Panasonic GM1 Series User manual

Motion Controller
GM1 Controller RTEX
User’s Manual
Setup
WUME-GM1RTXSU-01
2021.2

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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 Description of Icons Used in this Document .......................................1-3
1.3 Software License Agreement..............................................................1-4
2 Basic System Configuration ................................................................2-1
2.1 Outline of the GM1 System.................................................................2-2
2.2 Unit Types ...........................................................................................2-3
2.3 Restrictions on the Number of Expansion Units .................................2-4
3 Restrictions on the GM1 Controller and Servo Amplifiers ...............3-1
3.1 Restrictions on the Combination of the GM1 Controller and Servo
Amplifiers ..............................................................................................3-2
3.2 Restrictions on Servo Amplifier Parameters .......................................3-3
4 Basic Operations of the GM1 Controller.............................................4-1
4.1 Power ON ...........................................................................................4-2
4.2 Operation Mode Switching..................................................................4-3
5 Installation and System Setup.............................................................5-1
5.1 System Configuration Diagram...........................................................5-2
5.2 Work Flowchart ...................................................................................5-4
6 Overview of the GM Programmer ........................................................6-1
6.1 System Requirements.........................................................................6-2
6.1.1 Usage Environment of the GM Programmer.................................... 6-2
6.2 Installation and Uninstallation .............................................................6-3
6.2.1 Installing GM Programmer ............................................................... 6-3
6.2.2 Uninstalling GM Programmer........................................................... 6-7
6.3 Basic Operations.................................................................................6-8
6.3.1 How to start...................................................................................... 6-8
6.3.2 How to quit ....................................................................................... 6-9
6.4 Component Names.............................................................................6-10
6.5 Other Functions ..................................................................................6-11
6.5.1 Display Language Setting Function ................................................. 6-11
6.5.2 Online Help Function ....................................................................... 6-12
6.5.3 Version Display Function ................................................................. 6-13
7 Overview of PANATERM Lite for GM...................................................7-1
7.1 System Requirements.........................................................................7-2
7.1.1 Usage Environment of PANATERM Lite for GM .............................. 7-2
7.2 Basic Operations.................................................................................7-3
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7.2.1 How to Start ..................................................................................... 7-3
7.2.2 How to Exit....................................................................................... 7-5
7.3 Component Names.............................................................................7-6
7.4 Parameter Window .............................................................................7-7
7.4.1 Configuration of Parameters Window .............................................. 7-7
7.4.2 Setting Parameters .......................................................................... 7-9
7.5 Monitor Window ..................................................................................7-11
7.5.1 Configuration of Monitor Window..................................................... 7-11
7.5.2 Checking the Monitor Window ......................................................... 7-13
7.6 Alarm Window.....................................................................................7-14
7.6.1 Configuration of Alarm Window ....................................................... 7-14
7.6.2 Checking Alarms.............................................................................. 7-16
7.7 Other Functions ..................................................................................7-18
7.7.1 Language Setting Function .............................................................. 7-18
7.7.2 Help Function................................................................................... 7-18
7.7.3 Version Display Function ................................................................. 7-18
8 Preparing for Servo Amplifiers............................................................8-1
8.1 Initial Setup for Servo Amplifiers.........................................................8-2
8.1.1 Connecting the Servo Amplifier and PC .......................................... 8-2
8.1.2 Installing the USB Driver.................................................................. 8-2
8.1.3 Initial Setup for Servo Amplifiers...................................................... 8-2
8.1.4 Disconnecting the Servo Amplifier from the PC............................... 8-4
9 Connecting the GM1 Controller and Servo Amplifiers......................9-1
9.1 Setting an Address for Each Servo Amplifier......................................9-2
9.2 Connecting the GM1 Controller and Servo Amplifiers via RTEX........9-3
10 Connecting the GM1 Controller and the GM Programmer..............10-1
10.1 Connecting the GM1 Controller and PC ...........................................10-2
10.1.1 Selecting a Connection Port for GM Programmer ......................... 10-2
10.1.2 Connecting the GM1 Controller and PC with a Cable.................... 10-2
10.2 Creating a New Project.....................................................................10-3
10.3 Communication Setting.....................................................................10-6
10.3.1 Setting the LAN Port ...................................................................... 10-6
10.3.2 Addition of the USB Port ................................................................ 10-6
10.4 Adding and Setting up Servo Amplifiers ...........................................10-9
10.5 Basic Settings of the RTEX Axis.......................................................10-13
10.5.1 General Settings ............................................................................ 10-13
10.5.2 Scaling / Mapping Settings ............................................................ 10-15
10.6 Connecting to the GM1 Controller ....................................................10-17
10.7 Commissioning .................................................................................10-19
10.7.1 Online Config Mode ....................................................................... 10-19
10.7.2 Conducting Commissioning for Servo Amplifiers........................... 10-20
10.8 Login .................................................................................................10-24
10.9 Logout...............................................................................................10-25
vi WUME-GM1RTXSU-01

11 Setting up the Servo Amplifier Connected to the GM1 Controller .11-1
11.1 Setting up the Servo Amplifier Connected to the GM1 Controller.....11-2
11.1.1 When Connected Using the Ethernet Cable .................................. 11-2
11.1.2 When Connected Using the USB Cable......................................... 11-4
11.2 Writing Parameters to Servo Amplifier ..............................................11-6
12 Preparation for Operation ..................................................................12-1
12.1 Checking Wiring................................................................................12-2
12.2 Checking Safety Circuit Design ........................................................12-3
12.2.1 Safety Circuit Design ..................................................................... 12-3
12.2.2 Items to Check during Wiring......................................................... 12-4
12.2.3 Power ON Operation...................................................................... 12-4
12.2.4 Power OFF Operation.................................................................... 12-5
12.3 Operation Check...............................................................................12-7
12.3.1 Checking the Network.................................................................... 12-7
12.3.2 Checking Input Signals .................................................................. 12-7
12.3.3 Checking Rotating and Moving Directions and Moving Distance .. 12-8
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 Description of Icons Used in this Document .......................................1-3
1.3 Software License Agreement..............................................................1-4
WUME-GM1RTXSU-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-GM1RTXSU-01

1.2 Description of Icons Used in this Document
■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 Description of Icons Used in this Document
WUME-GM1RTXSU-01 1-3

1.3 Software License Agreement
1.3 Software License Agreement
1-4 WUME-GM1RTXSU-01

1.3 Software License Agreement
WUME-GM1RTXSU-01 1-5

1.3 Software License Agreement
1-6 WUME-GM1RTXSU-01

2 Basic System Configuration
2.1 Outline of the GM1 System.................................................................2-2
2.2 Unit Types ...........................................................................................2-3
2.3 Restrictions on the Number of Expansion Units .................................2-4
WUME-GM1RTXSU-01 2-1

2.1 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 Outline of the GM1 System
2-2 WUME-GM1RTXSU-01

2.2 Unit Types
■Controller
Type Function Model number
Controller (sink type) RTEX 16-axis motion controller
Transistor NPN output type AGM1CSRX16T
■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
2.2 Unit Types
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2.3 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.
2.3 Restrictions on the Number of Expansion Units
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3 Restrictions on the GM1
Controller and Servo
Amplifiers
3.1 Restrictions on the Combination of the GM1 Controller and Servo
Amplifiers ..............................................................................................3-2
3.2 Restrictions on Servo Amplifier Parameters .......................................3-3
WUME-GM1RTXSU-01 3-1

3.1 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
3.1 Restrictions on the Combination of the GM1 Controller and Servo
Amplifiers
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