Panasonic FP-XH Series User manual

Programmable controller
FP-XH Series
User's Manual
Positioning Function / PWM Output / High-speed Counter Function
Western version
WUME-FPXHPOSG-01
2020.10 panasonic.net/id/pidsx

(MEMO)
2 WUME-FPXHPOSG-01

Introduction
Thank you for purchasing a Panasonic product. Before you use the product, please carefully
read through the user’s manual, and understand it in detail to use the product properly.
Type of Manual
● This manual describes the "positioning function (table setting mode) / PWM output and high-
speed counter function" implemented in the FP-XH Control Unit.
● The following user’s manuals are available for the FP-XH series. Please refer to a relevant
manual for the unit and purpose of your use.
● The manuals can be downloaded from our Download Center:https://
industrial.panasonic.com/ac/e/dl_center/.
Unit name or purpose of
use Manual name Manual code
FP-XH Control Unit
FP-XH User‘s Manual (Basic) WUME-FPXHBASG
FP Series Programming Manual ARCT1F313E
Positioning Function /
PWM Output / High-speed
Counter Function
FP-XH User’s Manual
(Positioning / PWM Output / High-speed Counter) WUME-FPXHPOSG
Communication Functions
FP-XH User‘s Manual (COM Communication) WUME-FPXHCOMG
FP-X Extension
(Communication) Cassette
FP-X Expansion Unit
FP-X Series User’s Manual WUME-FPX
FP-X Function Cassettes
SAFETY PRECAUTIONS
● To prevent accidents or personal injuries, please be sure to comply with the following items.
● Prior to installation, operation, maintenance and inspection, please read this manual carefully for proper use.
● Before using the product, please fully understand the knowledge related to the equipment, safety
precautions and all other precautions.
● Safety precautions are divided into two levels in this manual: Warning and Caution.
Incorrect operation may lead to death or serious injury.
● Take appropriate safety measures for the external circuit of the product to ensure the security of the whole
system in case of abnormalities caused by product failure or external factors.
● Do not use this product in areas with inflammable gases.
Otherwise it may lead to an explosion.
● Do not put this product into a fire.
Otherwise it may cause damage to the battery or other electronic parts.
● Do not impact, charge or heat the lithium battery, and do not put it into a fire.
Otherwise it may lead to fire or damage.
Incorrect operation may lead to injury or material loss.
● To prevent the excessive exothermic heat or smoke generation of the product, a certain margin is required
for guaranteed characteristics and performance ratings of relative products.
● Do not disassemble or modify the product.
Otherwise it may lead to the excessive exothermic heat or smoke generation of the product.
● Do not touch terminal blocks during power-on.
WUME-FPXHPOSG-01 iii

Otherwise it may result in an electric shock.
● Create an emergency stop and interlock circuit in the external devices.
● Connect wires and connectors reliably.
Otherwise it may lead to the excessive exothermic heat or smoke generation of the product.
● Do not carry out construction (wiring, removal, etc.) during power-on.
Otherwise it may result in an electric shock.
● If the equipment is used in a manner not specified by the Panasonic, the protection provided by the
equipment may be impaired.
● This product has been developed/produced for industrial use only.
Description on Copyright and Trademarks
● The copyright of this manual is owned by Panasonic Industrial Devices SUNX Co., Ltd
● Unauthorized reproduction of this manual is strictly prohibited.
● Windows is a registered trademark of Microsoft Corporation in the U.S. and other countries.
● Ethernet is a registered trademark of Fuji Xerox Co., Ltd. and Xerox Corporation.
● Other company and product names are trademarks or registered trademarks of their respective companies.
iv WUME-FPXHPOSG-01

Table of Contents
1 Functions of Unit and Restrictions on Combination.........................1-1
1.1 Functions of Unit.................................................................................1-2
1.1.1 Overview of FP-XH Positioning Function......................................... 1-2
1.1.2 Unit type and available functions ..................................................... 1-3
1.2 Restrictions on Combinations and Functions .....................................1-5
1.2.1 Applicable Versions of Unit and Software ........................................ 1-5
1.2.2 Restrictions on the Combination of Pulse I/O Cassettes ................. 1-5
1.2.3 Restrictions on I/O Allocation........................................................... 1-5
1.2.4 Restrictions on Using Together with Communication Function........ 1-7
1.3 Comparison of Pulse Output Function................................................1-8
1.3.1 Types of Positioning Control Modes ................................................ 1-8
1.3.2 Selection of Positioning Control Mode ............................................. 1-8
1.3.3 Comparison of Two Control Modes.................................................. 1-8
2 Wiring.....................................................................................................2-1
2.1 Connections with Servo Motor Amplifier.............................................2-2
2.1.1 Connection Example........................................................................ 2-2
2.1.2 Precautions on Connection.............................................................. 2-3
2.2 Connection with Stepping Motor Driver ..............................................2-4
2.2.1 Precautions on Connection.............................................................. 2-4
3 Power ON and OFF, and Items to Check.............................................3-1
3.1 Safety Circuit Design ..........................................................................3-2
3.2 Before Turning On the Power .............................................................3-3
3.3 Procedure for Turning On the Power ..................................................3-4
3.3.1 Procedure for Turning On the Power ............................................... 3-4
3.3.2 Procedure for Turning Off the Power ............................................... 3-4
3.4 Confirming while the Power is ON ......................................................3-5
3.4.1 Items to check after turning on the power........................................ 3-5
3.4.2 Checking the Installation of the External Safety Circuit ................... 3-6
3.4.3 Checking the Safety Circuit Based on the Unit ................................ 3-6
3.4.4 Checking the Operation of the Near Home Switch and Home
Switch ............................................................................................... 3-6
3.4.5 Checking Rotating and Moving Directions and Moving Distance .... 3-7
4 Settings of Control Unit........................................................................4-1
4.1 Confirming I/O Allocation ....................................................................4-2
4.1.1 When Using Pulse Output Table Setting Mode................................ 4-2
4.1.2 When Using Pulse Output Function (FP-X Compatible Instruction
Mode)................................................................................................ 4-3
4.1.3 When Using PWM Output Function ................................................. 4-5
4.1.4 When Using High-speed Counter Function ..................................... 4-6
4.2 Settings in Configurator PMX..............................................................4-8
4.2.1 Allocating Channels to be Used....................................................... 4-8
4.2.2 Setting Parameters .......................................................................... 4-9
WUME-FPXHPOSG-01 v

4.2.3 Creating Positioning Data Table....................................................... 4-11
4.2.4 Saving Positioning Parameters........................................................ 4-13
4.2.5 Export and Import ............................................................................ 4-14
4.2.6 Check on Parameter Data ............................................................... 4-14
4.2.7 Writing Parameters to Unit (1).......................................................... 4-15
4.2.8 Writing Parameters to Unit (2).......................................................... 4-15
4.3 System Register Settings....................................................................4-17
4.3.1 Confirming and Selecting Functions to be Used.............................. 4-17
4.4 Reading Elapsed Values.....................................................................4-20
4.4.1 Elapsed Value (Current Value) Area ................................................ 4-20
4.4.2 Elapsed Value (Current Value) Area ................................................ 4-20
5 Operation Patterns................................................................................5-1
5.1 Stop Operation....................................................................................5-2
5.1.1 Type of Stop Operations .................................................................. 5-2
5.1.2 Characteristics of Stop Operations .................................................. 5-3
5.2 JOG Operation....................................................................................5-4
5.2.1 Settings and Operation of JOG Operation ....................................... 5-4
5.2.2 Settings and Operation of JOG Operation (Speed Changes).......... 5-6
5.2.3 Speed Changes in JOG Operation .................................................. 5-8
5.3 Home Return.......................................................................................5-9
5.3.1 Types of Home Return ..................................................................... 5-9
5.3.2 Operation Patterns of Home Return ................................................ 5-10
5.3.3 Settings and Operations of Home Return ........................................ 5-12
5.4 Positioning Control..............................................................................5-16
5.4.1 Types of Positioning Control ............................................................ 5-16
5.4.2 E-point Control (Single-Speed Positioning) ..................................... 5-17
5.4.3 P-point Control (Double-Speed Positioning) .................................... 5-18
5.4.4 C-point Control................................................................................. 5-20
5.4.5 J-point Control (JOG Positioning) .................................................... 5-22
5.4.6 J-point Control (JOG Positioning: Speed Changes) ........................ 5-23
5.4.7 Programming Cautions .................................................................... 5-26
5.5 Repeat Operation................................................................................5-28
5.5.1 Overview of Repeat Operation......................................................... 5-28
5.5.2 Settings and Operations of Repeat Operation ................................. 5-29
5.5.3 Stop Operation During Repeat Operation........................................ 5-31
5.6 Linear Interpolation Control.................................................................5-33
5.6.1 Overview .......................................................................................... 5-33
5.6.2 Settings and Operations of Linear Interpolation............................... 5-34
6 Operating Characteristics ....................................................................6-1
6.1 Operational Difference Between Parameters .....................................6-2
6.1.1 Startup speed................................................................................... 6-2
6.1.2 When Target Speed/Startup Speed is Less Than 50Hz .................. 6-2
6.1.3 Operation Patterns and Start Speed Settings.................................. 6-3
6.2 Other Characteristics ..........................................................................6-5
6.2.1 Backup of Positioning Memory ........................................................ 6-5
6.2.2 Activation of Each Operation ........................................................... 6-5
6.2.3 Operation When PLC Mode Changes From RUN To PROG........... 6-5
vi WUME-FPXHPOSG-01

7 Instruction References .........................................................................7-1
7.1 Table Setting Mode Control Instruction ...............................................7-2
7.1.1 [F380 POSST] Positioning Table Start Instruction ........................... 7-2
7.1.2 [F381 JOGST] JOG Operation Start Instruction .............................. 7-3
7.1.3 [F382 ORGST] Home Return Start Instruction ................................ 7-4
7.1.4 [F383 MPOST] Positioning Table Simultaneous Start Instruction.... 7-5
7.1.5 [F384 PTBLR] Positioning Parameter Read Instruction................... 7-7
7.1.6 [F385 PTBLW] Positioning Parameter Write Instruction .................. 7-8
7.2 FP-X Compatible Instruction Mode Control Instruction.......................7-10
7.2.1 [F171 (SPDH)] Pulse Output (Trapezoidal Control) ......................... 7-10
7.2.2 [F171 (SPDH)] Pulse Output (Home Return)................................... 7-15
7.2.3 [F172 (PLSH)] Pulse Output (JOG operation) ................................. 7-19
7.2.4 [F174 (SP0H)] Pulse Output (Selectable Data Table Control
Operation)......................................................................................... 7-22
7.2.5 [F175 (SPSH)] Pulse Output (Linear Interpolation).......................... 7-26
8 Troubleshooting....................................................................................8-1
8.1 Self-diagnosis Function.......................................................................8-2
8.1.1 Operation Monitor LEDs of Control Unit .......................................... 8-2
8.1.2 Operation Mode When an Error Occurs .......................................... 8-2
8.2 What to Do If an Error Occurs.............................................................8-4
8.2.1 ERR / ALM LED Flashes ................................................................. 8-4
8.2.2 What to Do When Positioning Error Occurs..................................... 8-5
8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON) ........ 8-7
8.2.4 Motor Does Not Rotate/Move (Output LED is OFF) ........................ 8-7
8.2.5 Rotation/Movement Direction is Reversed....................................... 8-8
9 PWM output function............................................................................9-1
9.1 PWM output function...........................................................................9-2
9.1.1 Overview of PWM Output Function.................................................. 9-2
9.1.2 System Register Settings................................................................. 9-2
9.1.3 [F173 PWMH] PWM Output Instruction (Frequency Specification) . 9-4
9.1.4 [F173 PWMH] PWM Output Instruction (Control Code
Specification) .................................................................................... 9-5
10 High-speed Counter Function ...........................................................10-1
10.1 Overview of High-speed Counter Function.......................................10-2
10.1.1 Overview of High-speed Counter Function .................................... 10-2
10.1.2 Counting Range and Elapsed Value (Current Value) Area ............ 10-2
10.1.3 Areas Used For High-speed Counter Function.............................. 10-3
10.1.4 Input Mode Type ............................................................................ 10-4
10.1.5 Minimum Input Pulse Width ........................................................... 10-5
10.2 System Register Settings..................................................................10-7
10.2.1 System Register Settings (Transistor Output Type)....................... 10-7
10.2.2 System Register Settings (Relay Output Type) ............................. 10-8
10.3 High-speed Counter Instruction ........................................................10-11
10.3.1 [F0 MV] High-speed Counter Control Instruction ........................... 10-11
10.3.2 [F1 DMV] Elapsed Value Write / Read Instruction ......................... 10-12
WUME-FPXHPOSG-01 vii

10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON
Instruction and [F167 HC1R] High-speed Counter Target Value
Match OFF Instruction ...................................................................... 10-14
10.3.4 Sample Program (Positioning Operation With Inverter: Single-
Speed) .............................................................................................. 10-15
10.3.5 Sample Program (Positioning Operation With Inverter: Double-
Speed) .............................................................................................. 10-17
10.4 High-speed Counter Cam Control Instruction...................................10-20
10.4.1 [F165 CAM0] High-speed Counter Cam Control Instruction.......... 10-20
10.4.2 Sample Program (Upper Limit Control, Reset, Addition) ............... 10-24
10.4.3 Sample Program (Upper Limit Control, Instruction Clear,
Addition)............................................................................................ 10-26
10.4.4 Sample Program (Upper Limit Control, Subtraction) ..................... 10-28
10.5 Interrupt Program Activation .............................................................10-31
10.5.1 Overview of Function ..................................................................... 10-31
10.5.2 Interrupt Activation When F165 (CAM0) is Executed .................... 10-32
11 Specifications......................................................................................11-1
11.1 Specifications ....................................................................................11-2
11.1.1 General Specifications ................................................................... 11-2
11.1.2 Performance Specifications............................................................ 11-2
11.2 Allocation of Memory Areas ..............................................................11-5
11.2.1 When Using Pulse Output Table Setting Mode .............................. 11-5
11.2.2 When Using Pulse Output Function (FP-X Compatible Instruction
Mode)................................................................................................ 11-7
11.2.3 When Using PWM Output Function ............................................... 11-8
11.2.4 When Using High-speed Counter Function.................................... 11-9
11.3 Positioning Memory...........................................................................11-12
11.3.1 Configuration of Memory Map ........................................................ 11-12
11.3.2 Common Area (Memory Area No. 0).............................................. 11-13
11.3.3 Axis Information Area (Memory Area No. 1) .................................. 11-14
11.3.4 Axis Setting Area (Memory Area No. 2) ......................................... 11-15
11.3.5 Positioning Table Area (Memory Area No. 3) ................................. 11-17
viii WUME-FPXHPOSG-01

1 Functions of Unit and
Restrictions on Combination
1.1 Functions of Unit.................................................................................1-2
1.1.1 Overview of FP-XH Positioning Function......................................... 1-2
1.1.2 Unit type and available functions ..................................................... 1-3
1.2 Restrictions on Combinations and Functions .....................................1-5
1.2.1 Applicable Versions of Unit and Software ........................................ 1-5
1.2.2 Restrictions on the Combination of Pulse I/O Cassettes ................. 1-5
1.2.3 Restrictions on I/O Allocation........................................................... 1-5
1.2.4 Restrictions on Using Together with Communication Function........ 1-7
1.3 Comparison of Pulse Output Function................................................1-8
1.3.1 Types of Positioning Control Modes ................................................ 1-8
1.3.2 Selection of Positioning Control Mode ............................................. 1-8
1.3.3 Comparison of Two Control Modes.................................................. 1-8
WUME-FPXHPOSG-01 1-1

1.1 Functions of Unit
1.1.1 Overview of FP-XH Positioning Function
■Up to 6-axis position control is available by combining with a driver of pulse
string input type.
● The pulse output can be performed up to 100 kHz, and servo motors can be controller.
● It is also available for a stepping motor connected by open collector output.
■Programs can be simplified by adopting the table setting mode.
● The dedicated software "Configurator PMX" is available, which allows ease of setting a
variety of parameters and positioning tables required for positioning control. "Configurator
PMX" is started from the "Options" menu of tool software "FPWIN GR7".
● In user programs, positioning control is executed only by specifying axis numbers (channel
numbers) and table numbers, and executing instructions.
■Four kinds of position control patterns (Table setting mode)
● Four patterns, which are E-point control (single-speed automatic trapezoidal acceleration /
deceleration), P-point control (double-speed automatic trapezoidal acceleration /
deceleration), C-point control (continuance point control) and J-point control (from speed
control to position control), can be selected. They are created as tables on "Configurator
PMX".
■Five kinds of home return operations are supported. (Table setting mode)
● Five kinds of home return methods including home search are available. The most
appropriate home return method can be selected in accordance with the system such as
home input, near home input and the type of driver.
■FP-X compatible mode also available
● There is a mode where the same instructions (F171 to F175, F0, and F1) as those for the
conventional FP-X series.
1.1 Functions of Unit
1-2 WUME-FPXHPOSG-01

If the compatible mode setting is set to “FP-X mode”, "Table setting mode" cannot be selected.
1.1.2 Unit type and available functions
Available conditions vary by functions.
■Comparison of functions and performances
Item
Transistor output type Relay output type
C14T C30T C60T C14R C30R C60R
Configuration
Using the input section of the Control Unit
Using the output section of the Control Unit
Using the input section of the Control Unit
or the input section of the pulse I/O
cassette
Using the output section of the pulse I/O
cassette
High-
speed
counter
Single-
phase
Max. 8 channels (CH0 to CH7)
Max. 100 kHz × 4 + Max. 10 kHz × 4
Using the input of the Control Unit
Max. 8 channels (CH0 to CH7), Max. 10
kHz × 8
Per one pulse I/O cassette
Max. 2 channels (CH8 and CH9 or CHA
and CHB)
Max. 100 kHz × 2
2-phase Max. 4 channels (CH0, CH2, CH4, and CH6)
Max. 50 kHz × 2 + Max. 10 kHz × 2
Using the input of the Control Unit
Max. 4 channels (CH0, CH2, CH4, and
CH6), Max. 5 kHz × 4
Per one pulse I/O cassette
Max. 1 channel (CH8 or CHA)
Max. 50 kHz×2
Pulse
Output
Indepen
dent
Max. 3 axes
(CH0 to CH2)
Max. 4 axes
(CH0 to CH3)
Max. 6 axes
(CH0 to CH5)
Per one pulse I/O cassette: Max. 1 axis
Max. 1 axis
(CH0)
Max. 2 axes (CH0 and
CH1)(Note 3)
Interpol
ation
Max. 2 axes
(CH0)
Max. 4 axes
(CH0 and
CH2)
Max. 6 axes
(CH0, CH2,
and CH4)
Not available Max. 2 axes (CH0)(Note 3)
PWM output Max. 4 points (CH0 to CH3)
Per one pulse I/O cassette: Max. 1 point
Max. 1 point Max. 2 points (CH0 and
CH1)(Note 3)
1.1 Functions of Unit
WUME-FPXHPOSG-01 1-3

Item
Transistor output type Relay output type
C14T C30T C60T C14R C30R C60R
(CH0)
(Note 1) Functions, channel numbers and I/O numbers used are set in the tool software.
(Note 2) I/O numbers used for each function should be allocated so that they do not overlap.
(Note 3) The pulse I/O cassette can be attached to the relay output type Control Unit only. (C14R: 1 piece,
C30R / C60R: Max. 2 pieces) When using two axes for the pulse output or two points for the PWM
output, use two pulse I/O cassettes.
1.1 Functions of Unit
1-4 WUME-FPXHPOSG-01

1.2 Restrictions on Combinations and Functions
1.2.1 Applicable Versions of Unit and Software
For using the FP-XH, the software of the following versions is necessary.
Item Applicable version
Programming tool
software Control FPWIN
GR / GR7 / Pro7
C14/C30/C60
FPWIN GR Ver.2.93 or later
FPWIN GR7 Ver.2.5 or later
FPWIN Pro7 Ver.7.03 or later
Configurator PMX
It is used for using the pulse output function in the table setting mode. It is
implemented in FPWIN GR / GR7 / Pro7 and activated from the option
menu.
(Note 1) The latest version is provided free of charge at our download center (https://
industrial.panasonic.com/ac/e/dl_center/software/). Use the latest version.
(Note 2) To use the FP-XH in FPWIN Pro7, it is also necessary to install a setup file. For details, see the above
website.
1.2.2 Restrictions on the Combination of Pulse I/O Cassettes
There are following restrictions depending on units and cassettes to be used.
Unit Types
Installable
number of
cassettes
Pulse I/O cassette
AFPX-PLS
Relay output type
C14R Max. 1 unit
Installable
C30R/C60R Max. 2 units
Transistor output type
C14T Max. 1 unit
Uninstallable
C30T/C60T Max. 2 units
1.2.3 Restrictions on I/O Allocation
● I/O signals used for each function are set in the tool software. They are allocated
automatically when set by Configurator PMX.
● Allocate the I/O numbers used for the pulse output function, high-speed counter function and
PWM output function so that they do not overlap.
■Examples of unusable combinations
Examp
le 1
When allocating input X4 to the home input of CH0 for the pulse output function, they cannot be used
as the count input of high-speed counter CH4.
Examp
le 2 When using the output Y0 as CH0 for the pulse output function, the PWM output CH0 cannot be used.
1.2 Restrictions on Combinations and Functions
WUME-FPXHPOSG-01 1-5

■Input signals of Control Unit
I/O
No. Pulse output function
High-speed counter function
Count input
Reset input
Single-phase 2-phase
X0 CH0 J-point control positioning
control start input CH0 Count input
CH0 Count input
-
X1 CH1 J-point control positioning
control start input CH1 Count input -
X2 CH4 Home input CH2 Count input
CH2 Count input
-
X3 CH5 Home input CH3 Count input -
X4 CH0 Home input CH4 Count input
CH4 Count input
-
X5 CH1 Home input CH5 Count input -
X6 CH2 Home input CH6 Count input
CH6 Count input
CH0 Reset input
X7 CH3 Home input CH7 Count input CH2 Reset input
■Output signals of Control Unit
I/O
No.
Pulse output function
PWM output function
Pulse output Deviation counter clear output
Y0 CH0 CW or pulse output - CH0 PWM output
Y1 CH0 CCW or sign output - (Note 2)
Y2 CH1 CW or pulse output - CH1 PWM output
Y3 CH1 CCW or sign output - (Note 2)
Y4 CH2 CW or pulse output CH0 (C14 type) CH2 PWM output
Y5 CH2 CCW or sign output CH1 (C14 type) (Note 2)
Y6 CH3 CW or pulse output - CH3 PWM output
Y7 CH3 CCW or sign output - (Note 2)
Y8 CH4 CW or pulse output CH0 (C30 type) -
Y9 CH4 CCW or sign output CH1 (C30 type) -
YA CH5 CW or pulse output CH2 (C30 type) -
YB CH5 CCW or sign output CH3 (C30 type) -
YC - CH0 (C60 type) -
YD - CH1 (C60 type) -
YE - -
YF - -
Y10 - CH2 (C60 type) -
Y11 - CH3 (C60 type) -
Y12 - CH4 (C60 type) -
Y13 - CH5 (C60 type) -
1.2 Restrictions on Combinations and Functions
1-6 WUME-FPXHPOSG-01

(Note 1) When using the target value match ON instruction (F166) or target value match OFF instruction (F167)
in the high-speed counter function, arbitrary output is specified in the range of Y0 to Y29F in a user
program so that it does not overlap the above functions.
(Note 2) When using the PWM output, the output numbers to be paired are normal output.
■Pulse I/O cassette input signal
I/O
No. Pulse output function
High-speed counter function
Count input
Reset input
Single-phase 2-phase
X100 CH0 J-point control positioning
control start input CH8 Count input
CH8 Count input
-
X101 - CH9 Count input -
X102 CH0 Home input - - CH8 Reset input
or CH9 Reset input
X200 CH1 J-point control positioning
control start input CHA Count input
CHA Count input
X201 - CHB Count input
X202 CH1 Home input - - CHA Reset input
or CHB Reset input
■Pulse I/O cassette output signal
I/O
No.
Pulse output function
PWM output function
Pulse output Deviation counter clear output
Y100 CH0 CW or pulse output - CH0 PWM output
Y101 CH0 CCW or sign output - -
Y102 - CH0 Deviation counter clear
output -
Y200 CH1 CW or pulse output - CH1 PWM output
Y201 CH1 CCW or sign output - -
Y202 - CH1 Deviation counter clear
output -
1.2.4 Restrictions on Using Together with Communication Function
● The FP-XH series can communicate with external devices through the maximum of five
communication interfaces including the COM0 port supported as standard and COM1 to
COM4 ports used by communication cassettes.
● When using all the five ports from COM0 to COM4, the communication speed is 115.2 kbps
max. and the pulse output function supports two axes max. When using four or less number
of ports, the communication speed is 230.4 kbps max. and the pulse output function supports
six axes max.
1.2 Restrictions on Combinations and Functions
WUME-FPXHPOSG-01 1-7

1.3 Comparison of Pulse Output Function
1.3.1 Types of Positioning Control Modes
For using the FP-XH pulse output function, the following two control modes are available.
■Table setting mode
● Positioning parameters such as position command and speed command are created as data
tables by tool software Configurator PMX in advance.
● As parameters are set in advance, programs can be simplified.
● Four patterns of position control modes and five patterns of home return modes are
available.
● Dedicated instructions F380 to F385 are used for the control.
● Set positioning parameters and information on positioning tables can be exported as a setup
file of Configurator PMX and reused between multiple units and projects.
■FP-X compatible instruction mode
● Positioning parameters such as position command and speed command are set as operands
of instructions.
● Dedicated instructions F171 to F175 and instructions F0 and F1 are used for the control.
● The system is similar to the pulse output function of the conventional FP-X.
1.3.2 Selection of Positioning Control Mode
● The positioning control mode is selected in the system register no. 407 by the tool software.
(Note 1) If the compatible mode setting is set to “FP-X mode”, "Table setting mode" cannot be selected.
1.3.3 Comparison of Two Control Modes
There are following differences between the table setting mode and FP-X compatible instruction
mode.
1.3 Comparison of Pulse Output Function
1-8 WUME-FPXHPOSG-01

■Comparison of Two Control modes
Item Table setting mode FP-X compatible instruction mode
Stop control
Type Four patterns (System stop, Emergency
stop, Limit stop, and Deceleration stop) Emergency stop only
Start Turns ON the output contact allocated to
each axis for each stop method.
Turns ON the bit 3 of the special data
register DT90052 using F0 instruction in a
user program.
JOG
operation
Set Set in the positioning parameters of
Configurator PMX. Set using the operands of instructions.
Start F381 instruction F172 instruction
Home return
Type Five patterns (DOG methods x 3, Home
position method x 1, Data set method x 1)
Two patterns (DOG method x 1, Home
position method x 1)
Set Set in the positioning parameters of
Configurator PMX. Set using the operands of instructions.
Start F382 instruction F171 instruction
Positioning
operation
Type
Four patterns (E-point control, P-point
control, C-point control and J-point
control)
E-point control (single-speed
acceleration / deceleration), Multistep
acceleration / deceleration control
Set Set in the positioning data table of
Configurator PMX. Set using the operands of instructions.
Start F380 instruction F171 instruction
Positioning
operation
interpolation
Type Three patterns (E-point control, P-point
control, C-point control)
E-point control (single-speed
acceleration / deceleration)
Set Set in the positioning data table of
Configurator PMX. Set using the operands of instructions.
Start F380 instruction F175 instruction
Others
Dwell time setting, Repeat control
(Positioning parameter setting)
Multiple table simultaneous start (F383
instruction)
Data table control (F174 instruction)
■Comparison in programming
Item Table setting mode FP-X compatible instruction mode
Read / Write
of elapsed
value
Area Positioning memory Special data registers DT90392 to
DT90407
Execut
e
F384 instruction (Read), F385 instruction
(Write) F1 instruction (Both Read and Write)
Confirmation of BUSY
state Input contacts X28 to X2D Special relays R911C to R9121
Confirmation of
positioning completion Input contacts X30 to X35
Instead detects the fall of the above BUSY
signal by a user program.
Confirmation of home
return completion Input contacts X48 to X4D
Near home input
Allocate arbitrary input contacts and turn
ON the outputs Y70 to Y75 by user
programs.
Allocate arbitrary input contacts and turn
ON the bit4 of the special data register
DT90052 by user programs.
1.3 Comparison of Pulse Output Function
WUME-FPXHPOSG-01 1-9

(MEMO)
1-10 WUME-FPXHPOSG-01

2 Wiring
2.1 Connections with Servo Motor Amplifier.............................................2-2
2.1.1 Connection Example........................................................................ 2-2
2.1.2 Precautions on Connection.............................................................. 2-3
2.2 Connection with Stepping Motor Driver ..............................................2-4
2.2.1 Precautions on Connection.............................................................. 2-4
WUME-FPXHPOSG-01 2-1

2.1 Connections with Servo Motor Amplifier
2.1.1 Connection Example
Y0
Y1
X4
COM
Y8
−
COM
X8
X9
XA
50
3
4
5
6
19
13
25
7
30
29
27
31
9
8
35
34
37
36
39
38
41
FG
PULS1
PULS2
SIGN1
SIGN2
CZ
GND
GND
COM＋
CL
SRV-ON
GAIN
A-CLR
POT
NOT
S-RDY＋
S-RDY−
ALM＋
ALM−
INP＋
INP−
COM−
GND ＋24V
2kΩ
2kΩ
5.1kΩ
5.6kΩ
5.6kΩ
5.6kΩ
220Ω
220Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
4.7Ω
Home input
Near home input
Z phase output
Counter clear input
Servo ON input
Gain switch input
Alarm clear input
Servo ready output
Servo alarm output
CCW limit sensor
Near home sensor
CW limit sensor
FP-XH C30T
PLC
MINAS A5 series
Amplifier
(Note 1) The allocation of I/O numbers on the controller side depends on unit types.
2.1 Connections with Servo Motor Amplifier
2-2 WUME-FPXHPOSG-01