Panasonic GM1 Series User manual

Motion Controller
GM1 Series
Reference Manual
Hardware
WUME-GM1H-02
2021.8

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2 WUME-GM1H-02

Introduction
Thank you for purchasing a Panasonic product. Before you use the product, please carefully
read through the installation instructions and the manuals, and understand them in detail to use
the product properly.
Types of Manual
● There are different types of manuals for the GM1 series, as listed below. Please refer to a
relevant manual for the unit and purpose of your use.
● The manuals can be downloaded from our website: https://industrial.panasonic.com/ac/e/
motor/motion-controller/mc/gm1/index.jsp.
Manuals for GM1 series
Manual name Manual code Description
GM1 Controller RTEX User's Manual
(Setup Edition)
WUME-
GM1RTXSU Explains wiring between the GM1 and its
peripheral devices, installation method, and
operation check method.
GM1 Controller EtherCAT User’s
Manual
(Setup Edition)
WUME-
GM1ETCSU
GM1 Controller RTEX User's Manual
(Operation Edition)
WUME-
GM1RTXOP Explains how to use GM Programmer and
PANATERM Lite for GM, set up each function,
create projects, and perform other operations.
GM1 Controller EtherCAT User’s
Manual
(Operation Edition)
WUME-
GM1ETCOP
GM1 Series Reference Manual
(Hardware Edition) WUME-GM1H Explains the functions and performance of each
GM1 unit.
GM1 Series Reference Manual
(Instruction Edition) WUME-GM1PGR Explains the specifications of each instruction that
can be used with the GM1 Series.
GM1 Series Reference Manual
(Analog I/O Unit)
WUME-GM1AIO Explains the functions and performance of the
GM1 Analog Expansion Unit.
GM1 Series Reference Manual
(Pulse Output Unit)
WUME-GM1PG Explains the functions and performance of the
GM1 Pulse Output Unit.
Copyright / Trademarks
● The copyright of this manual belongs to Panasonic Corporation.
● Unauthorized reproduction of this manual is strictly prohibited.
● Windows is a registered trademark of Microsoft Corporation in the U.S. and other countries.
● Ethernet is a registered trademark of Fuji Xerox Co., Ltd. and Xerox Corporation.
● EtherCAT is a registered trademark of and patented technology licensed by Beckhoff Automation GmbH,
Germany.
● EtherNet/IP is a registered trademark of ODVA (Open DeviceNet Vendor Association).
● SDHC and SD logos are trademarks of LLC.
● Other company and product names are trademarks or registered trademarks of their respective companies.
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Table of Contents
1 Before Using This Product...................................................................1-1
1.1 Safety Precautions..............................................................................1-2
1.2 Handling Precautions..........................................................................1-3
2 Overview (System Configuration) .......................................................2-1
2.1 Basic System Configuration................................................................2-2
2.1.1 Outline of the GM1 System.............................................................. 2-2
2.1.2 Unit Types ........................................................................................ 2-2
2.1.3 Restrictions on the Number of Expansion Units .............................. 2-3
2.2 Restrictions on the GM1 Controller and Servo Amplifiers...................2-5
2.2.1 Restrictions on the Combination of the GM1 Controller and Servo
Amplifiers .......................................................................................... 2-5
2.2.2 Restrictions on Servo Amplifier Parameters .................................... 2-6
2.3 Programming Tools.............................................................................2-8
2.3.1 Software Usage Environment and Applicable Cables ..................... 2-8
3 Names and Functions of Components ...............................................3-1
3.1 Names and Functions of Components of the GM1 Controller ............3-2
3.1.1 Names and Functions of Components of the RTEX-compatible
GM1 Controller.................................................................................. 3-2
3.1.2 Names and Functions of Components of the EtherCAT-compatible
GM1 Controller.................................................................................. 3-5
3.1.3 Terminal Layout Diagram of the GM1 Controller (RTEX-
compatible / EtherCAT-compatible) .................................................. 3-7
3.2 Expansion Units..................................................................................3-11
3.2.1 Names and Functions of Components of the GM1 Digital I/O Unit . 3-11
3.2.2 Terminal Layout Diagram of the GM1 Digital I/O Unit ...................... 3-12
3.2.3 Names and Functions of Components of the GM1 Analog I/O Unit 3-15
3.2.4 Terminal Layout Diagram of the GM1 Analog I/O Unit..................... 3-16
3.2.5 Names and Functions of Parts of the GM1 Pulse Output Unit......... 3-17
3.2.6 Terminal Layout Diagram of the GM1 Pulse Output Unit ................. 3-18
4 Installation .............................................................................................4-1
4.1 Installation of the GM1 Series.............................................................4-2
4.1.1 Installation Environment and Space ................................................ 4-2
4.1.2 Unit Installation Procedure............................................................... 4-4
4.1.3 Removing the Unit ........................................................................... 4-5
4.1.4 Attaching to DIN Rail........................................................................ 4-6
4.1.5 Removing from DIN Rail .................................................................. 4-7
5 Wiring.....................................................................................................5-1
5.1 Wiring the Power Supply.....................................................................5-2
5.1.1 Common Precautions ...................................................................... 5-2
5.1.2 Power Supply for the GM1 Controller (RTEX-compatible /
EtherCAT-compatible)....................................................................... 5-3
5.1.3 Grounding ........................................................................................ 5-3
WUME-GM1H-02 v

5.2 Wiring of Network................................................................................5-5
5.3 Wiring of Input and Output..................................................................5-7
5.3.1 Precautions Common to Input and Output....................................... 5-7
5.3.2 Input Wiring...................................................................................... 5-7
5.3.3 High-speed Counter Input Wiring..................................................... 5-8
5.3.4 Output Wiring ................................................................................... 5-10
5.4 Connection Using the Discrete-wire Connector .................................5-11
5.4.1 Specifications of the Discrete-wire Connector ................................. 5-11
5.4.2 Wiring the Discrete-wire Connector ................................................. 5-12
5.5 Safety Measures.................................................................................5-15
5.5.1 General Safety Measures ................................................................ 5-15
5.5.2 Momentary Power Failure................................................................ 5-15
5.5.3 Watchdog Timer............................................................................... 5-15
6 Checking Wiring....................................................................................6-1
6.1 Safety Circuit Design ..........................................................................6-2
6.2 Items to Check during Wiring..............................................................6-3
6.3 Power ON Operation...........................................................................6-4
6.4 Power OFF Operation.........................................................................6-5
7 Using the SD Memory Card and SDHC Memory Card .......................7-1
7.1 Preparation of the SD Memory Card and SDHC Memory Card..........7-2
7.2 Inserting the SD Memory Card and SDHC Memory Card ..................7-3
8 Device Reset..........................................................................................8-1
8.1 Device Reset by GM1 Controller Operation........................................8-2
9 Troubleshooting....................................................................................9-1
9.1 Self-diagnostic Function......................................................................9-2
9.2 Operation Status at the Time of Error .................................................9-3
9.3 What to Do If an Error Occurs.............................................................9-4
9.3.1 ERROR LED Flashes on the Control Unit ....................................... 9-4
9.3.2 ALARM LED Lights on the Control Unit ........................................... 9-4
9.3.3 POWER LED Does not Light on the Control Unit ............................ 9-5
9.3.4 Desired Output Is Not Obtained: Checking when the Output Does
Not Turn ON / OFF ........................................................................... 9-5
9.3.5 Desired Input Is Not Obtained: Checking when the Input Does Not
Turn ON / OFF .................................................................................. 9-6
9.3.6 If the ALARM LED Is Lit on the Expansion Unit............................... 9-6
9.3.7 If the ALARM LED Is Unlit on the Expansion Unit ........................... 9-7
10 Maintenance and Inspection..............................................................10-1
10.1 Inspection..........................................................................................10-2
11 Specifications and Dimensions .........................................................11-1
11.1 General Specifications ......................................................................11-2
11.2 Specifications of the GM1 Controller.................................................11-4
vi WUME-GM1H-02

11.2.1 High-speed Counter Input Specifications of the GM1 Controller.... 11-4
11.2.2 Input Specifications of the GM1 Controller..................................... 11-4
11.2.3 Output Specifications of the GM1 Controller (Sink Type) .............. 11-5
11.2.4 Output Specifications of the GM1 Controller (Source Type) .......... 11-6
11.3 Specifications of Expansion Units .....................................................11-8
11.3.1 Input Specifications of the 64-point Digital Input Unit .................... 11-8
11.3.2 Output Specifications of the 64-point Digital Output Unit (Sink
Type) ................................................................................................. 11-9
11.3.3 Output Specifications of the 64-point Digital Output Unit (Source
Type) ................................................................................................. 11-11
11.3.4 I/O Specifications of the 64-point Digital I/O Unit (Sink Type) ........ 11-12
11.3.5 I/O Specifications of the 64-point Digital I/O Unit (Source Type).... 11-15
11.3.6 Input Specifications of the Analog Input Unit ................................. 11-18
11.3.7 Output Specifications of the Analog Output Unit ............................ 11-19
11.3.8 Performance Specifications of the Pulse Output Unit .................... 11-20
11.4 Communication Specifications ..........................................................11-24
11.4.1 Specifications of the USB Port ....................................................... 11-24
11.4.2 Specifications of the COM Port (RS-232C) .................................... 11-24
11.4.3 Specifications of the LAN Port........................................................ 11-25
11.4.4 Specifications of the RTEX Port ..................................................... 11-25
11.4.5 Specifications of the EtherCAT Port .............................................. 11-26
11.5 Performance Specifications ..............................................................11-27
11.6 Dimensions .......................................................................................11-28
11.6.1 Dimensions of the GM1 Controller ................................................. 11-28
11.6.2 Dimensions of the GM1 Expansion Unit......................................... 11-29
Appendix Warranty / Cautions for Proper Use.....................................App-1
Warranty ....................................................................................................App-2
Warranty Period ......................................................................................... App-2
Warranty Scope ......................................................................................... App-2
Cautions for Proper Use ............................................................................App-3
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viii WUME-GM1H-02

1 Before Using This Product
1.1 Safety Precautions..............................................................................1-2
1.2 Handling Precautions..........................................................................1-3
WUME-GM1H-02 1-1

1.1 Safety Precautions
This section explains important rules that must be observed to prevent personal injury and
property damage.
● Injuries and damages that may occur as a result of incorrect use are classified into the
following levels and safety precautions are explained according to the level.
Indicates that there is a risk of death or serious injury
Indicates that there is a risk of minor injury or property damage
Indicates an action that is prohibited
Indicates an action that must be taken
● Take safety measures outside this product to ensure the safety of the entire system even
if this product fails or an error occurs due to external factors.
● Do not use this product in atmospheres that contain flammable gases.
Doing so may result in explosion.
● Do not throw this product into the fire.
Doing so may cause the batteries or other electronic parts to explode.
● To prevent abnormal heat generation or smoke generation, use this product with some
leeway from the guaranteed characteristics and performance values of the product.
● Do not disassemble or modify this product.
Doing so may result in abnormal heat generation or smoke generation.
● Do not touch any terminals while the power is on.
Doing so may result in electrical shock.
● Configure emergency stop and interlock circuits outside this product.
● Connect wires and connectors properly.
Failure to do so may result in abnormal heat generation or smoke generation.
● Do not perform work (such as connection or removal) with the power turned on.
Doing so may result in electrical shock.
● If this product is used in any way that is not specified by Panasonic, its protection function
may be impaired.
● This product has been developed and manufactured for industrial use only.
1.1 Safety Precautions
1-2 WUME-GM1H-02

1.2 Handling Precautions
■In this manual, the following symbols are used to indicate safety information that
must be observed.
Indicates an action that is prohibited or a matter that requires caution.
Indicates an action that must be taken.
Indicates supplemental information.
Indicates details about the subject in question or information useful to remember.
Indicates operation procedures.
1.2 Handling Precautions
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2 Overview (System
Configuration)
2.1 Basic System Configuration................................................................2-2
2.1.1 Outline of the GM1 System.............................................................. 2-2
2.1.2 Unit Types ........................................................................................ 2-2
2.1.3 Restrictions on the Number of Expansion Units .............................. 2-3
2.2 Restrictions on the GM1 Controller and Servo Amplifiers...................2-5
2.2.1 Restrictions on the Combination of the GM1 Controller and Servo
Amplifiers .......................................................................................... 2-5
2.2.2 Restrictions on Servo Amplifier Parameters .................................... 2-6
2.3 Programming Tools.............................................................................2-8
2.3.1 Software Usage Environment and Applicable Cables ..................... 2-8
WUME-GM1H-02 2-1

2.1 Basic System Configuration
2.1.1 Outline of the GM1 System
■Network control
With the RTEX-compatible GM1 Controller, a MINAS series A6N/A5N servomotor network
system can be easily configured using the RTEX network dedicated to motion control.
The EtherCAT-compatible GM1 Controller is a MINAS series servomotor network system can
be easily configured by adopting EtherCAT communication.
■Two LAN ports
There are two Ethernet connection ports.
Each port can have a unique IP address. They can be used for different purposes, such as for
an in-device network or for a host system network.
■Equipped with the high-speed counter input and PWM output
The RTEX-compatible GM1 Controller / EtherCAT-compatible GM1 Controller is equipped with
a 2-ch high-speed counter input for 16 MHz (multiplied by 4) and a 4-ch PWM output that can
output a maximum of 100 kHz. These functions can be used without adding expansion units.
2.1.2 Unit Types
■Controller
Type Function Model number
RTEX-compatible GM1 Controller
(Sink type)
RTEX 16-axis motion controller
Transistor NPN output type AGM1CSRX16T
EtherCAT-compatible GM1
Controller (Sink type)
EtherCAT motion controller
Transistor NPN output type AGM1CSEC16T
2.1 Basic System Configuration
2-2 WUME-GM1H-02

Type Function Model number
EtherCAT-compatible GM1
Controller (Source type)
EtherCAT motion controller
Transistor PNP output type AGM1CSEC16P
■Expansion units
Type Function Model number
Digital input (64 points) 24 V DC, 64 input points AGM1X64D2
Digital output (64 points) (sink type) 64 output points
Transistor NPN type AGM1Y64T
Digital output (64 points) (source
type)
64 output points
Transistor PNP type AGM1Y64P
Digital I/O (64 points) (sink type)
24 V DC, 32 input points
32 output points
Transistor NPN type
AGM1XY64D2T
Digital I/O (64 points) (source type)
24 V DC, 32 input points
32 output points
Transistor PNP type
AGM1XY64D2P
Analog input (8 points) 8 input points AGM1AD8
Analog output (4 points) 4 output points AGM1DA4
Pulse output (Transistor output
type)
4-axis, pulse train, 500 kpps
Open collector output AGM1PG04T
Pulse output (Line driver output
type)
4-axis, pulse train, 4 Mpps
Line driver output AGM1PG04L
2.1.3 Restrictions on the Number of Expansion Units
Up to 15 expansion units can be mounted on the right side of the GM1 Controller (RTEX-
compatible / EtherCAT-compatible).
Example: For RTEX-compatible GM1 Controller
(1) RTEX-compatible GM1
Controller (2) Expansion units (3) End unit
2.1 Basic System Configuration
WUME-GM1H-02 2-3

● Make sure to connect an end unit to the end of the system.
2.1 Basic System Configuration
2-4 WUME-GM1H-02

2.2 Restrictions on the GM1 Controller and Servo Amplifiers
2.2.1 Restrictions on the Combination of the GM1 Controller and Servo
Amplifiers
As for the combination of the GM1 Controller (RTEX-compatible / EtherCAT-compatible) and
each MINAS series, confirm the following restrictions.
Combination of the RTEX-compatible GM1 Controller and servo amplifiers
Connectable servo amplifier
Description
A5N A6N
● ● A5N and A6N can be connected to the same network.
Combination of the EtherCAT-compatible GM1 Controller and servo amplifiers
Connectable servo amplifier
Description
A5B A6B
● ● A5B and A6B can be connected to the same network.
● When using servo amplifiers in combination with the GM1 Controller, use the ones with the
latest software version
■Setting ranges of movement amount and speed
The input range of the movement amount or speed specified in the GM1 Controller (RTEX-
compatible / EtherCAT-compatible) may differ from the upper and lower setting limits of the
servo amplifier.
● The communication cycle and command update cycle supported by the RTEX-compatible GM1
Controller and servo amplifiers A5N and A6N are as follows.
• RTEX-compatible GM1 Controller: Communication cycle: 500 μs to 2 ms, Command update
cycle: 500 μs to 4 ms
• Servo amplifier A5N: Communication cycle: 500 μs to 1 ms, Command update cycle: 500 μs
to 1 ms
• Servo amplifier A6N: Communication cycle: 500 μs to 2 ms, Command update cycle: 500 μs
to 4 ms
● The control cycles supported by the EtherCAT-compatible GM1 Controller and servo amplifiers
A5B or A6B are as follows.
• EtherCAT-compatible GM1 Controller: Control cycle: 500 μs to 4 ms
• Servo amplifier A5B: Control cycle: 500 μs to 4 ms
• Servo amplifier A6B: Control cycle: 500 μs to 4 ms
2.2 Restrictions on the GM1 Controller and Servo Amplifiers
WUME-GM1H-02 2-5

2.2.2 Restrictions on Servo Amplifier Parameters
■Parameters for servo amplifiers on the A5N/A6N
Some parameters for servo amplifiers on the A5N/A6N side affect the behaviors of the RTEX-
compatible GM1 Controller. Use the following parameters.
No. Name Settings
Standard
factory
default
setting
Pr5.04
Over-travel
inhibit input
setup
Use setting value “1 (Disable the over-travel inhibit input)”.
(Recommended) 1(Note 1)
Pr7.22
RTEX function
extended setup
1
Use setting value “1 (32-byte mode)”.
(Mandatory) 1(Note 2)
Pr7.23
RTEX function
extended setup
2
Use setting value “18”.
(Mandatory)
This parameter sets each function in bits.
bit 0: Allow parameter values to be written via RTEX
communication
0: Allow, 1: Disallow
bit 1: Set a sub-number for alarm code
0: Fixed at 0, 1: Enable sub-number
bit 2: Set RTEX status response conditions when "Over-travel
inhibit input setup" is disabled (Pr5.04 = 1)
0: Enable status, 1: Fixed at 0
bit 3: Set RTEX status bit assignment for POT and NOT
0: POT corresponds to bit 1 and NOT corresponds to bit 0, 1: NOT
corresponds to bit 1 and POT corresponds to bit 0
0: POT corresponds to bit 1 and NOT corresponds to bit 0, 1: NOT
corresponds to bit 1 and POT corresponds to bit 0
bit 4: Set display mode for "COM" LED
0: Mode 1, 1: Mode 2
bit 5: Set non-cyclic command start mode
0: When a change from base command occurs
1: When command code or command argument changes
bit 6: Set RTEX status logic for POT and NOT
0: Do not reverse, 1: Reverse
bit 7: Set RTEX status logic for PSL and NSL
0: Do not reverse, 1: Reverse
bit 8: Select RTEX status from In_Progress / AC_OFF
0: In_Progress, 1: AC_OFF
(It is linked to the setting in bit 15.)
bit 9: Select whether to return a command error when a
command for motion toward the direction of over-travel
prohibition is received after deceleration stop is executed by
"Over-travel inhibit input setup"
0: Do not return a command error
18(Note 2)
2.2 Restrictions on the GM1 Controller and Servo Amplifiers
2-6 WUME-GM1H-02

No. Name Settings
Standard
factory
default
setting
1: Return a command error
(Bit 10 to bit 13 are not used.)
Fix to "0".
bit 14: Set position deviation [command unit] output
0: Internal commanded position (after filtering) [command unit] -
Actual position [command unit]
1: Internal commanded position (before filtering) [command unit] -
Actual position [command unit]
Bit 15: Select extended RTEX status from In_Progress /
AC_OFF / Pr7.112 settings
0: Follow the setting of Pr7.23 bit 8 (In_Progress / AC_OFF)
1: Follow the setting of Pr7.112.
Pr7.25 RTEX speed
unit setup
Use setting value “1 (command unit/s)”.
(Mandatory) 1(Note 2)
(Note 1) We recommend that the set value should not be changed judging from the characteristics of the GM1
and MINAS.
(Note 2) Do not change the set value. If the set value is changed, the RTEX-compatible GM1 Controller will
make an error stop.
■Parameters for servo amplifiers on the A5B/A6B
Some parameters for servo amplifiers on the A5B/A6B side affect the behaviors of the
EtherCAT-compatible GM1 Controller. Use the following parameters.
No. Name Settings
Standard
factory
default
setting
Pr5.04
Over-travel
inhibit input
setup
Use setting value 1.
(Recommended) 1(Note 1)
(Note 1) We recommend that the set value should not be changed judging from the characteristics of the GM1
and MINAS.
2.2 Restrictions on the GM1 Controller and Servo Amplifiers
WUME-GM1H-02 2-7

2.3 Programming Tools
2.3.1 Software Usage Environment and Applicable Cables
Programming software
Product name Applicable
version
Applicable
language Product No. Remarks
GM Programmer Ver.1.2 or higher Japanese /
English / Chinese AGMSMP
(Note 1) When the GM Programmer is installed, MINAS setup support software ""PANATERM Lite for GM"" is
installed at the same time.
Software operating environment
Item Description
OS Microsoft(R) Windows(R) 10: 32 bit / 64 bit
PC
PC with the following installed:
● Microsoft.NET Framework 4.6.1 or higher
● Microsoft Visual C++ 2010 SP1 Redistributable Package (x86)
● Microsoft Visual C++ 2010 SP1 Redistributable Package (x64)
● Microsoft Visual C++ 2013 Redistributable Package (x86)
● Microsoft Visual C++ 2013 Redistributable Package (x64)
● Microsoft Visual C++ 2015 Update 3 Redistributable Package (x86)
● Microsoft Visual C++ 2015 Update 3 Redistributable Package (x64)
HDD At least 4 GB of free space
Memory At least 8 GB
Communication port LAN port (for Ethernet connection)
USB 2.0 port (for USB connection)
PC connection cable
● Use a commercial USB cable.
Cable type Length
USB 2.0 cable (A: miniB)(Note 1) Max. 5 m
(Note 1) Match the connection terminal shape of the USB2.0 cable on the PC side with the specifications of the
PC side.
For the tool operation, refer to the , GM1 Controller RTEX User’s Manual (Operation) or GM1
Controller EtherCAT User’s Manual (Operation).
2.3 Programming Tools
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