Delta AH Motion Series User manual

www.deltaww.com

AH Motion -

Hardware Manual

2016-07-15

Industrial Automation Headquarters

Delta Electronics, Inc.

Taoyuan Technology Center

No.18, Xinglong Rd., Taoyuan City,

Taoyuan County 33068, Taiwan

TEL: 886-3-362-6301 / FAX: 886-3-371-6301

Asia

Delta Electronics (Jiangsu) Ltd.

Wujiang Plant 3

1688 Jiangxing East Road,

Wujiang Economic Development Zone

Wujiang City, Jiang Su Province, P.R.C. 215200

TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290

Delta Greentech (China) Co., Ltd.

238 Min-Xia Road, Pudong District,

ShangHai, P.R.C. 201209

TEL: 86-21-58635678 / FAX: 86-21-58630003

Delta Electronics (Japan), Inc.

Tokyo Ofce

2-1-14 Minato-ku Shibadaimon,

Tokyo 105-0012, Japan

TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211

Delta Electronics (Korea), Inc.

1511, Byucksan Digital Valley 6-cha, Gasan-dong,

Geumcheon-gu, Seoul, Korea, 153-704

TEL: 82-2-515-5303 / FAX: 82-2-515-5302

Delta Electronics Int’l (S) Pte Ltd.

4 Kaki Bukit Ave 1, #05-05, Singapore 417939

TEL: 65-6747-5155 / FAX: 65-6744-9228

Delta Electronics (India) Pvt. Ltd.

Plot No 43 Sector 35, HSIIDC

Gurgaon, PIN 122001, Haryana, India

TEL : 91-124-4874900 / FAX : 91-124-4874945

Americas

Delta Products Corporation (USA)

Raleigh Ofce

P.O. Box 12173,5101 Davis Drive,

Research Triangle Park, NC 27709, U.S.A.

TEL: 1-919-767-3800 / FAX: 1-919-767-8080

Delta Greentech (Brasil) S.A.

Sao Paulo Ofce

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

01332-000-São Paulo-SP-Brazil

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

Europe

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-0259520-01

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

AH Motion - 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...........................................................................1-2

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

1.2 AH Motion CPU Specifications.........................................................1-9

1.2.1 Environmental Specifications..........................................................1-9

1.2.2 General Specifications ....................................................................1-9

Chapter 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

Chapter 3 Product Specifications

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

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

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

3.2.2 Motion Control Function Specifications..............................................3-6

3.2.3 Communication Ports.....................................................................3-7

3.2.4 I/O Addressing of AH Motion CPU ....................................................3-8

3.2.5 Profiles and Dimensions ............................................................... 3-16

3.2.6 Arrangement of Terminals.............................................................3-17

3.2.7 Memory Card Slot........................................................................3-18

3.3 AH Motion Backplane.................................................................... 3-19

3.3.1 General Specifications ..................................................................3-19

3.3.2 Profile and Dimensions .................................................................3-19

3.4 Power Supply Module ................................................................... 3-21

3.4.1 General Specifications ..................................................................3-21

3.4.2 Profile and Dimensions .................................................................3-22

3.4.3 Arrangement of Terminals.............................................................3-24

3.5 Motion Control Modules................................................................ 3-25

3.5.1 General Specifications ..................................................................3-25

3.5.2 Profiles and Dimensions................................................................3-35

3.5.3 Arrangement of Input/Output Terminals..........................................3-46

3.6 Digital Input/Output Modules ...................................................... 3-52

3.6.1 General Specifications ..................................................................3-52

3.6.2 Profile and Dimensions .................................................................3-55

3.6.3 Arrangement of Input/Output Terminals..........................................3-71

3.7 Analog Input/Output Modules...................................................... 3-81

3.7.1 General Specifications ..................................................................3-81

3.7.2 Profiles and Dimensions................................................................3-86

3.7.3 Arrangement of Input/Output Terminals..........................................3-89

3.8 Temperature Measurement Modules............................................. 3-91

3.8.1 General Specifications ..................................................................3-91

3.8.2 Profiles and Dimensions................................................................3-93

3.8.3 Arrangement of Input/Output Terminals..........................................3-97

3.9 Network Modules.......................................................................... 3-98

3.9.1 General Specifications ..................................................................3-98

3.9.2 Profiles and Dimensions................................................................3-99

3.9.3 Arrangement of Input/Output Terminals........................................3-103

3.10 Dummy Module........................................................................... 3-104

3.10.1 Profiles and Dimensions..............................................................3-104

iii

Chapter 4 Installation and Wiring

4.1 Quick Review before Installation....................................................4-3

4.1.1 AH Motion Hardware Components....................................................4-3

4.2 Points to Note on Installation.........................................................4-7

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...................................................................... 4-10

4.3.4 Installing a Removable Terminal Block............................................ 4-11

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

4.3.6 Connecting Communication Cables ................................................ 4-14

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........................................................ 4-19

4.5.4 Power Consumption..................................................................... 4-22

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 Motion Control Modules.....................................................4-31

4.7.1 Specifications of Inputs and Outputs.............................................. 4-31

4.7.2 Wiring AH02HC-5A and AH04HC-5A............................................... 4-41

4.7.3 Wiring AH05PM-5A, AH10PM-5A, and AH15PM-5A............................ 4-45

4.7.4 Wiring AH20MC-5A...................................................................... 4-59

4.7.5 I/O Extension Cables and External Terminal Modules........................ 4-61

4.8 Wiring Digital Input/Output Modules ...........................................4-64

4.8.1 Wiring AH16AM10N-5A ................................................................ 4-64

4.8.2 Wiring AH16AM30N-5A ................................................................ 4-65

4.8.3 Wiring AH16AN01S-5A................................................................. 4-66

4.8.4 Wiring AH16AN01R-5A................................................................. 4-67

4.8.5 Wiring AH16AN01T-5A ................................................................. 4-68

4.8.6 Wiring AH16AN01P-5A................................................................. 4-69

4.8.7 Wiring AH16AP11R-5A..................................................................4-70

4.8.8 Wiring AH16AP11T-5A ..................................................................4-71

4.8.9 Wiring AH16AP11P-5A..................................................................4-72

4.8.10 Wiring AH32AM10N-5A.................................................................4-73

4.8.11 Wiring AH32AM10N-5B.................................................................4-74

4.8.12 Wiring AH32AM10N-5C.................................................................4-75

4.8.13 Wiring AH32AN02T-5A..................................................................4-76

4.8.14 Wiring AH32AN02T-5B..................................................................4-77

4.8.15 Wiring AH32AN02T-5C..................................................................4-78

4.8.16 Wiring AH32AN02P-5A..................................................................4-80

4.8.17 Wiring AH32AN02P-5B..................................................................4-81

4.8.18 Wiring AH32AN02P-5C..................................................................4-82

4.8.19 Wiring AH64AM10N-5C.................................................................4-84

4.8.20 Wiring AH64AN02T-5C..................................................................4-85

4.8.21 Wiring AH64AN02P-5C..................................................................4-86

4.9 Wiring Digital Input/Output Terminals......................................... 4-87

4.9.1 Wiring Digital Input Terminals........................................................4-87

4.9.2 Wiring Digital Output Terminals......................................................4-90

4.10 Wiring Analog Input/Output Modules........................................... 4-97

4.10.1 Wiring AH04AD-5A/AH08AD-5A .....................................................4-97

4.10.2 Wiring AH08AD-5B.......................................................................4-98

4.10.3 Wiring AH08AD-5C.......................................................................4-99

4.10.4 Wiring AH04DA-5A/AH08DA-5A .....................................................4-99

4.10.5 Wiring AH08DA-5B.....................................................................4-100

4.10.6 Wiring AH08DA-5C.....................................................................4-101

4.10.7 Wiring AH06XA-5A.....................................................................4-102

4.11 Wiring Temperature Measurement Modules ............................... 4-103

4.11.1 Wiring AH04PT-5A .....................................................................4-103

4.11.2 Wiring AH08PTG-5A ...................................................................4-104

4.11.3 Wiring AH04TC-5A .....................................................................4-105

4.11.4 Wiring AH08TC-5A .....................................................................4-105

4.12 Wiring Network Modules ............................................................ 4-106

4.12.1 Wiring AH10SCM-5A...................................................................4-106

4.12.2 Wiring AH10COPM-5A.................................................................4-106

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

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

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

AH Motion – Hardware Manual

P.1 Introduction

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

This manual introduces the hardware structures, specifications, and the installation of AH motion system products based

on AH motion CPUs. Please ensure that you understand the configuration and operations of the AH series motion control

system, and use the AH series motion CPU correctly.

To obtain required information for different system configurations, you can navigate between different manuals of AH

Motion series manuals and other related 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 series motion controllers are composed of the following.

1. AH Motion - Hardware Manual

It introduces function specifications, electrical specifications, appearances, dimensions, and etc.

2. ISPSoft User Manual

It introduces the use of ISPSoft, the programming languages (ladder diagrams, instruction 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 - Standard Instructions Manual

It introduces the elements for standard programming including devices, symbols and standard instructions.

4. AH Motion - 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 - Motion Control Instructions Manual

It introduces the elements for motion control programming including axis parameters, symbols and single

axis/multi-axes motion instructions.

6. AH Motion - Communication Manual

It introduces the concept of communication protocols (e.g. EtherCAT) and the configuration of AH Motion products

based on the protocols.

7. AH500 Motion Control Module Manual

It introduces the specifications for the AH500 series motion control modules, the wiring, the instructions, and the

functions.

8. 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.

Preface

III

P.2 Navigation between Manuals

Before using the products, there are three manuals that should be utilized as fundamental information: AH Motion -

Hardware Manual,ISPSoft User Manual, and AH Motion - 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 different system configurations and applications, refer to other manuals as indicated in

the table below. Reading all manuals related to your system configuration helps you make the most use of the AH series

motion control system.

Related manuals

General operation procedures

AH Motion series manuals

AH500 Motion Control Module Manual

AH500 Module Manual

Fundamental

AH Motion – Operation Manual

AH Motion – Motion Control Instructions Manual

AH Motion – Communication Manual

AH Motion – Hardware Manual

ISPSoft User Manual

AH Motion – Standard Instructions Manual

1. Overview of AH Motion series products V

2. Setting up hardware configuration for the

system

for motion control applications V

for communication (e.g. EtherCAT) V

for additional motion control modules V

for I/O extension using AH500 series

modules

3. Getting started with the software

for motion control applications V

for communication (e.g. EtherCAT) V

for additional motion control modules V

for I/O extension using AH500 series

modules V

4. Programming

for motion control applications V V

for communication (e.g. EtherCAT) V

AH Motion – Hardware Manual

Related manuals

General operation procedures

AH Motion series manuals

AH500 Motion Control Module Manual

AH500 Module Manual

Fundamental

AH Motion – Operation Manual

AH Motion – Motion Control Instructions Manual

AH Motion – Communication Manual

AH Motion – Hardware Manual

ISPSoft User Manual

AH Motion – Standard Instructions Manual

for additional motion control modules V

for I/O extension using AH500 series

modules V

5. Testing and troubleshooting

for motion control applications V*

for communication (e.g. EtherCAT) V

for additional motion control modules

for I/O extension using AH500 series

modules

V* V

6. Maintenance and Inspection V

*Note: Information regarding Error codes and Indicators and the associated troubleshooting information are attached as

Appendices for a quick reference. For the complete troubleshooting of the system, refer to AH Motion – Operation

Manual.

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