Panasonic AGM1CSEC16P Reference Manual Download Page 1

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Motion Controller

GM1 Series

Reference Manual

Hardware

WUME-GM1H-02

2021.8

Summary of Contents for AGM1CSEC16P

Page 1: ...Motion Controller GM1 Series Reference Manual Hardware WUME GM1H 02 2021 8 ...

Page 2: ... MEMO 2 WUME GM1H 02 ...

Page 3: ...er s Manual Operation Edition WUME GM1ETCOP GM1 Series Reference Manual Hardware Edition WUME GM1H Explains the functions and performance of each GM1 unit GM1 Series Reference Manual Instruction Edition WUME GM1PGR Explains the specifications of each instruction that can be used with the GM1 Series GM1 Series Reference Manual Analog I O Unit WUME GM1AIO Explains the functions and performance of th...

Page 4: ... MEMO iv WUME GM1H 02 ...

Page 5: ...onents of the EtherCAT compatible GM1 Controller 3 5 3 1 3 Terminal Layout Diagram of the GM1 Controller RTEX compatible EtherCAT compatible 3 7 3 2 Expansion Units 3 11 3 2 1 Names and Functions of Components of the GM1 Digital I O Unit 3 11 3 2 2 Terminal Layout Diagram of the GM1 Digital I O Unit 3 12 3 2 3 Names and Functions of Components of the GM1 Analog I O Unit 3 15 3 2 4 Terminal Layout ...

Page 6: ...nd SDHC Memory Card 7 2 7 2 Inserting the SD Memory Card and SDHC Memory Card 7 3 8 Device Reset 8 1 8 1 Device Reset by GM1 Controller Operation 8 2 9 Troubleshooting 9 1 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 ...

Page 7: ...ifications of the 64 point Digital I O Unit Source Type 11 15 11 3 6 Input Specifications of the Analog Input Unit 11 18 11 3 7 Output Specifications of the Analog Output Unit 11 19 11 3 8 Performance Specifications of the Pulse Output Unit 11 20 11 4 Communication Specifications 11 24 11 4 1 Specifications of the USB Port 11 24 11 4 2 Specifications of the COM Port RS 232C 11 24 11 4 3 Specificat...

Page 8: ... MEMO viii WUME GM1H 02 ...

Page 9: ...1 Before Using This Product 1 1 Safety Precautions 1 2 1 2 Handling Precautions 1 3 WUME GM1H 02 1 1 ...

Page 10: ...roduct into the fire Doing so may cause the batteries or other electronic parts to explode To prevent abnormal heat generation or smoke generation use this product with some leeway from the guaranteed characteristics and performance values of the product Do not disassemble or modify this product Doing so may result in abnormal heat generation or smoke generation Do not touch any terminals while th...

Page 11: ...be observed Indicates an action that is prohibited or a matter that requires caution Indicates an action that must be taken Indicates supplemental information Indicates details about the subject in question or information useful to remember Indicates operation procedures 1 2 Handling Precautions WUME GM1H 02 1 3 ...

Page 12: ... MEMO 1 4 WUME GM1H 02 ...

Page 13: ...s 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 2 5 2 2 2 Restrictions on Servo Amplifier Parameters 2 6 2 3 Programming Tools 2 8 2 3 1 Software Usage Environment and Applicable Cables 2 8 WUME GM1H 02 2 1 ...

Page 14: ...rposes such as for an in device network or for a host system network Equipped with the high speed counter input and PWM output The RTEX compatible GM1 Controller EtherCAT compatible GM1 Controller is equipped with a 2 ch high speed counter input for 16 MHz multiplied by 4 and a 4 ch PWM output that can output a maximum of 100 kHz These functions can be used without adding expansion units 2 1 2 Uni...

Page 15: ...T Digital I O 64 points source type 24 V DC 32 input points 32 output points Transistor PNP type AGM1XY64D2P Analog input 8 points 8 input points AGM1AD8 Analog output 4 points 4 output points AGM1DA4 Pulse output Transistor output type 4 axis pulse train 500 kpps Open collector output AGM1PG04T Pulse output Line driver output type 4 axis pulse train 4 Mpps Line driver output AGM1PG04L 2 1 3 Restr...

Page 16: ... Make sure to connect an end unit to the end of the system 2 1 Basic System Configuration 2 4 WUME GM1H 02 ...

Page 17: ... The input range of the movement amount or speed specified in the GM1 Controller RTEX compatible EtherCAT compatible may differ from the upper and lower setting limits of the servo amplifier The communication cycle and command update cycle supported by the RTEX compatible GM1 Controller and servo amplifiers A5N and A6N are as follows RTEX compatible GM1 Controller Communication cycle 500 μs to 2 m...

Page 18: ... 1 0 Enable status 1 Fixed at 0 bit 3 Set RTEX status bit assignment for POT and NOT 0 POT corresponds to bit 1 and NOT corresponds to bit 0 1 NOT corresponds to bit 1 and POT corresponds to bit 0 0 POT corresponds to bit 1 and NOT corresponds to bit 0 1 NOT corresponds to bit 1 and POT corresponds to bit 0 bit 4 Set display mode for COM LED 0 Mode 1 1 Mode 2 bit 5 Set non cyclic command start mod...

Page 19: ...andatory 1 Note 2 Note 1 We recommend that the set value should not be changed judging from the characteristics of the GM1 and MINAS Note 2 Do not change the set value If the set value is changed the RTEX compatible GM1 Controller will make an error stop Parameters for servo amplifiers on the A5B A6B Some parameters for servo amplifiers on the A5B A6B side affect the behaviors of the EtherCAT comp...

Page 20: ...al C 2010 SP1 Redistributable Package x64 Microsoft Visual C 2013 Redistributable Package x86 Microsoft Visual C 2013 Redistributable Package x64 Microsoft Visual C 2015 Update 3 Redistributable Package x86 Microsoft Visual C 2015 Update 3 Redistributable Package x64 HDD At least 4 GB of free space Memory At least 8 GB Communication port LAN port for Ethernet connection USB 2 0 port for USB connec...

Page 21: ...the GM1 Controller RTEX compatible EtherCAT compatible 3 7 3 2 Expansion Units 3 11 3 2 1 Names and Functions of Components of the GM1 Digital I O Unit 3 11 3 2 2 Terminal Layout Diagram of the GM1 Digital I O Unit 3 12 3 2 3 Names and Functions of Components of the GM1 Analog I O Unit 3 15 3 2 4 Terminal Layout Diagram of the GM1 Analog I O Unit 3 16 3 2 5 Names and Functions of Parts of the GM1 ...

Page 22: ...rd cover Inside the card cover Note 1 Stores the SD memory card The following are contained inside the cover 2 1 SD memory card slot 2 2 Cover switch 3 LAN port 1 Ethernet connector 4 LAN port 2 Ethernet connector 5 RTEX port Motion network connector dedicated for connecting the MINAS A6N or A5N series RX reception side TX transmission side 6 High speed counter input connector Refer to High speed ...

Page 23: ...devices If the power supply is turned ON with the mode selector switch set to STOP and the reset bit set to ON the Device reset GM1 initialization function is implemented Note 2 14 DIN hook Used to fix the Controller to a DIN rail 15 COM port terminal Serial RS 232C connector 16 Power supply connector 24 V DC power supply connector Note 1 Do not apply an excessive force to the card cover when open...

Page 24: ...stablished with normal communication Flashing Starting up Unlit Communication is not established 10 RTEX LINK Green Indicates the LINK state of motion communication Lit Normal connection The TX of the sending node and the RX of the local node are electrically connected normally Unlit Not connected 11 CH0 A B and Z CH1 A B and Z Green Indicates the status of the high speed counter input signal Note...

Page 25: ... switch 3 LAN port 1 Ethernet connector 4 LAN port 2 Ethernet connector 5 EtherCAT port Motion network connector dedicated for connecting the MINAS A6B or A5B series 6 High speed counter input connector Refer to High speed counter input part 7 General purpose I O connector Refer to General purpose I O part 8 Display selector switch Used to select either the input state X or the output state Y of o...

Page 26: ...2C connector 16 Power supply connector 24 V DC power supply connector Note 1 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 Note 2 For details on the device reset function refer to 8 1 Device Reset by GM1 Controller Op...

Page 27: ...en Indicates the state of the physical port of EtherCAT communication Lit PHY LINK is established and data are transmitted received Flashing PHY LINK is established and data are not transmitted received Unlit PHY LINK is not established 11 CH0 A B and Z CH1 A B and Z Green Indicates the status of the high speed counter input signal Note 1 12 0 F Green Indicates the ON OFF state of the Controller I...

Page 28: ...put B COM A5 A15 Input Z 24 V DC 12 to 24 V DC A6 A16 Input Z 5 V DC 3 5 to 5 V DC B5 B15 Input Z COM B6 B16 Input Z COM A7 to A10 B7 to B10 A17 to A20 B17 to B20 For the counter input signals A B and Z use shielded twisted pair cables General purpose I O part High speed counter control signals control signals external outputs and PWM outputs can be allocated to general purpose I O 16 input points...

Page 29: ...7 X6 C8 X7 C9 COM Note 1 COM C10 COM Note 1 COM C11 Y0 High speed counter ch0 external output 0 signal C12 Y1 High speed counter ch0 external output 1 signal C13 Y2 High speed counter ch1 external output 0 signal C14 Y3 High speed counter ch1 external output 1 signal C15 Y4 PWM output 0 C16 Y5 PWM output 1 C17 Y6 PWM output 2 C18 Y7 PWM output 3 C19 Note 2 V C20 Note 3 V D1 X8 D2 X9 3 1 Names and ...

Page 30: ...9 Note 2 V D20 Note 3 V 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 Note 3 The negative terminals 2 places of the general purpose output are connected within the unit 3 1 Names and Functions of Components of the GM1 Controller 3 10 WUME GM1H 02 ...

Page 31: ...ces to output devices 5 Expansion hook This is a hook used to fix each expansion unit to another 6 DIN rail attachment part This is the part which is attached to the DIN rail 7 DIN hook Used to fix the Controller to a DIN rail Names and functions of each operation monitor LED No Name LED color Function 1 Power Blue Indicates the power state of the unit Lit Power supply of the unit is started norma...

Page 32: ...output unit Display selector switch CN1 Lit Each terminal of the Y0 1F is ON Unlit Each terminal of the Y0 1F is OFF Display selector switch CN2 Lit Each terminal of the Y20 3F is ON Unlit Each terminal of the Y20 3F is OFF 64 point digital I O unit Display selector switch CN1 Lit Each terminal of the X0 1F is ON Unlit Each terminal of the X0 1F is OFF Display selector switch CN2 Lit Each terminal...

Page 33: ... 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 3 2 Expansion Units WUME GM1H 02 3 13 ...

Page 34: ...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 2 Expansion Units 3 14 WUME GM1H 02 ...

Page 35: ...t This is the part which is attached to the DIN rail 6 DIN hook Used to fix the Controller to a DIN rail Names and functions of each operation monitor LED No Name LED color Function 1 Power Blue Indicates the completion of power processing of the unit Lit Power supply of the unit is started normally Unlit Power is not supplied Or there is an error in the power supply to the system 2 Alarm Red Indi...

Page 36: ...1 CH2 CH3 CN1 VI4 VI5 VI6 VI7 COM COM COM COM CH4 CH5 CH6 CH7 CN2 Note 1 All COM terminals are connected within the unit Terminal layout diagram of the Analog Output Unit The terminal used by the analog voltage output is different from that used by the analog current output V0 COM V1 COM I0 NC I1 NC CH1 CH0 CN1 V2 COM V3 COM I2 NC I3 NC CH3 CH2 CN2 Note 1 All COM terminals are connected within the...

Page 37: ...This is a hook used to fix each expansion unit to another 6 DIN rail attachment part This is the part which is attached to the DIN rail 7 DIN hook Used to fix the Controller to a DIN rail Names and functions of each operation monitor LED No Name LED color Function 1 Power Blue Indicates the completion of power processing of the unit Lit Power supply of the unit is started normally Unlit Power is n...

Page 38: ...Green Indicates the near home status Note 2 Lit ON Unlit OFF 7 Z Green Indicates the home input state Note 2 Lit ON Unlit OFF 8 PA Green Indicates the pulse input A signal Note 3 9 PB Green Indicates the pulse input B signal Note 3 10 ERR Red Indicates that an error has occurred in the unit Lit Error occurred Unlit Normal Note 1 The pulse output signal display LEDs A and B blink at the output freq...

Page 39: ...3 2 Expansion Units WUME GM1H 02 3 19 ...

Page 40: ... MEMO 3 20 WUME GM1H 02 ...

Page 41: ...tallation 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 WUME GM1H 02 4 1 ...

Page 42: ...other organic solvents or strong alkaline solutions such as ammonia or caustic soda Direct vibration shock or direct drop of water Influence from power transmission lines high voltage equipment power cables power equipment radio transmitters or any other equipment that would generate high switching surges 100 mm or more Handling instructions Do not directly touch connector pins directly to prevent...

Page 43: ...e devices which generate heat such as heaters transformers or large scale resistors In order to eliminate any effects from noise emission power wires and electromagnetic devices should be kept at least 100 mm away from the surfaces of the unit When installing the unit behind the doors of the control board be especially careful to secure clearances as above Secure a clearance of at least 170 mm fro...

Page 44: ...ower supply before installing the unit Do not directly touch the connector part of the unit Make sure that the connector parts are not stressed when and after installing the unit 1 Raise the expansion hooks on the sides of the unit with a screwdriver to release them 2 Attach the unit connectors on the side of the unit to those on the the other unit 4 1 Installation of the GM1 Series 4 4 WUME GM1H ...

Page 45: ...r the expansion hooks to lock the units in place 4 1 3 Removing the Unit 1 Raise expansion hooks on the sides of the unit with a screwdriver to release them 4 1 Installation of the GM1 Series WUME GM1H 02 4 5 ...

Page 46: ...own the DIN rail attachment lever on the back of each unit 2 Fit the top of the unit attachment part into the DIN rail 3 While pressing down the unit attachment part onto the DIN rail fit the bottom of the unit attachment part into the DIN rail 4 1 Installation of the GM1 Series 4 6 WUME GM1H 02 ...

Page 47: ...chment lever on the back of the unit until it clicks to lock 4 1 5 Removing from DIN Rail 1 Using a screwdriver push down the DIN rail attachment lever on the back of each unit 4 1 Installation of the GM1 Series WUME GM1H 02 4 7 ...

Page 48: ...2 Pull the bottom of the unit toward you 3 While holding up the unit remove it from the DIN rail 4 1 Installation of the GM1 Series 4 8 WUME GM1H 02 ...

Page 49: ... 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 5 11 5 4 2 Wiring the Discrete wire Connector 5 12 5 5 Safety Measures 5 15 5 5 1 General Safety Measures 5 15 5 5 2 Momentary Power Failure 5 15 5 5 3 Wa...

Page 50: ...s I O devices and other power devices should have separate wiring systems Power supply sequence Have the power supply sequence such that the power supply of the GM1 Controller RTEX compatible EtherCAT compatible turns OFF before the power supply for input and output If the I O power supplies are turned OFF before the power to the GM1 Controller RTEX compatible EtherCAT compatible the GM1 Controlle...

Page 51: ...voltage Confirm that the voltage of the power supply to be connected is within the allowable range Rated input voltage Allowable voltage range Rated output capacity 24 V DC 20 4 to 28 8 V DC 24 W or more Power supply cable Use the power supply cable Part No AFPG805 that comes with the unit to connect the power supply Brown 24 V DC Blue 0 V Green Function earth Also twist the power supply cables to...

Page 52: ... terminal of the power When grounding a plus terminal of the power supply prepare a power supply dedicated to the GM1 and do not ground the plus terminal of the GM1 power supply In some personal computers the SG terminal of the internal circuit and shielding are connected Furthermore since the power supply circuit for the GM1 is not isolated if the plus terminal of the power supply is grounded the...

Page 53: ...tor of the cable to the network connector RJ45 connector of the unit For RTEX communication The length between each node should be within 100 m and the total length of the communication loop should be within 200 m For EtherCAT communication The length between each node should be within 100 m and the total length should be within 200 m 5 2 Wiring of Network WUME GM1H 02 5 5 ...

Page 54: ... amplifier is connected to the RX of the GM1 Controller RTEX compatible EtherCAT compatible Always use shielded twisted pair STP cables that are compatible with category 5e or higher 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 industri...

Page 55: ...o select the thickness dia of the input and output wires while taking into consideration the required current capacity Power supply Wiring should be carried out after the power supply to the GM1 was turned OFF Also turn OFF the power supply when connecting the GM1 Controller RTEX compatible EtherCAT compatible to expansion units If they are connected during the power supply is on it may cause the ...

Page 56: ...s not turn OFF because of leakage current from the two wire type photoelectric sensor or proximity sensor connect a bleeder resistor as shown below Precaution when using LED equipped limit switch If the input to the GM1 does not turn OFF because of leakage current from the LED equipped limit switch connect a bleeder resistor as shown on below 5 3 3 High speed Counter Input Wiring For the connectio...

Page 57: ... For line driver of encoder input For transistor open collector type of encoder input 5 3 Wiring of Input and Output WUME GM1H 02 5 9 ...

Page 58: ...nductive 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 5 3 Wiring of Input and Output 5 10 WUME GM1H 02 ...

Page 59: ...tion Discrete wire connector 40P AFP2801 Discrete wire Connector Purchase separately Manufacturer Composition of parts Quantity 2 sets Panasonic AFP2801 Housing 40P 1 pc Semi cover 40P 2 pcs Contact For AWG22 and AWG24 5 pins 8 pcs Compatible wires stranded wire Size Nominal cross sectional area Insulation thickness Rated current AWG22 0 3 mm2 Φ1 5 to Φ1 1 3 A AWG24 0 2 mm2 Dedicated crimping tool...

Page 60: ...ping tool 2 Insert the wire without removing its insulation until it stops and lightly grip the crimping tool 3 The contact appears as shown below after it is crimped Confirm the following two points 1 The wire must be embraced inside the clamped part 2 The wire must be inserted to the end 4 Insert the wire with the contact into the housing 5 4 Connection Using the Discrete wire Connector 5 12 WUM...

Page 61: ...5 When all the wires have been inserted fit the semi cover into place 5 4 Connection Using the Discrete wire Connector WUME GM1H 02 5 13 ...

Page 62: ...rrectly press fit use the crimping tool to remove the contact 1 Set the pin of the crimping tool at the position indicated by an arrow 2 Hold the housing with fingers and pull the wire 5 4 Connection Using the Discrete wire Connector 5 14 WUME GM1H 02 ...

Page 63: ...GM1 to turn OFF the power supply of the output device Power supply sequence Start the GM1 only after I O devices and power devices are energized In case of stopping the operation of the GM1 have the I O devices or power devices turned OFF after the GM1 has stopped operating Grounding When installing the GM1 next to devices that generate high voltages from switching such as inverters do not ground ...

Page 64: ...chdog 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 5 5 Safety Measures 5 16 WUME GM1H 02 ...

Page 65: ...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 6 1 ...

Page 66: ...as shown above Connect them to the CW and CCW over travel inhibit inputs of the parallel I O connector of the servo amplifier For the GM1 Controller RTEX compatible EtherCAT compatible connect them to the limit input and limit input through the network Install the safety circuit recommended by the manufacturer of the motor being used 6 1 Safety Circuit Design 6 2 WUME GM1H 02 ...

Page 67: ...itch based on the external circuit has been installed properly 3 Checking the settings for power ON sequence Make sure that settings have been entered so that power supplies will be turned ON according to the procedure outlined in Power ON Operation 4 Checking the GM1 Controller RTEX compatible EtherCAT compatible mode selector switch Set the GM1 Controller RTEX compatible EtherCAT compatible to t...

Page 68: ...xternal devices connected to the system and take sufficient care so that turning ON the power supply will not initiate unexpected movements 1 Turn ON the power supplies to the I O devices connected to the GM1 Controller RTEX compatible EtherCAT compatible 2 Turn ON the power supply to the servo amplifier 3 Turn ON the power supply to the GM1 Controller RTEX compatible EtherCAT compatible 6 3 Power...

Page 69: ... turn OFF the power supply to the GM1 Controller RTEX compatible EtherCAT compatible 2 Turn OFF the power supply to the servo amplifier 3 Turn OFF the power supplies to the I O devices connected to the GM1 Controller RTEX compatible EtherCAT compatible 6 4 Power OFF Operation WUME GM1H 02 6 5 ...

Page 70: ... MEMO 6 6 WUME GM1H 02 ...

Page 71: ...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 7 1 ...

Page 72: ...was being accessed to save or delete data It is recommended to save important data in another media for backup Never remove the card or turn OFF the power supply to the GM1 Controller RTEX compatible EtherCAT compatible while the SD LED on the GM1 Controller RTEX compatible EtherCAT compatible is lit data is being read from or written into the card Data may be damaged Do not use an SD memory card ...

Page 73: ...art will be deformed to cause malfunction in the cover switch mounted inside the product 1 Insert the tip of a flat blade screw driver into the cavity on the card cover to open the cover 2 Insert the SD memory card or SDHC memory card into the SD memory card slot until it is locked in place 3 Close the SD memory card cover 7 2 Inserting the SD Memory Card and SDHC Memory Card WUME GM1H 02 7 3 ...

Page 74: ...oving 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 7 2 Inserting the SD Memory Card and SDHC Memory Card 7 4 WUME GM1H 02 ...

Page 75: ...8 Device Reset 8 1 Device Reset by GM1 Controller Operation 8 2 WUME GM1H 02 8 1 ...

Page 76: ... the RUN STOP ERROR LEDs are lit and a device reset is executed 3 When the RUN STOP ERROR LEDs go out the device reset is completed When the device reset is completed turn OFF the power supply and set the reset bit to OFF Device reset can be executed from the GM1 Controller as well as from GM Programmer For details on the device reset refer to the GM1 Controller RTEX User s Manual Operation or GM1...

Page 77: ...M LED Lights on the Control Unit 9 4 9 3 3 POWER LED Does not Light on the Control Unit 9 5 9 3 4 Desired Output Is Not Obtained Checking when the Output Does Not Turn ON OFF 9 5 9 3 5 Desired Input Is Not Obtained Checking when the Input Does Not Turn ON OFF 9 6 9 3 6 If the ALARM LED Is Lit on the Expansion Unit 9 6 9 3 7 If the ALARM LED Is Unlit on the Expansion Unit 9 7 WUME GM1H 02 9 1 ...

Page 78: ...lows LEDs related to self diagnostic errors Lit Flashing Unlit Indefinite Lit or unlit LED display Description Operation status RUN STOP ERROR ALARM Normal 〇〇〇 Normal operation Operating 〇〇〇 STOP mode Stopped Error 〇〇 When a self diagnostic error occurs Operation continues Operating 〇〇 When a self diagnostic error occurs Operation stops Stopped 〇 System error Stopped 9 1 Self diagnostic Func...

Page 79: ...us 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 9 2 Operation Status at the Time of Error WUME GM1H 02 9 3 ...

Page 80: ...ode 2 Switch to the STOP mode 3 On the Status screen of the GM Programmer check the error information In case of an operation continue error the error can be resolved by RTEX Reset Error Clear 4 Cancel the situation in accordance with the error code For the error codes refer to the GM1 Controller RTEX User s Manual Operation or GM1 Controller EtherCAT User s Manual Operation 9 3 2 ALARM LED Lights...

Page 81: ...ition It is possible that sufficient power is not supplied Solution 1 Power off the unit and double check the wiring status e g Is there any loose terminal 2 Check if the output of the power supply to the control unit does not exceed the rating If the 24 V power supply is not sufficient review the power supply configuration Disconnect the power supply wiring to the other devices if the power suppl...

Page 82: ...e following step If it is lit proceed to step 4 2 Recheck the wiring of the input devices for loose terminals etc 3 Check if the voltage is properly applied to the input terminals If the voltage is properly applied to the input terminals there is probably an abnormality in the unit s input part If the voltage is not applied to the input terminal there is probably an abnormality in the power supply...

Page 83: ...ontrol unit Solution Clarify the situation in the following procedure 1 Check if an end unit is connected to the last expansion unit 2 Check the wiring of the cables connected to the expansion units and wiring of the power supply 3 Clear the self diagnosis error of the control unit 4 Restart the power supply of the control unit 9 3 What to Do If an Error Occurs WUME GM1H 02 9 7 ...

Page 84: ... MEMO 9 8 WUME GM1H 02 ...

Page 85: ...10 Maintenance and Inspection 10 1 Inspection 10 2 WUME GM1H 02 10 1 ...

Page 86: ...status Mounting on DIN rail looseness and unit looseness and backlash The unit must have been installed properly P 4 4 Connection status Connector looseness Each connector must not be loose P 6 3 Usage conditions Ambient temperature in panel temperature Ambient humidity in panel humidity Atmosphere 0 to 55 10 to 95 RH Free of dust and corrosive gases P 11 4 10 1 Inspection 10 2 WUME GM1H 02 ...

Page 87: ...tal Output Unit Source Type 11 11 11 3 4 I O Specifications of the 64 point Digital I O Unit Sink Type 11 12 11 3 5 I O Specifications of the 64 point Digital I O Unit Source Type 11 15 11 3 6 Input Specifications of the Analog Input Unit 11 18 11 3 7 Output Specifications of the Analog Output Unit 11 19 11 3 8 Performance Specifications of the Pulse Output Unit 11 20 11 4 Communication Specificat...

Page 88: ...minals Vibration resistance Compliant with JIS B 3502 IEC 61131 2 5 to 8 4 Hz half amplitude 3 5 mm 8 4 to 150 Hz acceleration 9 8 m s2 10 sweeps each in X Y and Z directions 1 octave min Shock resistance Compliant with JIS B 3502 IEC 61131 2 147 m s2 3 times each in the X Y Z directions Noise resistance 1000 V p p with pulse widths of 1 µs and 50 ns using a noise simulator Power supply terminal A...

Page 89: ... terminal block List of consumption current Unit type Consumption current RTEX compatible GM1 Controller AGM1CSRX16T 400 mA or less EtherCAT compatible GM1 Controller AGM1CSEC16T 400 mA or less AGM1CSEC16P 400 mA or less Expansion Units AGM1X64D2 90 mA or less AGM1Y64T 160 mA or less AGM1Y64P 160 mA or less AGM1XY64D2T 120 mA or less AGM1XY64D2P 120 mA or less AGM1AD8 130 mA or less AGM1DA4 160 mA...

Page 90: ...r 6 point LED display 11 2 2 Input Specifications of the GM1 Controller Input specifications Item Specifications Insulation method Optical coupler Rated input voltage 24 V DC Rated input current Approx 3 mA at 24 V DC Input impedance Approx 6 8 kΩ Operating voltage range 21 6 to 26 4 V DC Min ON voltage Min ON current 19 2 V 6 mA Max OFF voltage Max OFF current 2 4 V 1 mA Response time OFF ON 135 ...

Page 91: ...put type NPN open collector Rated load voltage 5 to 24 V DC Allowable load voltage range 4 75 to 26 4 V DC Max load current 0 3 A Common restrictions 3 2 A common Max inrush current 1 0 A OFF state leakage current 1 µA or less ON state max voltage drop 0 7 V or less Response time OFF ON 6 µs or less at an ambient temperature of 25 ON OFF 15 µs or less at an ambient temperature of 25 External power...

Page 92: ...mum inrush current is exceeded eight output points in the same protection block are turned OFF simultaneously Internal circuit diagram of the GM1 Controller sink type output section Limitations on the number of simultaneous output ON points of the GM1 Controller Sink Type 11 2 4 Output Specifications of the GM1 Controller Source Type Output specifications source type EtherCAT compatible GM1 Contro...

Page 93: ...ode Short circuit protection Provided to automatically protect every eight points Note 1 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 When the maximum inrush current is exceeded eight output points in the same protection block are turned OF...

Page 94: ...tage Max OFF current 5 V 1 5 mA Response time OFF ON 0 2 ms max Possible to change by using the input time constant selection function ON OFF 0 2 ms max Possible to change by using the input time constant selection function Input points per common 32 points 1 common Operating mode indicator Operating mode indicator 32 point LED display Lit when ON SW selection External connection method Connector ...

Page 95: ...n Max inrush current 0 6 A OFF state leakage current 1 µA or less ON state max voltage drop 0 5 V or less Response time OFF ON 0 1 ms or less Load current 2 mA or more ON OFF 0 3 ms or less Load current 2 mA or more External power supply Voltage 4 75 to 26 4 V DC Current 70 mA common at 24 V Surge absorber Zener diode Short circuit protection None Input points per common 32 points 1 common Operati...

Page 96: ... 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 Limitations on the number of simultaneous output ON points of the 64 point digital output unit sink type 11 3 Specifications of Expansion Units 11 10 WUME GM1H 02 ...

Page 97: ...or less Load current 2 mA or more External power supply Voltage 4 75 to 26 4V DC Current 90 mA common at 24 V Surge absorber Zener diode Short circuit protection None Input points per common 32 points 1 common Operating mode indicator 32 point LED display Lit when ON selection using the display selector switch External connection method Connector connection Compliant with the MIL standard 40P two ...

Page 98: ...ifica tions Insulation method Optical coupler Rated input voltage 24 V DC Rated input current Approx 2 7 mA at 24 V DC Input impedance Approx 6 8 kΩ Operating voltage range 20 4 to 26 4 V DC Min ON voltage Min ON current 19 2 V 2 5 mA Max OFF voltage Max OFF current 5 V 1 5 mA Response time OFF ON 0 2 ms max Possible to change by using the input time constant selection function 11 3 Specifications...

Page 99: ...tate max voltage drop 0 5 V or less Response time OFF ON 0 1 ms or less Load current 2 mA or more ON OFF 0 3 ms or less Load current 2 mA or more External power supply Voltage 4 75 to 26 4 V DC Current 70 mA common at 24 V Surge absorber Zener diode Short circuit protection None Input points per common 32 points 1 common Operating mode indicator 32 point LED display Lit when ON selection using the...

Page 100: ...e The load current is limited as shown in the following figure depending on the voltage of the external power supply Limitations on the number of simultaneous input ON points max number of points 32 of the 64 point digital I O unit sink type 11 3 Specifications of Expansion Units 11 14 WUME GM1H 02 ...

Page 101: ...current 19 2 V 2 5 mA Max OFF voltage Max OFF current 5V 1 5 mA Response time OFF ON 0 2 ms max Possible to change by using the input time constant selection function ON OFF 0 2 ms max Possible to change by using the input time constant selection function Input points per common 32 points 1 common Output specifica tions Insulation method Optical coupler Output type Open collector Rated load voltag...

Page 102: ...ode indicator 32 point LED display Lit when ON selection using the display selector switch External connection method Connector connection Compliant with the MIL standard 40P two pieces used Internal circuit diagram of the 64 point digital I O unit source type Input section 32 points Output section 32 points Limitations on the load current of the 64 point digital I O unit source type The load curr...

Page 103: ...ts 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 11 3 Specifications of Expansion Units WUME GM1H 02 11 17 ...

Page 104: ...al circuit Photocoupler and isolated DC DC converter Between channels Non insulated Execution Non execution channel settings Possible to make non converted channel settings Input range selection Possible to make settings on a channel by channel basis Average processing Number of averaging times Setting range of 2 to 60 000 times Time average Time setting range of 1 to 1 500 ms Moving average Setti...

Page 105: ...solution 1 25 600 Current 0 to 20 mA Resolution 1 32 000 4 to 20 mA Resolution 1 25 600 Conversion speed 50 μs 4ch Exceeding the rated range Possible to output up to the rated value 2 With the 0 to 20 mA range the lower limit is not supported for exceeding the rated range Note 2 Total accuracy 0 2 F S or less at 25 0 4 F S or less at 0 to 55 Output impedance voltage output 0 5 Ω or less Maximum ou...

Page 106: ...endent Position command Command unit Pulse unit for increment or absolute Max pulse count Signed 32 bits 2 147 483 648 to 2 147 483 647 pulses Speed command Command range 1 pps to 500 kpps can be set in 1 pps 1 pps to 4 Mpps can be set in 1 pps Acceleration deceleration command Acceleration deceleration method Linear acceleration deceleration S shaped acceleration deceleration control S shape patt...

Page 107: ...e connector AX1 and 2 and AX3 and 4 connectors have the completely same pin assignments Therefore the same pin number functions the same Between the Transistor type and the Line driver type the output terminal performance is different However the specifications of the input terminal and the power supply terminal are the same for both types Transistor output type AGM1PG04T Pin No Signal name Circui...

Page 108: ...V DC Line driver specifications Min ON voltage current 3 0 V DC 4 mA Max OFF voltage current 1 0 V DC 0 5 mA Input impedance Approx 560 Ω Pulse width 100 μs or more B3 B12 Home input B4 B13 COM 24V DC SELV and LIM Input Operating voltage range 21 6 to 26 4 V DC Min ON voltage current Near home input DOG 19 2 V DC 5 0 mA Limit input Limit input Positioning control start input Timing input 19 2 V DC...

Page 109: ... input A Input Operating voltage range 3 5 to 5 25 V DC 5 V DC Line driver specifications Min ON voltage current 3 0 V DC 3 2 mA Max OFF voltage current 1 0 V DC 0 5 mA Input impedance Approx 560 Ω Pulse width 0 5 μs or more Each phase Max 1 MHz B8 B17 Pulse input A A9 A18 Pulse input B B9 B18 Pulse input B A20 External power supply input 24 VDC SELV and LIM Power supply Supplied power range 21 4 ...

Page 110: ...m Communication mode 1 1 communication Communication method Half duplex transmission Transmission line Multicore shielded wire Baud rate 9600 19200 38400 57600 115200 bps Communication format Data length 7 bit 8 bit Parity None odd even Stop bit 1 bit 2 bit Start code None End code None Connector shape Removable terminal block 5 pin Terminal layout of the COM port Terminal no Signal name Function ...

Page 111: ...rks between Ethernet ports Routing between Ethernet ports is not performed LED display LINK Lit when connection is established with the device on the Ethernet network ACT Flashes when some communication is performed such as transmitting commands and responses with the devices with established connections Note 1 The standards cite 100m as the maximum but noise resistance measures such as attaching ...

Page 112: ... 100BASE TX full duplex IEEE 802 3u Cable Shielded twisted pair TIA EIA 568B CAT5e or higher Topology Daisy chain No branching Insulation method Pulse transformer Connector 8 pin RJ45 Transmission distance Between nodes Max 100 m Communication cycle 500 us or more Operation command Profile position cyclic position speed torque 11 4 Communication Specifications 11 26 WUME GM1H 02 ...

Page 113: ... Detection when the cover is open Available Hold memory Use Hold variables Capacity 192 kB Clock calender Clock accuracy 95 seconds max per month at 0 15 seconds max per month at 25 130 seconds max per month at 55 Holding time maintained by the internal capacitor when a power failure occurs 14 days or more at 25 C Note 1 Note 1 The power ON time of five minutes or longer is required 11 5 Performan...

Page 114: ...11 6 Dimensions 11 6 1 Dimensions of the GM1 Controller RTEX compatible GM1 Controller Unit mm EtherCAT compatible GM1 Controller 11 6 Dimensions 11 28 WUME GM1H 02 ...

Page 115: ...Unit mm 11 6 2 Dimensions of the GM1 Expansion Unit Digital I O unit 11 6 Dimensions WUME GM1H 02 11 29 ...

Page 116: ...Unit mm Analog I O Unit Applicable model AGM1AD8 and AGM1DA4 Unit mm 11 6 Dimensions 11 30 WUME GM1H 02 ...

Page 117: ...Pulse Output Unit Unit mm 11 6 Dimensions WUME GM1H 02 11 31 ...

Page 118: ... MEMO 11 32 WUME GM1H 02 ...

Page 119: ...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: ...ard 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 any damage incurred by such defects Panasonic in accordan...

Page 121: ...rtation medical equipment various safety equipments or special equipments The wiring condition earth wire method and cables length and shield cable condition of signal lines may affect the noise resistance please confirm the noise resistance of the machine Failure of this product depending on its content may generate smoke of about one cigarette Take this into consideration when the application of...

Page 122: ... MEMO App 4 WUME GM1H 02 ...

Page 123: ...ver 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 Digital I O unit Source type Analog I O Unit Pulse Output Unit WUME GM1H 02 ...

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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