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Panasonic GM1 Series User Manual

Motion controller
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WUME-GM1ETCSU-01
2021.8
Motion Controller
GM1 Controller EtherCAT
User's Manual
Setup Edition

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Summary of Contents for Panasonic GM1 Series

  • Page 1 Motion Controller GM1 Controller EtherCAT User’s Manual Setup Edition WUME-GM1ETCSU-01 2021.8...
  • Page 2 (MEMO) WUME-GM1ETCSU-01...
  • Page 3 Types of Manual ● There are different types of manuals for the GM1 series, as listed below. 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-GM1ETCSU-01...

  • Page 5: Table Of Contents

    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...
  • Page 6 7.2.1 How to Start ..................7-3 7.2.2 How to Exit ..................7-6 7.3 Component Names ................7-7 7.4 Parameter Window ................7-8 7.4.1 Configuration of Parameters Window ..........7-8 7.4.2 Setting Parameters ................7-10 7.5 Object Window..................7-13 7.5.1 Configuration of Object Window ............7-13 7.5.2 Setting Objects.................
  • Page 7 10.7 Connecting to the GM1 Controller ............10-20 10.8 Commissioning .................10-22 10.8.1 Online Config Mode ............... 10-22 10.8.2 Conducting Commissioning for Servo Amplifiers ......10-23 10.9 Login ....................10-25 10.10 Logout .....................10-26 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 If Connected with Ethernet Cables..........
  • Page 8 (MEMO) viii WUME-GM1ETCSU-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-GM1ETCSU-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-GM1ETCSU-01...
  • Page 13 1.3 Software License Agreement WUME-GM1ETCSU-01...
  • Page 14 1.3 Software License Agreement WUME-GM1ETCSU-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-GM1ETCSU-01...

  • Page 16: Outline Of The Gm1 System

    2.1 Outline of the GM1 System 2.1 Outline of the GM1 System ■ Network control A MINAS series servomotor network system can be easily configured by adopting EtherCAT communication. ■ 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.

  • Page 17: Unit Types

    2.2 Unit Types 2.2 Unit Types ■ Controller Type Function Product number EtherCAT 16-axis motion controller GM1 EtherCAT compatible AGM1CSEC16T controller (sink type) Transistor NPN type EtherCAT 16-axis motion controller GM1 EtherCAT compatible AGM1CSEC16P controller (source type) Transistor PNP 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 unit End unit ● Be sure to connect an end unit to the end of the system. WUME-GM1ETCSU-01...

  • 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-GM1ETCSU-01...

  • Page 20: Restrictions On The Combination Of The Gm1 Controller And Servo Amplifiers

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

  • Page 21: Restrictions On Servo Amplifier Parameters

    3.2 Restrictions on Servo Amplifier Parameters 3.2 Restrictions on Servo Amplifier Parameters Some parameters of servo amplifiers affect the operation of the GM1 Controller. Use the following parameter. Factory Name Settings default setting Over-travel Use set value 1. (Note 1) Pr5.04 inhibit input (Recommended)
  • Page 22 (MEMO) WUME-GM1ETCSU-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-GM1ETCSU-01...

  • Page 24: Power On

    4.1 Power ON 4.1 Power ON When turning ON the power to the system incorporating the GM1 Controller, follow the power ON sequence described in the procedure below. ● Consider the performance and statuses of any external devices connected to the system, and take sufficient care so that turning ON the power will not initiate unexpected movements.

  • Page 25: Operation Mode Switching

    4.2 Operation Mode Switching 4.2 Operation Mode Switching ■ Switching to the RUN mode There are the following two methods. ● 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. ●...
  • Page 26 (MEMO) WUME-GM1ETCSU-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-GM1ETCSU-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. GM Programmer and PANATERM Lite for GM communicate with the GM1 Controller via Gateway.
  • Page 29 5.1 System Configuration Diagram ● 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. "P.8-1"...
  • Page 31 5.2 Work Flowchart Step Description Reference Set variables. Set up the GM1 Controller in GM Programmer. Configure time settings. Log in to the GM1 Controller. Log out from the GM1 Controller. Upload the source. Configure security settings with GM Programmer. 10-1 Configure user management settings.
  • Page 32 (MEMO) WUME-GM1ETCSU-01...

  • Page 33: Overview Of The Gm Programmer

    6 Overview of the GM Programmer 6.1 System Requirements.................6-2 6.1.1 Operating Environment of 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 Operating Environment of GM Programmer Programming software Product name Version Applicable language GM Programmer Ver.1.1 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-GM1ETCSU-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. Click a desired button at the bottom of the window.
  • Page 46 6.5 Other Functions Clicking the [License Info] button displays the "License Information" dialog box. 6-14 WUME-GM1ETCSU-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 Operating 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 ..................7-6 7.3 Component Names ................7-7 7.4 Parameter Window ................7-8 7.4.1 Configuration of Parameters Window ..........

  • Page 48: System Requirements

    7.1 System Requirements 7.1 System Requirements 7.1.1 Operating Environment of PANATERM Lite for GM Programming software Product name Version Applicable language PANATERM Lite for GM Ver.1.1 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 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 WUME-GM1ETCSU-01...
  • Page 51 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-GM1ETCSU-01...

  • Page 52: 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 53: Component Names

    7.3 Component Names 7.3 Component Names This section explains the components and displays of PANATERM Lite for GM. 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 54: 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 other 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 55 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 56: 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 57 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 Reads the parameter file (".prm5") that was edited previously.
  • Page 58 7.4 Parameter Window After changing the parameter settings, click the [EEP] button to write the parameter settings to the EEPROM of the servo amplifier. Click the [×] button on the Parameter window to close the Parameter window. 7-12 WUME-GM1ETCSU-01...

  • Page 59: Object Window

    7.5 Object Window 7.5 Object Window Troubleshooting can be performed more easily by displaying and editing the list of objects on the amplifier side without using a host device. ● Some objects affect the behaviors of servo amplifiers or motors. Therefore, before changing the objects, carefully read the instruction manual and other technical references for the servo amplifier and pay careful attention when changing them.
  • Page 60 7.5 Object Window Name Function Trans Transmits objects to the servo amplifier. If you turn OFF the power supply to the servo amplifier without writing to EEPROM, the object will be reverted back to the value before the change was made. Copies the objects of a servo amplifier to servo amplifiers Copy for other axes.
  • Page 61 7.5 Object Window Name Function Allows the user to edit and set an object. Name Function "Main Displays the Main Index of an object. Index" Sub Index Displays the Sub Index of an object. Object Displays the name of an object. Name Displays the data type of an object.

  • Page 62: Setting Objects

    7.5 Object Window 7.5.2 Setting Objects From the menu bar on the main pane, select View>Object. Alternatively, on the toolbar, click the "Open the Object view" icon. The "Selection of objects to be read" dialog box will be displayed. Read-out from the amplifier. Communicates with the connected servo amplifier and reads objects set in the servo amplifier.
  • Page 63 7.5 Object Window Read from file Reads the parameter file ("obj5") that was edited previously. If communication is performed with the servo amplifier, object values will be reflected in the servo amplifier as soon as they are changed. Read default Reads the standard default settings of the servo amplifier that were saved during installation.

  • Page 64: Monitor Window

    7.6 Monitor Window 7.6 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. 7.6.1 Configuration of Monitor Window NO. Name Description The toolbar consists of basic operation commands related to parameters.
  • Page 65 7.6 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 66: Checking The Monitor Window

    7.6 Monitor Window 7.6.2 Checking the Monitor Window From the menu bar on the main pane, select View>Monitor. Alternatively, on the toolbar, click the "Open the Monitor view" icon. The Monitor window will be displayed. 7-20 WUME-GM1ETCSU-01...
  • Page 67 7.6 Monitor Window Check each item. Check the input signal state, output signal state, and the internal status of the servo amplifier. Click the [×] button on the Monitor window. The Monitor window will be closed. WUME-GM1ETCSU-01 7-21...

  • Page 68: Alarm Window

    7.7 Alarm Window 7.7 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. 7.7.1 Configuration of Alarm Window Display of the current errors and warnings (only during communication with servo amplifier) 7-22...
  • Page 69 7.7 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 70: Checking Alarms

    7.7 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 71 7.7 Alarm Window The Alarm window will be displayed. Check for any errors that are currently occurring. Click the "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"...

  • Page 72: Other Functions

    7.8 Other Functions 7.8 Other Functions 7.8.1 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 73 7.8 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-GM1ETCSU-01 7-27...
  • Page 74 (MEMO) 7-28 WUME-GM1ETCSU-01...

  • Page 75: 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-GM1ETCSU-01...

  • Page 76: 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 77 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 78: Disconnecting The Servo Amplifier From The Pc

    8.1 Initial Setup for Servo Amplifiers If Pr7.41 is set to 0, the setting of the rotary switch on the front panel of the servo amplifier and the setting of Pr7.40 will be set as Station alias. Station alias High-order 8 bits Low-order 8 bits 3740H setting Rotary switch setting...
  • Page 79 8.1 Initial Setup for Servo Amplifiers WUME-GM1ETCSU-01...
  • Page 80 (MEMO) WUME-GM1ETCSU-01...
  • Page 81 9 Connecting the GM1 Controller and Servo Amplifiers 9.1 Setting an Address for Each Servo Amplifier........9-2 9.1.1 Reading the Value of Rotary Switch..........9-2 9.1.2 Reading the Value of SII Area............9-2 9.2 Connecting the GM1 Controller and Each Servo Amplifier with Cables ....................9-3 WUME-GM1ETCSU-01...

  • Page 82: 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 following are the address setting methods prescribed by EtherCAT. ● Reading the Value of Rotary Switch ● Reading the Value of SII Area 9.1.1 Reading the Value of Rotary Switch Addresses are set using the value of the rotary switch on each servo amplifier.

  • Page 83: Connecting The Gm1 Controller And Each Servo Amplifier With Cables

    9.2 Connecting the GM1 Controller and Each Servo Amplifier with Cables 9.2 Connecting the GM1 Controller and Each Servo Amplifier with Cables Connect the EtherCAT port on the GM1Controller and each servo amplifier with cables. WUME-GM1ETCSU-01...
  • Page 84 (MEMO) WUME-GM1ETCSU-01...
  • Page 85 10 Connecting the GM1 Controller and the GM 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 ..............

  • Page 86: Connecting The Gm1 Controller And Pc

    10.1 Connecting the GM1 Controller and PC 10.1 Connecting the GM1 Controller and PC 10.1.1 Selecting a Connection Port for GM Programmer 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 GM Programmer is installed.

  • Page 87: Creating A New Project

    10.2 Creating a New Project 10.2 Creating a New Project When creating a program using GM Programmer for the first time, create a new project. For the new project, set a device and a programming language to be used. 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: AGM1CSEC16T/P) in Structured Text (ST) format.
  • Page 88 10.2 Creating a New Project Select Projects>Standard project, and specify a project file name in the "Name" field and a project storage location in the "Location" field. Click the [OK] button. The "Standard project" dialog box will be displayed. 10-4 WUME-GM1ETCSU-01...
  • Page 89 10.2 Creating a New Project Select "AGM1CSEC16T/P(Panasonic Corporation)" in the "Device" field and "Structured" in the "Program in" field, and click the [OK] button. A new project will be created. Device and other objects including objects for ST programs are arranged in the navigator pane.

  • Page 90: Communication Setting

    10.3 Communication Setting 10.3 Communication Setting 10.3.1 Setting the LAN Port Configure communication settings for the LAN port using "Network setting" in the "PLC Parameters” tab. When connecting GM Programmer and the GM1 Controller via the LAN port, match the network settings of the PC with those of the GM1 Controller.
  • Page 91 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-GM1ETCSU-01 10-7...
  • Page 92 10.3 Communication Setting Select a GM1 Controller to which 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 will be added as the communication interface between the PC and GM1 Controller.

  • Page 93: Basic Setting For Gm1 Controller

    10.4 Basic Setting for GM1 Controller 10.4 Basic Setting for GM1 Controller Set a control cycle for the GM1 Controller. Double-click the MotionTask object in the navigator pane. The "MotionTask" editor will open in the main pane. Set a control cycle. WUME-GM1ETCSU-01 10-9...

  • Page 94: Adding And Setting Up Servo Amplifiers

    10.5 Adding and Setting up Servo Amplifiers 10.5 Adding and Setting up Servo Amplifiers This section explains how to add device objects for servo amplifiers to a project and set them The description below explains how to add device objects for A5B servo amplifiers to a project and how to set them up.
  • Page 95 10.5 Adding and Setting up Servo Amplifiers The selected device object of the servo amplifier will be added. Click the [Add Device] button. The selected device object of the servo amplifier will be added to the navigator pane. Click the [Cancel] button to close the "Select Device” dialog box. Double-click the added object.
  • Page 96 10.5 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. Select the "Enable expert settings" check box. Set a station alias. How to set a station alias differs according to the setting of Pr7.41 in "8.1.3 Initial Setup for Servo...
  • Page 97 10.5 Adding and Setting up Servo Amplifiers Select the "Configured station alias” option and enter the setting of the rotary switch on the front panel of the servo amplifier and the setting of Pr7.40 into the input field. 　Example: When the value of the rotary switch on the front panel of the servo amplifier is set to 8 and the value of Pr7.40 is set to 1 The high-order 8 bits and low-order 8 bits represent 1 and 8, respectively.
  • Page 98 10.5 Adding and Setting up Servo Amplifiers ● You can also set any desired value after logging in by selecting the configured station alias value. Enter any desired value in the input field and click the [Write to Eeprom] button. When you log in again after restarting the servo amplifier, the value entered in the input field is set as the station alias value.

  • Page 99: Basic Settings For Ethercat Axes

    10.6 Basic Settings for EtherCAT Axes 10.6 Basic Settings for EtherCAT Axes ● Be sure to configure settings for EtherCAT axes. Double-click the servo amplifier object in the navigator pane. The setting pane will be displayed in the main pane. 10.6.1 General Settings Select the "General"...
  • Page 100 10.6 Basic Settings for EtherCAT Axes (1) Virtual mode You can set real axes or virtual axes. Use of real axes: Real axes are used to actually control the servo amplifier. Use of virtual axes: Virtual axes create and execute a virtual servo amplifier within the GM1 Controller.

  • Page 101: Scaling / Mapping Settings

    10.6 Basic Settings for EtherCAT Axes ● If the mode is switched from run to stop during operation, an emergency stop will be executed, regardless of the settings in "Software error reaction". ● For stop operation that takes place when an error stop occurs or when the soft limit range is exceeded, one of the values specified in the following items is applied, whichever is the shortest time from when deceleration starts until a stoppage occurs.
  • Page 102 10.6 Basic Settings for EtherCAT Axes (6) Scaling / Mapping ● Rotary type When the axis type is set to "Modulo", the ratio in conversion from drive increments to the application unit is set. The unit on the servo amplifier and the unit on the application (POU) are converted. Example: One revolution of the MINAS A6B MADHT1105BA1 is 0x800000.
  • Page 103 10.6 Basic Settings for EtherCAT Axes Invert direction: The direction is reversed. WUME-GM1ETCSU-01 10-19...

  • Page 104: Connecting To The Gm1 Controller

    10.7 Connecting to the GM1 Controller 10.7 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". Depending on the connection status, operations that can be executed are different.
  • Page 105 10.7 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 106: Commissioning

    10.8 Commissioning 10.8 Commissioning 10.8.1 Online Config Mode When the online config mode is selected, the servo amplifiers are set to be connected to the GM1 Controller. When using the online config mode, perform the setting as described in "10.3 Communication Setting"...

  • Page 107: Conducting Commissioning For Servo Amplifiers

    10.8 Commissioning 10.8.2 Conducting Commissioning for Servo Amplifiers While in 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 A5B-series servo amplifiers. Double-click the servo amplifier object in the navigator pane.
  • Page 108 10.8 Commissioning Group Description Allows the user to set commissioning parameters. Operation Allows the user to execute commissioning. Click an appropriate button in the Operation group to start commissioning. Clicking an icon starts the corresponding commissioning. To change home return parameters, use the "Program" tab. For the servo amplifier status during commissioning, check the "Status"...

  • Page 109: Login

    10.9 Login 10.9 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 110: Logout

    10.10 Logout 10.10 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 111: 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 If Connected with Ethernet Cables..........11-2 11.1.2 If Connected with USB Cables ............11-4 11.2 Writing Parameters to Servo Amplifier ..........11-8 11.3 Writing Objects to Servo Amplifier ............11-9 WUME-GM1ETCSU-01 11-1...

  • Page 112: If Connected With Ethernet Cables

    11.1 Setting up the Servo Amplifier Connected to the GM1 Controller 11.1 Setting up the Servo Amplifier Connected to the GM1 Controller This section explains how to set up MINAS series servo amplifiers connected to the GM1 Controller. For other devices, refer to their instruction manuals when setting up them. The PC communicates with the servo amplifier connected to the GM1 Controller.
  • Page 113 11.1 Setting up the Servo Amplifier Connected to the GM1 Controller Change the timeout period and click the [OK] button. The "Select Device" dialog box will be displayed. Click the [Search Network] button, select the GM1 Controller, and click the [OK] button. The main pane will be displayed.

  • Page 114: If Connected With Usb Cables

    11.1 Setting up the Servo Amplifier Connected to the GM1 Controller 11.1.2 If Connected with USB Cables If connected with USB cables, use the following procedure. Start PANATERM Lite for GM. The "Connect" dialog box will be displayed. 11-4 WUME-GM1ETCSU-01...
  • Page 115 11.1 Setting up the Servo Amplifier Connected to the GM1 Controller Select "Connect to the GM series controller with USB" and click the [OK] button. The "Add USB Port" dialog box will be displayed. Change the timeout period and click the [OK] button. A message window will be displayed, asking whether to add a USB port and restart the Gateway.
  • Page 116 11.1 Setting up the Servo Amplifier Connected to the GM1 Controller Click the [OK] button. The "Select Device" dialog box will be displayed. Click the [Search Network] button, select the GM1 Controller, and click the [OK] button. The main pane will be displayed. 11-6 WUME-GM1ETCSU-01...
  • Page 117 11.1 Setting up the Servo Amplifier Connected to the GM1 Controller WUME-GM1ETCSU-01 11-7...

  • Page 118: Writing Parameters To Servo Amplifier

    11.2 Writing Parameters to Servo Amplifier 11.2 Writing Parameters to Servo Amplifier By connecting the PC and a servo amplifier, the parameters set with PANATERM Lite for GM can be written directly to the servo amplifier. Start PANATERM Lite for GM. Click "Trans"...

  • Page 119: Writing Objects To Servo Amplifier

    11.3 Writing Objects to Servo Amplifier 11.3 Writing Objects to Servo Amplifier By connecting the PC and a servo amplifier, the objects set with PANATERM Lite for GM can be written directly to the servo amplifier. Start PANATERM Lite for GM. Click [Trans] on the toolbar.
  • Page 120 (MEMO) 11-10 WUME-GM1ETCSU-01...

  • Page 121: 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 122: 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-GM1ETCSU-01...

  • Page 123: Checking Safety Circuit Design

    12.2 Checking Safety Circuit Design 12.2 Checking Safety Circuit Design 12.2.1 Safety Circuit Design ■ Example of a safety circuit Be sure to create a safety circuit when using this product. Installation of over limit switches ● Install over limit switches as shown above. ●...

  • Page 124: Items To Check During Wiring

    12.2 Checking Safety Circuit Design 12.2.2 Items to Check during Wiring ■ System configuration example (1) Checking connections of each device Check whether each device has been connected as indicated by the design. (2) Checking the installation of an external safety circuit Check that the safety circuit is installed as an external circuit by installing and wiring over limit switches properly.

  • Page 125: Power Off Operation

    12.2 Checking Safety Circuit Design Turn ON the power to the I/O devices connected to the GM1 Controller. Turn ON the power to the servo amplifier. Turn ON the power to the GM1 Controller. 12.2.4 Power OFF Operation Check that the rotation of the motor has stopped and then turn OFF the power to the GM1 Controller.
  • Page 126 12.2 Checking Safety Circuit Design 12-6 WUME-GM1ETCSU-01...

  • Page 127: Operation Check

    12.3 Operation Check 12.3 Operation Check 12.3.1 Checking the Network After turning ON the power supplies, check if the operation monitor LEDs of the GM1 Controller are in the following states. ● STATUS: Lit ● LINK: Lit ● If the "STATUS" LED is flashing, the network is not established. ●...

  • Page 128: Checking The Rotation And Movement Directions And Movement Distance

    12.3 Operation Check 12.3.3 Checking the Rotation and Movement Directions and Movement Distance Check whether the rotation and movement directions of the motor and the movement distance are correct. Movements can be easily checked using the commissioning function of GM Programmer without having to create a user program.
  • Page 129 12.3 Operation Check ■ Checking the movement distance Set the movement distance on the servo amplifier. Then, set the scale in the "Scaling / Mapping" window for each axis in GM Programmer. Check the movement distance by executing inching operation in the commissioning window. For details on inching operation in the commissioning window, refer to "10.8.2 Conducting Commissioning for Servo...
  • Page 130 (MEMO) 12-10 WUME-GM1ETCSU-01...

  • Page 131: 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-GM1ETCSU-01 App-1...

  • Page 132: 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 133: 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 134 (MEMO) App-4 WUME-GM1ETCSU-01...
  • Page 135 Revision History The manual code is shown at the bottom of the cover page. Date of issue Manual code Revision details August 2021 WUME-GM1ETCSU-01 First edition WUME-GM1ETCSU-01...
  • Page 136 (MEMO) WUME-GM1ETCSU-01...
  • Page 137 (MEMO) WUME-GM1ETCSU-01...
  • Page 138 Panasonic Corporation 2021 August, 2021 WUME-GM1ETCSU-01...

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