A criterion to determine the existence of zero-energy edge states is discussed for a class of particle-hole symmetric Hamiltonians. A ``loop'' in a parameter space is assigned for each one-dimensional bulk Hamiltonian, and its topological properties, combined with the chiral symmetry, play an essential role. It provides a unified framework to discuss zero-energy edge modes for several systems such as fully gapped superconductors, two-dimensional d-wave superconductors, and graphite ribbons. A variants of the Peierls instability caused by the presence of edges is also discussed.