NX-PG0[][][] – NX-series Pulse Output Unit – Omron Position Interface Unit

Position Interface: Pulse Output Units

*1. This is the number of pulse output channels.
*2. Unit version 1.2 or later and an NX-ECC203 EtherCAT Coupler Unit are required.

General Specification

* Ask your OMRON representative for the most recent applicable standards for each model.

Pulse Output Unit (Open collector output, NPN type) NX-PG0112

Unit name		Pulse Output Unit	Model	NX-PG0112
Number of axes		1	Type of external connections	Screwless clamping terminal block (16 terminals)
I/O refreshing method *1		Synchronous I/O refreshing or task period prioritized refreshing
Indicators			I/O signals	Inputs: 2, External inputs Outputs: 3, The outputs are the forward direction pulse output, reverse direction pulse output, and external output (one of each output).
Control method		Open-loop control through pulse string output
Controlled drive		Servo drive with a pulse string input or a stepper motor drive
Pulse output form		Open collector output
Control unit		Pulses
Maximum pulse output speed		500kpps
Pulse output method		Forward/reverse direction pulse outputs or pulse + direction outputs
Position control range		-2,147,483,648 to 2,147,483,647 pulses
Velocity control range		1 to 500,000 pps
Positioning *2
	Single-axis position control	Absolute positioning, relative positioning, and interrupt feeding
	Single-axis velocity control	Velocity control (velocity feeding in Position Control Mode)
	Single-axis synchronized control	Cam operation and gear operation
	Single-axis manual operation	Jogging
	Auxiliary function for single-axis control	Homing, stopping, and override changes
External input specifications
	Input voltage	20.4 to 28.8 VDC (24 VDC +20%/-15%)	ON voltage/ ON current	15 VDC min./3 mA min.
	Input current	4.6 mA typical (24 VDC)	OFF voltage/OFF current	4.0 VDC max./1 mA max.
	ON/OFF response time	1 μs max./2 μs max.
	Internal I/O common processing	NPN
Pulse output and external output specifications
	Rated voltage	24 VDC
	Load voltage range	15 to 28.8 VDC	Residual voltage	1.0 V max.
	Maximum load current	30mA	Leakage current	0.1 mA max.
	ON/OFF response time	Pulse output: Refer to “NX-series Position Interface Units User’s Manual (W524-E1)”. External output: 5 μs max./5 μs max.
	Internal I/O common processing	NPN
Dimensions		12 × 100 × 71 mm (W×H×D)	Isolation method	External inputs: Photocoupler isolation External outputs: Digital isolator
Insulation resistance		20 MΩ min. between isolated circuits (at 100 VDC)	Dielectric strength	510 VAC between isolated circuits for 1minute with leakage current of 5 mA max.
I/O power supply source		Supplied from the NX bus. 20.4 to 28.8 VDC (24 VDC +20%/-15%)	Current capacity of I/O power supply terminals	IOV: 0.1 A max. per terminal IOG: 0.1 A max. per terminal
NX Unit power consumption		• Connected to a CPU Unit 1.15 W max. • Connected to a Commu- nications Coupler Unit 0.80 W max.	Current consumption from I/O power supply	20 mA max.
Weight		70 g max.	Cable length	3 m max.
Circuit layout
Installation orientation and restrictions		Installation orientation: • Connected to a CPU Unit: Possible in upright installation. • Connected to a Communications Coupler Unit: Possible in 6 orientations. Restrictions: There are no restrictions.
Terminal connection diagram
Failure detection		None	Protection	None

*1. The I/O refreshing method is automatically set according to the connected Communications Coupler Unit and CPU Unit.
*2. These functions are supported when you also use the MC Function Module in the NJ/NX-series CPU Unit or the NY-
series Industrial PC.
For details, refer to the motion control user’s manual for the connected CPU Unit or Industrial PC.
A Pulse Output Unit only outputs pulses during the control period based on commands received at a fixed period.
Target position calculations (distribution calculations) for acceleration/deceleration control or for each control period must
be performed on the Controller.

Pulse Output Unit (Line driver output, NPN type) 2 channels NX-PG0232-5

Unit name		Pulse Output Unit	Model	NX-PG0232-5
Number of channels		2 channels	Type of external connections	MIL connector (34 terminals ×1)
I/O refreshing method *1		Synchronous I/O refreshing or task period prioritized refreshing
Indicators			I/O signals	Inputs: 5 per channel. External inputs *2 Outputs: 5 per channel. 1 forward direction pulse output, 1 reverse direction pulse output, and 3 external outputs (per channel) *3
Control method		Open-loop control through pulse string output
Controlled drive		Servo drive with a pulse string input or a stepper motor drive
Pulse output form		Line driver output
Unit of control		Pulses
Maximum pulse output speed		4 Mpps
Pulse output method		Forward/reverse direction pulse outputs, Pulse + direction outputs, or Phase differential pulse output multiplication x1/2/4
Position control range		-2,147,483,648 to 2,147,483,647 pulses
Velocity control range		1 to 4,000,000 pps
Positioning *4
	Single-axis position control	Absolute positioning, relative positioning, and interrupt feeding
	Single-axis velocity control	Velocity control (velocity feeding in Position Control Mode)
	Single-axis synchronized control	Cam operation and gear operation
	Single-axis manual operation	Jogging
	Auxiliary function for single-axis control	Homing, stopping, and override changes
External input specifications (except for line receiver inputs)
	Input voltage	21.6 to 26.4 VDC (24 VDC +10%, -10%)	ON voltage/ ON current	15 VDC min./3 mA min.
	Input current	4.6 mA typical (24 VDC)	OFF voltage/OFF current	4.0 VDC max./1 mA max.
	ON/OFF response time	External inputs 0 and 1: 1 μs max./2 μs max. External inputs 2 to 4: 20 μs max./400 μs max.
	Internal I/O common processing	NPN
External input specifications (line receiver inputs)
	Input voltage	EIA standard RS-422-A line driver levels	High level input voltage	VIT+: 0.1 V min.
	Input impedance	120 Ω ± 5%	Low level input voltage	VIT-: -0.1 V max.
	Hysteresis voltage	Vhys (VIT+ – VIT-): 60 mV
Line driver output specifications
	Output voltage	RS-422-A line driver level (equivalent to AM26C31)
	Maximum load current	20 mA
	Maximum output frequency	4 Mpps
External output specifications
	Rated voltage	24 VDC
	Load voltage range	15 to 28.8 VDC	Residual voltage	1.0 V max.
	Maximum load current	30mA	Leakage current	0.1 mA max.
	ON/OFF response time	External output 0: 5 μs max./5 μs max. External outputs 1 and 2: 0.5 ms max./1 ms max.
	Internal I/O common processing	NPN
Dimensions		30 × 100 × 71 mm (W×H×D)	Isolation method	External inputs: Photocoupler isolation External outputs: Digital isolator
Insulation resistance		20 MΩ min. between isolated circuits (at 100 VDC)	Dielectric strength	510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max.
I/O power supply source		Supply from external source 20.4 to 28.8 VDC(24 VDC +20%, -15%)	Current capacity of I/O power supply terminals	Without I/O power supply terminals
NX Unit power consumption		• Connected to a CPU Unit 1.55 W max. • Connected to a Communi- cations Coupler Unit 1.20 W max.	Current consumption from I/O power supply	50 mA max.
Weight		110 g max.	Cable length	Line driver outputs: 10 m max. Other I/O: 3 m max.
Circuit layout
Installation orientation and restrictions		Installation orientation: • Connected to a CPU Unit: Possible in upright installation. • Connected to a Communications Coupler Unit: Possible in 6 orientations. Restrictions: The number of external inputs that can be always ON is restricted as shown below.
Terminal connection diagram
Failure detection		None	Protection	None

*1. The I/O refreshing method is automatically set according to the connected Communications Coupler Unit and CPU Unit.
*2. You can use the external input 0 as a latch input.
*3. You can use the external output 0 as an error counter reset output.
*4. These functions are supported when you also use the MC Function Module in the NJ/NX-series CPU Unit or the NY-
series Industrial PC.
For details, refer to the motion control user’s manual for the connected CPU Unit or Industrial PC.
A Pulse Output Unit only outputs pulses during the control period based on commands received at a fixed period.
Target position calculations (distribution calculations) for acceleration/deceleration control or for each control period must
be performed on the Controller.

Pulse Output Unit (Line driver output, PNP type) 2 channels NX-PG0242-5

Unit name		Pulse Output Unit	Model	NX-PG0242-5
Number of channels		2 channels	Type of external connections	MIL connector (34 terminals ×1)
I/O refreshing method *1		Synchronous I/O refreshing or task period prioritized refreshing
Indicators			I/O signals	Inputs: 5 per channel. External inputs *2 Outputs: 5 per channel. 1 forward direction pulse output, 1 reverse direction pulse output, and 3 external outputs (per channel) *3
Control method		Open-loop control through pulse string output
Controlled drive		Servo drive with a pulse string input or a stepper motor drive
Pulse output form		Line driver output
Unit of control		Pulses
Maximum pulse output speed		4 Mpps
Pulse output method		Forward/reverse direction pulse outputs, Phase + direction outputs, or Phase differential pulse output multiplication x1/2/4
Position control range		-2,147,483,648 to 2,147,483,647 pulses
Velocity control range		1 to 4,000,000 pps
Positioning *4
	Single-axis position control	Absolute positioning, relative positioning, and interrupt feeding
	Single-axis velocity control	Velocity control (velocity feeding in Position Control Mode)
	Single-axis synchronized control	Cam operation and gear operation
	Single-axis manual operation	Jogging
	Auxiliary function for single-axis control	Homing, stopping, and override changes
External input specifications (except for line receiver inputs)
	Input voltage	21.6 to 26.4 VDC (24 VDC +10%, -10%)	ON voltage/ ON current	15 VDC min./3 mA min.
	Input current	4.6 mA typical (24 VDC)	OFF voltage/OFF current	4.0 VDC max./1 mA max.
	ON/OFF response time	External inputs 0 and 1: 1 μs max./2 μs max. External inputs 2 to 4: 20 μs max./400 μs max.
	Internal I/O common processing	PNP
External input specifications (line receiver inputs)
	Input voltage	EIA standard RS-422-A line driver levels	High level input voltage	VIT+: 0.1 V min.
	Input impedance	120 Ω ± 5%	Low level input voltage	VIT-: -0.1 V max.
	Hysteresis voltage	Vhys (VIT+ – VIT-): 60 mV
Line driver output specifications
	Output voltage	RS-422-A line driver level (equivalent to AM26C31)
	Maximum load current	20 mA
	Maximum output frequency	4 Mpps
External output specifications
	Rated voltage	24 VDC
	Load voltage range	15 to 28.8 VDC	Residual voltage	1.0 V max.
	Maximum load current	30mA	Leakage current	0.1 mA max.
	ON/OFF response time	External output 0: 5 μs max./200 μs max. External outputs 1 and 2: 0.5 ms max./1 ms max.
	Internal I/O common processing	PNP
Dimensions		30 × 100 × 71 mm (W×H×D)	Isolation method	External inputs: Photocoupler isolation External outputs: Digital isolator
Insulation resistance		20 MΩ min. between isolated circuits (at 100 VDC)	Dielectric strength	510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max.
I/O power supply source		Supply from external source 20.4 to 28.8 VDC(24 VDC +20%, -15%)	Current capacity of I/O power supply terminals	Without I/O power supply terminals
NX Unit power consumption		• Connected to a CPU Unit 1.55 W max. • Connected to a Commu- nications Coupler Unit 1.20 W max.	Current consumption from I/O power supply	50 mA max.
Weight		110 g max.	Cable length	Line driver outputs: 10 m max. Other I/O: 3 m max.
Circuit layout
Installation orientation and restrictions		Installation orientation: • Connected to a CPU Unit: Possible in upright installation. • Connected to a Communications Coupler Unit: Possible in 6 orientations. Restrictions: The number of external inputs that can be always ON is restricted as shown below.
Terminal connection diagram
Failure detection		None	Protection	None

*1. The I/O refreshing method is set according to the connected Communications Coupler Unit and CPU Unit.
*2. You can use the external input 0 as a latch input.
*3. You can use the external output 0 as an error counter reset output.
*4. These functions are supported when you also use the MC Function Module in the NJ/NX-series CPU Unit or the NY-
series Industrial PC.
For details, refer to the motion control user’s manual for the connected CPU Unit or Industrial PC.
A Pulse Output Unit only outputs pulses during the control period based on commands received at a fixed period.
Target position calculations (distribution calculations) for acceleration/deceleration control or for each control period must
be performed on the Controller.

Pulse Output Unit (Line driver output, NPN type) 4 channels NX-PG0332-5

Unit name		Pulse Output Unit	Model	NX-PG0332-5
Number of channels		4 channels	Type of external connections	MIL connector (34 terminals ×2)
I/O refreshing method *1		Synchronous I/O refreshing or task period prioritized refreshing
Indicators			I/O signals	Inputs: 5 per channel. External inputs*2 Outputs: 5 per channel. 1 forward direction pulse output, 1 reverse direction pulse output, and 3 external outputs (per channel)*3
Control method		Open-loop control through pulse string output
Controlled drive		Servo drive with a pulse string input or a stepper motor drive
Pulse output form		Line driver output
Unit of control		Pulses
Maximum pulse output speed		4 Mpps
Pulse output method		Forward/reverse direction pulse outputs, Pulse + direction outputs, or Phase differential pulse output multiplication x1/2/4
Position control range		-2,147,483,648 to 2,147,483,647 pulses
Velocity control range		1 to 4,000,000 pps
Positioning *4
	Single-axis position control	Absolute positioning, relative positioning, and interrupt feeding
	Single-axis velocity control	Velocity control (velocity feeding in Position Control Mode)
	Single-axis synchronized control	Cam operation and gear operation
	Single-axis manual operation	Jogging
	Auxiliary function for single-axis control	Homing, stopping, and override changes
External input specifications (except for line receiver inputs)
	Input voltage	21.6 to 26.4 VDC (24 VDC +10%, -10%)	ON voltage/ ON current	15 VDC min./3 mA min.
	Input current	4.6 mA typical (24 VDC)	OFF voltage/OFF current	4.0 VDC max./1 mA max.
	ON/OFF response time	External inputs 0 and 1: 1 μs max./2 μs max. External inputs 2 to 4: 20 μs max./400 μs max.
	Internal I/O common processing	NPN
External input specifications (line receiver inputs)
	Input voltage	EIA standard RS-422-A line driver levels	High level input voltage	VIT+: 0.1 V min.
	Input impedance	120 Ω ± 5%	Low level input voltage	VIT-: -0.1 V max.
	Hysteresis voltage	Vhys (VIT+ – VIT-): 60 mV
Line driver output specifications
	Output voltage	RS-422-A line driver level (equivalent to AM26C31)
	Maximum load current	20 mA
	Maximum output frequency	4 Mpps
External output specifications
	Rated voltage	24 VDC
	Load voltage range	15 to 28.8 VDC	Residual voltage	1.0 V max.
	Maximum load current	30mA	Leakage current	0.1 mA max.
	ON/OFF response time	External output 0: 5 μs max./200 μs max. External outputs 1 and 2: 0.5 ms max./1 ms max.
	Internal I/O common processing	NPN
Dimensions		30 × 100 × 71 mm (W×H×D)	Isolation method	External inputs: Photocoupler isolation External outputs: Digital isolator
Insulation resistance		20 MΩ min. between isolated circuits (at 100 VDC)	Dielectric strength	510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max.
I/O power supply source		Supply from external source 20.4 to 28.8 VDC(24 VDC +20%, -15%)	Current capacity of I/O power supply terminals	Without I/O power supply terminals
NX Unit power consumption		• Connected to a CPU Unit 1.65 W max. • Connected to a Communi- cations Coupler Unit 1.30 W max.	Current consumption from I/O power supply	50 mA/CN max.
Weight		150 g max.	Cable length	Line driver outputs: 10 m max. Other I/O: 3 m max.
Circuit layout
Installation orientation and restrictions		Installation orientation: • Connected to a CPU Unit: Possible in upright installation. • Connected to a Communications Coupler Unit: Possible in 6 orientations. Restrictions: The number of external inputs that can be always ON is restricted as shown below.
Terminal connection diagram
Failure detection		None	Protection	None

*1. The I/O refreshing method is set according to the connected Communications Coupler Unit and CPU Unit.
*2. You can use the external input 0 as a latch input.
*3. You can use the external output 0 as an error counter reset output.
*4. These functions are supported when you also use the MC Function Module in the NJ/NX-series CPU Unit or the NY-
series Industrial PC.
For details, refer to the motion control user’s manual for the connected CPU Unit or Industrial PC.
A Pulse Output Unit only outputs pulses during the control period based on commands received at a fixed period.
Target position calculations (distribution calculations) for acceleration/deceleration control or for each control period must
be performed on the Controller.

Pulse Output Unit (Line driver output, PNP type) 4 channels NX-PG0342-5

Unit name		Pulse Output Unit	Model	NX-PG0342-5
Number of channels		4 channels	Type of external connections	MIL connector (34 terminals ×2)
I/O refreshing method *1		Synchronous I/O refreshing or task period prioritized refreshing
Indicators			I/O signals	Inputs: 5 per channel. External inputs *2 Outputs: 5 per channel. 1 forward direction pulse output, 1 reverse direction pulse output, and 3 external outputs (per channel) *3
Control method		Open-loop control through pulse string output
Controlled drive		Servo drive with a pulse string input or a stepper motor drive
Pulse output form		Line driver output
Unit of control		Pulses
Maximum pulse output speed		4 Mpps
Pulse output method		Forward/reverse direction pulse outputs, Pulse + direction outputs, or Phase differential pulse output multiplication x1/2/4
Position control range		-2,147,483,648 to 2,147,483,647 pulses
Velocity control range		1 to 4,000,000 pps
Positioning *4
	Single-axis position control	Absolute positioning, relative positioning, and interrupt feeding
	Single-axis velocity control	Velocity control (velocity feeding in Position Control Mode)
	Single-axis synchronized control	Cam operation and gear operation
	Single-axis manual operation	Jogging
	Auxiliary function for single-axis control	Homing, stopping, and override changes
External input specifications (except for line receiver inputs)
	Input voltage	21.6 to 26.4 VDC (24 VDC +10%, -10%)	ON voltage/ ON current	15 VDC min./3 mA min.
	Input current	4.6 mA typical (24 VDC)	OFF voltage/OFF current	4.0 VDC max./1 mA max.
	ON/OFF response time	External inputs 0 and 1: 1 μs max./2 μs max. External inputs 2 to 4: 20 μs max./400 μs max.
	Internal I/O common processing	PNP
External input specifications (line receiver inputs)
	Input voltage	EIA standard RS-422-A line driver levels	High level input voltage	VIT+: 0.1 V min.
	Input impedance	120 Ω ± 5%	Low level input voltage	VIT-: -0.1 V max.
	Hysteresis voltage	Vhys (VIT+ – VIT-): 60 mV
Line driver output specifications
	Output voltage	RS-422-A line driver level (equivalent to AM26C31)
	Maximum load current	20 mA
	Maximum output frequency	4 Mpps
External output specifications
	Rated voltage	24 VDC
	Load voltage range	15 to 28.8 VDC	Residual voltage	1.0 V max.
	Maximum load current	30mA	Leakage current	0.1 mA max.
	ON/OFF response time	External output 0: 5 μs max./200 μs max. External outputs 1 and 2: 0.5 ms max./1 ms max.
	Internal I/O common processing	PNP
Dimensions		30 × 100 × 71 mm (W×H×D)	Isolation method	External inputs: Photocoupler isolation External outputs: Digital isolator
Insulation resistance		20 MΩ min. between isolated circuits (at 100 VDC)	Dielectric strength	510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max.
I/O power supply source		Supply from external source 20.4 to 28.8 VDC(24 VDC +20%, -15%)	Current capacity of I/O power supply terminals	Without I/O power supply terminals
NX Unit power consumption		• Connected to a CPU Unit 1.65 W max. • Connected to a Communi- cations Coupler Unit 1.30 W max.	Current consumption from I/O power supply	50 mA/CN max.
Weight		150 g max.	Cable length	Line driver outputs: 10 m max. Other I/O: 3 m max.
Circuit layout
Installation orientation and restrictions		Installation orientation: • Connected to a CPU Unit: Possible in upright installation. • Connected to a Communications Coupler Unit: Possible in 6 orientations. Restrictions: The number of external inputs that can be always ON is restricted as shown below.
Terminal connection diagram
Failure detection		None	Protection	None

*1. The I/O refreshing method is set according to the connected Communications Coupler Unit and CPU Unit.
*2. You can use the external input 0 as a latch input.
*3. You can use the external output 0 as an error counter reset output.
*4. These functions are supported when you also use the MC Function Module in the NJ/NX-series CPU Unit or the NY-
series Industrial PC.
For details, refer to the motion control user’s manual for the connected CPU Unit or Industrial PC.
A Pulse Output Unit only outputs pulses during the control period based on commands received at a fixed period.
Target position calculations (distribution calculations) for acceleration/deceleration control or for each control period must
be performed on the Controller.