Digitized Automation for a Changing World

AH Motion Controller -
Hardware Manual

www.deltaww.com
 AH Motion Controller Hardware Manual
Revision History
Ve r s i o n Revision Date
1st The first version was published. 2017/09/20
1. Modules including AH10EN-5A, AH15EN-5A,
A H 1 0 S C M - 5 A , A H 1 5 S C M - 5 A , A H 1 0 D N E T- 5 A ,
A H 1 0 P F B S - 5 A , A H 1 0 P F B M - 5 A , A H R T U - D N E T- 5 A ,
AHRTU-PFBS-5A, AHRTU-ETHN-5A and
AHBP03M2-5A (AH motion backplane) were added in
Chapter 1.
2. The information on modules including AH10EN-5A,
AH15EN-5A, AH10SCM-5A, AH15SCM-5A,
A H 1 0 D N E T- 5 A , A H 1 0 P F B S - 5 A , A H 1 0 P F B M - 5 A ,
A H R T U - D N E T- 5 A , A H R T U - P F B S - 5 A ,
2nd AHRTU-ETHN-5A, AHBP03M2-5A (AH motion 2018/08/31
backplane) as well as updates on I/O network and
module configuration were added in Chapter 2.
3. The reference information on modules in Chapter 3
has changed to AH500 Series Hardware Manual.
4. The reference information on modules in Chapter 4
has changed to AH500 Series Hardware Manual.
5. Section 3.2.7: Update information concerning contact
5 and contact 29.
6. Chapter 4: Change C0,C1, C2, C3 in output circuit
diagrams of a transistor to COM
1. Delete Section 1.2 (the content is duplicated with
Chapter 3)
2. Section 3.1 adds applicable atmospheric pressure and
shell fire rating.
3rd 2024/01/31
3. Section 3.2.1 adds communication port and digital I/O
isolation specifications.
4 . S e c t i o n 3 . 2 . 3 u p d a t e E t h e r C AT t r a n s m i s s i o n c a b l e
5. Update Chapter 5 Maintenance and Inspection.
 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

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

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 ..................................................................... 3-7
3.2.4 I/O Addressing of AH Motion CPU ..................................................... 3-8
3.2.5 Profiles ........................................................................................3-15
3.2.6 Dimensions ..................................................................................3-16
3.2.7 Arrangement of Terminals ..............................................................3-17
3.2.8 Memory Card Slot .........................................................................3-17

i
3.3 I/O Modules ................................................................................. 3-18

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 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

Chapter 5 Maintenance and Inspection

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

5.2 Daily Maintenance .......................................................................... 5-3

5.2.1 Daily Inspection ..............................................................................5-3

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

5.3.1 Periodic Inspection ..........................................................................5-4

ii
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 M o ti on Co n tro l ler – H ardw are Ma nua l

P.1 Introduction
_P
Thank you for purchasing the AH series Motion Controller 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 use the AH series Motion Controller CPU correctly.

To obtain required information for different system configurations, you can navigate between different manuals of AH
Motion Controller 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 Controller series motion controllers are composed of the following.

1. AH Motion Controller - 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 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
 Pre face

P.2 Navigation between Manuals

Before using the products, there are three manuals that should be utilized as fundamental information: AH Motion
P_
Controller - Hardware Manual, ISPSoft User Manual, and AH Motion 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 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 AH Motion series manuals

Fundamental

AH500 Motion Control Module Manual

AH Motion Controller - Instructions Manual
AH Motion Controller – Operation Manual
AH Motion Controller – Hardware Manual

AH Motion Controller – Standard

AH500 Module Manual

ISPSoft User Manual

Instructions Manual

General operation procedures

1. Overview of AH Motion Controller series

V
products

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

V
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

V
modules

4. Programming V
V
for motion control applications V V

III
 AH M o ti on Co n tro l ler – H ardw are Ma nua l

Related manuals AH Motion series manuals

_P Fundamental

AH500 Motion Control Module Manual

AH Motion Controller - Instructions Manual
AH Motion Controller – Operation Manual
AH Motion Controller – Hardware Manual

AH Motion Controller – Standard

AH500 Module Manual

ISPSoft User Manual

Instructions Manual
General operation procedures

for communication (e.g. EtherCAT)

for additional motion control modules V

for I/O extension using AH500 series

V
modules

5. Testing and troubleshooting

for motion control applications V*

for communication (e.g. EtherCAT)

V V
for additional motion control modules V* V

for I/O extension using AH500 series

V* V
modules

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 Controller –
Operation Manual.

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

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 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

1.1 The AH Series Motion Controller

The AH series motion controllers are the new generation motion controllers that provide high-speed performance through
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. The 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 through 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.

P LC
Softwa re

ISPSoft
A H se ries m otion c ontrolle r

Serv o d rive s

Inve rters G ener al-purpos e sla ve s

1-2
 Ch a pt er 1 Pr o duc t In tr o d uc t i on

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 circular interpolation.
1_
 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
AH16AM10N-5A, AH16AM30N-5A, AH16AN01P-5A, AH16AN01R-5A, AH16AN01S-5A,
Digital
AH16AN01T-5A, AH16AP11P-5A, AH16AP11R-5A, AH16AP11T-5A, AH32AM10N-5A,
input/output
AH32AM10N-5B, AH32AM10N-5C, AH32AN02P-5A, AH32AN02P-5B, AH32AN02P-5C,
module
AH32AN02T-5A, AH32AN02T-5B, AH32AN02T-5C, AH64AM10N-5C, AH64AN02P-5C and
AH64AN02T-5C

Analog Analog input/output

input/output AH04AD-5A, AH04DA-5A, AH06XA-5A, AH08AD-5A, AH08AD-5B, AH08AD-5C,
module AH08DA-5A, AH08DA-5B, and AH08DA-5C

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

Motion control Controlling the motion

module AH02HC-5A, AH04HC-5A, AH05PM-5A, AH10PM-5A, AH15PM-5A, AH20MC-5A

Additional communication interface

Network
AH10SCM-5A, AH10COPM-5A, AH10EN-5A, AH15EN-5A, AH10SCM-5A, AH15SCM-5A,
module
AH10DNET-5A, AH10PFBS-5A, AH10PFBM-5A

Remote I/O It can be installed on the main backplane to work as a RTU workstation. (it supports multiple
Module 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 CPU 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.

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 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

5. Serial control interface with multiple functions

_1

 AHxxEMC-5A provides one serial interface through 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. When the system runs, users
can replace the module with error without stopping the system or setting the module to offline state. After the
module is replaced, the new module will resume normal operation automatically.

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 Ch a pt er 1 Pr o duc t In tr o d uc t i on

1_

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 languages 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 final
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.

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 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

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
 Ch a pt er 1 Pr o duc t In tr o d uc t i on

Su pp ort Software

ISPSoft
AH500 Series Mod ule
Con figu ration
A H Motion C PU
P ow er A H I/O m odule s
S upply CPU

USB(RS-23 2)
1_
C PU
R ac k

LAN or Ether Net/IP

AH Motio nNetwor k
Configu ration
Bullt-In Ethe rCAT p ort
Ethe rCAT

B ullt-In E therN et/IP por t

Serv o d rive s/e ncode r

Gene ral-pur pose s lave s
input s la ves

 Other Network Configurations

Through the network interfaces on the AH motion CPU and the motion 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

DVS Se rie s
E t herNe t/IP Sc anne r Et herne t Sw itc h
( AH5 00 Se ries P LC)
US B RS- 48 5 S eria l Com m. CANopen
Module Module

P owe r CP U

Et herNet /IP (Adap ter)

Serial comm un ication s CANo pen

0

1-7
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

 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

1-8
 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 Mo t io n C on tr o ll er – Har d war e M a nu a l

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 connected
to the CPU’s built-in EtherNet/IP port and other network modules.
_2
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.
 Ch a pt er 2 Sy s te m C on f ig ur at i o n

AH500 Series Module Configuration

Power supply module AH Motion CPU Digital I/O, Special I/O

Motion backplane

2_
EtherCAT network
AH Motion CPU Network Configuration configuration(AH10EMC)

EtherCAT slaves

C
Servo Drives Inverters General-prupose slaves
b

2.1.1. AH Motion CPU Network Configuration

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.

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 AH Mo t io n C on tr o ll er – H ar dw ar e M an u a l

AH Motion CPU

_2

EtherCAT 1

1 EtherCAT slaves

Servo drives Inverters General-purpose slaves

1

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. The available modules include digital 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.

AH500 series modules

Powre supply module AH Motion CPU

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

RUN RUN RUN MS RUN
0 1 2 3 4 5 6 7
ERROR ERROR ERROR
8 9 10 11 12 13 14 15
BUS FAULT COM1 RS485 NS ERROR

SYSTEM COM2 RS485

TR 1 ON OFF 4
5 6

1 1
x10 x16
7
3
2

COM1 1 9
0
Node Address
5 6 Node Address
TX+ 4
0
x10
7
3

0
TX-
x16
8
2

1 9

RX+ D+
0
CN1

STOP RUN
RX- D-

GND GND DR 1 DR 2
FG FG DR 0 DR 1
IN 1 DR 0
IN 0 IN 0

Micro SD
TR 2 ON OFF

COM2
EtherCAT

TX+ CAN+
TX-
SHLD
RX+ D+
RX- D- CAN-
GND GND
Ethernet

GND
FG FG

AH Motion backplane

2-4
 Ch a pt er 2 Sy s te m C on f ig ur at i o n

 Components

Component Model Name Description

100~240 VAC
Power supply AHPS05-5A
50/60 Hz
module
AHPS15-5A 24 VDC

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

One EtherCAT port
AH Motion
AHxxEMC-5A One EtherNet/IP port (adapter)
CPU
One built-in USB port (RS-232)
One built-in micro SD interface
2_
AHBP03M2-5A Three slots available for additional AH500 series modules.
Motion
AHBP05M2-5A Five slots available for additional AH500 series modules.
backplane
AHBP07M2-5A Seven slots available for additional AH500 series modules.

24 VDC
5 mA
AH16AM10N-5A
16 inputs
Terminal block

24 VDC
5 mA
AH32AM10N-5A
32 inputs
Terminal block

24 VDC
5 mA
AH32AM10N-5B
32 inputs
DB37 connector

24 VDC
Digital 5 mA
AH32AM10N-5C
input/output 32 inputs
module MIL connector

24 VDC
3.2 mA
AH64AM10N-5C
64 inputs
MIL connector

100~240 VAC
4.5 mA~9 mA (100 V, 50 Hz)
AH16AM30N-5A
16 inputs
Terminal block

240 VAC/24 VDC

2A
AH16AN01R-5A 16 outputs
Relay
Terminal block

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 AH Mo t io n C on tr o ll er – H ar dw ar e M an u a l

Component Model Name Description

12~24 VDC
0.5 A
AH16AN01T-5A 16 outputs
Sinking output
_2 Terminal block

12~24 VDC
0.5 A
AH16AN01P-5A 16 outputs
Sourcing output
Terminal block

12~24 VDC
0.1 A
AH32AN02T-5A 32 outputs
Sinking output
Terminal block

12~24 VDC
0.1 A
AH32AN02T-5B 32 outputs
Sinking output
DB37 connector

12~24 VDC
0.1 A
AH32AN02T-5C 32 outputs
Sinking output
MIL connector

12~24 VDC
0.1 A
AH32AN02P-5A 32 outputs
Sourcing output
Terminal block

12~24 VDC
0.1 A
AH32AN02P-5B 32 outputs
Sourcing output
DB37 connector

12~24 VDC
0.1 A
AH32AN02P-5C 32 outputs
Sourcing output
MIL connector

12~24 VDC
0.1 A
AH64AN02T-5C 64 outputs
Sinking output
MIL connector

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 Ch a pt er 2 Sy s te m C on f ig ur at i o n

Component Model Name Description

12~24 VDC
0.1 A
AH64AN02P-5C 64 outputs
Sourcing output
MIL connector

100~240 VAC
0.5 A
AH16AN01S-5A 16 outputs
TRIAC
Terminal block
2_
Four-channel analog input module
Hardware resolution: 16 bits
AH04AD-5A 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
AH08AD-5A 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
AH08AD-5B
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
AH08AD-5C
0/4 mA~20 mA, and -20 mA~20 mA
Conversion time: 150 us/channel
Analog
Four-channel analog output module
input/output
Hardware resolution: 16 bits
module AH04DA-5A
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
AH08DA-5A
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
AH08DA-5B
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
AH08DA-5C
0/4 mA~20 mA
Conversion time: 150 us/channel

Four-channel analog input module

Hardware resolution: 16 bits
AH06XA-5A
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

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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
_2 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
AH04PT-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
Temperature AH08PTG-5A
Resolution: 0.1°C/0.1°F (16 bits)
measurement Conversion time: 20 ms/4 channels and 200 ms/8 channels
module
Four-channel thermocouple
Sensor type: J, K, R, S, T, E, N, and -150~+150 mV
AH04TC-5A
Resolution: 0.1°C/0.1°F
Conversion time: 200 ms/channel

Eight-channel thermocouple
Sensor type: J, K, R, S, T, E, N, and -150~+150 mV
AH08TC-5A
Resolution: 0.1°C/0.1°F
Conversion time: 200 ms/channel

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)

Motion control Six-axis pulse train motion control module
module AH10PM-5A
(Four axes: 1 MHz; Two axes: 200 kHz)

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

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

AH20MC-5A
module (10 Mbps)
It is an Ethernet communication module with two Ethernet ports, and
AH10EN-5A 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
AH15EN-5A 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
Network AH10SCM-5A
isolated from the other part of the communication, and one part of power
module
is isolated from the other part of the power.

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

Modbus and UD Link protocols. One part of communication is isolated
AH15SCM-5A
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

AH10DNET-5A
slave. A maximum of 1Mbps per second can be transferred.

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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.

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

AH10COPM-5A
slave.

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

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

UC-ET010-24A or 1.0 meter I/O extension cable (MIL connector) for AH32AM10N-5C and
DVPACAB7A10 AH64AM10N-5C 2_
UC-ET010-24C or 1.0 meter I/O extension cable (MIL connector) for AH32AN02T-5C,
DVPACAB7B10 AH32AN02P-5C, AH64AN02T-5C and AH64AN02P-5C

I/O extension UC-ET010-33B or 1.0 meter I/O extension cable (DB37 connector) for AH32AM10N-5B,
cable DVPACAB7C10 AH32AN02T-5B, and AH32AN02P-5B

UC-ET010-13B or
1.0 meter I/O extension cable for AH04HC-5A and AH20MC-5A
DVPACAB7D10

UC-ET010-15B or
1.0 meter I/O extension cable for AH10PM-5A and AH15PM-5A
DVPACAB7E10

UB-10-ID32A or I/O external terminal module for AH32AM10N-5C and AH64AM10N-5C

DVPAETB-ID32A 32 inputs

UB-10-OR16A or I/O external terminal module for AH32AN02T-5C and AH64AN02T-5C

DVPAETB-OR16A 16 relay outputs

UB-10-OR16B or I/O external terminal module for AH32AN02P-5C and AH64AN02P-5C

DVPAETB-OR16B 16 relay outputs

UB-10-ID32B or I/O external terminal module for AH32AM10N-5B

DVPAETB-ID32B 32 inputs

UB-10-OR32A or I/O external terminal module for AH32AN02T-5B

DVPAETB-OR32A 32 relay outputs
External UB-10-OR32B or I/O external terminal module for AH32AN02P-5B
terminal DVPAETB-OR32B 32 relay outputs
module
I/O external terminal module for AH32AN02T-5C, AH32AN02P-5C,
UB-10-OT32A or
AH64AN02T-5C, and AH64AN02P-5C
DVPAETB-OT32A
32 transistor outputs

UB-10-OT32B or I/O external terminal module for AH32AN02T-5B and AH32AN02P-5B

DVPAETB-OT32B 32 transistor outputs

UB-10-IO16C or
I/O external terminal module for AH04HC-5A and AH20MC-5A
DVPAETB-IO16C

UB-10-IO24C or
I/O external terminal module for AH10PM-5A
DVPAETB-IO24C

UB-10-IO34C or
I/O external terminal module for AH10PM-5A
DVPAETB-IO34C

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Component Model Name Description

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

_2 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 ISPSoft User Manual for information on the procedures of the connections between the AH
Motion system and the ISPSoft.
PLC Software

ISPSoft
EtherNet/IP Network RS-232

RS-485

EtherNet/IP S canner

AH500 / AH Motion
series P LCs

AH Motion CPU
P

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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.

Information Layer

PC HMI 2_
EtherNet/I P

AH500 ser ies CPU Et herNet/IP m odule port

Control Layer
Built- in EtherNet /IP p ort

Eth erNet/IP

AH Motion C PU Built -in AH Motion CP U Built-in

EtherNet/IP port EtherNet/IP port

Robot

Serial Built -in

communication EtherCAT port
module

CANopen module

CANopen EtherCAT

Device Layer

Servo Dr ives Servo Drives EtherCAT slaves

Serial com munications

RS- 422/RS-485 serial-communicatons d evices

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 AH Mo t io n C on tr o ll er – H ar dw ar e M an u a l

Layer Function Network type Protocols Devices

Message communications
CIP message Built-in EtherNet/IP
Information Layer (CIP) with host personal EtherNet/IP
communications port
computer
_2 EtherNet/IP
Automatic data exchange EtherNet/IP
MODBUS TCP
Control Layer between controllers (no MODBUS TCP Delta controllers
MODBUS
programming required) Serial communications
RS-422/RS-485

Communication between
MODBUS Serial communication
PLC and devices with Serial communications
RS-422/RS-485 module
serial interface.

High-speed, high accuracy

Built-in EtherCAT
Device Layer - communications with servo EtherCAT EtherCAT protocol
port
field networks drives and slaves(32 axes)

High-speed, high accuracy

communications with servo
CANopen CANopen protocol CANopen module
drives and slaves (16
axes)

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

2-12
 3
Chapter 3 Product Specifications
Table of Contents
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 ................................................................................. 3-7
3.2.4 I/O Addressing of AH Motion CPU ................................................................. 3-8
3.2.5 Profiles .................................................................................................. 3-15
3.2.6 Dimensions ............................................................................................. 3-16
3.2.7 Arrangement of Terminals ......................................................................... 3-17
3.2.8 Memory Card Slot .................................................................................... 3-17

3.3 I/O Modules ............................................................................................. 3-18

3-1
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

3.1 Environmental Specifications

Environmental Specifications
Operating temperature -20~60°C
Storage temperature -40~70°C
5~95%
Operating humidity
No condensation
5~95%
Storage humidity
No condensation

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

resistance IEC 61131-2 & IEC 68-2-27 (TEST Ea)
Operating environment No corrosive gas exists.
Installation location In a control box

Applicable Operation: 1013 ~ 795 hPa (equivalent to an altitude of 0 ~ 2000 meters).

atmospheric pressure
_3 Storage: 1013 ~ 700 hPa (equivalent to an altitude of 0 ~ 3000 meters).
Pollution degree 2
Enclosure
UL94V-0
fire-resistance level

3.2 AH Motion CPU

3.2.1 General Specifications
 AHxxEMC-5A

General Specifications
AHxxEMC-5A Remark
Execution The program is executed cyclically.
The inputs and outputs can
Cyclically refreshed inputs/outputs be controlled through the
Input/Output control
Direct inputs/outputs direct inputs (DX device) and
direct outputs (DY device).
IEC 61131-3

Programming language Ladder diagram (LD), continuous function

chart (CFC), structured text (ST), and
sequential function chart (SFC).
Instruction execution speed 0.3 ms/K steps
1-32000
The scan cycle time can be
Constant scan cycle (ms) (The scan cycle can be increased by one
specified by parameters.
millisecond.)
Program capacity (step) 256K steps
Installation DIN rails or screws
Modules are installed directly on a
Installation of modules
backplane.
Five input/output modules at most can be
Number of modules
installed on a motion backplane.

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 Ch a pt er 3 Pr o duc t S pec i f ic a t io ns

General Specifications
AHxxEMC-5A Remark
283 tasks (32 cyclic tasks, 32 I/O interrupt
tasks, 212 external interrupt tasks, 1 24V
Number of tasks
LV detection, 4 timed interrupt tasks, and
2 communication interrupt tasks).
X/Y devices (bit): 8192
(X0.0~X511.15/Y0.0~Y511.15) Number of devices which can
Number of input/output devices
X/Y devices (word): 512 be used in a program
(X0~X511/Y0~Y511)
Number of inputs/outputs
Number of inputs/outputs 328 inputs/ 324 outputs (AHxxEMC)
accessible to an CPU
Input relay [X] 8192 (X0.0~X511.15)
Output relay [Y] 8192 (Y0.0~Y511.15)
Auxiliary relay [M] 8192 (M0~M8191)
Timer [T] 2048 (T0~T2047) 3_
Counter [C] 2048 (C0~C2047)
HC: 64 (HC0~HC63)
32-bit counter [HC/AC]
AC: 56 (AC0~ AC55) (AHxxEMC)
D device (bit): 1048576
Data register [D] (D0.0~D65535.15)
D device (word): 65536 (D0~D65535)
Stepping relay [S] 2048 (S0~S2047)
Index register [E] 32 (E0~E31)
Special auxiliary relay [SM] SM: 2048 (SM0~SM2047)
Special data register [SR] SR: 2048 (SR0~SR2047)
One RS-232(USB), One RS-485
Serial communication port
communication port
Ethernet port 10/100 M
USB port Mini USB
Memory card slot Supports Micro SD card (SD 2.0)
The function is available
Years, months, days, hours, minutes, when the CPU is used
Real-time clock
seconds, and weeks together with the motion
backplane
Weight 230g
USB and COM isolation voltage: 500VAC
Isolation Communication port Ethernet communication isolation voltage:
Specification 1500VAC
Digital I/O point Digital I/O isolation voltage: 500VAC

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 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

Description of the terminals

Response Rated input

Terminal Description
characteristic Current Voltage

1. Differential input terminals.

2. The functions of the terminals:
 High-speed count:
 The terminals are the RESET input
X0.0+, X0.0-,
terminals for counter 0~counter 1.
X0.1+, X0.1- 1MHz +/-5mA +/-5V
 X0.0+ and X0.0- are for counter 0.
(*2)
X0.1+ and X0.1- are for counter 1.
 High-speed capture: The terminals can
function as trigger signals for high-speed
captures.

1. Common input terminals.

2. The functions of the terminals:
 High-speed count:
 The terminals are the RESET input
_3 X0.2, X0.3, terminals for counter 2~counter 5.
X1.4, X1.5  X0.2 is for counter 2. 100kHz(*1) 5mA 24V
(*2) X0.3 is for counter 3.
X1.4 is for counter 4
X1.5 is for counter 5
 High-speed capture: X0.2 and X0.3 can function
as trigger signals for high-speed captures.

1. Differential input terminals.

2. The functions of the terminals:
 Motion control: The terminals are for a manual
pulse generator.
 High-speed count:
X0.8+, X0.8-,
 The terminals are for counter 0.
X0.9+, X0.9- 1MHz +/-5mA +/-5V
 X0.8+ and X0.8- are the A-phase inputs for
(*2)
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+, X0.10-,
 X0.10+ and X0.10- are the A-phase inputs 1MHz +/-5mA +/-5V
X0.11+, X0.11-
for counter 1. X0.11+ and X0.11- are the
(*2)
B-phase inputs for counter 1.
 High-speed capture: The terminals can function
as trigger signals for high-speed captures.
 Interrupt inputs
X0.12, 1. Common input terminals.
X0.13, 2. The functions of the terminals:
X0.14,  High-speed count:
100 kHz(*1) 5mA 24 V
X0.15,  The terminals are for counter 2~counter 5.
X1.0,  X0.12 and X0.13 are for counter 2.
X1.1, X0.14 and X0.15 are for counter 3.

3-4
 Ch a pt er 3 Pr o duc t S pec i f ic a t io ns

Response Rated input

Terminal Description
characteristic Current Voltage
X1.2, X1.0 and X1.1 are for counter 4.
X1.3 X1.2 and X1.3 are for counter 5.
(*2)  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, 1. Pulse output temrinals (open collector).
Y0.9, 2. The function of the terminals:
200 kHz 15 mA 24 V
Y0.10,  High-speed comparison: The terminals can
Y0.11 function as high-speed comparison outputs.
*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
*2. From HWCONFIG of the ISPSoft, two different filter settings for IO inputs can be set, X Input Single Filter Time and X
Input Single Frequency Filter Factor. For details, please refer to section 4.4.4.1 in the AH Motion Controller Operation
Manual.
3_
3.2.2 Motion Control Function Specifications
 AHxxEMC-5A

Specifications AHxxEMC-5A

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

supported (Axis 1~axis 32)
Storage The capacity of the built-in storage is 256K steps.
Unit Motor unit, mechanical unit
High-speed motion control system EtherCAT
Motor control
The response time is 100Mbps.
EtherCAT: 100M bps
Diffrential input: 1MHz
Maximum speed
Open collector input : 200KHz
Open collector output:200KHz

Specifications AHxxEMC-5A
Operating switch RUN-STOP switch

X0.0+, X0.0-,
X0.1+, X0.1-,
Input
signal X0.8+, X0.8-,
Input terminal
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 terminal Y0.8, Y0.9, Y0.10, and Y0.11

Output Mini USB port
signal External
Ethernet port
communication port
EtherCAT port

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 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

Specifications AHxxEMC-5A
Supports Micro SD card
Memory card slot
The maximum capacity is 32 GB.
M00~M01, M03~M101, and M103~M65535: The execution of a program pauses.
M-code (WAIT)
You can use them freely.
G0 (rapid positioning), G1 (linear interpolation), G2 (circular interpolation,
clockwise), G3 (circular interpolation, counterclockwise), G4 (dwell), G17 (XY
G-code
plane selection), G18 (ZX plane selection), G19 (YZ plane selection), G90
(absolute programming), and G91 (incremental programming)
Number of counters 6
Number of high-speed capture/
6
comparison
Number of interrupt devices 216

_3

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 Ch a pt er 3 Pr o duc t S pec i f ic a t io ns

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 station. You can download or upload a program through a mini USB
port. The communication protocols supported by the mini USB port are MODBUS ASCII and MODBUS RTU
(RS-232).

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

MODBUS TCP

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

- Can be connected to ISPSoft. A program can be uploaded/downloaded and monitored.

- Can also function as a standard MODBUS TCP slave.

EtherNet/IP adapter
3_
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 be connected to EtherNet/IP scanner through I/O connection.

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

Specifications
Electrical isolation 500 VDC
Connector RJ45
Transmission cable CAT-5, CAT-5e, CAT-6
EtherCAT: An EtherCAT port can be used to perform motion control function based on EtherCAT communications.

Specifications
Electrical isolation 500 VDC
Connector RJ45
Delta Cable
UC-EMC003-02C (0.3M), UC-EMC005-02C (0.5M), UC-EMC010-02C (1M),
UC-EMC020-02C (2M), UC-EMC050-02C (5M), UC-EMC100-02C (10M),
Transmission cable
UC-EMC200-02C (20M)
Note: The previously used Delta cable UC-EMCXXX-02A has been discontinued
as of December 31, 2022.

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 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

Communication specifications:

Interface
Mini USB
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

Interface Ethernet
Specifications
MODBUS TCP EtherNet/IP
_3 Transmission rate 10/100 Mbps 10/100 Mbps
Communication protocol MODBUS TCP EtherNet/IP

Number of data read/written 100 registers 250 registers

Maximum transmission distance 100 meters 100 meters

Interface
EtherCAT
Specifications

Serial transmission rate 100 Mbps

Communication protocol EtherCAT packet format
AH08EMC-5A: 8 axes; AH10EMC-5A: 16 axes;
Number of axes supported
AH20EMC-5A: 32 axes

3.2.4 I/O Addressing of AH Motion CPU

The I/O addressing between AH Motion CPUs 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 software and I/O addresses are automatically allocated 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.

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 Ch a pt er 3 Pr o duc t S pec i f ic a t io ns

 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 list of the modules and is not an actual configuration.
2. AH16AR10N-5A(16AR) is not supported.

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)
8 inputs and 8 outputs. The input device range occupies 16 bits, and the output device range 3_
16AP
occupies 16 bits. (Xn.0~Xn.15, and Yn.0~Yn.15)
32AM 32 inputs. The input device range occupies 32 bits. (Xn.0~Xn+1.15)

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

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 defined for the analog input/output module. A channel occupies
two words.

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

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 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

04AD 4 input channels. The input device range occupies 8 data registers.

08AD 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
06XA
output device range occupies 4 data registers.

04DA 4 output channels. The output device range occupies 8 data registers

08DA 8 output channels. The output device range occupies 16 data registers.

_3

Temperature Measurement Modules

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

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

04PT 4 input channels. The input device range occupies 8 data registers.

08PTG 8 input channels. The input device range occupies 16 data registers

04TC 4 input channels. The input device range occupies 8 data registers.

08TC 8 input channels. The input device range occupies 16 data registers

3-10
 Ch a pt er 3 Pr o duc t S pec i f ic a t io ns

Motion Control Modules

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

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

2 input channels. The input device range occupies 14 data registers, and the output device range
02HC
occupies 2 data registers.
4 input channels. The input device range occupies 28 data registers, and the output device range
04HC
occupies 4 data registers.
No input registers and no output registers are assigned to it. Please refer to AH500 Motion Control
05PM
Module Manual for more information about the parameter setting. 3_
No input registers and no output registers are assigned to it. Please refer to AH500 Motion Control
10PM
Module Manual for more information about the parameter setting.
No input registers and no output registers are assigned to it. Please refer to AH500 Motion Control
15PM
Module Manual for more information about the parameter setting.
No input registers and no output registers are assigned to it. Please refer to AH500 Motion Control
20MC
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 defined for the network module.

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

3-11
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

10EN/15EN The input device range occupies 20 data registers and output device range 20 data
registers.
10SCM The input device range occupies 18 data registers.
10DNET No input device and output device will be occupied.
10PFBS No input device and output device will be occupied.
10PFBM The input device range occupies 15 data registers.
10COPM The input device range occupies 2 data registers.
15SCM The input device range occupies 18 data registers.

_3

 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 devices 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 Y0.0~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

3-12
 Ch a pt er 3 Pr o duc t S pec i f ic a t io ns

Analog Input/Output Modules

You can assign input registers and output registers to an analog input/output module through 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

3_
 The user-defined input/output device range: D50~D57, and D100~D103

Temperature Measurement Modules

You can assign input registers to a temperature measurement module through HWCONFIG in ISPSoft. The input
registers should be within the range between D0 and D65535. Take AH08TC-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

3-13
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

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

Motion Control Modules

You can assign input registers and output registers to a motion control module 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 registers are D0~D27. You can
change the input device range from D0~D27 to D200~D227.
_3  The default input device range: D0~D27

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

Network Modules

You can assign input registers and output registers to a network module 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 AH10EN-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.

3-14
 Ch a pt er 3 Pr o duc t S pec i f ic a t io ns

 The default input device range: D0~D19

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

3_

3.2.5 Profiles
 AHxxEMC-5A

10EMC 1 9
RUN

ERRO R

ETH 2
Et he rC AT

4
CN 1

S TO P R UN

5 10....

6
M i c ro S D
E th e rCAT

7
Eth e rn e t

11

Number Name Description

1 Model name Model name of the CPU module
Operating status of the CPU module
RUN LED ON: The user program is being executed.
2
indicator OFF: The execution of the user program stops.
Blink: The user program is in a debugging mode.

3-15
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

Number Name Description

Error status of the CPU module
ERROR LED ON: A serious error occurs in the system.
indicator OFF: The system is normal.
Blink: A slight error occurs in the system.
Error status of the I/O bus
BUS FAULT LED ON: A serious error occurs in the I/O bus.
indicator OFF: The I/O bus is normal.
Blink: A slight error occurs in the I/O bus.
System status of the CPU module
SYSTEM LED ON: The external input/output is forced ON/OFF.
indicator OFF: The system is in a default status.
Blink: The CPU module is being reset / The value in the device is being cleared.
3 Mini USB port Providing the RS-232 communication interface
RUN: The user program is executed.
4 RUN/STOP switch
STOP: The execution of the user program stops.
_3
5 SD slot Micro SD interface
6 Connector Connecting the module and an I/O extension cable.
7 EtherCAT port Providing the EtherCAT communication interface
8 Ethernet port Providing the Ethernet communication interface
9 Set screw Fixing the module
10 Label Nameplate
11 Hook Connecting the module and a backplane.

3.2.6 Dimensions

10EMC
RUN

ERROR

ETH

EtherCAT

CN1
STOP RUN

Micro SD

EtherCAT

Ethernet

Dimensions are in mm.

3-16
 Ch a pt er 3 Pr o duc t S pec i f ic a t io ns

3.2.7 Arrangement of Terminals

 AHxxEMC-5A

Function Function
Pin Terminal Pin Terminal
Pulse Count Pulse Count
1 COM COM 19 Y0.11 Out3
2 COM COM 20 Y0.10 Out2
3 COM COM 21 Y0.9 Out1
4 COM COM 22 Y0.8 Out0
5 S/S S/S 23 X1.3 CntA5
6 X1.5 Rst5 24 X1.2 CntA5
7 S/S S/S 25 X1.1 CntA4
8 X1.4 Rst4 26 X1.0 CntA4
9 S/S S/S 27 X0.15 DOG3 CntA3
10 X0.3 Rst3 28 X0.14 DOG2 CntA3
3_
11 S/S S/S 29 X0.13 DOG1 CntA2
12 X0.2 Rst2 30 X0.12 DOG0 CntA2
13 X0.1- Rst1- 31 X0.1+ Rst1+
14 X0.11- DOG5- CntB1- 32 X0.11+ DOG5+ CntB1+
15 X0.10- DOG4- CntA1- 33 X0.10+ DOG4+ CntA1+
16 X0.0- Rst0- 34 X0.0+ Rst0+
17 X0.9- MPGB- CntB0- 35 X0.9+ MPGA- CntB0+
18 X0.8- MPGB+ CntA0- 36 X0.8+ MPGA+ CntA0+

3.2.8 Memory Card Slot

 AHxxEMC-5A

The AH Motion series 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.


MicroS SD

MiniSD

3-17
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

Specifications for Memory Cards

The specifications of SD cards 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 products
which meet the specifications.

 SD card families

Type SD SDHC SDXC

Capacity 2 GB Max. 32 GB max. 32 GB~2 TB
File FAT/FAT3
FAT16/FAT32 exFAT
system 2
Size SD SDHC MiniSDHC MicroSDHC SDXC MicroSDXC
Class 2 (Min. 2 MB/sec.) Class 2 (Min. 2 MB/sec.)
Speed
Class 4 (Min. 4 MB/sec.) Class 4 (Min. 4 MB/sec.)
class N/A
Class 6 (Min. 6 MB/sec.) Class 6 (Min. 6 MB/sec.) Class 10 (Min.
rating
Class 10 (Min. 10 MB/sec.) 10 MB/sec.)

_3

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, remote I/O modules. Refer to
Chapter 3 of the AH500 Hardware Manual for more details.

3-18
 4
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
 Ch ap te r 4 Ins ta l la tion a nd 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.

AH500 series modules

Powre supply module AH Motion CPU

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

RUN RUN RUN MS RUN
0 1 2 3 4 5 6 7
ERROR ERROR ERROR
8 9 10 11 12 13 14 15
BUS FAULT COM1 RS485 NS ERROR

SYSTEM COM2 RS485

TR 1 ON OFF 4
5
6

1 1
x10 x16

7
3
2

8
COM1 1 9
0

Node Address
4
5 6 Node Address
TX+ 0
x10

7
3
0
TX-
x16

8
2
1 9
0
RX+ D+
CN1

STOP RUN
RX- D-

GND GND DR 1 DR 2
FG FG DR 0 DR 1
IN 1 DR 0
IN 0 IN 0

Micro SD
TR 2 ON OFF

COM2
EtherCAT

TX+ CAN+
TX-
SHLD
RX+ D+

4_
RX- D- CAN-
GND GND
Ethernet

GND
FG FG

AH Motion backplane 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
 Ch ap te r 4 Ins ta l la tion a nd 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
PS0 5 PS15
PO WER

- Motion CPU module

4_
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
ERRO R

ETH
Et he rC AT
CN 1

S TO P R UN

M i c ro S D
E the r CAT
Eth e rn e t

- 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
Computer/HMI communication/remote control/data exchange/industrial
EtherNet RJ45
network
RS-232 Mini USB Programming
RS-485 Terminal block Programming

4-3
 AH Mo tion Co n tro ller – H ardw are Ma nua l

 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 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)
Six-axis pulse train motion control module
AH10PM-5A
(Four axes: 1 MHz; Two axes: 200 kHz)
AH15PM-5A Four-axis pulse train motion control module (1 MHz )
AH20MC-5A Twelve-axis DMCNET (Delta Motion Control Network) motion control module (10 Mbps)

- Digital input/output modules:

AH16AM10N-5A 24 VDC, 5 mA, 16 inputs, Terminal block

AH32AM10N-5A 24 VDC, 5 mA, 32 inputs, Terminal block
AH32AM10N-5B 24 VDC, 5 mA, 32 inputs, DB37 connector
AH32AM10N-5C 24 VDC, 5 mA, 32 inputs, MIL connector
_4 AH64AM10N-5C 24 VDC, 3.2 mA, 64 inputs, MIL connector
AH16AM30N-5A 100~240 VAC, 4.5 mA/9 mA (100 V, 50 Hz), 16 inputs, Terminal block
AH16AN01R-5A 240 VAC/24 VDC, 2 A, 16 outputs, Relay, Terminal block
AH16AN01T-5A 12~24 VDC, 0.5 A ,16 outputs, Sinking output(NPN), Terminal block
AH16AN01P-5A 12~24 VDC, 0.5 A, 16 outputs, Sourcing output(PNP), Terminal block
AH16AN01S-5A 110/220 VAC, 0.5 A, 16 outputs, TRIAC, Terminal block
AH32AN02T-5A 12~24 VDC, 0.1 A, 32 outputs, Sinking output(NPN), Terminal block
AH32AN02T-5B 12~24 VDC, 0.1 A, 32 outputs, Sinking output(NPN), DB37 connector
AH32AN02T-5C 12~24 VDC, 0.1 A, 32 outputs, Sinking output(NPN), MIL connector
AH32AN02P-5A 12~24 VDC, 0.1 A, 32 outputs, Sourcing output(PNP), Terminal block
AH32AN02P-5B 12~24 VDC, 0.1 A, 32 outputs, Sourcing output(PNP), DB37 connector
AH32AN02P-5C 12~24 VDC, 0.1 A, 32 outputs, Sourcing output(PNP), MIL connector
AH64AN02T-5C 12~24 VDC, 0.1 A, 64 outputs, Sinking output(NPN), MIL connector
AH64AN02P-5C 12~24 VDC, 0.1 A, 64 outputs, Sourcing output(PNP), MIL connector
AH16AP11R-5A 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
AH16AP11T-5A
block
24 VDC, 5 mA, 8 inputs, 12~24 VDC, 0.5 A, 8 outputs, Sourcing output(PNP), Terminal
AH16AP11P-5A
block

4-4
 Ch ap te r 4 Ins ta l la tion a nd Wiring

- Analog input/output modules:

Four-channel analog input module

AH04AD-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
AH08AD-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
AH08AD-5B 16-bit resolution
-10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V
Eight-channel analog input module
AH08AD-5C 16-bit resolution
0/4~20 mA or -20~+20 mA
Four-channel analog output module
AH04DA-5A 16-bit resolution
-10~+10 V, 0~10 V, -5~+5 V, 0/1~5 V, or 0/4~20 mA
4_
Eight-channel analog output module
AH08DA-5A 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
AH08DA-5B 16-bit resolution
-10~+10 V, 0~10 V, -5~+5 V, or 0/1~5 V
Eight-channel analog output module
AH08DA-5C 16-bit resolution
0/4~20 mA
Four-channel analog input and two-channel analog output module
16-bit resolution
AH06XA-5A
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

- Temperature measurement modules:

Four-channel four-wire/three-wire RTD

AH04PT-5A
Sensor type: Pt100, Pt1000, Ni100, Ni1000, or 0~300 Ω input impedance
Eight-channel four-wire/three-wire/two-wire RTD
AH08PTG-5A
Sensor type: Pt100, Pt1000, Ni100, Ni1000, or 0~300 Ω input impedance
Four-channel thermocouple
AH04TC-5A
Sensor type: J, K, R, S, T, E, N, or -150~+150 mV
Eight-channel thermocouple
AH08TC-5A
Sensor type: J, K, R, S, T, E, N, or -150~+150 mV

- Network modules:

It is an Ethernet communication module with two Ethernet ports, and supports Modbus
AH10EN-5A
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
AH15EN-5A
TCP protocols, and IEC60870-5-104. It can function as a master or a slave.
AH10SCM-5A It is a serial communication module with two RS-485/RS-422 ports, and supports

4-5
 AH Mo tion Co n tro ller – H ardw are Ma nua l

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.
It is a DeviceNet communication module. It can function as a master or slave. A
AH10DNET-5A
maximum of 1Mbps per second can be transferred.
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 Dummy module used for an empty I/O slot

_4
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
 Ch ap te r 4 Ins ta l la tion a nd 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 ＞50mm

＞50mm
4_
 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.

a a

4-7
 AH Mo tion Co n tro ller – H ardw are Ma nua l

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

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.

_4

3. Install the backplane on a DIN rail.

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.
3
1

DIN rail

4-8
 Ch ap te r 4 Ins ta l la tion a nd Wiring

 Removing a DIN rail

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

Step 2: Remove the backplane.

1

DIN rail

2 4_

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
 AH Mo tion Co n tro ller – H ardw are Ma nua l

3. Tighten the screw on the module.

4.3.4 Installing a Removable Terminal Block

_4  Installation

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

4-10
 Ch ap te r 4 Ins ta l la tion a nd Wiring

Type 2

4_

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
 AH Mo tion Co n tro ller – H ardw are Ma nua l

Type 1

Type 2

_4

2.

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

Type 1

4-12
 Ch ap te r 4 Ins ta l la tion a nd Wiring

Type 2

3. The terminal block is removed.

Type 1 Type 2
4_

4-13
 AH Mo tion Co n tro ller – H ardw are Ma nua l

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.

_4  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
 Ch ap te r 4 Ins ta l la tion a nd 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_
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

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 AH Mo tion Co n tro ller – H ardw are Ma nua l

 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

4.4 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
off. If the power supply is not turned off, you may get an electric shock, or the product may be
DANGER 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.
 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

4-16
 Ch ap te r 4 Ins ta l la tion a nd 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.
4_
(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.

Load through which the

Shilded cable
alternating current passes

AC power
supply

(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 mm2 or larger than 2 mm2.

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

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 AH Mo tion Co n tro ller – H ardw are Ma nua l

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 mm2, and the diameter of the cable is 14 AWG.) Be sure to twist the power cables
at terminal screws. To prevent the short circuit which results from loose screws, you need to use solderless
terminals with insulation sleeves.
(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 transformer

AHPS05-5A

AC power supply I/O equipment

100-240 V

Another piece of equipment

_4

(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

AHPS05-5A
AC power supply 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.

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 Ch ap te r 4 Ins ta l la tion a nd Wiring

Isolating transformer
DC 24 V DC
powe r AHPS15-5A
AC power supply supply
100-240 V I/O equipment

Another piec e 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 DC power s uppl y 4_

100-240V I/O equipment
Another piec e 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
AHPS05-5A Another piece of
diameters of the cables connected to the terminals L and N.
AHPS15-5A equipment
 If much equipment is used, please use single-point ground.

T he single-point gr ound is better.

 If single-point ground can not be used, please use AHPS05-5A A nother piece of
common-point ground. AHPS15-5A equipment

T he common-point gr ound is permitted.

 you can not ground equipment in the way shown on AH PS05-5A Another piece of
the right. AH PS15-5A equipment

The equi pment c an not be gr ounded in thi s way.

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 AH Mo tion Co n tro ller – H ardw are Ma nua l

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.

_4 *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.

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 Ch ap te r 4 Ins ta l la tion a nd 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.

MC

100~240VAC
50/60Hz 24VDC

VS+ VS- UP ZP UP ZP

DI/DO AI/AO
PS05 CPU
ｍo dule ｍo dule
2A
L
4_
N

24VDC

VS+ VS- UP ZP

AI/AO Network Motion

PS05
ｍo dule ｍo dule ｍo dule
2A
L
N

① Alternating-current power supply: 100~240 VAC, and 50/60 Hz

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

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 AH Mo tion Co n tro ller – H ardw are Ma nua l

 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.

_4 *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
 Ch ap te r 4 Ins ta l la tion a nd Wiring

4.5.4 Power Consumption

Products Model name Internal power consumption External power consumption
AH Motion CPU AHxxEMC-5A 4W -

Motion control AHBP03M2-5A 1.2 W -

backplane AHBP05M2-5A 1.2 W
AH02HC-5A 2.4 W -
AH04HC-5A 2.4 W -
AH05PM-5A 2.7 W -
Motion control module
AH10PM-5A 2.7 W -
AH15PM-5A 2.7 W -
AH20MC-5A 3W -
AH16AM10N-5A 0.1 W 1.9 W
AH16AM30N-5A 0.1 W -
4_
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 -
AH16AP11T-5A 0.2 W 0.2 W
AH32AM10N-5A 0.2 W 3.8 W
Digital I/O module 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 1W
AH04DA-5A 0.34 W 2.6 W
AH06XA-5A 0.34 W 1.4 W
Analog I/O module
AH08AD-5A 1.1W -
AH08DA-5A 0.36W 4.55W
AH08AD-5B 1.9 W -

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 AH Mo tion Co n tro ller – H ardw are Ma nua l

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 2W -

Temperature AH08PTG-5A 0.7W 4W

measurement module 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 -
Network module
AH10DNET-5A 0.9 W 0.72 W
AH10PFBS-5A 1W -
AH10PFBM-5A 2W -
AH10COPM-5A 0.8 W -
AHRTU-DNET-5A 0.75 W 0.72 W
_4 Remote I/O module AHRTU-PFBS-5A 2W -
AHRTU-ETHN-5A 2.16 W -

4.6 Wiring AH Motion CPU Modules

4.6.1 Specifications of Inputs and Outputs
 AHxxEMC-5A

General Specifications
AHxxEMC-5A Remark
Execution The program is executed cyclically.
The inputs and outputs can be
Cyclically refreshed inputs/outputs controlled through the direct inputs
Input/Output control
Direct inputs/outputs (DX device) and direct outputs (DY
device).
IEC 61131-3

Programming language Ladder diagram (LD), continuous function

chart (CFC), structured text (ST), and
sequential function chart (SFC).
Instruction execution speed 0.3 ms/K steps
1-32000
The scan cycle time can be
Constant scan cycle (ms) (The scan cycle can be increased by one
specified by parameters.
millisecond.)
Program capacity (step) 256K steps
Installation DIN rails or screws

4-24
 Ch ap te r 4 Ins ta l la tion a nd Wiring

General Specifications
AHxxEMC-5A Remark
Modules are installed directly on a
Installation of modules
backplane.
Five input/output modules at most can be
Number of modules
installed on a motion backplane.
283 tasks (32 cyclic tasks; 32 I/O interrupts;
Number of tasks
212 external interrupts; 1 24V LV detection)
X/Y devices (bit): 8192
Number of input/output (X0.0~X511.15/Y0.0~Y511.15) Number of devices which can be
devices X/Y devices (word): 512 used in a program
(X0~X511/Y0~Y511)
Number of inputs/outputs
Number of inputs/outputs 328 inputs/ 324 outputs (AH10EMC)
accessible to an CPU
Input relay [X] 8192 (X0.0~X511.15)
Output relay [Y] 8192 (Y0.0~Y511.15) 4_
Auxiliary relay [M] 8192 (M0~M8191)
Timer [T] 2048 (T0~T2047)
Counter [C] 2048 (C0~C2047)
HC: 64 (HC0~HC63)
32-bit counter [HC/AC]
AC: 56 (AC0~ AC55) (AHxxEMC)
D device (bit): 1048576 (D0.0~D65535.15)
Data register [D]
D device (word): 65536 (D0~D65535)
Stepping relay [S] 2048 (S0~S2047)
Index register [E] 32 (E0~E31)
Special auxiliary relay [SM] SM: 2048 (SM0~SM2047)
Special data register [SR] SR: 2048 (SR0~SR2047)
One RS-232(USB), One RS-485
Serial communication port
communication port
Ethernet port 10/100 M
USB port Mini USB
Memory card slot Supports Micro SD card (SD 2.0)
The function is available when the
Years, months, days, hours, minutes,
Real-time clock CPU is used together with the
seconds, and weeks
motion backplane

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 AH Mo tion Co n tro ller – H ardw are Ma nua l

Description of the terminals

Response Rated input

Terminal Description
characteristic Current Voltage

1. Differential input terminals.

2. The functions of the terminals:
 High-speed count:
 The terminals are the RESET input
X0.0+, X0.0-, terminals for counter 0~counter 1.
1MHz +/-5mA +/-5V
X0.1+, X0.1-  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.

1. Common input terminals.

2. The functions of the terminals:
 High-speed count:
 The terminals are the RESET input
terminals for counter 2~counter 5.
X0.2, X0.3,
 X0.2 is for counter 2. 100kHz(*1) 5mA 24V
X1.4, X1.5
X0.3 is for counter 3.
X1.4 is for counter 4
X1.5 is for counter 5
 High-speed capture: The terminals can function
_4 as trigger signals for high-speed captures.

1. Differential input terminals.

2. The functions of the terminals:
 Motion control: The terminals are for a manual
pulse generator.
 High-speed count:
X0.8+, X0.8-,  The terminals are for counter 0.
1MHz +/-5mA +/-5V
X0.9+, X0.9-  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+, X0.10-,  X0.10+ and X0.10- are the A-phase inputs
1MHz +/-5mA +/-5V
X0.11+, X0.11- 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
X0.12, 1. Common input terminals.
X0.13, 2. The functions of the terminals:
X0.14,  High-speed count:
100kHz(*1) 5mA 24 V
X0.15,  The terminals are for counter 2~counter 5.
X1.0,  X0.12 and X0.13 are for counter 2.
X1.1, X0.14 and X0.15 are for counter 3.

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 Ch ap te r 4 Ins ta l la tion a nd Wiring

Response Rated input

Terminal Description
characteristic Current Voltage
X1.2, X1.0 and X1.1 are for counter 4.
X1.3 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
interrupt inputs.
Y0.8, 1. Pulse output temrinals (open collector).
Y0.9, 2. The function of the terminals:
200 kHz 15 mA 24 V
Y0.10,  High-speed comparison: The terminals can
Y0.11 function as high-speed comparison outputs.
*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 4_

 External devices for AHxxEMC-5A

10EMC
MDR36 RUN
ERROR

conn ect or ETH

Eth e rCAT

Ex terna l USB
terminal
module
C N1

S TO P R UN

Mic roSD
SD
M i c ro S D

RJ 45 (Et herCAT)
Eth erCA T

RJ 45 (Ethe rn et)
E th er ne t

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 AH Mo tion Co n tro ller – H ardw are Ma nua l

 MDR36 connector

Pin Function Pin Function

1 COM 19 Y0.11
2 COM 20 Y0.10
3 COM 21 Y0.9
4 COM 22 Y0.8
5 S/S 23 X1.3
6 X1.5 24 X1.2
7 S/S 25 X1.1
8 X1.4 26 X1.0
9 S/S 27 X0.15
10 X0.3 28 X0.14
11 S/S 29 X0.13
12 X0.2 30 X0.12
13 X0.1- 31 X0.1+
14 X0.11- 32 X0.11+
15 X0.10- 33 X0.10+
_4 16 X0.0- 34 X0.0+
17 X0.9- 35 X0.9+
18 X0.8- 36 X0.8+

 USB port

Pin Function
1 VBUS (4.4–5.25 V)
2 D−
3 D+
4 Ground
5 Ground

 EtherNet/IP port

Pin Signal Description

Transmitting data
1 TX+
(positive pole)
Transmitting data
2 TX-
(negative pole)
Receiving data
3 RX+
(positive pole)
4 -- N/C
5 -- N/C
6 RX- Receiving data

4-28
 Ch ap te r 4 Ins ta l la tion a nd Wiring

(negative pole)
7 -- N/C
8 -- N/C

 EtherCAT port

Pin Signal Description

Transmitting data
1 TX+
(positive pole)
Transmitting data
2 TX-
(negative pole)
Receiving data
3 RX+
(positive pole)
4 -- N/C
5 -- N/C

6 RX-
Receiving data 4_
(negative pole)
7 -- N/C
8 -- N/C

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 output AH04HC-5A high-speed input

A
A-

B
B-

Transistor Output Circuit

AHxxEMC-5A

Load
Trigger circuit

Y0.8
< 0.5A
LED
C0M

Transistor output

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 AH Mo tion Co n tro ller – H ardw are Ma nua l

COM COM C OM COM

 Direct-current power supply  Emergency stop  Fuse

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

+
D DC power supply

_4 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

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.

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 Ch ap te r 4 Ins ta l la tion a nd 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_

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 AH Mo tion Co n tro ller – H ardw are Ma nua l

MEMO

_4

4-32
 5
Chapter 5 Maintenance and Inspection
Table of Contents
5.1 Cautions .......................................................................................................... 5-2

5.2 Daily Maintenance ........................................................................................... 5-3

5.2.1 Daily Inspection ......................................................................................... 5-3

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

5.3.1 Periodic Inspection .......................................................................................................................... 5-4

5-1
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

5.1 Cautions
Before you undertake the maintenance and the inspection, please 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 sure that the ambient
environment is not exposed to corrosive substances such as chloride gas and sulfide gas, flammable
substances such as oil mist and cutting powder, or dirt.

 To prevent the connectors from oxidizing, or to prevent the staff from getting an electric shock, please do not
touch the connectors.

 To prevent the staff from getting an electric shock, please turn off the power before pulling the connectors or
loosening the screws.

 To prevent the cables from being damaged, or to prevent the connectors from being loosened, please do not
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 down, a fire accident will
occur, or the staff will be injured.

 To prevent a controlled element from malfunctioning, please make sure that the program and the parameters are
written into a new CPU module which replaces an old one before restarting the AH Motion system.

 To prevent the improper operation which results in the incorrect output or the damage to the equipment, please
refer to the related manuals for more information about operating the modules.

 To prevent the damage to the modules, please touch metal which is grounded or wear an antistatic wrist strap to
_5 release the static electricity from the body.

 To prevent the noise from resulting in the breakdown of the system, please keep a proper distance from the
system when using a cell phone or a communication apparatus.

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

 To prevent the temperature of an element from being high, please make sure that the AH Motion system keeps a
proper distance from heat sources such as coils, heating apparatuses, and resistors.

 To protect an AH Motion system, please install an emergency stop switch and an overcurrent protection
according to the actual needs.

 To prevent an unexpected shock from resulting in the damage to an AH Motion system and a controlled element,
please make sure that the modules are installed firmly.

5-2
 Ch a pt er 5 M ai n te n an c e an d I ns p ec t i o n

5.2 Daily Maintenance

To keep 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. You then can undertake the daily inspection described below. If any
abnormal situation occurs, please follow the remedy and carry out the maintenance.

5.2.1 Daily Inspection

No. Item Inspection Criterion Remedy
Dirt must not be
1 Appearance Check visually. Remove the dirt.
present.
Check whether the DIN The DIN rail must be Tighten the
2 Installing of DIN rail
rail is securely installed. installed firmly. screws.
Check whether the
The chip should be
module is loose. Check if
securely installed on
the clip is securely Install the module
3 Installing of module the DIN rail and the
installed on the DIN rail, firmly.
screws must be
and if the screws are
tightened.
tightened.
Check whether the The removable
Install the terminal
removable terminal block terminal block must
block firmly.
is loose. not be loose.
4 Connection
Tighten the
Check whether the The connector must
screws on the
connector is loose. not be loose.
connector.
LED indicators on Check the POWER LED
Power supply module indicator. Refer to each
Refer to each
LED indicators on CPU Check the CPU LED module’s
5
module indicator.
module’s descriptions
troubleshooting 5_
on LED indicators.
LED indicators on Check the Extension section.
Extension module Module LED indicator.

5-3
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

5.3 Periodic Maintenance

Under the condition that the daily inspection is undertaken, it is suggested that you 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, you 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 Periodic Inspection

No. Item Inspection Criterion Remedy
The ambient temperature and
The ambient temperature the ambient humidity must
Ambient environment

Ambient To ensure that the

and the ambient humidity conform to the specifications
temperature/ system operates in a
are measured by for the modules or the
stable environment,
1 humidity thermometer and backplane. If the specifications
determine why the
hygrometer. are different, the strictest
environment varies,
specifications have priority.
and resolve the issue.
Corrosive gas must NOT be
Atmosphere Measure corrosive gas.
present.
The power supply should meet
Measure the AC power Check the power
2 Supply voltage the specifications for the power
supply. supply.
supply module.
Check whether the The module must be installed Refer to information on
Installatio

Looseness
module is loose. firmly. module installation.
3
n

Adhesion of
Check the appearance. Dirt must not be present. Remove the dirt.
dirt
Looseness of
Tighten the screws with a
Connection

terminal The screws must not be loose. Tighten the screws.

_5 screws
screwdriver.
4
Looseness of The connectors must not be Tighten the screws on
Pull the connectors.
connectors loose. the connectors.
PLC system Refer to each module’s
5 Check the error logs. No new error occurs.
diagnosis troubleshooting section.
The maximum scan cycle must Determine why the
6 Maximum scan time be within the range specified in scan time exceeds
the system specifications. specifications.

5-4
 A
Appendices

Table of Contents
A.1 EMC Standards for an AH Motion Controller System ......................................... 2
A.1.1 EMC Standards Applicable to an AH Motion Controller System ............................ 2
A.1.2 Installation Instructions for the EMC Standards ................................................ 3
A.1.3 Cables ......................................................................................................... 4

A-1
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

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 listed below.

 EMI

Port Frequency range Level (Normative) Reference standard

Enclosure port 30-230 MHz 40 dB (μV/m) quasi-peak

(radiated)
IEC 61000-6-4
(measured at a distance 230-1000 MHz 47 dB (μV/m) quasi-peak
of 10 meters)

79 dB (μV) quasi-peak
0.15-0.5 MHz

AC power port 66 dB (μV) average

IEC 61000-6-4
(conducted) 73 dB (μV) quasi-peak
0.5-30 MHz
60 dB (μV) average

 EMS

Environmental Reference
Test Test level
phenomenon standard

Contact ± 4 kV
Electrostatic discharge IEC 61000-4-2
Air ± 8 kV

_A Radio frequency
80% AM,
2.0-2.7 GHz 1 V/m
electromagnetic field IEC 61000-4-3 1.4-2.0 GHz 3 V/m
1 kHz sinusoidal
Amplitude modulated
80-1000 MHz 10 V/m

Power frequency magnetic 60 Hz 30 A/m

IEC 61000-4-8
field 50 Hz 30 A/m

A-2
 A pp e nd ic es

 Conducted immunity test

Radio frequency
Environmental phenomenon Fast transient burst High energy surge
interference

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 Shielded cable 1 kV 1 kV CM 10V

communication Unshielded cable 1 kV 1 kV CM 10V

AC I/O 2 kV CM
2 kV 10V
(unshielded) 1 kV DM

Digital and analog Analog or DC I/O

1 kV 1 kV CM 10V
I/O (unshielded)

All shielded lines

1 kV 1 kV CM 10V
(to the earth)

2 kV CM
AC power 2 kV 10V
1 kV DM
Equipment power
0.5 kV CM
DC power 2 kV 10V
0.5 kV DM

AC I/O and AC 2 kV CM
I/O power and 2 kV 10V
auxiliary power 1 kV DM
auxiliary power A_
DC I/O and DC 0.5 kV CM
output 2 kV 10V
auxiliary power 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
 AH Mo t io n C on tr o ll er – Har d war e M a nu a l

- 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 the noise generated by the PLC system to the ground. Therefore, the impedance should be as 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

_A 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 grounded, it needs to be as close to a module as possible. Users have 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
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*We reserve the right to change the information in this manual without prior notice. AH-0259520-03
2024/03/01