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Panasonic GM1 User Manual

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

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Summary of Contents for Panasonic GM1

  • Page 1 Motion Controller GM1 Controller RTEX User’s Manual Setup WUME-GM1RTXSU-01 2021.2...
  • Page 2 (MEMO) WUME-GM1RTXSU-01...
  • Page 3 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/...
  • Page 4 (MEMO) WUME-GM1RTXSU-01...

  • Page 5: Table Of Contents

    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...
  • Page 6 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 ......
  • Page 7 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...
  • Page 8 (MEMO) viii WUME-GM1RTXSU-01...

  • Page 9: Before Using This Product

    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...

  • Page 10: Safety Precautions

    ● 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.

  • Page 11: Description Of Icons Used In This Document

    1.2 Description of Icons Used in this Document 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.

  • Page 12: Software License Agreement

    1.3 Software License Agreement 1.3 Software License Agreement WUME-GM1RTXSU-01...
  • Page 13 1.3 Software License Agreement WUME-GM1RTXSU-01...
  • Page 14 1.3 Software License Agreement WUME-GM1RTXSU-01...

  • Page 15: Basic System Configuration

    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...

  • Page 16: Outline Of The Gm1 System

    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.

  • Page 17: Unit Types

    2.2 Unit Types 2.2 Unit Types ■ Controller Type Function Model number RTEX 16-axis motion controller Controller (sink type) AGM1CSRX16T Transistor NPN output type ■ Expansion units Digital I/O unit Type Function Model number Digital input (64 points) 24 V DC, 64 input points AGM1X64D2 Output (64 points) Digital output (64 points) (sink type)

  • Page 18: Restrictions On The Number Of Expansion Units

    2.3 Restrictions on the Number of Expansion Units 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. Controller Expansion units End unit ● Make sure to connect an end unit to the end of the system.

  • Page 19: Restrictions On The Gm1 Controller And Servo Amplifiers

    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...

  • Page 20: Restrictions On The Combination Of 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 • Servo amplifier A5N: Communication cycle: 500 μs to 1 ms, Command update cycle: 500 μs to 1 ms •...

  • Page 21: Restrictions On Servo Amplifier Parameters

    3.2 Restrictions on Servo Amplifier Parameters 3.2 Restrictions on Servo Amplifier Parameters Some parameters for servo amplifiers affect the behaviors of the GM1 Controller. Use the following parameters. Standard factory Name Description default setting Over-travel Use setting value “1 (Disable the over-travel inhibit input)”.
  • Page 22 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. WUME-GM1RTXSU-01...

  • Page 23: Basic Operations Of The Gm1 Controller

    4 Basic Operations of the GM1 Controller 4.1 Power ON ...................4-2 4.2 Operation Mode Switching..............4-3 WUME-GM1RTXSU-01...

  • Page 24: Power On

    4.1 Power ON 4.1 Power ON When turning ON the power supply to the system incorporating the GM1 Controller, turn ON the power supply in the following order. ● Consider the nature and statuses of any external devices connected to the system, and take sufficient care so that turning ON the power supply will not initiate unexpected movements.

  • Page 25: Operation Mode Switching

    ● Press the operation button (▶) on the GM Programmer while the STOP LED is lit. ● Set the RUN/STOP switch on the GM1 Controller to RUN. ● The switch cannot be set to the RUN mode if an error that does not allow to continue operation has occurred or if an exceptional situation has occurred.
  • Page 26 (MEMO) WUME-GM1RTXSU-01...

  • Page 27: Installation And System Setup

    5 Installation and System Setup 5.1 System Configuration Diagram ............5-2 5.2 Work Flowchart ...................5-4 WUME-GM1RTXSU-01...

  • Page 28: System Configuration Diagram

    5.1 System Configuration Diagram 5.1 System Configuration Diagram The figure below shows the configuration of the GM1 series motion controller (Controller and expansion units), servo amplifiers, and PC. The GM Programmer and PANATERM Lite for GM communicate with the GM1 Controller via Gateway.
  • Page 29 ● To operate the system, you must install GM Programmer and PANATERM Lite for GM on the ● When GM Programmer is installed, MINAS setup support software "PANATERM Lite for GM", Gateway (the application that connects GM Programmer and the GM1 Controller), and CodeMeter are installed at the same time.

  • Page 30: Work Flowchart

    5.2 Work Flowchart 5.2 Work Flowchart The following table explains the workflow from installation of the GM1 controller through to its operation. Step Description Reference Install GM Programmer and PANATERM Lite for GM. "P.6-3" Make preparations for the servo amplifiers.
  • Page 31 5.2 Work Flowchart Step Description Reference Set variables. Set the GM1 controller with the GM Programmer. Make time setting. Log in to the GM1 Controller. Log out from the GM1 Controller. Upload the source. Configure security settings with GM Programmer.
  • Page 32 (MEMO) WUME-GM1RTXSU-01...

  • Page 33: Overview Of The Gm Programmer

    6 Overview of the GM Programmer 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 ..................

  • Page 34: System Requirements

    6.1 System Requirements 6.1 System Requirements 6.1.1 Usage Environment of the GM Programmer Programming software Product name Version Applicable language GM Programmer Ver.1.0 Japanese / English / Chinese (Note 1) When GM Programmer is installed, MINAS setup support software ""PANATERM Lite for GM"" is installed at the same time.

  • Page 35: Installation And Uninstallation

    6.2 Installation and Uninstallation 6.2 Installation and Uninstallation 6.2.1 Installing GM Programmer Before installing the GM Programmer on a PC, log on to the PC as an account with Administrator privileges. If other applications are running, be sure to close all the applications before installing GM Programmer.
  • Page 36 6.2 Installation and Uninstallation The following window will be displayed. Click [Next]. The following window will be displayed. Select [I accept the terms in the license agreement] and click [Next]. The following window will be displayed. If you change the installation destination folder, click [Change] and specify a desired installation destination.
  • Page 37 6.2 Installation and Uninstallation The window below will be displayed. Click [Install] to start the installation. The following window will be displayed while the installation is in progress. WUME-GM1RTXSU-01...
  • Page 38 6.2 Installation and Uninstallation Following this installation, the three packages below will be installed. (The segments indicated by * differ according to the version of the software.) ● CODESYS SoftMotion*.*.*.*_P ● GMPLibrary (*.*.*.*) ● PANATERM-Lite for GM V*.* These packages take a long time to install. Take care not to click [Cancel] while the installation is in progress.

  • Page 39: Uninstalling Gm Programmer

    From the Start menu, select Windows System>Control Panel, and then click "Uninstall a program". A list of installed programs will be displayed. Double-click "Panasonic GM Programmer". The following window will be displayed. [Yes] Click the [Yes] button. The GM Programmer will be uninstalled.

  • Page 40: Basic Operations

    6.3 Basic Operations This section explains how to start and quit GM Programmer. 6.3.1 How to start Click the [Start] button and select Panasonic Corpration>GM Programmer. The "User Account Control" dialog box will be displayed. Click [Yes]. GM Programmer will be started.

  • Page 41: How To Quit

    6.3 Basic Operations 6.3.2 How to quit ● Before closing GM Programmer, be sure to save any project files that you are editing and must save. From the menu bar, select File>Exit. If changes have not been saved, the following window will be displayed. If exiting without saving, select [No].

  • Page 42: Component Names

    6.4 Component Names 6.4 Component Names This section presents the name and display content of each component of GM Programmer. No. Name Description The title bar displays the project file name, [minimize] button, [maximize] button, and Title bar [close] button. Menu bar The menu bar displays the menu commands for each purpose in list format.

  • Page 43: Other Functions

    6.5 Other Functions 6.5 Other Functions 6.5.1 Display Language Setting Function This function allows the user to change the display language setting for GM Programmer. The default setting is the same language as the one used in the operating system. If you want to use a different language from the one used in the operating system, change the display language setting.

  • Page 44: Online Help Function

    6.5 Other Functions ● The display language setting of GM Programmer is linked with that of PANATERM Lite for GM. Therefore, if the display language setting of PANATERM Lite for GM is changed, the display language setting of GM Programmer will also be changed automatically. 6.5.2 Online Help Function This function allows the user to open the manual and check information such as operating methods.

  • Page 45: Version Display Function

    6.5 Other Functions ● You can also start online help by selecting Help>Manual from the menu bar. 6.5.3 Version Display Function This function allows the user to check the version, license, and other information for GM Programmer. From the menu bar, select Help>About. You can check the logo, profile name, and trademark.
  • Page 46 6.5 Other Functions Clicking the [License Info] button displays the "License Information" dialog box. 6-14 WUME-GM1RTXSU-01...

  • Page 47: Overview Of Panaterm Lite For Gm

    7 Overview of PANATERM Lite for GM 7.1 System Requirements.................7-2 7.1.1 Usage Environment of PANATERM Lite for GM ......7-2 7.2 Basic Operations.................7-3 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 ..........

  • Page 48: System Requirements

    7.1 System Requirements 7.1 System Requirements 7.1.1 Usage Environment of PANATERM Lite for GM Programming software Product name Version Applicable language PANATERM Lite for GM Ver.1.0 Japanese / English / Chinese (Note 1) When the GM Programmer is installed, MINAS setup support software "PANATERM Lite for GM" is installed at the same time.

  • Page 49: Basic Operations

    7.2 Basic Operations This section explains how to start and exit PANATERM Lite for GM. 7.2.1 How to Start Click the [Start] button in the Windows task bar and select Panasonic Corporation>PANATERM Lite for GM. The "Connect" dialog box will be displayed.
  • Page 50 7.2 Basic Operations When the "Selection of Aircraft Types" dialog box is displayed, select a model and click the "OK" button. PANATERM Lite for GM will be started. WUME-GM1RTXSU-01...

  • Page 51: How To Exit

    7.2 Basic Operations 7.2.2 How to Exit ● Note that all information will be lost if you close the program without saving settings, collected data, or other information. From the menu bar, select File>Exit. PANATERM Lite for GM will be closed. ●...

  • Page 52: Component Names

    Navigator pane This pane displays a list of axes. This pane displays the Parameter window, Monitor window, Alarm window, and other windows. Main pane The window can be switched by selecting a desired tab. Status field This field displays the status of connection to the GM1 controller. WUME-GM1RTXSU-01...

  • Page 53: Parameter Window

    7.4 Parameter Window 7.4 Parameter Window The Parameter window allows the user to check and rewrite the values of servo amplifier parameters, save them to parameter files, and perform parameter-related operations. 7.4.1 Configuration of Parameters Window No. Name Function The toolbar consists of basic operation commands related to parameters, such as save and read.
  • Page 54 7.4 Parameter Window No. Name Function Icon Name Function Transmits parameters to the servo Trans amplifier. Copies the parameters of a servo Copy amplifier to servo amplifiers for other axes. Writes parameters to EEPROM of the servo amplifier. Inputs the selected settings in binary or Bin / Hex hexadecimal format.

  • Page 55: Setting Parameters

    7.4 Parameter Window No. Name Function Name Function value, press the <Enter> key. To return a value to its original value, press the <Esc> key. Unit Displays the unit of parameter settings. Text display area Displays a description related to the selected parameter. Parameter attribute Displays a description of parameter attributes.
  • Page 56 7.4 Parameter Window Read-out from the driver Communicates with the connected servo amplifier and reads the parameter settings from the servo amplifier. If this mode is selected, parameter values will be reflected in the servo amplifier as soon as they are changed. Read from file Refer to the parameter file (".prm5") that was edited previously.

  • Page 57: Monitor Window

    7.5 Monitor Window 7.5 Monitor Window The Monitor window displays the operating states of servo amplifiers and motors, I/O signals, internal statuses, and other information and also allows the user to check them. 7.5.1 Configuration of Monitor Window NO. Name Description The toolbar consists of basic operation commands related to parameters.
  • Page 58 7.5 Monitor Window NO. Name Description Logical Output – Displays the status of signals within the servo amplifier. Red: Indicates that signal status is active Pink: Indicates that signal status is inactive Displays the status of input signals. The tab can be switched between "Physical Input"...

  • Page 59: Checking The Monitor Window

    7.5 Monitor Window 7.5.2 Checking the Monitor Window From the menu bar on the main pane, select Display>Monitor. Alternatively, on the toolbar, click the"Open the Monitor view" icon. The Monitor window will be displayed. Check each item. Check the input signal state, output signal state, and the internal status of the servo amplifier.

  • Page 60: Alarm Window

    7.6 Alarm Window 7.6 Alarm Window The Alarm window allows the user to check error status when the front panel of the servo amplifier is blinking due to motor operation failure or for some other reason. 7.6.1 Configuration of Alarm Window Display of the current errors and warnings (only during communication with servo amplifier) 7-14...
  • Page 61 7.6 Alarm Window Display of error histories No. Name Description Icon Name Function Allows the user to clear the current alarm history. If you click this button after eliminating the cause of the alarm, the current alarm will be cleared and normal operation will be performed.

  • Page 62: Checking Alarms

    7.6 Alarm Window No. Name Description The alarm displayed on the top of the list is the alarm displayed on the front panel of the servo amplifier. Error cause / treatment Displays the cause and treatment of the selected error. display area Motor internal status Displays the motor internal status in the event of an alarm.
  • Page 63 7.6 Alarm Window Check for any errors that are currently occurring. Click the current "Now Error / Warning" tab and check for any errors that are currently occurring. Check for any errors that occurred in the past. Click the "Error History" tab and check for any errors that occurred in the past. Click the [×] button on the Alarm window.

  • Page 64: Other Functions

    7.7 Other Functions 7.7 Other Functions 7.7.1 Language Setting Function This function allows the user to set the display language of PANATERM Lite for GM. The default setting is the same language as the one set in GM Programmer. Select a language from the menu bar tool. The language set in PANATERM Lite for GM will be switched.
  • Page 65 7.7 Other Functions Click a desired button at the bottom of the window. Button Description Displays information about the plug-ins that have been applied and the operating Version Info system of the PC that is used. License Info Displays license information for the software used by PANATERM Lite for GM. WUME-GM1RTXSU-01 7-19...
  • Page 66 (MEMO) 7-20 WUME-GM1RTXSU-01...

  • Page 67: Preparing For Servo Amplifiers

    8 Preparing for Servo Amplifiers 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 WUME-GM1RTXSU-01...

  • Page 68: Initial Setup For Servo Amplifiers

    8.1 Initial Setup for Servo Amplifiers 8.1 Initial Setup for Servo Amplifiers 8.1.1 Connecting the Servo Amplifier and PC Use a USB cable to connect the servo amplifier and a PC on which PANTERM Lite for GM has been installed. 8.1.2 Installing the USB Driver When the GM Programmer is installed, the USB driver is also installed at the same time.
  • Page 69 8.1 Initial Setup for Servo Amplifiers Select "AMP default setting" and click [OK]. The "Model confirmation" dialog box will be displayed. Check the software version of the servo amplifier for which settings are to be changed and then click [OK]. The "Parameter change"...

  • Page 70: Disconnecting The Servo Amplifier From The Pc

    8.1 Initial Setup for Servo Amplifiers If you use parameters "Absolute encoder setup", "Output pulse counts per one motor rev...", "RTEX communication cycle setup", and "RTEX command updating cycle setup", change the settings according to the operating environment. Click [OK]. The "Setting Complete"...

  • Page 71: Connecting The Gm1 Controller And Servo Amplifiers

    9 Connecting the GM1 Controller and Servo Amplifiers 9.1 Setting an Address for Each Servo Amplifier........9-2 9.2 Connecting the GM1 Controller and Servo Amplifiers via RTEX ..9-3 WUME-GM1RTXSU-01...

  • Page 72: Setting An Address For Each Servo Amplifier

    9.1 Setting an Address for Each Servo Amplifier 9.1 Setting an Address for Each Servo Amplifier The table below shows the correspondence between the axis numbers of the GM1 Controller and the station numbers on the rotary switch of the servo amplifier. The order of connections on the network is unrelated to axis numbers.

  • Page 73: Connecting The Gm1 Controller And Servo Amplifiers Via Rtex

    9.2 Connecting the GM1 Controller and Servo Amplifiers via RTEX 9.2 Connecting the GM1 Controller and Servo Amplifiers via RTEX Connect the RTEX ports on the GM1controller and each servo amplifier. WUME-GM1RTXSU-01...
  • Page 74 (MEMO) WUME-GM1RTXSU-01...
  • Page 75 Programmer 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 ..............

  • Page 76: Connecting The Gm1 Controller And Pc

    Select either LAN port connection or USB port connection. 10.1.2 Connecting the GM1 Controller and PC with a Cable Use an Ethernet cable or USB cable to connect the GM1 Controller and a PC on which the GM Programmer is installed.

  • Page 77: Creating A New Project

    This section describes how to create a new project. Given below is an example that explains the procedure to create a project for the GM1 controller (product number: AGM1CSRX16T) in Structured Text (ST) format.
  • Page 78 "Location" field. Click the [OK] button. The "Standard Project" dialog box will be displayed. Select "AGM1CSRX16T(Panasonic Corporation)" in the "Device" field and "Structured Text (ST)." in the "Program in" field, and click the [OK] button. 10-4...
  • Page 79 10.2 Creating a New Project A new project will be created. Device and other objects including objects for ST programs are arranged in the navigator pane. <Uses of objects arranged in the navigator pane> Name Function Device object Sets up device objects. Application object Sets up application objects.

  • Page 80: Communication Setting

    Set communication settings of the LAN port through the network settings of the PLC parameters. When connecting the GM Programmer and the GM1 via the LAN port, match the PC network settings with those of the GM1. Double-click the "Device(AGM1CSRX16T)" object in the navigation pane.
  • Page 81 10.3 Communication Setting The "Add &USB Port" dialog box will be displayed. Click the [OK] button. A dialog box to restart the Gateway will be displayed. Click the [OK] button. The "Select Device" dialog box will be displayed. WUME-GM1RTXSU-01 10-7...
  • Page 82 10.3 Communication Setting Select a GM1 Controller that you want to connect and click the [OK] button. When the connection is completed, a dialog box will be displayed to notify successful connection. Click the [OK] button. A USB port is added the communication interface between the PC and GM1 Controller.

  • Page 83: Adding And Setting Up Servo Amplifiers

    10.4 Adding and Setting up Servo Amplifiers 10.4 Adding and Setting up Servo Amplifiers Add device objects for servo amplifiers to a project and set them up. The description below explains how to add device objects for A6N servo amplifiers to a project and how to set them up.
  • Page 84 10.4 Adding and Setting up Servo Amplifiers Select a device object for the servo amplifier. The selected device object of the servo amplifier will be added. Click the [Select Device] button. 10-10 WUME-GM1RTXSU-01...
  • Page 85 10.4 Adding and Setting up Servo Amplifiers Click the [OK] button. The selected device object of the servo amplifier will be added to the navigator pane. Double-click the added object. The setting pane will be displayed in the main pane. Specify settings related to servo amplifier A6N.
  • Page 86 10.4 Adding and Setting up Servo Amplifiers ● To remove a device object that has been added, select the device object in the navigator pane and press the "Delete" key. 10-12 WUME-GM1RTXSU-01...

  • Page 87: Basic Settings Of The Rtex Axis

    You can set the real axis or virtual axis. Use of the real axis: The real axis is used to actually control the servo amplifier. Use of the virtual axis: A virtual servo amplifier is created in the GM1 Controller and its virtual axis is used.
  • Page 88 *1: Set the units in application in the Scaling / Mapping. • A negative value cannot be set. (A warning is issued. If the data is downloaded as is, an error will occur when executing the GM1. ● Finite The set value for the command position is a finite value.

  • Page 89: Scaling / Mapping Settings

    10.5 Basic Settings of the RTEX Axis ● When operation is switched from Run to Stop, an emergency stop is made regardless of the software error reaction. ● For the stop operation that takes place when an error stop occurs or when the software limit is exceeded, the shortest time from the start of deceleration to the stop among the following settings is applied.
  • Page 90 10.5 Basic Settings of the RTEX Axis Note: Invert direction: The direction is inverted. ● Linear When the axis type is set to finite, the ratio in the conversion from the drive increment to the application unit is set. Note: Invert direction: The direction is inverted. 10-16 WUME-GM1RTXSU-01...

  • Page 91: Connecting To The Gm1 Controller

    10.6 Connecting to the GM1 Controller 10.6 Connecting to the GM1 Controller Connect the PC where the GM Programmer is installed to the GM1 Controller. The connection status of the PC includes "Connected", "Connection as a device user", "Login", and "Online config mode".
  • Page 92 10.6 Connecting to the GM1 Controller ■ With device user registration List of available GM1 Controller operations Function Connected \as a device user Login Online config connected mode Setting / acquiring × × ○ × (Note 1) ○ Controller information Application management ×...

  • Page 93: Commissioning

    A confirmation message will be displayed, asking whether to remove all applications. Click [Yes]. All applications will be removed from the GM1 controller, and the GM1 controller and servo amplifiers will be connected in online config mode. While online config mode is in progress, "Online Config Mode" in the menu bar remains selected.

  • Page 94: Conducting Commissioning For Servo Amplifiers

    10.7 Commissioning 10.7.2 Conducting Commissioning for Servo Amplifiers While in the online config mode, you can conduct commissioning for servo amplifiers. There is no need to create a program for commissioning. The following is an example of commissioning using the A6N-series servo amplifiers. Double-click the servo amplifier object in the navigator pane.
  • Page 95 10.7 Commissioning Group Description Allows the user to set commissioning parameters. Drive Allows the user to execute commissioning. Status Displays the running status of the servo amplifiers during commissioning. Displays errors that occurred during commissioning. Error Allows the user to clear errors. Click an appropriate button in the Operation group to start commissioning.
  • Page 96 10.7 Commissioning For the servo amplifier and RTEX statuses during commissioning, check the "Status" and "Error" groups. To erase errors that are displayed, click the [Clear] button or [All Clear ] button in the "Error" group. ● Pressing the [Clear] button will erase axis errors, drive errors, RTEX errors, and FB errors [0].
  • Page 97 10.7 Commissioning ● If you display another window during commissioning, "Stop" will be executed. ● Even if communication with the servo amplifier is disrupted during "Inching" or "Home Return" operation, the servo amplifier will continue commissioning operation. ● If online config mode is canceled, commissioning will be terminated. To cancel the online config mode, select Project>Online Config Mode from the menu bar again.

  • Page 98: Login

    10.8 Login 10.8 Login GM Programmer allows the user to log in to the GM1 Controller. When "Login" is executed, applications are downloaded to the GM1 Controller. From the menu bar, select Online>Login, or press the <Alt> key and the <F8> key simultaneously.

  • Page 99: Logout

    10.9 Logout 10.9 Logout This function allows the user to log out from the device to which the user logged in. From the menu bar, select Online>Logout, or press the <Ctrl > + <F8> key simultaneously. You will be logged out. ●...
  • Page 100 (MEMO) 10-26 WUME-GM1RTXSU-01...

  • Page 101: Setting Up The Servo Amplifier Connected To The Gm1 Controller

    11 Setting up the Servo Amplifier Connected to the GM1 Controller 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...

  • Page 102: When Connected Using The Ethernet Cable

    The PC communicates with the servo amplifier connected to the GM1 Controller. Connect the PC and GM1 Controller with a USB cable or Ethernet cable. With the GM1 Controller and servo amplifier connected with a Cat5e shielded cable, set up the servo amplifier.
  • Page 103 11.1 Setting up the Servo Amplifier Connected to the GM1 Controller Change the timeout time and click the [OK] button. The "Select Device" dialog box will be displayed. Click the [Scan Network] button, select the GM1 Controller, and click the [OK] button. The main pane will be displayed. WUME-GM1RTXSU-01...

  • Page 104: When Connected Using The Usb Cable

    11.1 Setting up the Servo Amplifier Connected to the GM1 Controller 11.1.2 When Connected Using the USB Cable If connected using the USB cable, use the following procedure. Start PANATERM Lite for GM. The "Connect" dialog box will be displayed.
  • Page 105 A dialog box to add a USB port and to restart the Gateway will be displayed. Click the [OK] button. The "Select Device" dialog box will be displayed. Click the [Scan Network] button, select the GM1 Controller, and click the [OK] button. The main pane will be displayed. WUME-GM1RTXSU-01...

  • Page 106: Writing Parameters To Servo Amplifier

    11.2 Writing Parameters to Servo Amplifier 11.2 Writing Parameters to Servo Amplifier Connect the PC with the servo amplifier and directly write the parameters set with PANATERM Lite for GM to the servo amplifier. Start PANATERM Lite for GM. Click "Trans" on the toolbar. The parameters will be sent from PANATERM Lite for GM to the servo amplifier.

  • Page 107: Preparation For Operation

    12 Preparation for Operation 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 ..............

  • Page 108: Checking Wiring

    12.1 Checking Wiring 12.1 Checking Wiring Firstly, check whether the GM1 Controller, expansion units, servo amplifier, and PC are connected correctly. 12-2 WUME-GM1RTXSU-01...

  • Page 109: Checking Safety Circuit Design

    ● Install over limit switches as shown above. ● Connect them to the CW and CCW over-travel inhibit inputs of the parallel I/O connector of the servo amplifier. For the GM1 Controller, connect them to the limit input (+) and limit input (-) through the network.

  • Page 110: Items To Check During Wiring

    Make sure that settings have been entered so that power supplies will be turned according. (4) Checking the GM1 Controller mode selector switch Set the GM1 Controller to the STOP mode. Setting it in the RUN mode can cause inadvertent operation.

  • Page 111: Power Off Operation

    ON the power supply will not initiate unexpected movements. Turn ON the power supplies to the I/O devices connected to the GM1 Controller. Turn ON the power supply to the servo amplifier. Turn ON the power supply to the GM1 Controller.
  • Page 112 12.2 Checking Safety Circuit Design 12-6 WUME-GM1RTXSU-01...

  • Page 113: Operation Check

    ● If the "STATUS" LED is flashing, the network is not established. ● If the "LINK" LED is not lit, the “RX” (reception side) of the GM1 Controller and “TX” (transmission side) of the servo amplifier are not electrically connected normally.

  • Page 114: Checking Rotating And Moving Directions And Moving Distance

    12.3 Operation Check 12.3.3 Checking Rotating and Moving Directions and Moving Distance Check whether the rotating and moving directions of the motor and the moving distance are correct. The operations can be easily confirmed using the commissioning function of the GM Programmer without user programs.
  • Page 115 12.3 Operation Check Next, set the scale on the "Scaling / Mapping" screen for each axis on the GM Programmer. Check the moving distance by executing inching operation on the Commissioning screen. For details on inching operation on the Commissioning screen, refer to "10.7.2 Conducting Commissioning for Servo Amplifiers".
  • Page 116 (MEMO) 12-10 WUME-GM1RTXSU-01...

  • Page 117: Appendix Warranty / Cautions For Proper Use

    Appendix Warranty / Cautions for Proper Use Warranty ....................App-2 Warranty Period ..................App-2 Warranty Scope ..................App-2 Cautions for Proper Use ................App-3 WUME-GM1RTXSU-01 App-1...

  • Page 118: Warranty

    Parts exceeding their standard lifetime specified in this document are excluded. Warranty Scope Panasonic warrants the replacement of the defected parts of the Product or repair of them when the defects of the Product occur during the Warranty Period, and when the defects are under Panasonic responsibility.This Warranty only covers the Product itself and does not cover...

  • Page 119: Cautions For Proper Use

    Cautions for Proper Use Cautions for Proper Use ● Practical considerations for exporting the product or assembly containing the product When the end user of the product or end use of the product is associated with military affair or weapon, its export may be controlled by the Foreign Exchange and Foreign rade Control Law.
  • Page 120 (MEMO) App-4 WUME-GM1RTXSU-01...
  • Page 121 Revision History The manual code is shown at the bottom of the cover page. Date of issue Manual code Revision details February 2021 WUME-GM1RTXSU-01 First edition WUME-GM1RTXSU-01...
  • Page 122 (MEMO) WUME-GM1RTXSU-01...
  • Page 123 (MEMO) WUME-GM1RTXSU-01...
  • Page 124 Panasonic Corporation 2021 February,2021 WUME-GM1RTXSU-01...

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