YOKOGAWA FA-M3 F3YP22-0P User manual

Applicable Modules:
Model Code Model Name
F3YP22-0P Positioning Module (with Multi-channel Pulse Output)
F3YP24-0P Positioning Module (with Multi-channel Pulse Output)
F3YP28-0P Positioning Module (with Multi-channel Pulse Output)
User’s
Manual
IM 34M06H55-04E
IM 34M06H55-04E
2nd Edition
Yokogawa Electric Corporation
Positioning Modules
(with Multi-channel Pulse Output)

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A
ll Rights Reserved Copyright © 2013, Yokogawa Electric Corporation
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IM 34M06H55-04E
Applicable Product
Range-free Controller FA-M3
- Model : F3YP22-0P, F3YP24-0P, F3YP28-0P
- Name : Positioning Module (with Multi-Channel Pulse Output)
The document number for this manual is given below.
Refer to the document number in all communications, including when purchasing
additional copies of this manual.
- Document No.: IM 34M06H55-04E

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IM 34M06H55-04E
Precautions
About This Manual
- This Manual should be passed on to the end user.
- This manual is an essential part of the product; keep it in a safe place for future
reference.
- This product is designed to be used by a person with specialized knowledge.
- Before using the product, read this manual thoroughly to have a clear understanding
of the product.
- This manual explains the functions of this product, but there is no guarantee that
they will suit the particular purpose of the user.
- Under absolutely no circumstances may the contents of this manual be transcribed
or copied, in part or in whole, without permission.
- The contents of this manual are subject to change without prior notice.
- Every effort has been made to ensure accuracy in the preparation of this manual.
However, should any errors or omissions come to the attention of the user, please
contact the nearest Yokogawa Electric representative or sales office.
Safety Symbols
- ”Handle with care.” This symbol on the product indicates that the operator must
follow the instructions laid out in this user's manual to avoid the risk of personnel
injuries, fatalities, or damage to the instrument.
- Protective Conductor Terminal
This terminal is to prevent electric shock. Before using the instrument, connect to
the Protective earth (Comply with the regulation of each country.), and route the line
through the shortest path possible.
- Functional Earth Terminal
This terminal is for stable operation. Before using the instrument, be sure to ground
this terminal.
- Alternating current. Indicates alternating current.
- Direct current. Indicates direct current.

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IM 34M06H55-04E
The following symbols are used only in the user's manual.
WARNING
- Draws attention to information essential to prevent electrical shock or other dangers
that may result in injury or the loss of life.
CAUTION
- Draws attention to information essential to prevent hardware damage, software
damage or system failure.
NOTE
- Draws attention to information essential to the understanding of operation and
functions.
Safety Precautions when Using/Maintaining the Product
- For the protection and safe use of the product and the system controlled by it, be
sure to follow the instructions and precautions on safety stated in this manual
whenever handling the product. Take special note that if you handle the product in
a manner other than prescribed in these instructions, the protection feature of the
product may be damaged or impaired. In such cases, Yokogawa cannot guarantee
the quality, performance, function and safety of the product.
- When installing protection and/or safety circuits such as lightning protection devices
and equipment for the product and control system as well as designing or installing
separate protection and/or safety circuits for fool-proof design and fail-safe design of
processes and lines using the product and the system controlled by it, the user
should implement it using devices and equipment, additional to this product.
- If component parts or consumable are to be replaced, be sure to use parts specified
by the company.
- This product is not designed or manufactured to be used in critical applications
which directly affect or threaten human lives and safety — such as nuclear power
equipment, devices using radioactivity, railway facilities, aviation equipment,
shipboard equipment, aviation facilities or medical equipment. If so used, it is the
user’s responsibility to include in the system additional equipment and devices that
ensure personnel safety.
- Do not attempt to modify the product.
- To avoid electrical shock, turn off the power before wiring.
- This product is classified as Class A for use in industrial environments. If used in a
residential environment, it may cause electromagnetic interference (EMI).
In such situations, it is the user's responsibility to adopt the necessary measures
against EMI.
Exemption from Responsibility
- Yokogawa Electric Corporation (hereinafter simply referred to as Yokogawa Electric)
makes no warranties regarding the product except those stated in the WARRANTY
that is provided separately.
- Yokogawa Electric assumes no liability to any party for any loss or damage, direct or
indirect, caused by the use or any unpredictable defect of the product.

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IM 34M06H55-04E
Software Supplied by the Company
- Yokogawa Electric makes no other warranties expressed or implied except as
provided in its warranty clause for software supplied by the company.
- Use the software with one computer only. You must purchase another copy of the
software for use with each additional computer.
- Copying the software for any purposes other than backup is strictly prohibited.
- Store the original media that contain the software in a safe place.
- Reverse engineering, such as decompiling of the software, is strictly prohibited.
- Under absolutely no circumstances may the software supplied by Yokogawa Electric
be transferred, exchanged, or sublet or leased, in part or as a whole, for use by any
third party without prior permission by Yokogawa Electric.

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IM 34M06H55-04E
General Requirements for Using the FA-M3 / e-RT3 Controller
Set the product in a location that fulfills the following requirements:
- INDOOR USE ONLY
- This product is an open equipment. The product must be installed in a metallic
panel enclosure with an impact rating IK08 or more.
- Where the product will not be exposed to direct sunlight, and where the operating
surrounding air temperature is from 0°C to 55°C (32°F to 131°F).
There are modules that must be used in an environment where the operating
surrounding air temperature is in a range smaller than 0°C to 55°C (32°F to 131°F).
Refer to “Hardware Manual” (IM 34M06C11-01E) or the applicable user's manual. In
case of attaching such a module, the entire system's operating surrounding air
temperature is limited to the module's individual operating surrounding air
temperature.
- Where the relative humidity is from 10 to 90%.
In places where there is a chance of condensation, use a space heater or the like to
constantly keep the product warm and prevent condensation.
- For use in Pollution Degree 2 Environment.
- Where there are no corrosive or flammable gases.
- Where the product will not be exposed to mechanical vibration or shock that exceed
specifications.
- Where there is no chance the product may be exposed to radioactivity.
Use the correct types of wire for external wiring:
- USE COPPER CONDUCTORS ONLY.
- Use conductors with temperature rating above 75°C.
Securely tighten screws:
- Securely tighten module mounting screws and terminal screws to avoid problems
such as faulty operation.
- Tighten terminal block screws with the correct tightening torque as given in this
manual. Refer to the “Hardware Manual” (IM 34M06C11-01E) or the applicable
user's manual for the appropriate tightening torque.
Securely lock connecting cables:
- Securely lock the connectors of cables, and check them thoroughly before turning
on the power.
Interlock with emergency-stop circuitry using external relays:
- Equipment incorporating the FA-M3 / e-RT3 controller must be furnished with
emergency-stop circuitry that uses external relays. This circuitry should be set up to
interlock correctly with controller status (stop/run).
Ground for low impedance:
- For safety reasons, connect the [FG] grounding terminal to a protective earth
(Comply with the regulation of each country.). For compliance to CE Marking, use
braided or other wires that can ensure low impedance even at high frequencies for
grounding.


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IM 34M06H55-04E
Configure and route cables with noise control considerations:
- Perform installation and wiring that segregates system parts that may likely become
noise sources and system parts that are susceptible to noise. Segregation can be
achieved by measures such as segregating by distance, installing a filter or
segregating the grounding system.
Configure for CE Marking Conformance:
-For compliance to CE Marking, perform installation and cable routing according to
the description on compliance to CE Marking in the “Hardware Manual” (IM
34M06C11-01E).
-The list of CE conforming models is available in Appendix A2. of “Hardware
Manual”.
Keep spare parts on hand:
- We recommend that you stock up on maintenance parts, including spare modules,
in advance.
- Preventive maintenance (replacement of the module) is required for using the
module beyond 10 years.
Discharge static electricity before touching the system:
- Because static charge can accumulate in dry conditions, first touch grounded metal
to discharge any static electricity before touching the system.
Wipe off dirt with a soft cloth:
- Gently wipe off dirt on the product's surfaces with a soft cloth.
- If you soak the cloth in water or a neutral detergent, tightly wring it out before wiping
the product. Letting water enter the module interior can cause malfunctions.
- Do not use volatile solvents such as benzine or paint thinner or chemicals for
cleaning, as they may cause deformity, discoloration, or malfunctioning.
Avoid storing the FA-M3 /e-RT3 controller in places with high
temperature or humidity:
- Since the CPU module has a built-in battery, avoid storage in places with high
temperature or humidity.
- Since the service life of the battery is drastically reduced by exposure to high
temperatures, take special care (storage surrounding air temperature should be
from -20°C to 75°C).
- There is a built-in lithium battery in a Sequence CPU module which serves as backup
power supply for programs, device information and configuration information.
The service life of this battery is more than 10 years in standby mode at room
temperature. Take note that the service life of the battery may be shortened when
installed or stored at locations of extreme low or high temperatures. Therefore, we
recommend that modules with built-in batteries be stored at room temperature.
Always turn off the power before installing or removing modules:
- Failing to turn off the power supply when installing or removing modules, may result
in damage.
Do not touch components in the module:
- In some modules you can remove the right-side cover and install ROM packs or
change switch settings. While doing this, do not touch any components on the
printed-circuit board, otherwise components may be damaged and modules may fail
to work.

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IM 34M06H55-04E
Do not use unused terminals:
- Do not connect wires to unused terminals on a terminal block or in a connector.
Doing so may adversely affect the functions of the module.
Use the following power source:
- Use only F3PU- as the power supply module.
- If using this product as a UL-approved product, for the external power supply, use a
limited voltage / current circuit power source or a Class 2 power source.
- If using this product as a CE-complied product, for the external power supply, use a
SELV and limited-energy circuit separated by reinforced insulation or double
insulation from hazardous voltage.
Refer to the user's manual before connecting wires:
- Refer to the “Hardware Manual” (IM 34M06C11-01E) or the applicable user’s
manual for the external wiring drawing.
- Refer to “A3.6.5 Connecting Output Devices” in the “Hardware Manual” before
connecting the wiring for the output signal.
- Refer to “A3.5.4 Grounding Procedure” in the “Hardware Manual” for attaching the
grounding wiring.
Authorized Representative in the EEA:
- The Authorized Representative for this product in the EEA is:
Yokogawa Europe B. V.
Euroweg 2, 3825 HD Amersfoort, The Netherlands
In relation to UKCA marking, the importer for this product into Great
Britain market via the YOKOGAWA sales channel is:
- Yokogawa United Kingdom Limited, Stuart Road Manor Park Runcorn, WA7 1TR,
United Kingdom.


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IM 34M06H55-04E
General Requirements for Using the FA-M3 Slave Units (TAH Series)
Connect YHLS cable to SHIELD terminal:
- Connect the DRAIN line of the YHLS cable to the SHIELD terminal of the YHLS
master module securely. Failing to do so may affect the performance of the YHLS
system.
Do not touch components in the unit:
- Do not remove the back cover of the unit. Doing so may cause a failure.


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IM 34M06H55-04E
Waste Electrical and Electronic Equipment (WEEE)
Waste Electrical and Electronic Equipment (WEEE)
(Only valid in the EEA for EU WEEE Directive and in the UK for UK WEEE Regulation)
This product complies with the WEEE marking requirement.
This marking indicates that you must not discard this electrical/electronic product in
domestic household waste.
When disposing of products in the EEA and UK, contact your local Yokogawa office in
the EEA and/or UK respectively.

How to dispose the batteries
(Only valid in the EEA for EU Battery Directive/Regulation and in the UK for UK Battery
Regulation)
Batteries are included in some modules of this product.
This marking indicates they shall be sorted out and collected as ordained in the EU
battery Directive/Regulation and UK battery Regulation.
The procedure is different when the user can remove or cannot remove.
Batteries the user can remove
The battery of F3RP6, F3RP7and F3NP5can be removed by yourself.
When you remove the battery from F3RP6, F3RP7and F3NP5dispose it, discard
them in accordance with domestic law concerning disposal. See the User's Manual of
F3RP6, F3RP7and F3NP5for the removal procedure.
If you don't remove the battery from this product, please see .
Batteries the user cannot remove
Dispose the battery together with this product.
When you dispose this product in the EEA and UK, contact your local Yokogawa office in
the EEA and/or UK respectively.
Do not dispose them as domestic household waste.
Battery category: Lithium battery

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IM 34M06H55-04E
Introduction
Overview of the Manual
This user's manual explains the specifications and operation of the positioning modules
(multi-channel pulse output) F3YP22-0P, F3YP24-0P, and F3YP28-0P.
Other Manuals
●For information on the specifications, configuration*1, installation,
wiring, trial operation, maintenance and inspection of the FA-M3, as
well as information on the system-wide limitation of module installation,
refer to:
*1: Refer to the relevant product manuals for specifications except for power supply modules, base modules,
input/output modules, cables and terminal units.
- Hardware Manual (IM 34M06C11-01E)
●For F3SP22, F3SP28, F3SP38, F3SP53, F3SP58, F3SP59 functions:
- Sequence CPU Instruction Manual - Functions (for F3SP22-0S, F3SP28-3N/3S,
F3SP38-6N/6S, F3SP53-4H/4S, F3SP58-6H/6S, F3SP59-7S) (IM 34M06P13-01E)
●For F3SP71, F3SP76 functions:
- Sequence CPU Instruction Manual - Functions (for F3SP71-4N/4S, F3SP76-7N/7S)
(IM 34M06P15-01E)
- Sequence CPU - Network Functions (for F3SP71-4N/4S, F3SP76-7N/7S)
(IM 34M06P15-02E)
●For sequence CPU instructions:
- Sequence CPU Instruction Manual - Instructions (IM 34M06P12-03E)
●For creating ladder programs:
- FA-M3 Programming Tool WideField3 (IM 34M06Q16-E)
●For specifications, functions and operation procedure of the ToolBox
for Positioning Modules software:
- FA-M3 ToolBox Manual (IM 34M06Q30-01E)
- FA-M3 ToolBox for Positioning Modules (for F3YP22/24/28) (IM 34M06Q31-03E)

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Copyrights and Trademarks
Copyrights
The copyright of the programs and online manuals contained in the software medium of
the Software Product shall remain in YOKOGAWA.
You are allowed to print the required pages of the online manuals for the purposes of
using or operating the Product; however, reprinting or reproducing the entire document
is strictly prohibited by the Copyright Law.
Except as stated above, no part of the online manuals may be reproduced, transferred,
sold, or distributed to a third party in any manner (either in electronic or written form
including, without limitation, in the forms of paper documents, electronic media, and
transmission via the network). Nor it may be registered or recorded in the media such as
films without permission.
Trademarks
The trade names and company names referred to in this manual are either trademarks
or registered trademarks of their respective companies.

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IM 34M06H55-04E
CONTENTS
Applicable Product ...............................................................................................i
Precautions ..........................................................................................................ii
Introduction..........................................................................................................x
Copyrights and Trademarks ..............................................................................xi
1. Overview................................................................................................. 1-1
1.1 Features.............................................................................................................. 1-1
1.2 Concept of Position Control................................................................................ 1-2
1.3 Counter Functions .............................................................................................. 1-3
2. Specifications ........................................................................................ 2-1
2.1 Model and Suffix Codes...................................................................................... 2-1
2.2 Operating Environment....................................................................................... 2-1
2.3 General Specifications........................................................................................ 2-2
2.4 Components and Functions................................................................................ 2-3
2.5 External Dimensions........................................................................................... 2-4
2.6 Attachment Dimensions...................................................................................... 2-4
2.7 Applicable External Interface Connectors .......................................................... 2-5
2.8 Terminal Assignments and Connections ............................................................ 2-6
3. Function Overview ................................................................................ 3-1
3.1 Position Control .................................................................................................. 3-1
3.1.1 Positioning Operation ......................................................................... 3-1
3.1.2 Position Data Record Operation......................................................... 3-1
3.1.3 Multi-axis Linear Interpolated Operation ............................................ 3-2
3.1.4 Target Position Change Operation ..................................................... 3-2
3.1.5 Positioning Operation with Resetting Current Position ...................... 3-3
3.1.6 Target Position Change with Resetting Current Position ................... 3-3
3.2 Speed Control..................................................................................................... 3-4
3.2.1 Speed Control Operation.................................................................... 3-4
3.2.2 Speed Control to Position Control Switchover ................................... 3-4
3.3 Origin Search...................................................................................................... 3-5
3.3.1 Automatic Origin Search .................................................................... 3-5
3.3.2 Manual Origin Search......................................................................... 3-7
3.4 Manual Control ................................................................................................... 3-8
3.4.1 Jog...................................................................................................... 3-8
3.4.2 Manual Pulse Generator Mode .......................................................... 3-8
Positioning Modules
(with Multi-channel Pulse Output)
IM 34M06H55-04E

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IM 34M06H55-04E
3.5 Speed Change Operation................................................................................... 3-9
3.6 Counter Functions ............................................................................................ 3-10
3.6.1 Counter Coincidence Detection........................................................ 3-10
3.6.2 Counter Zone Coincidence Detection .............................................. 3-10
3.7 Trigger Functions...............................................................................................3-11
3.8 Save to/Initialize Flash Memory........................................................................ 3-12
4. Preparing for Operation ........................................................................ 4-1
5. Input/Output Relays .............................................................................. 5-1
5.1 Input Relays........................................................................................................ 5-2
5.2 Output Relays ..................................................................................................... 5-4
5.3 Behavior of Input/Output Relays......................................................................... 5-5
6. Positioning Parameters and Statuses ................................................. 6-1
6.1 Parameters ......................................................................................................... 6-3
6.1.1 List of Registered Parameters............................................................ 6-3
6.1.2 Description of Registered Parameters ............................................... 6-5
6.1.3 Example for Setting Registered Parameters.................................... 6-15
6.1.4 List of Command Parameters........................................................... 6-18
6.1.5 Required Parameters for Each Command ....................................... 6-19
6.1.6 Description of Command Parameters .............................................. 6-22
6.1.7 List of Position Data Records ........................................................... 6-30
6.1.8 Description of Position Data Records .............................................. 6-31
6.2 Statuses............................................................................................................ 6-33
6.2.1 List of Statuses for Each Axis/List of Common Statuses for All Axes
......................................................................................................... 6-34
6.2.2 Description of Statuses for Each Axis/Common Statuses for All Axes
......................................................................................................... 6-35
7. Counter Parameters and Statuses ....................................................... 7-1
7.1 Counter Parameters ........................................................................................... 7-3
7.1.1 List of Counter Registered Parameters.............................................. 7-3
7.1.2 Description of Counter Registered Parameters ................................. 7-4
7.1.3 Example of Setting Counter Registered Parameters ....................... 7-15
7.1.4 List of Counter Control Parameters.................................................. 7-18
7.1.5 Description of Counter Control Parameters ..................................... 7-19
7.2 Counter Statuses.............................................................................................. 7-24
7.2.1 List of Counter Statuses ................................................................... 7-24
7.2.2 Description of Counter Statuses....................................................... 7-25
8. Positioning Programs ........................................................................... 8-1
8.1 Operation Procedure .......................................................................................... 8-2
8.2 Read Parameters/Statuses ................................................................................ 8-3
8.3 Set Registered Parameters ................................................................................ 8-5
8.4 Reset Error ......................................................................................................... 8-9
8.5 Manual Control ..................................................................................................8-11
8.5.1 Jog.....................................................................................................8-11
8.5.2 Manual Pulse Generator Mode ........................................................ 8-15

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8.6 Origin Search.................................................................................................... 8-20
8.6.1 Manual Origin Search....................................................................... 8-20
8.6.2 Automatic Origin Search .................................................................. 8-27
8.7 Set Current Position ......................................................................................... 8-32
8.8 Positioning Operation ....................................................................................... 8-35
8.8.1 Start Positioning ............................................................................... 8-35
8.8.2 Start Positioning with Position Data Record..................................... 8-39
8.9 Target Position Change Operation ................................................................... 8-43
8.9.1 Change Target Position .................................................................... 8-43
8.9.2 Change Target Position with Position Data Record ......................... 8-47
8.10 Positioning Operation with Resetting Current Position..................................... 8-51
8.10.1 Start Positioning with Resetting Current Position............................. 8-51
8.10.2 Change Target Position with Resetting Current Position ................. 8-55
8.11 Speed Control Operation.................................................................................. 8-59
8.11.1 Start Speed Control.......................................................................... 8-59
8.11.2 Speed Control to Position Control Switchover ................................. 8-63
8.12 Decelerate and Stop......................................................................................... 8-68
8.13 Stop Immediately.............................................................................................. 8-72
8.14 Change Speed.................................................................................................. 8-74
8.15 Set Override...................................................................................................... 8-78
8.16 Trigger Setting .................................................................................................. 8-81
8.16.1 Software Trigger ............................................................................... 8-81
8.16.2 Contact Input Trigger........................................................................ 8-86
8.16.3 Counter Status Trigger ..................................................................... 8-90
8.16.4 Counter Zone Coincidence Trigger .................................................. 8-95
8.16.5 Positioning Completed Input Relay Trigger.................................... 8-100
8.17 Save to/Initialize Flash Memory...................................................................... 8-104
9. Counter Programs ................................................................................. 9-1
9.1 Operation Procedure .......................................................................................... 9-2
9.2 Read Counter Parameters/Statuses................................................................... 9-3
9.3 Set Counter Registered Parameters .................................................................. 9-5
9.4 Counter Enable/Disable...................................................................................... 9-9
9.4.1 Control with an External Input Signal ................................................. 9-9
9.4.2 Control by a Program ....................................................................... 9-10
9.5 Counter Preset...................................................................................................9-11
9.5.1 Control with an External Input Signal ................................................9-11
9.5.2 Control by a Program ....................................................................... 9-12
9.6 Counter Latch ................................................................................................... 9-13
9.6.1 Control with an External Input Signal ............................................... 9-14
9.6.2 Control by a Program ....................................................................... 9-15
9.7 Counter Coincidence Detection........................................................................ 9-16
9.8 Counter Zone Coincidence Detection............................................................... 9-18
9.9 Counter Contact Outputs.................................................................................. 9-21
9.9.1 Automatically Turning On/Off a Counter Contact Output ................. 9-21
9.9.2 Forcibly Turning On/Off a Counter Contact Output .......................... 9-23
9.10 Counter Bit Status Debug Mode....................................................................... 9-24

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10. Accessing Modules ............................................................................. 10-1
10.1 Accessing from Sequence CPU ....................................................................... 10-1
10.2 Accessing from a BASIC CPU.......................................................................... 10-4
10.3 Accessing from RTOS-CPU VxWorks.............................................................. 10-6
10.4 Accessing from RTOS-CPU Linux.................................................................... 10-8
11. Errors and Troubleshooting ................................................................11-1
11.1 Positioning Error ................................................................................................11-1
11.2 List of Positioning Error Codes ..........................................................................11-2
11.3 Positioning Warning...........................................................................................11-5
11.4 List of Positioning Warning Codes.....................................................................11-6
11.5 Counter Registered Parameter Errors...............................................................11-8
11.6 List of Counter Registered Parameter Error Codes ..........................................11-8
11.7 Troubleshooting .................................................................................................11-9
12. Connections and Wiring ..................................................................... 12-1
12.1 Attaching and Detaching Modules.................................................................... 12-1
12.2 Signal Specifications ........................................................................................ 12-3
12.2.1 Pulse Output..................................................................................... 12-4
12.2.2 External Contact Input...................................................................... 12-6
12.2.3 Z-phase Encoder Input..................................................................... 12-7
12.2.4 Deviation Pulse Clear Signal Output................................................ 12-8
12.2.5 Counter Input.................................................................................... 12-9
12.2.6 Counter Z-phase Input ....................................................................12-11
12.2.7 Counter Contact Input .................................................................... 12-12
12.2.8 Counter Contact Output ................................................................. 12-13
12.3 Examples of Connections to Motors/Drivers .................................................. 12-14
12.3.1 Example of Connection to Yokogawa Electric Corporation Servo Amp ...
....................................................................................................... 12-15
12.3.2 Example of Connection to Yaskawa Electric Corporation Servo Amp
....................................................................................................... 12-16
12.3.3 Example of Connection to Oriental Motor Stepping Motor............. 12-17
12.3.4 Example of Connection to Panasonic Servo Amp.......................... 12-18
12.3.5 Example of Connection to Mitsubishi Electric Servo Amp ............. 12-19
Appendix 1. Differences with F3YP14-0N/F3YP18-0N ........................Appx. 1-1
Appx. 1.1 General Specifications............................................................................ Appx. 1-1
Appx. 1.2 External connections .............................................................................. Appx. 1-3
Appx. 1.3 Added Command Codes......................................................................... Appx. 1-7
Appendix 2. Handling Compatible Speed Units for F3YP14-0N/ F3YP18-0N....
......................................................................................................Appx. 2-1
Appx. 2.1 Fixed-decimal Point Data........................................................................ Appx. 2-1
Appx. 2.2 Speed Data Conversion Program 1........................................................ Appx. 2-2
Appx. 2.3 Speed Data Conversion Program 2........................................................ Appx. 2-3
Appendix 3 Input/Output Relays ..........................................................Appx. 3-1
Appx. 3.1 Input relay ............................................................................................... Appx. 3-1

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IM 34M06H55-04E
Appx. 3.2 Output relay ............................................................................................ Appx. 3-3
Appendix 4 List of Parameters/Statuses .............................................Appx. 4-1
Appx. 4.1 Registered Parameter............................................................................. Appx. 4-2
Appx. 4.2 Command Parameters............................................................................ Appx. 4-4
Appx. 4.3 List of Position Data Records ................................................................. Appx. 4-5
Appx. 4.4 List of Statuses for Each Axis/Common Statuses for All Axes ............... Appx. 4-6
Appx. 4.5 List of Counter Registered Parameters .................................................. Appx. 4-8
Appx. 4.6 List of Counter Control Parameters........................................................ Appx. 4-9
Appx. 4.7 List of Counter Statuses ....................................................................... Appx. 4-10
Index ......................................................................................................... Index-1
Revision Information ...................................................................................Rev-1

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