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Motion Controller GM1

Specifications


Common Specifications

Item Specifications
Rated voltage 24 V DC
Operating voltage range 20.4 to 28.8 V DC
Allowable momentary power failure time 10 ms
Operating ambient temperature 0 to +55℃
Storage ambient temperature -40 to +70℃
Operating ambient humidity 10 to 95% RH (at +25℃, no condensation or icing)
Storage ambient humidity 10 to 95% RH (at +25℃, no condensation or icing)
Dielectric strength
(Leakage current: 5 mA)
500 V AC for one minute (Note 1)
Insulation resistance
(Test voltage: 500 V DC)
100 MΩ or more (Note 1)
Vibration resistance Compliant with JIS B 3502, IEC 61131-2
5 to 8.4 Hz, half amplitude 3.5 mm,
8.4 to 150 Hz acceleration 9.8 m/s2
10 sweeps each in X, Y and Z directions (1 octave/min)
Shock resistance Compliant with JIS B 3502, IEC 61131-2
147 m/s2, 3 times each in the X, Y, Z directions
Noise resistance 1000 V [p-p] with pulse widths of 1 μs and 50 ns (using a noise simulator)
(Power supply terminal)
Atmosphere Free of corrosive gases No excessive dust
European EU Standards EMC: EN 61131-2
RoHS: EN IEC 63000
Overvoltage category Category II
Pollution degree 2

(Note 1) Please refer to the unit's specification sheet for details of breakdown voltage and insulation resistance.

List of weights (main units)

Unit type Weight (main unit)
GM1 Controller RTEX type AGM1CSRX16T Approx. 370 g (including the terminal block and end cover)
GM1 Controller EtherCAT type AGM1CSEC16T Approx. 370 g (including the terminal block and end cover)
AGM1CSEC16P Approx. 370 g (including the terminal block and end cover)
GM1 Digital input / output unit AGM1X64D2 Approx. 160 g (including the terminal block)
AGM1Y64T Approx. 160 g (including the terminal block)
AGM1Y64P Approx. 160 g (including the terminal block)
AGM1XY64D2T Approx. 160 g (including the terminal block)
AGM1XY64D2P Approx. 160 g (including the terminal block)
GM1 Analog input / output unit AGM1AD8 Approx. 150 g (including the terminal block)
AGM1DA4 Approx. 150 g (including the terminal block)
GM1Pulse output unit AGM1PG04T Approx. 160 g (including the terminal block)
AGM1PG04L Approx. 160 g (including the terminal block)

List of consumption current

Unit type Consumption current
GM1 Controller RTEX type AGM1CSRX16T 400 mA or less
GM1 Controller EtherCAT type AGM1CSEC16T 400 mA or less
AGM1CSEC16P 400 mA or less
GM1 Digital input / output unit AGM1X64D2 90 mA or less
AGM1Y64T 160 mA or less
AGM1Y64P 160 mA or less
AGM1XY64D2T 120 mA or less
AGM1XY64D2P 120 mA or less
GM1 Analog input / output unit AGM1AD8 130 mA or less
AGM1DA4 160 mA or less
GM1Pulse output unit AGM1PG04T 100 mA or less
AGM1PG04L 100 mA or less

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GM1 Controller

Specifications of the USB Port

Item Specifications
Standard USB2.0 Fullspeed
Connector shape USB MiniB type

Specifications of the COM Port (RS-232C)

Item Specifications
No. of channels 1
Physical layer RS-232C, three-wire system (non-isolated)
Transmission distance MAX. 15 m
Communication mode 1:1 communication
Communication method Half-duplex transmission
Transmission line Multicore shielded wire
Baud rate 9600 / 19200 / 38400 / 57600 / 115200 bps
Communication
format
Data length 7 bit / 8 bit
Parity None, odd, even
Stop bit 1 bit / 2 bit
Start code None
End code None
Connector shape Removable terminal block (5-pin)

■Terminal layout of the COM port

 

Terminal layout of the COM port
Terminal no. Signal name Function
1 SD Send data
2 RD Receive data
3 SG Signal ground
4 N.C. -
5 N.C. -

Specifications of the LAN Port

Item Specifications
Number of ports 2
Communication interface Ethernet 100BASE-TX / 10BASE-T
Baud rate 100 Mbps / 10 Mbps, automatic negotiation
Max. segment length 100m (Note 1)
Max. distance between nodes 100BASE-TX 2 segments
10BASE-T 5 segments
Communication cable Shielded twisted pair (TIA/EIA-568B CAT5e or higher)
Communication protocol TCP/IP UDP
No. of
simultaneous
connections
LAN1 Maximum 16 units (System connection: 1 unit, user connection: 15 units)
LAN2 Max. 32 units, general-purpose: 16 units
A cycle restriction is applied depending on the total number of connections.
Communication method Full-duplex / half-duplex communication
TCP/IP protocol TCP/IP compliant (IPV4)
Functions ・Modifying or holding the network settings (IP, Subnet, Gateway)
・Possible to set the different networks between Ethernet ports.
・Routing between Ethernet ports is not performed.
LED display LINK Lit when connection is established with the device on the Ethernet network.
ACT Flashes when some communication is performed such as transmitting commands and responses with the devices with established connections.

(Note 1) The standards cite 100m as the maximum, but noise resistance measures such as attaching a ferrite core may be necessary in some cases, depending on the usage environment. Also, it is recommended to position a hub near the control board, and limit the length within 10m.

Specifications of the RTEX Port

Item Specifications
Baud rate 100 Mbps
Physical layer 100BASE-TX full duplex (IEEE 802.3u)
Cable Shielded twisted pair (TIA/EIA-568B CAT5e or higher)
Topology Ring
Insulation method Pulse transformer
Connector 8-pin RJ45
Maximum cable length Between nodes: 100 m, total length: 200 m
Communication cycle 500 μs to 2 ms
Command update period 500 μs to 4 ms
Operation command Profile position, cyclic position / speed / torque
Number of connectable axes 16 real axes , 20 virtual axes (Total 36 axes)

Specifications of the EtherCAT Port

Item Specifications
Baud rate 100 Mbps
Physical layer 100BASE-TX full duplex (IEEE 802.3u)
Cable Shielded twisted pair (TIA/EIA-568B CAT5e or higher)
Topology Daisy chain (No branching)
Insulation method Pulse transformer
Connector 8-pin RJ45
Transmission distance Between nodes: Max. 100 m
Communication cycle 500 μs more
Operation command Profile position, cyclic position / speed / torque
Number of connectable axes 32 real axes , 20 virtual axes (Total 52 axes)

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Performance Specifications

Item Specifications
SD (SDHC)
memory card
Support media SD memory card, SDHC memory card
Max. 32G
Supported format standard Conforms to SD standard.
Operating mode indicator LED display (Flashes when accessed.)
Detection when the cover is open Available
Memory capacity Program 16MB
Variable (non-hold) 16MB
Variable (hold) 192kB
Clock / calender Clock accuracy 95 seconds max. per month (at 0℃)
15 seconds max. per month (at +25℃)
130 seconds max. per month (at +55℃)
Holding time maintained by the internal capacitor when a power failure occurs 14 days or more (at +25℃)(Note 1)

(Note 1) The power-ON time of five minutes or longer is required.

High-speed Counter Input Specifications

Item Specifications
Input A, B, Z signals
24 V DC 5 V DC
Open collector connection Line driver connection
Insulation method Optical coupler
Rated input voltage 12 V DC to 24 V DC 5 V DC Equivalent to AM26LS31
Operating voltage range 10.8 V DC to 26.4 V DC 3.5 V DC to 5.5 V DC
Input points per common Independent common for each point
Min. ON voltage / Min. ON current 10 V DC / 4 mA 3 V DC / 4 mA
Max. OFF voltage / Max. OFF
current
2 V DC / 2 mA 1 V DC / 0.5 mA
Input impedance Approx. 3.9 kΩ Approx. 560 Ω
Operating mode indicator 6-point LED display

Input Specifications

Item Specifications
Insulation method Optical coupler
Rated input voltage 24 V DC
Rated input current Approx. 3 mA (at 24 V DC)
Input impedance Approx. 6.8 kΩ
Operating voltage range 21.6 to 26.4 V DC
Min. ON voltage / Min. ON current 19.2 V / 6 mA
Max. OFF voltage / Max. OFF current 2.4 V / 1 mA
Response time OFF→ON 135 μs max.
(Possible to change by using the input time constant selection function)
ON→OFF 135 μs max.
(Possible to change by using the input time constant selection function)
Input points per common 16 points/1 common
Operating mode indicator 16-point LED display (Lit when ON, SW selection)
External connection method Connector connection (Compliant with the MIL standard, 40P)

■Internal circuit diagram of the GM1 Controller input section

Internal circuit diagram of the GM1 Controller input section
 

■Limitations on the number of simultaneous input ON points of the GM1 Controller

Limitations on the number of simultaneous input ON points of the GM1 Controller
 

Output Specifications (Sink Type)

Item Specifications
Insulation method Optical coupler
Output type NPN Open collector
Rated load voltage 5 to 24 V DC
Allowable load voltage range 4.75 to 26.4 V DC
Max. load current 0.3 A
Common restrictions 3.2 A/common
Max. inrush current 1.0 A
OFF state leakage current 1 μA or less
ON state max. voltage drop 0.7 V or less
Response time OFF→ON 6 μs or less (at an ambient temperature of 25℃)
ON→OFF 15 μs or less (at an ambient temperature of 25℃)
External power supply Voltage 4.75 to 26.4 V DC
Current 35 mA/common (at 24 V)
Surge absorber Zener diode
Short-circuit protection Provided (to automatically protect every eight points)(Note 1)
Input points per common 16 points/1 common
Operating mode indicator 16-point LED display (Lit when ON, SW selection)
External connection method Connector connection (Compliant with the MIL standard, 40P)

(Note 1) When the maximum inrush current is exceeded, eight output points in the same protection block are turned OFF simultaneously.

■Internal circuit diagram of the GM1 Controller Output section

Internal circuit diagram of the GM1 Controller Output section
 

■Limitations on the number of simultaneous output ON points of the GM1 Controller

Limitations on the number of simultaneous output ON points of the GM1 Controller
 

Output specifications (source type) (EtherCAT-compatible GM1 Controller only)

Item Specifications
Insulation method Optical coupler
Output type PNP open collector
Rated load voltage 24 V DC
Allowable load voltage range 21.6 to 26.4 V DC
Max. load current 0.3 A
Max. inrush current 1.0 A
OFF state leakage current 2 μA or less
ON state max. voltage drop 0.7 V or less
Response time OFF→ON 6 μs or less (at an ambient temperature of 25℃)
ON→OFF 15 μs or less (at an ambient temperature of 25℃)
External power
supply
Voltage 21.6 to 26.4 V DC
Current 30 mA/common (at 24 V)
Surge absorber Zener diode
Short-circuit protection Provided (to automatically protect every eight points)(Note 1)
Input points per common 16 points/1 common
Operating mode indicator 16-point LED display (Lit when ON, SW selection)
External connection method Connector connection (Compliant with the MIL standard, 40P)

(Note 1) When the maximum inrush current is exceeded, eight output points in the same protection block are turned OFF simultaneously.

■Internal circuit diagram of the GM1 Controller Output section

Internal circuit diagram of the GM1 Controller Output section

■Limitations on the number of simultaneous output ON points of the GM1 Controller

Limitations on the number of simultaneous output ON points of the GM1 Controller

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Digital input unit

Input Specifications of the Digital input unit

Item Specifications
Insulation method Optical coupler
Rated input voltage 24 V DC
Rated input current Approx. 2.7 mA (at 24 V DC)
Input impedance Approx. 6.8 kΩ
Operating voltage range 20.4 to 26.4 V DC
Min. ON voltage / Min. ON current 19.2 V / 2.5 mA
Max. OFF voltage / Max. OFF current 5 V / 1.5 mA
Response time OFF→ON 0.2 ms max.
(Possible to change by using the input time constant selection function)
ON→OFF 0.2 ms max.
(Possible to change by using the input time constant selection function)
Input points per common 32 points/1 common
Operating mode indicator Operating mode indicator: 32-point LED display
(Lit when ON, SW selection)
External connection method Connector connection
(Compliant with the MIL standard, 40P, two pieces used)

■Internal circuit diagram of the Digital input unit

Internal circuit diagram of the 64-point digital input unit

■Limitations on the number of simultaneous input ON points of the Digital input unit

Limitations on the number of simultaneous input ON points of the 64-point
digital input unit
 


Digital output unit

Output Specifications of the Digital Output Unit (Sink Type)

Item Specifications
Insulation method Optical coupler
Output type NPN Open collector
Rated load voltage 5 to 24 V DC
Allowable load voltage range 4.75 to 26.4 V DC
Max. load current 0.3 A (20.4 to 26.4 V DC), 30 mA (4.75 V DC)
Common restrictions 3.2 A/common
Max. inrush current 0.6 A
OFF state leakage current 1 μA or less
ON state max. voltage drop 0.5 V or less
Response time OFF→ON 0.1 ms or less (Load current: 2 mA or more)
ON→OFF 0.3 ms or less (Load current: 2 mA or more)
External power supply Voltage 4.75 to 26.4 V DC
Current 70 mA/common (at 24 V)
Surge absorber Zener diode
Short-circuit protection None
Input points per common 32 points/1 common
Operating mode indicator 32-point LED display
(Lit when ON, selection using the display selector switch)
External connection method Connector connection
(Compliant with the MIL standard, 40P, two pieces used)

■Internal circuit diagram of the Digital output unit (sink type)

Internal circuit diagram of the Digital output unit (sink type)

■Limitations on the load current of the Digital output unit (sink type)

The load current is limited as shown in the following figure depending on the voltage of the external power supply.

Limitations on the load current of the Digital output unit (sink type)
 

■Limitations on the number of simultaneous output ON points of the Digital output unit (sink type)

Limitations on the number of simultaneous output ON points of the Digital output unit (sink type)
 

Output Specifications of the Digital Output Unit (Source Type)

Item Specifications
Insulation method Optical coupler
Output type PNP Open collector
Rated load voltage 5 to 24V DC
Allowable load voltage range 4.75 to 26.4V DC
Max. load current 0.3A (20.4 to 26.4V DC), 30mA (4.75V DC)
Common restrictions 3.2 A/common
Max. inrush current 0.6 A
OFF state leakage current 1 μA or less
ON state max. voltage drop 0.5 V or less
Response time OFF→ON 0.1 ms or less (Load current: 2 mA or more)
ON→OFF 0.5 ms or less (Load current: 2 mA or more)
External power
supply
Voltage 4.75 to 26.4V DC
Current 90 mA/common (at 24 V)
Surge absorber Zener diode
Short-circuit protection None
Input points per common 32 points/1 common
Operating mode indicator 32-point LED display (Lit when ON, selection using the display selector switch)
External connection method Connector connection (Compliant with the MIL standard, 40P, two pieces used)

■Internal circuit diagram of the Digital output unit (source type)

Internal circuit diagram of the Digital output unit (source type)

■Limitations on the load current of the Digital output unit (source type)
The load current is limited as shown in the following figure depending on the voltage of the external power supply.

Limitations on the load current of the Digital output unit (source type)
 

■Limitations on the number of simultaneous output ON points of the Digital output unit (source type)

Limitations on the number of simultaneous output ON points of the Digital output unit (source type)


Digital input / output unit

I/O Specifications of the Digital I/O Unit (Sink Type)

Item Specifications
Input
specifications
Insulation method Optical coupler
Rated input voltage 24 V DC
Rated input current Approx. 2.7 mA (at 24 V DC)
Input impedance Approx. 6.8 kΩ
Operating voltage range 20.4 to 26.4 V DC
Min. ON voltage / Min. ON current 19.2 V / 2.5 mA
Max. OFF voltage / Max. OFF current 5 V / 1.5 mA
Response
time
OFF→ON 0.2 ms max.
(Possible to change by using the input time constant selection function)
ON→OFF 0.2 ms max.
(Possible to change by using the input time constant selection function)
Input points per common 32 points/1 common
Output
specifications
Insulation method Optical coupler
Output type NPN Open collector
Rated load voltage 5 to 24 V DC
Allowable load voltage range 4.75 to 26.4 V DC
Max. load current 0.3 A (20.4 to 26.4 V DC), 30 mA (4.75 V DC)
Common restrictions 3.2 A/common
Max. inrush current 0.6 A
OFF state leakage current 1 μA or less
ON state max. voltage drop 0.5 V or less
Response
time
OFF→ON 0.1 ms or less (Load current: 2 mA or more)
ON→OFF 0.3 ms or less (Load current: 2 mA or more)
External
power supply
Voltage 4.75 to 26.4 V DC
Current 70 mA/common (at 24 V)
Surge absorber Zener diode
Short-circuit protection None
Input points per common 32 points/1 common
Operating mode indicator 32-point LED display (Lit when ON, selection using the display selector switch)
External connection method Connector connection (Compliant with the MIL standard, 40P, two pieces used)

■Internal circuit diagram of the Digital input / output unit (sink type)

Input section (32 points)

Input section (32 points)

Output section (32 points)

Output section (32 points)

■Limitations on the load current of the Digital input / output unit (sink type)

The load current is limited as shown in the following figure depending on the voltage of the external power supply.

Limitations on the load current of the Digital input / output unit (sink type)
 

■Limitations on the number of simultaneous input ON points (max. number of points: 32) of the Digital input / output unit (sink type)

 

Limitations on the number of simultaneous input ON points (max. number of points: 32) of the Digital input / output unit (sink type)
 

■Limitations on the number of simultaneous output ON points (max. number of points: 32) of the digital I/O unit (sink type)

 

Limitations on the number of simultaneous output ON points (max. number of points: 32) of the digital I/O unit (sink type)
 

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I/O Specifications of the Digital I/O Unit (Source Type)

Item Specifications
Input
specification
Insulation method Optical coupler
Rated input voltage 24 V DC
Rated input current Approx. 2.7 mA (at 24 V DC)
Input impedance Approx. 6.8 kΩ
Operating voltage range 20.4 to 26.4 V DC
Min. ON voltage / Min.
ON current
19.2 V / 2.5 mA
Max. OFF voltage / Max.
OFF current
5V / 1.5 mA
Response time OFF→ON 0.2 ms max. (Possible to change by using the input time constant selection function)
ON→OFF 0.2 ms max. (Possible to change by using the input time constant selection function)
Input points per common 32 points/1 common
Output
specifications
Insulation method Optical coupler
Output type PNP Open collector
Rated load voltage 5 to 24 V DC
Allowable load voltage range 4.75 to 26.4 V DC
Max. load current 0.3 A (20.4 to 26.4 V DC), 30 mA (4.75 V DC)
Common restrictions 3.2 A/common
Max. inrush current 0.6 A
OFF state leakage current 1 μA or less
ON state max. voltage drop 0.5 V or less
Response time OFF→ON 0.1 ms or less (Load current: 2 mA or more)
ON→OFF 0.5 ms or less (Load current: 2 mA or more)
External power supply Voltage 4.75 to 26.4 V
Current 90 mA/common (at 24 V)
Surge absorber Zener diode
Short-circuit protection None
Input points per common 32 points/1 common
Operating mode indicator 32-point LED display (Lit when ON, selection using the display selector switch)
External connection method Connector connection (Compliant with the MIL standard, 40P, two pieces used)

■Internal circuit diagram of the Digital I/O unit (source type)

Input section (32 points)

Input section (32 points)

Output section (32 points)

Output section (32 points)

■Limitations on the load current of the Digital I/O unit (source type)

The load current is limited as shown in the following figure depending on the voltage of the external power supply.

Limitations on the load current of the Digital I/O unit (source type)
 

■Limitations on the number of simultaneous input ON points (max. number of points: 32) of the Digital I/O unit (source type)

Limitations on the number of simultaneous input ON points (max. number of points: 32) of the Digital I/O unit (source type)
 

■Limitations on the number of simultaneous output ON points (max. number of points: 32) of the Digital I/O unit (source type)

Limitations on the number of simultaneous output ON points (max. number of points: 32) of the Digital I/O unit (source type)
 

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Analog input unit

Input Specifications of the Analog Input Unit

Item Specifications
No. of input points 8 ch
Input range
(resolution)
Voltage -10 to +10 V DC (Resolution: 1/64,000)
0 to +10 V DC (Resolution: 1/32,000)
-5 to +5 V DC (Resolution: 1/64,000)
0 to +5 V DC (Resolution: 1/32,000)
+1 to +5 V DC (Resolution: 1/25,600)(Note 1)
Current 0 to +20 mA (Resolution: 1/32,000)
+4 to +20 mA (Resolution: 1/25,600)(Note 1)
Conversion speed 50 μs/ch
Exceeding the rated range Possible to output up to the rated value ± 2%
With the 0 to 20 mA range, the lower limit is not supported for exceeding the rated range. (Note 2)
Total accuracy ±0.2%F.S. or less (at +25℃)
±0.4%F.S. or less (at 0 to +55℃)
Input impedance Voltage input: Approximately 1 MΩ; current input: Approximately 250 Ω
Absolute max. input Voltage input: -15 V to +15 V; current input: -30 mA to +30 mA
Insulation method Between input terminals and internal circuit: Photocoupler and isolated DC/DC converter
Between channels: Non-insulated
Execution / Non-execution
channel settings
Possible to make non-converted channel settings.
Input range selection Possible to make settings on a channel-by-channel basis
Average
processing
Number of averaging times Setting range of 2 to 60,000 times
Time average Time setting range of 1 to 1,500 ms
Moving average Setting range of 2 to 2,000 times
Offset / Gain settings A desired value within the digital output range can be set for the offset value.
Setting range: -3000 to +3000
A desired value within the digital output range can be set for the gain value.
Setting range: +9,000 to +11,000 (90% to 110%)
Scale conversion settings A desired value within the digital output range can be set for the scale conversion setting value.
Setting range: -32768 to +32767
Upper limit / lower limit
comparison
Output if the value is outside the preset upper limit or lower limit.
Setting range: -32768 to +32767
Max. / Min. hold Holding max. / min. values sampled
Disconnection detection Disconnection detection is possible for the following ranges. Possible to select auto or manual resetting
・ 1 to 5 V range (Detection level: 0.7 V or less)
・ 4 to 20 mA range (Detection level: 2.8 mA or less.)

(Note 1) The full scale (F.S.) on the accuracy of an analog voltage input range from +1 to +5 V and that of an analog current input range from +4 to +20 mA are 0 to +5 V and 0 to +20 mA, respectively.
(Note 2) When a value exceeding the rated value ±2% is set, the output is rounded to a value equivalent to the rated value ±2%.


Analog output unit

Output Specifications of the Analog Output Unit

Item Specifications
No. of output points 4ch
Output range
(resolution)
(Note 1)
Voltage -10 to +10 V DC (Resolution: 1/64,000)
0 to +10 V DC (Resolution: 1/32,000)
-5 to +5 V DC (Resolution: 1/64,000)
0 to +5 V DC (Resolution: 1/32,000)
+1 to +5 V DC (Resolution: 1/25,600)
Current 0 to +20 mA (Resolution: 1/32,000)
+4 to +20 mA (Resolution: 1/25,600)
Conversion speed 50 μs/4ch
Exceeding the rated range Possible to output up to the rated value ± 2%
With the 0 to 20 mA range, the lower limit is not supported for exceeding the rated range. (Note 2)
Total accuracy ±0.2%F.S. or less (at +25℃)
±0.4%F.S. or less (at 0 to +55℃)
Output impedance (voltage output) 0.5 Ω or less
Maximum output current
(voltage output)
10 mA
Output allowable load resistance
(current output)
500 Ω or less
Insulation method Between output terminals and internal circuit: Photocoupler and isolated DC/DC converter
Between channels: Non-nsulated
Conversion execution / nonexecution channel settings Possible to make non-converted channel settings.
Clipping function Upper and lower output limits can be set for digital input values.
Setting range: -32,640 to +32,640
Scale conversion settings A desired value within the digital input range can be set for the scale conversion setting value.
Setting range: -32768 to +32767
Offset / Gain settings A desired value within the digital input range can be set for the offset value.
Setting range: -3,000 to +3,000
A desired value within the digital input range can be set for the gain value.
Setting range: +9,000 to +11,000 (90% to 110%)
Analog output hold
(in STOP mode)
A desired output value while in STOP mode can be set as a digital value.
Setting range: -32640 to +32640

(Note 1) The full scale (F.S.) on the accuracy of an analog voltage output range from +1 to +5 V and that of an analog current output range from +4 to +20 mA are 0 to +5 V and 0 to +20 mA, respectively.
(Note 2) When a value exceeding the rated value ±2% is set, the output is rounded to a value equivalent to the rated value ±2%.


Pulse output unit

Performance Specifications of the Pulse Output Unit

Item Specifications
Product No. AGM1PG04T AGM1PG04L
Output type Transistor Line driver
Number of axes controlled 4 axis, independent
Position command Command unit Pulse unit (for increment or absolute)
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 be set in 1 pps.)
1 pps to 4 Mpps
(can be set in 1 pps.)
Acceleration /
deceleration
command
Acceleration /
deceleration
method
Linear acceleration / deceleration, S-shaped acceleration / deceleration control
S-shape pattern Sine curve, Cubic curve (can be select)
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 and S-shaped acceleration / deceleration)
・ P-point control (Linear and S-shaped acceleration / deceleration)
・ Home return (Home search)
・ JOG operation(Note 1)
・ JOG positioning
・ Pulser input operation(Note 2)
Transfer multiplication ratio (x1, x2, x5, x10, x50, x100, x500, x1000)
・ Real-time frequency change function
Startup time 0.001ms / 0.005ms / 0.02ms
Output interface Output mode Pulse / Sign, CW / CCW
Feedback counter function
(Note 2)
Counting range Signed 32 bits (-2,147,483,648 to +2,147,483,647 pulses)
Input mode 2-phase input, direction identification input, individual input (transfer multiple available for each mode)
Max. counting speed 4 MHz (2-phase input)
1 MHz (Direction distinction input and individual input)
Other functions ・ Built-in over limit input (+) and over limit input (-)
・ Servo ON output incorporated

(Note 1) When Linear acceleration/deceleration operation is selected, the target speed can be changed during an operation.
(Note 2) "Pulser input operation" and "Feedback counter" use the same pulse input terminal. Either function of the two can only be used.

I/O specifications

  • The Pulse Output Unit uses two connectors. The signal pins for two axes are assigned to one connector.
  • AX1 and 2, and AX3 and 4 connectors have the completely same pin assignments.
    Therefore, the same pin number functions the same.
  • Between the Transistor type and the Line driver type, the output terminal performance is different. However, the specifications of the input terminal and the power supply terminal are the same for both types.

Transistor output type (AGM1PG04T)

Pin No. Signal name Circuit   Specifications
Axis
1 / 3
Axis
2 / 4
A1 A10 Pulse output A:
5 VDC output
Output ・ Output type:
Open collector
・ Operating voltage range:
4.75 to 26.4 V DC
・ Max. load current:
15 mA
・ ON state max. voltage drop:
0.6 V
B1 B10 Pulse output A:
Open collector
A2 A11 Pulse output B:
5 VDC output
B2 B11 Pulse output B:
Open collector

Line driver output type (AGM1PG04L)

Pin No. Signal name Circuit   Specifications
Axis
1 / 3
Axis
2 / 4
A1 A10 Pulse output A:
Line driver (+)
Output ・ Line driver output
Equivalent to AM26C31
B1 B10 Pulse output A:
Line driver (-)
A2 A11 Pulse output B:
Line driver (+)
B2 B11 Pulse output B:
Line driver (-)
Pin No. Signal name Circuit   Specifications
Axis
1 / 3
Axis
2 / 4
A3 A12 Home input: 24
VDC, SELV and
LIM (+)
Input ・ Operating voltage range:
21.6 to 26.4 V DC
・ Min. ON voltage / current:
19.2 V DC / 5.5 mA
・ Max. OFF voltage / current:
2.0 V DC / 2.0 mA
・ Input impedance:
Approx. 3.9 kΩ
・ Pulse width:
100 μs or more
A4 A13 Home input: 5
VDC, SELV and
LIM (+)
・ Operating voltage range:
3.5 to 5.25 V DC (5 V DC, Line driver specifications)
・ Min. ON voltage / current:
3.0 V DC / 4 mA
・ Max. OFF voltage / current:
1.0 V DC / 0.5 mA
・ Input impedance:
Approx. 560 Ω
・ Pulse width:
100 μs or more
B3 B12 Home input (-)
B4 B13 COM [24V DC
SELV and LIM
(+)]
Input ・ Operating voltage range:
21.6 to 26.4 V DC
・ Min. ON voltage / current:
• Near home input (DOG)
19.2 V DC / 5.0 mA
• Limit input (+)
Limit input (-)
Positioning control start input (Timing input)
19.2 V DC / 2.6 mA
・ Max. OFF voltage / current:
2.0 V DC / 1.5 mA
・ Input impedance:
• Near home input (DOG)
Approx. 3.6 kΩ
• Limit input (+)
Limit input (-)
Positioning control start input (Timing input)
Approx. 6.8 kΩ
・ Pulse width:
500 μs or more
A5 A14 Near home
input (DOG)
A6 A15 Limit input (+)
B6 B15 Limit input (-)
A19 B19 Timing input
B5 B14 Servo ON
output (+)
Output ・ Output type:
Open collector
・ Operating voltage range:
4.75 to 26.4 V DC
・ Max. load current:
10 mA
・ ON state max. voltage drop:
1.0 V
A7 A16 Deviation
counter clear
(+)
B7 B16 COM
A8 A17 Pulse input A (+) Input ・ Operating voltage range:
3.5 to 5.25 V DC (5 V DC, Line driver specifications)
・ Min. ON voltage / current:
3.0 V DC / 3.2 mA
・ Max. OFF voltage / current:
1.0 V DC / 0.5 mA
・ Input impedance:
Approx. 560 Ω
・ Pulse width:
0.5 μs or more (Each phase Max. 1 MHz)
B8 B17 Pulse input A (-)
A9 A18 Pulse input B (+)
B9 B18 Pulse input B (-)
A20 External power
supply input: 24
VDC, SELV and
LIM (+)
Power supply ・ Supplied power range:
21.4 to 26.4 V DC
・ Consumption current:
90 mA or less
B20 External power
supply input: 24
VDC, SELV and
LIM (-)

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