XCM motion controller

User manual

Xinje Electronic Co., Ltd.

Data No. PC02 20080412 3.0
 Xinje Electronic

Catalog

Foreword
XCM ————————————————————

Motion control type PLC XCM motion controller

1
User manual summarize
————————————————————

The power circuit specifications,

input/output specifications and 2

external wiring
————————————————————

Action and function of various

register, motion control instruction 3

explanation and parameters
————————————————————

Appendix 4
————————————————————

The first edition

This manual includes some basic precautions which you should follow to keep you safe and protect the
products. These precautions are underlined with warning triangles in the manual. About other manuals that
we do not mention please follow basic electric operating rules.

Precautions Please follow the precautions. If not, it may lead the control system
incorrect or abnormal, even cause fortune lose.

The models could only be used according to the manual, and an only be
Correct
used along with the peripheral equipments recognized or recommended
Application
by Xinje Electronic. They could only work normally in the condition of
be transported, kept and installed correctly, also please operate and
maintain them according to the recommendation.

Xinje Electronic Co., Ltd. Copyright reserved

Without exact paper file allowance, copy, translate or using the manual is not allowed. Disobey this,
people should take the responsibility of loss. We reserve all the right of expansions and their design
patent.

Duty Declare
We have checked the manual, its content fits the hardware and software of the products.As mistakes are
unavoidable, we couldn’t promise all correct. However, we would check the data in the manual frequently,
and in the next edition, we will correct the necessary information. Your recommendation would be highly
appreciated
20008.06
 CATALOG

FOREWORD ........................................................................................................................................... 8

1．XCM MOTION CONTROLLER SUMMARIZE............................................................................ 10

1-1．INTERNAL SPECIFICATION .......................................................................................................... 21

1-2．APPEARANCE & DIMENSION ...................................................................................................... 23

1-3．TERMINAL ARRANGEMENT ........................................................................................................ 24

1-4．COM PORT DEFINITION ............................................................................................................. 25

2． POWER SPECIFICATION, I/O SPECIFICATION, EXTERNAL LAYOUT ............................... 26

2-1．POWER SPECIFICATION............................................................................................................... 27

2-2．AC POWER SUPPLY, DC INPUT ................................................................................................... 28

2-3．INPUT SPECIFICATION................................................................................................................. 29

2-4．DC INPUT SIGNAL OPERATION (AC POWER) ............................................................................. 30

2-5．TRANSISTOR OUTPUT CIRCUIT AND SPECIFICATIONS ................................................................. 32

3．MOTION CONTROL INSTRUCTION, PARAMETER, SPECIAL DATA REGISTER AND

AUXILIARY RELAY ............................................................................................................................ 36

3-1．SOFT ELEMENT ID LIST .............................................................................................................. 38

3-2．MOTION CONTROL INSTRUCTION LIST (SPECIAL FOR XCM SERIES) .......................................... 40

3-3．HOW TO READ THE INSTRUCTIONS ............................................................................................. 41

3-4． OUTPUT TERMINAL ARRANGEMENT TABLE ............................................................................... 42

3-5．MOTION CONTROL INSTRUCTIONS ............................................................................................ 43

 3-6．MOTION CONTROL PARAMETER ................................................................................................. 62

3-7．SPECIAL DATA REGISTER LIST .................................................................................................... 66

3-8．SPECIAL AUXILIARY RELAY LIST ................................................................................................ 67

3-9．PULSE OUTPUT SIGN BIT ............................................................................................................ 68

3-9．APPLICATION ............................................................................................................................. 74

4．APPENDIX ...................................................................................................................................... 83

4-1．BASIC ORDER CONTROL INSTRUCTION LIST ............................................................................... 85

4-2．APPLICATION INSTRUCTION LIST ............................................................................................... 87

4-3．SPECIAL FUNCTION INSTRUCTION LIST ...................................................................................... 90

4-4．HIGH SPEED COUNTER ASSIGNMENT .......................................................................................... 91

4-5．EXTERNAL INPUT INTERRUPTION ASSIGNMENT ......................................................................... 93

4-6．FREQUENCY MEASUREMENT...................................................................................................... 94
Foreword
Features of XCM motion controller

XCM motion controller features:

 The PLC integrate motion control function and ordinary PLC function in one
XCM motion controller not only supports proprietary function, but also majority functions
of ordinary PLC, including high speed pulse, high speed count, interruption, PID control,
etc.
 Support at most 10-axis pulse output function
XCM series contains 3/4/10-axis pulse output, meet users control demands.
 Predominant motion control capability
It can make 2-axis linkage motion, support basic motion control instructions such as
circular, linear interpolation, etc.
 Plane transformation
Support PLAN instruction, can transform among plane X-Y, Y-Z, X-Z etc.
 Can expand XC series digital, analog module and BD board
Similar to XC series, XCM series also support module and BD board expansion, including
digital I/O, temperature control and analog module, etc.
 Tracking control function
XCM-32T-E-3PLS has tracking control function, which is suitable for continuous
processing. It can realize fixed-length and fixed-scale working.

XCM serials including models:

 XCM-32T-E：4-axis pulse output, transistor output.

 XCM-32T-E-3PLS: 3-axis pulse output, transistor output.

 XCM-60T-E：10-axis pulse output.

Supplement explanation:

The instruction noted in this manual is motion control function instructions, other instructions
such as sequence control, application or special function instructions, please refer to XC series
PLC user manual.

Notes:
(1) XCM-60T-E can expand BD board, but cannot expand modules.
(2) XCM-60T-E cannot support motion control instructions.
Remark
 XCM motion controller summarize

1．XCM motion controller summarize

The chapter focus on XCM series product general specifications, appearance and dimension,
terminal arrangement and the definition of each communication pin.

1-1．Internal specification

1-2．Appearance and dimension

1-3．Terminal arrangement

1-4．The pin definition of communication port

 Power specification, I/O specification, external layout

1-1．Internal specification

General Items Specifications

specification Insulate voltage Above DC 500V 2MΩ
Anti-noise 1000V 1uS pulse 1 minute
Ambient 0~60℃
temperature
Ambient humidity 5%~95%
COM 1 RS-232, connect with host machine, HMI program or debug
COM 2 RS-232/RS-485, connect with network or aptitude

instrument、inverters etc.

COM 3 BD board COM port RS-232C/RS-485

Installation Can use M3 screw to fix or install directly on DIN46277
(Width 35mm) rail
Ground The third type of ground (can’t ground with strong power
system.)

Performance XCM performance & specification table:

& Specification
Item
Specification 32 points 60 points
Program executing format Loop scan format, timing scan format
Program format Instruction, C language, ladder chart
Dispose speed 0.3µs
Power cut retentive Use FlashROM and Li battery
User program’s capacity 128KB
I/O points Input 18 points Input 36 points
Output 14 points Output 24 points
Interior coil’s points (M) 8768 points
Points 640 points
Timer
100mS timer：Set time 0.1~3276.7 seconds
（T）
Spec. 10mS timer：Set time 0.01~327.67 seconds

1mS timer：Set time 0.001~32.767 seconds

Points 640 points

Counter
16 bits counter：set value K0~32767
（C） Spec.
32 bits counter：set value K0~2147483647
 Power specification, I/O specification, external layout

5024 words
Data Register（D）

FlashROM Register（FD） 524 words

High speed dispose High speed count, pulse output, external interrupt
Setting of time scan space 0~99mS
Password protection 6 bits ASCII
Self diagnose function Power on self-diagnose, Monitor timer, grammar checking
Note: the “user program capacity 128KB” should choose password download mode.
 Power specification, I/O specification, external layout

1-2．Appearance & dimension

Appearance
& （Unit: mm）
Dimension

XCM series 32-point main units

139
131 73.3

COM X1 X3 X5 X7 X11 X13 X15 X17 X21

FG COM X0 X2 X4 X6 X10 X12 X14 X16 X20

0 1 2 3 4 5

Xinje Electronic Co.,Ltd

SN:0067032266
DATE:20060410
TYPE:XCM-32RT-E
6 7
110
102
94

X
PWR
XCM-32RT-E RUN
PORT1 PORT2 Y
ERR

0 1 2 3 4 5
6 7

0V A COM0 COM1 COM2 Y3 Y5 Y6 Y10 COM4 Y13 Y15

24V B Y0 Y1 Y2 Y4 COM3 Y7 Y11 Y12 Y14

3.5

XCM series 60-point main units

207.4
199.4 73.3

COM X1 X3 X5 X7 X11 X13 X15 X17 X21 X23 X25 X27 X31 X33
COM X0 X2 X4 X6 X10 X12 X14 X16 X20 X22 X24 X26 X30 X32

0 1 2 3 4 5 6 7
Xinje Electronic Co.,Ltd

SN:0067032266
DATE:20060410
TYPE:XCM-60RT-E
102
94

X PWR
XCM-60RT-E RUN
PORT1 PORT2 ERR
Y
0 1 2 3 4 5 6 7

0V CAN+ CAN- Y0 Y1 Y2 Y3 Y4 COM5 Y7 Y10 Y12 COM7 Y15 Y17 Y20 Y22
24V A B COM0 COM1 COM2 COM3 COM4 Y5 Y6 COM6 Y11 Y13 Y14 Y16 COM8 Y21 Y23
 Power specification, I/O specification, external layout

1-3．Terminal arrangement

Main units

1
12
2 19
3 13
FG COM
COM
X0
X1
X2
X3
X4
X5
X6
X7
X10
X11
X12
X13
X14
X15
X16
X17
X20
X21 C0
VO0
AO0 C1
VO1
AO1
18
0 1 2 3 4 5
6 7
14
4 PORT1 PORT2
X

XC3-32R-E
Y
PWR
RUN
ERR
AO

AI
PWR

5 0 1 2 3 4 5
6 7

0V A COM0 COM1 COM2 Y3 Y5 Y6 Y10 COM4 Y13 Y15 VI0 C1 AI1 VI2 C3 AI3 17
6
24V B Y0 Y1 Y2 Y4 COM3 Y7 Y11 Y12 Y14 C0 AI0 VI1 C2 AI2 VI3

7
8 9
10 15 16
11
① : input terminal, power supply 11: mounting hole
② : input label 12: screw
③ : expansion BD port 13: input LED
④ : COM2 14: LED
⑤ : COM1 PWR: power supply
⑥ : cover RUN: program run
⑦ : output label ERR: error
⑧ : output terminal, 24V output 15: expansion cable
⑨ : output LED 16: output terminals
⑩ : expansion module port 17: PWR: power LED
18: expansion module port
19: input terminal, power input

XCM series 60-point main units：36 Input /24 Output

COM X1 X3 X5 X7 X11 X13 X15 X17 X21 X23 X25 X27 X31 X33 X35 X37 X41 X43
COM X0 X2 X4 X6 X10 X12 X14 X16 X20 X22 X24 X26 X30 X32 X34 X36 X40 X42

0V Y0 Y1 Y2 COM3 Y5 Y6 COM5 Y11 Y12 COM7 Y15 Y17 Y20 Y22 COM9 Y25 Y27
24V A B COM0 COM1 COM2 Y3 Y4 COM4 Y7 Y10 COM6 Y13 Y14 Y16 COM8 Y21 Y23 Y24 Y26
 Power specification, I/O specification, external layout

XCM series 32-point main units：18 Input /14 Output

COM X1 X3 X5 X7 X11 X13 X15 X17 X21

FG COM X0 X2 X4 X6 X10 X12 X14 X16 X20

0V A COM0 COM1 COM2 Y3 Y5 Y6 Y10 COM4 Y13 Y15

24V B Y0 Y1 Y2 Y4 COM3 Y7 Y11 Y12 Y14

1-4．COM Port definition

COM 1
Pin of COM 1:
2: PRG
1 2 4: RXD
3 4 5 5: TXD
6 8 6: VCC
7
8: GND

Mini Din 8 core socket (hole)

COM 2
Pin of COM 2:

1 2 4: RXD
3 4 5 5: TXD
6 8 8: GND
7

Mini Din 8 core socket (hole)

Program cable

Connection of programmable cable as the following：

5 1
2 1
5 43
8 6
7
9 6
Mini Din 8core socket (pin) DB 9 pin (hole)
 Power specification, I/O specification, external layout

2．Power specification, I/O specification, external layout

This chapter focus on the power composing, internal signal circuit composing, output circuit composing and external
layout method.

2-1．Power specification

2-2．AC power supply, DC input type

2-3．Input specification

2-4．DC input signal disposal (AC power supply)

2-5．Transistor output circuit and specifications

 Power specification, I/O specification, external layout

2-1．Power specification

For the power specification of XCM motion controller basic units, please see the following table：

AC power Rated voltage AC100V~240V

type Voltage allowable range AC90V~265V
Rated frequency 50/60Hz
Allowable momentary
Interrupt time≤0.5 AC cycle，alternation≥1 s
power-cut time
Impact current Max 40A 5mS below/AC100V
max 60A 5mS below /AC200V
Max power consumption 12W
Power for sensor
24VDC±10% max 400mA

 To avoid voltage decrease, please use the power cable above 2mm2
 Even power off within 10ms, PLC still can work. But if power off
for long time or abnormal power voltage decreasing, PLC will stop
working, output will be in OFF status, when the power on again, the
PLC will auto-run.
 Connect the ground terminals of basic units and expansion modules
together, and then ground.

DC power Rated voltage DC24V

type Voltage allowable range DC21.6V~26.4V
Input current 120mA DC24V
(Only for basic unit)
Allowable momentary 10mS DC24V
power-cut time
Impact current 10A DC26.4V
Max power consumption 12W
Power for sensor
24VDC±10% Max 400mA
 Power specification, I/O specification, external layout

2-2．AC power supply, DC input

Wiring

 The power is connected between L and N terminals.

 24+, COM terminals can be used as 400mA/DC24V power for sensor. Besides, this
terminal can’t be given power from outside.
 Terminal is vacant terminal, please do not connect it or use it as relay
terminal.
 Please connect the COM terminals of basic unit and expansion unit.
 Power circuit specification, input/output specification, external layout

2-3．Input specification

Basic Units

Model XCM-32T/XCM-60T
Input signal voltage DC24V±10%
Input signal current 7mA/DC24V
Input ON current Above 4.5mA
Input OFF current Below 1.5mA
Input response time About 10ms
Input signal format Contactor input or NPN
open collector transistor
Circuit insulation Optical-coupled insulation
Input action display LED lights when input ON

Expansions

Model XCM-32T/XCM-48T
Input signal voltage DC24V±10%
Input signal current 7mA/DC24V
Input ON current Above 4.5mA
Input OFF current Below 1.5mA
Input response time About 10ms
Input signal’s format Contactor input or NPN
open collector transistor
Circuit insulation Optical-coupled insulation
Input action display LED lights when input
ON.

29
 Power circuit specification, input/output specification, external layout

2-4．DC Input Signal Operation (AC Power)

DC input signal

 Input terminal
When connect input terminal and COM terminal with no-voltage contactor or NPN

open collector transistor, if input is ON，LED lamp lights. There are many COM

terminals in the PLC.

 Input circuit
Use optical coupler to insulate the input primary circuit and secondary circuit, There’s a
C-R filter in the secondary circuit. It is set to avoid wrong operation caused by vibration
of input contactor or noise along with input signal. As the preceding reason, for the

changing of input ON→OFF, OFF→ON, in the PLC, the response time delays about

10ms. There is built-in digital filter for input terminals.

 Input sensitivity
XCM input current is 7mA, in order to get reliable action, the ON current is above
3.5mA, the OFF current is below 1.5mA.

30
 Power circuit specification, input/output specification, external layout

Exterior The input current of XCM is supplied by inside 24V power. If use
circuit for the external power to drive sensor or optical-electricity switch, the voltage
sensors should be DC 24V±4V, please use NPN open collector transistor for
sensor output.

Input Connection

31
 Power circuit specification, input/output specification, external layout

2-5．Transistor output circuit and specifications

The output terminals of XCM are all transistor type which can be divided into high-speed pulse output
and normal transistor output.

High-speed pulse output

Model XCM-32T-E XCM-32T-E-3PLS XCM-60T-E

High-speed pulse output terminal Y0~Y3 Y0~Y2 Y0~Y11
External power supply Below DC5~30V
Action display LED
Max current 50mA
Max output frequency of the pulse 200KHz

Notes:
(1) For XCM-32T-E-3PLS, Y0 and X7 (high speed counter input) cannot use at the same
time.
(2) Y1 cannot work with expansion BD board at the same time.

Normal transistor output

Model XCM-32T-E XCM-32T-E-3PLS XCM-60T-E

Transistor output terminal Y4~Y15 Y3~Y15 Y12~Y23
External power supply Below DC5~30V
Circuit insulation Optical-coupling insulation
Action display LED
Maximum Resistance load 0.8A
load
Induce load 12W/DC24V

Lamp load 1.5W/DC24V

Minimum load DC5V 2mA
Response Below 0.2ms
OFF→ON
time
Below 0.2ms
ON→OFF

32
 Power circuit specification, input/output specification, external layout

Normal transistor output circuit

 Output terminal
The transistor output of basic unit has 1~4 common output.
 External power supply
Please use DC5~30V power supply to drive the load.
 Circuit insulation
Use the photo-electricity-coupling to insulate the PLC internal circuit and output transistor.
Beside, each public block is separated.
 Action display
When driving the optical-coupling, LED lights, output transistor is ON.
 Response time
From photo-electricity coupling device driving (or cut) to transistor ON (or OFF), the time is
below 0.2ms.
 Output current
The current is 0.5A per point. But as restrict of temperature rising, the current is 0.8A every
four points.
 Open circuit current
Below 0.1mA.

33
 Power circuit specification, input/output specification, external layout

To avoid burning output unit and the PLC

为防止负载短路等故障烧坏
输出单元，烧坏可编程控制
PCB board, please choose suitable fuse.
器的基板配线，请选用合适
各负载的保险。
1A
DC power
DC电源
负载
Load DC5~30V
Y*4

光
Optical Load
负载
耦
coupling Y*5
驱
drive Load
负载
动
circuit Y*6
电
路
负载
Load
Y*7

(Note: For XCM-60T-E, when connect the optical coupling output to the load, please use output

terminal Y12~Y23).

34
 Connect with servo driver

The following is the wiring diagram of RT type PLC and servo driver.

PLC Servo driver

2KΩ
PUL-
Y0
脉冲
Pulse
PUL+
DC24V

2KΩ
DIR-
Y4
方向
Direction
DIR+
DC24V

(If external power supply is DC5V, there is no need to connect 2KΩ resistance.)

35
3．Motion control instruction, parameter, special data register and

auxiliary relay

The chapter introduces XCM motion control instruction function, motion control parameter, special data register
and auxiliary relay. In the end of the chapter, we select two examples for reference.

3-1．Soft element ID list

3-2．Motion control instruction list

3-3．Instruction explanation reading method

3-4. Output terminal arrangement table

3-5．Motion control instruction explanation

3-6．Motion control parameter list

3-7．Special data register list

3-8．Special auxiliary relay list

3-9．Application case

36
37
3-1．Soft element ID list

XCM series soft element ID is as follows.

Besides, when connect input, output expansion device and special expansion device with basic units,
for the input/output relay NO., please see user manual.

Range Points
Mark Name
32 points 60 points 32 points 60 points

X Input point X000~X021（Octal ） X000~X043（Octal） 18 points 36 points

Y Output point Y000~Y015（Octal） Y000~Y027（Octal） 14 points 24 points

M0~M2999【M3000~M7999】 8000
M Internal relay
Special use M8000~M8767 768
S0~S511
S Flow 1024
【S512~S1023】

T0~T99：100ms not accumulation

T100~T199：100ms accumulation

T200~T299：10ms not accumulation

T Timer T300~T399：10ms accumulation 640

T400~T499：1ms not accumulation

T500~T599：1ms accumulation

T600~T639：1ms with interruption, precise timing

C0~C299：16 bits positive/negative counter

C Counter C300~C599：32 bits positive/negative counter 640

C600~C639：high speed counter

D0~D2999
D Data register 4000
【D4000~D4999】

38
 Special use D8000~D9023 1024

FD0~FD63 64
FlashROM
FD
register
Special use FD8000~FD8349, FD8890~FD8999 460

Expansion
ED internal ED0~ED36863 36864
register

 NOTE:

※1. The area in 【 】 is the defaulted power failure retentive area. The retentive area of D,

M, S, T, C can be changed. For the details, please see the following table.

※2. Flash ROM register does not have to set power failure retentive area; its data won’t lose

when power is off (No battery).

※3. The address of input coil, output relay are octal data, other No. are all decimal data.

※4. The I/O which does not connect to external device can be used as internal relay.

Soft element power-off retentive area settings:

System Power-off
Name Area Function
default value retentive range
Start denotation of D
D FD8202 4000 D4000~D4999
power-off retentive area
Start denotation of M
M FD8203 3000 M3000~M7999
power-off retentive area
Start denotation of T
T FD8204 620 Not set
power-off retentive area
Start denotation of C
C FD8205 320 C320~C635
power-off retentive area
Start denotation of S
S FD8206 512 S512~S1023
power-off retentive area
Start denotation of ED
ED FD8207 0 ED0~ED36863
power-off retentive area

39
3-2．Motion control instruction list (Special for XCM series)

DRV High speed positioning

LIN Linear Interpolation Positioning
CW Circular clockwise interpolation
CCW Circular anticlockwise interpolation
DRVZ Back to machine zero
CHK Servo checking end
DRVR Back to electrical zero
SETR Electrical zero setting
TIM Delay instruction
ABS Absolute address
INC Incremental address
SETP Set coordinate system
PLAN Plane selection
FOLLOW Following instruction

Notes: XCM-60T-E cannot support motion control instructions.

40
3-3．How to read the instructions

1
2
4

Notes:

1. Instruction name
2. 16 bits instruction and 32 bits instruction
3. Ladder chart illustration
4. Applicable models
5. S· It denotes that the operand doesn't change with the instruction, called source operand.
D· It denotes that the operand changes with the instruction, called target operand.
6. Successively explain the instruction's basic movement, use method, application example,
expansion function, notice point, etc.

41
3-4． Output terminal arrangement table

There are rules for XCM output terminal function and related operation axis:

XCM-32T-E

Output Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7
Function Pulse output Direction output
Operation axis K0 K1 K2 K3 K0 K1 K2 K3
Axis X Y Z U X Y Z U

XCM-32T-E-3PLS
Output Y0 Y1 Y2 Y3 Y4 Y5
Function Pulse output Direction output
Operation axis K0 K1 K2 K0 K1 K2
Axis X Y Z X Y Z

42
3-5．Motion Control Instructions

PLAN: select plane or space

16-bit instruction：-- 32-bit instruction：see the description below

Function & Action

S1 S2
M0
PLAN K0 K1

Function: select axis X and Y for operation which is XY plane. It defines the operation axis of all
the following motion instructions.
S1· : define the first operation axis; the following instructions will recognize this axis as the first
operation axis.
S2· : define the second operation axis; the following instructions will recognize this axis as the

second operation axis.

Notes: If do not use PLAN to define the plane, X and Y axis are default operation axis. Operation
plane is X, Y.

Example

When M0 ON, select K1 and K2 as operation axis, which is Y,

Instructions:
Z plane.
LD M0
SETP can set coordinate system instruction. Change the
PLAN K1 K2
current position register value to 10000 and 20000 for K1 and
SETP K10000 K20000
K2 axis.

43
 plane
，

plane
， plane
，

SETP: set coordinate system

16-bit instruction：-- 32-bit instruction： see the description below

Function & action

S1 S2
M0
SETP K1000 K100

Function: set the coordinate, define the plane by PLAN instruction (such as the up diagram, the
new coordinate is K1000, K100).
S1· Set the new coordinate of the first operation axis

S2· Set the new coordinate of the second operation axis

Notes: The new coordinate will instead of the old one when this instruction is executed. Besides,
the value in machine zero and electric zero registers have not changed, so in fact the position of
the machine zero and electric zero have changed.

Example

Such as the following diagram, in the original coordinate system, the current register value is (200,
200), machine zero register value is (50, 50), electric zero register value is (150, 100); after
implementation of the instruction SETP K100 K100, the reference frame has changed, but the
register value has not changed, at last the position has changed.

44
 250
Current value
200

250 150 （100，100）

（200，200）
Current value （150，100）
Electric zero
200 100
（50，50）
Machine zero
150 50
（150，100）
100 Electric zero
（0，0） 50 100 150 200 250
（50，50）
Machine zero
50

Original coordinate system

（0，0） 50 100 150 200 250

Such as: current value is (200, 200) (absolute coordinates), after implementation of the instruction
SETP K100 K100, the zero has changed as the following:

ABS: absolute address

Suitable type:
16-bit instruction：-- 32-bit instruction：-- XCM-32

Function & action

 After executing ABS instruction, coordinates (X, Y) will be recognized as the absolute value
of zero (0, 0).

45
 The displacement value of arc center (I, J) and radius (r) will be recognized as incremental
value.
 If the address isn’t defined, it will be recognized as absolute value.

Notes: ABS is corresponding to INC, once the ABS instruction is executed; it will be effective
until the INC instruction is executed.

Example

Y
300

250 (100,250)
ABS
200

150
LIN K200 K0
100

50 ( 200,0)

( 0,0) 50 100 150 200 250 300 X

After ABS instruction, the LIN instruction will do linear interpolation according to the absolute
coordinates.

INC: incremental address Suitable type

16-bit instruction: -- 32-bit instruction: -- XCM-32

Function & action

INC

 After the implementation of INC instruction, address (X, Y) will be recognized as

incremental value of the current position.
 INC instruction is similar to ABS, once INC is executed, it will be effective until ABS is

46
 executed.

Example

INC

LIN K200 K0

Y
300
( 100,250) ( 300,250)
250

200

150

100

50

(0,0) 50 100 150 200 250 300 X

After executing INC instruction, LIN instruction will do linear interpolation according to the
incremental address relatives to the current position.
In the up diagram, same coordinates produce different results by using ABS and INC instructions.

SETR: set electric zero

Suitable type:
16-bit instruction：-- 32-bit instruction：-- XCM-32

Function & action

M0
SET R

47
 The current position will be stored into the electric zero register, the original zero will be
replaced.

Example

After executing SETR instruction, the current coordinates (100, 250) will be stored into electric
zero register. For actual applications, this instruction can simplify the coordinate system.

Y
300
(100,250 )
250
Electric zero
200

150

100

50

(0,0) 50 100 150 200 250 300 X

DRVR: electric return to zero

Suitable type:
16-bit instruction：-- 32-bit instruction：-- XCM-32

Function & action

M0
DRVR

 The machine will return to the electric zero at high-speed and do servo end checking.
 The acceleration time is up to FD8910, deceleration time is up to FD8912, operation speed is
up to FD8908.
In actual applications, DRVR makes the coordinate system clear and simplifies the operation,
decreases the error.

48
DRVZ: return to machine zero
Suitable type:
16-bit instruction：-- 32-bit instruction：-- XCM-32

Function & action

First, we will introduce the machine zero.

(1) There are two modes 1 and 2. Parameter 26 can set the mode (which is return to machine zero
parameter). The bit 4 to 7 defines whether to use close-point switch. Besides, the bit 8 to 11,
12 to 15 is also related to close-point switch.
(2) The other parameters related to machine zero include: (the details please refer to the
appendix)
Parameter 16, 17, 18, 19: set the machine zero of axis X, Y, Z, U.
Parameter 20: the speed (frequency) of return to machine zero.
Parameter 21: crawling speed of return to machine zero.
Parameter 22, 23: corresponding to axis X, Y, zero (phase Z) pulse value whose crawling
speed needs count.

About mode 1 and 2:

Mode1: The bit 4 to 7 of parameter 26 is 0, means do not use close-point switch.
Mode2: The bit 4 to 7 of parameter 26 is 1, means use close-point switch.
The bit 4 to 7 of parameter 26 is corresponding to the close-point switch of axis X, Y, Z and U.
The X-axis and Y-axis support mode 1 and 2. The Z-axis and U-axis support mode1 only. The
input terminals of the switch setting:

Operation axis X-axis Y-axis Z-axis U-axis

Close-point switch setting X2 X10
— —
input
Z-phase zero input X5 X11
— —

Mode 1: there is no close-point switch setting. The machine decides the target position coordinates
according to the parameter 16 to 19 when returning to the machine zero, and decides the direction
of return to machine zero according to bit 0 to 3 of parameter 26, return speed depends on
parameter 20.
Mode 2: there is close-point switch setting. During the machine is returning to the machine zero,
when the machine arrives the close-point switch, the speed will decrease from the value of
parameter 20 (setting speed) to parameter 21 (crawling speed). The machine will stop according to
the counting zero (Z-phase) pulse signal of parameter 22 and 23. Please see the following

49
diagram:

X0
DRVZ

Function: the machine will return to machine zero at the highest speed.
 PLC will select which axis to return according to the current plane, it will also decide
whether to return to the machine zero according to the value of M8261~M8264 (sign bit of
return to machine zero forbidden).
 M8265~M8268 (returning to zero sign bit of axis X, Y, Z) will be ON after returning to the
zero.
 Two axes will return to machine zero at the same time. If need one return after another, set
ON sign bit of return to machine zero forbidden.
 Please refer to chapter 3-5 and 3-7 for sign bits and parameters.

Program example

Return to the zero of axis-X, and then return to the zero of Y-axis.
SET M8262 forbid the Y-axis to return to zero
DRVZ the X-axis returns to machine zero
RST M8262 permit the Y-axis to return to zero
SET M8261 forbid the X-axis to return to zero
DRVZ the Y-axis returns to machine zero
RST M8261 permit the X-axis to return to zero

50
Notes: If M8261 and M8262 are all ON, DRVZ will not be executed.

DRV: High Speed Positioning Suitable Model:

16Bits Instruction: -- 32 Bits Instruction: Below XCM-32

Function & Action

● X-axis and Y-axis high speed positioning with the maximum speed:

S1· X-axis target position; operands: K、TD、CD、D、FD.

S2· Y-axis target position; operands: K、TD、CD、D、FD.

 The instruction specifies the travel to the target coordinates with independent settings for the
X and Y-axes. This instruction doesn’t realize interpolation function.
 Each axis maximum speed is specified by parameter register FD8908;
acceleration/deceleration speed is determined by acceleration time parameter FD8910 and
deceleration parameter FD8912.

51
 Whether the position is incremental (distance from the zero point) or absolute (distance from
the zero point) is specified by instruction ABS, INC.
 When the target position, operate speed are specified by indirect registers, the system default
them as double words.

Program Example

3000 (2000,3000)
IN C
2500

2000
DRV K 1000 K 2000 1500

1000
(1000,1000)
500

(0,0) 500 1000 1500 2000 2500 3000 X

INC Incremental Drive Method;

DRV K1000 K2000 High speed positioning with the maximum speed, the
target address is: (1000,2000)

LIN: Linear Interpolation Positioning Suitable Model:

16bits instruction:-- 32bits instruction: Below XCM-32

Function & Action

S1 S2· S3 S4
M0
LIN k1000 k100 k0 k1000

Function: The first and second axes do linear interpolated positioning at appointed speed; the
plane will be defined by PLAN.

S1 First axis target position coordinates. Operand: K, TD, CD, D, FD

52
 S2· Second axis target position coordinates. Operand: K, TD, CD, D, FD
S3· Third axis target position coordinates. Operand: K, TD, CD, D, FD
(Notes: three axes motion control is not open, it is not useful to set the parameter here, but
these bits must be reserved.)
S4 The speed of linear interpolated positioning. Operand: K, TD, CD, D, FD.
(The highest speeds can up to 80 kHz for LIN and CW/CCW instructions)

If there is no appointed speed for the first and second axes, the PLC will do linear interpolated
positioning at the highest speed.
S· D·
M0
LIN k1000 k1000

S The first axis target position coordinates. Operand: K, TD, CD, D, FD

D The second axis target position coordinates. Operand: K, TD, CD, D, FD

 This instruction uses two axes to move the machine to target position through beeline
 INC and ABS will define whether the target position is incremental or absolute value
 The default operation is double words when the target position and speed are appointed by
registers.

Program example
Y

3000 (2000, 3000)

2500

ABS 2000 (1000,2000)

1500

1000

LIN K1000 K2000 K0 K5000 500

ABS (0,0) 500 1000 1500 2000 2500 3000 X

Absolute drive method；

LIN K1000 K2000 K0 K5000 this instruction moves the machine to the target position
(1000, 2000) with linear interpolated positioning at the
speed of 5 KHz.

53
CW/CCW：Circular interpolation
Applicable model
XCM-32
16 digit instructions-- 32 digit instructions：The following

Function & Action

S1 S2 S3 S4 S5· S6
M0
CW k100 k100 k100 k100 k100 k100

Function: run circular interpolation at certain speed according to the center position and target
position of first and second axes.

 The coordinate plane will be defined by PLAN.

 CW is clockwise interpolation, CCW is counterclockwise interpolation.

S1· The first axis target position coordinates, operands: K, TD, CD, D, FD.
S2· The second axis target position coordinates, operands: K, TD, CD, D, FD.
S3 Arc center position coordinates of the first axis, operands: K, TD, CD, D, FD.
S4
S1·
Arc center position coordinates of the second axis, operands：K, TD, CD, D, FD.

S5 The third axis position, operands: K, TD, CD, D, FD.

(Notes: three axes motion control is not open, so these parameters are not useful but they are
reserved.)
S6 Circular peripheral speed, operands: K, TD, CD, D, FD.
(The highest speed can up to 80 kHz for LIN and CW/CCW instructions)

If the peripheral speed is not defined, the system will default to the highest speed:

S1 S2 S3 S4
M0
CW k100 k100 k100 k100

 The center coordinates of first and second axes will be seemed as incremental address
based on starting point.

54
  Acceleration/deceleration time of the peripheral speed is set individually in FD8910 and
FD8912.
 INC and ABS will define whether the target position is incremental or absolute value.
 It is default to double words operation when the target position or speed is defined by
registers.
 If the start position and the target position is the same, the trajectory is a full circle.

Program example

ABS
CW K1000 K500 K200 K0 K5000
Define the drive method is absolute address, move along the arc whose center incremental address is
(200, 0) at the speed of 5 kHz, start from A(600,500) to B(1000,500).

55
CHK：Servo end check
Applicable models
XCM-32
16-bit instructions：-- 32-bit instructions：--

Function & Action CHK

Function: the machine runs servo end checking after finishing the interpolation, then runs another
operation. If there is no servo end checking, the machine will run without pause when interpolating,
the turning point will become smooth curve.

Please note the following points when using motion control instructions:
(1) If insert CHK between 2 motion control instructions, the trajectory will pause for a while when
gets to appointed point, then continue running the next instruction. Otherwise, the trajectory is a
smooth curve.
(2) When continuous use PLAN, please add CHK before the second PLAN, otherwise the
trajectory will deviate.

The coil can be contained in CHK. The coil can stand for the positioning completion signal of the
servo driver. The machine will pause when running CHK. The machine will run the next instruction
when the coil is ON. If the coil is always ON, the function is the same as CHK without coil. If the
coil is always OFF, the machine will stop and never go to the next instruction.

S1
CHK M100

S1· : the coil of CHK, operand: X, Y, M, S, T, C

Example 1

The machine moves from A to B to C. If inserts CHK between LIN, the trajectory is like solid line.
If no CHK, the trajectory is like dotted line.

56
 250
B（200，250）
INC
LIN K150 K200 K0 K5000 200
CHK
150
LIN K50 K-150 K0 K5000 （250，100）
100

50
A （50，50） C
（0，0）50 100 150 200 250

Example 2

The machine moves from A to B to C to D to E to A. Please see the solid line in the following
diagram.
In the program, select the XY plane at first. Select absolute drive mode, set the coordinate system to
(K0, K0). At this time, select incremental drive mode in order to measure the coordinate system.
After completion of the first linear interpolation instruction, run CHK M0 to cause pause which
avoid smooth curve. It runs the next LIN instruction when M0 is ON.

PLAN K0 K1
ABS （100，200）
SETP K0 K0 250 （200，200）
INC
LIN K100 K0 K0 K100
200 C D
CHK M0 150
LIN K0 K200 K0 K100 100
CHK M1
50
CW K100 K0 K50 K0 K0 K100 B E （200，0）
CHK
LIN K0 K-200 K0 K100
A
（0，0）50 100 150 200 250
CHK
LIN K-200 K0 K0 K100

57
 Example（3）

When there are many plane conversions in the program, select XY plane and do circular
interpolations in incremental mode, then insert CHK, and select YZ plane.

PLAN K0 K1
INC
CW K0 K0 K15000 K0 K0 D2
CHK
PLAN K1 K2
INC
LIN K0 K10000 K0 D2

， Plane

， Plane

， Plane

TIM: Delay
Applicable models
16-bit instruction：-- 32-bit instruction: remarks XCM-32

S1
Function & Action X0
TIM K1000

S1· Delay time(Dwell),operands：K、TD、CD、D、FD.

 Use this instruction to set the waiting time between

completion of one instruction and execution of another.

58
 Time

TIM

● Unit is 1ms, K1000 means delay 1s.

● The value of delay time is indirect set by data register. Default is

double words operation.

Example

X0
PLAN K0 K1

ABS

SETP K0 K0

INC

LIN K1500 K0 K0 K1000

TIM K1000

LIN K0 K2000 K0 K1000

As the ladder chart, delay 1s after the completion of linear interpolation, then run the second linear
interpolation instruction. Please see the following instructions:
LD X0
PLAN K0 K1
ABS
SETP K0 K0
INC
LIN K1500 K0 K0 K1000
TIM
LIN K0 K2000 K0 K1000

59
FOLLOW：Following instruction
Applicable models
XCM-32
16-bit instruction：-- 32-bit instruction：As follows

Function & Action S1 S2 S3 S4 S5·

M0
FOLLOW C630 K10 K20 Y0 Y1

S1· : High-speed counter, it can be AB phase, single phase or direction +pulse

S2· : Operand K10 is multiplicative coefficient, operands: K, TD, CD, D, FD
S3 : Operand K20 is divided coefficient, operands: K, TD, CD, D, FD
S4
S1· : Operand Y0 is port No. of pulse output
S5 : Operand Y1 is port NO. of pulse direction output

 Following instruction can output 4 or 1 time of the high-speed counter signal. The
output frequency will change as the input frequency, the pulse quantity is calculated
by multiply/divide coefficient.
 The meaning of following is: geometric magnify or minify the high-speed counter
signal, then add pulse forward or backward via phase checking, finally output the
pulse in the mode of pulse+direction.
 The output pulse quantity depends on C630. The pulse quantity is 4 times of 1-time
pulse input mode when selecting 4-time pulse input mode.
 This instruction is used to adjust the digital control system. Control the back/forward
of the operation table by manual pulse generator. It also can be applied in some cases
need precise synchronization.

60
 FOLLOW instruction diagram: (take Y0 as an example)

Feed forward
Following
Pulse Frequency High-speed compensation
coefficient
multiplication counter coefficient
m/n(multiply/
input factor FD8241 C630 range
divide)
(0-100%)

Following
fine tuning
value D8502
(-100~+100)

X-axis Following
Position
position pulse quantity
register Calculation D8500 Pulse output Y0
D8482

The relationship between FOLLOW and motion control instructions:

FOLLOW can be used independently without motion instructions. However, it needs to build the
relationship between FOLLOW and motion control instructions when need manual pulse generator
to adjust coordinates position.
The pulse quantity is stored in register D8500~D8501 when running FOLLOW. At the same time,
the pulse variation will be transformed into position variation of corresponding output axis, and
reflect in current axis register. So FOLLOW and motion control instructions will constitute a whole
unit. FOLLOW can point at X-axis, Y-axis, Z-axis, U-axis.
Make sure the direction of position and encoder is consistent, the direction of FOLLOW and motion
control must be consistent. Such as the above example, Y0 outputs the pulse, the direction must
output from Y4.

Feed forward compensation coefficient:

XCM has delay from receiving to sending pulse. Modify the feed forward compensation coefficient
(FD8950) to decrease the delay. The range is 0~100%. 0 means no feed forward compensation.

Following fine tuning pulse quantity

If the following runs for long time, it may produce the pulse accumulated error which causes the
motor pulse to lead or lag. Modify D8502 can adjust the error of next pulse period.
If the motor leads, set D8502 to negative, if the motor lags, set it to positive.
The value in D8502 is effective in one pulse period; D8502 will be reset after the fine tuning.

61
 3-6．Motion control parameter

The motion control parameter can be set in special FLASH register. Each parameter and
corresponding XCM register address is as following:

PARA Special Default

Name Description
NO. register value
FD8892 Pulse number per
1 Pulse rate (X-axis) 0
FD8893 revolution
FD8894 Pulse number per
2 Pulse rate (Y-axis) 0
FD8895 revolution
FD8896 Pulse number per
3 Pulse rate (Z-axis) 0
FD8897 revolution
FD8898 Pulse number per
4 Pulse rate (U-axis) 0
FD8899 revolution
FD8900 Move distance per
5 Motor resolution(X-axis) 0
FD8901 revolution
FD8902 Move distance per
6 Motor resolution(Y-axis) 0
FD8903 revolution
FD8904, Move distance per
7 Motor resolution(Z-axis) 0
FD8905 revolution
FD8906 Move distance per
8 Motor resolution(U-axis) 0
FD8907 revolution
FD8908
9 The highest speed Unit: Hz 0
FD8909
FD8910
10 Accelerate time Unit: ms 0
FD8911
FD8912
11 Decelerate time Unit: ms 0
FD8913
FD8914
12 Electrical zero (X-axis) 0
FD8915
FD8916
13 Electrical zero (Y-axis) 0
FD8917
FD8918
14 Electrical zero (Z-axis) 0
FD8919
FD8920
15 Electrical zero (U-axis) 0
FD8921
FD8922
16 Machine zero (X-axis) 0
FD8923

62
 FD8924
17 Machine zero (Y-axis) 0
FD8925
FD8926
18 Machine zero (Z-axis) 0
FD8927
FD8928
19 Machine zero (U-axis) 0
FD8929
FD8930 The speed of return to machine
20 0
FD8931 zero
External input X2

（X-axis）
FD8932 Interruption trigger: return to
21 0
FD8933 machine zero at crawling speed External input X10

（Y-axis）

Zero-point (Z phase) pulse number External input X5

FD8934
22 of X-axis crawling speed which 0
（X-axis）
need to be count
External input X11
Zero-point (Z phase) pulse number
FD8935
23 of Y-axis crawling speed which （Y-axis） 0
need to be count

FD8936
24 - - 0

25 FD8937 - - 0

26 FD8938 Return to machine zero settings See table (3-5-1) 0

27 FD8940 Magnification coefficient (power series of 2)
28 FD8950 Feed forward coefficient 0

The following is the detailed explanation of motion control parameters:

PARA.1: Pulse rate

Set the X-axis pulse number per revolution which add to the driver unit
Setting range: 1~65535 PLS/REV (pulse/revolution)
When the servo motor is equipped with an electronic gear, its magnification should be taken
into account. The relationship between the pulse rate and the electronic gear is as follows:
Pulse rate (PARA.1) = Resolution of encoder (positioning feedback pulse)/electronic gear

PARA.2, PARA.3, PARA.4: set the Y-axis, Z-axis, U-axis pulse number per revolution add to the
driver unit. The basic settings are the same as PARA.1.

63
PARA.5: Feed rate
Set the trip of the machine per rotation of the motor

Setting range :1~999999（um/REV, mdeg/REV, 10-1 minch/REV）

PARA.6, PAARA.7, PARA.8 set motor per rotation trip of Y-axis, Z-axis, U-axis. The basic settings
are the same as PARA.1.

PARA.9: Maximum speed (default speed)

The machine runs as this speed if there is no appointed speed in positioning program. Other speed
must be set equal to or less than this speed.
Setting range: 0~200000 Hz
Notes: the highest speed is 80KHz for LIN and CW/CCW instructions.

PARA.10: Acceleration time

Set the time of achieving the maximum speed
Setting range: 0~5000ms
When PARA.10 is 0, the machine actually accelerates in 1 ms.

PARA.11: Deceleration time

Set the time to stop the machine.
Setting range: 0~5000ms
When PARA.11 is 0, the machine actually decelerates in 1 ms.

PARA.12: X-axis electric zero address

The absolute address of DRVR instruction

Setting range：-999999 to +999999

The address is an absolute value.

PARA.13, PARA.14, PARA.15 set the electric zero absolute address of Y-axis, Z-axis, U-axis. The
basic setting is the same as PARA.12.

PARA.16: Machine zero address

After the operation of DRVZ(return to zero), set the current address as the machine configuration.
Setting range:-999999 to +999999

PARA.17, PARA.18, PARA.19 set the machine zero address of Y-axis, Z-axis, U-axis. The basic
setting is the same as PARA. 16.

PARA20: return to machine zero speed

Set the speed when the machine is returning to the zero point, the set value must be equal to or less
than the maximum speed of PARA.9
Setting range:10 to 50000 Hz.

64
PARA.21: crawling speed returning to the machine zero
The low speed after the near-point DOG signal (external input X2 of X-axis, external input X10 of
Y-axis) is turn on.
Setting range: 10 to 50000 Hz

PARA.22: zero point (Z phase) pulse number of crawling speed which needs to be count
After near-point DOG signal is triggered, the external input X5 of X-axis and external input X11 of
Y-axis receive the encoder zero-point signal. If this signal is equal to the appointed zero point pulse
number, the machine will stop.
Setting range: 0 to 2147483647

PARA.23: zero point (Z phase) pulse number of Y-axis crawling speed which needs to be count.
The basic setting is the same as PARA.22.

PARA.24, PARA.25: invalid parameters

PARA.26: returning to machine zero (FD8938)

(0~3 bit) the direction returning to the machine zero
(4~7 bit) Whether to use proximity switch
If not use proximity switch, then machine zero returning is the same as electrical zero returning,
direct decelerate and stop.
(8~11 bit) Proximity switch state
0: normal open 1: normal closed
(12~15 bit) Proximity switch logic
0: rising edge is effective 1: falling edge is effective

0 bit 1 bit 2 bit 3 bit

X-axis machine zero Y-axis machine zero Z-axis machine zero U-axis machine zero
returning direction returning direction returning direction returning direction
(0:positive (0:positive (0:positive (0:positive
1:negative) 1:negative) 1:negative) 1:negative)

4 bit 5 bit 6 bit 7 bit

X-axis whether to Y-axis whether to Z-axis whether to U-axis whether to
use proximity use proximity use proximity use proximity
switch (0: not use 1: switch (0: not use 1: switch (0: not use 1: switch (0: not use 1:
use) use) use) use)

65
 8 bit 9 bit 10 bit 11 bit
X-axis proximity Y-axis proximity Z-axis proximity U-axis proximity
switch state (0: switch state (0: switch state (0: switch state (0:
normal open 1: normal open 1: normal open 1: normal open 1:
normal close) normal close) normal close) normal close)

12 bit 13 bit 14 bit 15 bit

X-axis proximity Y-axis proximity Z-axis proximity U-axis proximity
switch logic(0: switch logic(0: rising switch logic(0: rising switch logic(0: rising
rising 1: falling) 1: falling) 1: falling) 1: falling)
PARA.27: Amplification factor
When the system operates the data, all the decimals will be ignored, the data will be stored in integer.
Before the system operation, expand 2n (n: amplification factor) times for the data which can
improve the calculation precision. After the calculation, divide the data by 2n.
The bigger the amplification factor, the higher the calculation precision. However, if the factor is too
big, the register will overflow. Generally, set the factor to 6. (Notes: normally, don’t set this
parameter, to avoid calculation error).

PARA.28: Feed forward compensation coefficient

Range: 0%~100%. 0% means no feed forward compensation.
The following instruction outputs the pulse after receiving the pulse and internal processing, so there
will be delay effect. Modify the delay effect by feed forward compensation to achieve the best
synchronization.

3-7．Special data register list

Special data Default

No. Function Explanation
register value
D8482 Current position 0
1 0-axis current coordinates position
D8483 (0-axis)
D8484 Current position 0
2 1-axis current coordinates position
D8485 (1-axis)
D8486 Current position 0
3 2-axis current coordinates position
D8487 (2-axis)
D8488 Current position 0
4 3-axis current coordinates position
D8489 (3-axis)

The No. of current running motion

D8490 control instruction. (Current segment only
5 Current segment 0
D8491 points to motion control instructions. General
PLC instructions are not included in it.)

66
 Current pulse
D8500 The pulse number output by FOLLOW
6 number of
D8501 instruction
following

Fine tuning Increased or decreased pulse number in

7 D8502 pulse number of one scanning period. It resets after the
following scanning period.

3-8．Special auxiliary relay list

Special Default
NO. Function Explanation
auxiliary relay value
1 M8260 Flow control bit See note[1] 0
Forbid X-axis 0
When this bit is ON, the return to zero
2 M8261 return to machine
instruction of this axis will not work.
zero bit
Forbid Y-axis 0
When this bit is ON, the return to zero
3 M8262 return to machine
instruction of this axis will not work.
zero bit
Forbid Z-axis 0
When this bit is ON, the return to zero
4 M8263 return to machine
instruction of this axis will not work.
zero bit
Forbid U-axis 0
When this bit is ON, the return to zero
5 M8264 return to machine
instruction of this axis will not work.
zero bit
X-axis return to When running DRVZ, this bit will from 0
6 M8265 machine zero end ON to OFF, when machine reach the zero
bit point, this bit become ON, see Note [2].
Y-axis return to When running DRVZ, this bit will from 0
7 M8266 machine zero end ON to OFF, when machine reach the zero
bit point, this bit become ON.
Z-axis return to When running DRVZ, this bit will from 0
8 M8267 machine zero end ON to OFF, when machine reach the zero
bit point, this bit become ON.
U-axis return to When running DRVZ, this bit will from 0
9 M8268 machine zero end ON to OFF, when machine reach the zero
bit point, this bit become ON.

67
 Note[1]：

When scanning the ladder chart in PLC, implement one after another. But motion control is
based on process control, only when one instruction is completed, the next one will be executed.
So, uses a special M register (M8260) to show the state of the last positioning instruction.
When running, set ONM8260; when completed, set it OFF. The next instruction starts to run when
receiving the M8260 falling edge signal. When running, set ON M8260 again; when completed,
set it OFF. Repeat as this way, the program will run in order.

Note[2]：

When running DRVZ instruction, M8265 turns from ON to OFF. When machine reaches
machine zero point, M8265 turns to ON again.

run

3-9．Pulse output sign bit

Bit register:
Pulse
Address Function Explanation
number
M8170 Pulse output ON when pulse output
32-bit pulse output
M8171 ON when overflow PULSE_1
overflow
M8172 Direction 1 is positive direction, related direction output ON
M8173 Pulse output ON when pulse output
32-bit pulse output
M8174 ON when overflow PULSE_2
overflow
M8175 Direction 1 is positive direction, related direction output ON
M8176 Pulse output ON when pulse output
32-bit pulse output
M8177 ON when overflow PULSE_3
overflow
M8178 Direction 1 is positive direction, related direction output ON
M8179 Pulse output ON when pulse output
32-bit pulse output PULSE_4
M8180 ON when overflow
overflow

68
M8181 Direction 1 is positive direction, related direction output ON
M8730 Pulse output ON when pulse output
32-bit pulse output
M8731 ON when overflow PULSE_5
overflow
M8732 Direction 1 is positive direction, related direction output ON
M8733 Pulse output ON when pulse output
32-bit pulse output
M8734 ON when overflow PULSE_6
overflow
M8735 Direction 1 is positive direction, related direction output ON
M8736 Pulse output ON when pulse output
32-bit pulse output
M8737 ON when overflow PULSE_7
overflow
M8738 Direction 1 is positive direction, related direction output ON
M8739 Pulse output ON when pulse output
32-bit pulse output
M8740 ON when overflow PULSE_8
overflow
M8741 Direction 1 is positive direction, related direction output ON
M8742 Pulse output ON when pulse output
32-bit pulse output
M8743 ON when overflow PULSE_9
overflow
M8744 Direction 1 is positive direction, related direction output ON
M8745 Pulse output ON when pulse output
32-bit pulse output
M8746 ON when overflow PULSE_10
overflow
M8747 Direction 1 is positive direction, related direction output ON

pulse alarm (frequency

M8210 1 is alarm, 0 is correct
change suddenly)
PULSE_1
Whether to ignore the
M8211 1 is stop output when alarm
alarm
pulse alarm (frequency
M8212 1 is alarm, 0 is correct
change suddenly)
PULSE_2
Whether to ignore the
M8213 1 is stop output when alarm
alarm
pulse alarm (frequency
M8214 1 is alarm, 0 is correct
change suddenly)
PULSE_3
Whether to ignore the
M8215 1 is stop output when alarm
alarm
pulse alarm (frequency
M8216 1 is alarm, 0 is correct PULSE_4
change suddenly)

69
 Whether to ignore the
M8217 1 is stop output when alarm
alarm
pulse alarm (frequency
M8750 1 is alarm, 0 is correct
change suddenly)
PULSE_5
Whether to ignore the
M8751 1 is stop output when alarm
alarm
pulse alarm (frequency
M8752 1 is alarm, 0 is correct
change suddenly)
PULSE_6
Whether to ignore the
M8753 1 is stop output when alarm
alarm
pulse alarm (frequency
M8754 1 is alarm, 0 is correct
change suddenly)
PULSE_7
Whether to ignore the
M8755 1 is stop output when alarm
alarm
pulse alarm (frequency
M8756 1 is alarm, 0 is correct
change suddenly)
PULSE_8
Whether to ignore the
M8757 1 is stop output when alarm
alarm
pulse alarm (frequency
M8758 1 is alarm, 0 is correct
change suddenly)
PULSE_9
Whether to ignore the
M8759 1 is stop output when alarm
alarm
pulse alarm (frequency
M8760 1 is alarm, 0 is correct
change suddenly)
PULSE_10
Whether to ignore the
M8761 1 is stop output when alarm
alarm

Words register:
Address Function Explanation Pulse number
D8170 Low 16-bit accumulative pulse quantity Latched
D8171 High 16-bit accumulative pulse quantity PULSE_1
D8172 Current segment (No. n segment)
D8173 Low 16-bit accumulative pulse quantity Latched
D8174 High 16-bit accumulative pulse quantity PULSE_2
D8175 Current segment (No. n segment)
D8176 Low 16-bit accumulative pulse quantity Latched
D8177 High 16-bit accumulative pulse quantity PULSE_3
D8178 Current segment (No. n segment)
D8179 Low 16-bit accumulative pulse quantity Latched
D8180 High 16-bit accumulative pulse quantity PULSE_4
D8181 Current segment (No. n segment)

70
D8730 Low 16-bit accumulative pulse quantity Latched
D8731 High 16-bit accumulative pulse quantity PULSE_5
D8732 Current segment (No. n segment)
D8733 Low 16-bit accumulative pulse quantity Latched
D8734 High 16-bit accumulative pulse quantity PULSE_6
D8735 Current segment (No. n segment)
D8736 Low 16-bit accumulative pulse quantity Latched
D8737 High 16-bit accumulative pulse quantity PULSE_7
D8738 Current segment (No. n segment)
D8739 Low 16-bit accumulative pulse quantity Latched
D8740 High 16-bit accumulative pulse quantity PULSE_8
D8741 Current segment (No. n segment)
D8742 Low 16-bit accumulative pulse quantity Latched
D8743 High 16-bit accumulative pulse quantity PULSE_9
D8744 Current segment (No. n segment)
D8745 Low 16-bit accumulative pulse quantity Latched
D8746 High 16-bit accumulative pulse quantity PULSE_10
D8747 Current segment (No. n segment)

D8210 Error segment no. PULSE_1

D8212 Error segment no. PULSE_2

D8214 Error segment no. PULSE_3

D8220 Accuracy of frequency measurement The bit behind

decimal point

1 means ×10,

2 means ×100

D8216 Error segment no. PULSE_4

D8750 Error segment no. PULSE_5

D8752 Error segment no. PULSE_6

D8754 Error segment no. PULSE_7

D8756 Error segment no. PULSE_8

71
D8758 Error segment no. PULSE_9

D8760 Error segment no. PULSE_10

D8190 Low 16-bit of current pulse quantity

PULSE_1
D8191 High 16-bit of current pulse quantity
D8192 Low 16-bit of current pulse quantity
PULSE_2
D8193 High 16-bit of current pulse quantity
D8194 Low 16-bit of current pulse quantity
PULSE_3
D8195 High 16-bit of current pulse quantity
D8196 Low 16-bit of current pulse quantity
PULSE_4
D8197 High 16-bit of current pulse quantity
D8770 Low 16-bit of current pulse quantity
PULSE_5
D8771 High 16-bit of current pulse quantity
D8772 Low 16-bit of current pulse quantity
PULSE_6
D8773 High 16-bit of current pulse quantity
D8774 Low 16-bit of current pulse quantity
PULSE_7
D8775 High 16-bit of current pulse quantity
D8776 Low 16-bit of current pulse quantity
PULSE_8
D8777 High 16-bit of current pulse quantity
D8778 Low 16-bit of current pulse quantity
PULSE_9
D8779 High 16-bit of current pulse quantity
D8780 Low 16-bit of current pulse quantity
PULSE_10
D8781 High 16-bit of current pulse quantity

D8230 Rising time of absolute/relative positioning instruction (Y0)

PULSE_1
D8231 Falling time of origin returning instruction (Y0)
D8232 Rising time of absolute/relative positioning instruction (Y1)
PULSE_2
D8233 Falling time of origin returning instruction (Y1)
D8234 Rising time of absolute/relative positioning instruction (Y2)
PULSE_3
D8235 Falling time of origin returning instruction (Y2)
D8236 Rising time of absolute/relative positioning instruction (Y3)
PULSE_4
D8237 Falling time of origin returning instruction (Y3)
D8790 Rising time of absolute/relative positioning instruction (Y4)
PULSE_5
D8791 Falling time of origin returning instruction (Y4)
D8792 Rising time of absolute/relative positioning instruction (Y5)
PULSE_6
D8793 Falling time of origin returning instruction (Y5)
D8794 Rising time of absolute/relative positioning instruction (Y6)
PULSE_7
D8795 Falling time of origin returning instruction (Y6)

72
D8796 Rising time of absolute/relative positioning instruction (Y7)
PULSE_8
D8797 Falling time of origin returning instruction (Y7)
D8798 Rising time of absolute/relative positioning instruction (Y10)
PULSE_9
D8799 Falling time of origin returning instruction (Y10)
D8800 Rising time of absolute/relative positioning instruction (Y11)
PULSE_10
D8801 Falling time of origin returning instruction (Y11)

73
 Motion control instruction, parameter, special register and auxiliary relay explanation

3-9．Application

1. Model system
XCM controls the worktable position via controlling the servo motor.
Ball screw
Worktable

Electronic device
CMX/CDV Servo motor
Locating device Reducer
Servo amplifier M
XCM

PB 5mm
Pf: 8192[pls/rev] Encoder

2. Parameter settings

⑴ Servo driver parameter settings:

The rated speed of servo motor is 3000[r/min], the feedback pulse of encoder is 8192
[pls/rev]. As the characteristic of servo motor, at certain rotation speed, command pulse frequency
f0 is equal to the feedback pulse frequency PB, and then you will obtain the following equation:
f0: Command pulse frequency (Hz) (Output from the XCM)

Pf: Feedback pulse (locating feedback pulse) quantity [pls/rev]

PB: The screw pitch of ball screw

N0: The rotation speed of servo motor[r/min]

CMX: The numerator of servo driver command pulse amplification (electronic gear)

CDV: The denominator of servo driver command pulse amplification (electronic gear)

When the servo motor reaches the rated rotation speed, XCM needs to output the maximum
command pulse frequency, here we select 200 KHz. The result is as below:

CMX N0 1 256
 Pf   
CDV 60 f 0 125

So, set "CMX=256，CDV=125" in servo amplifier.

74
 Motion control instruction, parameter, special register and auxiliary relay explanation

⑵ Pulse rate and feed rate

Deduce pulse rate and feed rate according to the following steps.

1．Pulse rate means the pulse quantity of servo motor rotating a circle, it can calculate pulse

rate as the following formula:

1
A  Pf 
CMX
CDV

Substitute the previous value (CMX:256 CDV:125) into the formula, then you will get the
pulse rate.

1
Pulse rate: A  8192 pls / rev   4000 pls / rev
256
125

2．Feed rate means the motion quantity of the work piece when servo motor rotates one circle.

When ball screw finishes one screw pitch PB, motor rotates N2 circles, and the transmission ratio
between motor and ball screw is N1.

1
Feed rate B  N1 PB 
N2
N1: machine transmission ratio
N2: rotate circle quantity
PB: screw pitch of the ball screw
Below is calculating process:

1 1
Feed rate B   5mm   5mm / rev 
1 1rev 

⑶ Convert motion quantity to pulse quantity

Machine quantity
Pulse quantity = × pulse quantity of every motor rotation
Motor feed rate per rotation

We need the work piece to move 200mm, then convert it to pulse quantity:

Pulse quantity

So if the work piece moves 200mm, XCM need to output 160000 pulses.

75
 Motion control instruction, parameter, special register and auxiliary relay explanation

If the work piece moves at the speed of 30cm/min, then convert it to pulse frequency:

Pulse quantity:

So if the work piece moves at 30cm/min, XCM should output pulse frequency of 4000Hz.

3. Program explanation

▲ Axis position control operation

Positioning summarize: positioning device only moves as the current motion quantity.
● Operating steps

ⅰ：When positioning device receives starting command, it will move as current quantity.

ⅱ：When the moving ends, sets ON Y10.

● Motion diagram

Speed

Move distance
X axis start input turn-on Output Y10

● Procedure

76
 Motion control instruction, parameter, special register and auxiliary relay explanation

X0
SET M0

RST Y10
M0
INC Set to incremental address mode
SETR Set the current location to electrical zero
DRV K10000 K0 Position at coordinate (10000, 0)
M8260
SET Y10 When positioning ends, sets on Y10
Y10
RST M0

▲ Position with reciprocating motion constant

● Positioning summarize
XCM controls work piece moving from left to right, and controls work piece up-down moving via
electromagnet.

● Operate steps
(1) Only the first time work piece returns to zero via starting command.

(2) The electromagnet Y0 turns on which moves down the work piece. When lower limit switch

X0 turns on, clamping electromagnet Y1 turns on to clamp work piece.

(3) After 1.5s, move-down electromagnet Y0 turns off, work piece moves up.

(4) When upper limit switch X1 turns on, work piece moves right.

(5) When positioning device arrives at right side of the worktable (2000, 0), move-down

electromagnet Y0 turns on, work piece starts to move down. When lower limit switch X0 turns on,

clamping electromagnet Y1 turns off, the clamp loose to put down the work piece.

(6) After 1.5s, move-down electromagnet Y0 turns off, positioning device moves up.

(7) When upper limit switch X1 turns on, work piece goes back to the left side of worktable.

● Running diagram

77
 Motion control instruction, parameter, special register and auxiliary relay explanation

● Program
Ladder chart:

78
Motion control instruction, parameter, special register and auxiliary relay explanation

79
 Motion control instruction, parameter, special register and auxiliary relay explanation

Instruction:
LDP M0
OUT C0 K1 count the starting times
LDP C0 when starting at the first time, set on process S0
SET S0
STL S0
LD S0
OUT T201 K5
LD T201
RST M10
RST M11
ABS
DRVZ go back to electrical zero
DRV K0 K0 fast position to (0, 0)
SETR set the current position to electrical zero
LDP X1
RST S0
STLE
LDP M0 not start M0 at the first time

80
 Motion control instruction, parameter, special register and auxiliary relay explanation

RST M11 reset M11 and M10

RST M10
LDP M0
OR Y11 when M0 turns on, move-down electromagnet Y11 turns on
ANI T0
LDF M8260
AND Y12 when move right is finished, move-down electromagnet Y11 turns on
ORB
ANI M11
OUT Y11
LDP X0 when lower limit switch X0 turns on, clamping electromagnet Y12 turns on
MCS
LDI M10
SET Y12
LD M10
RST Y12
LD M8000
SET M12 M12 is seemed as X0 lower limit switch sign
MCR
LD M12
OUT T0 K15 delay for 1.5 seconds and clamping electromagnet turns on
LD T0
RST M12 after 1.5 seconds, loose the move-down electromagnet
LDF Y12
SET M13
LD M13
OUT T1 K15 delay for 1.5 seconds, after 1.5 seconds, turn off the move-down
electromagnet, it moves up
LDP T1
SET M11
RST M13
LDI M10
MCS
CHK X1
INC
DRV K2000 K0 when X1 turns on, fast position to (2000, 0)
LDF M8260
SET M10
MCR
LDP X1
ANI Y11 when X1 turns on again, start process S1 and fast return
ANI Y12
SET S1
STL S1

81
 Motion control instruction, parameter, special register and auxiliary relay explanation

LD S1
OUT T200 K5
LD T200
ABS
DRV K0 K0
LDP M0
RST S1
STLE

82
 Appendix

4．Appendix

The chapter introduces the basic and applied instructions of PLC, motion control instructions
and parameters of motion controller.

4-1．Basic order control instruction list

4-2．Application instruction list

4-3．Special function instruction list

4-4．High speed counter assignment

4-5．External input interruption assignment

4-6．Frequency measurement

83
Appendix

84
 Appendix

4-1．Basic order control instruction list

Instruction Function Usable soft element

LD Initial logical operation NO (normally
X、Y、M、S、T、C、Dn.m、FDn.m
open) contactor
LDD Directly read state from contactor X
LDI Initial logical operation NC (normally
X、Y、M、S、T、C、Dn.m、FDn.m
closed) contactor
LDDI Directly read NC(normally closed) X
contactor
LDP Initial logical operation-Rising edge pulse
X、Y、M、S、T、C、Dn.m、FDn.m

LDF Initial logical operation-Falling /trailing

X、Y、M、S、T、C、Dn.m、FDn.m
edge pulse
AND Serial connection of NO (normally open)
X、Y、M、S、T、C、Dn.m、FDn.m
contactors
ANDD Directly read state from contactor X
ANI Serial connection of NC (normally closed)
X、Y、M、S、T、C、Dn.m、FDn.m
contactors
ANDDI Directly read NC(normally closed) X
contactor
ANDP Serial connection of rising edge pulse
X、Y、M、S、T、C、Dn.m、FDn.m

ANDF Serial connection of falling/trailing edge

X、Y、M、S、T、C、Dn.m、FDn.m
pulse
OR Parallel connection of NC (normally
X、Y、M、S、T、C、Dn.m、FDn.m
closed) contactors
ORD Directly read state from contact X
ORI Parallel connection of NC (normally
X、Y、M、S、T、C、Dn.m、FDn.m
closed) contactors
ORDI Directly read NC(normally closed) X
contactor
ORP Parallel connection of rising edge pulse
X、Y、M、S、T、C、Dn.m、FDn.m

ORF Parallel connection of falling/trailing edge

X、Y、M、S、T、C、Dn.m、FDn.m
pulse
ANB Serial connection of multiply parallel None
circuits
ORB Parallel connection of multiply parallel None
circuits

85
 Appendix

OUT Final logic operation coil drive

Y、M、S、T、C、Dn.m

OUTD Directly output to loop Y

SET Set a bit device permanently ON
Y、M、S、T、C、Dn.m

RST Reset a bit device permanently OFF

Y、M、S、T、C、Dn.m

PLS Rising edge pulse

X、Y、M、S、T、C、Dn.m

PLF Falling/trailing edge pulse

X、Y、M、S、T、C、Dn.m

MCS Connect the public serial contactors None

MCR Clear the public serial contactors None
ALT The status of the assigned device is
X、Y、M、S、T、C、Dn.m
inverted on every operation of the
instruction
NOP No operation or null step None
END Force the current program scan to end None
GROUP Start the fold of instruction group None
GROUPE End the fold of instruction group None

（Note: refer to《XC series instruction manual》）

86
 Appendix

4-2．Application instruction list

Application instruction kinds and corresponding kinds of each series showed as below:

Sort Mnemonic Function

CJ Condition jump
CALL Call subroutine
SRET Subroutine return
STL Flow start
STLE Flow end
Program SET Open the assigned flow, close the current flow
Flow ST Open the assigned flow, not close the current flow
FOR Start of a FOR-NEXT loop
NEXT End of a FOR-NEXT loop
FEND First end
LD activates if (S1) = (S2)
LD＝

LD activates if (S1) > (S2)

LD＞

LD activates if (S1) =< (S2)

LD＜

LD＜＞ LD activates if（S1）≠（S2）

LD＜＝ LD activates if（S1）≤（S2）

LD＞＝ LD activates if（S1）≥（S2）

Data
AND＝ AND activates if（S1）＝（S2）
Compare

AND＞ AND activates if（S1）＞（S2）

AND＜ AND activates if（S1）＜（S2）

AND＜＞ AND activates if（S1）≠（S2）

AND＜＝ AND activates if（S1）≤（S2）

AND＞＝ AND activates if（S1）≥（S2）

OR＝ OR activates if（S1）＝（S2）

87
 Appendix

OR＞ OR activates if（S1）＞（S2）

OR＜ OR activates if（S1）＜（S2）

OR＜＞ OR activates if（S1）≠（S2）

OR＜＝ OR activates if（S1）≤（S2）

OR＞＝ OR activates if（S1）≥（S2）

CMP Data compare

ZCP Data zone compare
MOV Move
BMOV Block move
Data FMOV Fill move
Move FWRT Flash ROM write
MSET Zone set
ZRST Zone reset
SWAP Exchange the high byte and low byte
XCH Exchange
ADD Addition
SUB Subtraction
MUL Multiplication
DIV Division
INC Increment
DEC Decrement
Data
MEAN Mean
Operation
WAND Word And
WOR Word OR
WXOR Word exclusive OR
CML Compliment
NEG Negative

SHL Arithmetic Shift Left

SHR Arithmetic Shift Right
LSL Logic shift left
LSR Logic shift right
ROL Rotation shift left
Data Shift
ROR Rotation shift right
SFTL Bit shift left
SFTR Bit shift right
WSFL Word shift left
WSFR Word shift right

88
 Appendix

WTD Single word integer converts to double word integer

FLT 32 bits integer converts to float point
FLTD 64 bits integer converts to float point
INT Float point converts to binary
BIN BCD converts to binary
BCD Binary converts to BCD
ASC Hex. converts to ASCII
HEX ASCII converts to Hex
DECO Coding
ENCO High bit coding
Data
ENCOL Low bit coding
Convert
ECMP Float compare
Float
EZCP Float Zone compare
Point
EADD Float Add
Operation
ESUB Float Subtract
EMUL Float Multiplication
EDIV Float division
ESQR Float Square Root
SIN Sine
COS Cosine
TAN Tangent
ASIN Anti-sine
ACOS Anti-cosine
ATAN Anti-tangent
Clock TRD Read RTC data
Operation TWR Set RTC data

（Note: refer to《XC series instruction manual》）

89
 Appendix

4-3．Special function instruction list

Generic special instruction list

Instruction sign Instruction name

PLSY Single segment pulse output without accelerate/decelerate
PLSR Single/multiple segment, with accelerate/decelerate, single/double direction
pulse output
PLSF Variable frequency pulse output
PLSNEXT/PLSNT Pulse segment switch
PLSMV Save pulse number into register
STOP Pulse stop
COLR Modbus loop read
INPR Modbus input loop read
COLW Modbus single loop write
MCLW Modbus multiple loops write
REGR Modbus register read
INRR Modbus input register write
REGW Modbus single register write
MRGW Modbus multiple registers write
SEND Free format data send
RCV Free format data incept
CCOLR CAN-bus loop read
CCOLW CAN-bus loop write
CREGR CAN-bus register read
CREGW CAN-bus register write
PWM Pulse width modulate
FRQM Frequency measurement
STR Precise timing
EI Allow interruption
DI Forbid interruption
IRET Interruption return
PID PID operation control
ZRN Zero point returning
DRVA Absolute positioning
DRVI Relative positioning

（Note: refer to《XC series instruction manual 》）

90
 Appendix

4-4．High speed counter assignment

XCM high speed count input distribution as follows:

XCM-32T-E

Incremental mode Pulse + direction mode AB phase mode

C600C602 C604C606 C608C610 C612C614 C616C618 C620 C622C624 C626C628 C630 C632C634
Max
80K 10K 80K 80K
frequency
4-time
√
frequency

Interruption √ √ √ √

X000 U U A
X001 Dir B
X002
X003 U

XCM-32T-E-3PLS

Incremental mode Pulse + direction mode AB phase mode

C600C602 C604C606 C608C610 C612C614 C616C618 C620 C622C624 C626C628 C630 C632C634
Max
80K 10K 10K 10K 80K 10K 80K 10K
frequency
4-time
√
frequency

Interruption √ √ √ √

X000 U U A
X001 Dir B
X002
X003 U U A
X004 Dir B
X005
X006 U
X007 U
Notes: X7 cannot work with Y0 at the same time.

91
 Appendix

XCM-60T-E
Incremental mode Pulse + direction mode AB phase mode
C600C602 C604C606 C608C610 C612C614 C616C618 C620 C622C624 C626C628 C630 C632C634
Max
80K 10K 10K 10K 80K 10K 10K
frequency
4-time
√ √ √
frequency

Interruption √ √ √

X000 U A
X001 U B
X002
X003
X004
X005
X006 U A
X007 B
X010 U A
X011 B

92
 Appendix

4-5．External input interruption assignment

XCM external interruption definition:

XCM-32T-E:
Pointer
Disable
Input Rising Falling
interruption
interruption interruption
X2 I0000 I0001 M8050
X5 I0100 I0101 M8051
X10 I0200 I0201 M8052
X11 I0300 I0301 M8053
X12 I0400 I0401 M8054
X13 I0500 I0501 M8055

XCM-32T-E-3PLS:
Pointer
Disable
Input Rising Falling
interruption
interruption interruption
X2 I0000 I0001 M8050
X5 I0100 I0101 M8051
X10 I0200 I0201 M8052

XCM-60T-E:
Pointer
Disable
Input Rising Falling
interruption
interruption interruption
X2 I0000 I0001 M8050
X3 I0100 I0101 M8051
X4 I0200 I0201 M8052
X5 I0300 I0301 M8053

93
 Appendix

4-6．Frequency measurement

XCM frequency measurement input:

Type Input
XCM-32T-E X3
XCM-32T-E-3PLS X6, X7
XCM-60T-E X1

Notes: X7 and Y0 of XCM-32T-E-3PLS cannot work at the same time.

94
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