Panasonic GM1 Series User manual

Motion Controller
GM1 Series
Reference Manual
Hardware
WUME-GM1H-01
2021.2

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2 WUME-GM1H-01

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. Refer to the appropriate manual
according to your need.
●These 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)
WUME-
GM1RTXSU
Explains wiring between the GM1 and its
peripheral devices, installation method, and
operation check method.
GM1 Controller RTEX User's Manual
(Operation)
WUME-
GM1RTXOP
Explains how to use GM Programmer and
PANATERM Lite for GM, set up each function,
create projects, and perform other operations.
GM1 Series Reference Manual
(Hardware)
WUME-GM1H Explains the functions and performance of each
GM1 unit.
GM1 Series Reference Manual
(Instruction)
WUME-GM1PGR Explains the specifications of each instruction that
can be used with the GM1 Series.
Copyright / Trademarks
● The copyright of this manual is owned by 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.
● 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.
Note on the Software
The "PANATERM Lite for GM" is not incorporated into the GM Programmer as of January 2021.
The features will be added when the GM Programmer is upgraded.
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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...................2-4
2.2.1 Restrictions on the Combination of the GM1 Controller and Servo
Amplifiers .......................................................................................... 2-4
2.2.2 Restrictions on Servo Amplifier Parameters .................................... 2-4
2.3 Programming Tools.............................................................................2-7
2.3.1 Software Usage Environment and Applicable Cables ..................... 2-7
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............................................. 3-2
3.1.2 Terminal Layout Diagram ................................................................. 3-4
3.2 Expansion Units..................................................................................3-8
3.2.1 Names and Functions of Components of the GM1 Digital I/O Unit . 3-8
3.2.2 Terminal Layout Diagram ................................................................. 3-9
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 .............................................. 5-3
5.1.3 Grounding ........................................................................................ 5-3
5.2 Wiring of Network................................................................................5-5
5.3 Wiring of Input and Output..................................................................5-6
5.3.1 Precautions Common to Input and Output....................................... 5-6
5.3.2 Input Wiring...................................................................................... 5-6
5.3.3 High-speed Counter Input Wiring..................................................... 5-7
5.3.4 Output Wiring ................................................................................... 5-9
5.4 Connection Using the Discrete-wire Connector .................................5-10
5.4.1 Specifications of the Discrete-wire Connector ................................. 5-10
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5.4.2 Wiring the Discrete-wire Connector ................................................. 5-11
5.5 Safety Measures.................................................................................5-14
5.5.1 General Safety Measures ................................................................ 5-14
5.5.2 Momentary Power Failure................................................................ 5-14
5.5.3 Watchdog Timer............................................................................... 5-14
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 Items to Check before Operation ........................................................7-1
7.1 System Configuration..........................................................................7-2
7.1.1 Setting an Address for Each Servo Amplifier................................... 7-2
7.1.2 Power On and Checking Network Connection Establishment ......... 7-2
7.1.3 Checking Input Signals .................................................................... 7-3
7.1.4 Checking Rotating and Moving Directions and Moving Distance .... 7-4
7.1.5 Positioning Parameter Setting ......................................................... 7-4
8 Using the SD (SDHC) Memory Card ....................................................8-1
8.1 Preparation of the SD (SDHC) Memory Card.....................................8-2
8.2 Inserting the SD (SDHC) Memory Card..............................................8-3
9 Device Reset..........................................................................................9-1
9.1 Device Reset by GM1 Controller Operation........................................9-2
10 Troubleshooting..................................................................................10-1
10.1 Self-diagnostic Function....................................................................10-2
10.2 Operation Status at the Time of Error ...............................................10-3
10.3 What to Do If an Error Occurs...........................................................10-4
10.3.1 ERROR LED Flashes on the Control Unit ..................................... 10-4
10.3.2 ALARM LED Lights on the Control Unit ......................................... 10-4
10.3.3 POWER LED Does not Light on the Control Unit .......................... 10-5
10.3.4 Desired Output Is Not Obtained: Checking when the Output Does
Not Turn ON / OFF ........................................................................... 10-5
10.3.5 Desired Input Is Not Obtained: Checking when the Input Does
Not Turn ON / OFF ........................................................................... 10-6
10.3.6 If the ALARM LED Is Lit on the Expansion Unit............................. 10-6
10.3.7 If the ALARM LED Is Unlit on the Expansion Unit ......................... 10-7
11 Maintenance and Inspection ..............................................................11-1
11.1 Inspection..........................................................................................11-2
12 Specifications and Dimensions.........................................................12-1
12.1 General Specifications......................................................................12-2
12.2 Specifications of the GM1 Controller ................................................12-4
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12.2.1 High-speed Counter Input Specifications of the GM1 Controller ... 12-4
12.2.2 Input Specifications of the GM1 Controller .................................... 12-4
12.2.3 Output Specifications (Sink Type) of the GM1 Controller ............. 12-5
12.3 Specifications of Expansion Units.....................................................12-7
12.3.1 Input Specifications of the 64-point Digital Input Unit ................... 12-7
12.3.2 Output Specifications of the 64-point Digital Output Unit (Sink
Type) ................................................................................................. 12-8
12.3.3 I/O Specifications of the 64-point Digital I/O Unit (Sink Type)........ 12-10
12.4 Communication Specifications..........................................................12-13
12.4.1 Specifications of the USB Port....................................................... 12-13
12.4.2 Specifications of the COM Port (RS-232C).................................... 12-13
12.4.3 Specifications of the LAN Port ....................................................... 12-14
12.4.4 Specifications of the RTEX Port..................................................... 12-14
12.5 Performance Specifications ..............................................................12-16
12.6 Dimensions .......................................................................................12-17
12.6.1 Dimensions of the GM1 Controller................................................. 12-17
12.6.2 Dimensions of the GM1 Expansion Unit ........................................ 12-17
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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1 Before Using This Product
1.1 Safety Precautions..............................................................................1-2
1.2 Handling Precautions..........................................................................1-3
WUME-GM1H-01 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-01

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...................2-4
2.2.1 Restrictions on the Combination of the GM1 Controller and Servo
Amplifiers .......................................................................................... 2-4
2.2.2 Restrictions on Servo Amplifier Parameters .................................... 2-4
2.3 Programming Tools.............................................................................2-7
2.3.1 Software Usage Environment and Applicable Cables ..................... 2-7
WUME-GM1H-01 2-1

2.1 Basic System Configuration
2.1.1 Outline of the GM1 System
■Network control
A MINAS series servomotor network system can be easily configured using the RTEX network
dedicated to motion control.
■System configuration including virtual axes
It is possible to create a system that consists of up to 20 axes including a maximum of 16 real
axes and a maximum of 20 virtual axes.
■Two LAN ports
Other than the RTEX, 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 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
Controller (sink type) RTEX 16-axis motion controller
Transistor NPN output type AGM1CSRX16T
2.1 Basic System Configuration
2-2 WUME-GM1H-01

■Expansion units
Digital I/O unit
Type Function Model number
Digital input (64 points) 24 V DC, 64 input points AGM1X64D2
Digital output (64 points) (sink type) Output (64 points)
Transistor NPN type AGM1Y64T
Digital I/O (64 points) (sink type)
24 V DC, 32 input points
32 output points
Transistor NPN type
AGM1XY64D2T
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.
(1) Controller (2) Expansion units (3) End unit
● Make sure to connect an end unit to the end of the system.
2.1 Basic System Configuration
WUME-GM1H-01 2-3

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 and each MINAS series, confirm the following
restrictions.
Combination of the GM1 Controller and servo amplifiers
Connectable servo amplifier
Description
A5N A6N
● ● A5N and A6N 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 may differ
from the upper and lower setting limits of the servo amplifier.
● The communication cycle and command update cycle supported by the GM1 Controller and
servo amplifiers A5N and A6N are as follows.
•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
2.2.2 Restrictions on Servo Amplifier Parameters
Some parameters for servo amplifiers affect the behaviors of the GM1 Controller. Use the
following parameters.
No. Name Description
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)
2.2 Restrictions on the GM1 Controller and Servo Amplifiers
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No. Name Description
Standard
factory
default
setting
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
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]
18(Note 2)
2.2 Restrictions on the GM1 Controller and Servo Amplifiers
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No. Name Description
Standard
factory
default
setting
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 GM1 Controller will make an error stop.
2.2 Restrictions on the GM1 Controller and Servo Amplifiers
2-6 WUME-GM1H-01

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.1.0 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 details on tool operation, refer to the GM1 Controller RTEX User’s Manual (Operation Edition).
2.3 Programming Tools
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