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FP0H

Specifications

Specifications

Control units
Expansion I/O units
Communication cassettes

Positioning units
Positioning RTEX units

Control units

Control specifications

Type

Without Ethernet

With Ethernet

NPN type

PNP type

NPN type

PNP type

Part No.

AFP0HC32T

AFP0HC32P

AFP0HC32ET

AFP0HC32EP

Number of controllable I/O points

32 points (Input: 16, Output: 16), When expanded: Max. 384 points

Programming method /
Control method

Relay symbol / Cyclic operation

Program memory

Built-in flash ROM (no backup battery required)

Number of
instructions

Basic instructions

120 types approx.

High-level instructions

240 types approx.

270 types approx.

Program capacity

24 k /32 k steps

24 k /32 k /40 k / 64 k steps

Can be selected at system register No. 0
When the program capacity is changed, the number of words that can be used in the data register (DT) is also changed.

Program capacity	DT Number of word
24k steps 32k steps(initial value) 40k steps 64k steps	65,533 words 32,765 words(initial value) 24,573 words 12,285 words

Operation speed

Basic instruction (NOT: /) : 10 ns/step approx. (Up to 10 k steps) ,
0.18 μs/step approx. (10 k steps and later)
Basic instruction (ST) : 40 ns/step approx. (Up to 10 k steps) ,
0.65 μs/step approx. (10 k steps and later)
High-level instruction (FOMV) : 0.14 μs/step approx. (Up to 10 k steps) , 1.2 μs/step approx. (10 k steps and later)

Base scan time
I/O refresh and base time

Control unit: 40 μs or less
approx. and FP0 / FP0R
expanshion unit refresh
time (Note 1)

Control unit: 100 μs or less
approx. and FP0 / FP0R
expanshion unit refresh
time (Note 1)

Operation
memory

Relay

External input (X) (Note 2, 3)

1, 760 points (X0 to X109F)

External output (Y) (Note 2, 3)

1, 760 points (Y0 to Y109F)

Internal relay (R) (Note 3)

4,096 points (R0 to R255F) or
8,192 points (R0 to R511F) (Note 4)

8,192 points (R0 to R511F)

Special internal relay (R)

800 points (R9000 to R951F)

Timer / Counter (T / C) (Note 5)

1,024 points (initial setting, timer: 1,008 points, counter: 16 points)

Link relay (L)

2,048 points (L0 to L127F)

Memory
area

Data register (DT) (Note 6)

32,765 words or
65,533 words

12,285 words or 24,573 words or
32,765 words or 65,533 words

Special data register (DT) (Note 3)

1,000 words (DT90000 to DT90999)

Link data register (LD)

256 words (LD0 to LD255)

Index register (I)

14 words (I0 to ID)

Differential points

Points for the program capacity

Number of master control relay (MCR)

256 points

Number of labels (JP and LOOP)

256 points

Number of step ladder

1,000 stages

Number of subroutines

500 subroutines

Number of interrupt
program

9 programs
•Input: 8 programs (INT0 to INT7)
•Periodic: 1 program (INT24)

Sampling trace (Note 7)

Available
[Sampling by commands / Sampling at regular time intervals (For one sampling: 16 bits + 3 words), 1,000 samples]

Comment storage

I/O comments, remarks and block comments can be stored.
(no backup battery required, 1 M byte)

PLC link function
(Serial communication)

Max. 16 units, link relays: 1,024 points, link registers: 128 words.
(Data transfer and remote programming are not supported)

Constant scan

Available (0 to 600 ms)

Password

Available (32 digits)

Program upload protection

Available

Program protect function

Available

Self-diagnostic function

Watchdog timer, program syntax check, etc.

Program edition during RUN

Available

SD memory card function

SD memory card project copy,
Logging trace function (Note 7),
SD memory card access instruction

Memory transfer

Available [Built-in memory (ROM ⇔ RAM)]

High speed
counter (Note 8)

Main unit
input

Single-phase 4 channels (Max. 100 kHz each input)
or 2-phase 2 channels (Max. 50 kHz each input)

Pulse output
(Note 8)

Main unit
output

4 channels (Max. 100 kHz each axis)

PWM output
(Note 8)

Main unit
output

4 channels (1 Hz to 70 kHz: 1,000 resolution /
70.001 kHz to 100 kHz: 100 resolution

Pulse catch input
Interrupt input

Total 8 points (with high speed counter)

Periodical interrupt

0.1 ms to 30 sec.

Potentiometer (Volume) input

2 channels (0 to 4000)

Not available

Clock / calendar (Note 9, 10)

Year (last two digits), month, day, hour (24-hour display), minute, second and day of week

Memory
backup
(Note 11)

Backup by
instruction P13

Data register: all area

Auto-backup at
power failure

Counter: 16 points
Internal relay: 128 points
Data register: 315 words

Battery backup (only when
a battery is installed)

Hold areas or non-hold areas can be specified by setting the system registers
No.6 to No. 13. (It is also possible to make the setting for hold all points.)

Battery life

5 years or more under a production condition (operates for 8 hours per day)

Note:

1)	Refresh times for FP0 / FP0R expansion units 8 points unit : Number of units×0.8ms 16 points unit : Number of units×1.0ms 32 points unit : Number of units×1.3ms 64 points unit : Number of units×1.9ms
2)	The number of points that can be used depends on the combination of hardware.
3)	Some specifications are compatible with FPΣ.
4)	System register No. 1 (internal relay capacity) can be configured to select "0: 4,096 points / 1: 8,192 points".
5)	An auxiliary timer instruction (F137) can be used to add the number of points.
6)	System register No. 0 (program capacity) can be configured to select the capacity of the data register (DT).
7)	Logging trace and sampling trace cannot be used at the same time.
8)	The specifications are based on the rated input voltage of 24 V DC at +25 ℃ +77 ℉. The maximum operation frequency may be lower depending on the applied voltage, ambient temperature, and conditions of use. The maximum operation frequency varies depending on how the unit is used.
9)	Accuracy of the clock / calendar (within ± 90 seconds per month at +25 ℃ +77 ℉). If an error of the clock / calendar becomes a problem in the system, set an accurate time periodically.
10)	If the battery is not attached, calendar information is cleared when the power is turned off. It will be necessary to set the date when the power is turned on.
11)	Data can be rewritten up to 10,000 times. Hold / non-hold areas can be specified in the system registers.

General specifications

Type	Without Ethernet		With Ethernet
Type	NPN type	PNP type	NPN type	PNP type
Part No.	AFP0HC32T	AFP0HC32P	AFP0HC32ET	AFP0HC32EP
CE marking directive compliance	EMC Directive, RoHS Directive
Rated voltage	24 V DC
Operating voltage range	20.4 to 28.8 V DC
Consumption current	140 mA or less		170 mA or less
Allowed momentary power off time	4 ms (at 20.4 V DC), 10 ms (24 V DC or higher)
Ambient temperature	0 to +55 ℃ +32 to +131 ℉, At storage: -40 to +70 ℃ - 40 to +158 ℉
Ambient humidity	10 to 95 % RH (at +25 ℃ +77 ℉, no dew condensation allowed), At storage: 10 to 95 % RH (at +25 ℃ +77 ℉, no dew condensation allowed)
Breakdown voltage (Detection current: 5 mA)	500 V AC for 1 minute Input and output terminals ⇔ power and functional ground terminals Input terminals ⇔ Output terminals
Insulation resistance (Test voltage: 500 V DC)	100 MΩ or more Input and output terminals ⇔ power and functional ground terminals Input terminals ⇔ Output terminals
Vibration resistance	5 to 8.4 Hz, single amplitude of 3.5 mm 0.138 in, 8.4 to 150 Hz, constant acceleration of 9.8 m/s², for 10 times each in X, Y, and Z directions (1 octave/min.) (JIS B 3502, IEC 61131-2)
Shock resistance	147 m/s², 4 times each in X, Y, and Z directions (JIS B 3502, IEC 61131-2)
Noise immunity	1,000 V (p-p) with pulse widths 50 ns and 1 μs (using a noise simulator) (Power supply terminal)
Operating condition	Free from corrosive gasses and excessive dust
Overvoltage category	Category II
Degree of pollution	Pollution level 2
Net weight	110 g approx. each		130 g approx. each

COM0 port communication specifications

Item		Specifications
Interface		RS-232C, three-wire system, 1 channel (Not insulated)
Transmission distance		15 m 49.213 ft
Communication configuration		1 : 1 communication
Communication method		Half-duplex system
Synchronous method		Start-stop synchronization system
Transmission cable		Multi-conductor shielded wire
Communication speed (Specified at the system registers)		1,200(Note 3), 2,400(Note 3), 4,800, 9,600, 19,200, 38,400, 57,600, 115,200, 230,400 bits/sec.
Transmission format	Data length	7 bits / 8 bits
	Parity	none / odd / even
	Stop bit	1 bit / 2 bits
	Start code	with STX / without STX
	End code	CR / CR + LF / none / ETX / Time (0 to 100.00 ms)
Data transmission order		Transmit from bit 0 in character units
Communication mode		MEWTOCOL-COM (Master / Slave) (Computer link) General-purpose communication PLC link MODBUS RTU (Master / Slave)

Notes:

1)	The start and end codes can be used only for general-purpose serial communications.
2)	The unit No. (station number) can be selected at system register No. 410.
3)	System register no. 415 cannot be used to set the baud rate to 1,200 bps. To set the baud rate to 1,200 bps, use the SYS1 instruction. If the baud rate of any of the COM ports is 2,400 bps or lower, F-ROM access will slow down. Example) F12(ICRD) instruction, P13(ICWT) instruction, etc.

LAN port communication specifications (for only Ethernet type)

Item	Specifications
Communication interface	Ethernet 100BASE-TX / 10BASE-T
Baud rate	100 Mbps, 10 Mbps auto negotiation function
Total cable length	100 m 328.084 ft (500 m 1640.420 ft when a repeater is used)
Number of simultaneous connections	Max. 10 (system connection: 1, user connection: 9)
Communication method	Full duplex / Half-duplex system
Communication protocol (Communication layer)	TCP / IP, UDP
DNS	Supports name servers
DHCP	Automatic IP address acquisition
FTP server / Client	File transmission, server function, No. of users:1 Client function, Data file transfer
SNTP	Time adjustment function
General-purpose communication	4 kB / 1 connection (user connection: 1 to 9) (Note 2)
Dedicated communication	EtherNet/IP MEWTOCOL-COM (Master / Slave) (Computer link) MODBUS-TCP (Master / Slave) MEWTOCOL-DAT (Master / Slave) General-purpose communication MC protocol (Note 1) (Master / Slave)

Notes:

1)	MC protocol is a short form denoting MELSEC communication protocol; MELSEC is a registered trademark of Mitsubishi Electric Corporation. QnA compatible 3E frame, only binary (bulk writing and bulk reading) use is available.
2)	General-purpose communications can be up to 4 kB (reception) and up to 2 kB (transmission) per connection.

USB port specifications

Item	Specifications
Standard	USB2.0 Full speed (USB mini B type)
Communication function	Computer link (slave)

Dedicated power supply output port specifications for GT series programmable display

Output terminal	Connecting programmable display model
5 V DC	For 5 V DC type GT02 series Programmable Display

Input specifications

Item		Specifications
Rated input voltage		24 V DC
Operating voltage range		21.6 to 26.4 V DC
Rated input current		High-speed part (X0 to X7) : 8 mA approx. Low-speed part (X8 to XF) : 3.5 mA approx.
Input points per common		16 points/common (Either the positive or negative of the input power supply can be connected to the common terminal.)
Min. ON voltage / Min. ON current		High-speed part (X0 to X7) : 19.2 V DC / 6 mA Low-speed part (X8 to XF) : 19.2 V DC / 3 mA
Max. OFF voltage / Max. OFF current		2.4 V DC / 1 mA
Input impedance		High-speed part (X0 to X7) : 3 kΩ approx. Low-speed part (X8 to XF) : 6.8 kΩ approx.
Response time (Note)	OFF → ON	<High-speed part (X0 to X7)> 135 μs or less: normal input 5 μs or less: high speed counter, pulse catch, interrupt input settings <Low-speed part (X8 to XF)> 1 ms or less: normal input only
Response time (Note)	ON → OFF	Same as above
Operating mode indicator		LED display

Note: The input time constant (0.1 to 256 ms) can be specified.

Output specifications

Type		Without Ethernet	With Ethernet	Without Ethernet	With Ethernet
Part No.		AFP0HC32T	AFP0HC32ET	AFP0HC32P	AFP0HC32EP
Output type		Nch open drain		Pch open drain
Rated load voltage		5 to 24 V DC		24 V DC
Operating load voltage range		4.75 to 26.4 V DC		21.6 to 26.4 V DC
Rated load current		0.3 A (For Y0, Y1, Y3, Y4, Y8,Y9, YB,YC), 0.1 A (For Y2, Y5, Y6, Y7, YA, YD, YE, YF)		0.3 A (For Y0 to YF)
Max. surge current		High-speed part (For Y0, Y1, Y3, Y4, Y8, Y9, YB, YC) : 1.0 A, Low-speed part (For Y2, Y5, Y6, Y7, YA, YD, YE, YF) : 0.5 A
OFF state leakage current		110 μA or less		20 μA or less
ON state voltage drop		0.5 V DC or less
Overcurrent protection		Provided (automatically protected for each 8 points)
Output points per common		16 points/common (Y0 to YF / 1 common)
Response time	OFF → ON	High-speed part (For Y0, Y1, Y3, Y4, Y8, Y9, YB, YC) : 2 μs or less, Low-speed part (For Y2, Y5, Y6, Y7, YA, YD, YE, YF) : 1 ms or less
Response time	ON → OFF	High-speed part (For Y0, Y1, Y3, Y4, Y8, Y9, YB, YC) : 5 μs or less, Low-speed part (For Y2, Y5, Y6, Y7, YA, YD, YE, YF) : 1 ms or less
Surge absorber		Zener diode
Operating mode indicator		LED display

Limitations on simultaneous ON points

Current consumption

Type of unit		Control unit current consumption (at 24 V DC)	Additional current (at 24 V DC)	Expansion unit current consumption (at 24 V DC)
Control unit alone	AFP0HC32T	140 mA or less	-	-
	AFP0HC32P	140 mA or less
	AFP0HC32ET	170 mA or less
	AFP0HC32EP	170 mA or less
Extension unit attached	AFP0HXY64D2T	-	35 mA or less	-
	AFP0HXY64D2P		35 mA or less	-
	AFP0HPG01T		50 mA or less	20 mA or less
	AFP0HPG01L		50 mA or less	20 mA or less
	AFP0HPG02T		70 mA or less	35 mA or less
	AFP0HPG02L		70 mA or less	35 mA or less
	AFP0HM4N		90 mA or less	-
	AFP0HM8N		90 mA or less	-
Extension cassette attached	AFP0HCCS1	-	10 mA or less	-
	AFP0HCCS2		10 mA or less
	AFP0HCCM1		30 mA or less
	AFP0HCCS1M1		30 mA or less

Note: For details about the current consumption of FPΣ expansion units and FP0 / FP0R expansion units, refer to relevant specifications and manuals.

Note:	For details about the current consumption of FPΣ expansion units and FP0 / FP0R expansion units, refer to relevant specifications and manuals.

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Expansion I/O unit

General specifications

Item	Specifications
Ambient temperature	0 to +55 ℃ +32 to +131 ℉, At storage: -20 to +70 ℃ - 4 to +158 ℉
Ambient humidity	30 to 85 % RH (at +25 ℃ +77 ℉, no dew condensation allowed), At storage: 30 to 85 % RH (at +25 ℃ +77 ℉, no dew condensation allowed)
Breakdown voltage (Detection current: 5 mA)	500 V AC for 1 minute Input and output terminals ⇔ power and functional ground terminals (at control unit) Input terminals ⇔ Output terminals
Insulation resistance (Test voltage: 500 V DC)	100 MΩ or more Input and output terminals ⇔ power and functional ground terminals (at control unit) Input terminals ⇔ Output terminals
Vibration resistance	10 to 55 Hz, 1 sweep/min., double amplitude of 0.75 mm 0.030 in, 10 minutes each in X, Y, and Z directions
Shock resistance	98 m/s², 4 times each in X, Y, and Z directions
Noise immunity	1,000 V (p-p) with pulse widths 50 ns and 1 μs (using a noise simulator)
Operating condition	Free from corrosive gasses and excessive dust
Net weight	100 g approx.
Control unit's additional consumption current	35 mA or less (at 24 V DC) [100 mA or less (internal 5 V DC)]

Input specifications

Item		Specifications
Insulation method		Photocoupler
Rated input voltage		24 V DC
Operating voltage range		21.6 to 26.4 V DC
Rated input current		3.5 mA approx.
Input points per common		32 points/common (Either the positive or negative of the input power supply can be connected to the common terminal.)
Min. ON voltage / Min. ON current		19.2 V DC / 3 mA
Max. OFF voltage / Max. OFF current		2.4 V DC / 1.3 mA
Input impedance		6.8 kΩ approx.
Response time	OFF→ON	0.2 ms or less
Response time	ON→OFF	0.3 ms or less
Operating mode indicator		LED display

Output specifications

Type		Sink	Source
Part No.		AFP0HXY64D2T	AFP0HXY64D2P
Insulation method		Photocoupler
Output type		Open collector (NPN)	Open collector (PNP)
Rated load voltage		5 to 24 V DC	24 V DC
Operating load voltage range		4.75 to 26.4 V DC	21.6 to 26.4 V DC
Rated load current		0.1 A
Max. surge current		0.5 A
Output points per common		32 points/common
OFF state leakage current		100 μA or less
ON state voltage drop		0.5 V DC or less
Response time	OFF → ON	0.2 ms or less
Response time	ON → OFF	0.5 ms or less
External power supply (for driving internal circuit)	Voltage	21.6 to 26.4 V DC
External power supply (for driving internal circuit)	Current	35 mA or less	40 mA or less
Surge absorber		Zener diode
Operating mode indicator		LED display
Short circuit protection		Short circuit protection, Thermal protection

Number of simultaneous ON points

Communication cassettes

Specifications

Item		Specifications
Item		AFP0HCCS1	AFP0HCCS2	AFP0HCCM1	AFP0HCCS1M1
Interface		RS-232C 1 channel	RS-232C 2 channels	RS-485 1 channel	RS-232C 1 channel and RS-485 1 channel
Transmission distance		Max. 15 m 49.213 ft		Max. 1,200 m 3,937.008 ft	RS-232C Max. 15 m 49.213 ft	RS-485 Max. 1,200 m 3,937.008 ft
Communication configuration		1 : 1 communication		1 : N communication	1 : 1 communication	1 : N communication
Communication speed		1,200(Note 1), 2,400(Note 1), 4,800, 9,600, 19,200, 38,400, 57,600, 115,200, 230,400 bits/sec.
Communication method		Half-duplex system
Synchronous method		Start-stop synchronization system
Transmission format	Data length	7 bits / 8 bits
	Parity	none / odd / even
	Stop bit	1 bit / 2 bits
	Start code	with STX / without STX
	End code	CR / CR + LF / none / ETX / Time (0 to 100 ms)
Data transmission order		Transmit from bit 0 in character units.
Number of stations		-	-	Max. 99 units	-	Max. 99 units
Net weight		10 g approx. each

Notes:

1)	System register no. 415 cannot be used to set the baud rate to 1,200 bps. To set the baud rate to 1,200 bps, use the SYS1 instruction. If the baud rate of any of the COM ports is 2,400 bps or lower, F-ROM access will slow down. Example) F12(ICRD) instruction, P13(ICWT) instruction, etc.
2)	The start and end codes can be used only for general-purpose serial communications.
3)	The unit No. (station number) can be selected at system register.
4)	Sufficient noise tolerance is provided but it is recommended that a user program be created for retransmission. (To improve the reliability of communications when a communication error occurs due to an excessive noise or when the target device cannot receive data temporarily.)
5)	When connecting a commercially available device that has an RS-485 interface, please confirm operation using the actual device. In some cases, the number of station units, transmission distance and communication speed vary depending on the connected device.
6)	The transmission distance, transmission speed, and number of stations should be within the range of the graph below, depending on each value.

When the transmission speed is 19,200 bits/s, you can set up to 99 stations and up to 1,200 m 3,937.008 ft transmission distance.

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Positioning units

Specifications

Part No.		AFP0HPG01T	AFP0HPG01L	AFP0HPG02T	AFP0HPG02L
Output type		Transistor	Line driver	Transistor	Line driver
Number of occupied points		Input 16 points, Output 16 points		Input 32 points, Output 32 points
Number of axes controlled		1 axis		2 axes, independent
Position command	Command units	Pulse unit (The program specifies whether Increment or Absolute is used.)
Position command	Max. pulse count	Signed 32 bits (-2,147,483,648 to +2,147,483,647 pulses)
Speed command	Command range	1 pps to 500 kpps (can set in 1 pps.)	1 pps to 4 Mpps (can set in 1 pps.)	1 pps to 500 kpps (can set in 1 pps.)	1 pps to 4 Mpps (can set in 1 pps.)
Acceleration / deceleration command	Acceleration / deceleration method	Linear acceleration / deceleration, S acceleration / deceleration
	S-curve type	Can select from Sin curve, Secondary curve, Cycloid curve and Third curve.
	Acceleration / deceleration time	0 to 32,767 ms (can set in 1 ms)
Home return	Home return speed	Speed setting possible (changes return speed and search speed)
	Input signal	Home input, Near home input, Over limit input (+), Over limit input (-)
	Output signal	Deviation counter clear signal
Operation mode		E point control (Linear accelerations / decelerations, S accelerations / decelerations) P point control (Linear accelerations / decelerations, S accelerations / decelerations) Home return function (Home search) JOG operation function (Note 1) JOG positioning function Pulser input function (Note 3) • Transfer multiplication ratio (× 1, × 2, × 5, × 10, × 50, × 100, × 500, × 1000) Real-time frequency change function Infinity output function
Startup time		0.02 ms or 0.005 ms selectable (Note 2)
Output interface	Output mode	1 pulse output (Pulse and Sign), 2-pulse output (CW and CCW)
Feed back counter function (Note 3)	Countable range	Signed 32 bits (-2,147,483,648 to +2,147,483,647 pulses)
Feed back counter function (Note 3)	Input mode	Two-phase input, Direction distinction input, Individual input (transfer multiple available for each.)
Other functions		The flag to compare the elapsed value is built in. (The timing signal outputs at the optional position during an operation.)
External power supply	Voltage	21.6 to 26.4 V DC
External power supply	Current consumption	20 mA		30 mA
Net weight		75 g approx. each		80 g approx. each

Notes:

1)	When selected linear acceleration / deceleration operation, the target speed can be changed during an operation.
2)	The startup time can be changed by the control code setting in the shared memory. The factory setting (default setting) is 0.02 ms. The startup time is the time from the start request to the first pulse output.
3)	Pulser input function and feedback counter function use the same pulse input terminal, so the both cannot function simultaneously.

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Positioning RTEX units

Specifications

Type					4-axis type	8-axis type
Part No.					AFP0HM4N	AFP0HM8N
Number of axes controlled					4 axes	8 axes
Interpolation control					2-axis linear interpolation, 2-axis circular interpolation, 3-axis linear interpolation and 3-axis spiral interpolation
Occupied I/O points					128 input points, 128 output points
Automatic operation	Position control	Position specification mode			Absolute (Absolute position specifi cation), Increment (Relative position specifi cation)
		Position specified unit			pulse μm (Min. unit of instruction selectable between 0.1 μm and 1 μm) inch (Min. unit of instruction selectable between 0.00001 inch and 0.0001 inch) degree (Min. unit of instruction selectable between 0.1 degree and 1 degree)
		Position setting range			pulse : -2,147,482,624 to 2,147,482,624 pulse μm (0.1 μm) : -214,748,262.4 to 214,748,262.4 μm μm (1 μm) : -2,147,482,624 to 2,147,482,624 μm inch (0.00001 inch) : -21,474.82624 to 21,474.82624 inch inch (0.0001 inch) : -214,748.2624 to 214,748.2624 inch degree (0.1 degree) : -214,748,262.4 to 214,748,262.4 degree degree (1 degree) : -2,147,482,624 to 2,147,482,624 degree
		Speed reference range			pulse : 1 to 2,147,482,624 pps μm : 1 to 2,147,482,624 μm/s inch : 0.001 to 2,147,482.624 inch/s degree : 0.001 to 2,147,482.624 rev/s
		Acceleration and deceleration method			Linear acceleration / deceleration, S acceleration / deceleration
		Acceleration time			0 to 10,000 ms (Settable by 1 ms)
		Deceleration time			0 to 10,000 ms (Settable by 1 ms)
		No. of positioning tables			Each axis : 600 points in standard area and 89 points in extended area
		Control method	Independent		PTP control (E-point control, C-point control), CP control (P-point control), Speed control (J-point control)
			2-axis interpolation	Linear interpolation	E point, P point, C point controls, Composite speed or Long axis speed
			2-axis interpolation	Circular interpolation	E point, P point, C point controls, Center point or Pass point
			3-axis interpolation	Linear interpolation	E point, P point, C point controls, Composite speed or Long axis speed
			3-axis interpolation	Spiral interpolation	E point, P point, C point controls, Center point or Pass point
		Startup time			Standard area : 3 ms or less, Extended area : 5 ms or less
		Other functions		Dwell time	0 to 32,767 ms (Settable by 1 ms)
Manual operation	JOG operation	Speed reference range			pulse : 1 to 2,147,482,624 pps μm : 1 to 2,147,482,624 μm/s inch : 0.001 to 2,147,482.624 inch/s degree : 0.001 to 2,147,482.624 rev/s
		Acceleration / deceleration method			Linear acceleration / deceleration, S acceleration / deceleration
		Acceleration time			0 to 10,000 ms (Settable by 1 ms)
		Deceleration time			0 to 10,000 ms (Settable by 1 ms)
	Home return (Note)	Speed reference range			pulse : 1 to 2,147,482,624 pps μm : 1 to 2,147,482,624 μm/s inch : 0.001 to 2,147,482.624 inch/s degree : 0.001 to 2,147,482.624 rev/s
		Acceleration / deceleration method			Linear acceleration/deceleration
		Acceleration time			0 to 10,000 ms (Settable by 1 ms)
		Deceleration time			0 to 10,000 ms (Settable by 1 ms)
		Return method			DOG method (3 types), Limit method (2 types), Data set method, Z phase method, Stop-on-contact method (2 types)
	Pulsar operation	Speed reference range			Operation synchronized with inputs from pulser
Stop function	Deceleration stop			Deceleration time	Deceleration time of the operation being active
	Emergency stop			Deceleration time	0 to 10,000 ms (Settable by 1 ms)
	Limit stop			Deceleration time	0 to 10,000 ms (Settable by 1 ms)
	Error stop			Deceleration time	0 to 10,000 ms (Settable by 1 ms)
	System stop			Deceleration time	Immediate stop (0 ms)
Synchronous functions	Supported functions				Electronic gear, Electronic clutch, Electronic cam
	No. of axes		No. of synchronous groups		4 groups
			Master axis		Selectable from real axes, virtual axes and pulse inputs.
			Slave axis		Max. 8 axes per master axis
	Electronic gear		Operation setting		Gear ratio setting
	Electronic gear		Operation method		Direct method, Linear acceleration / deceleration method
	Electronic clutch		Trigger type		Clutch ON trigger : Contact method Clutch OFF trigger : Contact input, The contact input + phase specifi cation Contact method can be selected from the edge and level types.
	Electronic clutch		Connection method		Direct method, Linear slide method
	Electronic cam		Cam curve		Select from 20 types. Multiple curves can be specifi ed within phase (0 to 100 %)
			Resolution		1,024, 2,048, 4,096, 8,192, 16,384, 32,768
			No. of cam patterns		4 to 16 (According to resolution)
			Cam pattern configuration method		Cam curve method, Cam point method (set from Confi gurator PM7-RTEX)
Other specifications	Software limit function		Setting range		pulse : -2,147,482,624 to 2,147,482,624 pulse μm (0.1 μm) : -214,748,262.4 to 214,748,262.4 μm μm (1 μm) : -2,147,482,624 to 2,147,482,624 μm inch (0.00001 inch) : -21,474.82624 to 21,474.82624 inch inch (0.0001 inch) : -214,748.2624 to 214,748.2624 inch degree (0.1 degree) : -214,748,262.4 to 214,748,262.4 degree degree (1 degree) : -2,147,482,624 to 2,147,482,624 degree
	Monitor judgement		Torque judgement		Torque judgement : Selectable from Enabled / Disabled, Error / Warning 0.0 to 500.0 %
	Monitor judgement		Actual speed judgement		Actual speed judgement : Selectable from Enabled / Disabled, Error / Warning 0 to 5,000 rpm
	Backup				Parameters and positioning data are saved in the fl ash memory. (Battery less)
	・ Limit input CWL, CCWL monitor, Proximity (DOG) monitor ・ General-purpose input : 2 points, General-purpose output : 2 points (input and output from driver) ・ Auxiliary output contact, Auxiliary output code ・ Torque limit function

(Note) : "Servo motor with an absolute encoder" supported
Absolute home return is performed in combination with A6-family servo motor with an absolute encoder.
For servo drivers of A6NF and A6NE.
Servo drivers with software of Ver. 1.24 (A6NF and A6NE) or later supported

(Note) :	"Servo motor with an absolute encoder" supported Absolute home return is performed in combination with A6-family servo motor with an absolute encoder. For servo drivers of A6NF and A6NE. Servo drivers with software of Ver. 1.24 (A6NF and A6NE) or later supported

Specifications