Panasonic Industry / Automation Controls
Panasonic Industry / Automation Controls

FP0H

  • Basic Information

  • Applications

  • Units

  • Option

  • Specifications

  • Dimensions

  • Software

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Basic Information

Built-in dual Ethernet ports
Multiple interfaces that connect with various devices

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Applications

Distributed control

■ Distributed devices result in a flexible line, reducing man-hours.

Distributed control

Control of gantry mechanism [FP0H Positioning RTEX units]

2-axis gantry control together with interpolation control enables smooth and highly accurate stage control.

Control of gantry mechanism

Main application sectors:
Electronic parts, liquid crystal manufacturing, machine tools, etc.
Main application devices:
Inspection equipment, coaters, laser scanners, etc.

Control of cam mechanism [FP0H Positioning RTEX units]

Preset cam operation synchronized with the main axis enables control of the rotation of the slave axis motor.

Control of cam mechanism

Main application sectors:
Packaging equipment, food/chemicals, general machinery, etc.
Main application devices:
Rotary cutters, printing machine, inserters, etc.

Photographing by camera in a set position [FP0H Positioning RTEX units]

Photographing by camera in a set position

■Highly accurate position compare
Turns trigger output ON in the position of the encoder of servo motor

[Point]
Capable of high-precision timing detection, because position comparison is performed inside the servo motor to avoid communication delay or calculation lag with the controller

Press fitting control with torque stopping [FP0H Positioning RTEX units]

Press fitting control with torque stopping

■Deviation counter clearing
Capable of simple press fitting control (torque control) by combining the torque control function at the position control. Stops the motor with the torque limit value, and then stops the occurrence of torque.

[Point]
Stops the application of torque. Capable of immediate inversion operation as there is no accumulated pulse in the deviation counter.

Cueing hoop material [FP0H Positioning RTEX units]

Cueing hoop material

■Latch stop function
Stops the motor immediately by turning ON the sensor signal connected to the servo driver.
■Latch correction J-point control
Stops the motor at a set amount of movement, after turning ON the sensor signal connected to the servo driver.

[Point]
Capable of stopping with high accuracy, because the sensor signal is directly input into the servo driver to avoid communication delay or calculation lag with the controller via the network.

------------------------------ Tab3 showing ------------------------------

Units


Control units

Control units

Product
name
Number of
I/O points
Rated
voltage
Input
specifications
Output
specifications
Connection
method
SD
memory
card
function
Part No.
FP0H
control
units
Without
Ethernet
Input:16 points
Output:16 points
24V DC24 V DC
(Polarity
+/- common)
NPN transistor output:
0.3 A / 0.1 A
MIL
connector
-AFP0HC32T
PNP transistor output:
0.3 A
AFP0HC32P
With
Ethernet
NPN transistor output:
0.3 A / 0.1 A
Built-inAFP0HC32ET
PNP transistor output:
0.3 A
AFP0HC32EP

Expansion I/O unit

Expansion I/O unit

Product
name
Number of
I/O points
Rated
voltage
Input
specifications
Output
specifications
Connection
method
Part No.
FP0H
expansion
I/O unit
Input:32 points
Output:32 points
24V DC24 V DC
(Polarity
+/- common)
NPN transistor output:
0.1 A
MIL
connector
AFP0HXY64D2T
PNP transistor output:
0.1 A
AFP0HXY64D2P

Communication cassettes

Communication cassettes

Product
name
SpecificationsPart No.
FP0H
communication
cassettes
RS-232C 1 channelAFP0HCCS1
RS-232C 2 channelsAFP0HCCS2
RS-485 1 channel (insulated)AFP0HCCM1
RS-232C 1 channel and RS-485 1 channel (insulated)AFP0HCCS1M1

Positioning units

Positioning units

Product
name
Output
type
Number of
occupied points
Number of
axes
controlled
Speed commandPart No.
FP0H
positioning
units
TransistorInput 16 points,
Output 16 points
1 axis1pps to 500 kppsAFP0HPG01T
Input 32 points,
Output 32 points
2 axesAFP0HPG02T
Line driverInput 16 points,
Output 16 points
1 axis1pps to 4 MppsAFP0HPG01L
Input 32 points,
Output 32 points
2 axesAFP0HPG02L

Positioning RTEX units

Product nameOccupied I/O pointsNumber of axes controlledPart No.
FP0H
Positioning RTEX units
4-axis type128 input points, 128 output points4 axesAFP0HM4N
8-axis type8 axesAFP0HM8N

Expansion units (Common to FP0R)

Product nameNumber of I/O pointsRated
voltage
Input
specications
Output
specications
Connection
type
Part No.
FP0R-E8
expansion Unit
8 pointsInput: 8 points-24 V DC
±common
-MIL connectorAFP0RE8X
8 pointsInput: 4 points
Output: 4 points
24 V DC24 V DC
±common
Relay output: 2 ATerminal blockAFP0RE8RS
Molex connectorAFP0RE8RM
8 pointsOutput: 8 points24 V DC-Relay output: 2 ATerminal blockAFP0RE8YRS
8 pointsOutput: 8 points--NPN transistor output: 0.3 AMIL connectorAFP0RE8YT
8 pointsOutput: 8 points--PNP transistor output: 0.3 AMIL connectorAFP0RE8YP
FP0R-E16
expansion Unit
16 pointsInput: 16 points-24 V DC
±common
-MIL connectorAFP0RE16X
16 pointsInput: 8 points
Output: 8 points
24 V DC24 V DC
±common
Relay output: 2 ATerminal blockAFP0RE16RS
Molex connectorAFP0RE16RM
16 pointsInput: 8 points
Output: 8 points
-24 V DC
±common
NPN transistor output: 0.3 AMIL connectorAFP0RE16T
16 pointsInput: 8 points
Output: 8 points
-24 V DC
±common
PNP transistor output: 0.3 AMIL connectorAFP0RE16P
16 pointsOutput: 16 points--NPN transistor output: 0.3 AMIL connectorAFP0RE16YT
16 pointsOutput: 16 points--PNP transistor output: 0.3 AMIL connectorAFP0RE16YP
FP0R-E32
expansion Unit
32 pointsInput: 16 points
Output: 16 points
-24 V DC
±common
NPN transistor output: 0.3 AMIL connectorAFP0RE32T
32 pointsInput: 16 points
Output: 16 points
-24 V DC
±common
PNP transistor output: 0.3 AMIL connectorAFP0RE32P

Notes:

1) The relay output type expansion units come with a power cable (part number: AFP0581).
(The transistor output type expansion units need no power cable.)

2) The terminal block type relay output units have two terminal blocks (9 pins) made by Phoenix.
Use a 2.5 mm 0.098 in wide screwdriver. Preferably use the specific terminal block screwdriver (Phoenix type code SZS0, 4 x 2.5 mm 0.098 in) or equivalent.

3) The connector type relay output units have two connectors made by Nihon Molex (Molex type code 51067-0900, 9 pins). Use the specific Molex connector press-fit tool (Nihon Molex type code 57189-5000) or equivalent.

4) The transistor output units have a press-fit socket for wire-pressed terminal cable and contacts. Use the press-fit tool (part number: AXY52000FP) for wire-pressed terminal cable.

Product nameSpecicationsProduct
No.
Part No.
FP0R
analog input unit
<Input specifications>
Number or channels: 4 channels
Voltage -10 to +10 V, -5 to +5 V, 0 to +10 V, 0 to +5 V (Resolution: 1/16,000)
Current 0 to 20 mA (Resolution: 1/16,000)
-AFP0RAD4
FP0R
analog input unit
<Input specifications>
Number or channels: 8 channels
Voltage -10 to +10 V, -5 to +5 V, 0 to +10 V, 0 to +5 V (Resolution: 1/16,000)
Current 0 to 20 mA (Resolution: 1/16,000)
-AFP0RAD8
FP0R
analog input and output
unit
<Input specifications>
Number or channels: 2 channels
Voltage -10 to +10 V, -5 to +5 V, 0 to +10 V, 0 to +5 V (Resolution: 1/16,000)
Current 0 to 20 mA (Resolution: 1/16,000)
-AFP0RA21
<Output specifications>
Number or channels: 1 channel
Voltage -10 to +10 V, -5 to +5 V, 0 to +10 V, 0 to +5 V (Resolution: 1/16,000)
Current 0 to 20 mA, 4 to 20 mA (Resolution: 1/16,000)
FP0R
analog input and output
unit
<Input specifications>
Number or channels: 4 channels
Voltage -10 to +10 V, -5 to +5 V, 0 to +10 V, 0 to +5 V (Resolution: 1/16,000)
Current 0 to 20 mA (Resolution: 1/16,000)
-AFP0RA42
<Output specifications>
Number or channels: 2 channels
Voltage -10 to +10 V, -5 to +5 V, 0 to +10 V, 0 to +5 V (Resolution: 1/16,000)
Current 0 to 20 mA, 4 to 20 mA (Resolution: 1/16,000)
FP0R
analog output unit
<Output specifications>
Number or channels: 4 channels
Voltage -10 to +10 V, -5 to +5 V, 0 to +10 V, 0 to +5 V (Resolution: 1/16,000)
Current 0 to 20 mA, 4 to 20 mA (Resolution: 1/16,000)
-AFP0RDA4
FP0
thermocouple units
K, J, T and R thermocouple, 4 channels, Resolution: 0.1 ℃FP0-TC4AFP0420
K, J, T and R thermocouple, 8 channels, Resolution: 0.1 ℃FP0-TC8AFP0421
FP0
CC-Link slave unit
Unit to connect to FP0 CC-linkFP0-CCLSAFP07943

Discontinued products

Discontinued productRecommended substitute
Product nameProduct number/Part numberLast time buy Product number/Part numberProduct nameRemark
FPΣ Expansion unitProduct number: FPG-XY64D2P
Part number: AFPG3567
September 30, 2021

Product number: AFP0HXY64D2P
Part number: AFP0HXY64D2P
FP0H All units are required to be replaced.
FPΣ Expansion unitProduct number: FPG-PN2AN
Part number: AFPG43610
September 29, 2023

Product number: AFP0HM4N
Part number: AFP0HM4N
FP0H Positioning RTEX units To replace the FPΣ positioning unit RTEX, you must also replace the control unit with the FP0H series.
FPΣ Expansion unitProduct number: FPG-PN4AN
Part number: AFPG43620
September 29, 2023

Product number: AFP0HM4N
Part number: AFP0HM4N
FP0H Positioning RTEX units To replace the FPΣ positioning unit RTEX, you must also replace the control unit with the FP0H series.
FPΣ Expansion unitProduct number: FPG-PN8AN
Part number: AFPG43630
September 29, 2023

Product number: AFP0HM8N
Part number: AFP0HM8N
FP0H Positioning RTEX units To replace the FPΣ positioning unit RTEX, you must also replace the control unit with the FP0H series.
Configurator PMProduct number: AFPS66110
Part number: AFPS66110
September 30, 2024

Product number:-
Part number:-
- Sorry, no suggested alternative products.
Configurator PMProduct number: AFPS66510
Part number: AFPS66510
September 30, 2024

Product number:-
Part number:-
- Sorry, no suggested alternative products.

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Option

Programming tools

For software specifications, please refer to the web page of each software.
>> Refer to "Control FPWIN GR7"
>> Refer to "Control FPWIN Pro7"

Product nameTypePart No.
Programming
software for
Windows®
Control FPWIN GR7
Japanese
version
 Supports only CPU unit without encryption functionAFPSGR7JP
Security
enhanced
type
Supports both CPU unit with / without encryption functionAFPSGR7JPS
English
version
 Supports only CPU unit without encryption functionAFPSGR7EN
Security
enhanced
type
Supports both CPU unit with / without encryption functionAFPSGR7ENS
Programming
software for
Windows®
Control FPWIN Pro7
Japanese
English
Chinese
Korean
Supports only CPU unit without encryption functionAFPSPR7A
Supports both CPU unit with / without encryption function
* The encryption function will be offered in the future.
AFPSPR7AS

* Windows is trademarks or registered trademarks of Microsoft Corporation in the United States and other countries.

* When exporting to China, CPU unit without encryption function is required.

Note:

1) Please use a commercially available USB2.0 cable (A type mini B) for connecting a control unit with a PC.

Option

Product nameSpecificationsPart No.
Backup batteryRequired for backup of the data registers and when the calendar timer feature is used.AFPX-BATT

Others

Product nameAppearanceDescriptionsPart No.
Power cable-Length: 1 m 3.28 ft
Attaches to FP0H control unit.
AFPG805
Scattered wire connector set
(40 pins)

Supplied with FP0H control unit and FP0H expansion I/O unit.(2 pieces)AFP2801
Multi-wire connector pressure contact tool

Necessary when wiring connectors in the supplied discrete-wire connector set to FP0H control unit or FP0H expansion I/O unit.AXY52000FP
Push-In Connector Set
(40-Pole)

For FP0H control unit, FP0H expansion I/O unit and FP0H Positioning units.Attachable to MIL connector.
(including 2 pieces)
AFP2808
Flat cable connector set
(40 leads)

For FP0H control unit and FP0H expansion I/O unit.
For simple connection using a flat cable. (2 pieces)
AFP2802

------------------------------ Tab5 showing ------------------------------

Specifications


Control units

Control specifications

TypeWithout EthernetWith Ethernet
NPN typePNP typeNPN typePNP type
Part No.AFP0HC32TAFP0HC32PAFP0HC32ETAFP0HC32EP
Number of controllable I/O points32 points (Input: 16, Output: 16), When expanded: Max. 384 points
Programming method /
Control method
Relay symbol / Cyclic operation
Program memoryBuilt-in flash ROM (no backup battery required)
Number of
instructions
Basic instructions120 types approx.
High-level instructions240 types approx.270 types approx.
Program capacity24 k /32 k steps24 k /32 k /40 k / 64 k steps
Can be selected at system register No. 0
When the program capacity is changed, the number of words that can be used in the data register (DT) is also changed.
Program capacityDT Number of word
24k steps
32k steps(initial value)
40k steps
64k steps
65,533 words
32,765 words(initial value)
24,573 words
12,285 words
Operation speedBasic instruction (NOT: /) : 10 ns/step approx. (Up to 10 k steps) ,
0.18 μs/step approx. (10 k steps and later)
Basic instruction (ST) : 40 ns/step approx. (Up to 10 k steps) ,
0.65 μs/step approx. (10 k steps and later)
High-level instruction (FOMV) : 0.14 μs/step approx. (Up to 10 k steps) , 1.2 μs/step approx. (10 k steps and later)
Base scan time
I/O refresh and base time
Control unit: 40 μs or less
approx. and FP0 / FP0R
expanshion unit refresh
time (Note 1)
Control unit: 100 μs or less
approx. and FP0 / FP0R
expanshion unit refresh
time (Note 1)
Operation
memory
RelayExternal input (X) (Note 2, 3)1, 760 points (X0 to X109F)
External output (Y) (Note 2, 3)1, 760 points (Y0 to Y109F)
Internal relay (R) (Note 3)4,096 points (R0 to R255F) or
8,192 points (R0 to R511F) (Note 4)
8,192 points (R0 to R511F)
Special internal relay (R)800 points (R9000 to R951F)
Timer / Counter (T / C) (Note 5)1,024 points (initial setting, timer: 1,008 points, counter: 16 points)
Link relay (L)2,048 points (L0 to L127F)
Memory
area
Data register (DT) (Note 6)32,765 words or
65,533 words
12,285 words or 24,573 words or
32,765 words or 65,533 words
Special data register (DT) (Note 3)1,000 words (DT90000 to DT90999)
Link data register (LD)256 words (LD0 to LD255)
Index register (I)14 words (I0 to ID)
Differential pointsPoints for the program capacity
Number of master control relay (MCR)256 points
Number of labels (JP and LOOP)256 points
Number of step ladder1,000 stages
Number of subroutines500 subroutines
Number of interrupt
program
9 programs
•Input: 8 programs (INT0 to INT7)
•Periodic: 1 program (INT24)
Sampling trace (Note 7)Available
[Sampling by commands / Sampling at regular time intervals (For one sampling: 16 bits + 3 words), 1,000 samples]
Comment storageI/O comments, remarks and block comments can be stored.
(no backup battery required, 1 M byte)
PLC link function
(Serial communication)
Max. 16 units, link relays: 1,024 points, link registers: 128 words.
(Data transfer and remote programming are not supported)
Constant scanAvailable (0 to 600 ms)
PasswordAvailable (32 digits)
Program upload protectionAvailable
Program protect functionAvailable
Self-diagnostic functionWatchdog timer, program syntax check, etc.
Program edition during RUNAvailable
SD memory card function-SD memory card project copy,
Logging trace function (Note 7),
SD memory card access instruction
Memory transferAvailable [Built-in memory (ROM ⇔ RAM)]
High speed
counter (Note 8)
Main unit
input
Single-phase 4 channels (Max. 100 kHz each input)
or 2-phase 2 channels (Max. 50 kHz each input)
Pulse output
(Note 8)
Main unit
output
4 channels (Max. 100 kHz each axis)
PWM output
(Note 8)
Main unit
output
4 channels (1 Hz to 70 kHz: 1,000 resolution /
70.001 kHz to 100 kHz: 100 resolution
Pulse catch input
Interrupt input
Total 8 points (with high speed counter)
Periodical interrupt0.1 ms to 30 sec.
Potentiometer (Volume) input2 channels (0 to 4000)Not available
Clock / calendar (Note 9, 10)Year (last two digits), month, day, hour (24-hour display), minute, second and day of week
Memory
backup
(Note 11)
Backup by
instruction P13
Data register: all area
Auto-backup at
power failure
Counter: 16 points
Internal relay: 128 points
Data register: 315 words
Battery backup (only when
a battery is installed)
Hold areas or non-hold areas can be specified by setting the system registers
No.6 to No. 13. (It is also possible to make the setting for hold all points.)
Battery life5 years or more under a production condition (operates for 8 hours per day)

Note:

1) Refresh times for FP0 / FP0R expansion units
8 points unit : Number of units×0.8ms
16 points unit : Number of units×1.0ms
32 points unit : Number of units×1.3ms
64 points unit : Number of units×1.9ms

2) The number of points that can be used depends on the combination of hardware.

3) Some specifications are compatible with FPΣ.

4) System register No. 1 (internal relay capacity) can be configured to select "0: 4,096 points / 1: 8,192 points".

5) An auxiliary timer instruction (F137) can be used to add the number of points.

6) System register No. 0 (program capacity) can be configured to select the capacity of the data register (DT).

7) Logging trace and sampling trace cannot be used at the same time.

8) The specifications are based on the rated input voltage of 24 V DC at +25 ℃ +77 ℉. The maximum operation frequency may be lower depending on the applied voltage, ambient temperature, and conditions of use. The maximum operation frequency varies depending on how the unit is used.

9) Accuracy of the clock / calendar (within ± 90 seconds per month at +25 ℃ +77 ℉).
If an error of the clock / calendar becomes a problem in the system, set an accurate time periodically.

10) If the battery is not attached, calendar information is cleared when the power is turned off. It will be necessary to set the date when the power is turned on.

11) Data can be rewritten up to 10,000 times. Hold / non-hold areas can be specified in the system registers.

General specifications

TypeWithout EthernetWith Ethernet
NPN typePNP typeNPN typePNP type
Part No.AFP0HC32TAFP0HC32PAFP0HC32ETAFP0HC32EP
CE marking directive complianceEMC Directive, RoHS Directive
Rated voltage24 V DC
Operating voltage range20.4 to 28.8 V DC
Consumption current140 mA or less170 mA or less
Allowed momentary power off time4 ms (at 20.4 V DC), 10 ms (24 V DC or higher)
Ambient temperature0 to +55 ℃ +32 to +131 ℉, At storage: -40 to +70 ℃ - 40 to +158 ℉
Ambient humidity10 to 95 % RH (at +25 ℃ +77 ℉, no dew condensation allowed), At storage: 10 to 95 % RH (at +25 ℃ +77 ℉, no dew condensation allowed)
Breakdown voltage
(Detection current: 5 mA)
500 V AC for 1 minute
Input and output terminals ⇔ power and functional ground terminals
Input terminals ⇔ Output terminals
Insulation resistance
(Test voltage: 500 V DC)
100 MΩ or more
Input and output terminals ⇔ power and functional ground terminals
Input terminals ⇔ Output terminals
Vibration resistance5 to 8.4 Hz, single amplitude of 3.5 mm 0.138 in, 8.4 to 150 Hz, constant acceleration of 9.8 m/s2, for 10 times each in X, Y, and Z directions (1 octave/min.) (JIS B 3502, IEC 61131-2)
Shock resistance147 m/s2, 4 times each in X, Y, and Z directions (JIS B 3502, IEC 61131-2)
Noise immunity1,000 V (p-p) with pulse widths 50 ns and 1 μs (using a noise simulator) (Power supply terminal)
Operating conditionFree from corrosive gasses and excessive dust
Overvoltage categoryCategory II
Degree of pollutionPollution level 2
Net weight110 g approx. each130 g approx. each

COM0 port communication specifications

ItemSpecifications
InterfaceRS-232C, three-wire system, 1 channel (Not insulated)
Transmission distance15 m 49.213 ft
Communication configuration1 : 1 communication
Communication methodHalf-duplex system
Synchronous methodStart-stop synchronization system
Transmission cableMulti-conductor shielded wire
Communication speed
(Specified at the system registers)
1,200(Note 3), 2,400(Note 3), 4,800, 9,600, 19,200, 38,400, 57,600, 115,200, 230,400 bits/sec.
Transmission
format
Data length7 bits / 8 bits
Paritynone / odd / even
Stop bit1 bit / 2 bits
Start codewith STX / without STX
End codeCR / CR + LF / none / ETX / Time (0 to 100.00 ms)
Data transmission orderTransmit from bit 0 in character units
Communication modeMEWTOCOL-COM (Master / Slave) (Computer link)
General-purpose communication
PLC link
MODBUS RTU (Master / Slave)

Notes:

1) The start and end codes can be used only for general-purpose serial communications.

2) The unit No. (station number) can be selected at system register No. 410.

3) System register no. 415 cannot be used to set the baud rate to 1,200 bps. To set the baud rate to 1,200 bps, use the SYS1 instruction. If the baud rate of any of the COM ports is 2,400 bps or lower, F-ROM access will slow down.
Example) F12(ICRD) instruction, P13(ICWT) instruction, etc.

LAN port communication specifications (for only Ethernet type)

ItemSpecifications
Communication interfaceEthernet 100BASE-TX / 10BASE-T
Baud rate100 Mbps, 10 Mbps auto negotiation function
Total cable length100 m 328.084 ft (500 m 1640.420 ft when a repeater is used)
Number of simultaneous connectionsMax. 10 (system connection: 1, user connection: 9)
Communication methodFull duplex / Half-duplex system
Communication protocol
(Communication layer)
TCP / IP, UDP
DNSSupports name servers
DHCPAutomatic IP address acquisition
FTP server / ClientFile transmission, server function, No. of users:1
Client function, Data file transfer
SNTPTime adjustment function
General-purpose communication4 kB / 1 connection (user connection: 1 to 9) (Note 2)
Dedicated communicationEtherNet/IP
MEWTOCOL-COM (Master / Slave) (Computer link)
MODBUS-TCP (Master / Slave)
MEWTOCOL-DAT (Master / Slave)
General-purpose communication
MC protocol (Note 1) (Master / Slave)

Notes:

1) MC protocol is a short form denoting MELSEC communication protocol; MELSEC is a registered trademark of Mitsubishi Electric Corporation.
QnA compatible 3E frame, only binary (bulk writing and bulk reading) use is available.

2) General-purpose communications can be up to 4 kB (reception) and up to 2 kB (transmission) per connection.

USB port specifications

ItemSpecifications
StandardUSB2.0 Full speed (USB mini B type)
Communication functionComputer link (slave)

Dedicated power supply output port specifications for GT series programmable display

Output terminalConnecting programmable display model
5 V DCFor 5 V DC type GT02 series Programmable Display

Input specifications

ItemSpecifications
Rated input voltage24 V DC
Operating voltage range21.6 to 26.4 V DC
Rated input currentHigh-speed part (X0 to X7) : 8 mA approx.
Low-speed part (X8 to XF) : 3.5 mA approx.
Input points per common16 points/common (Either the positive or negative of the input
power supply can be connected to the common terminal.)
Min. ON voltage / Min. ON currentHigh-speed part (X0 to X7) : 19.2 V DC / 6 mA
Low-speed part (X8 to XF) : 19.2 V DC / 3 mA
Max. OFF voltage / Max. OFF current2.4 V DC / 1 mA
Input impedanceHigh-speed part (X0 to X7) : 3 kΩ approx.
Low-speed part (X8 to XF) : 6.8 kΩ approx.
Response
time
(Note)
OFF → ON<High-speed part (X0 to X7)>
135 μs or less: normal input
5 μs or less: high speed counter, pulse catch, interrupt input settings
<Low-speed part (X8 to XF)>
1 ms or less: normal input only
ON → OFFSame as above
Operating mode indicatorLED display

Note: The input time constant (0.1 to 256 ms) can be specified.

Output specifications

TypeWithout
Ethernet
With
Ethernet
Without
Ethernet
With
Ethernet
Part No.AFP0HC32TAFP0HC32ETAFP0HC32PAFP0HC32EP
Output typeNch open drainPch open drain
Rated load voltage5 to 24 V DC24 V DC
Operating load voltage range4.75 to 26.4 V DC21.6 to 26.4 V DC
Rated load current0.3 A (For Y0, Y1, Y3, Y4, Y8,Y9, YB,YC),
0.1 A (For Y2, Y5, Y6, Y7, YA, YD, YE, YF)
0.3 A (For Y0 to YF)
Max. surge currentHigh-speed part (For Y0, Y1, Y3, Y4, Y8, Y9, YB, YC) : 1.0 A,
Low-speed part (For Y2, Y5, Y6, Y7, YA, YD, YE, YF) : 0.5 A
OFF state leakage current110 μA or less20 μA or less
ON state voltage drop0.5 V DC or less
Overcurrent protectionProvided (automatically protected for each 8 points)
Output points per common16 points/common (Y0 to YF / 1 common)
Response
time
OFF → ONHigh-speed part (For Y0, Y1, Y3, Y4, Y8, Y9, YB, YC) : 2 μs or less,
Low-speed part (For Y2, Y5, Y6, Y7, YA, YD, YE, YF) : 1 ms or less
ON → OFFHigh-speed part (For Y0, Y1, Y3, Y4, Y8, Y9, YB, YC) : 5 μs or less,
Low-speed part (For Y2, Y5, Y6, Y7, YA, YD, YE, YF) : 1 ms or less
Surge absorberZener diode
Operating mode indicatorLED display

Limitations on simultaneous ON points

Limitations on simultaneous ON points

Current consumption

Type of unitControl unit current
consumption
(at 24 V DC)
Additional
current
(at 24 V DC)
Expansion unit
current consumption
(at 24 V DC)
Control unit
alone
AFP0HC32T140 mA or less--
AFP0HC32P
AFP0HC32ET170 mA or less
AFP0HC32EP
Extension
unit attached
AFP0HXY64D2T-35 mA or less-
AFP0HXY64D2P
AFP0HPG01T50 mA or less20 mA or less
AFP0HPG01L
AFP0HPG02T70 mA or less35 mA or less
AFP0HPG02L
AFP0HM4N90 mA or less-
AFP0HM8N
Extension
cassette
attached
AFP0HCCS1-10 mA or less-
AFP0HCCS2
AFP0HCCM130 mA or less
AFP0HCCS1M1

Expansion I/O unit

General specifications

ItemSpecifications
Ambient temperature0 to +55 ℃ +32 to +131 ℉, At storage: -20 to +70 ℃ - 4 to +158 ℉
Ambient humidity30 to 85 % RH (at +25 ℃ +77 ℉, no dew condensation allowed),
At storage: 30 to 85 % RH (at +25 ℃ +77 ℉, no dew condensation allowed)
Breakdown voltage
(Detection current: 5 mA)
500 V AC for 1 minute
Input and output terminals ⇔ power and functional ground terminals (at control unit)
Input terminals ⇔ Output terminals
Insulation resistance
(Test voltage: 500 V DC)
100 MΩ or more
Input and output terminals ⇔ power and functional ground terminals (at control unit)
Input terminals ⇔ Output terminals
Vibration resistance10 to 55 Hz, 1 sweep/min., double amplitude of
0.75 mm 0.030 in, 10 minutes each in X, Y, and Z directions
Shock resistance98 m/s2, 4 times each in X, Y, and Z directions
Noise immunity1,000 V (p-p) with pulse widths 50 ns and 1 μs
(using a noise simulator)
Operating conditionFree from corrosive gasses and excessive dust
Net weight100 g approx.
Control unit's additional
consumption current
35 mA or less (at 24 V DC)
[100 mA or less (internal 5 V DC)]

Input specifications

ItemSpecifications
Insulation methodPhotocoupler
Rated input voltage24 V DC
Operating voltage range21.6 to 26.4 V DC
Rated input current3.5 mA approx.
Input points per common32 points/common (Either the positive or negative of the input
power supply can be connected to the common terminal.)
Min. ON voltage / Min. ON current19.2 V DC / 3 mA
Max. OFF voltage / Max. OFF current2.4 V DC / 1.3 mA
Input impedance6.8 kΩ approx.
Response
time
OFF→ON0.2 ms or less
ON→OFF0.3 ms or less
Operating mode indicatorLED display

Output specifications

TypeSinkSource
Part No.AFP0HXY64D2TAFP0HXY64D2P
Insulation methodPhotocoupler
Output typeOpen collector (NPN)Open collector (PNP)
Rated load voltage5 to 24 V DC24 V DC
Operating load voltage range4.75 to 26.4 V DC21.6 to 26.4 V DC
Rated load current0.1 A
Max. surge current0.5 A
Output points per common32 points/common
OFF state leakage current100 μA or less
ON state voltage drop0.5 V DC or less
Response timeOFF → ON0.2 ms or less
ON → OFF0.5 ms or less
External power supply
(for driving internal circuit)
Voltage21.6 to 26.4 V DC
Current35 mA or less40 mA or less
Surge absorberZener diode
Operating mode indicatorLED display
Short circuit protectionShort circuit protection, Thermal protection

Number of simultaneous ON points

Number of simultaneous ON points

Communication cassettes

Specifications

ItemSpecifications
AFP0HCCS1AFP0HCCS2AFP0HCCM1AFP0HCCS1M1
InterfaceRS-232C 1 channelRS-232C 2 channelsRS-485 1 channelRS-232C 1 channel and
RS-485 1 channel
Transmission distanceMax. 15 m 49.213 ftMax. 1,200 m
3,937.008 ft
RS-232C Max.
15 m 49.213 ft
RS-485 Max. 1,200 m
3,937.008 ft
Communication configuration1 : 1 communication1 : N communication1 : 1 communication1 : N communication
Communication speed1,200(Note 1), 2,400(Note 1), 4,800, 9,600, 19,200, 38,400, 57,600, 115,200, 230,400 bits/sec.
Communication methodHalf-duplex system
Synchronous methodStart-stop synchronization system
Transmission
format
Data length7 bits / 8 bits
Paritynone / odd / even
Stop bit1 bit / 2 bits
Start codewith STX / without STX
End codeCR / CR + LF / none / ETX / Time (0 to 100 ms)
Data transmission orderTransmit from bit 0 in character units.
Number of stations--Max. 99 units-Max. 99 units
Net weight10 g approx. each

Notes:

1) System register no. 415 cannot be used to set the baud rate to 1,200 bps. To set the baud rate to 1,200 bps, use the SYS1 instruction. If the baud rate of any of the COM ports is 2,400 bps or lower, F-ROM access will slow down.
Example) F12(ICRD) instruction, P13(ICWT) instruction, etc.

2) The start and end codes can be used only for general-purpose serial communications.

3) The unit No. (station number) can be selected at system register.

4) Sufficient noise tolerance is provided but it is recommended that a user program be created for retransmission. (To improve the reliability of communications when a communication error occurs due to an excessive noise or when the target device cannot receive data temporarily.)

5) When connecting a commercially available device that has an RS-485 interface, please confirm operation using the actual device. In some cases, the number of station units, transmission distance and communication speed vary depending on the connected device.

6) The transmission distance, transmission speed, and number of stations should be within the range of the graph below, depending on each value.

When the transmission speed is 19,200 bits/s, you can set up to 99 stations and up to 1,200 m3,937.008 fttransmission distance.

Positioning units

Specifications

Part No.AFP0HPG01TAFP0HPG01LAFP0HPG02TAFP0HPG02L
Output typeTransistorLine driverTransistorLine driver
Number of occupied pointsInput 16 points, Output 16 pointsInput 32 points, Output 32 points
Number of axes controlled1 axis2 axes, independent
Position
command
Command unitsPulse unit (The program specifies whether Increment or Absolute is used.)
Max. pulse countSigned 32 bits (-2,147,483,648 to +2,147,483,647 pulses)
Speed
command
Command
range
1 pps to 500 kpps
(can set in 1 pps.)
1 pps to 4 Mpps
(can set in 1 pps.)
1 pps to 500 kpps
(can set in 1 pps.)
1 pps to 4 Mpps
(can set in 1 pps.)
Acceleration /
deceleration
command
Acceleration /
deceleration method
Linear acceleration / deceleration, S acceleration / deceleration
S-curve typeCan select from Sin curve, Secondary curve, Cycloid curve and Third curve.
Acceleration /
deceleration time
0 to 32,767 ms (can set in 1 ms)
Home
return
Home return speedSpeed setting possible (changes return speed and search speed)
Input signalHome input, Near home input, Over limit input (+), Over limit input (-)
Output signalDeviation counter clear signal
Operation modeE point control (Linear accelerations / decelerations, S accelerations / decelerations)
P point control (Linear accelerations / decelerations, S accelerations / decelerations)
Home return function (Home search)
JOG operation function (Note 1)
JOG positioning function
Pulser input function (Note 3)
• Transfer multiplication ratio (× 1, × 2, × 5, × 10, × 50, × 100, × 500, × 1000)
Real-time frequency change function
Infinity output function
Startup time0.02 ms or 0.005 ms selectable (Note 2)
Output interfaceOutput mode1 pulse output (Pulse and Sign), 2-pulse output (CW and CCW)
Feed back counter
function (Note 3)
Countable rangeSigned 32 bits (-2,147,483,648 to +2,147,483,647 pulses)
Input modeTwo-phase input, Direction distinction input, Individual input (transfer multiple available for each.)
Other functionsThe flag to compare the elapsed value is built in. (The timing signal outputs at the optional position during an operation.)
External
power supply
Voltage21.6 to 26.4 V DC
Current consumption20 mA30 mA
Net weight75 g approx. each80 g approx. each

Positioning RTEX units

Specifications

Type4-axis type8-axis type
Part No.AFP0HM4NAFP0HM8N
Number of axes controlled4 axes8 axes
Interpolation control2-axis linear interpolation, 2-axis circular interpolation,
3-axis linear interpolation and 3-axis spiral interpolation
Occupied I/O points128 input points, 128 output points
Automatic
operation
Position
control
Position specification modeAbsolute (Absolute position specifi cation), Increment (Relative position specifi cation)
Position specified unitpulse
μm (Min. unit of instruction selectable between 0.1 μm and 1 μm)
inch (Min. unit of instruction selectable between 0.00001 inch and 0.0001 inch)
degree (Min. unit of instruction selectable between 0.1 degree and 1 degree)
Position setting rangepulse : -2,147,482,624 to 2,147,482,624 pulse
μm (0.1 μm) : -214,748,262.4 to 214,748,262.4 μm
μm (1 μm) : -2,147,482,624 to 2,147,482,624 μm
inch (0.00001 inch) : -21,474.82624 to 21,474.82624 inch
inch (0.0001 inch) : -214,748.2624 to 214,748.2624 inch
degree (0.1 degree) : -214,748,262.4 to 214,748,262.4 degree
degree (1 degree) : -2,147,482,624 to 2,147,482,624 degree
Speed reference rangepulse : 1 to 2,147,482,624 pps
μm : 1 to 2,147,482,624 μm/s
inch : 0.001 to 2,147,482.624 inch/s
degree : 0.001 to 2,147,482.624 rev/s
Acceleration and
deceleration method
Linear acceleration / deceleration, S acceleration / deceleration
Acceleration time0 to 10,000 ms (Settable by 1 ms)
Deceleration time0 to 10,000 ms (Settable by 1 ms)
No. of
positioning
tables
Each axis : 600 points in standard area and 89 points in extended area
Control methodIndependentPTP control (E-point control, C-point control),
CP control (P-point control), Speed control (J-point control)
2-axis
interpolation
Linear
interpolation
E point, P point, C point controls, Composite speed or Long axis speed
Circular
interpolation
E point, P point, C point controls, Center point or Pass point
3-axis
interpolation
Linear
interpolation
E point, P point, C point controls, Composite speed or Long axis speed
Spiral
interpolation
E point, P point, C point controls, Center point or Pass point
Startup timeStandard area : 3 ms or less, Extended area : 5 ms or less
Other
functions
Dwell
time
0 to 32,767 ms (Settable by 1 ms)
Manual
operation
JOG operationSpeed reference rangepulse : 1 to 2,147,482,624 pps
μm : 1 to 2,147,482,624 μm/s
inch : 0.001 to 2,147,482.624 inch/s
degree : 0.001 to 2,147,482.624 rev/s
Acceleration /
deceleration method
Linear acceleration / deceleration, S acceleration / deceleration
Acceleration time0 to 10,000 ms (Settable by 1 ms)
Deceleration time0 to 10,000 ms (Settable by 1 ms)
Home return
(Note)
Speed reference rangepulse : 1 to 2,147,482,624 pps
μm : 1 to 2,147,482,624 μm/s
inch : 0.001 to 2,147,482.624 inch/s
degree : 0.001 to 2,147,482.624 rev/s
Acceleration /
deceleration method
Linear acceleration/deceleration
Acceleration time0 to 10,000 ms (Settable by 1 ms)
Deceleration time0 to 10,000 ms (Settable by 1 ms)
Return methodDOG method (3 types), Limit method (2 types),
Data set method, Z phase method, Stop-on-contact method (2 types)
Pulsar
operation
Speed reference rangeOperation synchronized with inputs from pulser
Stop
function
Deceleration stopDeceleration timeDeceleration time of the operation being active
Emergency stopDeceleration time0 to 10,000 ms (Settable by 1 ms)
Limit stopDeceleration time0 to 10,000 ms (Settable by 1 ms)
Error stopDeceleration time0 to 10,000 ms (Settable by 1 ms)
System stopDeceleration timeImmediate stop (0 ms)
Synchronous
functions
Supported functionsElectronic gear, Electronic clutch, Electronic cam
No. of axesNo. of
synchronous groups
4 groups
Master axisSelectable from real axes, virtual axes and pulse inputs.
Slave axisMax. 8 axes per master axis
Electronic gearOperation settingGear ratio setting
Operation methodDirect method, Linear acceleration / deceleration method
Electronic clutchTrigger typeClutch ON trigger : Contact method
Clutch OFF trigger : Contact input, The contact input + phase specifi cation
Contact method can be selected from the edge and level types.
Connection methodDirect method, Linear slide method
Electronic camCam curveSelect from 20 types. Multiple curves can be specifi ed within phase (0 to 100 %)
Resolution1,024, 2,048, 4,096, 8,192, 16,384, 32,768
No. of cam
patterns
4 to 16 (According to resolution)
Cam pattern
configuration method
Cam curve method, Cam point method (set from Confi gurator PM7-RTEX)
Other specificationsSoftware limit
function
Setting rangepulse : -2,147,482,624 to 2,147,482,624 pulse
μm (0.1 μm) : -214,748,262.4 to 214,748,262.4 μm
μm (1 μm) : -2,147,482,624 to 2,147,482,624 μm
inch (0.00001 inch) : -21,474.82624 to 21,474.82624 inch
inch (0.0001 inch) : -214,748.2624 to 214,748.2624 inch
degree (0.1 degree) : -214,748,262.4 to 214,748,262.4 degree
degree (1 degree) : -2,147,482,624 to 2,147,482,624 degree
Monitor
judgement
Torque judgementTorque judgement : Selectable from Enabled / Disabled, Error / Warning
0.0 to 500.0 %
Actual speed
judgement
Actual speed judgement : Selectable from Enabled / Disabled, Error / Warning
0 to 5,000 rpm
BackupParameters and positioning data are saved in the fl ash memory. (Battery less)
・ Limit input CWL, CCWL monitor, Proximity (DOG) monitor
・ General-purpose input : 2 points, General-purpose output : 2 points (input and output from driver)
・ Auxiliary output contact, Auxiliary output code
・ Torque limit function

(Note) : "Servo motor with an absolute encoder" supported Absolute home return is performed in combination with A6-family servo motor with an absolute encoder.
For servo drivers of A6NF and A6NE. Servo drivers with software of Ver. 1.24 (A6NF and A6NE) or later supported

------------------------------ Tab6 showing ------------------------------

Dimensions

  • Unit: mm in

AFP0HC32T
AFP0HC32P

Control units

AFP0HC32T, AFP0HC32P

AFP0HC32ET
AFP0HC32EP

Control units

AFP0HC32ET, AFP0HC32EP

AFP0HXY64D2T
AFP0HXY64D2P

Expansion I/O units

AFP0HXY64D2T

AFP0HPG01T
AFP0HPG01L
AFP0HPG02T
AFP0HPG02L

Positioning units

AFP0HPG01T, AFP0HPG01L, AFP0HPG02T, AFP0HPG02L

AFP0HCCS1
AFP0HCCS2
AFP0HCCM1
AFP0HCCS1M1

Communication cassettes

AFP0HCCS1, AFP0HCCS2, AFP0HCCM1, AFP0HCCS1M1

AFP0HM4N
AFP0HM8N

Positioning RTEX units

AFP0HM4N AFP0HM8N Dimensions

------------------------------ Tab7 showing ------------------------------

Software

Programming Software

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