRTU-DNET-5A 0.75 W 0.72 W

AHRTU-PFBS-5A 2 W -

AHRTU-ETHN-5A 2.16 W -

4.6 Wiring AH Motion CPU Modules

4.6.1 Specifications of Inputs and Outputs

 AHxxEMC-5A

Execution

Input/Output control

Programming language

Instruction execution speed

Constant scan cycle (ms)

Program capacity (step)

Installation

General Specifications

AHxxEMC-5A Remark

The program is executed cyclically.

The inputs and outputs can be

Cyclically refreshed inputs/outputs

Direct inputs/outputs

IEC 61131-3

Ladder diagram (LD), continuous function chart (CFC), structured text (ST), and sequential function chart (SFC).

0.3 ms/K steps

1-32000

(The scan cycle can be increased by one millisecond.)

256K steps

DIN rails or screws

controlled through the direct inputs (DX device) and direct outputs (DY device).

The scan cycle time can be specified by parameters.

4-24

Page 74

Chapter 4 Installation and Wiring

General Specifications

AHxxEMC-5A Remark

Installation of modules

Number of modules

Number of tasks

Number of input/output devices

Number of inputs/outputs

Input relay [X]

Output relay [Y]

Auxiliary relay [M]

Timer [T]

Counter [C]

32-bit counter [HC/AC]

Modules are installed directly on a backplane.

Five input/output modules at most can be installed on a motion backplane.

283 tasks (32 cyclic tasks; 32 I/O interrupts; 212 external interrupts; 1 24V LV detection)

X/Y devices (bit): 8192 (X0.0~X511.15/Y0.0~Y511.15) X/Y devices (word): 512 (X0~X511/Y0~Y511)

328 inputs/ 324 outputs (AH10EMC)

8192 (X0.0~X511.15)

8192 (Y0.0~Y511.15)

8192 (M0~M8191)

2048 (T0~T2047)

2048 (C0~C2047)

HC: 64 (HC0~HC63) AC: 56 (AC0~ AC55) (AHxxEMC)

Number of devices which can be used in a program

Number of inputs/outputs accessible to an CPU

Data register [D]

Stepping relay [S]

Index register [E]

Special auxiliary relay [SM]

Special data register [SR]

Serial communication port

Ethernet port

USB port

Memory card slot

Real-time clock

D device (bit): 1048576 (D0.0~D65535.15) D device (word): 65536 (D0~D65535)

2048 (S0~S2047)

32 (E0~E31)

SM: 2048 (SM0~SM2047)

SR: 2048 (SR0~SR2047)

One RS-232(USB), One RS-485 communication port

10/100 M

Mini USB

Supports Micro SD card (SD 2.0)

Years, months, days, hours, minutes, seconds, and weeks

The function is available when the CPU is used together with the motion backplane

4-25

Page 75

AH Motion Controller – Hardware Manual

Description of the terminals

Terminal Description

1. Differential input terminals.

2. The functions of the terminals:

 High-speed count:

 The terminals are the RESET input

X0.0+, X0.0-, X0.1+, X0.1-

1. Common input terminals.

2. The functions of the terminals:

 High-speed count:

X0.2, X0.3, X1.4, X1.5

 High-speed capture: The terminals can function

terminals for counter 0~counter 1.

 X0.0+ and X0.0- are for counter 0.

X0.1+ and X0.1- are for counter 1.

 High-speed capture: The terminals can

function as trigger signals for high-speed captures.

 The terminals are the RESET input

terminals for counter 2~counter 5.

 X0.2 is for counter 2.

X0.3 is for counter 3. X1.4 is for counter 4 X1.5 is for counter 5

as trigger signals for high-speed captures.

Response

characteristic

1MHz +/-5mA +/-5V

100kHz(*1) 5mA 24V

Rated input

Current Voltage

X0.8+, X0.8-, X0.9+, X0.9-

X0.10+, X0.10-, X0.11+, X0.11-

X0.12, X0.13, X0.14, X0.15, X1.0, X1.1,

1. Differential input terminals.

2. The functions of the terminals:

 Motion control: The terminals are for a manual

pulse generator.

 High-speed count:

 The terminals are for counter 0.  X0.8+ and X0.8- are the A-phase inputs for

counter 0. X0.9+ and X0.9- are the B-phase inputs for counter 0.

 High-speed capture: The terminals can function

as trigger signals for high-speed captures.

 Interrupt inputs

1. Differential input terminals.

2. The functions of the terminals:

 High-speed count:

 The terminals are for counter 1.  X0.10+ and X0.10- are the A-phase inputs

for counter 1. X0.11+ and X0.11- are the B-phase inputs for counter 1.

 High-speed capture: The terminals can function

as trigger signals for high-speed captures.

 Interrupt inputs

1. Common input terminals.

2. The functions of the terminals:

 High-speed count:

 The terminals are for counter 2~counter 5.  X0.12 and X0.13 are for counter 2.

X0.14 and X0.15 are for counter 3.

1MHz +/-5mA +/-5V

100kHz(*1) 5mA 24 V

4-26

Page 76

Chapter 4 Installation and Wiring

Terminal Description

X1.2, X1.3

X1.0 and X1.1 are for counter 4. X1.2 and X1.3 are for counter 5.

Response

characteristic

Rated input

Current Voltage

 High-speed capture: The terminals can function

as trigger signals for high-speed captures.

 Interrupt inputs:

X0.12, X0.13, X0.14 and X0.15 can function as interrupt inputs.

Y0.8, Y0.9, Y0.10, Y0.11

1. Pulse output temrinals (open collector).

2. The function of the terminals:

 High-speed comparison: The terminals can

function as high-speed comparison outputs.

200 kHz 15 mA 24 V

*1. If the frequency of input signals received by an input terminal must be 200 kHz, the input terminal must be connected

to a 1 kΩ (2 W) resistor in parallel.

4.6.2 Wiring AHxxEMC-5A

 External devices for AHxxEMC-5A

MDR36 connector

External terminal

module

RJ45 (EtherCAT)

10EMC

CN1

E thernet Ethe rCA T

RUN

ERROR

ETH

Ethe rCAT

USB

RUNSTOP

MicroSD

Micro SD

RJ45 (Ethernet)

4-27

Page 77

AH Motion Controller – Hardware Manual

 MDR36 connector

Pin Function Pin Function

COM 19 Y0.11

COM 20 Y0.10

COM 21 Y0.9

COM 22 Y0.8

S/S 23 X1.3

X1.5 24 X1.2

S/S 25 X1.1

X1.4 26 X1.0

S/S 27 X0.15

X0.3 28 X0.14

S/S 29 X0.13

X0.2 30 X0.12

X0.1- 31 X0.1+

X0.11- 32 X0.11+

X0.10- 33 X0.10+

X0.0- 34 X0.0+

X0.9- 35 X0.9+

 USB port

Pin Function

 EtherNet/IP port

Pin Signal Description

X0.8- 36 X0.8+

VBUS (4.4–5.25 V)

D−

D+

Ground

TX+

TX-

RX+

-- N/C

Transmitting data

(positive pole)

Transmitting data

(negative pole)

Receiving data

(positive pole)

4-28

-- N/C

RX- Receiving data

Page 78

(negative pole)

Chapter 4 Installation and Wiring

 EtherCAT port

Pin Signal Description

-- N/C

TX+

TX-

RX+

-- N/C

RX-

-- N/C

Transmitting data

(positive pole)

Transmitting data

(negative pole)

Receiving data

(positive pole)

Receiving data

(negative pole)

Wiring the Differential Input Terminals

The direct-current signals in voltage 5 V can pass through the high-speed input terminals X0.0+~X0.1+, X0.0-~X0.1-,

X0.8+~X0.11+, and X0.8-~X0.11- on AHxxEMC-5A. The frequency of input signals can be up to 1 MHz. These

high-speed input terminals are connected to a differential (two-wire) line driver.

 Wiring differential input terminals (The wiring below is used for high speed and high noise.)

Encoder outpu

AH04HC-5

high-speed inpu

A-

B-

Transistor Output Circuit

AHxxEMC-5A

LED

Trigger circuit

Y0.8

C0M

Load

< 0.5

Transistor output

4-29

Page 79

AH Motion Controller – Hardware Manual

COM COM C OM COM



Direct-current power supply

The output terminals of a transistor module are open-collector output terminals. If Y0.8 is a pulse train output terminal of a transistor module, the output current passing through its output pull-up resistor must be greater than 0.1 A to ensure that the transistor module operates normally.

A relay or a solenoid valve is used as a DC load. A diode is connected in parallel to absorb the surge voltage which occurs when the load is OFF.

AHxxEMC-5A





Relay/ Solenoid valve

Y0.8

Emergency stop



COM

D: 1N4001 diode

A bulb (incandescent lamp) is used as a DC load. A thermistor is connected in series to absorb the surge current which occurs when the load is ON.

AHxxEMC-5A

DC power supply

Fuse

4-30

COM



Y0.9 can not be connected to a power supply directly. It must be connected to a load.

AHxxEMC-5A

COM

Mutually exclusive output: For example, Y0.10 controls the clockwise rotation of the motor, and Y0.11



controls the counterclockwise rotation of the motor. The interlock circuit which is formed, and the program in the PLC ensure that there are protective measures if an abnormal condition occurs.

Page 80

Chapter 4 Installation and Wiring

4.7 Wiring I/O Modules

AH motion controller PLC supports the following I/O module types: digital input/output modules, analog input/output

modules, temperature measurement modules, network modules, motion control modules, remote I/O modules. Refer to

Chapter 5 of the AH500 Hardware Manual for more details.

4-31

Page 81

AH Motion Controller – Hardware Manual

MEMO

4-32

Page 82

Chapter 5 Maintenance and Inpection

Table of Contents

5.1 Cautions ..................................................................................................... 5-2

5.2 Daily Maintenance ...................................................................................... 5-2

5.2.1 Tools Required for Inspection ...................................................................... 5-3

5.2.2 Daily Inspection ......................................................................................... 5-3

5.3 Periodic Maintenance ................................................................................. 5-4

5.3.1 Tools Required for Inspection ...................................................................... 5-4

5.3.2 Periodic Inspection ..................................................................................... 5-4

5-1

Page 83

AH Motion Controller – Hardware Manual

ure that the ambient

flammable

ng an electric shock, please do not

an electric shock, please turn off the power before pulling the connectors or

e connectors from being loosened, please do not

down, a fire accident will

, please make sure that the pr ogram a nd the par ame ters ar e

o prevent the improper operation which results in the incorrect output or the damage to the equipment, please

o prevent the noise from resulting in the breakdown of the system, please keep a proper distance from the

To prevent the temperature of an ele ment from b eing hig h, pl ease make sur e that th e AH M otion sy stem kee ps a

To protect an AH Motion system, please install an emergency stop switch and an overcurrent protection

e contact between the module and the

To prevent an unexpected sh ock fro m re sulting i n the dam age to an A H M otion syste m and a contr oll ed elem ent,

5.1 Cautions

Before users undertake the maintenance and the inspection, they have to pay attention to the following items. The incorrect or careless operation will lead to damage to the staff and the equipment.

 To prevent a breakdown of an AH Motion system or a fire accident, please make s

environment is not exposed to corrosive substances such as chloride gas and sulfide gas, substances such as oil mist and cutting powder, or dirt.

 To prevent the connectors from oxidizing, or to prevent the staff from getti

touch the connectors.

 To prevent the staff from getting

loosening the screws.

 To prevent the cables from being damaged, or to prevent th

impose weight on the cable, or pull them violently.

 Please make sure that the input voltage is within the rated range.

 Please do not disassemble or alter the modules. Otherwise, the products will break

occur, or the staff will be injured.

 To prevent a contr olled el ement from malfunctioning

written into a new CPU module which replaces an old one before restarting the AH Motion system.

 T

refer to the related manuals for more information about operating the modules.

 To prevent the da mag e to th e modu les , ple as e t ou ch met al which is grounded or wear an antistatic wrist strap

release the static electr icity from the body.

 T

system when using a cell phone or a communication appar at us.

 Please avoid installing an AH Motion system under the sun or in a humid environment.



proper distance from heat sources such as coils, heat ing apparatuses, and resistors.



according to the actual needs.

 Inserting and pulling a module several times may lead to the loos

backplane.



please make sure that the modules are installed firmly.

5.2 Daily Maintenance

To keep an AH Motion system operating normally, make sure that the ambient environment and the AH Motion system conform to the cautions listed in section 5.1. Users then can undertake the daily inspection described below. If any abnormal situation occurs, please follow the remedy and carry out the maintenance.

5-2

Page 84

Chapter 5 Maintenance and Inspection

5.2.1 Tools Required for Inspection

 A screwdriver  Industrial alcohol  A clean cotton cloth

5.2.2 Daily Inspection

No. Item Inspection Criterion Corrective Action

1 Appearance Visual inspection Dirt must not be present. Remove the dirt.

Installation of a

backplane

Installation of a

module

4 Connection

Power supply module

POWER LED indicator

RUN LED indicator

Check whether the set screws are loose.

Check whether the backplane is installed on the DIN rail properly.

Check whether the module is loose, the projection is inserted into the hole on the backplane, and the screw is tightened.

Check whether the removable terminal block is loose.

Check whether the connector is loose.

Check whether the POWER LED indicator is ON.

When the CPU module is running, check whether the RUN LED is ON.

The backplane must be installed firmly.

The hook under the module must be inserted into the hole in the backplane, and the screw must be tightened.

The removable terminal block should be tight.

The connector should be tight.

The POWER LED indicator must be ON.

The RUN LED indicator must be ON.

Further tighten the screws.

Install the backplane on the DIN rail properly.

Install the module firmly.

Install the terminal block firmly.

Further tighten the screws on the connector.

ERROR LED indicator

CPU

module

LED indicators on an extension module

* Please refer to AH500 Module Manual for more information related to the LED indicators on the extension modules.

BUS FAULT LED indicator

SYSTEM LED indicator

Check whether the ERROR LED indicator is OFF.

Check whether the BUS FAULT LED indicator is OFF.

Check whether the SYSTEM LED indicator is OFF.

Check whether the LED indicators on the extension module are ON.

The ERROR LED indicator must be OFF.

The BUS FAULT LED indicator must be OFF.

The SYSTEM LED indicator must be OFF.

If the LED indicators are ON, the module operates normally.

Please refer to AH Motion

Controller – Operation Manual for more

information regarding troubleshooting and error logs.

5-3

Page 85

AH Motion Controller – Hardware Manual

The ambient temperature a nd the

check the reason why

5.3 Periodic Maintenance

Under the condition that the daily inspection is undertaken, users are suggested that they should carry out the periodic maintenance according to the actual operating environment. After making sure that the ambient environment and the AH Motion system conform to the cautions listed in section 5.1, users then can undertake the periodic inspection described below. If any abnormal situation occurs, please follow the suggested actions and carry out the maintenance.

5.3.1 Tools Required for Inspection

 A screwdriver  Industrial alcohol  A clean cotton cloth  A multimeter  A thermometer  A hygrometer

5.3.2 Periodic Inspection

No. Item Inspection Criterion Action

Ambient temperature/hu

2 Supply voltage

midity

Ambient environment

Atmosphere Measure corrosive gas.

Looseness

Installation

Adhesion of dirt Check the appearance. Dirt mus t not be present. Remove the dirt. Looseness of

terminal screws

Looseness of

Connection

connectors

The ambient temperature and the ambient humidity are measured by a thermometer and a hygrometer.

Measure the AC power supply.

Check whether the module is loose.

Tighten the screws with a screwdriver.

Pull the connectors.

ambient humidity must conform to the specifications for the modules or the backplane. If the specifications are different, the strictest specifications have high priority.

Corrosive gas must not be present.

The power supply should meet the specifications for the power supply module.

The module must be installed firmly.

The screws must not be loose.

The connectors must not be loose.

To ensure that the system operates in a stable environment,

the environment varies, and correct it.

Check the power supply.

Please refer to chapter 4 for more information about installing the module.

Further tighten the screws.

Further tighten the screws on the connectors.

5 PLC system diagnosis Check the error logs. No new error occurs.

5-4

Please refer to AH

Motion Controller – Operation Manual

for more information regarding troubleshooting and error logs.

Page 86

Chapter 5 Maintenance and Inspection

Check the state of SR413 and

No. Item Inspection Criterion Action

6 Maximum scan time

that of SR414 through the device monitoring table in ISPSoft.

The maximum scan cycle must be within the range specified in the system specifications.

Check the reason why the scan time is too long.

5-5

Page 87

AH Motion Controller – Hardware Manual

MEMO

5-6

Page 88

Appendices

Table of Contents

A.1 EMC Standards for an AH Motion Controller System ......................................... 2

A.1.1 EMC Standards Applicable to a n A H Motion Controller System ............................ 2

A.1.2 Installation Instructions for the EMC Standards ................................................ 3

A.1.3 Cables ......................................................................................................... 4

A-1

Page 89

AH Motion Controller – Hardware Manual

A.1 EMC Standards for an AH Motion Controller System

A.1.1 EMC Standards Applicable to an AH Motion Controller System

The EMC standards which are applicable to an AH Motion Controller system are l isted below.

 EMI

Port Frequency range Level (Normative) Reference standard

Enclosure port

(radiated)

(measured at a distance

of 10 meters)

AC power port

(conducted)

 EMS

Environmental

phenomenon

Electrostatic discharge

30-230 MHz 40 dB (μV/m) quasi-peak

230-1000 MHz 47 dB (μV/m) quasi-peak

79 dB (μV) quasi-peak

0.15-0.5 MHz 66 dB (μV) average

73 dB (μV) quasi-peak

0.5-30 MHz 60 dB (μV) average

Reference

standard

IEC 61000-4-2

Test Test level

Contact ± 4 kV

Air ± 8 kV

IEC 61000-6-4

Radio frequency

electromagnetic field

Amplitude modulated

Power frequency magnetic

field

A-2

IEC 61000-4-3

IEC 61000-4-8

80% AM, 1 kHz sinusoidal

2.0-2.7 GHz 1 V/m

1.4-2.0 GHz 3 V/m

80-1000 MHz 10 V/m 60 Hz 30 A/m 50 Hz 30 A/m

Page 90

 Conducted immunity test

Appendices

Environmental phenomenon Fast transient burst High energy surge

Reference standard IEC 61000-4-4 IEC 61000-4-5 IEC 61000-4-6

Specific

Interface/Port

Test level Test level Test level

interface/port

Data

communication

Shielded cable 1 kV 1 kV CM 10V

Unshielded cable 1 kV 1 kV CM 10V

AC I/O

2 kV CM

2 kV

Digital and analog

(unshielded)

Analog or DC I/O

1 kV DM

1 kV 1 kV CM 10V

I/O

(unshielded)

All shielded lines

1 kV 1 kV CM 10V

(to the earth)

Radio frequency

interference

10V

AC power 2 kV

10V

1 kV DM

2 kV CM

Equipment power

0.5 kV CM

DC power 2 kV

10V

0.5 kV DM

10V

I/O power and

auxiliary power

output

AC I/O and AC

auxiliary power

DC I/O and DC

auxiliary power

2 kV

2 kV CM

1 kV DM

0.5 kV CM

2 kV

0.5 kV DM

A.1.2 Installation Instructions for the EMC Standards

A PLC must be installed in a control box. The control box protects the PLC, and shields off the electromagnetic interference generated by the PLC.

 Control box

- Use a conductive control box.

- To ensure that an inner plate contacts the control box well, users have to mask the paint on the bolts of the plate.

- To ensure that the control box is grounded well even if there is high-frequency noise, users have to connect the control box with a thick wire.

A-3

Page 91

AH Motion Controller – Hardware Manual

- The diameter of a hole in the control box must be less than 10 millimeters, i.e. 3.94 inches. If the diameter of the hole is larger than 10 millimeters, the radio frequency noise may be emitted.

- To prevent the radio waves from leaking through the interval between the door of the control box and the PLC, the interval needs to be reduced. Besides, users can prevent the radio waves from leaking by putting an EMI gasket on the painted surface.

 Connecting a power cable and a ground

The power cable of the PLC system and the ground are connected in a way described below.

- Provide a ground point near the power supply module. Use thick and short wires to connect the terminals LG and FG with the ground. (The length of the wire should be less than 30 centimeters, i.e. 11.18 inches.) LG and FG function to pass t he noi se gen er ated by the PLC system to the grou nd. Therefore, the impe danc e s hou ld be a s low as possible. Besides, the wires are used to relieve the noise. They themselves carry a lot of noise. Using the short wires can prevent the wires from acting as antennas.

- Twist the ground and the power cable. After the ground and the power cable are twisted, the noise flowing through the power cable is passed to the ground. If a filter is installed on the power cable, the ground and the power cable do not need to be twisted.

A.1.3 Cables

Grounding a shielded cable

Cables drawn from the control box carry high-frequency noise. When they are outside the control box, they are like antennas emitting noise. To prevent the emission of noise, the cables connected to digital input/output modules, analog input/output modules, temperature measurement modules, network modules, and motion control modules should be shielded cables.

The use of shielded cables also increases the resistance to noise. If the signal cables connected to digital input/output modules, analog input/output modules, temperature measurement modules, network modules, and motion control modules are shielded cables, and are grounded properly, the resistance to noise is improved. However, the resistance to noise will not meet the specified requirement if users do not use shielded cables or the shielded cables are not grounded correctly. If the shield of a cable is connected with the control box, users have to make sure that the shield contacts the control box. If the control box is painted, users have to scrape the paint. All fastening must be metal, and the shield must contact the surface of the control box . If the surface is not even, users need to use washers to correct the unevenness, or use an abrasive to level the surface.

If the shield of a shielded cable is grounde d, it needs to be as close to a modul e as pos sible. Users hav e to make sure that there is no electromagnetic induction between the cable which is grounded and other cable which is grounded. Besides, users have to take appropriate measures so that the shield of a cable contacts the control box.

A-4

Delta AH Series, AHxxEMC-5A Series Hardware Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Revision History

Contents

Preface

P.1 Introduction

P.1.1 Applicable Products

P.1.2 Related Manuals

P.2 Navigation between Manuals

1.1 The AH Series Motion Controller

1.1.1. Product Features

1.1.2. Overview of the System Configurations

1.2 AH Motion CPU Specifications

1.2.1 Environmental Specifications

1.2.2 General Specifications

2.1 Basic System Configuration

2.1.1. AH Motion CPU Network Configuration

2.1.2. AH500 Series Module Configuration

2.2 Software Connection

2.3 Overall Network Configuration

2.3.1 EtherNet/IP

3.1 Environmental Specifications

3.2 AH Motion CPU

3.2.1 General Specifications

 AHxxEMC-5A

3.2.2 Motion Control Function Specifications

 AHxxEMC-5A

3.2.3 Communication Ports

3.2.4 I/O Addressing of AH Motion CPU

3.2.5 Profiles

 AHxxEMC-5A

3.2.6 Dimensions

3.2.7 Arrangement of Terminals

 AHxxEMC-5A

3.2.8 Memory Card Slot

3.3 I/O Modules

4.1 Quick Review before Installation

4.1.1 AH Motion Hardware Components

 Basic Components

 Additional Modules

4.2 Points to Note on Installation

4.3 Installation

4.3.1 CPU Rack Installation in a Control Panel

4.3.2 Mounting a Backplane

4.3.3 Installing a Module

4.3.4 Installing a Removable Terminal Block

4.3.5 Installing an External Terminal Module

4.3.6 Connecting Communication Cables

4.3.7 Installing and Removing a Memory Card

4.4 Points to Note about Wiring

4.5 Wiring Power Supply Modules

4.5.1 Precautions

4.5.2 Ground

4.5.3 Wiring Power Supply Modules

4.5.4 Power Consumption

4.6 Wiring AH Motion CPU Modules

4.6.1 Specifications of Inputs and Outputs

 AHxxEMC-5A

4.6.2 Wiring AHxxEMC-5A

Wiring the Differential Input Terminals

Transistor Output Circuit

4.7 Wiring I/O Modules

5.1 Cautions

5.2 Daily Maintenance

5.2.1 Tools Required for Inspection

5.2.2 Daily Inspection

5.3 Periodic Maintenance

5.3.1 Tools Required for Inspection

5.3.2 Periodic Inspection

Appendices

A.1 EMC Standards for an AH Motion Controller System

A.1.1 EMC Standards Applicable to an AH Motion Controller System

A.1.2 Installation Instructions for the EMC Standards

A.1.3 Cables