Panasonic FP0H Series User manual

SAFETY PRECAUTIONS
To prevent accidents or personal injuries, please be sure to comply with the following items.
Prior to installation, operation, maintenance and check, please read this manual carefully for proper use.
Before using, 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.
WARNING
Incorrect operation may lead to death or serious injury.
●Take appropriate safety measures to the external circuit of the product to ensure the security of
the whole system in case of abnormalities caused by product failure or external.
●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 could 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.
CAUTION
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 decompose or transform it.
Otherwise it will lead to the excessive exothermic heat or smoke generation of the product.
●Do not touch terminal blocks during power-on.
Otherwise it may result in an electric shock.
●Set 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 undertake construction (such as connection and disconnection) while the power supply is on.
It could lead to 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.
●EtherNet/IP is a registered trademark of ODVA (Open DeviceNet Vendor Association).
●SDHC and SD logos are trademarks of LLC.
●Other company and product names are trademarks or registered trademarks of their respective companies.
PLC_BAT_ET_FP0H

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.
Types of Manual
•This manual describes the "positioning function (table setting mode) / PWM output and high-
speed counter function" implemented in FP0H Control Unit.
•There are different types of user’s manual for the FP0H series. Please refer to a relevant
manual for the unit and purpose of your use.
•The manuals can be downloaded on our website:
http://industrial.panasonic.com/ac/e/dl_center/manual/
Unit name or purpose of
use
Manual name Manual code
FP0H Control Unit FP0H User’s Manual (Basic) WUME-FP0H-BAS
FP series Programming Manual ARCT1F313E
Positioning
Function/PWM
Output/High-speed
Counter Function
FP0H User’s Manual
(Positioning/PWM Output/High-speed Counter) WUME-FP0HPOS
Serial Communication
Function FP0H User’s Manual (COM Communication) WUME-FP0HCOM
Ethernet Communication
Function FP0H User’s Manual (Ethernet Communication) WUME-FP0HET
EtherNet/IP
Communication Function FP0H User’s Manual (EtherNet/IP) WUME-FP0HEIP
Logging/Trace Function FP0H User’s Manual (Logging/Trace Function) WUME-FP0HLOG
FP0H Extension
(Communication) Cassette FP0H User’s Manual (COM Communication) WUME-FP0HCOM
FP0H Positioning Unit FPΣPositioning Unit User’s Manual (Note) ARCT1F365E
(Note): For information on FP0H Positioning Unit, refer to the conventional FPΣPositioning Unit Manual. The color of
the main unit case is different (FP0H is black, and FPΣis gray), however, the other specifications are the
same.
.

Table of Contents
ii
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 FP0H Positioning Function..................................................1-2
1.1.2 Compatibility Function with FPΣ..............................................................1-3
1.2 Restrictions on Combinations and Functions .........................................1-4
1.2.1 Applicable Versions of Unit and Software ...............................................1-4
1.2.2 Restrictions on I/O Allocation ..................................................................1-4
1.3 Comparison of Pulse Output Function ...................................................1-6
1.3.1 Types of Positioning Control Modes .......................................................1-6
1.3.2 Selection of Positioning Control Mode ....................................................1-6
1.3.3 Comparison of Two Control Modes.........................................................1-7
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

Table of Contents
iii
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....3-7
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 (FPΣCompatible Instruction Mode)4-4
4.1.3 When Using PWM Output Function ........................................................4-7
4.1.4 When Using High-speed Counter Function ............................................4-8
4.2 Settings in Configurator PMX .............................................................. 4-10
4.2.1 Allocating Channels to be Used ............................................................4-10
4.2.2 Setting Parameters................................................................................4-12
4.2.3 Creating Positioning Data Table ...........................................................4-14
4.2.4 Saving Positioning Parameters .............................................................4-16
4.2.5 Check on Parameter Data.....................................................................4-17
4.2.6 Writing Parameters to Unit (1)...............................................................4-17
4.2.7 Writing Parameters to Unit (2)...............................................................4-18
4.3 System Register Settings .................................................................... 4-19
4.3.1 Confirming and Selecting Functions to be Used...................................4-19
4.4 Reading Elapsed Values..................................................................... 4-21
4.4.1 Elapsed Value (Current Value) Area.....................................................4-21
4.4.2 Reading Elapsed Value (Current Value) Area ......................................4-21

Table of Contents
iv
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 Operations of JOG Operation ............................................5-4
5.2.2 Settings and Operations of JOG Operation (Speed Changes) ...............5-6
5.2.3 Speed Changes in JOG Operation .........................................................5-7
5.3 Home Return .........................................................................................5-8
5.3.1 Types of Home Return ............................................................................5-8
5.3.2 Operation Patterns of Home Return......................................................5-10
5.3.3 Settings and Operations of Home Return .............................................5-13
5.4 Positioning Control ..............................................................................5-15
5.4.1 Types of Positioning Control .................................................................5-15
5.4.2 E-point Control (First Speed Positioning)..............................................5-17
5.4.3 P-point Control (Second Speed Positioning).........................................5-19
5.4.4C-point Control ......................................................................................5-21
5.4.5 J-point Control (JOG Positioning Control).............................................5-23
5.4.6 J-point Control (JOG Positioning: Speed Changes) .............................5-25
5.4.7 Programming cautions ..........................................................................5-28
5.5 Repeat Operation ................................................................................5-29
5.5.1 Overview of Repeat Operation ..............................................................5-29
5.5.2 Settings and Operations of Repeat Operation ......................................5-31
5.5.3 Stop Operation During Repeat Operation .............................................5-33
5.6 Linear interpolation control ..................................................................5-34
5.6.1 Overview................................................................................................5-34
5.6.2 Settings and Operations of Linear Interpolation....................................5-35
6. Operating Characteristics ................................................. 6-1
6.1 Operational Difference Between Parameters.........................................6-2

Table of Contents
v
6.1.1 Startup speed ..........................................................................................6-2
6.1.2 Operations When Target Speed/Startup Speed is Less Than 50 Hz .....6-2
6.1.3 Operation Patterns and Start Speed Settings.........................................6-3
6.2 Other Characteristics ............................................................................ 6-4
6.2.1 Backup of Positioning Memory................................................................6-4
6.2.2 Activation of Each Operation...................................................................6-4
6.2.3 Operation When PLC Mode Changes From RUN To PROG. ................6-4
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............................7-6
7.1.6 [F385 PTBLW] Positioning parameter write instruction ..........................7-7
7.2 FPΣCompatible Instruction Mode Control Instruction ........................... 7-8
7.2.1 [F171(SPDH)] Pulse Output (Trapezoidal Control).................................7-8
7.2.2 [F171(SPDH)] Pulse Output (Home Return).........................................7-13
7.2.3 [F172(PSLH)] Pulse Output (JOG Operation).......................................7-18
7.2.4 [F174(SP0H)] Pulse Output (Selectable Data Table Control Operation)7-21
7.2.5 [F175(SPSH)] Pulse Output (Linear Interpolation)................................7-27
8. Troubleshooting................................................................. 8-1
8.1 Self-diagnostic Function........................................................................ 8-2
8.1.1 Operation Monitor LEDs of Control Unit .................................................8-2
8.1.2 Operation Mode When an Error Occurs..................................................8-3
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............................................8-6

Table of Contents
vi
8.2.3 Motor Does Not Rotate/Move (Output LED Flashes or is ON) ...............8-8
8.2.4 Motor Does Not Rotate/Move (Output LED is OFF) ...............................8-8
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 ........................................................................9-3
9.1.3 [F173 PWMH] PWM Output Instruction (Frequency Specification) ........9-4
9.1.4 [F173 PWMH] PWM Output Instruction (Control Code Specification) ....9-6
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 ....................................................................10-6
10.2.1 System Register Settings ......................................................................10-6
10.3 High-speed Counter Instruction ...........................................................10-8
10.3.1 [F0 MV] High-speed Counter Control Instruction ..................................10-8
10.3.2 [F1 DMV] Elapsed Value Write / Read Instruction ..............................10-10
10.3.3 [F166 HC1S] High-speed Counter Target Value Match ON Instruction
[F167 HC1R] High-speed Counter Target Value Match OFF Instruction10-12
10.3.4 Sample Program (Positioning Operation With Inverter: First Speed) .10-14
10.3.5 Sample Program (Positioning Operation With Inverter: Second Speed)10-16
10.4 High-speed Counter Cam Control Instruction ....................................10-18
10.4.1 [F165 CAM0] High-speed Counter Cam Control Instruction...............10-18
10.4.2 Sample Program (Upper Limit Control, Reset, Addition) ....................10-22
10.4.3 Sample Program (Upper Limit Control, Instruction Clear, Addition) ...10-24

Table of Contents
vii
10.4.4 Sample Program (Upper Limit Control, Subtraction) ..........................10-26
10.5 Interrupt Program Activation.............................................................. 10-28
10.5.1 Overview of Function ..........................................................................10-28
10.5.2 Interrupt Activation When F165 (CAM0) is Executed .........................10-29
11. FPΣMode ......................................................................... 11-1
11.1 FPΣMode ........................................................................................... 11-2
11.1.1 Overview of FPΣMode .........................................................................11-2
11.1.2 Converting Projects for FPΣto Projects for FP0H (FPΣMode) ............11-3
11.1.3 Converting Projects for FP0H (FPΣMode) to Projects for FP0H (FP0H
Mode) ....................................................................................................11-4
11.2 Differences in Positioning Instructions with FPΣ.................................. 11-5
11.2.1 High-speed Counter/Pulse Output Control Instruction F0(MV).............11-5
11.2.2 High-speed Counter Instructions F165 (CAM0), F166 (HC1S), F167
(HC1R) ..................................................................................................11-6
11.2.3 Pulse/PWM Output Control Instructions................................................11-7
12. Specifications .................................................................. 12-1
12.1 Specifications...................................................................................... 12-2
12.1.1 General Specifications ..........................................................................12-2
12.1.2 Performance Specifications ..................................................................12-2
12.2 Allocation of Memory Areas ................................................................ 12-4
12.2.1 When Using Pulse Output Table Setting Mode ....................................12-4
12.2.2 When Using Pulse Output Function (FPΣCompatible Instruction Mode)12-5
12.2.3 When Using PWM Output Function ......................................................12-6
12.2.4 When Using High-speed Counter Function ..........................................12-7
12.3 Positioning Memory ............................................................................ 12-8
12.3.1 Configuration of Memory Map...............................................................12-8
12.3.2 Common area (Memory Area No. 0)...................................................12-10
12.3.3 Axis Information Area (Memory Area No. 1) .......................................12-11

Table of Contents
viii
12.3.4 Axis Setting Area (Memory Area No. 2) ..............................................12-12
12.3.5 Positioning Table Area (Memory Area No. 3) .....................................12-14

1
Functions of Unit and
Restrictions on Combination

Functions of Unit and Restrictions on Combination
1-2
1.1 Functions of Unit
1.1.1 Overview of FP0H Positioning Function
Up to 4-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 (first speed automatic trapezoidal
acceleration/deceleration), P-point control (second 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.
FPΣcompatible instruction mode is also available.
•The mode which uses instructions similar to those for the existing FPΣseries models (F171
to F175, F0 and F1).

1.1 Functions of Unit
1-3
1.1.2 Compatibility Function with FPΣ
"FP0H mode" or "FPΣmode" can be selected to retain compatibility with FPΣ. Usable
functions and performances vary according to each mode.
Each mode is selected in the system register no. 3 by the tool software.
Comparison of functions and performances
Item
Specifications
FP0H mode (Default) FP
Σ
mode
High-speed
counter
Single-
phase
Max. 4 channels (CH0-3)
Max. 100 kHz×4
Max. 4 channels (CH0-3)
Max. 100 kHz×4
2-phase Max. 2 channels (CH0, CH2)
Max. 50kHz×2
Max. 2 channels (CH0, CH2)
Max. 50kHz×2
I/O
allocation Independent from pulse/PWM output. Shared with pulse/PWM output.
Pulse
output
Independent Max. 4 channels (CH0-3)
Max. 100 kHz
Max. 2 channels (CH0, CH2),
Max. 100 kHz
Interpolation Max. 2 channels (CH0, CH2)
Max. 100 kHz (Composite speed)
Max. 1 channel (CH0)
Max. 100 kHz (Composite speed)
I/O
allocation
Independent from high-speed counter
input.
Shared with high-speed counter input.
PWM output Max. 4 points (CH0-3) Max. 2 points (CH0, CH2)
I/O
allocation
Independent from high-speed counter
input. Shared with high-speed counter input.
Pulse output function Table setting mode
FPΣcompatible instruction mode
FPΣcompatible instruction mode
Explanation of each mode Default setting for FP0H project.
There is no restriction on each
function.
Select when using FPΣprograms.
The performances of some functions
and I/O allocation are the same as
those of FPΣ.
(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.
REFERENCE
For details of the FPΣmode, refer to “11. FPΣMode”.

Functions of Unit and Restrictions on Combination
1-4
1.2 Restrictions on Combinations and Functions
1.2.1 Applicable Versions of Unit and Software
For using FP0H, the software of the following versions is necessary.
Item
Applicable versions
Programming Software
Control FPWIN GR7 FPWIN GR7 Ver.2.19 or later
Configurator PMX It is used for using the pulse output function in the table setting mode. It is
implemented in FPWIN GR7/Pro7 and activated from the option menu.
Programming Software
Control FPWIN Pro7 FPWIN PRO7 Ver.7.2.0 or later
(Note 1): The latest version is provided free of charge at our website
http://industrial.panasonic.com/ac/e/dl_center/software/ Use the latest version.
(Note 2): It is also necessary to install a setup file for using FP0H with FPWIN Pro7. For details, see the above
website.
1.2.2 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 function so that they do not overlap.
Examples of unusable combinations
Example 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
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 positioning start
input CH0 Count input
CH0 Count input -
X1 CH1 J-point positioning start
input CH1 Count input -
X2 CH0 Home input -
- CH0, CH1 Reset input
X3 CH2 J-point positioning start
input CH2 Count input
CH2 Count input -
X4 CH3 J-point positioning start
input CH3 Count input -
X5 CH1 Home input -
- CH2, CH3 Reset input
X6 CH2 Home input -
- -
X7 CH3 Home input -
- -
(Note 1): When the reset input settings of reset input for the single-phase input overlap at CH0 and CH1 or CH2 and
CH3, the setting of CH1 or CH3 has priority.
Output signals of Control Unit
I/O
no.
Pulse output function PWM output
Pulse output Deviation counter clear
Y0
CH0 CW or pulse output
-
CH0
Y1 CH0 CCW or sign output
- (Note 2)
Y2 -
CH0 -
Y3 CH1 CW or pulse output
- CH1
Y4 CH1 CCW or sign output - (Note 2)
Y5 - CH1 -
Y6 -
- -
Y7 -
- -
Y8 CH2 CW or pulse output
- CH2
Y9 CH2 CCW or sign output
- (Note 2)
YA - CH2 -
YB CH3 CW or pulse output - CH3
YC CH3 CCW or sign output
- (Note 2)
YD -
CH3 -
YE -
- -
YF -
- -
(Note 2): When using the PWM output, the output numbers to be paired are normal output.
(Note 3): 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 Y1F in a user program so
that it does not overlap the above functions.

Functions of Unit and Restrictions on Combination
1-6
1.3 Comparison of Pulse Output Function
1.3.1 Types of Positioning Control Modes
For using the FP0H 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.
•This function can be selected only in the FP0H mode.
FPΣcompatible 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 to F1 are used for the control.
•This method is similar to the pulse output function of the existing model FPΣ.
1.3.2 Selection of Positioning Control Mode
•The positioning control mode is selected in the system register no. 407 by the tool software.

1.3 Comparison of Pulse Output Function
1-7
1.3.3 Comparison of Two Control Modes
There are following differences between the table setting mode and FPΣcompatible
instruction mode.
Comparison of Two Control modes
Item Table setting mode FP
Σ
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 methods 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 (First 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 (First 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)

Functions of Unit and Restrictions on Combination
1-8
Comparison in programming
Item Table setting mode FP
Σ
compatible instruction mode
Read/Write
of elapsed
value
Area Positioning memory
Special data registers
FP0H
mode
CH0 DT90348 to DT90349
CH1 DT90352 to DT90353
CH2 DT90356 to DT90357
CH3 DT90360 to DT90361
FPΣ
mode
CH0 DT90044 to DT90045
CH2 DT90200 to DT90201
Execute F384 instruction (Read), F385
instruction (Write) F1 instruction (Both Read and Write)
Confirmation of BUSY
state Input contacts X808 to X80B
Special relays
FP0H mode R911C to R911F
FPΣmode R903A, R903C
Confirmation of
positioning completion Input contacts X810 to X813 Instead detects the fall of the above
BUSY signal by a user program.
Confirmation of home
return completion Input contacts X828 to X82B
Near home input
Allocate arbitrary input contacts and
turn on the outputs Y850 to Y853 by
user programs.
Allocate arbitrary input contacts and turn
on the bit 4 of the special data register
DT90052 by user programs.

2
Wiring

Wiring
2-2
2.1 Connections with Servo Motor Amplifier
2.1.1 Connection Example
(Note): The allocation of I/O numbers on the controller side depends on channel numbers.