Delta AH Series, AHxxEMC-5A Series Hardware Manual

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AH Motion Controller - Hardware Manual

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AH Motion Controller ­Hardware Manual

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

2018-08-31

www.deltaww.com

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

e

,

,

,
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.

c

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

e

e

,

,

on

2018/08/31

AH Motion Controller - Hardware Manual

Contents

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

i

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

ii

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

P

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

I

AH Motion Controller – Hardware Manual

_P

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.

II

Preface

P_

AH500 Motion Control Module Manual

AH500 Module Manual

AH Motion

AH Motion Control

AH Motion

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

V

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

V

V

V

V

V

V

III

AH Motion Controller – Hardware Manual

_P

AH500 Motion Control Module Manual

AH500 Module Manual

AH Motion

AH Motion Control

AH Motion

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

V

ler - Instructions Manual

Controller – Operation Manual

5. Testing and troubleshooting
for motion control applications V*

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* V

IV

1

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

AH Motion Controller – Hardware Ma nual

_

n

verter

s

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.

1

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

I

General-purpose slaves

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.

1

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

_

1

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

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).

1

 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

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

1

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

_

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

1

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

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

1

- 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

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)

1

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

AH Motion Controller – Hardware Ma nual

_

General Specifications

AHxxEMC-5A Remark

1

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

2

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

AH Motion Controller – Hardware Ma nual

_2

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.

_

AH500 Series Module Configuration

C

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

2

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

AH Motion Controller – Hardware Manual

_2

A

HMotionCPU

EtherCAT

1

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

ON

COM1

TX+
TX­RX+
RX-

FG

ON

COM2

TX+
TX­RX+
RX­GND
FG

Node Address

D+
D­GNDGND
FG

OFF

D+
D­GND
FG

10COPM

MS

NS

5

6

4

7

1

3

x10

8

2

9

1

0

5

Node Address

6

4

7

0

3

x10

8

2

9

1

0

DR 1
DR 0
IN 1
IN 0

ERROR

16AN01T

RUN

312

0

5

124910

118

15147613

1

x16

0

x16

DR 2
DR 1
DR 0
IN 0

CAN+

SHLD

CAN-

GND

AH Motion backplane

2-4

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

2

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

AH Motion Controller – Hardware Manual

_2

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

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

2

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

AH Motion Controller – Hardware Manual

_2

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.

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

2

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

I/O external terminal module for AH10PM-5A

2-9