Panasonic AGM1PG04L Reference Manual Download Page 9

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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.................................................................................. 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 ................... 10-10

10.4 Home and Near Home Input Logic ...................................................10-11

10.4.1 When to Specify NO Contact ......................................................... 10-11
10.4.2 When to specify NC contact........................................................... 10-11

10.5 Practical Use for Home Return .........................................................10-13

10.5.1 Using Home Input Only.................................................................. 10-13
10.5.2 Using One Switch for Near Home Input and Home Input .............. 10-14

10.6 Over Limit Input.................................................................................10-17
10.7 Precautions on Programming ...........................................................10-19

11 Pulser Input Operation .......................................................................11-1

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

12 Deceleration Stop and Forced Stop ..................................................12-1

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

13 Feedback Counter...............................................................................13-1

13.1 Sample Program ...............................................................................13-2

13.1.1 Step Out Detection by Comparing Feedback Value with Elapsed

Value ................................................................................................. 13-2

WUME-GM1PG-01

Summary of Contents for AGM1PG04L

Page 1: ...Motion Controller GM1 Series Reference Manual Pulse Output Unit Applicable models AGM1PG04T AGM1PG04L WUME GM1PG 01 2021 8 ...

Page 2: ... MEMO 2 WUME GM1PG 01 ...

Page 3: ...or GM set up each function create projects and perform other operations GM1 Controller EtherCAT User 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 GM...

Page 4: ...s Acceleration deceleration This refers to acceleration from the startup speed to the target speed after the pulse output is issued or deceleration from the target speed to the startup speed CW CCW Generally these indicate the direction in which the motor is rotating with CW referring to clockwise rotation and CCW to counterclockwise rotation CW is an abbreviation for clockwise and CCW is an abbre...

Page 5: ...is is one output format used in pulse output signal circuits enabling to make connections in accordance with the voltage of the power supply being used by connecting an external resistance This is used when connecting a driver that does not have line driver input such as a stepping motor JOG operation This refers to an operation in which the motor is rotated only while operation commands are being...

Page 6: ...e effects of the noise Home input This refers to input of the reference position used for positioning and is connected to the Z phase signal of the servo amplifier or to an external input switch and sensor Near home input In order to stop the table at the home position a position at which deceleration begins is called the near home position This is connected to an external input switch or sensor I...

Page 7: ... of the GM1 Pulse Output Unit 3 7 3 3 2 Input Output Specifications 3 7 3 4 Supplying Power for Internal Circuit Drive 3 12 3 4 1 Line Driver Output Type 3 12 3 4 2 Transistor Output Type 3 12 3 5 Connection of Pulse Command Output Signal 3 13 3 5 1 Line Driver Output Type 3 13 3 5 2 Transistor Output Type 3 13 3 6 Connection of Servo ON Output 3 15 3 7 Connection of Deviation Counter Clear Output...

Page 8: ...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 5 6 5 4 2 Checking the External Safety Circuit 5 6 5 4 3 Checking the Safety Circuit based on Pulse Output Unit 5 6 5 4 4 Checking the Operation of the Near Home Switch and Home Switch 5 7 5 4 5 Checking Rotating and Moving Directions and Moving Distance 5 8 6 E Point ...

Page 9: ...1 10 4 1 When to Specify NO Contact 10 11 10 4 2 When to specify NC contact 10 11 10 5 Practical Use for Home Return 10 13 10 5 1 Using Home Input Only 10 13 10 5 2 Using One Switch for Near Home Input and Home Input 10 14 10 6 Over Limit Input 10 17 10 7 Precautions on Programming 10 19 11 Pulser Input Operation 11 1 11 1 Sample Program 11 2 11 1 1 Pulser Input Operation 11 2 11 2 Operation at Ov...

Page 10: ...Occurs 15 4 15 3 1 If the Pulse Output Unit ERROR LED Lights 15 4 15 3 2 What to Do When a Limit Error Occurs 15 4 15 3 3 If the Motor Does Not Turn if the LED for pulse output A or B is flashing or lit 15 4 15 3 4 If the Motor Does Not Turn if the LED for pulse output A or B is not lit 15 5 15 3 5 Rotation Movement Direction is Reversed 15 5 15 3 6 The Stopping Position is OFF for a Home Return 1...

Page 11: ...1 Before Using This Product 1 1 Safety Precautions 1 2 1 2 Handling Precautions 1 3 WUME GM1PG 01 1 1 ...

Page 12: ...oduct 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 the...

Page 13: ...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 GM1PG 01 1 3 ...

Page 14: ... MEMO 1 4 WUME GM1PG 01 ...

Page 15: ...t 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 2 5 2 2 3 Applicable Versions of Unit and Software 2 5 2 3 Names and Functions of Parts of the GM1 Pulse Output Unit 2 6 WUME GM1PG 01 2 1 ...

Page 16: ...l is possible for 4 axes The control is internally carried out independently for each axis so that highly accurate positioning is possible even with multiple axes As the simultaneous startup can be performed for multiple axes the linear interpolation control using user programs is also possible Quick start is possible The time until the pulse output starts can be selected from 0 001 ms 0 005 ms or...

Page 17: ...count input signals from devices such as an external encoder at high speed This function is applied for step out detection by comparing feedback values with elapsed values Input logic can be changed Input logic can be changed for home input near home input or over limit input which allows flexible system configuration 2 1 2 Unit Type and Product Number Unit type and product number Number of axes O...

Page 18: ...g the number of output pulses The number of pulses output is counted as an absolute value by an internal counter inside the pulse output unit which counts them as the elapsed value Counting range 2 147 483 648 to 2 147 483 647 signed 32 bit Counting the number of input pulses from the external encoder The number of pulses input is counted as an absolute value by an internal counter inside the puls...

Page 19: ...utput AGM1PG04T 100 mA or less Line driver output AGM1PG04L 2 2 3 Applicable Versions of Unit and Software For using the GM1 Pulse Output Unit the GM1 Controller and GM Programmer with the following versions are required Name Applicable version RTEX compatible GM1 Controller Sink type AGM1CSRX16T Ver 1 2 0 0 or later EtherCAT compatible GM1 Controller Sink type AGM1CSEC16T Ver 1 2 0 0 or later Eth...

Page 20: ... 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 not supplied Or there i...

Page 21: ... OFF 6 D 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 ou...

Page 22: ... MEMO 2 8 WUME GM1PG 01 ...

Page 23: ...3 5 1 Line Driver Output Type 3 13 3 5 2 Transistor Output Type 3 13 3 6 Connection of Servo ON Output 3 15 3 7 Connection of Deviation Counter Clear Output Signal 3 16 3 8 Connection of Home Input and Near Home Input Signals 3 17 3 8 1 Connection of Home Input When connecting to motor driver Z phase output 3 17 3 8 2 Connection of Home Input When connecting to an external switch sensor 3 17 3 8 3...

Page 24: ...ing twisted pair cables Signals applicable Transistor output Line driver output Servo ON output Deviation counter clear output Home input Motor driver Z phase Pulse input Pulser input feedback counter Output type Product No Wiring length Transistor output type AGM1PG04T 10 m Line driver output type AGM1PG04L 3 1 Precautions on Wiring 3 2 WUME GM1PG 01 ...

Page 25: ...the loose wires Discrete wire connector 40P Suitable wires strand wire Size Nominal cross sectional area Insulation thickness Rated current AWG22 0 3 mm2 1 5 to 1 1 3 A AWG24 0 2 mm2 AFP2801 Discrete wire Connector Purchase separately Manufacturer Composition of parts Unit type and required quantity Panasonic AFP2801 Housing 40P 1 pc Semi cover 40P 2 pcs Contact For AWG22 and AWG24 5 pins 8 pcs De...

Page 26: ...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 3 2 Connection Using the Discrete wire Connector 3 4 WUME...

Page 27: ...5 When all the wires have been inserted fit the semi cover into place 3 2 Connection Using the Discrete wire Connector WUME GM1PG 01 3 5 ...

Page 28: ...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 3 2 Connection Using the Discrete wire Connector 3 6 WUME GM1PG 01 ...

Page 29: ...r type are different from those of the line driver type However the specifications of the input terminal and the power supply terminal are the same for both types Output terminals Transistor output type Pin No Circuit Signal name Output specifications Axis 1 3 Axis 2 4 Item Description A1 A10 Pulse output A 5 VDC output Output type Open collector B1 B10 Pulse output A Open collector Operating volt...

Page 30: ...er clear Max load current 10 mA B7 B16 COM ON state max voltage drop 1 0 V 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 The time can be specified using the Parameter Power supply terminal common Pin No Circuit Signal name Power supply specifications Item Descriptio...

Page 31: ... impedance Approx 560 Ω Pulse width 100 μs or more B3 B12 Home input B4 B13 COM A5 A14 Near home input DOG 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 Over limit input Over limit input Positioning control start input Timing input 19 2 V DC 2 6 mA A6 A15 Over limit input Max OFF voltage current 2 V DC 1 5 mA B6 B15 Over limit input Input imp...

Page 32: ...range 3 5 to 5 25 V DC 5 V DC Line driver specifications B8 B17 Pulse input A Min ON voltage current 3 V DC 3 2 mA A9 A18 Pulse input B Max OFF voltage current 1 V DC 0 5 mA B9 B18 Pulse input B Input impedance Approx 560 Ω Pulse width 0 5 μs or more Max 1 MHz each phase 3 3 Input Output Specifications and Terminal Circuit Diagrams 3 10 WUME GM1PG 01 ...

Page 33: ...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 When the pulse inputs A and B are used as pulser input it is 2 phase input 3 3 Input Output Specifications and Terminal Circuit Diagrams WUME GM1PG 01 3 11 ...

Page 34: ...or Output Type The power supply for the pulser command output circuit can be taken from the 5 V DC output pins d Unit Motor driver Pulse command input at 5V output A1 A2 A10 A11 Pulse command output B1 B2 B10 B11 15 mAper signal can be used as a guide External power supply Usable voltage range Current consum ption 4 axis type 2 axis type 21 4 to 26 4V DC 90 mAor less 50 mAor less A20 B20 24V DC GN...

Page 35: ... 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 3 5 1 Line Driver Output Type 3 5 2 Transistor Output Type 3 5 Connection of Pulse Command Output Signal WUME GM1PG 01 3 13 ...

Page 36: ...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 3 5 Connection of Pulse Command Output Signal 3 14 WUME GM1PG 01 ...

Page 37: ...st be provided for the connection Connection Unit Servo ON Open collector Power supply If 15 mA is exceeded a registor must be added Motor driver Output specifications Output form Open collector Operating voltage range Max load current ON Max voltage drop GND 5 to 24V DC B7 B16 1V 10 mA 4 75 26 4V DC B5 B14 3 6 Connection of Servo ON Output WUME GM1PG 01 3 15 ...

Page 38: ...ifier An external power supply 5 V DC to 24 V DC must be provided for the connection Always use twisted pair cables for wiring The current which can be conducted as the deviation counter clear output signal is 10 mA max If this is exceeded a resistance should be added 3 7 Connection of Deviation Counter Clear Output Signal 3 16 WUME GM1PG 01 ...

Page 39: ...rent Max OFF voltage current Input impedance Min input pulse width 3 8 2 Connection of Home Input When connecting to an external switch sensor Connection Unit Home input 24V DC Home input 5V DC Home input Switch Power supply Input specifications at 24V DC Input voltage range Min ON voltage current Max OFF voltage current Input impedance Min input pulse width 24V DC GND 21 6 to 26 4V DC 19 2V DC 5 ...

Page 40: ...umbers B4 and B13 are common for the Near home input Over limit input Over limit input and Positioning control start input 3 8 5 Connection of Positioning Control Start Input Timing Input 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 Connection of Home Input and Near Home Input Signals 3 18 WUME GM1PG...

Page 41: ...ull up Type Connection Unit Pulse input A Pulse input A Pulse input B Pulse input B Power supply Encoder pulser A phase B phase 5V DC GND 560Ω 560Ω A8 A17 B8 B17 A9 A18 B9 B18 As the same pulser input terminal is used for pulser input operation and feedback pulse count either function of the two can only be used When counting the 2 phase input such as the input from the encoder set the pulse input...

Page 42: ... MEMO 3 20 WUME GM1PG 01 ...

Page 43: ... 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 4 12 4 7 2 Checking Servo ON Output 4 12 4 8 Internal Absolute Counter 4 13 4 8 1 Functions of Internal Absolute Counter 4 13 4 8 2 How the Internal Absolute Counter Operates 4 13 4 8 3 Reading Elapsed Value 4 13 4 8 4 Writing Elapsed Value 4 14 WUME GM1...

Page 44: ... a digital input unit product number AGM1X64D2 is added to Empty1 The procedure is as follows 1 Right click the Empty1 object in the navigation pane and then select Unit Management from the context sensitive menu that is displayed The Unit Management dialog box will be displayed 2 Double click the first row in the Device Unit_Configuration table The Select Device dialog box will be displayed 4 1 A...

Page 45: ... device object for the expansion unit to be added 4 Click the Select Device button The selected device object of the expansion unit will be added 5 Click the OK button 4 1 Adding Expansion Units WUME GM1PG 01 4 3 ...

Page 46: ...ng pane will be displayed in the main pane Specify settings related to the expansion unit To remove the device object of an expansion unit that has been added select the expansion unit to be removed in the Unit Management dialog box and press the Delete key or click the Delete button 4 1 Adding Expansion Units 4 4 WUME GM1PG 01 ...

Page 47: ...sistor output type Slot _Pulse_4Axes AGM1PG04T Note 1 The segments indicated by differ according to the expansion location Changing parameters of the pulse output unit connected to the 1st unit 1 Double click Slot1_Pulse_4Axes AGM1PG04L in the device pane 2 Click the Pulse_4Axes Parameters tab 3 Change the Parameter for every channel Parameter setting example Note 1 In this example the pulse input...

Page 48: ...lse Sign Pulse Sign CW CCW PulseOutputFrequencyDivisionMod e Pulse output divided mode Divided by 1 Divided by 1 Divided by 2 Divided by 4 Divided by 8 Divided by 16 Divided by 32 Divided by 64 Divided by 128 DeviationCounterClearTime Deviation counter clear time 1 ms 1 ms 10 ms AccelerationDecelerationMethod Acceleration Deceleration method Linear Acceleration Deceleration Linear Acceleration Dec...

Page 49: ...ation Pulser input pulse output transfer multiple x1 x1 x2 x5 x10 x50 x100 x500 x1000 StartupSpeed Startup speed u s 0 0 to 4294967295 PulseInputAorBSignalInCnst Pulse input A B signal time constant Not InCnst Not InCnst 0 1 us 0 5 us 1 0 us 2 0 us 10 0 us OriginInputInCnst Home input time constant Not InCnst Not InCnst 10 0 us 100 0 us 4 3 List of Pulse_4Axes Parameters WUME GM1PG 01 4 7 ...

Page 50: ...solute Absolute positioning E point control and P point control PG_MoveRelative Relative positioning E point control and P point control PG_LatchPosition JOG positioning PG_Stop Forced stop and deceleration stop PG_Pulser Pulser operation ON OFF PG_SetPosition Current position change PG_Home Home return PG_WriteParameter Parameter setting PG_ReadParameter Parameter acquisition PG_ReadStatus Status...

Page 51: ... the home position Use the Position input of the PG_MoveAbsolute function block Specifying examples The following describes an example for moving from the current position 20000 to a new position 30000 and then to another position 24000 Increment relative value control 1 Specify Distance 10000 and execute PG_MoveRelative 2 When the above operation is completed specify Distance 6000 and execute PG_...

Page 52: ...4 5 Increment and Absolute 4 10 WUME GM1PG 01 ...

Page 53: ...ut in a straight line Acceleration and deceleration take place at the acceleration deceleration set in function blocks S Acceleration Deceleration With S acceleration deceleration acceleration and deceleration between the startup speed and the target speed are carried out in a curve line S Acceleration deceleration patterns Sine curve and Cubic curve are available for S acceleration deceleration T...

Page 54: ...he servo OFF state 4 7 2 Checking Servo ON Output The state of the servo ON output of the unit can be checked using the Status output parameter of the PG_Power function block TRUE The axis can be executed FALSE The axis cannot be executed Program example ST Declaration section PROGRAM sample VAR PG_Power_0 PG_Power END_VAR Implementation section PG_Power_0 UnitID 1 AxisNo 1 Enable TRUE bRegulatorO...

Page 55: ...FF the counter value is set to zero 0 When the table returns to the home position by a home return the counter value automatically becomes zero 0 If the elapsed value exceeds the maximum or minimum value it returns to the minimum maximum value The pulse output does not stop if this occurs and no error occurs 4 8 3 Reading Elapsed Value The elapsed value can be read using the AbsoluteCounter output...

Page 56: ...on block In the following example the elapsed value 10000 is written Program example ST Declaration section PROGRAM sample VAR PG_SetPosition_0 PG_SetPosition END_VAR Implementation section PG_SetPosition_0 UnitID 1 AxisNo 1 Execute TRUE PositionType PG_POSITION_TYPE ABSOLUTE AbsoluteCounter 10000 4 8 Internal Absolute Counter 4 14 WUME GM1PG 01 ...

Page 57: ...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 5 6 5 4 2 Checking the External Safety Circuit 5 6 5 4 3 Checking the Safety Circuit based on Pulse Output Unit 5 6 5 4 4 Checking the Operation of the Near Home Switch and Home Switch 5 7 5 4 5 Checking Rotating and Moving Directions and Moving Distance 5 8 WUME GM1PG...

Page 58: ...he over limit switch Safety circuit based on the pulse output unit Install over limit switches as shown above Connect them to the over limit input and over limit input of the pulse output unit Safety circuit based on external circuit Install the safety circuit recommended by the manufacturer of the motor being used 5 1 Safety Circuit Design 5 2 WUME GM1PG 01 ...

Page 59: ...een installed properly 3 Checking the installation of the safety circuit based on the pulse output unit Check the connections between the pulse output unit and over limit switches Check the installation condition of the over limit switches 4 Checking the settings for power ON sequence Make sure settings have been entered so that power supplies will be turned on according to the procedure outlined ...

Page 60: ... supplies for the input and output devices connected to the PLC Including the power supply for the line driver output or open collector output 2 Turn ON the power supply for the PLC 3 Turn ON the power supply for the motor driver 5 3 2 Procedure for Turning OFF the Power When turning OFF the power supply to the system incorporating the pulse output unit turn OFF the power supply in the following o...

Page 61: ...F 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 5 3 Procedure for Turning On the Power WUME GM1PG 01 5 5 ...

Page 62: ...oving direction and moving distance 4 Checking the near home input and home input 5 4 2 Checking the External Safety Circuit Check the safety circuit recommended by the motor manufacturer to confirm the power supply cutoff of the motor driver and other functions by turning ON the CW CCW driving inhibition switch of an external circuit 5 4 3 Checking the Safety Circuit based on Pulse Output Unit 1 ...

Page 63: ...ver limit input ON Deceleration stop Error occurs Reverse Over limit input ON Deceleration stop Error occurs REFERENCE 4 3 List of Pulse_4Axes Parameters 5 4 4 Checking the Operation of the Near Home Switch and Home Switch 1 Perform a forced operation on the home input and near home input 1 1 Check to make sure the operation display LEDs on the pulse output unit light 1 2 Execute PG_Home to check ...

Page 64: ...otating direction and moving direction of the motor are correct The rotating direction is determined according to the installation of the ball screw or the CW CCW direction setting option of Pulse_4Axes Parameters 2 Confirm whether the moving distance is as designed or not by the position control The moving distance is determined according to the pitch of the ball screw deceleration gear ratio or ...

Page 65: ...ngle 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 6 1 ...

Page 66: ... 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 The following describes an example for moving from the current position 20000 to a new position with a relative distance 10000 Pulse output diagram 6 1 Sample Program 6 2 WUME GM1PG 01 ...

Page 67: ...u s2 10000 1 or more Note 1 Relative distance Distance u 10000 2147483648 to 2147483647 Note 1 Set each acceleration deceleration time to 32767 ms or less Program ST Declaration section PROGRAM sample VAR Process UDINT 0 PG_Power_0 PG_Power PG_MoveRelative_0 PG_MoveRelative END_VAR Implementation section CASE Process OF 0 Servo On PG_Power_0 UnitID 1 AxisNo 1 Enable TRUE bRegulatorOn TRUE IF PG_Po...

Page 68: ...ol 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 The following describes an example for moving from the current position 20000 to a target position 30000 Pulse output diagram 6 1 Sample Program 6 4 WUME GM1PG 01 ...

Page 69: ... u s2 10000 1 or more Note 1 Target position Position u 30000 2147483648 to 2147483647 Note 1 Set each acceleration deceleration time to 32767 ms or less Program ST Declaration section PROGRAM sample VAR Process UDINT 0 PG_Power_0 PG_Power PG_MoveAbsolute_0 PG_MoveAbsolute END_VAR Implementation section CASE Process OF 0 Servo On PG_Power_0 UnitID 1 AxisNo 1 Enable TRUE bRegulatorOn TRUE IF PG_Pow...

Page 70: ...AccDec 10000 END_CASE 6 1 Sample Program 6 6 WUME GM1PG 01 ...

Page 71: ...cutable Error occurs Over limit input ON Not executable Error occurs While E point control is being performed Forward Over limit input ON Stop Error occurs Over limit input ON Stop Error occurs Reverse Over limit input ON Stop Error occurs Over limit input ON Stop Error occurs Input valid logic of over limit input When the over limit switches are not connected to the pulse output unit change the i...

Page 72: ...eration 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 With the GM1 pulse output unit specify the speed startup speed and target speed in the unit of u s 1 u s 1 pps 6 3 Precautions on Programming 6 8 WUME GM1PG 01 ...

Page 73: ...age 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 7 1 ...

Page 74: ...t control Specify a positive value in the Distance input parameter of the PG_MoveRelative function block and execute it Set the 2nd and 3rd speeds at the timing when the ContinuousEnable output parameter turns TRUE The following describes an example for moving as shown below from the current position 10000 Pulse output diagram 7 1 Sample Program 7 2 WUME GM1PG 01 ...

Page 75: ...AccDec u s2 10000 10000 6000 1 or more Note 1 Relative distance Distance u 5000 15000 500 2147483648 to 2147483647 Note 1 Set each acceleration deceleration time to 32767 ms or less Sample program ST Declaration section PROGRAM sample VAR Process UDINT 0 PG_Power_0 PG_Power PG_MoveRelative_0 PG_MoveRelative END_VAR Implementation section CASE Process OF 0 Servo On PG_Power_0 UnitID 1 AxisNo 1 Enab...

Page 76: ...eRelative_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 UnitID 1 AxisNo 1 Execute TRUE Distance 6000 Velocity 500 AccDec 10000 END_CASE 7 1 Sample Program 7 4 WUME GM1PG 01 ...

Page 77: ...pecify a positive value in the Position input parameter of the PG_MoveAbsolute function block and execute it Set the 2nd and 3rd speeds at the timing when the ContinuousEnable output parameter turns TRUE The following describes an example for moving as shown below from the current position 10000 Pulse output diagram 7 1 Sample Program WUME GM1PG 01 7 5 ...

Page 78: ...n AccDec u s2 10000 10000 10000 1 or more Note 1 Target position Position u 15000 30000 36000 2147483648 to 2147483647 Note 1 Set each acceleration deceleration time to 32767 ms or less Program ST Declaration section PROGRAM sample VAR Process UDINT 0 PG_Power_0 PG_Power PG_MoveAbsolute_0 PG_MoveAbsolute END_VAR Implementation section CASE Process OF 0 Servo On PG_Power_0 UnitID 1 AxisNo 1 Enable ...

Page 79: ...eAbsolute_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 UnitID 1 AxisNo 1 Execute TRUE Position 36000 Velocity 500 AccDec 10000 END_CASE 7 1 Sample Program WUME GM1PG 01 7 7 ...

Page 80: ...cutable Error occurs Over limit input ON Not executable Error occurs While P point control is being performed Forward Over limit input ON Stop Error occurs Over limit input ON Stop Error occurs Reverse Over limit input ON Stop Error occurs Over limit input ON Stop Error occurs Input valid logic of over limit input When the over limit switches are not connected to the pulse output unit change the i...

Page 81: ... 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 7 3 Precautions On Programming WUME GM1PG 01 7 9 ...

Page 82: ... MEMO 7 10 WUME GM1PG 01 ...

Page 83: ... 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 8 1 ...

Page 84: ...erse rotation is performed using the external switch Use the PG_Jog function block 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 StartupSpeed Startup speed u s 500 0 to 4294967295 8 1 Sample Program 8 2 WUME GM1PG 01 ...

Page 85: ...se rotation Declaration section PROGRAM sample VAR Process UDINT 0 PG_Power_0 PG_Power PG_Jog_0 PG_Jog 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 END_IF 1 Execute the PG_Jog with JogForward PG_Jog_0 UnitID 1 AxisNo 1 JogForward TRUE JogBackward FALSE Velocity 10000 AccDec 10000 2 Chan...

Page 86: ...000 20000 0 to 4000000 Acceleration Deceleration AccDec u s2 10000 10000 1 or more Note 1 Note 1 Set each acceleration deceleration time to 32767 ms or less Program ST Declaration section PROGRAM sample VAR Process UDINT 0 PG_Power_0 PG_Power PG_Jog_0 PG_Jog 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 TRU...

Page 87: ...000 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 8 1 Sample Program WUME GM1PG 01 8 5 ...

Page 88: ...mit input valid for JOG operation home return and pulser operation is the one logically found in the direction of the movement Even if an over limit switch is input for a movement in direction or an over limit switch is input for a movement in direction the operation will not stop Make sure that an over limit switch is set in the direction of the elapsed value increment and an over limit switch in...

Page 89: ...pecify the speed startup speed and target speed in the unit of u s 1 u s 1 pps Characteristics of JOG operation function When re started during deceleration the rotation will again accelerate if in the same direction The target speed change during JOG operation is available only for Linear acceleration deceleration When S acceleration deceleration is selected the target speed changed will be ignor...

Page 90: ... MEMO 8 8 WUME GM1PG 01 ...

Page 91: ...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 9 1 ...

Page 92: ...ve 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 9 1 Sample Program 9 2 WUME GM1PG 01 ...

Page 93: ...u s2 10000 1 or more Note 1 Relative distance Distance u 10000 2147483648 to 2147483647 Note 1 Set each acceleration deceleration time to 32767 ms or less Program ST Declaration section PROGRAM sample VAR Process UDINT 0 PG_Power_0 PG_Power PG_LatchPosition_0 PG_LatchPosition END_VAR Implementation section CASE Process OF 0 Servo On PG_Power_0 UnitID 1 AxisNo 1 Enable TRUE bRegulatorOn TRUE IF PG_...

Page 94: ...AccDec 10000 END_CASE 9 1 Sample Program 9 4 WUME GM1PG 01 ...

Page 95: ...r occurs Reverse Over limit input ON Not executable Error occurs Over limit input ON Not executable Error occurs During JOG positioning operation Forward Over limit input ON Stop Error occurs Reverse Over limit input ON Stop Error occurs Input valid logic of over limit input When the over limit switches are not connected to the pulse output unit change the input valid logic of the over limit switc...

Page 96: ...hPosition function block in user programs instead of the input from external terminals It can be used when performing a debug Characteristics of JOG positioning operation function When JOG positioning operation is started with Positioning control start input Timing input turned ON the positioning control is immediately started When Positioning control start input Timing input is turned ON during a...

Page 97: ...Z Phase of Servo Amplifier 10 9 10 3 2 When the Home Input is Through an External Switch 10 10 10 4 Home and Near Home Input Logic 10 11 10 4 1 When to Specify NO Contact 10 11 10 4 2 When to specify NC contact 10 11 10 5 Practical Use for Home Return 10 13 10 5 1 Using Home Input Only 10 13 10 5 2 Using One Switch for Near Home Input and Home Input 10 14 10 6 Over Limit Input 10 17 10 7 Precautio...

Page 98: ...ome 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 The home input is connected to the Z phase output of the motor driver or to an external switch or a sensor 10 1 Sample Program 10 2 WUME GM1PG 01 ...

Page 99: ...irection Home return direction 0 Elapsed value decrement direction 0 Elapsed value decrement direction 1 Elapsed value increment direction OriginInputLogic Home input logic 1 NO contact 0 NC contact 1 NO contact OriginNeighborhoodLo gic Near home logic 0 NO contact 0 NO contact 1 NC contact OriginSearch Home search 1 Enable 0 Disable 1 Enable StartupSpeed Startup speed u s 500 0 to 4294967295 10 1...

Page 100: ...s or less Program ST Declaration section PROGRAM sample VAR Process UDINT 0 PG_Power_0 PG_Power PG_Home_0 PG_Home 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 END_IF 1 Execute the PG_Home PG_Home_0 UnitID 1 AxisNo 1 Execute TRUE Velocity 10000 AccDec 10000 END_CASE 10 1 Sample Program 1...

Page 101: ...ar home input is made during acceleration the table automatically reverses the direction to check ON near home input and then OFF near home input Then the home return operation is automatically executed 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...

Page 102: ... detected again the speed slows down from the target speed to the startup speed and the table stops at the home position When Near home input is ON during home return 1 Home return operation starts in the opposite direction of the one specified in the program When the near home return input changes from ON to OFF the table reverses its direction 10 2 Types of Home Return 10 6 WUME GM1PG 01 ...

Page 103: ...input Therefore the pulses are output only for the acceleration deceleration time that was specified in advance in the home return operation Not for the instant stop Change the acceleration deceleration to adjust the time before stopping the pulses and outputting the reverse pulse after the limit signal input 10 2 2 Home Search Invalid Mode What is Home search invalid mode The table does not rever...

Page 104: ...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 If the home switch is ON when the home return is started home return is immediately completed 10 2 Types of Home Return 10 8 WUME GM1PG 01 ...

Page 105: ...he motor continues to rotate at the startup speed until a Z phase signal is input When the home return is completed the elapsed value stored in the unit is cleared and at the same time the deviation counter clear output signal is output The output time of the deviation counter clear output signal can be changed using Pulse_4Axes Parameters Select either 1 ms or 10 ms When the home return is starte...

Page 106: ... startup speed until a home input signal is input When the home return is completed the elapsed value stored in the unit is cleared and at the same time the deviation counter clear output signal is output The deviation counter clear output signal can be changed using Pulse_4Axes Parameters Select either 1 ms or 10 ms When the home return is started at a position where both the near home input and ...

Page 107: ...me or near home position is detected 3 When the Z phase of the driver is connected Current flows when the home or near home position is detected 10 4 2 When to specify NC contact In cases like that below where power is supplied to the input circuit of the unit select NC contact for the parameter home input logic or the near home logic When to specify NC contact 1 If the input switch contact is the...

Page 108: ...Current stops when the home or near home position is detected 10 4 Home and Near Home Input Logic 10 12 WUME GM1PG 01 ...

Page 109: ...ollowing conditions Home input logic NO contact Near home Input logic NC contact Operation When home return is started the motor rotates in the direction of home return The motor rotates at the startup speed At this time the near home input is already ON due to the input logic setting The motor stops when the home input turns ON and becomes valid 10 5 Practical Use for Home Return WUME GM1PG 01 10...

Page 110: ...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 Applicable environment Applicable to a system in which the near home input switch is once turned ON and then OFF when the home return is started 10 5 Practical Use for Home Return 10 14 WUME GM1PG 01 ...

Page 111: ... input logic NC contact Operation When home return is started the motor rotates in the direction of home return When the near home input switch is turned ON the speed slows down to the startup speed The motor rotates further and the near home input will be OFF At this point the home input should already be ON as a result of the input logic and the motor stops 10 5 Practical Use for Home Return WUM...

Page 112: ... 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 5 Practical Use for Home Return 10 16 WUME GM1PG 01 ...

Page 113: ...valid logic of over limit input When the over limit switches are not connected to the pulse output unit change the over limit input valid logic of the Pulse_4Axes parameter to NO contact The default is NC contact and an over limit error occurs Precautions on over limit switch An over limit input valid for JOG operation home return and pulser operation is the one logically found in the direction of...

Page 114: ...4 Among the Pulse_4Axes parameters the rotation direction forward or reverse of pulse output is reversely specified 10 6 Over Limit Input 10 18 WUME GM1PG 01 ...

Page 115: ...programming Home return Set the startup speed to 1 u s or more The value set for the startup speed will be the setting for the creep speed The Pulse_4Axes parameter settings vary depending on the logic of the connected near home input or home input Characteristics of home return function The pulse output unit stops the pulse output within 1 μs from when the home input is ON The processing time is ...

Page 116: ... MEMO 10 20 WUME GM1PG 01 ...

Page 117: ...ation 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: ...ulser 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 Pulse output diagram 11 1 Sample Program 11 2 WUME GM1PG 01 ...

Page 119: ...PulseInOutMultiplicatio n Pulser input pulse output transfer multiple 0 x1 0 x1 1 x2 2 x5 3 x10 4 x50 5 x100 6 x500 7 x1000 PulseOutputMode Pulse output mode 0 Pulse Sign 0 Pulse Sign 1 CW CCW PG_Pulser parameter Parameter Set value Setting range Target speed Velocity u s 10000 0 to 4000000 Program ST Declaration section PG_Power PG_Pulser_0 PG_Pulser END_VAR Implementation section CASE Process OF...

Page 120: ...UnitID 1 AxisNo 1 Enable TRUE Velocity 10000 Ratio PG_PULSER_RATIO RATIO_x1 END_CASE 11 1 Sample Program 11 4 WUME GM1PG 01 ...

Page 121: ...t and an over limit error occurs Precautions on over limit switch An over limit input valid for JOG operation home return and pulser operation is the one logically found in the direction of the movement Even if an over limit switch is input for a movement in direction or an over limit switch is input for a movement in direction the operation will not stop Make sure that an over limit switch is set...

Page 122: ...ut such as the input from the encoder specify the parameter to set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 to prevent counting error Set the target speed to a moderately large value according to the pulse output transfer multiple during pulser input operation If the pulse output transfer multiple is large and the target speed is small the command for t...

Page 123: ...ransistor open collector output type or transistor output type with pull up resistance may be used Recommended manual pulsers Manufacturer Model Remarks Tokyo Sokuteikizai Co Ltd RE45BA2D5C Black with no TOSOKU logo mark Nemicon Corporation UFO 0025 2D Black with no logo mark Please visit the following site for inquiries about the manual pulsers Tokyo Sokuteikizai Co Ltd http www tosoku inc co jp ...

Page 124: ... MEMO 11 8 WUME GM1PG 01 ...

Page 125: ...eration 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: ...lock is executed with the StopMethod input parameter set to FALSE while the motor is in operation deceleration stop operation starts The pulse output is stopped when the speed is decelerated to the startup speed This operation is common to E point control P point control home Return JOG operation and JOG positioning operation For pulser input operation pulse output stops For each function block th...

Page 127: ...F 0 Servo On PG_Power_0 UnitID 1 AxisNo 1 Enable TRUE bRegulatorOn TRUE IF PG_Power_0 Status TRUE THEN Process 1 END_IF 1 Execute the PG_MoveRelative PG_MoveRelative_0 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...

Page 128: ... operation a forced stop is performed This operation is common to E point control P point control home return JOG operation JOG positioning operation and pulser input operation For each function block that is being operated CommandAborted is set to TRUE and the function block is interrupted Pulse output diagram Forced stop Parameter Settings PG_Stop parameter Parameter Set value Setting range Stop...

Page 129: ... 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 TRUE Forced stop END_IF END_CASE 12 1 3 Resuming Operation After Stop This section describes a program example for executing the PG...

Page 130: ..._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 END_IF 1 Execute the PG_MoveRelative PG_MoveRelative_0 12 1 Sample Program 12 6 WUME GM1PG 01 ...

Page 131: ...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 UnitID 1 AxisNo 1 Execute FALSE PG_MoveRelative_0 UnitID 1 AxisNo 1 Execute FALSE Process 2 END_IF 2 Execute the PG_MoveRelative PG_MoveRelative_0 UnitID 1 AxisNo 1 Execute TRUE Distance 10000 Velocity 10000 AccDec 10000 END_CASE 12 1 Sample Program WUME GM1P...

Page 132: ...psed 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 12 2 Precautions on Stop Operations 12 8 WUME GM1PG 01 ...

Page 133: ...n 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 13 5 WUME GM1PG 01 13 1 ...

Page 134: ...he following program a deceleration stop is performed when the following state is reached Pulse output elapsed value Pulse count of the feedback counter 1000 u Program ST Declaration section PROGRAM sample VAR Process UDINT 0 PG_Power_0 PG_Power PG_MoveRelative_0 PG_MoveRelative PG_Stop_0 PG_Stop PG_ReadStatus_0 PG_ReadStatus END_VAR Implementation section CASE Process OF 0 Servo On PG_Power_0 Uni...

Page 135: ... 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 13 1 Sample Program WUME GM1PG 01 13 3 ...

Page 136: ...are common to the feedback counter and pulser input They cannot be used for the same axis in combination with pulser input operation 13 2 2 Operation of Feedback Counter When the power supply is turned OFF the counter value is reset to zero 0 When home return is completed or an error is cleared PG_ClearError function block the counter value is reset to zero 0 If the count value exceeds the maximum...

Page 137: ... When the phase A is delayed by 90 degrees in electrical angle than the phase B the count value is decremented Individual In the individual input method the counter is incremented when the input A signal rises or falls and decremented when the input B signal rises or falls Direction discrimin ation For the direction detection input the count signal is connected to the input A signal The count dire...

Page 138: ...t operation of individual input Multiple Time chart Addition Subtraction 1 multiple 2 multiple Count operation of direction discrimination input Multiple Time chart Addition Subtraction 1 multiple 2 multiple 13 2 Feedback Counter Function 13 6 WUME GM1PG 01 ...

Page 139: ...it 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: ...e STOP mode during E point control operation V u s t ms At the point at which the Controller switches from the RUN to the STOP mode deceleration stop operation starts The acceleration rate used for deceleration follows the deceleration rate of the function block being executed The Controller mode should not be switched from RUN to STOP while positioning operation is being executed under normal usa...

Page 141: ...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 14 1 Precautions Relating to Basic Operations of the Unit WUME GM1PG 01 14 3 ...

Page 142: ... MEMO 14 4 WUME GM1PG 01 ...

Page 143: ...Lights 15 4 15 3 2 What to Do When a Limit Error Occurs 15 4 15 3 3 If the Motor Does Not Turn if the LED for pulse output A or B is flashing or lit 15 4 15 3 4 If the Motor Does Not Turn if the LED for pulse output A or B is not lit 15 5 15 3 5 Rotation Movement Direction is Reversed 15 5 15 3 6 The Stopping Position is OFF for a Home Return 15 6 15 3 7 Speed Does Not Slow Down for a Home Return ...

Page 144: ...l be initiated During operation If a limit error occurs the pulse output unit interrupts any operation currently in progress and starts the stop operation When a limit error occurs operation cannot be restarted until the error is cleared by executing the PG_ClearError function block Operation continues on other axes where the error has not occurred 15 1 2 If the Controller ERROR LED Lights The pul...

Page 145: ...rch is enabled Forward When the home position cannot be searched an error will be detected Note 2 Reverse JOG operation Forward Error Note 1 Error Note 1 Reverse Note 1 Error Note 1 Error JOG positioning operation Forward Error Error Error Error Reverse Error Error Error Error Pulser input operation Forward Error Note 1 Error Note 1 Reverse Note 3 Error Note 1 Error Operation when above error occu...

Page 146: ...ng the parameter Procedure 2 When the over limit input is OFF When the set over limit switch is ON clear the error status using the PG_ClearError function block Procedure 3 When the over limit input is OFF Execute either JOG operation or home return to move the table until the over limit switch goes OFF REFERENCE 4 3 List of Pulse_4Axes Parameters 15 3 3 If the Motor Does Not Turn if the LED for p...

Page 147: ...gic of the over limit switch In this case the error LED is lit 15 3 5 Rotation Movement Direction is Reversed Situation Solution 1 Make sure the wiring between the pulse output unit and the driver has been correctly connected Make sure the CW CCW output or the Pulse Sign output has been connected to the pertinent input on the driver side Solution 2 Make sure the command position of the function bl...

Page 148: ...inued down to the startup speed the unit will not stop even if there is home input Solution 1 Shift the position of the near home input switch in the direction of the home return to the position in the opposite direction Points to check If the home input is connected to the Z phase of the servo amplifier there may be cases in which the near home input position is close to the home input 15 3 What ...

Page 149: ...d OFF from an external source and check to see if the near home input display LED D on the pulse output unit lights Solution 2 Check to see if the input valid logic for the near home input switch is normally either ON or OFF Solution 3 Check the parameter for home return As a default the near home input is set to NO contact When the near home input is not connected the unit processes as the near h...

Page 150: ...n external source and check to see if the home input display LED Z on the pulse output unit lights Solution 2 Check to see if the input valid logic for the home input is normally either ON or OFF Solution 3 Check the parameter for home return As a default the home input is set to NC contact When the home input is not connected the unit processes as the home input is invalid REFERENCE 4 3 List of P...

Page 151: ...cations 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: ... function earth terminals 100 MΩ or later Vibration resistance Conforming to JIS B 3502 and IEC 61131 2 5 to 8 4 Hz 3 5 mm single amplitude 8 4 to 150 Hz acceleration 9 8 m s2 10 sweeps each in X Y and Z directions 1 octave min Shock resistance Conforming to JIS B 3502 and 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 50 ns 1 μs by using...

Page 153: ...r and S shaped acceleration deceleration P point control Linear and S shaped acceleration deceleration Home return Home search JOG operation Note 1 JOG positioning Pulser input operation Note 2 Transfer multiplication ratio x1 x2 x5 x10 x50 x100 x500 x1000 Real time frequency change function Startup time 0 001 ms 0 005 ms 0 02 ms Output interface Output mode Pulse Sign CW CCW Feedback counter func...

Page 154: ...lector B1 B10 Pulse output A Open collector Operating voltage range 4 75 to 26 4 V DC A2 A11 Pulse output B 5 VDC output Max load current 15 mA B2 B11 Pulse output B Open collector ON state max voltage drop 0 6 V Output terminals Line driver output type Pin No Circuit Signal name Output specifications Axis 1 3 Axis 2 4 Item Description A1 A10 Pulse output A Line driver Output type Line driver outp...

Page 155: ...4 V DC Consumption current 90 mA or less Note 1 The external power supply input terminals between two connectors are connected internally Input terminals common Pin No Circuit Signal name Input specifications Axis 1 3 Axis 2 4 Item Description A3 A12 Home input 24 V DC Z24 Operating voltage range 21 6 to 26 4 V DC Min ON voltage current 19 2 V DC 5 5 mA Max OFF voltage current 2 V DC 2 mA Input im...

Page 156: ... Near home input DOG Approx 3 6 kΩ Over limit input Over limit input Positioning control start input Timing input Approx 6 8 kΩ A19 B19 Positioning control start input Timing input Pulse width 500 μs or more A8 A17 A8 A17 A9 A18 B8 B17 B9 B18 Pulse input A Operating voltage range 3 5 to 5 25 V DC 5 V DC Line driver specifications B8 B17 Pulse input A Min ON voltage current 3 V DC 3 2 mA A9 A18 Pul...

Page 157: ...or 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 When the pulse inputs A and B are used as pulser input it is 2 phase input 16 2 Performance Specifications of the Pulse Output Unit WUME GM1PG 01 16 7 ...

Page 158: ...16 3 Dimensions 16 3 1 Pulse Output Unit Unit mm 16 3 Dimensions 16 8 WUME GM1PG 01 ...

Page 159: ...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: ...rd 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 accordanc...

Page 161: ...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 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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