Programmable Controller

FP0H SERIES

Perfect fit for small devices

Capable of controlling a device which requires multiple-axis
synchronous control (up to eight axes)

FP0H Full suite of motion functions

Positioning RTEX units Multi-axis synchronous control

AFP0HM4N (4-axis type) ■Electronic gear

The electronic gear function
AFP0HM8N (8-axis type) Electronic gear changes the master axis and
slave axis speed ratio.
■Electronic clutch
The electronic clutch function is
Electronic clutch used to engage the clutch.

Pulser input function ■Electronic cam

The electronic cam function
By connecting pulsers, operations on Electronic cam determines and outputs the
each axis can be controlled manually. movement amount of the slave
axis according to the operation of
●Number of channel: Max. 3 channels
the master axis and cam pattern.
●Counting area:
-2,147,483,648 to 2,147,483,647 pulses
●Input mode: Interpolation control
Phase input, Direction discrimination input
and Individual input
■2-axis and 3-axis linear
(Multiplier function for each mode)
Linear interpolation interpolation controls

■2-axis circular interpolation

RTEX communication control
Circular interpolation
Command update cycle: 1 ms / 8 axes

Capable of controlling up to 16 axes ■3-axis spiral interpolation

with a small PLC Spiral interpolation control
* Up to eight axes for synchronous control

Network servo drivers

MINAS A5N/A6N supported

ビパヒペハパヘƷㄊㄏㄅㄖㄔㄕㄓㄊ㄂ㄍハㄑ㄂ㄏ㄂ㄔㄐㄏㄊ㄄ハ㄄ㄐㄎバ㄂㄄バㄆバ
 Capable of performing motion control through a high-speed
network and supporting an open network with a small PLC
Positioning
RTEX unit Control unit
Features
Web server
Support of network servo drivers MINAS A5N/A6N
Ethernet FP7 Internet Web screen
significantly reduces the man-hours in wiring.
A maximum of 16 axes. Up to two 8-axis units can be
* EtherNet/IP is a installed.
trademark of ODVA, Inc. *Synchronous control
PLC of each Robo cylinder Remote I/O 4-axis type: Up to six axes including virtual axes (virtual axis: 2 axes)
company 8-axis type: Up to eight axes including virtual axes

Check the MINAS data

on Web sever Control unit
▪Basic information
Monitor position, speed, Compatible with EtherNet/IP, Modbus-TCP and
torque, driver part No., MC protocol
motor part No.
Easily connected to various robots and PLCs for performing
▪Error information control and communication
Error code
Error history Monitors status through the network
Capable of obtaining data to monitor the status of the motor and
▪Status display perform predictive maintenance
Servo drive inside
temperature
Encoder inside tem-
perature
Deterioration diagnosis

Features of RTEX (Realtime Express)

Simpler wiring: cuts labor time for design and installation.

Motion command

Easier with 8 axes wiring

Driver information feedback

Ethernet cable
FP0H RTEX

High speed network and high performance servo bring synchronous control

FP0H RTEX
Position (interpolation): Helical control Ethernet base Frequency response: 3.2 kHz
Synchronization: Gantry / Cam control CAT5e cable Maximum speed: 6,500 r/min.
Command update period 1 ms / 8 axes Highly immune to noise Max. pulse frequency: 4 Gpps, Resolution: 23 bits

Suitable for different applications

Control of gantry mechanism Control of cam mechanism
2-axis gantry control together with interpolation control Preset cam operation synchronized with the main axis
enables smooth and highly accurate stage control. enables control of the rotation of the slave axis motor.

Y axis: Gantry X and Z axes: Circular and Linear

interpolations
X
Z

Y2 Linear interpolation Circular interpolation Electronic gear Electronic clutch

Y1

Spiral interpolation Electronic cam

i application
Main li ti sectors:
t El t
Electronic parts, liquid Main application sectors: Packaging equipment,
crystal manufacturing, machine tools, etc. food/chemicals, general machinery, etc.
Main application devices: Inspection equipment, Main application devices: Rotary cutters, printing
coaters, laser scanners, etc. machine, inserters, etc.
2
 Pr o g r am m ab le
controller FP0H SERIES

Full suite of convenient functions

1 Perfect for photographing by camera in a set position 2 Perfect for press fitting control with torque stopping
Press
fitting PPS Present Command
position position
Photographing
by camera, etc. Stops at the present position
Stroke
Motor by clearing the deviation counter

TORQUE TIME
Position compare Occurrence of
set value Actual position Torque limit value position deviation
Compare output
Shutter
trigger
TIME
■Highly accurate position compare ■Deviation counter clearing
Turns trigger output ON in the position of the encoder of servo motor Capable of simple press fitting control (torque control) by combining the
torque control function at the position control. Stops the motor with the
Capable of high-precision timing detection, because torque limit value, and then stops the occurrence of torque.
Point
position comparison is performed inside the servo motor Stops the application of torque. Capable of immediate
to avoid communication delay or calculation lag with the Point
inversion operation as there is no accumulated pulse in the
controller deviation counter.

3 Perfect for cueing hoop material

Cutter
Mark sensor
(Cutting)

■Latch stop function

Stops the motor immediately by turning ON the sensor signal connected
to the servo driver.
■Latch correction J-point control
PPS
Stops the motor at a set amount of movement, after turning ON the sensor
[Latch stop function] signal connected to the servo driver.
JOG
TIME Capable of stopping with high accuracy, because the
PPS Point
sensor signal is directly input into the servo driver to avoid
[Latch correction
JOG J-point control]
communication delay or calculation lag with the controller
via the network.
Setting pulse TIME

Programming software
Capable of easily configure
Control FPWIN Pro7 parameters and positioning actions
by activating Configurator
International standard IEC 61131-3 compliant PM7-RTEX from Control FPWIN Pro7.
Programming software of PLC open certification
* For Configurator PM7-RTEX, support-
LD FBD ST ed from Control FPWIN Pro7 Ver.[Link]
Ladder Function Structured or later.
Diagram Block Text
Diagram

Support of FB library for positioning control

What is FB(Function Block)?

It is a function where a series of processing (programs) are compartmentalized
and registered to be used as a single command.

SFC IL Program
Sequential Instruction
Function List
Chart

Features

1. Five programming languages can be used.

Made into a Function Block
Programming can be done using the language most familiar to the developer
or using the language most suited to the process to be performed.
High-level (structured text) languages that allow structuring, such as C, are
supported.
2. Easy to reuse well-proven programs
Efficiency when writing programs has been greatly increased by being able Function Block (FB)

to split programming up for each function and process using structured pro-
gramming.
3. Keep know-how from getting out Function Block is to be released at our website.
By “black boxing" a part of a program, you can prevent know-how from leak-
ing out and improve the program's maintainability.
Can easily create a
4. Source program from PLC can be uploaded. program with FB
Serviceability is improved by being able to read programs and comments
FB User
PLC
from a PLC. Download from
our website
5. Programming for all models in the FP series possible

3
 Specifications
Type 4-axis type 8-axis type Type 4-axis type 8-axis type
Item Part No. AFP0HM4N AFP0HM8N Item Part No. AFP0HM4N AFP0HM8N
Number of axes controlled 4 axes 8 axes Supported functions Electronic gear, Electronic clutch, Electronic cam
2-axis linear interpolation, 2-axis circular interpolation, No. of
Interpolation control synchronous 4 groups
3-axis linear interpolation and 3-axis spiral interpolation
No. of groups
Occupied I/O points 128 input points, 128 output points axes Master axis Selectable from real axes, virtual axes and pulse inputs.
Position specification mode Absolute (Absolute position specification), Increment (Relative position specification)
Slave axis Max. 8 axes per master axis
pulse
Operation
Position specified μm (Min. unit of instruction selectable between 0.1 μm and 1 μm) Gear ratio setting
Electronic setting

Synchronous functions
unit inch (Min. unit of instruction selectable between 0.00001 inch and 0.0001 inch)
gear Operation
degree (Min. unit of instruction selectable between 0.1 degree and 1 degree) Direct method, Linear acceleration / deceleration method
method
pulse : -2,147,482,624 to 2,147,482,624 pulse
μm (0.1 μm) : -214,748,262.4 to 214,748,262.4 μm Clutch ON trigger: Contact method
μm (1 μm) : -2,147,482,624 to 2,147,482,624 μm Trigger type Clutch OFF trigger: Contact input, The contact input + phase specification
Electronic
Position setting Contact method can be selected from the edge and level types.
inch (0.00001 inch) : -21,474.82624 to 21,474.82624 inch clutch
range
inch (0.0001 inch) : -214,748.2624 to 214,748.2624 inch Connection
Direct method, Linear slide method
degree (0.1 degree) : -214,748,262.4 to 214,748,262.4 degree method
degree (1 degree) : -2,147,482,624 to 2,147,482,624 degree Cam curve Select from 20 types. Multiple curves can be specified within phase (0 to 100 %)
pulse : 1 to 2,147,482,624 pps Resolution 1,024, 2,048, 4,096, 8,192, 16,384, 32,768
Automatic operation

Speed reference μm : 1 to 2,147,482,624 μm/s Electronic No. of cam

4 to 16 (According to resolution)
Position control

range inch : 0.001 to 2,147,482.624 inch/s cam patterns

degree: 0.001 to 2,147,482.624 rev/s Cam pattern
Cam curve method, Cam point method
Acceleration and configuration
Linear acceleration / deceleration, S acceleration / deceleration (set from Configurator PM7-RTEX)
deceleration method method
Acceleration time 0 to 10,000 ms (Settable by 1 ms) pulse : -2,147,482,624 to 2,147,482,624 pulse
Deceleration time 0 to 10,000 ms (Settable by 1 ms) μm (0.1 μm) : -214,748,262.4 to 214,748,262.4 μm
Software μm (1 μm) : -2,147,482,624 to 2,147,482,624 μm
No. of positioning tables Each axis: 600 points in standard area and 89 points in extended area
limit Setting range inch (0.00001 inch) : -21,474.82624 to 21,474.82624 inch
PTP control (E-point control, C-point control),
Independent function inch (0.0001 inch) : -214,748.2624 to 214,748.2624 inch
CP control (P-point control), Speed control (J-point control)

Other specifications
degree (0.1 degree): -214,748,262.4 to 214,748,262.4 degree
Control method

Linear
interpolation interpolation

interpolation E point, P point, C point controls, Composite speed or Long axis speed degree (1 degree) : -2,147,482,624 to 2,147,482,624 degree
Torque Torque judgement: Selectable from Enabled / Disabled, Error / Warning
2-axis

Circular
interpolation E point, P point, C point controls, Center point or Pass point
Monitor judgement 0.0 to 500.0 %
Linear
interpolation E point, P point, C point controls, Composite speed or Long axis speed judgement Actual speed Actual speed judgement: Selectable from Enabled / Disabled, Error / Warning
judgement 0 to 5,000 rpm
3-axis

Spiral
interpolation E point, P point, C point controls, Center point or Pass point
Backup Parameters and positioning data are saved in the flash memory. (Battery less)
Startup time Standard area: 3 ms or less, Extended area: 5 ms or less
・Limit input CWL, CCWL monitor, Proximity (DOG) monitor
Other Dwell ・General-purpose input: 2 points, General-purpose output: 2 points (input and output from driver)
functions time
0 to 32,767 ms (Settable by 1 ms)
・Auxiliary output contact, Auxiliary output code
pulse : 1 to 2,147,482,624 pps ・Torque limit function
Speed reference μm : 1 to 2,147,482,624 μm/s
*1 “Servo motor with an absolute encoder” supported
JOG operation

range inch : 0.001 to 2,147,482.624 inch/s Absolute home return is performed in combination with A6-family servo motor with an absolute encoder.
degree: 0.001 to 2,147,482.624 rev/s For servo drivers of A6NF and A6NE.
Acceleration / Servo drivers with software of Ver. 1.24 (A6NF and A6NE) or later supported
Linear acceleration / deceleration, S acceleration / deceleration
deceleration method
Acceleration time 0 to 10,000 ms (Settable by 1 ms)
Manual operation

Deceleration time 0 to 10,000 ms (Settable by 1 ms)

pulse : 1 to 2,147,482,624 pps
Speed reference μm : 1 to 2,147,482,624 μm/s
range inch : 0.001 to 2,147,482.624 inch/s
Home return *1

degree: 0.001 to 2,147,482.624 rev/s

Acceleration /
Linear acceleration/deceleration
deceleration method
Acceleration time 0 to 10,000 ms (Settable by 1 ms)
Deceleration time 0 to 10,000 ms (Settable by 1 ms)
DOG method (3 types), Limit method (2 types),
Return method
Data set method, Z phase method, Stop-on-contact method (2 types)
Pulsar Speed reference
Operation synchronized with inputs from pulser
operation range
Deceleration stop Deceleration time Deceleration time of the operation being active
Stop function

Emergency stop Deceleration time 0 to 10,000 ms (Settable by 1 ms)

Limit stop Deceleration time 0 to 10,000 ms (Settable by 1 ms)
Error stop Deceleration time 0 to 10,000 ms (Settable by 1 ms)
System stop Deceleration time Immediate stop (0 ms)

Dimensions (Unit: mm in) The CAD data can be downloaded from our website.

30 (15) 60
1.181 (0.591) 2.362

DIN rail
attachment gap
(35 mm 1.378 inch)

90
3.543

3.5
0.138 4.5
0.177

Please contact ..........

Industrial Device Business Division

1006, Oaza Kadoma, Kadoma-shi, Osaka 571-8506, Japan
[Link]/ac/e/

©Panasonic Corporation 2019

No. CE-FP0HRTEX-6 July, 2019 Specifications are subject to change without notice.