Product name	Specification							Model
Product name	Number of chan- nels *1	External inputs	External outputs	Maximum pulse output speed	I/O refreshing method	Number of I/O entry mappings	Control output interface	Model
Pulse Output Unit	1 (NPN)	2 (NPN)	1 (NPN)	500 kpps	• Synchro- nous I/O refreshing • Task period prioritized refreshing *2	1/1	Open collector output	NX-PG0112
	1 (PNP)	2 (PNP)	1 (PNP)	500 kpps		1/1	Open collector output	NX-PG0122
	2	5 inputs/ CH (NPN)	3 outputs/ CH (NPN)	4 Mpps		2/2	Line driver output	NX-PG0232-5
	2	5 inputs/ CH (PNP)	3 outputs/ CH (PNP)			2/2		NX-PG0242-5
	4	5 inputs/ CH (NPN)	3 outputs/ CH (NPN)			4/4		NX-PG0332-5
	4	5 inputs/ CH (PNP)	3 outputs/ CH (PNP)			4/4		NX-PG0342-5

*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

Item		Specification
Enclosure		Mounted in a panel
Grounding method		Ground to less than 100 Ω
Operating environment	Ambient operating temperature	0 to 55°C
	Ambient operating humidity	10% to 95% (with no condensation or icing)
	Atmosphere	Must be free from corrosive gases.
	Ambient storage temperature	-25 to 70°C (with no condensation or icing)
	Altitude	2,000 m max.
	Pollution degree	Pollution degree 2 or less: Meets IEC 61010-2-201.
	Noise immunity	Conforms to IEC61000-4-4, 2 kV (power supply line)
	Overvoltage category	Category II: Meets IEC 61010-2-201.
	EMC immunity level	Zone B
	Vibration resistance	Conforms to IEC 60068-2-6. 5 to 8.4 Hz with 3.5-mm amplitude, 8.4 to 150 Hz, acceleration of 9.8 m/s², 100 min each in X, Y, and Z directions (10 sweeps of 10 min each = 100 min total)
	Shock resistance	Conforms to IEC 60068-2-27. 147 m/s², 3 times each in X, Y, and Z directions
Applicable standards *		cULus: Listed (UL508) or Listed (UL 61010-2-201), ANSI/ISA 12.12.01, EU: EN 61131-2, C-Tick or RCM, KC Registration, NK, LR

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

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

*Positioning 2**
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
	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

*Positioning 4**
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
	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	V_IT+: 0.1 V min.
	Input impedance	120 Ω ± 5%	Low level input voltage	V_IT-: -0.1 V max.
	Hysteresis voltage	Vhys (V_IT+ – V_IT-): 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

*Positioning 4**
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
	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	V_IT+: 0.1 V min.
	Input impedance	120 Ω ± 5%	Low level input voltage	V_IT-: -0.1 V max.
	Hysteresis voltage	Vhys (V_IT+ – V_IT-): 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

*Positioning 4**
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 inputs2 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
	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	V_IT+: 0.1 V min.
	Input impedance	120 Ω ± 5%	Low level input voltage	V_IT-: -0.1 V max.
	Hysteresis voltage	Vhys (V_IT+ – V_IT-): 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

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

*Positioning 4**
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
	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	V_IT+: 0.1 V min.
	Input impedance	120 Ω ± 5%	Low level input voltage	V_IT-: -0.1 V max.
	Hysteresis voltage	Vhys (V_IT+ – V_IT-): 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