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-GM1H-02
2021.8
Motion Controller
GM1 Series
Reference Manual
Hardware

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Summary of Contents for Panasonic GM1 Series

  • Page 1 Motion Controller GM1 Series Reference Manual Hardware WUME-GM1H-02 2021.8...
  • Page 2 (MEMO) WUME-GM1H-02...
  • 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 (MEMO) WUME-GM1H-02...

  • Page 5: Table Of Contents

    3.2.5 Names and Functions of Parts of the GM1 Pulse Output Unit..3-17 3.2.6 Terminal Layout Diagram of the GM1 Pulse Output Unit ....3-18 4 Installation .....................4-1 4.1 Installation of the GM1 Series.............4-2 4.1.1 Installation Environment and Space ..........4-2 4.1.2 Unit Installation Procedure ............... 4-4 4.1.3 Removing the Unit ................
  • Page 6 5.2 Wiring of Network................5-5 5.3 Wiring of Input and Output ..............5-7 5.3.1 Precautions Common to Input and Output........5-7 5.3.2 Input Wiring ..................5-7 5.3.3 High-speed Counter Input Wiring............. 5-8 5.3.4 Output Wiring ................... 5-10 5.4 Connection Using the Discrete-wire Connector .........5-11 5.4.1 Specifications of the Discrete-wire Connector .........
  • Page 7 11.2.1 High-speed Counter Input Specifications of the GM1 Controller..11-4 11.2.2 Input Specifications of the GM1 Controller........11-4 11.2.3 Output Specifications of the GM1 Controller (Sink Type) ....11-5 11.2.4 Output Specifications of the GM1 Controller (Source Type) ..11-6 11.3 Specifications of Expansion Units .............11-8 11.3.1 Input Specifications of the 64-point Digital Input Unit ....
  • Page 8 (MEMO) viii WUME-GM1H-02...

  • Page 9: Before Using This Product

    1 Before Using This Product 1.1 Safety Precautions................1-2 1.2 Handling Precautions................1-3 WUME-GM1H-02...

  • 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: 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 12 (MEMO) WUME-GM1H-02...

  • Page 13: Overview (System Configuration)

    2 Overview (System Configuration) 2.1 Basic System Configuration..............2-2 2.1.1 Outline of the GM1 System .............. 2-2 2.1.2 Unit Types ..................2-2 2.1.3 Restrictions on the Number of Expansion Units ......2-3 2.2 Restrictions on the GM1 Controller and Servo Amplifiers....2-5 2.2.1 Restrictions on the Combination of the GM1 Controller and Servo Amplifiers ..................

  • Page 14: Basic System Configuration

    2.1 Basic System Configuration 2.1 Basic System Configuration 2.1.1 Outline of the GM1 System ■ Network control With the RTEX-compatible GM1 Controller, a MINAS series A6N/A5N servomotor network system can be easily configured using the RTEX network dedicated to motion control. The EtherCAT-compatible GM1 Controller is a MINAS series servomotor network system can be easily configured by adopting EtherCAT communication.

  • Page 15: Restrictions On The Number Of Expansion Units

    2.1 Basic System Configuration Type Function Model number EtherCAT motion controller EtherCAT-compatible GM1 AGM1CSEC16P Controller (Source type) Transistor PNP output type ■ Expansion units Type Function Model number Digital input (64 points) 24 V DC, 64 input points AGM1X64D2 64 output points Digital output (64 points) (sink type) AGM1Y64T Transistor NPN type...
  • Page 16 2.1 Basic System Configuration ● Make sure to connect an end unit to the end of the system. WUME-GM1H-02...

  • Page 17: Restrictions On The Gm1 Controller And Servo Amplifiers

    2.2 Restrictions on the GM1 Controller and Servo Amplifiers 2.2 Restrictions on the GM1 Controller and Servo Amplifiers 2.2.1 Restrictions on the Combination of the GM1 Controller and Servo Amplifiers As for the combination of the GM1 Controller (RTEX-compatible / EtherCAT-compatible) and each MINAS series, confirm the following restrictions.

  • Page 18: Restrictions On Servo Amplifier Parameters

    2.2 Restrictions on the GM1 Controller and Servo Amplifiers 2.2.2 Restrictions on Servo Amplifier Parameters ■ Parameters for servo amplifiers on the A5N/A6N Some parameters for servo amplifiers on the A5N/A6N side affect the behaviors of the RTEX- compatible GM1 Controller. Use the following parameters. Standard factory Name...
  • Page 19 2.2 Restrictions on the GM1 Controller and Servo Amplifiers Standard factory Name Settings default setting 1: Return a command error (Bit 10 to bit 13 are not used.) Fix to "0". bit 14: Set position deviation [command unit] output 0: Internal commanded position (after filtering) [command unit] - Actual position [command unit] 1: Internal commanded position (before filtering) [command unit] - Actual position [command unit]...

  • Page 20: Programming Tools

    2.3 Programming Tools 2.3 Programming Tools 2.3.1 Software Usage Environment and Applicable Cables Programming software Applicable Applicable Product name Product No. Remarks version language Japanese / GM Programmer Ver.1.2 or higher AGMSMP English / Chinese (Note 1) When the GM Programmer is installed, MINAS setup support software ""PANATERM Lite for GM"" is installed at the same time.

  • Page 21: Names And Functions Of Components

    3 Names and Functions of Components 3.1 Names and Functions of Components of the GM1 Controller ....3-2 3.1.1 Names and Functions of Components of the RTEX-compatible GM1 Controller.................. 3-2 3.1.2 Names and Functions of Components of the EtherCAT-compatible GM1 Controller.................. 3-5 3.1.3 Terminal Layout Diagram of the GM1 Controller (RTEX- compatible / EtherCAT-compatible) ..........

  • Page 22: Names And Functions Of Components Of The Gm1 Controller

    3.1 Names and Functions of Components of the GM1 Controller 3.1 Names and Functions of Components of the GM1 Controller 3.1.1 Names and Functions of Components of the RTEX-compatible GM1 Controller Name Function LEDs indicate the RTEX-compatible GM1 Controller state. Operation monitor LEDs Refer to "Names and functions of operation monitor...
  • Page 23 3.1 Names and Functions of Components of the GM1 Controller Name Function General-purpose I/O connector Refer to "General-purpose I/O part". Used to select either the input state (X) or the output state (Y) of Display selector switch operation monitor LEDs Used to connect to a personal computer that uses a tool software.
  • Page 24 3.1 Names and Functions of Components of the GM1 Controller Name LED color Function Unlit: Normal Green Indicates the operating state of the application. RUN (Lit) and STOP (Unlit): The application is in the operating state. RUN (Unlit) and STOP (Lit): The application is in the stopped state. STOP Green RUN (Unlit) and STOP (Unlit): No application exists.

  • Page 25: Names And Functions Of Components Of The Ethercat-Compatible Gm1 Controller

    3.1 Names and Functions of Components of the GM1 Controller 3.1.2 Names and Functions of Components of the EtherCAT-compatible GM1 Controller Name Function LEDs indicate the EtherCAT-compatible GM1 Controller state. Operation monitor LEDs Refer to "Names and functions of operation monitor LEDs".
  • Page 26 3.1 Names and Functions of Components of the GM1 Controller Name Function Used to change the mode to RUN or STOP. Regardless of whether the switch is set to RUN or STOP, the mode (10) Mode selector switch can be switched through remote operation from the GM Programmer. When power is turned ON, it operates in the mode set on the switch.

  • Page 27: Terminal Layout Diagram Of The Gm1 Controller (Rtex-Compatible / Ethercat-Compatible)

    3.1 Names and Functions of Components of the GM1 Controller Name LED color Function Indicates that an error has occurred in the system. Flashing: An error occurred. (Flashing cycle: ON for 0.5 sec and OFF ERROR for 0.5 sec) Unlit: Normal Indicates an access state to the SD memory card.
  • Page 28 3.1 Names and Functions of Components of the GM1 Controller High-speed counter input terminal arrangement Pin No. Circuit Signal name Input A: 24 V DC (12 to 24 V DC) Input A: 5 V DC (3.5 to 5 V DC) Input A: COM Input A: COM Input B: 24 V DC (12 to 24 V DC)
  • Page 29 3.1 Names and Functions of Components of the GM1 Controller Terminal layout Pin No. General- Signal name purpose I/O Column C High-speed counter ch0 control 0 signal High-speed counter ch0 control 1 signal High-speed counter ch1 control 0 signal High-speed counter ch1 control 1 signal (Note 1) (Note 1) High-speed counter ch0 external output 0 signal...
  • Page 30 3.1 Names and Functions of Components of the GM1 Controller Pin No. General- Signal name purpose I/O Column C (Note 1) (Note 1) (Note 2) (Note 3) (Note 1) The COM terminals (4 places) of the general-purpose input are connected within the unit. (Note 2) The positive terminals (2 places) of the general-purpose output are connected within the unit.

  • Page 31: Expansion Units

    3.2 Expansion Units 3.2 Expansion Units 3.2.1 Names and Functions of Components of the GM1 Digital I/O 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. This is a switch used to select I/O information to be displayed on Display selector switch LEDs.

  • Page 32: Terminal Layout Diagram Of The Gm1 Digital I/O Unit

    3.2 Expansion Units Name LED color Function Unlit: Normal Indicates the ON / OFF state of the expansion unit depending on the state of the display selector switch. ● 64-point digital input unit • Display selector switch CN1 Lit: Each terminal of the X0-1F is ON. Unlit: Each terminal of the X0-1F is OFF.
  • Page 33 3.2 Expansion Units Terminal layout diagram of the 64-point digital output unit (sink type) Terminal layout diagram of the 64-point digital output unit (source type) (Note 1) The COM terminals in the same connector are connected internally. (Note 2) Although the positive and negative terminals are connected internally, connect these terminals externally as well.
  • Page 34 3.2 Expansion Units Terminal layout diagram of the 64-point digital I/O unit (sink type) Terminal layout diagram of the 64-point digital I/O unit (source type) 3-14 WUME-GM1H-02...

  • Page 35: Names And Functions Of Components Of The Gm1 Analog I/O Unit

    3.2 Expansion Units 3.2.3 Names and Functions of Components of the GM1 Analog I/O 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. I/O connector Used to connect input devices or output devices.

  • Page 36: Terminal Layout Diagram Of The Gm1 Analog I/O Unit

    3.2 Expansion Units 3.2.4 Terminal Layout Diagram of the GM1 Analog I/O Unit Terminal layout diagram of the Analog Input Unit The terminal used by the analog voltage input is common to that used by the analog current input. (Note 1) All COM terminals are connected within the unit.

  • Page 37: Names And Functions Of Parts Of The Gm1 Pulse Output Unit

    3.2 Expansion Units 3.2.5 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. Operation monitor selection This switches operation display between the display for axes 1 and switch...

  • Page 38: Terminal Layout Diagram Of The Gm1 Pulse Output Unit

    3.2 Expansion Units 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) Indicates the pulse output B signal.
  • Page 39 3.2 Expansion Units WUME-GM1H-02 3-19...
  • Page 40 (MEMO) 3-20 WUME-GM1H-02...

  • Page 41: Installation

    4 Installation 4.1 Installation of the GM1 Series.............4-2 4.1.1 Installation Environment and Space ..........4-2 4.1.2 Unit Installation Procedure ............... 4-4 4.1.3 Removing the Unit ................4-5 4.1.4 Attaching to DIN Rail................ 4-6 4.1.5 Removing from DIN Rail ..............4-7...

  • Page 42: Installation Of The Gm1 Series

    ● Always rid yourself of any static electricity before handling this product. ● Do not connect a unit other than our GM1 series to the side connector on the unit. ● Use copper wires with a temperature rating of 80°C.
  • Page 43 ● Secure a clearance of at least 170 mm from the mounting surface of the GM1 Series for connecting tool software cables. WUME-GM1H-02...

  • Page 44: Unit Installation Procedure

    4.1 Installation of the GM1 Series 4.1.2 Unit Installation Procedure ● Install the expansion unit between the GM1 Controller (RTEX-compatible / EtherCAT- compatible) and the end unit. ● Make sure to connect an end unit. ● Make sure to turn OFF the power supply before installing the unit.

  • Page 45: Removing The Unit

    4.1 Installation of the GM1 Series Lower the expansion hooks to lock the units in place. 4.1.3 Removing the Unit Raise expansion hooks on the sides of the unit with a screwdriver to release them. WUME-GM1H-02...

  • Page 46: Attaching To Din Rail

    4.1 Installation of the GM1 Series Slide the unit sideways to remove it. 4.1.4 Attaching to DIN Rail Using a screwdriver, push down the DIN rail attachment lever on the back of each unit. Fit the top of the unit attachment part into the DIN rail.

  • Page 47: Removing From Din Rail

    4.1 Installation of the GM1 Series Push up the DIN rail attachment lever on the back of the unit until it "clicks" to lock. 4.1.5 Removing from DIN Rail Using a screwdriver, push down the DIN rail attachment lever on the back of each unit.
  • Page 48 4.1 Installation of the GM1 Series Pull the bottom of the unit toward you. While holding up the unit, remove it from the DIN rail. WUME-GM1H-02...

  • Page 49: Wiring

    5 Wiring 5.1 Wiring the Power Supply..............5-2 5.1.1 Common Precautions ..............5-2 5.1.2 Power Supply for the GM1 Controller (RTEX-compatible / EtherCAT-compatible)............... 5-3 5.1.3 Grounding ..................5-3 5.2 Wiring of Network................5-5 5.3 Wiring of Input and Output ..............5-7 5.3.1 Precautions Common to Input and Output........5-7 5.3.2 Input Wiring ..................

  • Page 50: Wiring The Power Supply

    5.1 Wiring the Power Supply 5.1 Wiring the Power Supply 5.1.1 Common Precautions ■ Selection of a power supply ● Use a low noise power supply. ● The inherent noise resistance is sufficient for the noise superimposed on the power wires, however, the noise can be attenuated further by using the isolation transformer / insulated power supply.

  • Page 51: Power Supply For The Gm1 Controller (Rtex-Compatible / Ethercat-Compatible)

    5.1 Wiring the Power Supply 5.1.2 Power Supply for the GM1 Controller (RTEX-compatible / EtherCAT- compatible) ■ Wiring the Power Supply Unit Wiring diagram GM1 Controller (RTEX-compatible / EtherCAT-compatible) ■ Selection of a power supply ● To protect the system against erroneous voltage from the power supply line, use an insulated power supply with an internal protective circuit (power supply with reinforced insulation or double insulation).
  • Page 52 5.1 Wiring the Power Supply ● Conversely, depending on your environment, grounding may cause a problem. As for the GM1 Controller (RTEX-compatible / EtherCAT-compatible), since its power supply line is connected to the function earth through a high-voltage capacitor, it is no problem.

  • Page 53: Wiring Of Network

    5.2 Wiring of Network 5.2 Wiring of Network For the wiring of the network, use the LAN cable of the Category 5e shielded cable type. To prevent the cable from coming off, securely connect the connector of the cable to the network connector (RJ45 connector) of the unit.
  • Page 54 ● Turn OFF the power to the system before wiring cables. ● The Ethernet hub cannot be used. ● For detailed information of cable specifications and precautions, refer to the data "RTEX Cable" listed on the web page. https://industrial.panasonic.com/ac/j/dl_center/manual/ WUME-GM1H-02...

  • Page 55: Wiring Of Input And Output

    5.3 Wiring of Input and Output 5.3 Wiring of Input and Output 5.3.1 Precautions Common to Input and Output ■ Wiring arrangement Arrange the wiring so that the input and output wiring are separated, and these wirings are separated from the power wiring, as much as possible. Do not route them through the same duct or tie them in a bundle.

  • Page 56: High-Speed Counter Input Wiring

    5.3 Wiring of Input and Output Two-wire output type ■ Precaution when using LED-equipped reed switch When a LED is connected in series to an input contact such as LED-equipped reed switch, make sure that the voltage applied to the GM1 input terminal is greater than the ON voltage. In particular, take care when connecting a number of switches in series.
  • Page 57 5.3 Wiring of Input and Output ■ For line driver of encoder input ■ For transistor open collector type of encoder input WUME-GM1H-02...

  • Page 58: Output Wiring

    5.3 Wiring of Input and Output ■ For sensor input 5.3.4 Output Wiring ■ Protective circuit for inductive loads With an inductive load, a protective circuit should be installed in parallel with the load. ■ Precautions when using capacitive loads When connecting loads with large in-rush currents, to minimize their effect, connect a protection circuit as shown below.

  • Page 59: Connection Using The Discrete-Wire Connector

    This is a connector that allows loose wires to be connected without removing the wire’s insulation. Use a special tool for wire connection. Discrete-wire connector (40P) ■ AFP2801 Discrete-wire Connector (Purchase separately) Manufacturer Composition of parts Quantity (2 sets) Panasonic Housing 1 pc. (AFP2801) (40P) Semi-cover 2 pcs.

  • Page 60: Wiring The Discrete-Wire Connector

    5.4 Connection Using the Discrete-wire Connector 5.4.2 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 61 5.4 Connection Using the Discrete-wire Connector When all the wires have been inserted, fit the semi-cover into place. WUME-GM1H-02 5-13...
  • Page 62 5.4 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 63: Safety Measures

    5.5 Safety Measures 5.5 Safety Measures 5.5.1 General Safety Measures ■ Precautions regarding system design ● In the system where the GM1 is used, malfunction may occur for the following reasons: • Power on timing differences between the GM1 system and I/O devices or power devices. •...
  • Page 64 5.5 Safety Measures ● When the watchdog timer is activated, the "Alarm" LED on the front of the Controller is lit. When this occurs, all outputs to the output units are turned OFF and the unit is put in halted state.

  • Page 65: Checking Wiring

    6 Checking Wiring 6.1 Safety Circuit Design ................6-2 6.2 Items to Check during Wiring..............6-3 6.3 Power ON Operation................6-4 6.4 Power OFF Operation.................6-5 WUME-GM1H-02...

  • Page 66: Safety Circuit Design

    6.1 Safety Circuit Design 6.1 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. ● Connect them to the CW and CCW over-travel inhibit inputs of the parallel I/O connector of the servo amplifier.

  • Page 67: Items To Check During Wiring

    6.2 Items to Check during Wiring 6.2 Items to Check during Wiring ■ System configuration example (1) Checking connections of each device Check to make sure that each device has been connected as indicated by the design. (2) Checking the installation of the external safety circuit Check to make sure the safety circuit (wiring and installation of over limit switch) based on the external circuit has been installed properly.

  • Page 68: Power On Operation

    6.3 Power ON Operation 6.3 Power ON Operation When turning ON the power supply to the system incorporating the GM1 Controller (RTEX- compatible / EtherCAT-compatible), 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 69: Power Off Operation

    6.4 Power OFF Operation 6.4 Power OFF Operation Check to make sure the rotation of the motor has stopped, and then turn OFF the power supply to the GM1 Controller (RTEX-compatible / EtherCAT-compatible). Turn OFF the power supply to the servo amplifier. Turn OFF the power supplies to the I/O devices connected to the GM1 Controller (RTEX- compatible / EtherCAT-compatible).
  • Page 70 (MEMO) WUME-GM1H-02...

  • Page 71: Using The Sd Memory Card And Sdhc Memory Card

    7 Using the SD Memory Card and SDHC Memory Card 7.1 Preparation of the SD Memory Card and SDHC Memory Card..7-2 7.2 Inserting the SD Memory Card and SDHC Memory Card ....7-3 WUME-GM1H-02...

  • Page 72: Preparation Of The Sd Memory Card And Sdhc Memory Card

    7.1 Preparation of the SD Memory Card and SDHC Memory Card 7.1 Preparation of the SD Memory Card and SDHC Memory Card ■ Usable SD memory card and SDHC memory cards We recommend SLC SD Memory Cards and SLC SDHC Memory Cards. Logo printed on the GM1 Usable SD (SDHC) memory cards Controller (RTEX-compatible /...

  • Page 73: Inserting The Sd Memory Card And Sdhc Memory Card

    7.2 Inserting the SD Memory Card and SDHC Memory Card 7.2 Inserting the SD Memory Card and SDHC Memory Card ● Do not apply an excessive force to the card cover when opening or closing it or when the cover is left open. Otherwise, the cover attachment part will be deformed to cause malfunction in the cover switch mounted inside the product.
  • Page 74 7.2 Inserting the SD Memory Card and SDHC Memory Card When removing the SD memory card or SDHC memory card, make sure that the "SD" LED on the GM1 Controller (RTEX-compatible / EtherCAT-compatible) is not lit. WUME-GM1H-02...

  • Page 75: Device Reset

    8 Device Reset 8.1 Device Reset by GM1 Controller Operation........8-2 WUME-GM1H-02...

  • Page 76: Device Reset By Gm1 Controller Operation

    8.1 Device Reset by GM1 Controller Operation 8.1 Device Reset by GM1 Controller Operation Controller information on the GM Programmer can be deleted (initialized) from the GM1 Controller. Confirm that the power supply is turned OFF, set the mode selector switch to "STOP", and set SW2 (reset bit) of the DIP switch to "ON".

  • Page 77: Troubleshooting

    9 Troubleshooting 9.1 Self-diagnostic Function..............9-2 9.2 Operation Status at the Time of Error ..........9-3 9.3 What to Do If an Error Occurs.............9-4 9.3.1 ERROR LED Flashes on the Control Unit ........9-4 9.3.2 ALARM LED Lights on the Control Unit ........... 9-4 9.3.3 POWER LED Does not Light on the Control Unit ......

  • Page 78: Self-Diagnostic Function

    9.1 Self-diagnostic Function 9.1 Self-diagnostic Function The GM1 Controller (RTEX-compatible / EtherCAT-compatible) has a self-diagnostic function which identifies errors and stops operation if necessary. Indications concerning self-diagnosis are as follows. ■ LEDs related to self-diagnostic errors ●: Lit, ▲: Flashing, ○: Unlit, －: Indefinite (Lit or unlit) LED display Operation Description...

  • Page 79: Operation Status At The Time Of Error

    9.2 Operation Status at the Time of Error 9.2 Operation Status at the Time of Error ■ PLC parameter setting Operation mode at the time of error can be set to continue operation or stop operation in the PLC parameter setting. WUME-GM1H-02...

  • Page 80: What To Do If An Error Occurs

    9.3 What to Do If an Error Occurs 9.3 What to Do If an Error Occurs 9.3.1 ERROR LED Flashes on the Control Unit ■ Condition A self-diagnostic error has occurred. ■ Solution Check the condition according to the following procedure. On the GM Programmer, select Online>Status and check the error content (error code).

  • Page 81: Power Led Does Not Light On The Control Unit

    9.3 What to Do If an Error Occurs ■ Condition The system watchdog timer has been activated and the operation of the Controller has stopped. ■ Solution Set the control unit to STOP mode and restart the power supply. If the ALARM LED lights again, there may be a problem with the unit. If it goes out, the problem may have been caused by primary factors such as a noise.

  • Page 82: Desired Input Is Not Obtained: Checking When The Input Does Not Turn On / Off

    If the ALARM LED is lit on the expansion unit, there may be a system failure. ■ Solution Turn the system OFF and then ON. If the system is not reset, there may be a hardware failure. Please consult your Panasonic representative. WUME-GM1H-02...

  • Page 83: If The Alarm Led Is Unlit On The Expansion Unit

    9.3 What to Do If an Error Occurs 9.3.7 If the ALARM LED Is Unlit on the Expansion Unit ■ Condition It can be assumed that a system error has occurred in the expansion unit connected to the control unit or in the control unit. ■...
  • Page 84 (MEMO) WUME-GM1H-02...

  • Page 85: Maintenance And Inspection

    10 Maintenance and Inspection 10.1 Inspection..................10-2 WUME-GM1H-02 10-1...

  • Page 86: Inspection

    10.1 Inspection 10.1 Inspection To always use the unit in optimal conditions, carry out routine or periodic inspections. Inspection items Inspection item Inspection details Criterion Related page Mounting on DIN rail, The unit must have been Installation status looseness, and unit looseness "P.4-4"...

  • Page 87: Specifications And Dimensions

    11 Specifications and Dimensions 11.1 General Specifications ..............11-2 11.2 Specifications of the GM1 Controller..........11-4 11.2.1 High-speed Counter Input Specifications of the GM1 Controller..11-4 11.2.2 Input Specifications of the GM1 Controller........11-4 11.2.3 Output Specifications of the GM1 Controller (Sink Type) ....11-5 11.2.4 Output Specifications of the GM1 Controller (Source Type) ..

  • Page 88: General Specifications

    11.1 General Specifications 11.1 General Specifications Item Specifications Rated voltage 24 V DC Operating voltage range 20.4 to 28.8 V DC Allowable momentary power failure 10 ms time Operating ambient temperature 0 to +55℃ Storage ambient temperature -40 to +70℃ Operating ambient humidity 10 to 95% RH (at +25℃, no condensation or icing) Storage ambient humidity...
  • Page 89 11.1 General Specifications Unit type Weight (main unit) AGM1XY64D2P Approx. 160 g (including the terminal block) AGM1AD8 Approx. 150 g (including the terminal block) Analog I/O Unit AGM1DA4 Approx. 150 g (including the terminal block) AGM1PG04T Approx. 160 g (including the terminal block) Pulse Output Unit AGM1PG04L Approx.

  • Page 90: Specifications Of The Gm1 Controller

    11.2 Specifications of the GM1 Controller 11.2 Specifications of the GM1 Controller 11.2.1 High-speed Counter Input Specifications of the GM1 Controller Specifications Input A, B, Z signals Item 5 V DC 24 V DC Open collector Line driver connection connection Insulation method Optical coupler Rated input voltage...

  • Page 91: Output Specifications Of The Gm1 Controller (Sink Type)

    11.2 Specifications of the GM1 Controller ■ Internal circuit diagram of the GM1 Controller input section ■ Limitations on the number of simultaneous input ON points of the GM1 Controller 11.2.3 Output Specifications of the GM1 Controller (Sink Type) ■ Output specifications (sink type) Item Specifications...

  • Page 92: Output Specifications Of The Gm1 Controller (Source Type)

    11.2 Specifications of the GM1 Controller Item Specifications Current 35 mA/common (at 24 V) Surge absorber Zener diode Short-circuit protection (Note 1) Provided (to automatically protect every eight points) Input points per common 16 points/1 common Operating mode indicator 16-point LED display (Lit when ON, SW selection) External connection method Connector connection (Compliant with the MIL standard, 40P) (Note 1)
  • Page 93 11.2 Specifications of the GM1 Controller Item Specifications Allowable load voltage range 21.6 to 26.4 V DC Max. load current 0.3 A Max. inrush current 1.0 A OFF state leakage current 2 µA or less ON state max. voltage drop 0.7 V or less OFF→ON 6 µs or less (at an ambient temperature of 25°C)

  • Page 94: Specifications Of Expansion Units

    11.3 Specifications of Expansion Units 11.3 Specifications of Expansion Units 11.3.1 Input Specifications of the 64-point Digital Input Unit ■ Input specifications Item Specifications Insulation method Optical coupler Rated input voltage 24 V DC Rated input current Approx. 2.7 mA (at 24 V DC) Input impedance Approx.

  • Page 95: Output Specifications Of The 64-Point Digital Output Unit (Sink Type)

    11.3 Specifications of Expansion Units ■ Limitations on the number of simultaneous input ON points of the 64-point digital input unit 11.3.2 Output Specifications of the 64-point Digital Output Unit (Sink Type) ■ Output specifications (sink type) Item Specifications Insulation method Optical coupler Output type Open collector...
  • Page 96 11.3 Specifications of Expansion Units ■ Internal circuit diagram of the 64-point digital output unit (sink type) ■ Limitations on the load current of the 64-point digital output unit (sink type) The load current is limited as shown in the following figure depending on the voltage of the external power supply.

  • Page 97: Output Specifications Of The 64-Point Digital Output Unit (Source Type)

    11.3 Specifications of Expansion Units 11.3.3 Output Specifications of the 64-point Digital Output Unit (Source Type) ■ Output specifications (source type) Item Specifications Insulation method Optical coupler Output type Open collector Rated load voltage 5 to 24V DC Allowable load voltage range 4.75 to 26.4V DC Max.

  • Page 98: I/O Specifications Of The 64-Point Digital I/O Unit (Sink Type)

    11.3 Specifications of Expansion Units ■ Limitations on the number of simultaneous output ON points of the 64-point digital output unit (source type) 11.3.4 I/O Specifications of the 64-point Digital I/O Unit (Sink Type) ■ I/O specifications (sink type) Item Specifications Insulation method Optical coupler...
  • Page 99 11.3 Specifications of Expansion Units Item Specifications 0.2 ms max. (Possible to change by using the input time constant ON→OFF selection function) Input points per common 32 points/1 common Insulation method Optical coupler Output type Open collector Rated load voltage 5 to 24 V DC Allowable load voltage 4.75 to 26.4 V DC...
  • Page 100 11.3 Specifications of Expansion Units Output section (32 points) ■ Limitations on the load current of the 64-point digital I/O unit (sink type) The load current is limited as shown in the following figure depending on the voltage of the external power supply.

  • Page 101: I/O Specifications Of The 64-Point Digital I/O Unit (Source Type)

    11.3 Specifications of Expansion Units ■ Limitations on the number of simultaneous output ON points (max. number of points: 32) of the 64-point digital I/O unit (sink type) 11.3.5 I/O Specifications of the 64-point Digital I/O Unit (Source Type) ■ I/O specifications (source type) Item Specifications...
  • Page 102 11.3 Specifications of Expansion Units Item Specifications ON state max. voltage 0.5 V or less drop OFF→ON 0.1 ms or less (Load current: 2 mA or more) Response time ON→OFF 0.5 ms or less (Load current: 2 mA or more) External Voltage 4.75 to 26.4 V DC...
  • Page 103 11.3 Specifications of Expansion Units ■ Limitations on the number of simultaneous input ON points (max. number of points: 32) of the 64-point digital I/O unit (source type) ■ Limitations on the number of simultaneous output ON points (max. number of points: 32) of the 64-point digital I/O unit (source type) WUME-GM1H-02 11-17...

  • Page 104: Input Specifications Of The Analog Input Unit

    11.3 Specifications of Expansion Units 11.3.6 Input Specifications of the Analog Input Unit ■ Input specifications Item Specifications No. of input points 8 ch Input range Voltage -10 to +10 V DC (Resolution: 1/64,000) (resolution) 0 to +10 V DC (Resolution: 1/32,000) -5 to +5 V DC (Resolution: 1/64,000) 0 to +5 V DC (Resolution: 1/32,000) (Note 1)

  • Page 105: Output Specifications Of The Analog Output Unit

    11.3 Specifications of Expansion Units Item Specifications Disconnection detection Disconnection detection is possible for the following ranges. Possible to select auto or manual resetting ● 1 to 5 V range (Detection level: 0.7 V or less) ● 4 to 20 mA range (Detection level: 2.8 mA or less.) (Note 1) The full scale (F.S.) on the accuracy of an analog voltage input range from +1 to +5 V and that of an analog current input range from +4 to +20 mA are 0 to +5 V and 0 to +20 mA, respectively.

  • Page 106: Performance Specifications Of The Pulse Output Unit

    11.3 Specifications of Expansion Units Item Specifications Offset / Gain settings A desired value within the digital input range can be set for the offset value. Setting range: -3,000 to +3,000 A desired value within the digital input range can be set for the gain value. Setting range: +9,000 to +11,000 (90% to 110%) Analog output hold A desired output value while in STOP mode can be set as a digital value.
  • Page 107 11.3 Specifications of Expansion Units Item Specifications Product No. AGM1PG04T AGM1PG04L Counting range Signed 32 bits (-2,147,483,648 to +2,147,483,647 pulses) Feedback 2-phase input, direction identification input, individual input (transfer Input mode multiple available for each mode) counter (Note 2) function 4 MHz (2-phase input) Max.
  • Page 108 11.3 Specifications of Expansion Units Pin No. Signal name Circuit Specifications Axis Axis 1 / 3 2 / 4 Pulse output B: Line driver (-) Common Pin No. Signal name Circuit Specifications Axis Axis 1 / 3 2 / 4 Home input: 24 Input ●...
  • Page 109 11.3 Specifications of Expansion Units Pin No. Signal name Circuit Specifications Axis Axis 1 / 3 2 / 4 Positioning control start input (Timing input) Approx. 6.8 kΩ ● Pulse width: 500 μs or more Servo ON Output ● Output type: output (+) Open collector ●...

  • Page 110: Communication Specifications

    11.4 Communication Specifications 11.4 Communication Specifications 11.4.1 Specifications of the USB Port Item Specifications Standard USB2.0 Fullspeed Connector shape USB MiniB type 11.4.2 Specifications of the COM Port (RS-232C) Item Specifications No. of channels Physical layer RS-232C, three-wire system (non-isolated) Transmission distance MAX.

  • Page 111: Specifications Of The Lan Port

    11.4 Communication Specifications 11.4.3 Specifications of the LAN Port Item Specifications Number of ports Communication interface Ethernet 100BASE-TX / 10BASE-T Baud rate 100 Mbps / 10 Mbps, automatic negotiation Max. segment length (Note 1) 100m 100BASE-TX 2 segments Max. distance between nodes 10BASE-T 5 segments Communication cable Shielded twisted pair (TIA/EIA-568B CAT5e or higher)

  • Page 112: Specifications Of The Ethercat Port

    11.4 Communication Specifications Item Specifications Operation command Profile position, cyclic position / speed / torque 11.4.5 Specifications of the EtherCAT Port Item Specifications Baud rate 100 Mbps Physical layer 100BASE-TX full duplex (IEEE 802.3u) Cable Shielded twisted pair (TIA/EIA-568B CAT5e or higher) Topology Daisy chain (No branching) Insulation method...

  • Page 113: Performance Specifications

    11.5 Performance Specifications 11.5 Performance Specifications Item Specifications SD memory card, SDHC memory card Support media Max. 32G Supported Conforms to SD standard. format standard SD (SDHC) memory card Operating mode LED display (Flashes when accessed.) indicator Detection when the cover is Available open Hold variables...

  • Page 114: Dimensions

    11.6 Dimensions 11.6 Dimensions 11.6.1 Dimensions of the GM1 Controller RTEX-compatible GM1 Controller Unit: mm EtherCAT-compatible GM1 Controller 11-28 WUME-GM1H-02...

  • Page 115: Dimensions Of The Gm1 Expansion Unit

    11.6 Dimensions Unit: mm 11.6.2 Dimensions of the GM1 Expansion Unit Digital I/O unit WUME-GM1H-02 11-29...
  • Page 116 11.6 Dimensions Unit: mm Analog I/O Unit Applicable model: AGM1AD8 and AGM1DA4 Unit: mm 11-30 WUME-GM1H-02...
  • Page 117 11.6 Dimensions Pulse Output Unit Unit: mm WUME-GM1H-02 11-31...
  • Page 118 (MEMO) 11-32 WUME-GM1H-02...

  • Page 119: 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-GM1H-02 App-1...

  • Page 120: 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 121: 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 122 (MEMO) App-4 WUME-GM1H-02...
  • Page 123 Revision History The manual code is shown at the bottom of the cover page. Date of issue Manual code Revision details February 2021 WUME-GM1H-01 First edition August 2021 WUME-GM1H-02 2nd Edition ● Added the following models. • EtherCAT-compatible GM1 Controller •...
  • Page 124 (MEMO) WUME-GM1H-02...
  • Page 125 (MEMO) WUME-GM1H-02...
  • Page 126 Panasonic Corporation 2021 August 2021 WUME-GM1H-02...

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