Panasonic GM1 Series Reference Manual
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Panasonic GM1 Series Reference Manual

Panasonic GM1 Series Reference Manual

Motion controller
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WUME-GM1PG-01
2021.8
Motion Controller
GM1 Series
Reference Manual
Pulse Output Unit
[Applicable models]
AGM1PG04T
AGM1PG04L

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  • Page 1 Motion Controller GM1 Series Reference Manual Pulse Output Unit [Applicable models] AGM1PG04T AGM1PG04L WUME-GM1PG-01 2021.8...
  • Page 2 (MEMO) WUME-GM1PG-01...
  • Page 3 Types of Manual ● There are different types of manuals for the GM1 series, as listed below. Please refer to a relevant manual for the unit and purpose of your use. ● The manuals can be downloaded from our website: https://industrial.panasonic.com/ac/e/...
  • Page 4 Glossary E-point control This refers to movement up to an "End Point" and, in this manual, this control is referred to as "E-point control". This method is used for a single-speed acceleration/deceleration. P-point control This refers to control which passes through a “Pass Point”, and is called "P point control" in this manual.
  • Page 5 Incremental method (relative value control method) This is a control method in which the distance from the current position to the target position is specified as a relative position. Line driver output This is one output format used a pulse output signal circuits, in which the push-pull output of the line driver is used.
  • Page 6 JOG positioning operation This refers to an operation to transfer a unlimited feed operation to a positioning operation by an input from the external switch. Positioning control start input (Timing input) This is a JOG positioning operation input to transfer a JOG operation to a positioning operation.

  • Page 7: Table Of Contents

    Table of Contents 1 Before Using This Product..............1-1 1.1 Safety Precautions................1-2 1.2 Handling Precautions................1-3 2 Functions of Unit and Restrictions on Combination ......2-1 2.1 Unit Functions and How They Work ...........2-2 2.1.1 Functions of the Unit ................ 2-2 2.1.2 Unit Type and Product Number............2-3 2.2 Restrictions on Combinations of Units ..........2-4 2.2.1 Unit Combinations for Positioning Control ........
  • Page 8 4.1 Adding Expansion Units..............4-2 4.2 Performing Parameter Settings............4-5 4.3 List of Pulse_4Axes Parameters............4-6 4.4 Function Blocks Used for the Pulse Output Unit.........4-8 4.5 Increment and Absolute ..............4-9 4.6 Selection of Acceleration / Deceleration Method ........4-11 4.7 Servo ON Output ................4-12 4.7.1 Controlling Servo ON Output ............
  • Page 9 8.1.2 JOG Operation (Speed Changes)............ 8-4 8.2 Operation at Over Limit Input..............8-6 8.3 Precautions on Programming .............8-7 9 JOG Positioning Operation ..............9-1 9.1 Sample Program .................9-2 9.1.1 Increment (Relative Value Control) ..........9-2 9.2 Operation at Over Limit Input..............9-5 9.3 Precautions On Programming.............9-6 10 Home Return ..................10-1 10.1 Sample Program ................10-2 10.1.1 Home Return..................
  • Page 10 13.2 Feedback Counter Function..............13-4 13.2.1 Feedback Counter Function............13-4 13.2.2 Operation of Feedback Counter............. 13-4 13.2.3 Feedback Counter Settings ............13-4 13.2.4 Input Method of Feedback Counter ..........13-5 14 Precautions Concerning Unit Operation and Programs ....14-1 14.1 Precautions Relating to Basic Operations of the Unit .......14-2 14.1.1 Operation When the Controller Switches from RUN to STOP Mode ....................

  • Page 11: Before Using This Product

    1 Before Using This Product 1.1 Safety Precautions................1-2 1.2 Handling Precautions................1-3 WUME-GM1PG-01...

  • Page 12: 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 13: Handling Precautions

    1.2 Handling Precautions 1.2 Handling Precautions ■ In this manual, the following symbols are used to indicate safety information that must be observed. Indicates an action that is prohibited or a matter that requires caution. Indicates an action that must be taken. Indicates supplemental information.
  • Page 14 (MEMO) WUME-GM1PG-01...

  • Page 15: Functions Of Unit And Restrictions On Combination

    2 Functions of Unit and Restrictions on Combination 2.1 Unit Functions and How They Work ...........2-2 2.1.1 Functions of the Unit ................ 2-2 2.1.2 Unit Type and Product Number............2-3 2.2 Restrictions on Combinations of Units ..........2-4 2.2.1 Unit Combinations for Positioning Control ........2-4 2.2.2 Restriction by Power Consumption ..........

  • Page 16: Unit Functions And How They Work

    2.1 Unit Functions and How They Work 2.1 Unit Functions and How They Work 2.1.1 Functions of the Unit ■ Position control is available using Stepping motor or Servo motor. ● Positioning can be controlled through the combination of a servo motor and a stepping motor with a driver using the pulse train input method.

  • Page 17: Unit Type And Product Number

    2.1 Unit Functions and How They Work ● Trapezoidal control by single-speed acceleration/deceleration (E point control), trapezoidal control by multi-stage acceleration/deceleration (P point control), position control from external input timing (JOG positioning control) and pulser input operation can be performed. ■...

  • Page 18: Restrictions On Combinations Of Units

    2.2 Restrictions on Combinations of Units 2.2 Restrictions on Combinations of Units 2.2.1 Unit Combinations for Positioning Control ■ Interfaces provided with the pulse output unit ● In addition to pulse command output for the motor driver, the pulse output unit is equipped with the following inputs and outputs.

  • Page 19: Restriction By Power Consumption

    2.2 Restrictions on Combinations of Units 2.2.2 Restriction by Power Consumption The unit has the following internal current consumption. Make sure that the total current consumption is within the capacity of the power supply with consideration of all other units used in combination with this unit.

  • Page 20: Names And Functions Of Parts Of The Gm1 Pulse Output Unit

    2.3 Names and Functions of Parts of the GM1 Pulse Output Unit 2.3 Names and Functions of Parts of the GM1 Pulse Output Unit Name Function Unit connector This is a connector to which each expansion unit is connected. Operation monitor LEDs These LEDs indicate the status of expansion units.
  • Page 21 2.3 Names and Functions of Parts of the GM1 Pulse Output Unit Name LED color Function ● When set to pulse / sign output method Flashing: During pulse output Unlit: During stop ● When set to CW / CCW output method Flashing: During pulse output (Forward) Unlit: During stop (Forward) (Note 1)
  • Page 22 (MEMO) WUME-GM1PG-01...

  • Page 23: Wiring

    3 Wiring 3.1 Precautions on Wiring.................3-2 3.2 Connection Using the Discrete-wire Connector .........3-3 3.2.1 Specifications of Discrete-wire Connector ........3-3 3.2.2 Wiring the Discrete-wire Connector ..........3-4 3.3 Input / Output Specifications and Terminal Circuit Diagrams....3-7 3.3.1 Terminal Layout Diagram of the GM1 Pulse Output Unit ....3-7 3.3.2 Input / Output Specifications ............

  • Page 24: Precautions On Wiring

    3.1 Precautions on Wiring 3.1 Precautions on Wiring Connect the wire in less than the following length between the pulse output unit and the motor driver, and the pulse inputs, using twisted-pair cables. ■ Signals applicable ● Transistor output ● Line driver output ●...

  • Page 25: Connection Using The Discrete-Wire Connector

    ⌀1.5 to ⌀1.1 AWG22 0.3 mm AWG24 0.2 mm ■ AFP2801 Discrete-wire Connector (Purchase separately) Manufacturer Composition of parts Unit type and required quantity Panasonic Housing 1 pc. (AFP2801) (40P) Semi-cover 2 pcs. (40P) Contact 8 pcs. (For AWG22 and AWG24) 5 pins ■...

  • Page 26: Wiring The Discrete-Wire Connector

    3.2 Connection Using the Discrete-wire Connector 3.2.2 Wiring the Discrete-wire Connector ● When performing wiring work, refer to the instruction manual of the crimping tool in order to prevent faulty wiring. Bend and break the contact, and set it in the crimping tool. Insert the wire without removing its insulation until it stops, and lightly grip the crimping tool.
  • Page 27 3.2 Connection Using the Discrete-wire Connector When all the wires have been inserted, fit the semi-cover into place. WUME-GM1PG-01...
  • Page 28 3.2 Connection Using the Discrete-wire Connector ● If there is a wiring mistake or the wire is incorrectly press-fit, use the crimping tool to remove the contact. Set the pin of the crimping tool at the position indicated by an arrow. Hold the housing with fingers and pull the wire.

  • Page 29: Input / Output Specifications And Terminal Circuit Diagrams

    3.3 Input / Output Specifications and Terminal Circuit Diagrams 3.3 Input / Output Specifications and Terminal Circuit Diagrams 3.3.1 Terminal Layout Diagram of the GM1 Pulse Output Unit 3.3.2 Input / Output Specifications ● The signal pins for two axes are assigned to one connector. ●...
  • Page 30 3.3 Input / Output Specifications and Terminal Circuit Diagrams Output terminals (Line driver output type) Pin No. Output specifications Circuit Signal name Axis Axis Item Description 1 / 3 2 / 4 Pulse output A: Line driver (+) Pulse output A: Line driver output Line driver (-) Output type...
  • Page 31 3.3 Input / Output Specifications and Terminal Circuit Diagrams Input terminals (common) Pin No. Input specifications Circuit Signal name Axis Axis Item Description 1 / 3 2 / 4 Operating voltage 21.6 to 26.4 V DC range Min. ON voltage / 19.2 V DC / 5.5 mA Home input current...
  • Page 32 3.3 Input / Output Specifications and Terminal Circuit Diagrams Pin No. Input specifications Circuit Signal name Axis Axis Item Description 1 / 3 2 / 4 3.5 to 5.25 V DC Operating voltage Pulse input A (+) (5 V DC, Line driver range specifications) Min.
  • Page 33 3.3 Input / Output Specifications and Terminal Circuit Diagrams ● The pulse input A and B signals should be used within the following specifications. When using the pulse input A and B signals for 2-phase input method When using the pulse input A and B signals for direction discrimination input method When using the pulse input A and B signals for individual input method ●...

  • Page 34: Supplying Power For Internal Circuit Drive

    3.4 Supplying Power for Internal Circuit Drive 3.4 Supplying Power for Internal Circuit Drive 3.4.1 Line Driver Output Type Unit Motor driver Pulse command Pulse command output input A1, A2, A10, A11 Pulse command B1, B2, B10, B11 DC/DC converter +5V DC +24V DC External power supply...

  • Page 35: Connection Of Pulse Command Output Signal

    3.5 Connection of Pulse Command Output Signal 3.5 Connection of Pulse Command Output Signal The pulse output unit is equipped with two output types to match two types of motor driver interfaces. Connect to either one of them depending on the interface of the motor driver to be used,.
  • Page 36 3.5 Connection of Pulse Command Output Signal ● A value of 15 mA per signal should be used as a guide. If this is exceeded, resistance should be added. ● The symbol below indicates a twisted-pair wiring. We recommend using twisted-pair cables as the wiring between the output of the pulse output unit and the motor driver.

  • Page 37: Connection Of Servo On Output

    3.6 Connection of Servo ON Output 3.6 Connection of Servo ON Output ● This is an example showing the connection of the servo ON to the servo amplifier. ● An external power supply (+5 V DC to +24 V DC) must be provided for the connection. If 15 mA is exceeded Connection Unit...

  • Page 38: Connection Of Deviation Counter Clear Output Signal

    3.7 Connection of Deviation Counter Clear Output Signal 3.7 Connection of Deviation Counter Clear Output Signal ● This is an example showing the connection of the counter clear input to the servo amplifier. ● An external power supply (+5 V DC to +24 V DC) must be provided for the connection. ●...

  • Page 39: Connection Of Home Input And Near Home Input Signals

    3.8 Connection of Home Input and Near Home Input Signals 3.8 Connection of Home Input and Near Home Input Signals 3.8.1 Connection of Home Input (When connecting to motor driver Z phase output) Connection Unit Home input A3,A12 24V DC (+) Motor driver 3.9kΩ...

  • Page 40: Connection Of Over Limit Input Signal

    3.8 Connection of Home Input and Near Home Input Signals (Note 1) Terminal numbers B4 and B13 are common for the Near home input, Over limit input (+), Over limit input (-) and Positioning control start input. 3.8.4 Connection of Over Limit Input Signal (Note 1) Terminal numbers B4 and B13 are common for the Near home input, Over limit input (+), Over limit input (-) and Positioning control start input.

  • Page 41: Connections Of Pulse Input

    3.9 Connections of Pulse Input 3.9 Connections of Pulse Input 3.9.1 Line Driver Type Encoder, pulser Connection Unit Pulse input A(+) A8,A17 A phase Pulse input A(-) B8,B17 Pulse input B (+) A9,A18 B phase B9,B18 Pulse input B (-) 3.9.2 Transistor Open Collector Type Connection Unit...
  • Page 42 (MEMO) 3-20 WUME-GM1PG-01...

  • Page 43: Project Creation And Parameter Description

    4 Project Creation and Parameter Description 4.1 Adding Expansion Units..............4-2 4.2 Performing Parameter Settings............4-5 4.3 List of Pulse_4Axes Parameters............4-6 4.4 Function Blocks Used for the Pulse Output Unit.........4-8 4.5 Increment and Absolute ..............4-9 4.6 Selection of Acceleration / Deceleration Method ........4-11 4.7 Servo ON Output ................4-12 4.7.1 Controlling Servo ON Output ............

  • Page 44: Adding Expansion Units

    4.1 Adding Expansion Units 4.1 Adding Expansion Units This section explains how to add device objects for expansion units to a project. After the addition, the parameters and I/O mapping can be checked or changed. The following explanation is provided for a case where a digital input unit (product number: AGM1X64D2) is added to Empty1.
  • Page 45 4.1 Adding Expansion Units Select a device object for the expansion unit to be added. Click the [Select Device] button. The selected device object of the expansion unit will be added. Click the [OK] button. WUME-GM1PG-01...
  • Page 46 4.1 Adding Expansion Units The selected device object of the expansion unit will be added to the navigation pane. Double-click the added object. The setting pane will be displayed in the main pane. Specify settings related to the expansion unit. ●...

  • Page 47: Performing Parameter Settings

    4.2 Performing Parameter Settings 4.2 Performing Parameter Settings Specify operation of the positioning unit by setting parameters. ■ Overview ● After adding a pulse output unit to the project, select the unit from the device pane to set its parameters. ●...

  • Page 48: List Of Pulse_4Axes Parameters

    4.3 List of Pulse_4Axes Parameters 4.3 List of Pulse_4Axes Parameters The following table shows a list of changeable parameters for the GM1 Pulse Output Unit. ● Set parameter for each axis. ● Parameters are common to the line driver output type and the transistor output type. Parameter Default Set value...
  • Page 49 4.3 List of Pulse_4Axes Parameters Parameter Default Set value LimitInputLogic (Over limit input Normal Close Normal Close logic) Normal Open SShapedPattern (S-shaped pattern) Sine curve Sine curve Cubic curve PulseInOutMultiplication (Pulser input, pulse output transfer multiple) x100 x500 x1000 StartupSpeed (Startup speed [u/s]) 0 to 4294967295 PulseInputAorBSignalInCnst (Pulse Not InCnst...

  • Page 50: Function Blocks Used For The Pulse Output Unit

    4.4 Function Blocks Used for the Pulse Output Unit 4.4 Function Blocks Used for the Pulse Output Unit The pulse output unit is controlled by function blocks. For the detailed specifications of each function block, refer to the GM1 Series Reference Manual (Instruction Edition). Function block name...

  • Page 51: Increment And Absolute

    4.5 Increment and Absolute 4.5 Increment and Absolute ■ Difference in how it is specified ● Increment (relative value control) • Specify the relative distance from the current position. Specify a positive value to control in the positive direction. • Use the "Distance" input of the "PG_MoveRelative" function block. ●...
  • Page 52 4.5 Increment and Absolute 4-10 WUME-GM1PG-01...

  • Page 53: Selection Of Acceleration / Deceleration Method

    4.6 Selection of Acceleration / Deceleration Method 4.6 Selection of Acceleration / Deceleration Method There are the following two acceleration / deceleration methods: “Linear acceleration / deceleration” and “S acceleration / deceleration” Linear Acceleration / Deceleration With linear acceleration / deceleration, acceleration and deceleration between the startup speed and the target speed are carried out in a straight line.

  • Page 54: Servo On Output

    4.7 Servo ON Output 4.7 Servo ON Output 4.7.1 Controlling Servo ON Output ● The servo ON is controlled by the PG_Power function block. ● Even when the mode is switched to the STOP mode, the servo is not automatically set to the servo OFF state.

  • Page 55: Internal Absolute Counter

    4.8 Internal Absolute Counter 4.8 Internal Absolute Counter 4.8.1 Functions of Internal Absolute Counter ● The pulse output unit is equipped with a function that counts the number of pulses output. ● The counted value of each axis is stored in the axis as the elapsed data indicating the absolute position from the home position.

  • Page 56: Writing Elapsed Value

    4.8 Internal Absolute Counter AxisNo:=1, Enable:=TRUE); PG_ReadStatus_0.AbsoluteCounter; 4.8.4 Writing Elapsed Value ● The elapsed value can be written using the PG_SetPosition function block. ● In the following example, the elapsed value "10000" is written. ■ Program example (ST) Declaration section PROGRAM sample PG_SetPosition_0: PG_SetPosition;...

  • Page 57: Power On And Off, And Items To Check

    5 Power ON and OFF, and Items to Check 5.1 Safety Circuit Design ................5-2 5.2 Items to Check Before Turning ON the Power........5-3 5.3 Procedure for Turning On the Power ..........5-4 5.3.1 Procedure for Turning ON the Power..........5-4 5.3.2 Procedure for Turning OFF the Power..........5-4 5.4 Confirming while the Power is ON ............5-6 5.4.1 Items to Check when the Power is ON ..........

  • Page 58: Safety Circuit Design

    5.1 Safety Circuit Design 5.1 Safety Circuit Design Provide the following safety circuit for the system incorporating the pulse output unit. ■ Example of a safety circuit Installation of the over limit switch ■ Safety circuit based on the pulse output unit ●...

  • Page 59: Items To Check Before Turning On The Power

    5.2 Items to Check Before Turning ON the Power 5.2 Items to Check Before Turning ON the Power Before turning ON the power to the system incorporating the pulse output unit, check the following points. (1) Checking connections of each device Check to make sure that each device has been connected as indicated by the design.

  • Page 60: Procedure For Turning On The Power

    5.3 Procedure for Turning On the Power 5.3 Procedure for Turning On the Power 5.3.1 Procedure for Turning ON the Power When turning ON the power supply to the system incorporating the pulse output unit, 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 61 5.3 Procedure for Turning On the Power Turn OFF the power supplies for the input and output devices connected to the PLC. (Including the power supply for the line driver output or open collector output) WUME-GM1PG-01...

  • Page 62: Confirming While The Power Is On

    5.4 Confirming while the Power is ON 5.4 Confirming while the Power is ON 5.4.1 Items to Check when the Power is ON ■ System configuration example When the power to the system incorporating the pulse output unit is turned ON, checking should be carried out in the four general stages described below.

  • Page 63: Checking The Operation Of The Near Home Switch And Home Switch

    5.4 Confirming while the Power is ON ● Whether or not the over limit input is taken can be confirmed by the input contact. ● The over limit input valid logics can be changed using "Pulse_4Axes Parameters". If necessary, input a program to start the JOG operation. Forcibly operate the over limit input to check whether the motor will stop.

  • Page 64: Checking Rotating And Moving Directions And Moving Distance

    5.4 Confirming while the Power is ON 1. Change the position of the near home input. 2. Reduce the home return speed. ● Deviation may occur depending on the position of the near home input and home input or the home return speed. REFERENCE 4.3 List of Pulse_4Axes Parameters 5.4.5 Checking Rotating and Moving Directions and Moving Distance...

  • Page 65: Point Control: Single-Speed Acceleration / Deceleration

    6 E Point Control: Single- Speed Acceleration / Deceleration 6.1 Sample Program .................6-2 6.1.1 Increment (Relative Value Control) ..........6-2 6.1.2 Absolute (Absolute Value Control) ........... 6-4 6.2 Over Limit Input...................6-7 6.3 Precautions on Programming .............6-8 WUME-GM1PG-01...

  • Page 66: Sample Program

    6.1 Sample Program 6.1 Sample Program 6.1.1 Increment (Relative Value Control) This section describes a program example for specifying increment (relative value control) using the E-point control. ● Use the PG_MoveRelative function block. ● Specify a relative distance in the Distance input parameter. Specify a positive value in Distance to control in the positive direction.
  • Page 67 6.1 Sample Program ■ Parameter setting Parameters for the pulse output unit (Pulse_4Axes parameters) Set from the GM Programmer. Double-click "Slot*_Pulse_4Axes (AGM1PG)" in the device pane. Parameter Set value Setting range StartupSpeed (Startup 0 to 4000000 speed [u/s]) PG_MoveRelative parameter Parameter Set value Setting range...

  • Page 68: Absolute (Absolute Value Control)

    6.1 Sample Program AccDec:=10000); END_CASE 6.1.2 Absolute (Absolute Value Control) This section describes a program example for specifying absolute (absolute value control) using the E-point control. ● Use the PG_MoveAbsolute function block. ● Specify the target position in the Position input paraneter and execute the function block. The table will move to the target position regardless of the current position.
  • Page 69 6.1 Sample Program ■ Parameter Settings Parameters for the pulse output unit (Pulse_4Axes parameters) Set from the GM Programmer. Double-click "Slot*_Pulse_4Axes (AGM1PG)" in the device pane. Parameter Set value Setting range StartupSpeed (Startup 0 to 4000000 speed [u/s]) PG_MoveAbsolute parameter Parameter Set value Setting range...
  • Page 70 6.1 Sample Program AccDec:=10000); END_CASE WUME-GM1PG-01...

  • Page 71: Over Limit Input

    6.2 Over Limit Input 6.2 Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.

  • Page 72: Precautions On Programming

    6.3 Precautions on Programming 6.3 Precautions on Programming ■ Common precautions to each operation ● If the values for the startup speed, target speed, acceleration / deceleration, or position command value exceed the range of values which can be specified, a function block error will occur, and operation cannot be initiated.

  • Page 73: Point Control: Multi-Stage Acceleration / Deceleration

    7 P Point Control: Multi-Stage Acceleration / Deceleration 7.1 Sample Program .................7-2 7.1.1 Increment (Relative Value Control) ..........7-2 7.1.2 Absolute (Absolute Value Control) ........... 7-5 7.2 Operation at Over Limit Input..............7-8 7.3 Precautions On Programming.............7-9 WUME-GM1PG-01...

  • Page 74: Sample Program

    7.1 Sample Program 7.1 Sample Program 7.1.1 Increment (Relative Value Control) This section describes a program example for specifying increment (relative value control) using the P-point control. ● Specify a positive value in the Distance input parameter of the PG_MoveRelative function block and execute it.
  • Page 75 7.1 Sample Program ■ Parameter settings Parameters for the pulse output unit (Pulse_4Axes parameters) Set from the GM Programmer. Double-click "Slot*_Pulse_4Axes (AGM1PG)" in the device pane. Parameter Set value Setting range StartupSpeed (Startup 0 to 4294967295 speed [u/s]) PG_MoveRelative parameter Set value Parameter Setting range...
  • Page 76 7.1 Sample Program AccDec:=10000); IF PG_MoveRelative_0.ContinuousEnable = TRUE THEN PG_MoveRelative_0( UnitID:=1, AxisNo:=1, Execute:=FALSE); Process := 2; END_IF 2://Execute the 2nd PG_MoveRelative PG_MoveRelative_0( UnitID:=1, AxisNo:=1, Execute:=TRUE, Distance:= 15000, Velocity:=20000, AccDec:=10000); IF PG_MoveRelative_0.ContinuousEnable = TRUE THEN PG_MoveRelative_0( UnitID:=1, AxisNo:=1, Execute:=FALSE); Process := 3; END_IF 3://Execute the 3rd PG_MoveRelative PG_MoveRelative_0(...

  • Page 77: Absolute (Absolute Value Control)

    7.1 Sample Program 7.1.2 Absolute (Absolute Value Control) This section describes a program example for specifying absolute (absolute value control) using the P-point control. ● Specify a positive value in the Position input parameter of the PG_MoveAbsolute function block and execute it. ●...
  • Page 78 7.1 Sample Program ■ Parameter settings Parameters for the pulse output unit (Pulse_4Axes parameters) Set from the GM Programmer. Double-click "Slot*_Pulse_4Axes (AGM1PG)" in the device pane. Parameter Set value Setting range StartupSpeed (Startup 0 to 4294967295 speed [u/s]) PG_MoveAbsolute parameter Set value Parameter Setting range...
  • Page 79 7.1 Sample Program AccDec:=10000); IF PG_MoveAbsolute_0.ContinuousEnable = TRUE THEN PG_MoveAbsolute_0( UnitID:=1, AxisNo:=1, Execute:=FALSE); Process := 2; END_IF 2://Execute the 2nd PG_MoveAbsolute PG_MoveAbsolute_0( UnitID:=1, AxisNo:=1, Execute:=TRUE, Position:= 30000, Velocity:=20000, AccDec:=10000); IF PG_MoveAbsolute_0.ContinuousEnable = TRUE THEN PG_MoveAbsolute_0( UnitID:=1, AxisNo:=1, Execute:=FALSE); Process := 3; END_IF 3://Execute the 3rd PG_MoveAbsolute PG_MoveAbsolute_0(...

  • Page 80: Operation At Over Limit Input

    7.2 Operation at Over Limit Input 7.2 Operation at Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.

  • Page 81: Precautions On Programming

    7.3 Precautions On Programming 7.3 Precautions On Programming ■ Common precautions to each operation ● If the values for the startup speed, target speed, acceleration / deceleration, or position command value exceed the range of values which can be specified, a function block error will occur, and operation cannot be initiated.
  • Page 82 (MEMO) 7-10 WUME-GM1PG-01...

  • Page 83: Jog Operation

    8 JOG Operation 8.1 Sample Program .................8-2 8.1.1 JOG Operation (Forward and Reverse) ........... 8-2 8.1.2 JOG Operation (Speed Changes)............ 8-4 8.2 Operation at Over Limit Input..............8-6 8.3 Precautions on Programming .............8-7 WUME-GM1PG-01...

  • Page 84: Sample Program

    8.1 Sample Program 8.1 Sample Program 8.1.1 JOG Operation (Forward and Reverse) This section describes a program example for switching between forward and reverse rotation during JOG operation. ● Forward and reverse rotation is performed using the external switch. ● Use the PG_Jog function block. ■...
  • Page 85 8.1 Sample Program PG_Jog parameter Parameter Set value Setting range Target speed: Velocity 10000 0 to 4000000 [u/s] Acceleration / 10000 (Note 1) 1 or more Deceleration: AccDec [u/s (Note 1) Set each acceleration / deceleration time to 32767 ms or less. ■...

  • Page 86: Jog Operation (Speed Changes)

    8.1 Sample Program JogForward:=FALSE, JogBackward:=TRUE, Velocity:=10000, AccDec:=10000); END_CASE 8.1.2 JOG Operation (Speed Changes) The operation speed can be changed during JOG operation. This section describes a program example for changing the speed during forward rotation. ■ Parameter Settings PG_Jog parameter Parameter 1st speed 2nd speed...
  • Page 87 8.1 Sample Program Velocity:=10000, AccDec:=10000); 2://Changing the variable Process to 2 changes the jog velocity PG_Jog_0( UnitID:=1, AxisNo:=1, JogForward:=TRUE, JogBackward:=FALSE, Velocity:=20000, AccDec:=10000); END_CASE WUME-GM1PG-01...

  • Page 88: Operation At Over Limit Input

    8.2 Operation at Over Limit Input 8.2 Operation at Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.

  • Page 89: Precautions On Programming

    8.3 Precautions on Programming 8.3 Precautions on Programming ■ Common precautions to each operation ● If the values for the startup speed, target speed, acceleration / deceleration, or position command value exceed the range of values which can be specified, a function block error will occur, and operation cannot be initiated.
  • Page 90 (MEMO) WUME-GM1PG-01...

  • Page 91: Jog Positioning Operation

    9 JOG Positioning Operation 9.1 Sample Program .................9-2 9.1.1 Increment (Relative Value Control) ..........9-2 9.2 Operation at Over Limit Input..............9-5 9.3 Precautions On Programming.............9-6 WUME-GM1PG-01...

  • Page 92: Sample Program

    9.1 Sample Program 9.1 Sample Program 9.1.1 Increment (Relative Value Control) ● JOG positioning operation is initiated using the input signal from the external switch as a trigger to perform position control. ● Use the PG_LatchPosition function block. ■ Pulse output diagram WUME-GM1PG-01...
  • Page 93 9.1 Sample Program ■ Parameter Settings Parameters for the pulse output unit (Pulse_4Axes parameters) Set from the GM Programmer. Double-click "Slot*_Pulse_4Axes (AGM1PG)" in the device pane. Parameter Set value Setting range StartupSpeed (Startup 0 to 4294967295 speed [u/s]) PG_LatchPosition parameter Parameter Set value Setting range...
  • Page 94 9.1 Sample Program AccDec:=10000); END_CASE WUME-GM1PG-01...

  • Page 95: Operation At Over Limit Input

    9.2 Operation at Over Limit Input 9.2 Operation at Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.

  • Page 96: Precautions On Programming

    9.3 Precautions On Programming 9.3 Precautions On Programming ■ Common precautions to each operation ● If the values for the startup speed, target speed, acceleration / deceleration, or position command value exceed the range of values which can be specified, a function block error will occur, and operation cannot be initiated.

  • Page 97: Home Return

    10 Home Return 10.1 Sample Program ................10-2 10.1.1 Home Return.................. 10-2 10.2 Types of Home Return ..............10-5 10.2.1 Home Search Valid Mode .............. 10-5 10.2.2 Home Search Invalid Mode............10-7 10.3 Flow of Home Return Operation ............10-9 10.3.1 When the Home Input is the Z Phase of Servo Amplifier....10-9 10.3.2 When the Home Input is Through an External Switch ....

  • Page 98: Sample Program

    10.1 Sample Program 10.1 Sample Program 10.1.1 Home Return This section describes a program example for making a home return. ● Make a home return using the PG_Home function block ● The Input logic of near home input and home input and the home return direction are specified with the Pulse_4Axes Parameters.
  • Page 99 10.1 Sample Program ■ Pulse output diagram ■ Parameter settings Parameters for the pulse output unit (Pulse_4Axes parameters) Set from the GM Programmer. Double-click "Slot*_Pulse_4Axes (AGM1PG)" in the device pane. Parameter Set value Setting range OriginReturnDirection 0： Elapsed value decrement 0：...
  • Page 100 10.1 Sample Program PG_Home parameter Parameter Set value Setting range Maximum speed: 10000 0 to 4000000 Velocity [u/s] Acceleration / 10000 (Note 1) 1 or more deceleration: AccDec [u/s (Note 1) Set each acceleration / deceleration time to 32767 ms or less. ■...

  • Page 101: Types Of Home Return

    10.2 Types of Home Return 10.2 Types of Home Return 10.2.1 Home Search Valid Mode ■ What is Home search valid mode? ● When the home position is in between where the table travels or when the direction of the home return could be in the both directions, the home return in the both directions can be performed using the over limit switch (+) or over limit switch (-).
  • Page 102 10.2 Types of Home Return (2) When the over limit switch (-) is detected, the table reverses the direction. When the near home input is once turned ON and the OFF, the table slows down and turns around. (3) When the near home is detected again, the speed slows down from the target speed to the startup speed and the table stops at the home position.

  • Page 103: Home Search Invalid Mode

    10.2 Types of Home Return (2) When the near home is detected again, the speed slows down from the target speed to the startup speed and the table stops at the home position. ● The above operation is also applicable when the speed does not reach the target one before the table comes to the near home position.
  • Page 104 10.2 Types of Home Return ■ When Near home input exists in the direction of home return → The table slows down near the near home and stops at the home input position. ■ When Near home input does not exist in the direction of home return Home return operation starts in the direction specified in the program, and the operation stops when the over limit switch (-) is detected.

  • Page 105: Flow Of Home Return Operation

    10.3 Flow of Home Return Operation 10.3 Flow of Home Return Operation 10.3.1 When the Home Input is the Z Phase of Servo Amplifier When near home input is input, the speed slows. When the startup speed has been reached after deceleration, the pulse output unit recognizes the first input Z phase signal as the home input signal, and stops.

  • Page 106: When The Home Input Is Through An External Switch

    10.3 Flow of Home Return Operation 10.3.2 When the Home Input is Through an External Switch When near home input is input, the speed slows. When the home input signal is input after the startup speed has been reached by deceleration, operation stops. ●...

  • Page 107: Home And Near Home Input Logic

    10.4 Home and Near Home Input Logic 10.4 Home and Near Home Input Logic 10.4.1 When to Specify NO Contact In cases like that below where power is supplied to the input circuit of the unit, select “NO contact” for the parameter home input logic or the near home logic. ■...
  • Page 108 10.4 Home and Near Home Input Logic Current stops when the home or near home position is detected. 10-12 WUME-GM1PG-01...

  • Page 109: Practical Use For Home Return

    10.5 Practical Use for Home Return 10.5 Practical Use for Home Return 10.5.1 Using Home Input Only ■ Connection The home input switch is connected. No near home input switch is connected. ■ Input logic settings Set parameters to satisfy the following conditions. ●...

  • Page 110: Using One Switch For Near Home Input And Home Input

    10.5 Practical Use for Home Return ● Execute home return at the startup speed. ● When the home input is connected to the Z phase output of the motor driver, one switch cannot be used as the home input. ● The above example is only applicable in the home search invalid mode. 10.5.2 Using One Switch for Near Home Input and Home Input ■...
  • Page 111 10.5 Practical Use for Home Return ■ Connection Connect near home input and home input to the near home input switch. ■ Input logic setting (when using an NO contact) Set parameters to satisfy the following conditions. ● Home input logic: NO contact ●...
  • Page 112 10.5 Practical Use for Home Return ● The near home input should be ON for the time more than the deceleration time. The operation of the near home input will not be affected by the signal logic change after the near home input is detected. 10-16 WUME-GM1PG-01...

  • Page 113: Over Limit Input

    10.6 Over Limit Input 10.6 Over Limit Input Operations depend on the status of over limit input (+) and over limit input (-) as follows. ■ Operation at over limit input (Home search is valid) Condition Direction Limit status Operation Over limit input (+): ON Executable Forward...
  • Page 114 10.6 Over Limit Input 4) Among the Pulse_4Axes parameters, the rotation direction (forward or reverse) of pulse output is reversely specified. 10-18 WUME-GM1PG-01...

  • Page 115: Precautions On Programming

    10.7 Precautions on Programming 10.7 Precautions on Programming ■ Common precautions to each operation ● If the values for the startup speed, target speed, acceleration / deceleration, or position command value exceed the range of values which can be specified, a function block error will occur, and operation cannot be initiated.
  • Page 116 (MEMO) 10-20 WUME-GM1PG-01...

  • Page 117: Pulser Input Operation

    11 Pulser Input Operation 11.1 Sample Program ................11-2 11.1.1 Pulser Input Operation ..............11-2 11.2 Operation at Over Limit Input ............11-5 11.3 Precautions on Programming............11-6 11.4 Types of Manual Pulse Generators that Can be Used......11-7 WUME-GM1PG-01 11-1...

  • Page 118: Sample Program

    11.1 Sample Program 11.1 Sample Program 11.1.1 Pulser Input Operation This section describes a program example for pulser input operation. ● Pulses are output according to the input from the pulser. Use the PG_Pulser function block. ● The input mode, pulse input transfer multiple and pulse output transfer multiple are specified using the Pulse_4Axes Parameters.
  • Page 119 11.1 Sample Program ■ Parameter Settings Parameters for the pulse output unit (Pulse_4Axes parameters) Set from the GM Programmer. Double-click "Slot*_Pulse_4Axes (AGM1PG)" in the device pane. Parameter Set value Setting range PulseInputMode (Pulse 0: 2-phase input 0: 2-phase input input mode) 1: Direction distinction input 2: Individual input PulseInputCountMultipli...
  • Page 120 11.1 Sample Program UnitID:=1, AxisNo:=1, Enable:=TRUE, Velocity:=10000, Ratio:=PG_PULSER_RATIO.RATIO_x1); END_CASE 11-4 WUME-GM1PG-01...

  • Page 121: Operation At Over Limit Input

    11.2 Operation at Over Limit Input 11.2 Operation at Over Limit Input ■ Operation at over limit input Operations depend on the status of over limit input (+) and over limit input (-) as follows. Condition Direction Limit status Operation Not executable, Error Over limit input (+): ON occurs.

  • Page 122: Precautions On Programming

    11.3 Precautions on Programming 11.3 Precautions on Programming ■ Common precautions to each operation ● If the values for the startup speed, target speed, acceleration / deceleration, or position command value exceed the range of values which can be specified, a function block error will occur, and operation cannot be initiated.

  • Page 123: Types Of Manual Pulse Generators That Can Be Used

    11.4 Types of Manual Pulse Generators that Can be Used 11.4 Types of Manual Pulse Generators that Can be Used ■ A pulse generators should be used for which the number of output pulses is "25P/R" (25 pulses per cycle). With the "100P/R"...
  • Page 124 (MEMO) 11-8 WUME-GM1PG-01...

  • Page 125: Deceleration Stop And Forced Stop

    12 Deceleration Stop and Forced Stop 12.1 Sample Program ................12-2 12.1.1 Deceleration Stop ................12-2 12.1.2 Forced Stop ................... 12-4 12.1.3 Resuming Operation After Stop ............. 12-5 12.2 Precautions on Stop Operations ............12-8 WUME-GM1PG-01 12-1...

  • Page 126: Sample Program

    12.1 Sample Program 12.1 Sample Program Use the PG_Stop function block. Either the deceleration stop or emergency stop can be selected using the StopMethod input. 12.1.1 Deceleration Stop This section describes a program example for making a deceleration stop using the PG_Stop function block while the PG_MoveRelative function block is being executed.
  • Page 127 12.1 Sample Program ■ Parameter settings PG_Stop parameter Parameter Set value Setting range StopMethod FALSE TRUE: Forced stop FALSE: Deceleration stop ■ Program (ST) Declaration section PROGRAM sample Process :UDINT := 0; PG_Power_0: PG_Power; PG_MoveRelative_0: PG_MoveRelative; PG_Stop_0: PG_Stop; Stop: BOOL; END_VAR Implementation section CASE Process OF...

  • Page 128: Forced Stop

    12.1 Sample Program 12.1.2 Forced Stop This section describes a program example for making a forced stop using the PG_Stop function block while the PG_MoveRelative function block is being executed. ● When the PG_Stop function block is executed with the StopMethod input parameter set to TRUE while the motor is in operation, a forced stop is performed ●...

  • Page 129: Resuming Operation After Stop

    12.1 Sample Program ■ Program (ST) Declaration section PROGRAM sample Process :UDINT := 0; PG_Power_0: PG_Power; PG_MoveRelative_0: PG_MoveRelative; PG_Stop_0: PG_Stop; Stop: BOOL; END_VAR Implementation section CASE Process OF 0://Servo On PG_Power_0( UnitID:=1, AxisNo:=1, Enable:=TRUE, bRegulatorOn:=TRUE); IF PG_Power_0.Status = TRUE THEN Process := 1;...
  • Page 130 12.1 Sample Program ■ Pulse output diagram ■ Program (ST) Declaration section PROGRAM sample Process :UDINT := 0; PG_Power_0: PG_Power; PG_MoveRelative_0: PG_MoveRelative; PG_Stop_0: PG_Stop; Stop: BOOL; END_VAR Implementation section CASE Process OF 0://Servo On PG_Power_0( UnitID:=1, AxisNo:=1, Enable:=TRUE, bRegulatorOn:=TRUE); IF PG_Power_0.Status = TRUE THEN Process := 1;...
  • Page 131 12.1 Sample Program UnitID:=1, AxisNo:=1, Execute:=TRUE, Distance:= 10000, Velocity:=10000, AccDec:=10000); //Changing the variable Stop to TRUE execute the PG_Stop. //CommandAborted of PG_MoveRelative becomes TRUE and processing is i nterrupted. IF Stop = TRUE THEN PG_Stop_0( UnitID:=1, AxisNo:=1, Execute:=TRUE, StopMethod:=FALSE); //Decelerate and stop END_IF IF PG_Stop_0.Done = TRUE THEN PG_Stop_0(...

  • Page 132: Precautions On Stop Operations

    12.2 Precautions on Stop Operations 12.2 Precautions on Stop Operations ■ Elapsed value data after forced stop ● Elapsed value data in the unit is held even after a forced stop is applied. ● Under normal conditions, it is possible that a mechanical error has occurred, so after home return, we recommend that positioning control be started again.

  • Page 133: Feedback Counter

    13 Feedback Counter 13.1 Sample Program ................13-2 13.1.1 Step Out Detection by Comparing Feedback Value with Elapsed Value ....................13-2 13.2 Feedback Counter Function..............13-4 13.2.1 Feedback Counter Function............13-4 13.2.2 Operation of Feedback Counter............. 13-4 13.2.3 Feedback Counter Settings ............13-4 13.2.4 Input Method of Feedback Counter ..........

  • Page 134: Sample Program

    13.1 Sample Program 13.1 Sample Program 13.1.1 Step Out Detection by Comparing Feedback Value with Elapsed Value This section describes a program example for comparing the count of the output pulses with the count of the feedback pulses during the E-point control and for making a deceleration stop if the count is out of the allowable range.
  • Page 135 13.1 Sample Program > 1000 THEN Process := 2; END_IF 2://Execute the PG_Stop PG_Stop_0( UnitID:=1, AxisNo:=1, Execute:=TRUE, StopMethod:=FALSE); //Decelerate and stop END_CASE WUME-GM1PG-01 13-3...

  • Page 136: Feedback Counter Function

    13.2 Feedback Counter Function 13.2 Feedback Counter Function 13.2.1 Feedback Counter Function ■ Overview of feedback counter function ● The pulse output unit has a function to count pulse signals from an external input such as encoder at high speed. This function is applied for step out detection by comparing feedback values with elapsed values.

  • Page 137: Input Method Of Feedback Counter

    13.2 Feedback Counter Function 13.2.4 Input Method of Feedback Counter ● Select from the following three types according to input devices to be connected. ● The count operation varies depending on the settings of multiplication factor as shown below. ■ Count method Method Connection...
  • Page 138 13.2 Feedback Counter Function Multiple Time chart Addition Subtraction multiple ■ Count operation of individual input Multiple Time chart Addition Subtraction multiple multiple ■ Count operation of direction discrimination input Multiple Time chart Addition Subtraction multiple multiple 13-6 WUME-GM1PG-01...

  • Page 139: Precautions Concerning Unit Operation And Programs

    14 Precautions Concerning Unit Operation and Programs 14.1 Precautions Relating to Basic Operations of the Unit .......14-2 14.1.1 Operation When the Controller Switches from RUN to STOP Mode ....................14-2 14.1.2 Restrictions after Starting Operation ..........14-2 WUME-GM1PG-01 14-1...

  • Page 140: Precautions Relating To Basic Operations Of The Unit

    14.1 Precautions Relating to Basic Operations of the Unit 14.1 Precautions Relating to Basic Operations of the Unit 14.1.1 Operation When the Controller Switches from RUN to STOP Mode ● If the Controller switches to "STOP" during the following operation, any pulse output unit operations in progress at that point are interrupted for safety reasons, and the speed decelerates.
  • Page 141 14.1 Precautions Relating to Basic Operations of the Unit ● If the PG_Stop function block (deceleration stop or forced stop) is executed, any one of the six basic operations noted above (E-point control, P-point control, home return, JOG operation, JOG positioning operation and pulser input operation) stops immediately. WUME-GM1PG-01 14-3...
  • Page 142 (MEMO) 14-4 WUME-GM1PG-01...

  • Page 143: Troubleshooting

    15 Troubleshooting 15.1 Pulse Output Unit Operation If an Error Occurs........15-2 15.1.1 If the Pulse Output Unit ERROR LED Lights ......... 15-2 15.1.2 If the Controller ERROR LED Lights ..........15-2 15.2 Errors Which Occur in Pulse Output Unit..........15-3 15.3 What to Do If an Error Occurs............15-4 15.3.1 If the Pulse Output Unit ERROR LED Lights .........

  • Page 144: Pulse Output Unit Operation If An Error Occurs

    15.1 Pulse Output Unit Operation If an Error Occurs 15.1 Pulse Output Unit Operation If an Error Occurs 15.1.1 If the Pulse Output Unit ERROR LED Lights ■ When starting (stopped) ● If a limit error occurs when the pulse output unit is started (stopped), various operations will not begin.

  • Page 145: Errors Which Occur In Pulse Output Unit

    ● Errors related to the pulse output unit can be checked using the Error/ErrorId output parameter of each function block. For details, refer to GM1 Series Reference Manual (Instruction Edition). ● When a limit input becomes enabled, the pulse output unit warns the user of a limit error.

  • Page 146: What To Do If An Error Occurs

    15.3 What to Do If an Error Occurs 15.3 What to Do If an Error Occurs 15.3.1 If the Pulse Output Unit ERROR LED Lights ■ Situation An over limit error occurs. ■ Solution Check the ErrorId output of the function block. 15.3.2 What to Do When a Limit Error Occurs ■...

  • Page 147: If The Motor Does Not Turn (If The Led For Pulse Output A Or B Is Not Lit)

    15.3 What to Do If an Error Occurs ■ Solution 3 ● Check to make sure the wiring between the pulse output unit and the driver has been correctly connected. ● Check to make sure the 24 V DC voltage is supplied to the external power supply terminals (terminal numbers A20 and B20).

  • Page 148: The Stopping Position Is Off For A Home Return

    15.3 What to Do If an Error Occurs REFERENCE 4.3 List of Pulse_4Axes Parameters 15.3.6 The Stopping Position is OFF for a Home Return ■ Situation When a home return is carried out, there is a possibility that the speed cannot be slowed sufficiently.

  • Page 149: Speed Does Not Slow Down For A Home Return

    15.3 What to Do If an Error Occurs ■ Solution 2 Correct the program and set the home return speed to a slower speed. 15.3.7 Speed Does Not Slow Down for a Home Return ■ Situation There is a possibility that the near home input has not been read correctly. ■...

  • Page 150: Movement Does Not Stop At Home Position (After Decelerating For Home Return)

    15.3 What to Do If an Error Occurs REFERENCE 4.3 List of Pulse_4Axes Parameters 15.3.8 Movement Does Not Stop at Home Position (after decelerating for home return) ■ Situation There is a possibility that the PG_Home has not been executed correctly. ■...
  • Page 151 16 Specifications 16.1 General Specifications ..............16-2 16.2 Performance Specifications of the Pulse Output Unit .......16-3 16.2.1 Input / Output Specifications ............16-4 16.3 Dimensions ..................16-8 16.3.1 Pulse Output Unit ................16-8 WUME-GM1PG-01 16-1...

  • Page 152: Specifications

    16.1 General Specifications 16.1 General Specifications Item Specifications Operating ambient 0℃ to +55℃ temperature Storage ambient -40℃ to +70℃ temperature Operating ambient 10% to 95% (RH) (at 25°C, no condensation) humidity Storage ambient 10% to 95% (RH) (at 25°C, no condensation) humidity Withstand voltage Between external connector terminals and power supply...

  • Page 153: Performance Specifications Of The Pulse Output Unit

    16.2 Performance Specifications of the Pulse Output Unit 16.2 Performance Specifications of the Pulse Output Unit ■ Performance specifications Item Specifications Product No. AGM1PG04T AGM1PG04L Output type Transistor Line driver Number of axes controlled 4 axis, independent Command unit Pulse unit (for increment or absolute) Position command Max.

  • Page 154: Input / Output Specifications

    16.2 Performance Specifications of the Pulse Output Unit 16.2.1 Input / Output Specifications ● The signal pins for two axes are assigned to one connector. ● The connector for 1- and 2-axis has completely the same pin arrangements as the connector for 3- and 4-axis.
  • Page 155 16.2 Performance Specifications of the Pulse Output Unit Pin No. Output specifications Circuit Signal name Axis Axis Item Description 1 / 3 2 / 4 ON state max. 1.0 V voltage drop (Note 1) The deviation counter clear signal is output when the power supply is turned ON for about 1 ms. When the home return is complete, the signal is output for about 1 ms or 10 ms.
  • Page 156 16.2 Performance Specifications of the Pulse Output Unit Pin No. Input specifications Circuit Signal name Axis Axis Item Description 1 / 3 2 / 4 Operating voltage 21.6 to 26.4 V DC range Near home input (DOG) 19.2 V DC / 5.0 mA Near home input (DOG) Over limit input (+) Min.
  • Page 157 16.2 Performance Specifications of the Pulse Output Unit ● The pulse input A and B signals should be used within the following specifications. When using the pulse input A and B signals for 2-phase input method When using the pulse input A and B signals for direction discrimination input method When using the pulse input A and B signals for individual input method ●...

  • Page 158: Dimensions

    16.3 Dimensions 16.3 Dimensions 16.3.1 Pulse Output Unit Unit: mm 16-8 WUME-GM1PG-01...

  • Page 159: 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-GM1PG-01 App-1...

  • Page 160: 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 161: 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 162 (MEMO) App-4 WUME-GM1PG-01...
  • Page 163 Record of Changes Date Manual No. Record of changes August 2021 WUME-GM1PG-01 1st edition WUME-GM1PG-01...
  • Page 164 (MEMO) WUME-GM1PG-01...
  • Page 165 (MEMO) WUME-GM1PG-01...
  • Page 166 Panasonic Corporation 2021 August, 2021 WUME-GM1PG-01...

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