Motion Controller GM1

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Basic Information
System Configuration
Units
Option
Specifications
Dimension

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Basic Information

PLC + Motion + Communication 【All-in-one】

UL,CE,Korean KC,UKCA Approved

UL , CE , Korean KC , UKCA: Marking conformity
Korean KC: PNP type complies from May 2024 production lot.

April 2022　Hello! GM1(Technical Information) has been added.

Features

PLC + Motion + Communication

Integrate PLC and motion

High speed motion control Fastest cycle 500μs
Multitask control by function aggregation

Motion control

Positioning / Speed control / Torque control
Cam synchronization, Gear synchronization, CNC control

Multitask control

High speed motion control
Display / Device / Upper communication
Data processing

Standardization of PLC programming

Break away from manufacturer-dependent programming

Programming: IEC61131-3 standard compliant, PLCopen
Supports 6 languages: LD / ST / FBD / SFC / IL / CFC
Componentization by library function
Supports object orientation

*It can be downloaded free of charge from our website.

Enhanced communication between the upper level and the device

Supports various network protocols

Motion

Cam synchronous control expanded so that anyone can use it

Extended cam editor [Ver.1.4 Additional Features]

Create cam waveforms more easily by intuitively editing graphs and numerically editing sections.

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Supports multiple types of cam waveforms [Ver.1.4 Additional Features]

You can freely draw a cam waveform using a generic cam curve.
Applies to applications using dedicated cam curves.

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Function blocks optimized for each application

Floating Trapezoid [Patent pending][Ver.1.4 Additional Features]

It combines the versatility of a trapezoid with the connectivity of a quintic curve. You can create cam waveforms that suppress rapid acceleration and deceleration.

Rotary cutter

In packaging machines and cutting machines, it is possible to perform cutting operations that synchronize the speed of the cutter blade with the feed direction of the product. The cut surface is cleaner than the cutting method with constant circumferential speed.

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Expanding CNC synchronous control so that anyone can use it

CNC program editor

You can easily create a program for the first time because you can check the trajectory while writing the program.

Supports various CNC programs

2-axis, 3-axis linear (circular) interpolation

Move from current coordinates to target coordinates by linear (circular) interpolation

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Coordinate transformation

Work and tool coordinates are also supported.

Smooth the path, add R to the path

Path connections can be changed to smooth trajectories.

Iterative processing

Possible to repeat by incrementing the counter or by conditional branching.

Change of machining plane, coordinate transformation

Set the plane on which circular interpolation will be performed. 3D processing is also applicable.

Tool diameter compensation

Correction is performed at the specified distance inside and outside the rectangle.

Tool length compensation

Correct the path according to the tool length used.

H-switch function

This function allows you to turn the IO output ON/OFF when the interpolation movement distance reaches a predetermined amount.

Subprograms

Programs can be modularized.

Easily program MQTT clients compatible with PubSub model [Ver.1.4 Additional Features]

By building an asynchronous communication system, it is possible to add or reduce equipment while the site is in operation.

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Also supports FTP server, DNS, and SNTP connections.

Compliance with international standards

Conformed standards		Standard number
EU/UK Standards	EMC	EN 61131-2
EU/UK Standards	RoHS	EN IEC 63000
UL Standards		UL61010-1, UL61010-2-201
CSA Standards		C22.2 No.61010-1-12, C22.2 No.61010-2-201
Radio Waves Act (South Korea) (KC)		KN 61131-2

EMC ： Electromagnetic Compatibility
RoHS ： Restriction of Hazardous Substances
IEC ： International Electrotechnical Commission
EN : Europaischen Norman
UL ： Underwriters Laboratories
CSA : Canadian Standards Association
KC : Radio Waves Act (South Korea)

The motion controller is a Class A device (commercial broadcasting communication device) under Radio Waves Act(South Korea).
Please use this product after recognizing the following precautions.

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Units

Controller and Expansion units

Product name	Descriptions	Part No.
GM1 Controller RTEX type (Note 1)	RTEX motion controller Transistor NPN output type	AGM1CSRX16T
GM1 Controller EtherCAT type (Note 1)	EtherCAT motion controller Transistor NPN output type	AGM1CSEC16T
GM1 Controller EtherCAT type (Note 1)	EtherCAT motion controller Transistor PNP output type	AGM1CSEC16P
GM1 Digital input / output unit (Note 1)	24 V DC, 64 input points	AGM1X64D2
	64 output points Transistor NPN type	AGM1Y64T
	64 output points Transistor PNP type	AGM1Y64P
	24 V DC, 32 input points 32 output points Transistor NPN type	AGM1XY64D2T
	24 V DC, 32 input points 32 output points Transistor PNP type	AGM1XY64D2P
GM1 Analog input / output unit	8 input points	AGM1AD8
GM1 Analog input / output unit	4 output points	AGM1DA4
GM1Pulse output unit (Note 1)	4-axis, pulse train, 500 kpps Open collector output	AGM1PG04T
GM1Pulse output unit (Note 1)	4-axis, pulse train, 4 Mpps Line driver output	AGM1PG04L

Notes :

1)Connectors are not included with the controller, Digital input / output unit or Pulse output unit. Please ensure you have the following connectors.
A power cable (Part No.: AFPG805) is included with the controller.
>>Refer to connectors(Option)

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Option

I/O connectors

Product name	Descriptions	Part No.
Discrete-wire connector set (40 pins)	For GM1 controller and expansion unit (including 2 pieces)	AFP2801
Flat cable connector set (40 pins)	Used when flat cables are used for bulk wiring. For GM1 controller and expansion unit (including 2 pieces)	AFP2802
Push-In Connector Set (40-Pole)	For GM1 controller and expansion unit Attachable to MIL connector. (including 2 pieces)	AFP2808

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Digital input / output unit
Analog input unit
Analog output unit
Pulse output unit

Common Specifications

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

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

List of weights (main units)

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

List of consumption current

Unit type		Consumption current
GM1 Controller RTEX type	AGM1CSRX16T	400 mA or less
GM1 Controller EtherCAT type	AGM1CSEC16T	400 mA or less
GM1 Controller EtherCAT type	AGM1CSEC16P	400 mA or less
GM1 Digital input / output unit	AGM1X64D2	90 mA or less
	AGM1Y64T	160 mA or less
	AGM1Y64P	160 mA or less
	AGM1XY64D2T	120 mA or less
	AGM1XY64D2P	120 mA or less
GM1 Analog input / output unit	AGM1AD8	160 mA or less
GM1 Analog input / output unit	AGM1DA4	320 mA or less
GM1Pulse output unit	AGM1PG04T	120 mA or less
GM1Pulse output unit	AGM1PG04L	120 mA or less

GM1 Controller

Specifications of the USB Port

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

Specifications of the COM Port (RS-232C)

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

■Terminal layout of the COM port

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

Specifications of the LAN Port

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

(Note 1)

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

Specifications of the RTEX Port

Item	Specifications
Baud rate	100 Mbps
Physical layer	100BASE-TX full duplex (IEEE 802.3u)
Cable	Shielded twisted pair (TIA/EIA-568B CAT5e or higher)
Topology	Ring
Insulation method	Pulse transformer
Connector	8-pin RJ45
Maximum cable length	Between nodes: 100 m, total length: 200 m
Communication cycle	500 μs to 2 ms
Command update period	500 μs to 4 ms
Operation command	Profile position, cyclic position / speed / torque
Number of connectable axes	32 real axes , 20 virtual axes (Total 52 axes）

Specifications of the EtherCAT Port

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

Performance Specifications

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

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

High-speed Counter Input Specifications

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

Input Specifications

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

■Internal circuit diagram of the GM1 Controller input section

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

Output Specifications (Sink Type)

Item		Specifications
Insulation method		Optical coupler
Output type		NPN Open collector
Rated load voltage		5 to 24 V DC
Allowable load voltage range		4.75 to 26.4 V DC
Max. load current		0.1 A
Common restrictions		1.6 A/common
Max. inrush current		1.0 A
OFF state leakage current		1 μA or less
ON state max. voltage drop		0.7 V or less
Response time	OFF→ON	6 μs or less (at an ambient temperature of 25 ℃)
Response time	ON→OFF	15 μs or less (at an ambient temperature of 25 ℃)
External power supply	Voltage	4.75 to 26.4 V DC
External power supply	Current	35 mA/common (at 24 V)
Surge absorber		Zener diode
Short-circuit protection		Provided (to automatically protect every eight points)(Note 1)
Input points per common		16 points/1 common
Operating mode indicator		16-point LED display (Lit when ON, SW selection)
External connection method		Connector connection (Compliant with the MIL standard, 40P)

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

■Internal circuit diagram of the GM1 Controller Output section

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

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

Item		Specifications
Insulation method		Optical coupler
Output type		PNP open collector
Rated load voltage		24 V DC
Allowable load voltage range		21.6 to 26.4 V DC
Max. load current		0.1 A
Common restrictions		1.6 A/common
Max. inrush current		1.0 A
OFF state leakage current		2 μA or less
ON state max. voltage drop		0.7 V or less
Response time	OFF→ON	6 μs or less (at an ambient temperature of 25 ℃)
Response time	ON→OFF	15 μs or less (at an ambient temperature of 25 ℃)
External power supply	Voltage	21.6 to 26.4 V DC
External power supply	Current	30 mA/common (at 24 V)
Surge absorber		Zener diode
Short-circuit protection		Provided (to automatically protect every eight points)(Note 1)
Input points per common		16 points/1 common
Operating mode indicator		16-point LED display (Lit when ON, SW selection)
External connection method		Connector connection (Compliant with the MIL standard, 40P)

(Note 1) When the maximum inrush current is exceeded, eight output points in the same protection block are turned OFF simultaneously.
■Internal circuit diagram of the GM1 Controller Output section

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

Digital input unit

Input Specifications of the Digital input unit

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

■Internal circuit diagram of the Digital input unit

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

Digital output unit

Output Specifications of the Digital Output Unit (Sink Type)

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

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

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

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

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

Output Specifications of the Digital Output Unit (Source Type)

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

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

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

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

Digital input / output unit

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

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

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

Input section (32 points)

Output section (32 points)

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

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

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

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

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

■Internal circuit diagram of the Digital I/O unit (source type)
Input section (32 points)

Output section (32 points)

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

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

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

Analog input unit

Input Specifications of the Analog Input Unit

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

(Note 1) The full scale (F.S.) on the accuracy of an analog voltage input range from +1 to +5 V and that of an analog current input range from +4 to +20 mA are 0 to +5 V and 0 to +20 mA, respectively.

(Note 2) When a value exceeding the rated value ±2% is set, the output is rounded to a value equivalent to the rated value ±2%.

Analog output unit

Output Specifications of the Analog Output Unit

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

(Note 1) The full scale (F.S.) on the accuracy of an analog voltage output range from +1 to +5 V and that of an analog current output range from +4 to +20 mA are 0 to +5 V and 0 to +20 mA, respectively.

(Note 2) When a value exceeding the rated value ±2% is set, the output is rounded to a value equivalent to the rated value ±2%.

Pulse output unit

Performance Specifications of the Pulse Output Unit

Item		Specifications
Product No.		AGM1PG04T	AGM1PG04L
Output type		Transistor	Line driver
Number of axes controlled		4 axis, independent
Position command	Command unit	Pulse unit (for increment or absolute)
Position command	Max. pulse count	Signed 32 bits (-2,147,483,648 to +2,147,483,647 pulses)
Speed command	Command range	1 pps to 500 kpps (can be set in 1 pps.)	1 pps to 4 Mpps (can be set in 1 pps.)
Acceleration / deceleration command	Acceleration / deceleration method	Linear acceleration / deceleration, S-shaped acceleration / deceleration control
Acceleration / deceleration command	S-shape pattern	Sine curve, Cubic curve (can be select)
Home return	Home return speed	Speed setting possible (changes return speed and search speed)
	Input signal	Home input, near home input, over limit input (+), over limit input (-)
	Output signal	Deviation counter clear signal
Operation mode		・ E-point control (Linear and S-shaped acceleration / deceleration) ・ P-point control (Linear and S-shaped acceleration / deceleration) ・ Home return (Home search) ・ JOG operation(Note 1) ・ JOG positioning ・ Pulser input operation(Note 2) Transfer multiplication ratio (x1, x2, x5, x10, x50, x100, x500, x1000) ・ Real-time frequency change function
Startup time		0.001 ms / 0.005 ms / 0.02 ms
Output interface	Output mode	Pulse / Sign, CW / CCW
Feedback counter function (Note 2)	Counting range	Signed 32 bits (-2,147,483,648 to +2,147,483,647 pulses)
	Input mode	2-phase input, direction identification input, individual input (transfer multiple available for each mode)
	Max. counting speed	4 MHz (2-phase input) 1 MHz (Direction distinction input and individual input)
Other functions		・ Built-in over limit input (+) and over limit input (-) ・ Servo ON output incorporated

(Note 1) When Linear acceleration/deceleration operation is selected, the target speed can be changed during an operation.

(Note 2) "Pulser input operation" and "Feedback counter" use the same pulse input terminal. Either function of the two can only be used.

I/O specifications

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

Transistor output type (AGM1PG04T)

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

Line driver output type (AGM1PG04L)

Pin No.		Signal name	Circuit		Specifications
Axis 1 / 3	Axis 2 / 4	Signal name	Circuit		Specifications
A1	A10	Pulse output A: Line driver (+)		Output	・ Line driver output Equivalent to AM26C31
B1	B10	Pulse output A: Line driver (-)
A2	A11	Pulse output B: Line driver (+)
B2	B11	Pulse output B: Line driver (-)

Common

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

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