Panasonic FP2-PP2T User manual

WUME-FP2POSP-01
2021.10 panasonic.net/id/pidsx/global
FP2 Positioning Unit
(Interpolation)
PROGRAMMABLE CONTROLLER
Technical Manual

Safety Precautions
Observe the following notices to ensure personal safety or to prevent accidents.
To ensure that you use this product correctly, read this User’s Manual thoroughly before use.
Make sure that you fully understand the product and information on safety.
This manual uses two safety flags to indicate different levels of danger.
WARNING
If critical situations that could lead to user’s death or serious injury is assumed by
mishandling of the product.
-Always take precautions to ensure the overall safety of your system, so that the whole
system remains safe in the event of failure of this product or other external factor.
-Do not use this product in areas with inflammable gas. It could lead to an explosion.
-Exposing this product to excessive heat or open flames could cause damage to the lithium
battery or other electronic parts.
CAUTION
If critical situations that could lead to user’s injury or only property damage is
assumed by mishandling of the product.
-To prevent excessive exothermic heat or smoke generation, use this product at the values
less than the maximum of the characteristics and performance that are assured in these
specifications.
-Do not dismantle or remodel the product. It could cause excessive exothermic heat or smoke
generation.
-Do not touch the terminal while turning on electricity. It could lead to an electric shock.
-Use the external devices to function the emergency stop and interlock circuit.
-Connect the wires or connectors securely.
The loose connection could cause excessive exothermic heat or smoke generation.
-Do not allow foreign matters such as liquid, flammable materials, metals to go into the inside
of the product. It could cause excessive exothermic heat or smoke generation.
-Do not undertake construction (such as connection and disconnection) while the power
supply is on. It could lead to an electric shock.
Copyright / Trademarks
-This manual and its contents are copyrighted.
-You may not copy this manual, in whole or part, without written consent of Panasonic
Industrial Devices SUNX Co., Ltd.
-Windows is a registered trademark of Microsoft Corporation in the United States and other
countries.
-All other company names and product names are trademarks or registered trademarks of
their respective owners. PLC_ORG

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Table of contents
4. Table of contents.................................................................................. i
5. Glossary............................................................................................viii
6. Functions of Unit and Restrictions on Combination.................1-1
1.1 Functions of FP2 Positioning Unit ............................................................1-2
1.1.1 Functions of Unit ........................................................................................1-2
1.1.1 Unit Types..................................................................................................1-3
1.2 Restrictions on Units Combination ...........................................................1-4
7. Parts and Functions ......................................................................2-1
2.1 Parts and Functions.................................................................................2-2
2.2 Operation Status Display LEDs................................................................2-3
8. Wiring.............................................................................................3-1
3.1 Connecting using Connector for a Discrete-Wire......................................3-2
3.1.1 Specifications of Connector for Discrete-wire............................................3-2
3.1.2 Assembly of Discrete-Wire Connector.......................................................3-3
3.2 Input/Output Specifications and Terminal Layout.....................................3-4
3.2.1 Input /Output Specifications.......................................................................3-4
3.3 Supplying Power for Internal Circuit Drive................................................3-8
3.3.1 Line Driver Output Type.............................................................................3-8
3.3.2 Transistor Output Type ..............................................................................3-8
3.4 Connection of Pulse Command Output Signal.........................................3-9
3.4.1 Line Driver Output type..............................................................................3-9
3.4.2 Transistor Output Type ..............................................................................3-9
3.5 Connection of Deviation Counter Clear Output Signal (for servo motor).3-10
3.6 Connection of Home Input/Near Home Input Signals.............................3-11
3.6.1 Connection of Home Input (When connecting to motor driver Z phase
output) ...................................................................................................3-11
3.6.2 Connection of Home Input (When connecting to an external switch/sensor)
...............................................................................................................3-11
3.6.3 Connection of Near Home Input Signal ...................................................3-12

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3.6.4 Connection of Over limit Input Signal.......................................................3-12
3.7 Connection of Pulse Input.......................................................................3-13
3.7.1 Line Driver Type.......................................................................................3-13
3.7.2 Transistor Open Collector Type...............................................................3-13
3.7.3 Transistor - resistor Pull - up Type...........................................................3-13
3.8 Precausions on Wiring............................................................................3-14
9. Power On/Off and Items to Check ..............................................4-1
4.1 Safety Circuit Design................................................................................4-2
4.2 Before Turning ON the Power ..................................................................4-3
4.3 Procedure for Turning ON the Power .......................................................4-4
4.3.1 Procedure for Turning ON the Power ........................................................4-4
4.3.2 Procedure for Turning OFF the Power.......................................................4-5
10. Preparation For Operation ..........................................................5-1
5.1 Confirming while the Power is ON ............................................................5-2
5.2 Pulse Output Mode and Switch Logic Settings .........................................5-3
5.3 Setting the Pulse Input Mode....................................................................5-4
5.3.1 Restrictions on Pulse Input Setting............................................................5-5
5.4 Checking the Safety Circuit ......................................................................5-6
5.4.1 Checking the External Safety Circuit..........................................................5-6
5.4.2 Checking the Safety Circuit based on Positioning Unit..............................5-6
5.5 Operation Check ......................................................................................5-7
5.5.1 Checking the Operation of the Near Home Switch and Home Switch.......5-7
5.5.2 Procedure 5: Checking Rotating and Moving Directions and Moving
Distance...................................................................................................5-8
5.6 Procedure 6: Settings of Parameters and Positioning Data ....................5-10
11. I/O Allocation.................................................................................6-1
6.1 Occupied I/O Area....................................................................................6-2
6.2 Allocation of Each Contact........................................................................6-3
12. Setting Tool Configurator PM.....................................................7-1
7.1 Connection With Computer.......................................................................7-2
7.2 Functions of Configurator PM...................................................................7-3
7.2.1 Overview ....................................................................................................7-3

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7.2.2 Basic Specifications ...................................................................................7-4
7.3 Installing Configurator PM........................................................................7-5
7.4 Startting Configurator PM.........................................................................7-6
7.5 Treating Files...........................................................................................7-7
7.5.1 New............................................................................................................7-7
7.5.2 Reading from Files...................................................................................7-10
7.5.3 Saving Files..............................................................................................7-11
7.5.4 Setting File Properties..............................................................................7-12
7.6 Exiting Configurator PM.........................................................................7-12
7.7 Connection to Positioning Unit............................................................... 7-13
7.7.1 Selecting Slot Number .............................................................................7-13
7.7.2 Communication Settings..........................................................................7-14
7.8 Parameter Settings................................................................................7-15
7.9 Changing Axis Information.....................................................................7-17
7.10 Setting Positioning Data.......................................................................7-18
7.11 How to Edit Positioning Data................................................................7-20
7.11.1 Inputting Positioning Data......................................................................7-20
7.11.2 Copying Positioining Data......................................................................7-21
7.11.3 Selecting All Cells ..................................................................................7-21
7.11.4 Searching Character Strings..................................................................7-22
7.11.5 Replacing Character Strings..................................................................7-22
7.11.6 Selecting Lines.......................................................................................7-23
7.11.7 Selecting Colums...................................................................................7-23
7.11.8 Editing Data Items Collectively ..............................................................7-23
7.12 Customizing Software..........................................................................7-24
7.13 Checking Settings................................................................................ 7-26
7.13.1 Checking Parameters and Data Values.................................................7-26
7.14 Transferring Setting Data..................................................................... 7-27
7.14.1 Uploading Setting Data from Positioning Unit........................................7-27
7.14.2 Downloading Setting Data to Positioning Unit .......................................7-28
7.14.3 Writing Settings to FROM ......................................................................7-29

iv
7.15 Data Monitor.........................................................................................7-30
7.16 Status Display ......................................................................................7-31
7.17 Tool Operation......................................................................................7-32
7.17.1 Tool Operation –Home Return..............................................................7-33
7.17.2 Tool Operation - Positioning...................................................................7-34
7.17.3 Tool Operation –JOG Operation...........................................................7-36
7.17.4 Tool Operation - Teaching .....................................................................7-38
13. Automatic Operation (Position Control) ....................................8-1
8.1 Basic Operation........................................................................................8-2
8.1.1 Setting and Operation of E Point Control...................................................8-3
8.1.2 Setting and Operation of P Point Control...................................................8-5
8.1.3 Setting and Operation of C Point Control...................................................8-7
8.1.4 Setting and Operation of J Point Control ...................................................8-9
8.2 Interpolation Control...............................................................................8-12
8.2.1 Setting and Operation of Two-Axis Linear Interpolation ..........................8-15
8.2.2 Setting and Operation of Two-Axis Circular Interpolation........................8-17
8.2.3 Setting and Operation of Three-Axis Linear Interpolation........................8-19
8.2.4 Setting and Operation of Three-Axis Linear Interpolation........................8-22
8.3 Synchronous Operation..........................................................................8-25
8.3.1 Overview of Synchronous Operation .......................................................8-25
8.3.2 Home Return in Synchronous Operation.................................................8-26
8.3.3 Synchronous Operation Difference Behavior Check Function ................8-28
8.3.4 Controlling and Monitoring Synchronous Operation ................................8-28
8.3.5 Operation of Master and Slave Axes .......................................................8-29
8.3.6 Setting and Operation of Synchronous Operation...................................8-30

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8.4 Setting and Operation of Positioning Repeat Function........................... 8-33
14. Manual Operation (JOG Operation) ..........................................9-1
9.1 Setting and Operation of Home Return....................................................9-2
9.2 Changing the Speed During JOG Operation............................................9-4
15. Manual Operation (Home Return)............................................10-1
10.1 Types of Home Return.........................................................................10-2
10.2 Setting and Operation of Home Return................................................10-5
16. Manual Operation (Pulser Operation)......................................11-1
11.1 Setting and Operation of Pulser Operation...........................................11-2
17. Stop Functions.............................................................................12-1
12.1 Settings and Operations of Stop Functions..........................................12-2
12.2 Setting and Operation of Pause Function.............................................12-3
18. Supplementary Functions...........................................................13-1
13.1 Dwell Time...........................................................................................13-2
13.2 Software Limit......................................................................................13-3
13.3 Auxiliary Output Code and Auxiliary Output Contact ............................13-4
13.4 Home Change...................................................................................... 13-5
13.5 Coordinate Origin.................................................................................13-6
13.6 Pulse Input...........................................................................................13-6
13.6.1 Monitoring Pulse Input Values ...............................................................13-7
13.6.2 Pulse Input Function ..............................................................................13-7
13.6.3 Function of Feedback Pulse ..................................................................13-8
13.6.4 Function of High-speed Counter..........................................................13-11
13.7 Startup Speed.................................................................................... 13-12
19. Precautions During Programming ............................................14-1
14.1 Precautions During Programming ........................................................14-2
14.1.1 Turning Off Power Supply Clears Contents in Shared Memory ............14-2
14.1.2 An Operation Started does Not Change to Another Operation..............14-2
14.1.3 How to Use Standard Area and Extended Area of Positioning Data.....14-3
14.1.4 Operation When the Mode of PLC Changed to PROG. from RUN .......14-4

vi
20. Errors and Warnings..................................................................15-1
15.1 Errors and Warnings.............................................................................15-2
15.1.1 About Errors and Warnings....................................................................15-2
15.1.2 Error and Warning Logs.........................................................................15-2
15.1.3 Errro and Warning Clear ........................................................................15-3
15.1.4 Errro and Warning Code Format............................................................15-3
15.1.5 Sample Program ....................................................................................15-3
15.2 Change in Error Recovery Process (Ver.1.13 or later)..........................15-4
15.2.1 Overview of Operational Change...........................................................15-4
15.3 List of System Codes............................................................................15-5
15.3.1 System Errors (From 1000H).................................................................15-5
15.3.2 Axis Operation Errors (From 3000H) .....................................................15-6
15.3.3 Setting Value Errors (From 0x4000) ......................................................15-8
15.4 List of Warning Codes).......................................................................15-11
15.4.1 Unit Warnings (From B000H)...............................................................15-11
21. Troubleshooting...........................................................................16-1
16.1 Troubleshooting....................................................................................16-2
16.1.1 If the Motor Does Not Turn or Operate (if the LED for pulse output A or B
is flashing or lighted) .............................................................................16-2
16.1.2 If the Motor Does Not Turn or Operate (if the LED for pulse output A or B
is not lighted).........................................................................................16-2
16.1.3 Rotation/Movement Direction is Reversed.............................................16-3
22. Specifications ...............................................................................17-1
17.1 Table of Specificationa .........................................................................17-2
17.1.1 General Specifications ...........................................................................17-2
17.1.2 Performance Specifications ...................................................................17-3
17.2 Allocation of Each Contact....................................................................17-5
17.3 Configuration of Shared Memory Areas..............................................17-11
17.4 Details of Common Area in Shared Memory.......................................17-12
17.4.1 Configuration of Common Area............................................................17-12
17.4.2 Setting Parameter Control Area...........................................................17-13
17.4.3 Operation Speed Rate Area.................................................................17-13
17.4.4 Setting Parameter Control Area...........................................................17-14
17.4.5 Synchronous Group Setting Area ........................................................17-15

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17.4.6 Current Value Update Data Area.........................................................17-16
17.4.7 Positioning Control Starting Table Number Setting Area.....................17-17
17.4.8 Positioning Control Area ......................................................................17-17
17.4.9 Error Annunciation & Clear Area..........................................................17-18
17.4.10 Warning Annunciation & Clear Area ..................................................17-20
17.4.11 Pulse Count Control Area ..................................................................17-22
17.4.12 Synchronous Operation Control/Monitor Area...................................17-23
17.4.13 System Operation Setting Area .........................................................17-24
17.5 Details of Each Axis Information Area in Shared Memory.................. 17-25
17.5.1 Configuration of Each Axis Information Area.......................................17-25
17.5.2 Each Axis Information & Monitor Area.................................................17-26
17.6 Details of Each Axis Setting Area in Shared Memory......................... 17-28
17.6.1 Configuration of Each Axis Setting Area..............................................17-28
17.6.2 Parameter Setting Area........................................................................17-29
17.6.3 Positioning Data Setting Areas ............................................................17-38
23. Dimensions...................................................................................18-1
18.1 FP2 Positioning Unit (Interpolation Type).............................................18-2
24. Sample Programs ........................................................................19-1
19.1 Basic Configuration and Contact Allocations of Sample Programs....... 19-2
19.2 Sample Programs................................................................................19-4
19.2.1 When Setting Positioning Data in Extended Area Using Program ........19-6
19.2.2 When Setting Positioning Data in Standard Area Using Program.........19-7
25. Driver Wiring ..............................................................................20-1
20.1 Wiring for Motor Driver.........................................................................20-2
20.1.1 Panasonic MINAS A/A4 Series..............................................................20-2
20.1.2 Panasonic MINAS S Series / E Series...................................................20-3
20.1.3 Panasonic MINAS EX Series.................................................................20-4
20.1.4 Panasonic MINAS X（XX）Series........................................................20-5
20.1.5 Panasonic MINAS X (V) Series .............................................................20-6
20.1.6 Combination with MINAS Motor.............................................................20-7
20.1.7 Oriental Motor UPK-W Series................................................................20-8

viii
Glossary
Configurator PM
Configurator PM is a setting tool for Positioning Unit (Interpolation type). Using the Configurator PM
enables the settings for positioning data and various parameters, and various monitoring. As a tool
operation mode to activate a motor without using ladder programs is provided in this tool, it is convenient
especially to confirm the operation at the time of an initial start-up.
E point control
This is a method of control which is initiated up to an end point, and in this manual is referred to as “E
point control”. This method is used for a single - speed acceleration/deceleration. It is also called a
trapezoidal control.
P point control
This refers to control which passes through a “Pass Point”, and is called “P point control”in this manual.
This method is used when a multi-stage speed is to be specified in the same motion.
C point control
This refers to control which passes through a “Continuance Point”, and is called “C point control”in this
manual. This method is used for executing continuous E point controls by one-time start.

ix
J point control (JOG positioning control)
This refers to control which passes through a “JOG Operation Point”, and is called “J point control”in this
manual. Executing the J point control performs the speed control until a “J pont positioning start contact”
turns on.
Acceleration time/deceleration time
For the E point control or C point contro, the acceleration time is the time during which the speed
changes from the startup speed of a motor to the target speed. The deceleration time is the time during
which the speed changes from the target speed to the stop. For the P point control, the acceleraiton time
is the time during which the speed accelerates form the current speed to the next target speed, and the
deceleration time is the time during which the speed decelerates from the current speed to the next
target speed.
CW, CCW
Generally, these indicate the direction in which the motor is rotating, with CW referring to clockwise
rotation and CCW to counterclockwise rotation.
CW/CCW output method (2-pulse output method)
This is a method in which control is carried out using two pulses, a forward rotation pulse and a reverse
rotation pulse. With the FP2 positioning unit, this is specified using the control codes of the shared
memory according to the driver specifications.
Pulse/Sign output method (1-pulse output method)
This is a method in which control is carried out using one pulse to specify the speed and ON/OFF signals
to specify the direction of rotation. With the FP2 positioning unit, this is specified using the control codes
of the shared memory according to the driver specifications.
Absolute method (absolute value control method)
This is a control method in which the target position is specified as an absolute position from the home
position. This is specified on the positioning data editing screen of the Configurator PM.

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Increment method (relative value control method)
This is a control method in which the distance from the current position to the target position is specified
as a relative position. This is specified on the positioning data editing screen of the Configurator PM.
Line driver output
This is one output format used in pulse output signal circuits, in which the push - pull output of the line
driver is used. Because this format offers better resistance to noise than the open collector output format,
a larger distance to the driver is possible. The line driver must be supported on the motor driver side.
Most servo motor drivers are equipped with this format.
Open collector output
This is one output format used in pulse output signal circuits, enabling to make connections in
accordance with the voltage of the power supply being used by connecting an external resistance. This
is used when connecting a driver that does not have line driver input, such as a stepping motor.
Automatic operation
This is an operation to be automatically executed, and means a position control.
Manual operation
This is an operation to be executed for an initial boot or adjustments. The home return, JOG operation
and pulser operation are manual operations.
Position control
This is a generic term for the E point contro, P point control and C point control. For each control, the
control of a single axis and the interpolation control of multiple axes are available.The interpolation
control can be selected from a 2-axis linear interpolation, 2-axis circular interpolation, 3-axis linear
interpolation and 3-axis sprial interpolation.

xi
JOG operation
This refers to an operation in which the motor is rotated only while operation commands are being input.
This is used to forcibly rotate the motor using input from an external switch, for instance when to make
adjustments. Depending on the circumstances, this can also be applied to unlimited feeding in some
cases.
JOG positioning operation
This refers to an operation to transfer a JOG operation to a positioning operation by an input from the
external switch.
Home return
The reference position for positioning is called a Home position and an operation to travel to a Home
position is called Home return. The home position should be set in advance. This operation moves to the
home position and its coordinate is set to be 0.
The motor rotation is reversed automatically when the limit input (+) or the limit input (-) is input and the
home position or the near home position is searched to return to the home position automatically.
Pulser operation
A manual operation is available using a device (pulser) which generates pulses manually. The output
similar to an encoder is obtained from the pulser, and the positioning unit RTEX is equipped with
exclusive input terminals. It is also called a manual pulse generator.
Deceleration stop
This is a function that interrupts the operation in progress, slows the rotation and brings it to a stop. The
deceleration time is the deceleration time during the operation.
Emergengy stop
This is a function that interrupts the operation in progress, slows the rotation and brings it to a stop.
Generally, a time shorter than a time for a deceleration stop is set. The deceleration time can be
specified individually.
Positioning table (Table)
A series of positioning data such as acceleration/deceleration time, target speed and interpolation
operation that is necessary for a position control is managed as a positioning table. For example, one
table is necessary for the E point control, and multiple tables are necessary for the P point control and C
point control depending on the number of pass points and continuance points.
Limit input (+), limit input (-)
This is an input to set a limit the motor movement. Limit input (+) is the maximum limit and the limit input
(-) is the minimum limit. They are connected to the AMP for the positioning unit RTEX.
Near home (DOG) input
In order to stop the table at the home position, a position at which deceleration begins is called the near
home position. This is connected to an external input switch or sensor. It is connected to the AMP for the
positioning unit RTEX.
Dwell time
In case of the E point control, a time from the completion of a position commande until the operation
done flag turns on can be specified as a dwell time.In case of the C point control, a time from the
deceleration stop until the next table activates can be specified.

xii
Auxiliary output code, auxiliary output contact
They are used to check the operation of a position control.
The auxiliary output code is a 16-bit code that can be specified for each positioning table, and enables to
monitor which positioning table is being executed.
The exeuction fo the position control can be confirmed by turning an exclusive auxiliary output contact on
for a constant time.
Software limit
Limits can be set for the absolute coordinate managed within the positioning unit RTEX. When
exceeding the setting range of the software limit, an error occurs, and the system decelerates and stops.
The decelration time can be set individually.
Linear interpolation
This is the interpolation control that controls positions as the locas of the operations of the 2-axis motor
with the grouped X axis and Y axis or 3-axis motor with the grouped X axis, Y axis and Z axis becomes a
straight line. There are two setting methods, which are a composition speed specification and long axis
speed specification.
Circular interpolation
This is the inerpolation control that controls positions as the locas of the operation of the 2-axis motor
with the grouped X axis and Y axis becomes a circular arc. Therea re tow setting methods, which are a
center point specification and pass point specification.
Spiral interpolation
This is the interpolation control that controls positions as the loca of the operation of the 3-axis motor
with the grouped X axis, Y axis and Z axis becomes a spiral. Arbitrary 2 axes describe an arc, and the
remaining one axis moves to achieve a spiral There are two setting methods, which are a center point
specification and pass point specification.
Edge type
This is one of the methods to detect the request signals allocated to this unit. It executes each requested
process by detecting a trigger that is the leading edge when the request signal turns on.
Therefore, the next request cannot be accepted until the request signal turns off.
Level type
This si one of the methods to detect the request signals allocated to this unit. It executes each requested
process by detecting a trigger that the request signal is on, and continues the requested process while
the request signal is on.

xiii
Transfer multiple
With the FP2 positioning unit, this can be specified when the pulser operation function is used.
Outputting the number of pulses doubled by the number of pulser input signals, the transfer multiple is
said to be “2”, and when the number of pulses is five times that of the pulser input signals, the transfer
multiple is said to be “5”.
Example: Transfer multiple function of the FP positioning unit pulser input
Feedback pulse input
This counts the feedback pulse from the encoder. 2-phase input, direction distinction input and individual
input can be handled.
2-phase input method
This counts the signal of 2 pulses in the different phase (A phase, B phase). when A phase preceeds B
phase, the motor is rotated clockwise(count increment) and when B phase preceeds A phase, the
motor is rotated counter-clockwise (count decrement).
Direction distinction input method
This is a method to count using ON/OFF signal specifying the pulse signal and count direction.
Individual input method
This is a method to count using the count increment pulse signal and the count decrement pulse signal.

xiv

Chapter 1
Functions of Unit and Restrictions on
Combination

1-2
1.1 Functions of FP2 Positioning Unit
1.1.1 Functions of Unit
Positioning can be controlled through the combination of a servo motor and a stepping motor
with a driver using the pulse train input method.
- Positioning control using a stepping motor
- Positioning control using a servo motor
2-axis and 4-axis types are available.
Multiple axes (up to 4 axes) can be controlled with a single unit.
- 2-axis type
- 4-axis type
Transistor output type (Open collector) and Line driver output type are available.
The unit has 2 types; one is the Line driver output type, can handle the high-speed control, and another
is the Transistor output type, can handle the driver can be connected with only the open collector such
as a stepping motor. When either can be used, we recommend the Line driver output type.

1-3
Can confirm operations without ladder programs
Using the tool operation function of the Configurator PM enables a test run without a ladder program,
and enables to confirm various items such as the rotating direction, various input contacts or automatic
operation settings.
Two-axis and three-axis interpolation controls
The 2-axis linear interpolation, 2-axis circular interpolation, 3-axis linear interpolation and 3-axis spiral
interpolation contols can be performed.
1.1.1 UnitTypes
FP2 Positioning Unit (Interpolation type)
Type
Function
Part number
Product number
2-axis transistor output type
2-axis control
FP2-PP2T
AFP243710
4-axis transistor output type
4-axis control
FP2-PP4T
AFP243720
2-axis line driver output type
2-axis control
FP2-PP2L
AFP243711
4-axis line driver output type
4-axis control
FP2-PP4L
AFP243721
Setting software
Name
Applicable Ver.
Specifications
Product number
Control Configurator PM
Ver. 1.2
English
AFPS66510

1-4
1.2 Restrictions on Units Combination
For the FP2, when the system is configured, the other units being used should be taken into
consideration, and a power supply unit with a sufficient capacity should be used.
FP2 Positioning Unit (Interpolation type)
Type
Part number
Product number
Current consumption (from power supply)
2-axis type
FP2-PP2T
AFP243710
300 mA
2-axis type
FP2-PP2L
AFP243711
300 mA
4-axis type
FP2-PP4T
AFP243720
300 mA
4-axis type
FP2-PP4L
AFP243721
300 mA