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Panasonic GM1 Series Скачать руководство пользователя страница 411

11.5 Multi-axis Operation

This section explains multi-axis operations such as linear interpolation and circular interpolation.

11.5.1 Overview of Interpolation Control

Interpolation control is an operation that controls the loci of multiple axes by interlocking them.
The GM1 controller supports the following interpolation controls.

Function

Description

Remarks

Settings

Target position specification
method

Relative coordinates /
Absolute coordinates

Relative: Value relative to the
current value
Absolute: Coordinates based
on the machine zero point

Operation
setting
method

Tools

CNC editor

Setting
method

G-code input

Interpolation operation startup

Setting: CNC editor
Operation startup: Startup by
FB

Interpolation grouping

Determining the axis to be
used at the time of startup by
FB

Interpolation

Linear
interpolation

Composite
speed
specification

Maximum 3-axis linear
interpolation

Configuration parameters
Target coordinates (X, Y, Z),
velocity (F), acceleration /
deceleration (E)

Circular
interpolation

Center point
specification

Circular interpolation by
specifying a center point

Configuration parameters
Circular interpolation plane
(XY, YZ, ZX)
Target coordinates (X, Y, X),
center point (I, J, K)
Velocity (F), acceleration /
deceleration (E)

Radius

Circular interpolation based on
the current value, target
coordinates, and radius

Configuration parameters
Circular interpolation plane
(XY, YZ, ZX)
Target coordinates (X, Y, X),
radius (R)
Velocity (F), acceleration /
deceleration (E)

Helical interpolation

Circular interpo Helical
axis

Same as circular interpolation
(Center point and radius can
be specified)

Other
movements

Dwell time

Specifying the waiting time
between set movements

C-point control

Causing the axis to stop upon
completion of one movement
and then start next movement

This function can be executed
by inserting dwell time (0 ms)
or specifying parameters of
PMC_Interpolator2D or
PMC_Interpolator3D.

11.5 Multi-axis Operation

WUME-GM1RTXOP-01

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Содержание GM1 Series

Страница 1: ...Motion Controller GM1 Controller RTEX User s Manual Operation WUME GM1RTXOP 01 2021 2 ...

Страница 2: ... MEMO 2 WUME GM1RTXOP 01 ...

Страница 3: ...rence Manual Instruction WUME GM1PGR Explains the specifications of each instruction that can be used with the GM1 Series Copyright Trademarks The copyright of this manual is owned by Panasonic Corporation Unauthorized reproduction of this manual is strictly prohibited Windows is a registered trademark of Microsoft Corporation in the U S and other countries Ethernet is a registered trademark of Fu...

Страница 4: ...g through a Pass Point In this manual this control is referred to as P point control for the sake of convenience This method is used when target multi stage velocities are specified in a sequence of motions C point control Refers to control passing through a Continuance Point In this manual this control is referred to as C point control for the sake of convenience This method is used to execute co...

Страница 5: ...tioning table can be specified as a dwell time Software limit Limits in software can be set for the absolute coordinates managed by the GM1 Controller When the range of software limits is exceeded an error occurs causing the system to decelerate and stop Deceleration time can be set individually Torque control The output torque of the servo amplifier can be limited arbitrarily Servo ON Servo OFF T...

Страница 6: ... MEMO vi WUME GM1RTXOP 01 ...

Страница 7: ...nt Names 3 10 3 4 1 Menu Bar 3 10 3 4 2 Toolbar 3 17 3 4 3 Navigator Pane 3 21 3 4 4 Main Pane 3 22 3 4 5 Status Bar 3 23 3 5 Window Operations 3 25 3 5 1 Moving the Pane Location 3 25 3 5 2 Showing Hiding Panes 3 27 3 5 3 Switching the Tab of the Main Pane 3 28 3 5 4 Full screen Display 3 30 3 6 Switching the Object Window 3 31 3 6 1 Operating the Object Window 3 31 3 7 Other Functions 3 32 3 7 1...

Страница 8: ...p Servo Amplifiers 5 6 5 3 3 Adding and Setting up Free Encoder and Virtual Drive 5 9 5 4 Setting up Unit Control 5 13 5 4 1 Setting up General purpose I O PWM Output and High speed Counter for GM1 Controller 5 13 5 4 2 Adding Expansion Units 5 15 5 5 Setting up the Communication Function 5 19 5 5 1 Adding a Protocol to Be Used for the LAN Port 5 19 5 5 2 Adding a Protocol to Be Used for the COM P...

Страница 9: ...ng Elements from Toolbox 7 21 7 3 3 Inserting Elements from Toolbar 7 22 7 3 4 Setting up the SFC Editor 7 23 7 3 5 Setting SFC Program Execution Conditions 7 25 7 4 Programming in Function Block Diagram FBD 7 27 7 4 1 Entering Function Blocks 7 27 7 4 2 Inserting and Commenting out a Network Circuit 7 32 7 4 3 Input of Title and Comment FBD 7 32 7 4 4 Settings in FBD Program 7 32 7 5 Programming ...

Страница 10: ...2 8 7 Other Settings 8 14 8 7 1 Changing the Device Name 8 14 8 7 2 Sending Echo services 8 15 8 7 3 Device preference management 8 16 8 7 4 Confirmed online mode 8 18 8 8 Login Logout 8 20 8 8 1 Login 8 20 8 8 2 Logout 8 21 8 8 3 Download 8 21 8 8 4 Online Change 8 23 8 8 5 Code Analysis Static Analysis Light 8 23 8 9 Source Upload 8 27 8 10 Commissioning 8 29 8 10 1 Online Config Mode 8 29 8 10 ...

Страница 11: ...ion Function 10 2 10 2 Security Function 10 3 10 3 Security Function User Management 10 4 10 3 1 Project User Management 10 4 10 3 2 Creating a New User and Group 10 4 10 3 3 Setting Operation Privileges 10 8 10 3 4 Performing Operation with Privileges Set 10 10 10 3 5 Device User Management 10 11 10 4 Security Function Encryption 10 16 10 4 1 Encrypting Project Files 10 16 10 4 2 Encrypting the C...

Страница 12: ...ous Cam Operation 11 40 11 4 2 Synchronous Gear operation 11 46 11 5 Multi axis Operation 11 49 11 5 1 Overview of Interpolation Control 11 49 11 5 2 Linear Interpolation and Circular Interpolation 11 50 11 5 3 How to Use Interpolation Control 11 51 11 5 4 Registering a CNC Table 11 52 11 5 5 Overview of G code 11 63 11 5 6 G code Editor and Coding Rules 11 64 11 5 7 Movements Executed by Each G c...

Страница 13: ...Ratio 12 12 12 5 6 PWM Output Setting Example 12 12 12 6 High speed Counter Function 12 18 12 6 1 Overview of High speed Counter Function 12 18 12 6 2 Setting Parameters with GM Programmer 12 19 12 6 3 Counter Parameter Setting Items 12 22 12 6 4 I O Mapping for High speed Counter Output 12 25 12 6 5 Operation Ready Request 12 28 12 6 6 Count Function 12 31 12 6 7 Comparison Function 12 41 12 6 8 ...

Страница 14: ... Setting up Trace 14 11 14 3 2 Executing Trace 14 14 15 Overview of PANATERM Lite for GM 15 1 15 1 System Requirements 15 3 15 1 1 Usage Environment of PANATERM Lite for GM 15 3 15 2 Installation and Uninstallation 15 4 15 2 1 Installing PANATERM Lite for GM 15 4 15 2 2 Uninstalling PANATERM Lite for GM 15 4 15 3 Basic Operations 15 5 15 3 1 How to Start 15 5 15 3 2 How to Exit 15 7 15 4 Component...

Страница 15: ...on 15 40 15 11 2 Help Function 15 40 15 11 3 Version Display Function 15 40 15 12 Troubleshooting for Servo Amplifiers and Motors 15 42 15 12 1 I Cannot Set up 15 42 15 12 2 I Cannot Communicate 15 42 15 12 3 I Cannot Print 15 42 15 12 4 I Cannot Set up Axes 15 43 15 12 5 PANATERM Lite for GM Does Not Behave Normally 15 43 15 12 6 The Parameter Window Does Not Behave Normally 15 43 15 12 7 The Mon...

Страница 16: ... MEMO xvi WUME GM1RTXOP 01 ...

Страница 17: ...1 Before Using This Product 1 1 Safety Precautions 1 2 1 2 Handling Precautions 1 3 1 3 Software License Agreement 1 4 WUME GM1RTXOP 01 1 1 ...

Страница 18: ...duct 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 ...

Страница 19: ... 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 GM1RTXOP 01 1 3 ...

Страница 20: ...1 3 Software License Agreement 1 3 Software License Agreement 1 4 WUME GM1RTXOP 01 ...

Страница 21: ...1 3 Software License Agreement WUME GM1RTXOP 01 1 5 ...

Страница 22: ...1 3 Software License Agreement 1 6 WUME GM1RTXOP 01 ...

Страница 23: ...2 Operation Flow 2 1 System Configuration Diagram 2 2 2 2 Work Flowchart 2 4 WUME GM1RTXOP 01 2 1 ...

Страница 24: ...communicate with the GM1 Controller via Gateway No Name 1 GM1 controller 2 Expansion unit 3 End unit 4 Servo amplifier 5 PC on which GM Programmer and PANATERM Lite for GM are installed 6 Gateway CodeMeter 7 GM Programmer 8 PANATERM Lite for GM 9 Ethernet cable Note 1 10 USB cable Note 1 Note 1 Use either one of the two cables Ethernet cable or USB cable 2 1 System Configuration Diagram 2 2 WUME G...

Страница 25: ... for GM on the PC When GM Programmer is installed MINAS setup support software PANATERM Lite for GM Gateway the application that connects GM Programmer and the GM1 Controller and CodeMeter are installed at the same time 2 1 System Configuration Diagram WUME GM1RTXOP 01 2 3 ...

Страница 26: ...ngs of the RTEX axis 4 6 Conduct commissioning 4 7 Log in to the GM1 Controller 4 8 Log out from the GM1 Controller 5 Connect the GM1 Controller and PANATERM Lite for GM 5 1 Set up the servo amplifier connected to the GM1 Controller 5 2 Write parameters to the servo amplifier 6 Prepare for operation 6 1 Check if safety circuit design is implemented 6 2 Check wiring for each device 6 3 Perform an o...

Страница 27: ...ler P 8 20 9 3 Log out from the GM1 Controller P 8 21 9 4 Upload the source P 8 27 10 Configure security settings with GM Programmer P 10 3 10 1 Configure user management settings P 10 4 10 2 Configure encryption and signature settings P 10 16 10 3 Configure write protection settings P 10 25 2 2 Work Flowchart WUME GM1RTXOP 01 2 5 ...

Страница 28: ... MEMO 2 6 WUME GM1RTXOP 01 ...

Страница 29: ... 10 3 4 2 Toolbar 3 17 3 4 3 Navigator Pane 3 21 3 4 4 Main Pane 3 22 3 4 5 Status Bar 3 23 3 5 Window Operations 3 25 3 5 1 Moving the Pane Location 3 25 3 5 2 Showing Hiding Panes 3 27 3 5 3 Switching the Tab of the Main Pane 3 28 3 5 4 Full screen Display 3 30 3 6 Switching the Object Window 3 31 3 6 1 Operating the Object Window 3 31 3 7 Other Functions 3 32 3 7 1 Option Setting Function 3 32 ...

Страница 30: ...PC with the following installed Microsoft NET Framework 4 6 1 or higher Microsoft Visual C 2010 SP1 Redistributable Package x86 Microsoft Visual 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 Pa...

Страница 31: ...unning be sure to close all the applications before installing GM Programmer 1 Double click setup exe The following window will be displayed Click OK 2 The following window will be displayed Click Install The display content differs according to the PC environment that you use This window may not be displayed at all depending on the situation 3 2 Installation and Uninstallation WUME GM1RTXOP 01 3 ...

Страница 32: ...ms in the license agreement and click Next 5 The following window will be displayed If you change the installation destination folder click Change and specify a desired installation destination If you do not change the installation destination folder click Next 3 2 Installation and Uninstallation 3 4 WUME GM1RTXOP 01 ...

Страница 33: ... window below will be displayed Click Install to start the installation 7 The following window will be displayed while the installation is in progress 3 2 Installation and Uninstallation WUME GM1RTXOP 01 3 5 ...

Страница 34: ...ftware CODESYS SoftMotion _P GMPLibrary PANATERM Lite for GM V These packages take a long time to install Take care not to click Cancel while the installation is in progress 8 When the installation of all the packages is completed the following window will be displayed Click Finish 3 2 Installation and Uninstallation 3 6 WUME GM1RTXOP 01 ...

Страница 35: ...Panel and then click Uninstall a program A list of installed programs will be displayed 2 Double click Panasonic GM Programmer The following window will be displayed Yes 3 Click the Yes button The GM Programmer will be uninstalled When the GM Programmer is uninstalled PANATERM Lite for GM and Gateway are also uninstalled at the same time CodeMeter will not be uninstalled at this time Uninstall it ...

Страница 36: ...tart and quit GM Programmer 3 3 1 How to start 1 Click the Start button and select Panasonic Corpration GM Programmer The User Account Control dialog box will be displayed Click Yes GM Programmer will be started 3 3 Basic Operations 3 8 WUME GM1RTXOP 01 ...

Страница 37: ...le Exit If changes have not been saved the following window will be displayed If exiting without saving select No If changes need to be saved select Yes to perform the save process 2 Click the Yes button GM Programmer will be closed You can also close GM Programmer by clicking the button on the title bar 3 3 Basic Operations WUME GM1RTXOP 01 3 9 ...

Страница 38: ... 4 Navigator pane The navigator pane displays the objects such as devices applications and programs added to the project in a tree structure 5 Main pane The main pane displays a program function settings messages and other data The window can be switched by selecting a desired tab 6 Status field The status bar displays the build status logged in users and other information 3 4 1 Menu Bar The menu ...

Страница 39: ...ects all text Find Replace Used to find and replace a string Item Function Find Opens the Find dialog box Replace Opens the Replace dialog box Find in Project Opens the Find dialog box to find the target within the entire project Replace in Project Opens the Replace dialog box to replace the target within the entire project Find Next Finds the next match from the selected cursor position within th...

Страница 40: ... View Whitespace Displays the control characters of spaces and tabs View Indentation Guides Inserts a broken line between indents when an indent is inserted in the program code Go To Line Displays a line number dialog box and moves the cursor to the specified line Make Uppercase Converts the selected character string in the text editor to uppercase letters Make Lowercase Converts the selected char...

Страница 41: ...o Declare dialog box to support variable declaration Next Message Selects the next message in the message view Previous Message Selects the previous message in the message view Go To Source Position Moves to the position of the source code applicable to the message selected in the message view Refactoring Displays the positions where the changed variable name is used and allows changes to be made ...

Страница 42: ...ent in the program window Item Function Create Localization Template Creates and saves a localization template Manage Localizations Imports a localization template that has been created Toggle Localization Switches the language in the project Document Allows the user to print the entire project Compare Compares the displayed project with the stored project Commit accepted changes Commits the diffe...

Страница 43: ...tory Allows the user to check any errors that occurred in the GM1 controller Reset Warm Initializes variables other than the RETAIN and PERSISTENT variables Reset Cold Initializes variables other than the PERSISTENT variable Reset Origin Initializes all variables Removes active applications from the GM1 controller Simulation Allows the user to perform a login operation without connecting to the GM...

Страница 44: ...e of the called block Step Out When the program is executed within the called block the execution continues until control returns to the calling block When the program is executed outside the called block the execution continues until control returns to the beginning of the program Run to Cursor Executes the program up to the line specified by the cursor Set next Statement Regards the line specifi...

Страница 45: ...Horizontal Tab Group Moves the selected window downward New Vertical Tab Group Moves the selected window to the right Float Sets the selected window in a floating state Dock Sets the selected window in a docking state Auto Hide Minimizes the window Next Pane Switches the pane between the declaration section first pane and the implementation section second pane Previous Pane Switches the pane betwe...

Страница 46: ...pears in the active editor and replaces it with another character string Find in Project Searches for a specified character string within the current project Replace in Project Searches for a specified character string within the current project and replaces it with another character string Toggle Bookmark Saves the position selected in the active editor as a bookmark Previous Bookmark active edit...

Страница 47: ...am line by line When a block function or function block is executed in the block invocation location the cursor moves to the first line of the called block Step Out When the program is executed within the called block the execution continues until control returns to the calling block When the program is executed outside the called block the execution continues until control returns to the beginnin...

Страница 48: ...losed contact in the specified position Insert Contact right Inserts a normally open contact on the right side of the specified position Insert Contact Parallel below Inserts a normally open contact below and in parallel with the contact at the specified position Insert Negated Contact Parallel below Inserts a normally closed contact below and in parallel with the contact at the specified position...

Страница 49: ... the selected element Set Reset Converts the selected coil to a set coil or reset coil Set output connection Converts box output to forwarding box output Insert Branch Inserts a branch on the right side of the selected contact Insert Branch below Inserts a new branch below the selected branch Insert Branch above Inserts a new branch above the selected branch Set Branch Start End Point Sets the sel...

Страница 50: ...ate Auto Hide Minimizes the navigator pane to hide it Auto Hide Always shows the navigator pane Minimizes the navigator pane to hide it Close Closes the navigator pane 2 Device object Sets up device objects 3 Application object Sets up application objects 4 Program object POU object Sets up program objects POU objects 5 Task object Sets up task objects 3 4 4 Main Pane The main pane displays the fo...

Страница 51: ...lements in the implementation section by selecting them and then dragging and dropping them in the implementation section 3 4 5 Status Bar The status bar displays the following icons Name Icon Function Last Build Displays the number of errors in the results of the build process Displays the number of warnings in the results of the build process Precompile Displays the results of the precompile pro...

Страница 52: ...Compares the application information of the displayed project with the application information downloaded to the GM1 controller Project user Displays the users who are logged in to the displayed project 3 4 Component Names 3 24 WUME GM1RTXOP 01 ...

Страница 53: ...to move the navigator pane from the left edge to the right edge of the window 1 Click the title bar of the navigator pane and then drag it to the main pane The navigator pane will stay in a floating state and arrows indicating movable directions will be displayed 2 Drag the navigator pane in the direction in which you want to move it The relocation destination will be displayed in light blue 3 5 W...

Страница 54: ...l state From the menu bar select Window Reset Window Layout You can put a pane in a floating or docking state To put a pane in a floating state select Window Float from the menu bar To put a pane in a docking state right click the title bar in the window in a floating state and then select Dock from the context sensitive menu that is displayed 3 5 Window Operations 3 26 WUME GM1RTXOP 01 ...

Страница 55: ...r pane 1 Click on the title bar of the navigator pane The navigator pane will be minimized and hidden 2 Click the minimized pane The navigator pane will be displayed Clicking in another pane automatically hides the navigator pane again 3 Click on the title bar of the navigator pane The navigator pane will always be displayed 3 5 Window Operations WUME GM1RTXOP 01 3 27 ...

Страница 56: ... the navigator pane again select Window Auto Hide again from the menu bar 3 5 3 Switching the Tab of the Main Pane You can switch the tab of the main pane 1 Press the shortcut keys Ctrl Tab simultaneously The window for switching the tab of the main pane will be displayed 3 5 Window Operations 3 28 WUME GM1RTXOP 01 ...

Страница 57: ...While holding down the Ctrl key press the Tab key until the desired tab is selected 3 Release the Ctrl key The current tab will be switched to the selected tab 3 5 Window Operations WUME GM1RTXOP 01 3 29 ...

Страница 58: ...Then GM Programmer window will be displayed in full screen mode 2 From the menu bar select View Full Screen again Then GM Programmer window will return from full screen mode to normal display mode You can also switch to full screen mode by pressing shortcut keys Ctrl Shift F12 simultaneously 3 5 Window Operations 3 30 WUME GM1RTXOP 01 ...

Страница 59: ...main pane Operation Menu Shortcut keys Displaying the next window Window Next Editor Ctrl F6 Displaying the previous window Window Previous Editor Ctrl Shift F6 Closing all windows Window Close All Editors None Moving the selected window downward Window New Horizontal Tab Group None Moving the selected window to the right Window New Vertical Tab Group None Moving the selected window downward New V...

Страница 60: ...ar select Tools Options The Options dialog box will be displayed No Name Function 1 Categories pane Displays option categories 2 Setting pane Displays the settings of the selected category and allows the user to configure settings Option categories Category name Function Reference page CFC Editor Allows the user to configure settings related to editing and printing CFC programs 3 7 Other Functions...

Страница 61: ... Allows the user to configure settings for the valid range of refactoring P 7 52 Load and save Allows the user to configure settings regarding whether to enable backup and auto saving of project files P 4 24 P 4 26 International Settings Allows the user to set a display language for GM Programmer and PANATERM Lite for GM as well as a display language for the manual P 3 33 Declaration Editor Allows...

Страница 62: ...ged yet 5 Close GM Programmer and then start GM Programmer again After GM Programmer is started the selected language takes effect The display language setting of GM Programmer is linked with that of PANATERM Lite for GM Therefore if the display language setting of PANATERM Lite for GM is changed the display language setting of GM Programmer will also be changed automatically 3 7 3 Online Help Fun...

Страница 63: ... displayed window will be displayed You can also start online help by selecting Help Manual from the menu bar 3 7 4 Version Display Function This function allows the user to check the version license and other information for GM Programmer 3 7 Other Functions WUME GM1RTXOP 01 3 35 ...

Страница 64: ...dow Button Description Version Info Displays information about the plug ins that have been applied and the operating system of the PC that is used License Info Displays license information for the software used by GM Programmer Clicking the Version Info button displays the Version Info dialog box 3 7 Other Functions 3 36 WUME GM1RTXOP 01 ...

Страница 65: ...Clicking the License Info button displays the License Information dialog box 3 7 Other Functions WUME GM1RTXOP 01 3 37 ...

Страница 66: ... MEMO 3 38 WUME GM1RTXOP 01 ...

Страница 67: ... 4 7 2 Adding Devices 4 16 4 8 Setting up A Project 4 18 4 9 Exporting and Importing Objects 4 20 4 9 1 Exporting Objects 4 20 4 9 2 Importing Objects 4 21 4 10 Creating a Backup when a Project Is Saved 4 24 4 11 Automatically Saving Project Files 4 26 4 12 Printing a Project 4 28 4 13 Printing an Object within a Project 4 30 4 14 Comparing Projects 4 31 4 14 1 Project Comparison Method 4 31 4 14 ...

Страница 68: ...ow is an example that explains the procedure to create a project for the GM1 controller product number AGM1CSRX16T in Structured Text ST format 1 Start up the GM Programmer For details on how to start up refer to 3 3 1 How to start When the GM Programmer is successfully started the Start Page will be displayed 2 Select New Project under Basic Operations The New Project dialog box will be displayed...

Страница 69: ...ect storage location in the Location field 4 Click the OK button The Standard Project dialog box will be displayed 5 Select AGM1CSRX16T Panasonic Corporation in the Device field and Structured Text ST in the Program in field and click the OK button 4 1 Creating a New Project WUME GM1RTXOP 01 4 3 ...

Страница 70: ... the navigator pane No Name Function 1 Device object Sets up device objects 2 Application object Sets up application objects 3 Program object POU object Sets up program objects POU objects 4 Task object Sets up task objects A new project can also be created from the menu bar by selecting File New Project 4 1 Creating a New Project 4 4 WUME GM1RTXOP 01 ...

Страница 71: ... s A project that has been created will be saved displayed on the right side of the project file name will disappear Before saving a project you can change its project name From the menu bar select File Save Project As Project files can be saved automatically For details refer to 4 11 Automatically Saving Project Files Before updating a file you can save it as a backup file For details refer to 4 ...

Страница 72: ...1 From the menu bar select File Open Project The Open Project dialog box will be displayed 2 Select a project file and click the Open button The selected project file will be opened 4 3 Opening a Project 4 6 WUME GM1RTXOP 01 ...

Страница 73: ... that has been created will be closed If you select Close Project without saving a project file that has been updated a confirmation dialog box will be displayed asking whether to save the project Click the Yes button to save the project 4 4 Closing a Project WUME GM1RTXOP 01 4 7 ...

Страница 74: ...4 5 Device Tree Configuration When a new project is created it is started in the device tree configuration shown below Sample1 Project name 4 5 Device Tree Configuration 4 8 WUME GM1RTXOP 01 ...

Страница 75: ...lly RTEX_Master Object that is the parent node of servo amplifiers for RTEX SoftMotion General Axis Pool Object that is an interface for inserting a free drive unit Unit_Configuration Object that is the parent node of I O related devices IO_Configuration General purpose I O incorporated in GM1 controller PWM_Configuration PWM output incorporated in GM1 controller Counter_Configuration High speed c...

Страница 76: ...4 6 Project Configuration 4 6 Project Configuration 4 10 WUME GM1RTXOP 01 ...

Страница 77: ...iables Property Persistent variable Property MotionTask Program call 2 User folder UserTask Check the following list for devices that can be added Addition source Added device Device Modbus COM RTEX_Master RTEX_A5N RTEX_A6N SoftMotion General Axis Pool SM_FreeEncoder SM_Drive_Virtual Unit_Configuration or Empty1 to Empty15 AGM1X64D2 AGM1XY64D2T AGM1Y64T LAN Port1 Modbus TCP Master ModbusTCP Slave ...

Страница 78: ...4 7 1 Adding Objects Program creation objects POU objects and objects with various functions can be added to applications within a project For example use the following procedure to add POU objects for ST programs 1 Right click the Application object in the navigator pane and then select Add Object POU from the context sensitive menu that is displayed The Add POU dialog box will be displayed 4 7 A...

Страница 79: ...2 Enter a program name in the Name field select a programming language from the Implementation Language drop down list and click the Add button 4 7 Adding an Object WUME GM1RTXOP 01 4 13 ...

Страница 80: ...A POU object for the programming language selected in the Implementation Language drop down list will be added to the navigator pane 4 7 Adding an Object 4 14 WUME GM1RTXOP 01 ...

Страница 81: ... object in the navigator pane By adding objects under each folder you can create a hierarchical structure Right click the Application object in the navigator pane and then select Add Folder from the context sensitive menu that is displayed The Add Folder dialog box will be displayed Enter a folder name and click the OK button Example When a POU object is added under an added folder program for pro...

Страница 82: ...o add a Modbus COM device to Device AGM1CSRX16T 1 Right click Device AGM1CSRX16T in the navigator pane and then select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 2 Select Modbus COM and click the Add Device button 4 7 Adding an Object 4 16 WUME GM1RTXOP 01 ...

Страница 83: ...The Modbus COM object will be added to the navigator pane 4 7 Adding an Object WUME GM1RTXOP 01 4 17 ...

Страница 84: ...tegories 2 Setting pane Displays the settings of the selected category and allows the user to configure settings Project setting categories Category name Function Reference page SFC Allows the user to configure settings related to variables used in SFC and code generation P 7 23 SoftMotion Displays the version of the SoftMotion package P 5 9 Sraric Analysis Light Allows the user to configure setti...

Страница 85: ...er to configure settings related to project file encryption using passwords P 10 16 Page Setup Allows the user to configure printing related settings Users and Groups Allows the user to add edit and remove users and groups for project user management P 10 4 2 Select a desired category from the Categories pane The setting items for the selected category will be displayed in the setting pane 3 Chang...

Страница 86: ...e menu bar select Project Export The Export dialog box will be displayed To import an object into GM Programmer select only one object below the Application object and export it 2 Select objects to be exported Normally there is no need to make changes 3 Click the OK button The Export dialog box will be displayed If necessary change the file name and save destination 4 9 Exporting and Importing Obj...

Страница 87: ...s exported to a project into GM Programmer For example use the following procedure to import objects below the Application object 1 Select the Application object in the navigator pane and then select Project Import from the menu bar The Import dialog box will be displayed 4 9 Exporting and Importing Objects WUME GM1RTXOP 01 4 21 ...

Страница 88: ...th extension export and click the Open button The Import dialog box will be displayed Objects that can be imported will be displayed in the Insertable items area 4 9 Exporting and Importing Objects 4 22 WUME GM1RTXOP 01 ...

Страница 89: ...ion object is selected 3 Clear the check boxes of the objects that do not need to be imported and click the OK button Import will be executed The objects that have been imported will be displayed below the Application object in the navigator pane 4 9 Exporting and Importing Objects WUME GM1RTXOP 01 4 23 ...

Страница 90: ... Tools Options The Options dialog box will be displayed 2 Select the Load and Save category The Load and Save pane will be displayed 3 Select the Create backup files check box and click the OK button Then whenever a project is saved the project file to be updated will be automatically saved as a backup file with extension backup 4 10 Creating a Backup when a Project Is Saved 4 24 WUME GM1RTXOP 01 ...

Страница 91: ...restore a project file that has been backed up manually change the extension of the file from backup to project and then open the project file in GM Programmer 4 10 Creating a Backup when a Project Is Saved WUME GM1RTXOP 01 4 25 ...

Страница 92: ...an be restored The extension of backup files is autosave 1 From the menu bar select Tools Options The Options dialog box will be displayed 2 Select the Load and Save category The Load and Save pane will be displayed 3 Select the Automatically save evey check box and click the OK button The automatic save interval can be changed in minutes default value 10 minutes 4 11 Automatically Saving Project ...

Страница 93: ...losed due to abnormal termination of GM Programmer when you open the project file again you can select either the original project file with extension project or the automatically saved project file with extension autosave To open the automatically saved project file click the Open Auto Save File button 4 11 Automatically Saving Project Files WUME GM1RTXOP 01 4 27 ...

Страница 94: ... Project dialog box will be displayed 2 Select the check boxes of the devices and objects for which documents are to be printed and click the OK button The Print dialog box will be displayed Select a printer to be used and click the OK button Documents will be printed 4 12 Printing a Project 4 28 WUME GM1RTXOP 01 ...

Страница 95: ...d look like when printed You can edit page orientation margin header footer table of contents and title page details From the menu bar select File Page Setup The Project Settings dialog box will appear with the Page Setup pane displayed Select the tab of the item to be changed and change the settings 4 12 Printing a Project WUME GM1RTXOP 01 4 29 ...

Страница 96: ... an Object within a Project 1 With the object editor opened from the menu bar select File Print The Print dialog box will be displayed Execute printing 4 13 Printing an Object within a Project 4 30 WUME GM1RTXOP 01 ...

Страница 97: ... 1 From the menu bar select Project Compare The Project Comparison dialog box will be displayed 2 In the Project on disk field specify a project file to be compared with and click the OK button The comparison results will be displayed in the main pane The backgrounds of object lines with differences are displayed in gray The text color of each object indicates the type of difference 4 14 Comparing...

Страница 98: ...ence in contents 3 Object with a difference in properties 4 Added object 5 Opened project 6 Specified project Double clicking an object line with a difference in contents displays the object comparison results 4 14 Comparing Projects 4 32 WUME GM1RTXOP 01 ...

Страница 99: ...d object lines are displayed The above window in which comparison results are displayed will be switched to the window shown below If the differences displayed as variable bVar0 and empty lines that have been added differ from the specifications of variable bVar0 differences will be displayed as changes in variable bVar0 4 14 Comparing Projects WUME GM1RTXOP 01 4 33 ...

Страница 100: ...cation and click the Accept Block button or Accept Single button The difference will be merged into the opened project The background of the merged section will be displayed in yellow At this stage the merged content has not been reflected in the project yet To reflect the merged content approval operation is required as below Accept Block button Merges the entire block containing the difference a...

Страница 101: ... whose properties are different select an object with differences and click the icon The Accept dialog box will be displayed Select the Properties check box and click the OK button 4 14 Comparing Projects WUME GM1RTXOP 01 4 35 ...

Страница 102: ... MEMO 4 36 WUME GM1RTXOP 01 ...

Страница 103: ... 3 3 Adding and Setting up Free Encoder and Virtual Drive 5 9 5 4 Setting up Unit Control 5 13 5 4 1 Setting up General purpose I O PWM Output and High speed Counter for GM1 Controller 5 13 5 4 2 Adding Expansion Units 5 15 5 5 Setting up the Communication Function 5 19 5 5 1 Adding a Protocol to Be Used for the LAN Port 5 19 5 5 2 Adding a Protocol to Be Used for the COM Port 5 22 WUME GM1RTXOP 0...

Страница 104: ...for free encoders and virtual drives to a project and set them up Refer to 5 3 Setting up Motion Control 3 Setting up unit control This section explains how to set up general purpose I O PWM output and high speed counter for the GM1 controller This section explains how to add device objects for expansion units to a project and set them up Refer to 5 4 Setting up Unit Control 4 Setting up the commu...

Страница 105: ...r the GM1 controller 1 Double click the Device object in the navigator pane In the Device pane the Communication Settings sub pane will be displayed 2 Click the PLC parameters tab The parameter settings sub pane will be displayed 5 2 Setting up the GM1 Controller WUME GM1RTXOP 01 5 3 ...

Страница 106: ... want to update A unit error occurred Select whether to stop or continue operation when an error occurs LAN port1 Change the IP address of LAN port1 LAN port2 Change the IP address of LAN port2 5 2 Setting up the GM1 Controller 5 4 WUME GM1RTXOP 01 ...

Страница 107: ...trol 5 3 1 Setting up RTEX Master Set the communication control cycle for RTEX 1 Double click RTEX_Master The RTEX_Master editor will open 2 Set the communication control cycle 5 3 Setting up Motion Control WUME GM1RTXOP 01 5 5 ...

Страница 108: ...xplains how to add device objects for A6N servo amplifiers to a project and how to set them up 1 Right click the RTEX_Master object in the navigator pane and then select Device Management from the context sensitive menu that is displayed The Device Management dialog box will be displayed 5 3 Setting up Motion Control 5 6 WUME GM1RTXOP 01 ...

Страница 109: ...e Device RTEX_Master table The Select Device dialog box will be displayed 3 Select a device object for the servo amplifier The selected device object of the servo amplifier will be added 5 3 Setting up Motion Control WUME GM1RTXOP 01 5 7 ...

Страница 110: ... Select Device button 5 Click the OK button The selected device object of the servo amplifier will be added to the navigator pane 6 Double click the added object 5 3 Setting up Motion Control 5 8 WUME GM1RTXOP 01 ...

Страница 111: ...der and Virtual Drive This section explains how to add device objects for free encoders and virtual drives to a project and set them up For example use the following procedure to add a device object for a virtual drive to a project and set it up 1 Right click the SoftMotion General Axis Pool object in the navigator pane and then select Device Management from the context sensitive menu that is disp...

Страница 112: ...ox will be displayed 2 Double click the first row in the Device SoftMotion drive table The Select Device dialog box will be displayed 3 Select a device object for the virtual drive 5 3 Setting up Motion Control 5 10 WUME GM1RTXOP 01 ...

Страница 113: ...cted device object of the virtual drive will be added 5 Click the OK button The selected device object of the virtual drive will be added to the navigator pane 6 Double click the added object 5 3 Setting up Motion Control WUME GM1RTXOP 01 5 11 ...

Страница 114: ...d in the main pane Specify settings related to the virtual drive To remove a device object that has been added select the device object in the navigator pane and press the Delete key 5 3 Setting up Motion Control 5 12 WUME GM1RTXOP 01 ...

Страница 115: ...n below For details on general purpose I O refer to 12 4 General purpose I O For details on PMW output refer to 12 5 PWM Output For details on the high speed counter function refer to 12 6 High speed Counter Function For example use the following procedure to set up a high speed counter 1 In the navigator pane double click the Counter_Configuration object The high speed counter setting window will...

Страница 116: ...tion 3 Select the Counter I O Mapping tab and set the correspondence mapping between the channel and variable in the mapping setting pane Click the Variable column corresponding to the channel to be used by the program and enter a variable name Clicking the mark in the Mapping column allows you to change the type of mapping 5 4 Setting up Unit Control 5 14 WUME GM1RTXOP 01 ...

Страница 117: ...ding Expansion Units This section explains how to add device objects for expansion units to a project and set them up For example use the following procedure to add a digital input unit product number AGM1X64D2 to Empty1 1 Right click the Empty1 object in the navigator pane and then select Unit Management from the context sensitive menu that is displayed 5 4 Setting up Unit Control WUME GM1RTXOP 0...

Страница 118: ...be displayed 2 Double click the first row in the Device Unit_Configuration table The Select Device dialog box will be displayed 3 Select a device object for the expansion unit to be added 5 4 Setting up Unit Control 5 16 WUME GM1RTXOP 01 ...

Страница 119: ...dded 5 Click the OK button The selected device object of the expansion unit will be added to the navigator pane 6 Double click the added object The setting pane will be displayed in the main pane Specify settings related to the expansion unit 5 4 Setting up Unit Control WUME GM1RTXOP 01 5 17 ...

Страница 120: ...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 5 4 Setting up Unit Control 5 18 WUME GM1RTXOP 01 ...

Страница 121: ...ject and set it up For example use the following procedure to add an object of Modbus TCP to LANPort1 and set it up 1 Right click the LANPort1 object in the navigator pane and then select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 2 Select device Modbus TCP Master 5 5 Setting up the Communication Function WUME GM1RTXOP 01 5 19 ...

Страница 122: ...e Then add object ModbusTCP_Slave_Device below object Modbus_TCP_Master 4 Right click the LANPort1 object and then select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 5 5 Setting up the Communication Function 5 20 WUME GM1RTXOP 01 ...

Страница 123: ...5 Select device Modbus TCP Slave Device 6 Click the Add Device button The ModbusTCP_Slave_Device object will be added 5 5 Setting up the Communication Function WUME GM1RTXOP 01 5 21 ...

Страница 124: ...rotocol to Be Used for the COM Port This section explains how to add an object of the protocol to be used for the COM port to a project and set it up For example use the following procedure to add an object of Modbus RTU to the COM port and set it up 1 Right click the Device object in the navigator pane and then select Add Device from the context sensitive menu that is displayed 5 5 Setting up the...

Страница 125: ...The Add Device dialog box will be displayed 2 Select device Modbus COM 5 5 Setting up the Communication Function WUME GM1RTXOP 01 5 23 ...

Страница 126: ...bject Modbus_Master_COM_Port below object Modbus_COM 4 Right click the Modbus_COM object in the navigator pane and then select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 5 5 Setting up the Communication Function 5 24 WUME GM1RTXOP 01 ...

Страница 127: ...5 Select device Modbus Master COM Port 6 Click the Add Device button The Modbus_Master_COM_Port object will be added 5 5 Setting up the Communication Function WUME GM1RTXOP 01 5 25 ...

Страница 128: ...uble click the added Modbus_Master_COM_Port object The setting pane will be displayed in the main pane Specify settings related to Modbus RTU 5 5 Setting up the Communication Function 5 26 WUME GM1RTXOP 01 ...

Страница 129: ...ng a Program Object POU Object 6 14 6 4 Types of Programming Language 6 15 6 5 Variables 6 18 6 5 1 Standard Data Types 6 18 6 5 2 Array 6 19 6 5 3 Subrange Types 6 19 6 5 4 Structure Enumeration Alias and Union Data Types 6 20 6 5 5 Constants 6 24 6 5 6 Object for Global Variable Declaration 6 24 6 5 7 Global Variables 6 25 6 5 8 Persistent Variables 6 27 6 5 9 Short Form Function 6 30 6 6 Functi...

Страница 130: ... If there are any errors return to Step 2 and correct the program 4 Registering for a task refer to 7 9 Tasks Register the POU objects to be executed on the GM1 controller for a task GM Programmer provides support functions that can be used to create programs efficiently For details on support functions refer to 7 7 Program Creation Support Functions Programs consisting of functions and function b...

Страница 131: ...tion second pane To switch the selected pane from the menu bar select Window Next Pane or Previous Pane You can also hide the declaration section first pane or the implementation section second pane To hide the declaration section from the menu bar select Window Toggle First Pane To hide the implementation section from the menu bar select Window Toggle Second Pane When the cursor stays in a variab...

Страница 132: ...me in the Name column For other items double click each cell to set the cell in an input enabled state and enter values as necessary To sort variables use the icon Move up or Move down To delete variables use the icon Delete When adding a program name or program name comment click the declaration header section The Edit Declaration Header dialog box will be displayed Text format As is the case wit...

Страница 133: ...nt Function You can set the display format to be used as below 1 From the menu bar select Tools Options The Options dialog box will be displayed 2 In the Options dialog box select the Declaration Editor category 3 Select a desired display format 6 2 3 Auto Declaration If a variable that has not been declared in the declaration section is entered in the implementation section the Auto Declare dialo...

Страница 134: ...eck boxes in the Flag section you can set variable attributes CONSTANT Declares the variable as a constant Enter a default value RETAIN Declares the variable as a retain variable For retain variables values are not reset even if warm reset is performed For details on warm reset refer to 9 5 1 Reset Warm Reset Cold and Reset Origin PERSISTENT Declares the variable as a persistent variable To declar...

Страница 135: ...Array Wizard you can declare an array only by entering an index and base type Click on the right side of the Type field and select Array Wizard 6 2 4 Toolbox Programs can be created by dragging the programming elements displayed in the toolbox For programs other than ST programs programming elements are displayed in the toolbox For details on how to create programs refer to the section related to ...

Страница 136: ...menu bar select Tools Options to open the Options dialog box In the Options dialog box select the Text editor category and change the settings Theme Item name Default value Settings Theme Default Sets a color scheme theme for the text editor Default Dark 6 2 Program Creation Window 6 8 WUME GM1RTXOP 01 ...

Страница 137: ... mark will be added and a line break will be inserted automatically If 0 is selected in the Wrap margin drop down list a line break will be inserted at the right edge of the editor window Hard If the number of characters entered in a single line exceeds the value specified in Wrap margin a line break will be inserted automatically However a code continuation mark will not be added If the number of...

Страница 138: ...ntation automatically Block Inserts indentation with the same width as that of the previous line at the time of line feed Auto Inserts indentation automatically for lines following a line containing keywords such as VAR according to the setting of Indent width Smart with code completion Inserts applicable keywords such as END_IF and END_VAR automatically in addition to the behavior performed by Au...

Страница 139: ...line selected by the cursor by changing the color of the line number If the Line numbering check box is cleared the current line will not be highlighted Selected Highlights the current line by changing the color of the line number Cleared Does not change the color of the line number Show bracket scope Selected Displays a scope in the space on the left side of the line number to indicate the beginn...

Страница 140: ...s not display a monitoring field Number of displayed digits 3 Sets the number of digits after the decimal point that are displayed in the monitoring field Setting range 1 to 20 String length 10 Sets the maximum length of string variables in the monitoring field Setting range 1 to 80 6 2 6 Window Operations for the Program Input Window You can perform window operations such as increasing the displa...

Страница 141: ... opens the enlarged view tool window The display at the cursor position is enlarged in the window 4 Current display size This section indicates the current display size of the program input window 5 Change display size This icon is used to change the display size Clicking the icon displays a menu Select a desired size Selecting displays the Enlarge dialog box where you can enter a magnification ra...

Страница 142: ... you want to use different programs within a project you must add POU objects Adding POU objects To add POU objects right click the Application object in the navigator pane and then select Add Object POU from the context sensitive menu that is displayed For details refer to 4 7 1 Adding Objects 6 3 Creating a Program Object POU Object 6 14 WUME GM1RTXOP 01 ...

Страница 143: ...network circuit It also allows the use of functions and function blocks with various functions Structured Text program ST program Structured Text is a programming language that creates expressions conditional statements and other program elements in text format It is based on the Pascal programming language and suitable for numerical calculation data processing and processing such as conditional b...

Страница 144: ...pliant with IEC 61131 3 Continuous Function Chart CFC and Page Oriented CFC can also be used Instruction List program IL program Instruction List is a programming language that creates assembler like instructions sequentially in text format This language is suitable when you want to perform high speed processing restrict the memory usage and perform other similar operations In addition to the five...

Страница 145: ...unction blocks and other elements on the screen Elements can be freely arranged on the screen and the order of execution can be specified CFC allows the user to create a program on a single screen while Page Oriented CFC allows the user to create a program while switching the screen called a page CFC program Page Oriented CFC program 6 4 Types of Programming Language WUME GM1RTXOP 01 6 17 ...

Страница 146: ...T 2 147 483 648 to 2 147 483 647 32 Integer UDINT 0 to 4 294 967 295 32 Integer LINT 263 to 263 1 64 Integer ULINT 0 to 264 1 64 Floating point number REAL 3 402823e 38 to 3 402823e 38 32 Floating point number LREAL 1 7976931348623158 e 308 to 1 7976931348623158e 308 64 Character string STRING Number of characters 1 8 Character string WSTRING Number of characters 1 16 Time TIME 0 to 4 294 967 295 ...

Страница 147: ...be automatically checked when variables in an array are accessed Use a POU for implicit checks that checks boundaries For details refer to 10 7 POU for implicit checks Using the array wizard for auto declaration enables array variables to be declared only by entering index and base types For details refer to 6 2 3 Auto Declaration 6 5 3 Subrange Types GM Programmer allows the use of subrange types...

Страница 148: ...ructure Enumeration Alias and Union Data Types User defined structure enumeration alias and union data types can be declared using DUT objects When using these data types add DUT objects to the project 1 Right click the Application object in the navigator pane and then select Add Object DUT from the context sensitive menu that is displayed The Add DUT dialog box will be displayed The name in the N...

Страница 149: ...ata type 3 Select an object to be added and enter definitions in the main pane How to define and use each data type is described below Structure The following is an example of declaring structures struct1 and strcut2 struct2 is an extended structure of struct1 To extend a structure before declaration select the Extends check box in Step 2 and enter an extension declaration 6 5 Variables WUME GM1RT...

Страница 150: ...he members of struct1 and struct2 Example An ST program that accesses members of structure struct2 The BIT data type can be used as members of a structure TRUE 1 or FALSE 0 can be used as a value The size of the BIT data type is one bit 6 5 Variables 6 22 WUME GM1RTXOP 01 ...

Страница 151: ... a variable by using an alias defined in the declaration section The following are an alias declaration that defines alias alias1 for LINT and an example of a declaration section that declares variable iVar0 of the alias1 data type Variable iVar0 declared as the alias1 data type is handled as a variable for the LINT data type Union The following are a union declaration that defines union union1 an...

Страница 152: ... t T time TIME Examples T 12ms T 12h32m24s Time LTIME 64 bit time constants In addition to TIME constants the following units can be used Microsecond m Nanosecond ns Syntax LTIME Example LTIME 123m456ns Time TIME_OF_DAY Time Syntax tod TOD time_of_day TIME_OF_DAY Example tod 12 24 20 123 Date DATE Date Syntax d D date DATE Example d 2018 01 01 Date and time DATE_AND_TIME Date and time Syntax dt DT...

Страница 153: ... for declaring global variables that are persistent variables From Add Object select Persistent Variables For details refer to 6 5 8 Persistent Variables 6 5 7 Global Variables GM Programmer allows the use of global variables that can be used with all projects Global variables are declared within the global variable list GVL object This section explains how to declare global variables and access t...

Страница 154: ...es in the global variable list GVL Example Declaring global variable g_iVar0 of INT data type The declared variable can be accessed from the program by using name variable name Example Substituting value 5 for global variable g_iVar0 6 5 Variables 6 26 WUME GM1RTXOP 01 ...

Страница 155: ...e check box for import or the check box for export and enter the path to the file to be imported or exported in the File name field 6 5 8 Persistent Variables GM Programmer allows the use of global variables that are persistent variables which hold values without initializing them at the time of reset Persistent variables that can be used as global variables are declared within the persistent vari...

Страница 156: ...t Variable from the context sensitive menu that is displayed The Add Persistent Variable dialog box will be displayed 2 Enter a name for the persistent variable list and click the Add button A Persistent variable list object will be added to the navigator pane 6 5 Variables 6 28 WUME GM1RTXOP 01 ...

Страница 157: ... variable list Example Declaring global variable g_iVar0 that is a persistent variable of INT type The declared variable can be accessed from the program by using name variable name Example Substituting value 6 for global variable g_iVar0 that is a persistent variable 6 5 Variables WUME GM1RTXOP 01 6 29 ...

Страница 158: ... the declaration section in character string format enables variables to be declared by entering fewer characters Example Declaring Boolean variables bVar0 and bVar1 with the short form function 1 Enter variables bVar0 and bVar1 and press the Ctrl key Enter key simultaneously bVar0 bVar1 BOOL will be entered automatically The table below shows examples of input using the short form function String...

Страница 159: ...Input in short form Result after the Ctrl key Enter key are pressed simultaneously strVar S 8 strVar STRING 8 wVar w wVar comment wVar WORD wVar comment 6 5 Variables WUME GM1RTXOP 01 6 31 ...

Страница 160: ...enerated Output variable and internal variable values are saved Object oriented definitions can be made by using EXTENDS inheritance IMPLEMENTS interface implementation or access qualifiers 6 6 1 Function A function generates one output in response to one or more inputs Functions can be used without declaring variables For example use the following procedure to create and invoke function ADD_SUB w...

Страница 161: ...own list In the Name field specify a function name In the Return type field select a return value to be output when the function is executed From the Implementation Language drop down list select a programming language that is used to code function processing 3 Click the Add button A POU object of the function will be added 6 6 Function and Function Block WUME GM1RTXOP 01 6 33 ...

Страница 162: ...he variable of the function name This completes the function creation procedure Next the procedure for invoking the created function is explained below 5 Open the POU object from which the function is to be invoked and invoke the function The function can be invoked by using its name To invoke the function there is no need to declare variables Example Invoking the function from LD program 6 6 Func...

Страница 163: ...e VAR_OUTPUT in the declaration section of the POU object that defines the function Example Definition of function ADD_SUB to which variable iOut that outputs the sum of three input variables is added Invoking function ADD_SUB from LD program Invoking function ADD_SUB from ST program 6 6 Function and Function Block WUME GM1RTXOP 01 6 35 ...

Страница 164: ...ht click the Application object in the navigator pane and then select Add Object POU from the context sensitive menu that is displayed The Add POU dialog box will be displayed 2 Select the Function block check box enter a name in the Name field and select a programming language from the Implementation Language drop down list In the Name field specify a function block name In the Implementation Lan...

Страница 165: ...e 4 Enter function block processing Open the POU object of the function block and create a function block In VAR_INPUT declare input variables to the function block In VAR_OUTPUT declare output variables from the function block This completes the function block creation procedure 6 6 Function and Function Block WUME GM1RTXOP 01 6 37 ...

Страница 166: ...lock Declare an instance name in the form of instance name function block name as shown below 6 Invoke the instance of the function block Invoking the instance of the function block executes the processing defined with the function block Input variables and output variables can be accessed by specifying instance variable name Example Invoking the instance from LD program Example Invoking the insta...

Страница 167: ...xecution Conditions 7 25 7 4 Programming in Function Block Diagram FBD 7 27 7 4 1 Entering Function Blocks 7 27 7 4 2 Inserting and Commenting out a Network Circuit 7 32 7 4 3 Input of Title and Comment FBD 7 32 7 4 4 Settings in FBD Program 7 32 7 5 Programming in Instruction List IL 7 34 7 5 1 Entering Instructions and Operands 7 34 7 5 2 Settings in IL Program 7 36 7 6 Programming in Continuous...

Страница 168: ...8 3 Code Generation 7 59 7 8 4 Clean 7 60 7 8 5 Clean All 7 61 7 9 Tasks 7 62 7 9 1 Adding Programs 7 62 7 9 2 Adding a UserTask 7 67 7 9 3 Task Configuration Window 7 69 7 Entering Programs in Each Programming Language 7 2 WUME GM1RTXOP 01 ...

Страница 169: ...Set the object setup language to Ladder Diagram LD 7 1 1 Inserting Contacts Coils and Function Blocks This section explains how to create an LD program that consists of the normally open contact coil and function block TON shown below 1 In Toolbox select Ladder elements Contact and drag the mouse until Start here is displayed in the main pane Start here will be displayed in the implementation sect...

Страница 170: ... procedure Right click in the network circuit and select Insert Contact from the context sensitive menu that is displayed Click the icon on the toolbar From the menu bar select FBD LD IL Insert Contact Press the Ctrl key k key simultaneously 2 Select of the normally open contact and enter variable bVar0 and then press the Enter key The Auto Declare dialog box will be displayed 3 Click the OK butto...

Страница 171: ...Add output or jump here turns green When you stop dragging the mouse at the position of Add output or jump here a coil will be placed in the network circuit 5 Select of the coil and enter variable bCoil0 and then press the Enter key The Auto Declare dialog box will be displayed 6 Click the OK button Variable bCoil0 will be declared in the declaration section 7 1 Programming in Ladder Diagram LD WU...

Страница 172: ...ll be displayed TON will be placed in the implementation section 8 Select TON and enter a variable name and then press the Enter key The Auto Declare dialog box for TON will be displayed 9 Click the OK button The name of TON will be declared as variable TON_0 7 1 Programming in Ladder Diagram LD 7 6 WUME GM1RTXOP 01 ...

Страница 173: ...elected Right click the normally open contact and select Edge Detection from the context sensitive menu that is displayed From the menu bar select FBD LD IL Edge Detection Press the Ctrl key e key simultaneously Click the icon on the toolbar If the above procedure is performed one more time the normally open contact that is placed can be set as a normally open contact for detecting a falling edge ...

Страница 174: ...select Ladder elements Parallel contact and drag the mouse until the position of displayed on the right side of the normally open contact is reached The normally open contacts will be placed in parallel with the other one Placing a contact in parallel with multiple contacts The following explains how to place a contact in parallel with multiple contacts While holding down the Ctrl key select relev...

Страница 175: ...d in parallel with the selected contacts 7 1 3 Inserting a Network Circuit This section explains how to insert a new network circuit 1 In Toolbox select General Network and drag the mouse until displayed in the network circuit in the main pane is reached 7 1 Programming in Ladder Diagram LD WUME GM1RTXOP 01 7 9 ...

Страница 176: ... LD IL Insert Network below Press the Ctrl key t key simultaneously To add a network circuit above the existing network in Toolbox select General Network and drag the mouse until the position of is reached To remove a network circuit select the network circuit and press the Delete key 7 1 4 Inserting a Branch This section explains how to add a branch by specifying the starting point and end point ...

Страница 177: ...oint of a branch is displayed between contacts bVar1 and bVar2 Blue square marks indicate candidates for the end point of the branch 2 Click the blue square mark between contacts bVar3 and bVar4 A branch that extends from the point between contacts bVar1 and bVar2 to the point between contacts bVar3 and bVar4 will be inserted 7 1 5 Input of Title and Comment LD The Ladder Diagram programming langu...

Страница 178: ...uit comment A comment can be assigned to each network circuit Click the top left of the network circuit and enter a comment 4 Operand comment This is a comment on a variable Different comments can be assigned to the same variable Click a position above each variable in the implementation section and enter a comment To display titles and comments you must configure settings Open the Options window ...

Страница 179: ...ting out a Network Circuit Networks circuits can be commented out A network circuit that is commented out cannot be executed 1 Select a network circuit to be commented out 2 Click the icon Toggle Network Comment State on the toolbar The network circuit will be commented out To cancel the comment out state perform the same operation again 7 1 Programming in Ladder Diagram LD WUME GM1RTXOP 01 7 13 ...

Страница 180: ...Right click in the network circuit and select Toggle network comment state from the context sensitive menu that is displayed From the menu bar select FBD LD IL Toggle network comment state Press the Ctrl key o key simultaneously 7 1 Programming in Ladder Diagram LD 7 14 WUME GM1RTXOP 01 ...

Страница 181: ...be used Item Example Assignment statement The value of the right side is set on the left side Example iVar1 4 Set assignment statement If the value of the right side is judged to be TRUE TRUE will be set on the left side Once the value of the left side is judged to be TRUE the left side will maintain TRUE even if the value of the right side is judged to be FALSE Do not leave any spaces between S a...

Страница 182: ...bordinate instructions are executed according to the judgment result Example CASE iVar0 OF 1 iVar1 iVar1 2 2 iVar1 iVar1 4 ELSE iVar1 iVar1 8 END_CASE REPEAT instruction Conditions are judged and subordinate instructions are executed repeatedly as long as the conditions are satisfied Example REPEAT iVar0 iVar0 1 UNTIL iVar0 100 END_REPEAT EXIT instruction The EXIT instruction is used to terminate ...

Страница 183: ...omatically AutoFormat check box in the Options window 7 2 2 Commenting out Code in ST Program In ST programs code can be commented out Program code that is commented out cannot be executed Comment type Description Single line Program code from to the end of the line is treated as a comment Example bVar1 2 Single line comment Multiple lines Program code from to is treated as a comment can also be i...

Страница 184: ...Example Single line and multiple line comments 7 2 Programming in Structured Text ST 7 18 WUME GM1RTXOP 01 ...

Страница 185: ...ditor is divided into the declaration section and implementation section Three elements are originally coded in the implementation section 7 3 1 Inserting Elements from Menu For example step elements and transition elements can be inserted from the menu as below 1 Select the TRUE transition element in the implementation section The selected transition element will turn red 2 Click the right mouse ...

Страница 186: ... Trans0 element 4 Click the right mouse button and select Insert Step transition from the context sensitive menu that is displayed Step1 step element and Trans1 transition element will be inserted above the Trans0 transition element 7 3 Programming in Sequential Function Chart SFC 7 20 WUME GM1RTXOP 01 ...

Страница 187: ...ng a step element as an example 1 In Toolbox select Step and then drag the step element to the position where you want to insert it When you drag the step element to the insertion position the step element is transformed into 2 Stop dragging the mouse The step element will be inserted 7 3 Programming in Sequential Function Chart SFC WUME GM1RTXOP 01 7 21 ...

Страница 188: ...ill turn red 2 Click the icon Insert Step transition After on the toolbar Step0 step element and Trans0 transition element will be inserted below the TRUE element 3 Select the Trans0 transition element and click the icon Insert Step transition on the toolbar Step1 step element and Trans1 transition element will be inserted above the Trans0 transition element 7 3 Programming in Sequential Function ...

Страница 189: ...fault value Function Elements Step height 2 Sets the height of a step Setting range 1 to 100 matrix units Note 1 Step width 6 Sets the width of a step Setting range 2 to 100 matrix units Note 1 Action width 6 Sets the width of an action Setting range 2 to 100 matrix units Note 1 Qualifier width 3 Sets the width of a qualifier Setting range 2 to 100 matrix units Note 1 Property width 6 Sets the wid...

Страница 190: ...operations is to be executed is checked each time an action is initially added to a step Embedde d Objects Show actions and transition objects in navigator pane Selected This check box is used to specify whether to display the actions embedded in steps in the navigator pane when an action is added to a step by Copy implementation Selected An action that is embedded in a step by Copy implementation...

Страница 191: ...nditions Setting SFC program execution conditions For SFC programs within a project you can specify whether to generate code for variables used to check processing or for active transitions during build From the menu bar select Project Project Settings In the Project Settings dialog box select the SFC category The settings will be applied to all SFC objects The Properties dialog box for SFC object...

Страница 192: ...ettings tab and clear the Use default check box Clearing the check box allows settings to be changed and the Properties dialog box to be enabled for only particular SFC objects 7 3 Programming in Sequential Function Chart SFC 7 26 WUME GM1RTXOP 01 ...

Страница 193: ...s a window like the one shown below It consists of the declaration section used to declare variables and the implementation section used to enter program data Elements can be arranged in the implementation section by selecting them from Toolbox and then dragging and dropping them in the implementation section 7 4 1 Entering Function Blocks This section explains the procedure for entering function ...

Страница 194: ... section When you drag the mouse until the position of Start here is reached the display of Start here turns green When you stop dragging the mouse at the position of Start here function block TON will be placed in the network circuit 2 Select TON and enter variable TON_0 and then press the Enter key The Auto Declare dialog box will be displayed 7 4 Programming in Function Block Diagram FBD 7 28 W...

Страница 195: ...tion section 4 Select beside IN of function block TON and enter variable bVar0 and then press the Enter key The Auto Declare dialog box will be displayed 5 Click the OK button Variable bVar0 will be declared in the declaration section 7 4 Programming in Function Block Diagram FBD WUME GM1RTXOP 01 7 29 ...

Страница 196: ...s entered the Auto Declare dialog box is displayed When making a declaration check that the type is Time 7 In Toolbox select General Assignment and drag the mouse until a diamond shaped icon appears on the right side of output Q in function block TON 7 4 Programming in Function Block Diagram FBD 7 30 WUME GM1RTXOP 01 ...

Страница 197: ...le bVar1 and then press the Enter key The Auto Declare dialog box will be displayed Declare variable bVar1 The FBD program can be converted and displayed as an LD program From the menu bar select FBD LD IL View and select a post conversion programming language 7 4 Programming in Function Block Diagram FBD WUME GM1RTXOP 01 7 31 ...

Страница 198: ...r to 7 1 6 Commenting out a Network Circuit 7 4 3 Input of Title and Comment FBD In FBD programs titles and comments can be entered in the same way as for LD programs Refer to 7 1 5 Input of Title and Comment LD 7 4 4 Settings in FBD Program For FBD programs the following settings can be configured Open the Options window by selecting Tools Options select the FBD LD and IL editors category and spe...

Страница 199: ...h straight line Selects whether to fix the shortest length of a line connecting boxes Behavior Default network content Selects whether to arrange elements and variables automatically or arrange nothing when a network circuit is inserted After insertion select Selects whether to select a circuit or element after a network circuit is inserted 7 4 Programming in Function Block Diagram FBD WUME GM1RTX...

Страница 200: ... List IL The editor for IL programs is a window like the one shown below It consists of the declaration section used to declare variables and the implementation section used to enter program data To use POU objects for IL programs the Enable IL check box must be selected as below From the menu bar select Tools Options FBD LD and IL editors and select the Enable IL check box in the IL tab 7 5 1 Ent...

Страница 201: ... simultaneously The cursor will move to the next row In the second and subsequent rows enter instructions and operands in the same way as above 4 In Toolbox select General Network and drag the mouse until displayed in the network circuit in the main pane is reached A new network circuit will be inserted 5 From the menu bar select FBD LD IL Insert label Label will be inserted 6 Enter label name mar...

Страница 202: ...yed as an LD or FBD program From the menu bar select FBD LD IL View and select a post conversion programming language 7 5 2 Settings in IL Program For IL programs the following settings can be configured Open the Options window by selecting Tools Options select the FBD LD and IL editors category and specify settings in the IL tab window Type Item Description View Enable IL Enables the use of IL pr...

Страница 203: ...r to arrange elements and variables automatically or arrange nothing when a network circuit is inserted After insertion select Selects whether to select a circuit or element after a network circuit is inserted 7 5 Programming in Instruction List IL WUME GM1RTXOP 01 7 37 ...

Страница 204: ...of elements inserted CFC programs are classified into standard CFC programs and page oriented CFC programs Page oriented CFC programs allow page based switchover To create CFC programs POU objects for CFC programs are required Use Add Object to add POU objects for CFC programs 7 6 1 Inserting and Connecting Elements This section explains how to create a CFC program that consists of the variables a...

Страница 205: ...ation section 2 Enter an instance name in The box element will be transformed into function block TON and an instance name can be entered for function block TON 3 Select TON and enter variable TON_0 and then press the Enter key The Auto Declare dialog box will be displayed 7 6 Programming in Continuous Function Chart CFC WUME GM1RTXOP 01 7 39 ...

Страница 206: ...drag the input element and drop it in the implementation section The input element will be placed in the implementation section 6 Enter variable bVar0 in input element and press the Enter key The Auto Declare dialog box will be displayed Declare Boolean variable bVar0 7 6 Programming in Continuous Function Chart CFC 7 40 WUME GM1RTXOP 01 ...

Страница 207: ...ut and drag the input element and drop it in the implementation section The input element will be placed in the implementation section 9 Enter T 5s in and press the Enter key 10 Select the pin on input element T 5s and connect it to PT on TON Input element T 5S and PT on TON will be connected with a line 7 6 Programming in Continuous Function Chart CFC WUME GM1RTXOP 01 7 41 ...

Страница 208: ...ble bVar1 and CurrentTime in output element and press the Enter key The Auto Declare dialog box will be displayed Declare a Boolean variable for variable bVar1 and a Time variable for variable CurrentTime 13 Connect output element variable bVar1 and Q on TON and connect output element CurrentTime and ET on TON 7 6 Programming in Continuous Function Chart CFC 7 42 WUME GM1RTXOP 01 ...

Страница 209: ...You can also separate a connection line as a connection mark by selecting CFC Connection Mark from Toolbox or clicking the icon on the toolbar with the connection line selected Conversely you can restore the connection mark to a connection line by selecting CFC Connection Mark from Toolbox or clicking the icon on the toolbar with the connection mark selected 7 6 Programming in Continuous Function ...

Страница 210: ... key F12 key simultaneously A bookmark will be set in the selected network circuit Performing the above operation again clears deletes the set bookmark 2 To move to the next bookmark press the F12 key To move to the previous bookmark press the Shift key F12 key simultaneously To clear delete all the set bookmarks from the menu bar select Edit Bookmarks Clear All Bookmarks You can also perform book...

Страница 211: ...F4 key moves the cursor to the next search result line Pressing the Shift key F4 key simultaneously moves the cursor to the previous search result line Position the cursor on a block in the implementation section From the menu bar select Edit Browse Browse Call Tree The Call Tree view will be displayed with a search conducted for the block at the cursor position 7 7 3 Cross reference List View Ope...

Страница 212: ...ine For searches you can use an asterisk that represents any character string or a question mark that represents a single character Position the cursor on a variable in the implementation section From the menu bar select Edit Browse Browse Cross Reference The Cross reference view will be displayed with a search conducted for the variable at the cursor position 7 7 4 Function Block Guidance The Fun...

Страница 213: ...he MC_PRG window will be displayed 2 Select the network in the implementation section and from the menu bar select Edit Function Block Guidance The Function Block Guidance dialog box will be displayed 7 7 Program Creation Support Functions WUME GM1RTXOP 01 7 47 ...

Страница 214: ...red character string will be displayed in the Function Block List table 4 Select a function block that you want to insert into the program A description of the selected instruction will be displayed in the Document tab pane 7 7 Program Creation Support Functions 7 48 WUME GM1RTXOP 01 ...

Страница 215: ...stance name in the Name field and values in each operand field If the operand for which a value has been entered is a variable that has not been declared the Auto Declare dialog box will be displayed so that the variable can be declared 7 7 Program Creation Support Functions WUME GM1RTXOP 01 7 49 ...

Страница 216: ...t The Function Block Guidance can also be started using the following operations Click the Function Block Guidance icon on the toolbar Press the Alt key F2 key simultaneously Select the network in the implementation section and then right click and select Function Block Guidance from the context sensitive menu that is displayed 7 7 5 Input Assistant Function By using the Input Assistant Function v...

Страница 217: ...s the functions component list that support input of arguments and other data for function blocks during program creation The following three input support functions are available Displaying candidates for arguments that can be entered Entering a dot after a name such as a function block name or structure name displays a list of candidates for arguments that can be entered 7 7 Program Creation Sup...

Страница 218: ...ion of function block or function Entering a function block name or some other name followed by a left parenthesis displays a description of the function block in a pop up window To open the closed pop up window again press the Ctrl key Shift key Space key simultaneously 7 7 7 Global Renaming Refactoring When a POU object name in the navigator pane or a variable name in the declaration section is ...

Страница 219: ...factoring dialog box will be displayed Each section where the changed variable is used is displayed in red and the background of the section is displayed in yellow By clicking an object in the navigator pane you can check the change details of the object At this stage the changes have not been reflected yet 7 7 Program Creation Support Functions WUME GM1RTXOP 01 7 53 ...

Страница 220: ...When ST_POU object is selected 3 Click the OK button All changes will be reflected 7 7 Program Creation Support Functions 7 54 WUME GM1RTXOP 01 ...

Страница 221: ...Options window you can specify the situations where the refactoring function is enabled Open the Options window by selecting Tools Options select the Refactoring category and specify the situations where the refactoring function is enabled 7 7 8 Displaying Programs in Multiple Languages Project Localization The project localization function allows the user to translate and register comments titles...

Страница 222: ...e or All in the Location information drop down list 3 Click the Create button The Save As dialog box will be displayed 4 Enter a file name and click the Save button A POT translation template file pot will be created 5 For localization use an editor such as PoEditor to enter translations Create a localization file po 7 7 Program Creation Support Functions 7 56 WUME GM1RTXOP 01 ...

Страница 223: ...zations area 8 Click the OK button The Manage Localizations dialog box will be closed This completes the localization file creation procedure Next the procedure for switching the display is explained below 9 From the menu bar select Project Project Localization Switch Localization Symbol comments and title comments will be displayed according to the translations in the added localization file To r...

Страница 224: ... You can also switch the localization file by clicking on the toolbar 7 7 Program Creation Support Functions 7 58 WUME GM1RTXOP 01 ...

Страница 225: ...the menu bar select Build Rebuild The syntax of all objects will be verified If an error or warning occurs an error or warning message will be displayed in the message view Check the message displayed in the message view and correct the program as necessary After correcting the program execute rebuild again 7 8 3 Code Generation The GM1 controller generates codes application codes to be executed w...

Страница 226: ...be actually used will be reduced To eliminate memory fragmentation you must perform the procedure described in 7 8 4 Clean 7 8 4 Clean Deletes application build information 1 From the menu bar select Build Clean If Clean is executed the following confirmation message will be displayed Clicking the Yes button executes Clean If Clean is executed online change can no longer be performed Therefore to ...

Страница 227: ...mation message will be displayed 2 Clicking the Yes button executes Clean All If variables have been registered in the persistent variable list the following confirmation message will be displayed 3 If you delete internal data click the Yes button If you do not delete it click the No button If you have made changes such as Add new variables to the top of persistent variable list note that actual v...

Страница 228: ...oject SystemTask This is a task that is used by the system and cannot be added by user programs It is processed while other tasks are inactive To execute a user program the program POU object must be added to tasks Add motion control programs to MotionTask Add other control programs to UserTask 7 9 1 Adding Programs POU objects of programs can be added to tasks For example use the following proced...

Страница 229: ...2 In the MotionTask window click the Add Call button The Input Assistant dialog box will be displayed 7 9 Tasks WUME GM1RTXOP 01 7 63 ...

Страница 230: ...3 Select the POU object LD_POU of the program to be added to the task and click the OK button 7 9 Tasks 7 64 WUME GM1RTXOP 01 ...

Страница 231: ...The POU object of the program will be added to the task 7 9 Tasks WUME GM1RTXOP 01 7 65 ...

Страница 232: ... allows you to edit the comment The task will also be added to the navigator pane You can also add a POU object to a task by dragging the POU object in the navigator pane and dropping it onto the task object 7 9 Tasks 7 66 WUME GM1RTXOP 01 ...

Страница 233: ...ght click 2 User in the navigator pane and then select Add Object UserTask from the context sensitive menu that is displayed The Add UserTask dialog box will be displayed 2 Enter a task name in the Name field and click the Add button 7 9 Tasks WUME GM1RTXOP 01 7 67 ...

Страница 234: ... a POU object to the UserTask The added POU object will be executed as a UserTask Double clicking the object of the added UserTask displays a task configuration window where task settings can be configured 7 9 Tasks 7 68 WUME GM1RTXOP 01 ...

Страница 235: ...priority For UserTask the priority can be set between 7 and 15 inclusive Type This section specifies the processing method for the task For UserTask one of the following two types can be selected Cyclic Processes the task at intervals Specify a task interval in the Period field Event Starts task processing as soon as a rising edge of the global variable specified in the Event field is detected Wat...

Страница 236: ...ingle cycle Example If Sensitivity is set to 3 and Time is set to t 20ms when the execution time exceeds 60 ms during a single cycle the task will stop If the watchdog timer causes the task to stop the event will be recorded in the Log tab of the device editor 7 9 Tasks 7 70 WUME GM1RTXOP 01 ...

Страница 237: ... 8 4 2 Setting the LAN Port 8 7 8 5 Connecting to the GM1 Controller 8 10 8 6 Setting Time 8 12 8 7 Other Settings 8 14 8 7 1 Changing the Device Name 8 14 8 7 2 Sending Echo services 8 15 8 7 3 Device preference management 8 16 8 7 4 Confirmed online mode 8 18 8 8 Login Logout 8 20 8 8 1 Login 8 20 8 8 2 Logout 8 21 8 8 3 Download 8 21 8 8 4 Online Change 8 23 8 8 5 Code Analysis Static Analysis ...

Страница 238: ... Connecting to the GM1 controller Connect the PC where GM Programmer is installed to the GM1 controller Operation Double click the Device object in the navigator pane to display the Communication Settings window and then select the Network Scan tab and select the GM1 controller to which you want to connect 3 Login Log in to the GM1 controller When you log in to the GM1 controller applications are ...

Страница 239: ...Operation when Power is ON When turning ON the power supply to the system incorporating the GM1 Controller consider the nature and statuses of any external devices connected to the system and take sufficient care so that turning ON the power supply will not initiate unexpected movements 1 Turn ON the power supplies to the I O devices connected to the GM1 Controller 2 Turn ON the power supply to th...

Страница 240: ...8 2 Connecting the GM1 Controller and PC 8 4 WUME GM1RTXOP 01 ...

Страница 241: ...ontroller to RUN The switch cannot be set to the RUN mode if an error that does not allow to continue operation has occurred or if an exceptional situation has occurred Switching to the STOP mode There are the following two methods Press the stop button on the GM Programmer while the RUN LED is lit Set the RUN STOP switch on the GM1 Controller to STOP 8 3 Operation Mode Switching WUME GM1RTXOP 01 ...

Страница 242: ...rogrammer and the GM1 controller via a USB port add a USB port 1 From the menu bar select Online Add USB Port The Add USB Port dialog box will be displayed 2 Click the OK button A dialog box to restart the Gateway will be displayed 8 4 Communication Setting 8 6 WUME GM1RTXOP 01 ...

Страница 243: ...of the PC with those of the GM1 controller LAN port 1 LAN port 2 IP address 192 168 1 5 192 168 2 5 Subnet mask 255 255 255 0 255 255 255 0 Default gateway 192 168 1 1 0 0 0 0 Set the IP addresses of LAN port 1 and LAN port 2 so that their network subnet addresses are different Network settings can be changed using the PLC parameters tab of the Device object in the navigator pane as described belo...

Страница 244: ...he navigator pane The Device setting window will be displayed 2 Click the PLC Parameters tab in the Device setting window 3 Set the IP address subnet mask and default gateway for each LAN port 8 4 Communication Setting 8 8 WUME GM1RTXOP 01 ...

Страница 245: ...he GM1 controller If you change the network settings for the LAN port that connects the GM1 controller and GM Programmer with a LAN cable the connection will be temporarily disrupted 8 4 Communication Setting WUME GM1RTXOP 01 8 9 ...

Страница 246: ...ade as the device user Without device user registration List of available GM1 Controller operations Function Not connected Connected Login Online config mode Setting acquiring Controller information Note 1 Application management Note 2 Reset Note 3 Note 4 Security Debug Commissioning Note 1 Not possible to operate the PLC Shell Note 2 Possible to upload the source Note 3 Possible to reset the devi...

Страница 247: ...ssible to operate the PLC Shell Note 2 Possible to upload the source Note 3 Possible to reset the device PLC initialization or to delete device application from the device Note 4 Possible to reset the device PLC initialization Note 5 Addition of the device user changing the password for the device user or deletion of the device user cannot be made if the user of the Device Editor is not synchroniz...

Страница 248: ...e from the PC 1 Double click the Device object in the navigator pane The Communication Settings window for the device will be displayed 2 Click the Date and Time and Settings tab The Date and Time Settings window will be displayed The Device Date Time section displays the current date and time of the GM1 controller 8 6 Setting Time 8 12 WUME GM1RTXOP 01 ...

Страница 249: ...he Date Time section or select the Get date time from PC check box and click the Update button A confirmation message will be displayed 4 Click Yes The date and time of the GM1 controller will be updated 8 6 Setting Time WUME GM1RTXOP 01 8 13 ...

Страница 250: ...de 8 7 1 Changing the Device Name This section explains how to change the name of the device connected via Network Scan 1 Double click the Device object in the navigator pane The setting pane will be displayed in the main pane 2 Select Rename Active Device from the Device menu The Change Device Name dialog box will be displayed 8 7 Other Settings 8 14 WUME GM1RTXOP 01 ...

Страница 251: ... explains how to send Echo services to the device connected via Network Scan Echo services can be used to conduct a network test 1 Double click the Device object in the navigator pane The setting pane will be displayed in the main pane 2 Select Send Echo Service from the Device menu 8 7 Other Settings WUME GM1RTXOP 01 8 15 ...

Страница 252: ...ces connected via Network Scan can be managed by registering them as favorite devices Devices registered as favorite devices will be displayed in the device selection list in the Communication Settings window 1 Double click the Device object in the navigator pane The setting pane will be displayed in the main pane 8 7 Other Settings 8 16 WUME GM1RTXOP 01 ...

Страница 253: ...2 From the Device menu select Options and then Add Current Device to Favorites The connected device will be registered as a favorite device 8 7 Other Settings WUME GM1RTXOP 01 8 17 ...

Страница 254: ...e Favorite Devices from the Device menu 8 7 4 Confirmed online mode A confirmation message can be displayed when an attempt is made to implement the following actions Login Operation Stop Single Cycle Force Values Write values Unforce Values 1 Double click the Device object in the navigator pane The setting pane will be displayed in the main pane 8 7 Other Settings 8 18 WUME GM1RTXOP 01 ...

Страница 255: ... the Device menu select Options and then Confirmed Online Mode When an attempt is made to log in with Confirmed Online Mode selected the following message is displayed 8 7 Other Settings WUME GM1RTXOP 01 8 19 ...

Страница 256: ...e program Update boot project check box Cleared Downloading after changing the project Online change Update boot project check box Selected Online change Update boot project check box Cleared Generating a boot application After logging in to the GM1 controller you can perform debug operations such as starting or stopping the GM1 controller 8 8 1 Login GM Programmer allows the user to log in to the...

Страница 257: ...ons have been downloaded the confirmation message will not be displayed 8 8 2 Logout This function allows the user to log out from the device to which the user logged in 1 From the menu bar select Online Logout or press the Ctrl F8 key simultaneously You will be logged out You can also log out by clicking on the toolbar 8 8 3 Download After changing programs and logging in without executing online...

Страница 258: ...ce code to the GM1 controller 3 Click Yes If the project has not yet been saved a confirmation message will be displayed asking whether to save the project 4 If you do not save the project the source code will not be downloaded In this case click the Yes button To delete the downloaded source code from the GM1 controller execute Reset Device For details on reset refer to 9 5 1 Reset Warm Reset Col...

Страница 259: ...enerated by build with the GM1 controller stopped Login without any change Executes login without downloading the applications generated by build Do not clear the Update bootproject check box If you clear the check box the applications will not be saved when the GM1 controller is turned OFF 8 8 5 Code Analysis Static Analysis Light Code analysis Static Analysis Light can be conducted on programs t...

Страница 260: ...e menu bar select Project Project Settings The Project Settings dialog box will be displayed 2 In the Project Settings dialog box select the Static Analysis Light category 8 8 Login Logout 8 24 WUME GM1RTXOP 01 ...

Страница 261: ...3 Select the check boxes of the items to be checked 4 Click the OK button 8 8 Login Logout WUME GM1RTXOP 01 8 25 ...

Страница 262: ... If the items to be checked are set beforehand code analysis will be performed automatically during login 8 8 Login Logout 8 26 WUME GM1RTXOP 01 ...

Страница 263: ... below 1 From the menu bar select File Source Upload The Select Device dialog box will be displayed 2 Select the GM1 controller from which the source code is to be retrieved and click the OK button The Extract Project Archive dialog box will be displayed 8 9 Source Upload WUME GM1RTXOP 01 8 27 ...

Страница 264: ...nd click the Extract button A confirmation dialog box will be displayed asking whether to open the uploaded source code as a project file Click the Yes button to open the uploaded source code as a project file 4 In the folder specified as the upload destination Archive prj and project name project will be created 8 9 Source Upload 8 28 WUME GM1RTXOP 01 ...

Страница 265: ... in 8 4 Communication Setting in advance 1 From the menu bar select Project Online Config Mode A confirmation message will be displayed asking whether to remove all applications 2 Click Yes All applications will be removed from the GM1 controller and the GM1 controller and servo amplifiers will be connected in online config mode While online config mode is in progress Online Config Mode in the men...

Страница 266: ...ed to create a program for commissioning The following is an example of commissioning using the A6N series servo amplifiers 1 Double click the servo amplifier object in the navigator pane The RTEX Axis Setting dialog box will be displayed 2 Click the Commissioning tab The Commissioning screen will be displayed 8 10 Commissioning 8 30 WUME GM1RTXOP 01 ...

Страница 267: ...lifiers during commissioning Error Displays errors that occurred during commissioning Allows the user to clear errors 3 Click an appropriate button in the Operation group to start commissioning Clicking an icon starts the corresponding commissioning procedure To change home return parameters use the Home Return Settings tab 8 10 Commissioning WUME GM1RTXOP 01 8 31 ...

Страница 268: ...rors RTEX errors and FB errors 0 Pressing the All Clear button will erase axis errors drive errors RTEX errors and FB errors 0 to 5 If the display of FB errors is collapsed the number of FB errors will be displayed as 0 in the Error Content column 5 From the menu bar select Project Online Config Mode If online config mode is canceled commissioning will be terminated This completes commissioning fo...

Страница 269: ...lifier is disrupted during Inching or Home Return operation the servo amplifier will continue commissioning operation If online config mode is canceled commissioning will be terminated To cancel the online config mode select Project Online Config Mode from the menu bar again 8 10 Commissioning WUME GM1RTXOP 01 8 33 ...

Страница 270: ... MEMO 8 34 WUME GM1RTXOP 01 ...

Страница 271: ...eset from GM Programmer 9 19 9 5 3 Executing Device Reset from GM1 Controller 9 20 9 6 Checking the Status of GM1 Controller 9 22 9 6 1 Checking Logs 9 22 9 6 2 Checking the Status 9 23 9 6 3 Checking the System Data History 9 24 9 6 4 Task Monitoring 9 25 9 7 Device Trace Function 9 26 9 8 Checking the Performance of GM1 Controller 9 33 9 8 1 Performance Check Based on Cycle Time 9 33 9 8 2 Perfo...

Страница 272: ...ging in from the menu bar select Debug Start or press the F5 key The applications downloaded to the GM1 controller will start running 2 From the menu bar select Debug Stop or press the Shift key F8 key simultaneously The applications will be stopped During debug operation you can check the current value of each variable in the declaration section and implementation section 9 1 Running and Stopping...

Страница 273: ... you select confirmed online mode a confirmation message will be displayed before you start or stop the GM1 controller For confirmed online mode refer to 8 7 4 Confirmed online mode 9 1 2 Single Cycle You can execute the application in simulation mode in a single cycle to check whether a created program is executed as intended 1 After logging in open the POU 2 From the menu bar select Debug Single...

Страница 274: ...The opened POU will enter a state in which it has been executed in a single cycle 9 1 Running and Stopping the GM1 Controller 9 4 WUME GM1RTXOP 01 ...

Страница 275: ... Setting a breakpoint in line 12 in an ST program If operation is started the operation will be stopped when the position of the set breakpoint is reached In the stopped state the following debug operations can be executed From the menu bar select Debug and then one of the following menu items Menu item Shortcut key Icon on the toolbar Step Over F10 Step Into F8 Step Out Shift F10 Run to Cursor No...

Страница 276: ...ached You can also add delete enable and disable breakpoints To display the Breakpoint view from the menu bar select View Breakpoint 9 2 2 Setting an Execution Point If an execution point is set when the position of the execution point is reached processing that is specified beforehand can be executed and the execution result can be output to the log of the GM1 controller The application does not ...

Страница 277: ...int check box and enter the code to be executed at the execution point and the message to be output to the log In the Execute the following code area enter executable code in structure text format In the Print a message in the device log field enter the message to be output to the log 9 2 Breakpoint WUME GM1RTXOP 01 9 7 ...

Страница 278: ... Settings In the Project Settings dialog box select the Compile options category Change the setting in Setting Enable logging in breakpoints to Enabled 9 2 3 Call Stack View In the Call Stack view you can check a stop position when operation is stopped due to a breakpoint or for some other reason If the position is called from another block the position of the block can also be checked 1 From the ...

Страница 279: ...d stop the application The stop position and the POU calling the POU at the stop position will be displayed Example When operation stops at line 1 of function ADD_3 and ST_POU calls ADD_3 9 2 Breakpoint WUME GM1RTXOP 01 9 9 ...

Страница 280: ...he program Force Values Sets a value to be changed in every cycle and maintains the value For example use the following procedure to change the value of Boolean variable x1 from FALSE to TRUE by writing the value 1 In the implementation section double click the element whose value is to be changed A new value will be preset You can also preset a value by clicking a cell in the Preset value column ...

Страница 281: ...ress the Alt key F7 key simultaneously Forced value change will be canceled 9 3 2 Watch By registering variables in the watch view you can perform variable value management such as checking or changing variable values You can use up to four watch views Watch 1 to Watch 4 For example use the following procedure to register variable x1 in watch view Watch 1 1 From the menu bar select View Watch Watc...

Страница 282: ... all Forces If an execution point has been set the timing of display in the watch view can be set to the point in time when the execution point is reached In the Execution point column select the execution point that has been set For details on how to set execution points refer to 9 2 2 Setting an Execution Point 9 3 3 Flow Control Flow control enables monitoring to be performed by using different...

Страница 283: ... the program was not executed are displayed in white Example Flow control display for LD programs Example Flow control display for ST programs By using confirmed online mode you can have a confirmation message dialog box displayed before you execute flow control For confirmed online mode refer to 8 7 4 Confirmed online mode 9 3 Debug Operations WUME GM1RTXOP 01 9 13 ...

Страница 284: ...rcing values can be executed Operational Only writing variables can be executed Start stop new breakpoint setting forced variable change single cycle and canceling forced variable change cannot be executed To use this mode the following conditions must be satisfied Application is running There is no active breakpoint There is no variable whose value has been forcibly changed The application create...

Страница 285: ... front of forcibly changed values For details on forced value change refer to 9 3 1 Writing Values and Forcibly Changing Values Monitoring variables in the implementation section of the program Variables can be monitored in the implementation section of the program inline monitoring The current value is displayed on the right side of each variable such as or Contacts coils and connection lines are...

Страница 286: ...ne monitoring check box Monitoring variables in the watch view By registering variables in the watch view you can monitor the variables You can use up to four watch views as well as a dedicated view where variables whose values are forcibly changed are automatically registered For details on how to register variables in the watch view refer to 9 3 2 Watch 9 4 Monitoring Function 9 16 WUME GM1RTXOP...

Страница 287: ...9 4 Monitoring Function WUME GM1RTXOP 01 9 17 ...

Страница 288: ...t information Applications and source code are deleted from the GM1 controller The following table shows the items that are initialized by each reset operation 〇 Retained Initialized Update Updated Operatio n Variable s other than RETAIN PERSIS TENT RETAIN variable RETAIN PERSIS TENT Variable s PERSIS TENT Applicati on User manage ment Boot applicati on Source file IP address RTC time zone Stop 〇 ...

Страница 289: ...be executed 9 5 2 Executing Device Reset from GM Programmer Device reset can be executed from the GM1 controller as well as from GM Programmer To execute device reset from GM Programmer right click in the navigator pane and execute device reset from the context sensitive menu that is displayed 1 Right click the Device object in the navigator pane and then select Reset Origin from the context sensi...

Страница 290: ...e the selected application will be removed 9 5 3 Executing Device Reset from GM1 Controller Device reset can be executed from the GM1 controller 1 Check that the power is OFF set the mode selector switch to STOP and set the reset bit of the DIP switch to ON 2 Turn the power ON Device reset will be executed 3 When the RUN STOP and ERROR LEDs go out device reset is completed 9 5 Reset 9 20 WUME GM1R...

Страница 291: ...After device reset is completed turn the power OFF and set the reset bit of the DIP switch to OFF 9 5 Reset WUME GM1RTXOP 01 9 21 ...

Страница 292: ...vents 1 Connect the PC where GM Programmer is installed and the GM1 controller For details refer to 8 5 Connecting to the GM1 Controller Double click the Device object in the navigator pane The Device setting window will be displayed 2 Click the Log tab The log window will be displayed 9 6 Checking the Status of GM1 Controller 9 22 WUME GM1RTXOP 01 ...

Страница 293: ...rrently occurring in the GM1 controller 1 Connect the PC where GM Programmer is installed and the GM1 controller For details refer to 8 5 Connecting to the GM1 Controller 2 From the menu bar select Online Status The Status dialog box will be displayed You can check only one error item that has the highest severity level among all errors currently occurring in the GM1 controller 9 6 Checking the St...

Страница 294: ... the Error Clear button Incorporation expansion error Reinitialize the system Unit error Click the Error Clear button or reinitialize the system RTEX error Click the RTEX Reset button Refer to 9 9 2 Checking and Clearing Errors Using GM Programmer 9 6 3 Checking the System Data History You can check histories of errors that have occurred up until now 1 Connect the PC where GM Programmer is install...

Страница 295: ... System Data History dialog box will be closed For details refer to 9 9 2 Checking and Clearing Errors Using GM Programmer 9 6 4 Task Monitoring You can check the task status the number of cycles cycle time and jitter while being logged in the GM1 controller Double click the Task Configuration object in the navigator pane and select the Monitor tab 9 6 Checking the Status of GM1 Controller WUME GM...

Страница 296: ...ction allows you to check whether the entire task falls within the appropriate CPU time range 1 Right click Device and select Add Object DeviceTrace 2 You will be logged in to the device 3 Double click the DeviceTrace object that has been added The DeviceTrace window will be displayed 9 7 Device Trace Function 9 26 WUME GM1RTXOP 01 ...

Страница 297: ...nline List window will be displayed With CpuLoadRatePacket selected click Upload Plotting the CPU load factor will start Note As the Online List window is still open click the OK button to close the window 9 7 Device Trace Function WUME GM1RTXOP 01 9 27 ...

Страница 298: ...6 To change the graph display settings click Configuration in the top right corner of the DeviceTrace window to open the Trace Configuration window 9 7 Device Trace Function 9 28 WUME GM1RTXOP 01 ...

Страница 299: ...9 7 Device Trace Function WUME GM1RTXOP 01 9 29 ...

Страница 300: ...9 7 Device Trace Function 9 30 WUME GM1RTXOP 01 ...

Страница 301: ...move the time axis Dragging the mouse while holding down the Ctrl key To move the Y axis Scrolling the screen To lengthen or shorten the time axis Scrolling the screen while holding down the Ctrl key To lengthen or shorten the Y axis 9 7 Device Trace Function WUME GM1RTXOP 01 9 31 ...

Страница 302: ...d on the graph as a file Load Trace Allows you to load the trace file saved by selecting Save Trace onto the graph screen Use the GM1 controller so that the average CPU load factor is no more than 90 If 90 is exceeded stable operation may not be achieved 9 7 Device Trace Function 9 32 WUME GM1RTXOP 01 ...

Страница 303: ...cycle time may temporarily increase if POU processing with a high load is executed in a particular cycle Temporary increase in the processing time can be viewed in Max Cycle Time Because cyclic communications are performed over the RTEX network if the cycle time exceeds the task interval the RTEX command will not be updated in the next cycle causing the commanded position to remain the same as the...

Страница 304: ...ntroller so that the CPU load factor processing load of all tasks is no more than 80 The CPU load factor can be checked using the Device Trace function 1 Right click the Device object in the navigator pane and then select Add Object DeviceTrace from the context sensitive object that is displayed The Add DeviceTrace dialog box will be displayed 9 8 Checking the Performance of GM1 Controller 9 34 WU...

Страница 305: ...d to the navigator pane If the CPU load factor constantly exceeds 95 the GM1 controller will judge the system to be out of control causing the system to terminate with an error 9 8 Checking the Performance of GM1 Controller WUME GM1RTXOP 01 9 35 ...

Страница 306: ...ing 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 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 9 2 Checking and Clearing Errors Using GM Programmer Error informatio...

Страница 307: ...troller SYS_SysGetSystemError This function block is used to obtain error information for the GM1 controller from external devices such as display units 1 Define the variables to be used in the SYS_SysGetSystemError function block as global variables 2 Select Task Configuration and then the System Events tab and register the function to be executed when a particular event occurs 9 9 Error Notifica...

Страница 308: ... a program for SYS_SysGetSystemError 4 Map the defined global variables to the I O map of the ModbusTCP Slave Device to allow external devices to get error information for the GM1 controller 9 9 Error Notification Function 9 38 WUME GM1RTXOP 01 ...

Страница 309: ...hen ERROR_LED flashes A self diagnostic error has occurred Solution Check the condition according to the following procedure 1 In GM Programmer select Online Status and check the error content error code 2 Switch the mode to the PROG mode 3 Cancel the situation in accordance with the error code When ALARM_LED lights up Timeout of the system watchdog timer has been detected Solution Check the condi...

Страница 310: ...o 0x131 Stop Counter Overflow error The counter value exceeds the upper limit Perform reset or preset operation so that the counter value falls within the range between the upper and lower limits Re downloa d 0x0140 to 0x141 Stop Counter Underflow error The counter value drops below the lower limit Perform reset or preset operation so that the counter value falls within the range between the upper...

Страница 311: ... unit Unit initialization error Expansion unit initialization has failed Check connections Re downloa d 0x0221 to 0x022F Continue Expansion unit I O data error An I O data error has occurred in the expansion unit Check the installation environment Clear the error 0x0300 Continue CODESYS error A CODESYS error has occurred Check the error details in the log window of GM Programmer Clear the error 0x...

Страница 312: ...settings 0x1030 Stop RTEX Amplifier parameter error RTEX function enhancement setting1 There is an error with the settings of the servo amplifier parameter RTEX function enhancement setting 1 Pr7 22 Review the settings Power cycle 0x1040 to 0x104F Stop RTEX Amplifier parameter error RTEX speed unit setting There is an error with the settings of the servo amplifier parameter RTEX speed unit setting...

Страница 313: ... communication error An RTEX communication error has occurred Check the network connection installation environment Reset the amplifier 0x1072 Stop RTEX Network communication timeout RTEX communication has timed out Check network connections Reset the amplifier 0x1077 Continue RTEX Reset error An attempt to reset RTEX has failed Check network connections Reset the amplifier 9 9 Error Notification ...

Страница 314: ... MEMO 9 44 WUME GM1RTXOP 01 ...

Страница 315: ...ions Using a Created Certificate 10 20 10 5 Security Function Write protection 10 25 10 5 1 Opening Files in Read only Mode 10 25 10 5 2 Setting the Released Flag 10 25 10 6 User Library Function 10 27 10 6 1 Creating a Library and Adding to the Library Repository 10 27 10 6 2 Using Created Libraries 10 31 10 7 POU for implicit checks 10 33 10 7 1 Setting up POU for implicit checks 10 33 10 8 Inte...

Страница 316: ...mulation Simulation mode will be invoked and Simulation will be displayed on the status bar 2 From the menu bar select Online Login or press the Alt key and the F8 key simultaneously Login will occur in simulation mode When login occurs in simulation mode the device object is displayed in italic Simulation will start is displayed in front of the object of a device that is operated in simulation mo...

Страница 317: ...tion After logging in with the initial password be sure to change the password Implement password management to prevent passwords from being forgotten If the password is forgotten device reset must be performed on the controller Implement password management to prevent passwords from being leaked to third parties Item Description Reference page User management Allows execution permissions for oper...

Страница 318: ... belong to Owner group and can execute all operations All users including Owner users are automatically registered in Everyone group Group User Remarks Owner Owner Users can execute all operations For Owner users the password field is left blank Everyone Owner All users are registered automatically 10 3 2 Creating a New User and Group In the following example a group group name GroupA and a user b...

Страница 319: ...l be displayed 3 Click the Add button The Add User dialog box will be displayed 4 Enter information for a new user to be added Enter information about a new user Fred to be added 10 3 Security Function User Management WUME GM1RTXOP 01 10 5 ...

Страница 320: ...In the User name field enter Owner The default password for Owner is not set in the Password field The Password field must be left blank 7 Click the OK button Login by the Owner user will be completed and new user Fred will be added to the Users tab pane 10 3 Security Function User Management 10 6 WUME GM1RTXOP 01 ...

Страница 321: ...tion for a new group to be added Enter information about a new group GroupA to be added In the Members section specify a member that belongs to the group Select the new user added in step Step 4 10 Click the OK button The new group GroupA will be added to the Groups tab pane User Fred is registered in GroupA as a member 10 3 Security Function User Management WUME GM1RTXOP 01 10 7 ...

Страница 322: ...n XML format Click the Export Import button in the Users and Groups setting pane and select the Export users and groups menu item users files can be exported By selecting the Import User and Group menu item you can import users files 10 3 3 Setting Operation Privileges In the following example privileges are set so that users belonging to GroupA can display a POU object object name POU_1 Before pe...

Страница 323: ...leges to be assigned Select Everyone and click Reject will be set Select GroupA and click Approve will be set This enables only the users of group GroupA to display the object If the Logon dialog box is displayed enter Owner in the User name field and leave the Password field blank before performing a logon 10 3 Security Function User Management WUME GM1RTXOP 01 10 9 ...

Страница 324: ...ted By selecting the Import Permission menu item you can import perms files 10 3 4 Performing Operation with Privileges Set In the following example an object POU object POU_1 is displayed Before performing the following procedure check the status field to see that there is no user who is currently logged on the project If there are any users who are currently logged on the project execute logoff ...

Страница 325: ... name of the user who logged on is displayed on the status field 10 3 5 Device User Management Device user management registers device users and allows only the authorized device users to log in to the device A user with user name Administrator and password Administrator is registered as a device user beforehand When you log in as an Administrator user for the first time you must set any password ...

Страница 326: ...e Device setting window will be displayed 2 Click the Users and Groups tab The Users and Groups pane will be displayed 3 Click the icon Synchronization A confirmation dialog box will be displayed 10 3 Security Function User Management 10 12 WUME GM1RTXOP 01 ...

Страница 327: ...eld and Administrator in the Password field 6 Click the OK button The Password expired please enter a new one dialog box will be displayed 7 Enter any password To set a password for the Administrator user enter any password If you forget your password you cannot log in to the device 10 3 Security Function User Management WUME GM1RTXOP 01 10 13 ...

Страница 328: ... the Administrator user and you will be logged in as an Administrator user 9 From the menu that is displayed select Online Login You can log in to the device as an Administrator user account 10 3 Security Function User Management 10 14 WUME GM1RTXOP 01 ...

Страница 329: ...anagement will not be imported In the Users and Groups pane click the Edit button and set a password for the user that has been imported Device user management information can be exported In the Users and Groups pane click the icon Export to Disk XML format files dum files can be saved To import dum files that have been exported click the icon Import from Disk Device user management information ca...

Страница 330: ... entered when a project file is opened 1 From the menu bar select Project Project Settings The Project Settings dialog box will be displayed 2 In the Project Settings dialog box select the Security category The Security pane will be displayed 3 Select the Enable Project File Encryption check box select the Password option and then enter a password 10 4 Security Function Encryption 10 16 WUME GM1RT...

Страница 331: ...n Path Encrypting Communications Using the Certificate Possessed by the GM1 Controller Communications between GM Programmer and the GM1 controller can be encrypted using certificates This section explains how to encrypt communications by using the certificate possessed by the GM1 controller as a trusted certificate 1 Double click the Device object in the navigator pane The Device setting window wi...

Страница 332: ...ypted Communication If Encrypted Communication is selected the connection lines between the integrated development environment gateway and controller will be displayed in yellow 10 4 Security Function Encryption 10 18 WUME GM1RTXOP 01 ...

Страница 333: ... is not certified with a trusted signature for encrypted communication 5 If the OK button is clicked communications can be encrypted by installing the certificate indicated by the message in local store Controller Certificates on the PC to use it as a trusted certificate You can check the registered controller certificate in certmgr msc in the C Windows System32 folder 10 4 Security Function Encry...

Страница 334: ... you can extend the validity period of the certificate 10 4 3 Encrypting the Communication Path Encrypting Communications Using a Created Certificate Communications between GM Programmer and the GM1 controller can be encrypted using certificates This section explains how to create a trusted certificate for the GM1 controller and encrypt communications using the created certificate 1 Open the devic...

Страница 335: ...n the Log tab of the device editor and click the Update Information button Check whether a certificate has been created 5 In the device editor open the PLC Shell tab and enter the cert getapplist command in the input field Check whether a certificate has been created for ComponentName CmpSecureChannel 6 Open the device editor and select the Communication Settings tab 10 4 Security Function Encrypt...

Страница 336: ...ypted Communication If Encrypted Communication is selected the connection lines between the integrated development environment gateway and controller will be displayed in yellow 10 4 Security Function Encryption 10 22 WUME GM1RTXOP 01 ...

Страница 337: ... is not certified with a trusted signature for encrypted communication 10 If the OK button is clicked communications can be encrypted by installing the certificate indicated by the message in local store Controller Certificates on the PC to use it as a trusted certificate You can check the registered controller certificate in certmgr msc in the C Windows System32 folder 10 4 Security Function Encr...

Страница 338: ...When the created certificate is used as a trusted certificate the validity period of the certificate is 360 days 10 4 Security Function Encryption 10 24 WUME GM1RTXOP 01 ...

Страница 339: ... Click for options on the menu bar and select an appropriate menu item that is displayed Item Description Save the project under a different file name on disk Allows the user to rename and save the project file as a writable file Leave the read only mode Leaves the project file open in read only mode 10 5 2 Setting the Released Flag Set a released flag in project information in a project file If a...

Страница 340: ...ect file in which the Released flag is set select Project file cannot be saved Click for options on the menu bar and select a menu item that is displayed 10 5 Security Function Write protection 10 26 WUME GM1RTXOP 01 ...

Страница 341: ...are managed by the Library_Manager object This section explains how to create libraries install created libraries in the library repository and add libraries to the project 10 6 1 Creating a Library and Adding to the Library Repository This section explains the entire procedure from creating a project for libraries through to installing libraries in the library repository 1 From the menu bar selec...

Страница 342: ...aries is library For libraries the POU view is displayed in the navigator pane Add objects required for creating libraries to the POU view 4 Double click the Project Information object in the POU view The Project Information dialog box will be displayed 10 6 User Library Function 10 28 WUME GM1RTXOP 01 ...

Страница 343: ... 5 Click the OK button The project information will be set 6 Right click the file name object at the top of the navigator pane and then select Add Object POU from the context sensitive menu that is displayed The Add POU dialog box will be displayed 7 Select the Function block check box enter a name in the Name field and select a programming language from the Implementation Language drop down list ...

Страница 344: ... above command is executed if any error is displayed correct the program and execute build again 10 From the menu bar select File Save Project and Install into Library Repository The library that has been created will be installed in the library repository 11 From the menu bar select Tools Library Repository The Library Repository dialog box will be displayed Check that the created library is disp...

Страница 345: ... will be saved as a compiled library compiled library file Compiled libraries must be installed in the library repository Click the Install button in the Library Repository dialog box and select the library file saved as a compiled library 10 6 2 Using Created Libraries This section explains how to add libraries installed in the library repository to the project 1 Open the project file and select ...

Страница 346: ...plication in the project The title and company name specified when the library was created will be displayed This completes the procedure for adding the library to the application The function blocks in the added library can be used in the program 10 6 User Library Function 10 32 WUME GM1RTXOP 01 ...

Страница 347: ...hese functions and perform checks without calling the functions explicitly within the program 10 7 1 Setting up POU for implicit checks This section explains how to add POU for implicit checks objects 1 Right click the Application object in the navigator pane and then select Add Object POU for implicit checks from the context sensitive menu that is displayed The Add POU for implicit checks dialog ...

Страница 348: ...been added The check details of each check item are as below Bound checks Checks whether boundaries are violated Division checks Checks whether anything is divided by zero Range checks Checks whether values of DINT or UDINT subrange type variables are within the specified range LRange checks Checks whether values of LINT or ULINT subrange type variables are within the specified range Pointer check...

Страница 349: ...plementation 10 8 1 Setting up an Interface Object This section explains how to add an interface object 1 Right click the Application object in the navigator pane and then select Add Object Interface from the context sensitive menu that is displayed The Add Interface dialog box will be displayed 2 Enter a name and click the Add button An interface object will be added If the Extends check box is s...

Страница 350: ...sensitive menu that is displayed The Add Interface property dialog box or Add Interface method dialog box will be displayed 4 Enter a name and click the Add button For interface properties be sure to enter a value in the Return type field Prop or METH object will be added under the ITF object 10 8 Interface 10 36 WUME GM1RTXOP 01 ...

Страница 351: ... 10 8 2 Implementing in New Function Block This section explains how to implement an interface in a new function block to be created 1 Right click the Application object in the navigator pane and then select Add Object POU from the context sensitive menu that is displayed The Add POU dialog box will be displayed 10 8 Interface WUME GM1RTXOP 01 10 37 ...

Страница 352: ...an interface to be implemented Click the Add button A function block with the interface implemented will be added under the Application object 3 Open the respective editors for the added METH and Prop objects and implement internal processing for the methods and properties 10 8 Interface 10 38 WUME GM1RTXOP 01 ...

Страница 353: ...g in Existing Function Block This section explains how to implement an interface in an existing function block 1 Open the editor of the existing function block from the navigator pane Character string format Table format 2 For character string format add IMPLEMENTS interface name to the declaration header section For table format open the Edit Declaration Header dialog box enter an interface name ...

Страница 354: ...e existing function block in the navigator pane and select Implement Interfaces from the context sensitive menu that is displayed The Select implementation language dialog box will be displayed 10 8 Interface 10 40 WUME GM1RTXOP 01 ...

Страница 355: ... the added METH and Prop objects and implement internal processing for the methods and properties If methods and properties are added under the interface object later they will not be automatically added to the function block with the interface implemented Therefore if they need to be added perform the procedure starting from Step Step 3 10 8 Interface WUME GM1RTXOP 01 10 41 ...

Страница 356: ...ettings and then clear the check boxes of the target warning messages in the Compiler Warnings pane 10 8 4 Extending the Interface Existing interfaces can be inherited and extended This section explains how to extend existing interface ITFBase and create new interface ITFExtend In this example when interface ITFBase exists create a new interface as below 1 Right click the Application object in the...

Страница 357: ...ect added to the navigator pane and then select Add Object Interface property or method from the context sensitive menu that is displayed in order to add a property or method for the ITFExtend object 4 Right click the Application object in the navigator pane and then select Add Object POU from the context sensitive menu that is displayed The Add POU dialog box will be displayed 10 8 Interface WUME...

Страница 358: ...n block option select the Implement check box and enter ITFExtend Click the Add button A function block with properties and methods for both interfaces ITFExtend and ITFBase will be added under the Application object 10 8 Interface 10 44 WUME GM1RTXOP 01 ...

Страница 359: ...ame of the file In the What do you want to do with the external file section select an appropriate option as the method for registering the external file in the project If you select the Remenber the link and embed into project option in the What do you want to do with the external file section select an appropriate option in the When the external file changes then section to specify settings for ...

Страница 360: ...when the corresponding external file is changed prompt whether to reload the file Opens a dialog box asking whether to update a copy of an external file in the project when the corresponding external file is changed do nothing Does not update a copy of an external file in the project even if the corresponding external file is changed 3 Click the Add button The external file will be added under the...

Страница 361: ...and the error status of servo amplifiers via the GM1 controller For details refer to 15 Overview of PANATERM Lite for GM 10 10 1 Starting PANATERM Lite for GM This section explains how to start PANATERM Lite for GM from GM Programmer 1 From the menu bar select Tools PANATERM Lite for GM PANATERM Lite for GM will be started 10 10 Servo Amplifier Motor Operation Function PANATERM Lite for GM WUME GM...

Страница 362: ... MEMO 10 48 WUME GM1RTXOP 01 ...

Страница 363: ...ion 11 46 11 5 Multi axis Operation 11 49 11 5 1 Overview of Interpolation Control 11 49 11 5 2 Linear Interpolation and Circular Interpolation 11 50 11 5 3 How to Use Interpolation Control 11 51 11 5 4 Registering a CNC Table 11 52 11 5 5 Overview of G code 11 63 11 5 6 G code Editor and Coding Rules 11 64 11 5 7 Movements Executed by Each G code and Setting Methods 11 65 11 5 8 SMC_CNC_REF and S...

Страница 364: ...ramming Joining and Repeating CNC Tables 11 92 11 5 16 Interpolation Operation Programming Changing Parameter Settings Converting to Variables in CNC Table 11 95 11 6 Motion Function Errors 11 97 11 6 1 Overview of Motion Function Errors 11 97 11 6 2 Error Check Method 11 98 11 6 3 Clearing Errors 11 99 11 Motion Control 11 2 WUME GM1RTXOP 01 ...

Страница 365: ...s on how to set up RTEX and add axes refer to 5 3 Setting up Motion Control 11 1 2 Basic Settings of the RTEX Axis Be sure to set the RTEX axis 1 Double click the servo amplifier object in the navigator pane 2 From the displayed menu select Edit Object The RTEX Axis Setting dialog box will be displayed General Settings Select the General tab and set the following items 11 1 RTEX Axis Setting WUME ...

Страница 366: ...its in application in the Scaling Mapping A negative value cannot be set A warning is issued If the data is downloaded as is an error will occur when executing the GM1 Finite The set value for the command position is a finite value Software limit can be set Note that an error will occur if a 32 bit real number is exceeded 3 Software limit A software limit can be set if the axis type is set to Fini...

Страница 367: ...action Maximum distance in software error reaction Dynamic limit If the deceleration and maximum distance in software error reaction are set to 0 these become invalid In that case operation stops according to the deceleration rate set in the dynamic limit 5 Dynamic limit Speed acceleration and deceleration settings cannot be set to 0 If they are set to 0 a warning is issued The values set in the d...

Страница 368: ...t this to 360 Note Invert direction The direction is inverted Linear When the axis type is set to finite the ratio in the conversion from the drive increment to the application unit is set Note Invert direction The direction is inverted 11 1 3 RTEX Axis Extended Setting Configure extended settings as required Right click the object in the navigator pane and then select Edit Object from the context...

Страница 369: ...position lag supervision 2 Velocity ramp type Velocity profiles are defined for each axis Trapezoid In the trapezoidal velocity profile velocity continues linearly Therefore acceleration can rise sharply In this mode jerk restriction does not work in each function block 11 1 RTEX Axis Setting WUME GM1RTXOP 01 11 7 ...

Страница 370: ...ver jerk restriction works only when acceleration is not zero at the start of axis movement and suspended deceleration and acceleration ramps cannot be continued seamlessly Quadratic This is a trapezoidal acceleration profile with jerk restriction Acceleration changes partially linearly and continuously and jerk rises sharply The maximum value of jerk can be limited by jerk values in each function...

Страница 371: ...s is similar to Quadratic except that jerk does not rise sharply The maximum value of jerk can be limited by jerk values in each function block 3 Axis state window in online mode 11 1 RTEX Axis Setting WUME GM1RTXOP 01 11 9 ...

Страница 372: ...When Modulo is selected 11 1 RTEX Axis Setting 11 10 WUME GM1RTXOP 01 ...

Страница 373: ...When Finite is selected 4 Online State This indicates one of the axis states in the following figure 11 1 RTEX Axis Setting WUME GM1RTXOP 01 11 11 ...

Страница 374: ... Error FB error The oldest error that occurred on the axis SMC_ERROR is displayed This is the same error as the one that can be obtained by the SMC_ReadFBError function block uiDriveInterfaceError strDriveInterfaceError This is an internal error in the GM1 controller 7 Scaling Mapping Rotary type When the axis type is set to Modulo the ratio in the conversion from the drive increment to the applic...

Страница 375: ...is inverted Linear type When the axis type is set to Finite the ratio in the conversion from the drive increment to the application unit is set Note Invert direction The direction is inverted 11 1 RTEX Axis Setting WUME GM1RTXOP 01 11 13 ...

Страница 376: ...is specify the axis corresponding to the servo motor When inputs Enable bRegulatorOn and bDriveStart are set to TRUE the servo turns ON When input bRegulatorOn is set to FALSE the servo turns OFF Program examples The following are LD program and ST program examples that execute the MC_Power function block Setting variable SW_Power to TRUE turns ON the servo and setting it to FALSE turns OFF the se...

Страница 377: ...f home return Home return is a function that moves the axis to the preset reference position home position and set the coordinates of the position to 0 If an incremental encoder is used for the servomotor the home return methods shown in the table below can be selected The GM1 controller also supports home return using an absolute encoder When implementing home return using an absolute encoder use...

Страница 378: ...he home position Note 1 Stop on contact method 1 The axis is stopped by a mechanical stopping mechanism such as a stopper Then when the torque value exceeding the specified value continues for a certain period of time the motor stops The stopping position is set as the home position Stop on contact method 2 After the axis is stopped by a mechanical stopping mechanism such as a stopper the rotation...

Страница 379: ... as a home position Z phase Searches for a near home switch DOG will be started Note 2 The reference home position differs according to the selected home return type Z phase EXT2 EXT3 DOG method 2 Edge detection of near home switch The rising edge of the near home switch DOG is detected and the motor stops The stopping position is set as the home position 11 2 Basic Preparations for Operation WUME...

Страница 380: ...e home position DOG method 3 Edge detection of near home switch Home position Z phase based on rear edge DOG method 3 E2 Edge detection of near home switch External latch input 2 EXT2 based on rear edge DOG method 3 E3 Edge detection of near home switch External latch input 3 EXT3 based on rear edge Note 1 If the home position Z phase is ON at the time of startup it will not be regarded as a home ...

Страница 381: ...llowing table Type Reference home position Limit method 1 Edge detection of limit switch Home position Z phase based on front edge Limit method 1 E2 Edge detection of limit switch External latch input 2 EXT2 based on front edge Limit method 1 E3 Edge detection of limit switch External latch input 3 EXT3 based on front edge Note 1 If the home position Z phase is ON at the time of startup it will no...

Страница 382: ...home position Z phase is detected and the motor stops The stopping position is set as the home position The reference home position can be selected from the three types shown in the following table Type Reference home position Z phase method 1 Edge detection of home position Z phase EXT2 method Edge detection of external latch input 2 EXT2 EXT3 method Edge detection of external latch input 3 EXT3 ...

Страница 383: ...tion is set as the home position The reference home position can be selected from the three types shown in the following table Type Reference home position Stop on contact method 2 Stop on contact detection Home position Z phase based on front edge Stop on contact method 2 E2 Stop on contact detection External latch input 2 EXT2 based on front edge Stop on contact method 2 E3 Stop on contact detec...

Страница 384: ...er home return is complete the deviation counter is not cleared Settings and behaviors of home return Settings in GM Programmer To use the home return function specify various settings in Home Return Settings in axis settings Specify the following settings according to the home return function to be used GM Programmer Value Type Default Home return method 0 DOG1 1 DOG2 2 DOG3 3 Limit method 1 4 Li...

Страница 385: ...ep speed 0 or more LREAL 0 Acceleration 0 or more LREAL 0 Deceleration 0 or more LREAL 0 Jerk 0 or more LREAL 0 Home return direction 1 positive 1 negative 1 negative Trigger 17 Z phase 26 EXT2 28 EXT3 17 Z phase Contact time TIME 0 Torque threshold 0 or more LREAL 0 Home return is performed by executing PMC_Home in POU Program example 11 2 Basic Preparations for Operation WUME GM1RTXOP 01 11 23 ...

Страница 386: ...continues to run in the reverse direction If both JogForward and JogBackward are set to TRUE JOG operation will be stopped You can specify velocity Velocity unit u s acceleration Acceleration unit u s2 deceleration Deceleration unit u s2 and jerk Jerk unit u s3 that are used during JOG operation Program examples Example ST program that executes JOG operation after the servo is turned ON JOG operat...

Страница 387: ... terminate with an error JogForward and JogBackward must not be turned ON at the same time Otherwise JOG operation will terminate As shown in this program example if you want to switch the direction from JogForward to JogBackward set JogForward to FALSE and then set JogBackward to TRUE 11 2 Basic Preparations for Operation WUME GM1RTXOP 01 11 25 ...

Страница 388: ... Position Control Position control is control that runs the motor until the specified position or distance is reached The MC_MoveAbsolute function block is used to specify a movement destination position Position and the MC_MoveRelative function block is used to specify a movement distance Distance Program examples In the following LD program example the MC_MoveAbsolute function block is used to r...

Страница 389: ...LD program ST program The following ST program example executes the same behavior as the LD program on the previous page 11 3 Single axis Operation WUME GM1RTXOP 01 11 27 ...

Страница 390: ...are started at the rising edge of the Execute flag If processing is completed normally the Done flag will be set to TRUE In this program example the actual position eventually becomes 4180 11 3 Single axis Operation 11 28 WUME GM1RTXOP 01 ...

Страница 391: ...ing operation To change parameter settings such as target positions Position during operation temporarily set the Execute flag to FALSE beforehand After parameter settings have been changed if the Execute flag is set back to TRUE the changed parameter settings will be applied In the following example Position in MC_MoveAbsolute is changed from 90 to 180 While MC_MoveAbsolute is being executed Busy...

Страница 392: ...wing example an instance of MC_MoveRelative is overwritten with another instance of MC_MoveAbsolute during its execution During the execution of MC_MoveRelative when the actual position reaches 1000 its instance is overwritten with another instance of MC_MoveAbsolute 11 3 Single axis Operation 11 30 WUME GM1RTXOP 01 ...

Страница 393: ...The CommandAborted flag of MC_MoveRelative is set to TRUE causing the processing to be suspended and MC_MoveAbsolute to be executed 11 3 Single axis Operation WUME GM1RTXOP 01 11 31 ...

Страница 394: ...11 3 Single axis Operation 11 32 WUME GM1RTXOP 01 ...

Страница 395: ... control that can be used by the motion function of the GM1 controller The control mode to be used can be switched using SMC_SetControllerMode of the SM3_Basic function block Explanation of functions For the control mode to be used specify one of the values of enumeration SMC_CONTROLLER_MODE that are shown in the following table Control mode Value Description SMC_torque 1 Torque control mode SMC_v...

Страница 396: ...velocity Velocity unit u s acceleration Acceleration unit u s2 deceleration Deceleration unit u s2 and jerk Jerk unit u s3 that are used during control Program examples The following is an ST program example that performs velocity control in the forward direction at a velocity of 360 u s at an acceleration of 3 600 u s2 and at a deceleration of 3 600 u s2 Before executing the MC_MoveVelocity funct...

Страница 397: ...ST program 11 3 Single axis Operation WUME GM1RTXOP 01 11 35 ...

Страница 398: ...r settings such as target velocity Velocity during operation temporarily set the Execute flag to FALSE beforehand After parameter settings have been changed if the Execute flag is set back to TRUE the changed parameter settings will be applied To stop the axis change the setting of Velocity to 0 11 3 5 Torque Control Torque control is performed at the specified torque Torque control can be execute...

Страница 399: ...ST program 11 3 Single axis Operation WUME GM1RTXOP 01 11 37 ...

Страница 400: ...ction block refer to the GM1 Series Reference Manual Instruction In the torque control mode SMC_torque the axis cannot be stopped using MC_Stop To stop the axis set fTorque to 0 and execute again 11 3 6 Stop This function stops the motor Stop can be executed with the MC_Halt or MC_Stop function block Explanation of functions MC_Halt Allows the user to execute another function block during stop pro...

Страница 401: ...hile the Busy flag is set to TRUE MC_Stop_0 must be called every cycle Otherwise the operation will terminate with an error When the stop operation is completed the Done flag is set to TRUE Unless the Execute flag of MC_Stop is set to FALSE axis control cannot be executed by other function blocks 11 3 Single axis Operation WUME GM1RTXOP 01 11 39 ...

Страница 402: ... cam operation you must set up a cam table Synchronous cam operation How to use cam This section explains how to change graphs in a cam table after adding a cam table object 1 Right click the Application object in the navigator pane and then select Add Object Cam table from the context sensitive menu that is displayed The Add Cam table dialog box will be displayed 11 4 Synchronous Operation 11 40 ...

Страница 403: ...you specify a cam table with a function block The Cam tab displays position velocity acceleration and jerk graphs The horizontal axis represents the master axis and the vertical axis represents the slave axis The Cam table tab displays numerical values that represent the graphs displayed in the Cam tab 11 4 Synchronous Operation WUME GM1RTXOP 01 11 41 ...

Страница 404: ...al axis slave axis within a graph Right click the Cam object in the navigator pane and then select Properties from the context sensitive menu that is displayed In the Properties window click the Cam tab and change the values in the Dimensions section 11 4 Synchronous Operation 11 42 WUME GM1RTXOP 01 ...

Страница 405: ...oolbox click the graph and then drag it in the direction in which you want to move it A cam table object will be added A point will be added to the position at which you click the mouse and the graph will be moved in the direction in which you drag the point 11 4 Synchronous Operation WUME GM1RTXOP 01 11 43 ...

Страница 406: ...m table with the MC_CamTableSelect function block start synchronous cam operation with the MC_CamIn function block The following is an ST program example that moves the slave axis in conjunction with a cam table that is created For the cam table name enter the object name of the cam table that has been added The following is an ST program example that moves the slave axis in conjunction with a cam...

Страница 407: ...11 4 Synchronous Operation WUME GM1RTXOP 01 11 45 ...

Страница 408: ...ontinues even after the slave axis is separated from the master axis you must stop the slave axis with the MC_Halt function block or another function block 11 4 2 Synchronous Gear operation This function performs synchronous gear operation Synchronous gear operation Gear control POU programming Synchronous gear operation can be started and finished using the following function blocks MC_GearIn Spe...

Страница 409: ... and MC_GearIn_0 must be called every cycle Otherwise the operation will terminate with an error To separate the slave axis from the master axis and finish the synchronous gear operation use the MC_GearOut function block When MC_GearOut is called the synchronous operation is terminated and the slave axis continues to move at the same velocity as when the synchronous operation is terminated Because...

Страница 410: ...from the master axis you must stop the slave axis with the MC_Halt function block or another function block 11 4 Synchronous Operation 11 48 WUME GM1RTXOP 01 ...

Страница 411: ...inear interpolation Configuration parameters Target coordinates X Y Z velocity F acceleration deceleration E Circular interpolation Center point specification Circular interpolation by specifying a center point Configuration parameters Circular interpolation plane XY YZ ZX Target coordinates X Y X center point I J K Velocity F acceleration deceleration E Radius Circular interpolation based on the ...

Страница 412: ...orts linear interpolation circular interpolation and helical interpolation as interpolation controls Linear interpolation Linear interpolation can be used for two axes or three axes Circular interpolation Circular interpolation can be used for two axes and each axis moves along to the locus of a circular arc For circular arcs specify a center point or the radius of the circular arc Helical interpo...

Страница 413: ...ntrol PMC_NCDecoder This function block decodes the specified SMC_CNC_REF type CNC table into a SMC_OUTQUEUE type CNC table If a CNC table has been created using SMC_CNC_REF execute this function block PMC_Interpolator2D This function block executes 2 axis interpolation control using a predefined CNC table For CNC tables for 2 axis interpolation control execute this function block PMC_Interpolator...

Страница 414: ... GM Programmer Right click the Application object in the navigator pane and then select Add Object CNC program from the context sensitive menu that is displayed When CNC program is selected the following window is displayed Specify settings and click OK 11 5 Multi axis Operation 11 52 WUME GM1RTXOP 01 ...

Страница 415: ...nterpolation control functions of the GM1 controller can be used SMC_OUTQUEUE Not recommended Movement speed is improved but changing the settings in CNC tables joining CNC tables and other similar operations cannot be performed File Not supported CNC tables are saved as external reference files Because this mode is not supported by the GM1 controller do not select CNC settings and CNC Program wil...

Страница 416: ...ge the scale It is possible to change figures in this editor but this will change codes in the G code editor making settings difficult For this reason do not change figures The respective properties of the CNC Setting and CNC Program objects displayed in the Device tree can be displayed and set by right clicking each object and then left clicking appropriate items Each window and setting items are...

Страница 417: ...n Tab name Settings Common You can check the detailed settings of the CNC table Access Control You can set access permissions CNC settings Setting window Path preprocessors tab 11 5 Multi axis Operation WUME GM1RTXOP 01 11 55 ...

Страница 418: ... Preinterpolation tab 11 5 Multi axis Operation 11 56 WUME GM1RTXOP 01 ...

Страница 419: ... Table editor tab 11 5 Multi axis Operation WUME GM1RTXOP 01 11 57 ...

Страница 420: ...played in the MotionTask window Velocity mode Unchangeable Check that the mode is set to Trapezoid Maximum jerk Specify a maximum value for jerk during interpolation control operation Table editor This tab is used to perform CNC in table format Because the GM1 controller uses G code Din66025 there is no need to configure settings in this window CNC Program Properties In the Device tree of GM Progr...

Страница 421: ... Common tab Build tab 11 5 Multi axis Operation WUME GM1RTXOP 01 11 59 ...

Страница 422: ... Access Control tab 11 5 Multi axis Operation 11 60 WUME GM1RTXOP 01 ...

Страница 423: ...t type To change the CNC table name change the CNC table name in the white field and click OK Build If the created CNC table is not to be used select the Exclude from build check box and click OK Access Control You can set access permissions CNC tab 11 5 Multi axis Operation WUME GM1RTXOP 01 11 61 ...

Страница 424: ...This window is used to configure initial settings for CNC operation 11 5 Multi axis Operation 11 62 WUME GM1RTXOP 01 ...

Страница 425: ...led within function blocks do not change the default values in this area 11 5 5 Overview of G code In the GM1 controller G code is used to set operation patterns for interpolation control G code is a coding system used for machine NC programming The GM1 controller complies with the Din66025 standards For details on operations executed by each G code refer to 11 5 7 Movements Executed by Each G cod...

Страница 426: ...fication remains effective until G99 is set G99 Relative coordinate specification center point Specifies the center point of circular interpolation as relative coordinates If G98 is not specified relative coordinate specification will be used After G99 is set relative coordinate specification remains effective until G98 is set G codes other than those listed above are not supported 11 5 6 G code E...

Страница 427: ...n Velocity acceleration and deceleration are specified for each G code If velocity acceleration and deceleration are changed in the CNC table more than once using this input method can prevent input mistakes N10 G01 X100 Y50 Z10 F100 E10 E 10 N20 G01 X150 Y100 Z50 F200 E5 E 5 11 5 7 Movements Executed by Each G code and Setting Methods This section explains movements executed by G codes that the G...

Страница 428: ...e G code setting example N04 G01 X100 Y100 F100 E1 E 1 Explanation of G code N04 The X axis and Y axis are specified to form an XY plane Linear interpolation can be set in the XY plane according to the following values Current value X0 Y0 end point X100 Y100 Velocity 100 Acceleration 1 u sec2 deceleration 1 u sec2 3 axis linear interpolation Setting example G code setting example N11 G01 X100 Y100...

Страница 429: ...nterpolation in the XZ plane G19 Circular interpolation in the YZ plane Settings for axes untargeted for interpolation For axes untargeted for interpolation Z axis in the XY plane do not enter parameters for coordinates Note that if axes untargeted for circular interpolation Z axis in the above example are specified helical interpolation will be set For details on helical interpolation refer to He...

Страница 430: ...how to set relative coordinates or absolute coordinates refer to Absolute coordinate specification G90 or Relative coordinate specification G91 Circular interpolation setting examples center point specification Examples of setting circular interpolation with G code are shown below In these examples target coordinates are set as absolute coordinates and center point coordinates are set as relative ...

Страница 431: ...ting example N03 G17 N04 G02 X0 Y0 I50 J0 F100 E1 E 1 Explanation of G code N03 An XY plane is selected N04 Circular interpolation is performed in the XY plane according to the following values Current value X0 Y0 end point X0 Y0 or omitted Center point X50 Y0 Velocity 100 Acceleration 1 u sec2 deceleration 1 u sec2 Circular interpolation can be specified with a radius instead of a center point as...

Страница 432: ... circular interpolation using an XZ plane Setting example 4 G code setting example N11 G18 N12 G02 X100 Z0 I50 K0 F100 E1 E 1 Explanation of G code N11 An XZ plane is selected N12 Circular interpolation is performed in the XZ plane according to the following values Current value X0 Z0 end point X100 Z0 Center point X50 Z0 Velocity 100 Acceleration 1 u sec2 deceleration 1 u sec2 YZ plane The follow...

Страница 433: ...elical interpolation refer to Helical interpolation setting examples operation settings Helical interpolation setting examples operation settings Examples of setting helical interpolation with G code are shown below Setting example 1 G code setting example N10 G17 N11 G02 X0 Y0 Z100 I50 J0 F100 E1 E 1 Explanation of G code N10 An XY plane is selected This can be omitted when there is no need to ch...

Страница 434: ... coordinate specification will be used unless G91 relative coordinate specification is specified G code Function Description Remarks G90 Absolute coordinate specification Specifies target coordinates as absolute coordinates If G91 is not specified absolute coordinate specification will be used After G90 is set absolute coordinate specification remains effective until G91 is set Absolute coordinate...

Страница 435: ...oordinate specification specify G91 Note that if G91 is not specified absolute coordinate specification will be used G code Function Description Remarks G91 Relative coordinate specification Specifies target coordinates as relative coordinates After G91 is set relative coordinate specification remains effective until G90 is set Relative coordinate specification setting example operation settings S...

Страница 436: ...tive until G99 is set G99 Relative coordinate specification center point Specifies the center point of circular interpolation as relative coordinates If G98 is not specified relative coordinate specification will be used After G99 is set relative coordinate specification remains effective until G98 is set Notes on center point coordinate specification For relative and absolute coordinate specifica...

Страница 437: ... end point X200 Y100 Center point entered as relative coordinates X50 Y0 Velocity 100 Acceleration 1 u sec2 deceleration 1 u sec2 Center point absolute coordinate specification G98 Center points can be specified as absolute coordinates as below Coordinates for all movements including center point coordinates are specified as absolute coordinates Setting example G code setting example N00 G90 N01 G...

Страница 438: ...rpolation operation is executed It is used for purposes such as waiting for a particular operation For dwell time enter G code G04 in a position where you want to set waiting time Dwell time setting example Setting example G code setting example N00 E1 E 1 N10 G01 X100 Y100 F100 N20 G04 T1 50 N30 G01 X100 Y0 F100 Explanation of G code N00 Acceleration 1 u sec2 and deceleration 1 u sec2 are set col...

Страница 439: ..._Interpolator2D or PMC_Interpolator3D Because calculations are performed during compilation high speed operation can be achieved Operation cannot be changed using programs CNC tables cannot be joined or repeated SMC_CNC_REF After being decoded with PMC_NCDecoder a CNC table that has been set up must be executed in PMC_Interpolator2D or PMC_Interpolator3D Operation can be changed using programs ref...

Страница 440: ...ogram Organization Unit POU You must use dedicated function blocks to perform interpolation operation The GM1 controller supports the following three function blocks PMC_NCDecoder PMC_Interpolator2D and PMC_Interpolator3D For details on each function block refer to 11 5 10 Interpolation Operation Programming Explanation of Function Block FB 2 Programming in POU Do programming in POU and register t...

Страница 441: ...ables that have been created can be subject to dynamical analysis to preliminarily check how each axis moves Verification method for dynamical analysis 1 In the CNC table editing window from the menu bar select CNC Analyze Dynamics 2 The Dynamical Analysis window will be displayed Specify appropriate settings in the Axis Cycle time Velocity mode and Maximum jerk fields 11 5 Multi axis Operation WU...

Страница 442: ... Check that the CNC table to be used is registered in Program Configuration Application in the Device tree 2 Check that the CNC table is SMC_CNC_REF type For details refer to 11 5 4 Registering a CNC Table Checking registration of target axes Check that the target axes for interpolation operation have been registered beforehand Axis setting example In this example the names of axes used in the fun...

Страница 443: ...xplanation of Function Block FB Types of function block This manual supports the following function blocks Name Function Overview PMC_NCDecoder Decode This function block decodes the SMC_CNC_REF type CNC table into an SMC_OUTQUEUE type CNC table PMC_Interpolator2D 2 axis interpolation operation This function block executes 2 axis interpolation operation according to the specified SMC_OUTQUEUE type...

Страница 444: ...ent value on X axis fSetYPosition LREAL Current value on Y axis bStart BOOL Execution flag Explanation of declaration section In Lines 2 to 4 function blocks to be used are defined by assigning arbitrary names to them In Line 5 a buffer to be used for PMC_NCDecoder is defined Paths in the CNC table that are as many as arrays can be stored In the above example 11 paths can be stored Note that if th...

Страница 445: ... be used is defined by assigning an arbitrary name to it In Line 4 a flag for starting execution is defined Control section IF bStart THEN Interpolator2D Axisx X_Drive Axisy Y_Drive bExecute TRUE poqDataIn ADR CNC_Table2 dwIpoTime 1000 END_IF Explanation of control section When the bStart flag is set to TRUE Interpolator2D starts being executed For PMC_Interpolator2D specify the address of the SMC...

Страница 446: ...CNC table 11 5 11 Interpolation Operation Programming Specifying the Starting Coordinates In CNC tables programmed in G code by default the starting coordinates are defined as the origin 0 0 Normally if the starting coordinates in the CNC table are identical with the operation starting coordinates current coordinates normal operation will occur If the operation starting position current coordinate...

Страница 447: ...Enable TRUE Position fSetYPosition NCDecoder nSizeOutQueue SIZEOF buf pbyBufferOutQueue ADR buf dXStartPosition fSetXPosition dYStartPositon fSetYPosition ncprog CNC_Table1 bExecute TRUE Interpolator2D Axisx X_Drive Axisy Y_Drive bExecute TRUE poqDataIn NCDecoder poqDataOut dwIpoTime 1000 END_IF When operation is started SMC_ReadSetPosition reads the current coordinates and PMC_NCDecoder specifies...

Страница 448: ...2 Click the CNC tab in the upper section of the Properties window that is displayed 11 5 Multi axis Operation 11 86 WUME GM1RTXOP 01 ...

Страница 449: ...3 In the Start position section specify the respective operation starting coordinates for the X Y and Z axes and then click OK 11 5 Multi axis Operation WUME GM1RTXOP 01 11 87 ...

Страница 450: ... point Control and C point Control When composite interpolation operations are executed by the GM1 controller continuity between interpolated movements becomes an issue The GM1 controller supports C point control from the following two types of control P point control P point control refers to control passing through a Pass Point In this manual this control is referred to as P point control for th...

Страница 451: ...r supports the use case patterns shown in the table below C point control for connection between paths This refers to connection between movements within a single CNC table C point control for connection between CNC tables This refers to connection between movements across CNC tables Use case Applicable function block Restriction Remarks C point control for connection between paths PMC_Interpolato...

Страница 452: ... Tables 11 5 13 Interpolation Operation Programming Settings in CNC Table for C point Control The GM1 controller basically uses C point control to perform operation and uses P point control only when paths are connected linearly Operation example Setting example C point control N000 G91 N010 G01 X20 Y10 F10 Path 1 N020 G01 X20 Y10 Path 2 N030 G01 X20 Y0 Path 3 11 5 Multi axis Operation 11 90 WUME ...

Страница 453: ...he interpolation control to switch to C point control Setting example N00 G91 N10 G01 X20 Y10 F10 N15 G04 T0 N20 G01 X20 Y10 N30 G01 X20 Y10 11 5 14 Interpolation Operation Programming Settings in POU for P point Control and C point Control Settings for connection between each path By setting the bSingleStep parameter in PMC_Interpolator2D or PMC_Interpolator3D connection between each path can be ...

Страница 454: ... joined by setting the bAppend join flag in PMC_NCDecoder to TRUE and decoding each table to be joined in order Movements between each CNC table are performed by C point control SMC_OUTQUEUE which is output is executed as a CNC table in PMC_Interpolator2D or PMC_Interpolator3D For joining CNC tables the GM1 controller supports the following use case patterns Joining CNC tables C point control Sett...

Страница 455: ...ue ADR buf ncprog CNC_Table1 bExecute FALSE bAppend TRUE Interpolator2D Axisx X_Drive Axisy Y_Drive bExecute FALSE poqDataIn NCDecoder poqDataOut dwIpoTime 1000 iSequence 3 3 NCDecoder nSizeOutQueue SIZEOF buf pbyBufferOutQueue ADR buf ncprog CNC_Table2 bExecute TRUE bAppend TRUE Interpolator2D Axisx X_Drive Axisy Y_Drive bExecute TRUE poqDataIn NCDecoder poqDataOut dwIpoTime 1000 END_CASE The fir...

Страница 456: ... Execution control No bDec BOOL Decode flag bStart BOOL Interpolation control execution flag iCount INT 0 Specified number of repetitions Control section NCDecoder nSizeOutQueue SIZEOF buf pbyBufferOutQueue ADR buf ncprog CNC_Table bExecute bDec bAppend TRUE Interpolator2D Axisx X_Drive Axisy Y_Drive bExecute bStart poqDataIn NCDecoder poqDataOut dwIpoTime 1000 Case iSequence THEN 1 bDec TRUE bSta...

Страница 457: ...sary Use the SMC_CNC_REF compilation type Change variables before starting PMC_NCDecoder Parameters such as target values If you want to make parameter changes supported by the GM1 controller the following parameters are applicable Applicable parameter Variable name global variable Variable name specific for CNC tables X axis g_x g_x Y axis g_y g_y Z axis g_z g_z Velocity g_f g_f Acceleration g_ac...

Страница 458: ...perform the following operations Parameters can be changed while the variable reference type of the parameter change function is being executed However only parameter changes where G75 is specified and subsequent changes are applied During the execution of a CNC table the contents of variables are reacquired when the line where G75 is specified is executed The contents of variables that are reacqu...

Страница 459: ...to terminate The errorstop state is released by executing the MC_Reset function block Errors not resulting in errorstop In CODESYS if an error that is judged to be operation continuable an error that can be cleared by re executing the function block such as a parameter error to the function block occurs the Error flag of the function block will be set to TRUE and an error code will be set in Error...

Страница 460: ...displayed This is regardless of whether errorstop occurred Some FB errors are not displayed SMC_RP_REQUESTING_ERROR etc Errors that can be output to programs Return value to function block When an FB error occurs the Error flag is set to TRUE and the error ID of SMC_ERROR is output to ErrorID MC_ReadFBError FB errors that occurred are displayed regardless of errorstop Some FB errors are not displa...

Страница 461: ...or returns to a function block Execute the same function block with the Execute flag set to FALSE When an amplifier alarm occurs Execute RTEX_ClearAmpAlarm This applies to only errors that can be cleared For errors that cannot be cleared perform a warm reset or cold reset 11 6 Motion Function Errors WUME GM1RTXOP 01 11 99 ...

Страница 462: ... MEMO 11 100 WUME GM1RTXOP 01 ...

Страница 463: ...2 9 12 5 3 I O Mapping for PWM Output 12 10 12 5 4 Data Update Timing Output Frequency 12 11 12 5 5 Data Update Timing Duty Ratio 12 12 12 5 6 PWM Output Setting Example 12 12 12 6 High speed Counter Function 12 18 12 6 1 Overview of High speed Counter Function 12 18 12 6 2 Setting Parameters with GM Programmer 12 19 12 6 3 Counter Parameter Setting Items 12 22 12 6 4 I O Mapping for High speed Co...

Страница 464: ...12 1 Overview of Unit Control Unit control provides control for the controller functions I O PWM and counter and expansion units 12 1 Overview of Unit Control 12 2 WUME GM1RTXOP 01 ...

Страница 465: ...lains parameter settings using IO_Configuration as an example In the navigator pane double click the IO_Configuration object The IO_Configuration pane will be displayed In the IO_Configuration pane click the IO Parameters tab The parameter settings sub pane will be displayed Change the settings according to your need 12 2 IO Parameters for Unit Control WUME GM1RTXOP 01 12 3 ...

Страница 466: ...counter and each expansion unit This section explains I O mapping using IO_Configuration as an example Click the I O Mapping tab in the Device pane The I O mapping pane will be displayed Register variables directly from the variable or I O mapping window declared in the Application object 12 3 I O Mapping for Unit Control 12 4 WUME GM1RTXOP 01 ...

Страница 467: ...s Number of input ports Max 16 points X0 to X3 are shared with the counter function Use IO parameter settings to select functions to be used Number of output ports Max 16 points Y0 to Y3 are shared with the counter function and Y4 to Y7 are shared with the PWM output function Use IO parameter settings to select functions to be used Input port number X0 to X15 Output port number Y0 to Y15 12 4 2 Se...

Страница 468: ...to change the type of mapping You can copy the variable name set in the Channel column Select a channel CH0 or CH1 in the Category Selection column right click and then select Copy from the context sensitive menu that is displayed Next select another channel right click and then select Paste from the context sensitive menu that is displayed 12 4 3 Setting Items of IO_Configuration Parameters IO pa...

Страница 469: ...h0_Out00 Select Y0 Y1 IO Ch0_Out01 Counter Ch0_ExternalOutp ut1 IO Ch0_Out01 Select Y1 Y2 IO Ch0_Out02 Counter Ch1_ExternalOutp ut0 IO Ch0_Out02 Select Y2 Y3 IO Ch0_Out03 Counter Ch1_ExternalOutp ut1 IO Ch0_Out03 Select Y3 Y4 IO Ch0_Out04 PWM Ch0_PWM_Output IO Ch0_Out04 Select Y4 Y5 IO Ch0_Out05 PWM Ch1_PWM_Output IO Ch0_Out05 Select Y5 Y6 IO Ch0_Out06 PWM Ch2_PWM_Output IO Ch0_Out06 Select Y6 Y7 ...

Страница 470: ...3 BOOL Ch0_In13 Ch0_In14 BOOL Ch0_In14 Ch0_In15 BOOL Ch0_In15 Ch0_Out Channel Type Description Remarks Ch0_Out00 BOOL Ch0_Out00 Ch0_Out01 BOOL Ch0_Out01 Ch0_Out02 BOOL Ch0_Out02 Ch0_Out03 BOOL Ch0_Out03 Ch0_Out04 BOOL Ch0_Out04 Ch0_Out05 BOOL Ch0_Out05 Ch0_Out06 BOOL Ch0_Out06 Ch0_Out07 BOOL Ch0_Out07 Ch0_Out08 BOOL Ch0_Out08 Ch0_Out09 BOOL Ch0_Out09 Ch0_Out10 BOOL Ch0_Out10 Ch0_Out11 BOOL Ch0_Out...

Страница 471: ...z Settable by 1 Hz Note 1 Output duty ratio 0 to 100 Settable by 0 1 Control input Enable request or start request Note 1 This specification applies when push pull is set and output current is 0 1 A It varies according to loads 12 5 2 Setting Output Ports with GM Programmer You can set output ports for PWM output via IO_Configuration Edit Object in GM Programmer 1 From Device view in the navigator...

Страница 472: ...t The high speed counter function is controlled by user programs InputArea input area Channel Type Description Remarks PwmStatusRegister WORD Input area PwmStatusRegister PWM status register Channel Type Description Remarks Ch _PwmStatus BOOL Ch PWM output status Indicates the PWM output state FALSE OFF TRUE ON 12 5 PWM Output 12 10 WUME GM1RTXOP 01 ...

Страница 473: ...date Timing Output Frequency The data update timing for output frequency during PWM output is descried below Data update at the rising edge of start request bit In this mode the frequency value to be changed is written to the frequency set value and updated with data at the point in time when the start request bit is switched from OFF to ON The frequency value changed in this timing is reflected a...

Страница 474: ...Description 1 Data update timing Indicates the timing in which the duty ratio set value is reflected 2 Output update timing Indicates the timing in which the changed duty ratio is reflected as actual output 12 5 6 PWM Output Setting Example Overview PWM output is performed It is controlled by the switch input X0 or X1 connected to the GM1 controller If the start request bit is turned ON when the e...

Страница 475: ...s created in POU 1 From Device view in the navigator pane double click PWM_Configuration The PWM_Configuration window will be displayed 2 In the PWM_Configuration window click the PWM I O Mapping tab 12 5 PWM Output WUME GM1RTXOP 01 12 13 ...

Страница 476: ...hannel name are mapped to the channels required for PWM Ch0 the name of sample POU is created as PWM 4 From Device view in the navigator pane double click IO_Configuration The IO_Configuration window will be displayed 12 5 PWM Output 12 14 WUME GM1RTXOP 01 ...

Страница 477: ...s will be mapped Timing chart If the rising edge of the start request bit is detected when the enable request bit is ON Y4 will start PWM output When the enable request bit is set to OFF PWM output stops 12 5 PWM Output WUME GM1RTXOP 01 12 15 ...

Страница 478: ...a frequency of 100 Hz 3 When the enable request bit turns OFF PWM output stops Sample program The following are LD program and ST program examples for sample POU PWM The state of X0 is output to the Ch0 Enable Request bit Ch0 frequency and Ch0 duty ratio are set at the rising edge of X0 The state of X1 is output to the Ch0 Start Request bit LD program 12 5 PWM Output 12 16 WUME GM1RTXOP 01 ...

Страница 479: ...ST program 12 5 PWM Output WUME GM1RTXOP 01 12 17 ...

Страница 480: ...kHz and 100 µs 10 kHz Capture function and sampling capture function are provided It is possible to store the count value at the moment of the occurrence of a trigger assigned to a capture flag Count values can be checked independently of I O refresh The capture function executes capturing at the rising and falling edges of a capture flag The sampling capture function executes capturing at every s...

Страница 481: ...ained for the set time 1 to 1 000 ms Input time constant noise filter Input time constants can be set as input signals A phase B phase and Z phase and control signals for each counter 12 6 2 Setting Parameters with GM Programmer You can set parameters for the high speed counter via Couter_Configuration in GM Programmer 1 From Device view in the navigator pane double click Counter_Configuration The...

Страница 482: ...dow click the Counter parameter tab 3 Set up parameters of each function for each counter Counter function Comparison match leading edge reset Comparison match trailing edge reset 12 6 High speed Counter Function 12 20 WUME GM1RTXOP 01 ...

Страница 483: ...mparison comparison data Set patterns for comparison function band comparison comparison data Comparison function target value match comparison Comparison function target value match comparison comparison data 12 6 High speed Counter Function WUME GM1RTXOP 01 12 21 ...

Страница 484: ...n and click the Copy button Next select another counter and click the Paste button For details on each parameter refer to 12 6 3 Counter Parameter Setting Items 12 6 3 Counter Parameter Setting Items Count function Settable for each counter Setting item Settings Default value Counter type Linear counter Ring counter Linear counter Enable Disable overflow underflow Disable Enable Disable 12 6 High ...

Страница 485: ...ative logic preset operation Not used Control 0 signal function setting Not used Positive logic enable operation Negative logic enable operation Positive logic enable operation reset operation at rising edge Negative logic enable operation and reset operation at falling edge Positive logic enable operation and preset operation at rising edge Negative logic enable operation and preset operation at ...

Страница 486: ...2 147 483 647 0 Specifies the state of the comparison match flag when the current value falls within the specified band ON OFF OFF Comparison data 0 to Comparison data 15 for target value match comparison Specifies target values for each comparison data Setting range 2 147 483 648 to 2 147 483 647 0 Comparison match flags to be set or reset can be selected for each status incrementation or decreme...

Страница 487: ...ot use capture 0 function Capture 1 setting Not use capture 1 function Capture function at rising edge of control 0 signal Capture function at falling edge of control 0 signal Capture function at rising edge of control 1 signal Capture function at falling edge of control 1 signal Not use capture 1 function Capture function operation setting One operation Continuous operation Continuous operation S...

Страница 488: ...he control signal whichever is enabled Ch _ExternalOutput 0Status BOOL Ch external output 0 status Indicates the output status of external output 0 signal 0 Output OFF 1 Output ON Ch _ExternalOutput 1Status BOOL Ch external output 1 status Indicates the output status of external output 1 signal 0 Output OFF 1 Output ON Ch _InputAStatus BOOL Ch input A status Indicates the input status of input A s...

Страница 489: ... to enable count operation 0 Disable 1 Enable Ch _ResetRequest BOOL Ch reset request ON edge Specifies whether to reset the count value 0 Do not reset 1 Reset Ch _PresetRequest BOOL Ch preset request ON edge Specifies whether to change the count value to a preset value 0 Do not change 1 Change Ch _ResetEnableRe quest BOOL Ch reset enable request Level Capture function Specifies whether to enable r...

Страница 490: ...ternal output 1 signal Ch _ErrorClearRequ est BOOL Ch error clearing request ON edge Specifies whether to clear the error 0 Do not clear 1 Clear Note 1 The behavior of the Ch capture enable request bit differs according to the function to be used 12 6 5 Operation Ready Request Operation ready request program To enable the settings of the high speed counter function you must configure parameter set...

Страница 491: ...g are LD program and ST program examples for sample POU Counter When the OperationReadyRequest flag is set to TRUE operation preparation is started LD program 12 6 High speed Counter Function WUME GM1RTXOP 01 12 29 ...

Страница 492: ...d Behaviors when operation ready request program is executed When the operation ready request program is executed and each behavior set in the GM1 controller becomes executable the operation ready status bit turns ON Behaviors of operation ready request bit Note 1 Ensure that the operation ready request bit remains ON when the high speed counter is used If the default value or preset value is out ...

Страница 493: ...ween 2 147 483 647 and 2 147 483 647 can be set Default value 2 147 483 647 Counter lower limit Any value between 2 147 483 648 and 2 147 483 646 can be set Default value 2 147 483 648 Specify count direction Set the rotational direction of count input Count in normal direction Counts in the direction stated in the manual Count in reverse direction Counts in the direction reverse to the one stated...

Страница 494: ...he counter behavior to be performed when the count value reaches the specified upper limit or lower limit Disable Continues counting within the countable range for the system 2 147 483 648 to 2 147 483 647 even if the specified upper limit or lower limit is reached Select count input To import input signals from external devices select Count input To measure the frequencies of external input signa...

Страница 495: ... A is behind phase B by 90 degrees in terms of the electrical angle the count value is decremented Individu al For individual input the counter is incremented when the level of the input A signal rises or falls and decremented when the level of the input B signal rises or falls Directio n detectio n For direction detection input the count signal is connected to the input A signal The count directi...

Страница 496: ...t signals phases A B and Z and control signals Input signal name Settings Input A signal input B signal The same time constant for both signals No input time constant 0 1 µs 2 MHz 0 2 µs 1 MHz 0 5 µs 500 kHz 1 0 µs 250 kHz 2 0 µs 100 kHz 10 0 µs 10 kHz Input Z signal No input time constant 0 1 µs 2 MHz 0 2 µs 1 MHz 0 5 µs 500 kHz 1 0 µs 250 kHz 2 0 µs 100 kHz 10 0 µs 10 kHz Control signal No input...

Страница 497: ...on conditions by setting up the control 1 signal function Note 1 If you set the control 0 signal or control 1 signal as the enable operation condition do not use the count enable request bit Count enable operation example Reset count operation Reset count operation is used by allocating the reset function to the control flag The count value is reset to 0 according to the change rising falling posi...

Страница 498: ...used by allocating the preset function to the control flag Preset count operation rewrites the count value as the preset value according to the change rising falling positive logic or negative logic of the control flag Preset count operation can also be used to start counter operation from the preset value Preset count operation can be set using the methods shown in the following table Types of co...

Страница 499: ... at rising edge Negative logic enable operation and reset operation at falling edge Enable preset count operation Enable preset count operation is used by allocating the enable function and preset function to the control flag The count value is set as a preset value when the counter becomes enabled due to the change of the control flag enable preset processing Types of control flag enable preset p...

Страница 500: ...or changing the current count value or preset value To read and write channel data variables are mapped to channels in the same way as in 12 6 5 Operation Ready Request In this example variables are mapped to channels used for reading the count value of Counter Ch0 and changing the current count value and preset value 12 6 High speed Counter Function 12 38 WUME GM1RTXOP 01 ...

Страница 501: ...xample count values are read for each scan When the current value change start bit is set to TRUE the current value of Ch0 is set to 1000000 When the start preset bit is set to TRUE the preset value of Ch0 is set to 500000 LD program 12 6 High speed Counter Function WUME GM1RTXOP 01 12 39 ...

Страница 502: ... channel and turn ON the current value change request bit Example A program to change the current value of CH0 to 1000000 Count values cannot be written directly to the count value channel Ch _CountValue Changing the preset value The preset value can be changed to any value as necessary Set a value in the temporary preset value channel and turn ON the preset value change request bit 12 6 High spee...

Страница 503: ...tal of 16 comparison data items can be set Comparison results can be output externally Comparison methods can be selected for each counter Comparison match function specifications Item Specifications Set number of comparison data Up to 16 data items for each counter Comparison data 0 to comparison data 15 Comparison match flag Up to 16 flags for each counter Comparison match 0 flag to comparison m...

Страница 504: ...e and comparison value match at the time of incrementation Addition reset pattern Resets the flag when the current value and comparison value match at the time of incrementation Subtraction set pattern Sets the flag when the current value and comparison value match at the time of decrementation Subtraction reset pattern Resets the flag when the current value and comparison value match at the time ...

Страница 505: ... 16 comparison match flags can be set separately for Addition set pattern Addition reset pattern Subtraction set pattern and Subtraction reset pattern For details on how to set up parameters refer to 12 6 2 Setting Parameters with GM Programmer Setting example for target value match function Output setting example Compariso n data Target value Output setting Compariso n match 0 flag Compariso n ma...

Страница 506: ...ction set pattern Subtraction reset pattern 7 8 750 Addition set pattern Addition reset pattern Subtraction set pattern Subtraction reset pattern The behavior of the comparison match flag that is performed when the count value reaches the target value can be changed separately for incrementation and decrementation If the contents of comparison data 0 to 15 are duplicated and reset conditions are d...

Страница 507: ...n Parameter setting procedure 1 Click Counter parameter Counter Ch0 or Ch1 Comparison function change the Select comparison function parameter to Band comparison and execute Set number of comparison data 2 Click Counter parameters Counter Ch0 or Ch1 Comparison functio Comparison data and specify upper and lower limits for each comparison data item 3 Set whether to turn ON or OFF the comparison mat...

Страница 508: ...ison Output setting example Compa rison data Band comparison value Output setting Compariso n match 0 flag Compariso n match 1 flag Compariso n match 2 flag Compariso n match 3 flag Lower limit Upper limit 0 1 250 2 500 Set ON OFF OFF OFF 1 3 750 5 000 Set OFF ON OFF ON 2 3 750 7 500 Set OFF OFF OFF ON 3 6 250 7 500 Set ON ON ON ON 4 8 750 500 Set OFF OFF ON OFF Behavior of comparison match flag d...

Страница 509: ...mparison match 1 flag to the external output function For details on how to set up parameters refer to 12 6 2 Setting Parameters with GM Programmer 12 6 8 External Output Function Overview of external output function The comparison match 0 flag and comparison match 1 flag can be output externally using parameter settings Setup procedure 1 From Device view in the navigator pane double click Counter...

Страница 510: ...nction If the Ch external output 0 forced ON OFF request bit is used the external output 0 signal and external output 1 signal can be turned ON or OFF through user programs The forced output function can be used to check wiring and for other purposes 12 6 9 Capture Function Setup procedure 1 From Device view in the navigator pane double click Counter_Configuration 2 Click the Counter parameter tab...

Страница 511: ...es is stored in the capture 0 value or capture 1 value register Sampling capture function The count value when the specified sampling time elapses after the input signal from an external device changes is stored in the capture 0 value and capture 1 value registers The count value equivalent to the sampling time can be monitored by reading the capture differential value 12 6 High speed Counter Func...

Страница 512: ...ltaneously Capture differential value 1 register 2 words Enable condition The capture function is enabled while the capture enable request bit is ON Always enabled Capture flags The Counter_Configuration parameter window is used to allocate capture flags Control 0 signal Used as a trigger for capture 0 or capture 1 Used as a trigger for the sampling capture function Control 1 signal Used as a trig...

Страница 513: ...eared automatically each time I O refresh occurs One operation When the capture enable request bit enables the capture function capture is executed when the first capture flag becomes enabled The behaviors differ according to the validity condition rising edge or falling edge of the capture flag to be enabled as below When rising edge is specified as the capture trigger condition When falling edge...

Страница 514: ...f the capture enable request bit and capture flag Continuous operation When the capture enable request bit enables the capture function capture is executed every time a capture flag becomes enabled The behaviors differ according to the validity condition rising edge or falling edge of the capture flag to be enabled as below 12 6 High speed Counter Function 12 52 WUME GM1RTXOP 01 ...

Страница 515: ...When rising edge is specified as the capture trigger condition When falling edge is specified as the capture trigger condition 12 6 High speed Counter Function WUME GM1RTXOP 01 12 53 ...

Страница 516: ...r the capture flag turns ON or OFF the count value is stored in the capture 0 value and capture 1 value registers and the differential value is stored in the capture differential value register The sampling capture function is always executable when the control 0 signal is allocated to the sampling capture function The trigger condition that starts sampling capture can be selected from control 0 s...

Страница 517: ...ential value register The sampling capture function is always executable when the control 0 signal is allocated to the sampling capture function The trigger condition that starts sampling capture can be selected from control 0 signal positive logic control 0 signal negative logic and capture enable request bit positive logic For continuous operation the capture 0 status bit is activated Note that ...

Страница 518: ...as signed 32 bit data 2 147 483 648 to 2 147 483 647 Sample program To read and write channel data variables are mapped to channels in the same way as in 12 6 5 Operation Ready Request In this example variables are mapped to the channel used for reading captured data for Counter Ch0 the name of sample POU is created as Counter3 12 6 High speed Counter Function 12 56 WUME GM1RTXOP 01 ...

Страница 519: ...s bits Basic behaviors When capture is completed it is reflected in the capture status bit for each I O refresh For the capture function the capture status bit is reset when the capture enable request bit turns ON 12 6 High speed Counter Function WUME GM1RTXOP 01 12 57 ...

Страница 520: ...n internal flag used by the system is reset each time an I O refresh is performed Note 3 Capture status bits are reflected each time an I O refresh is performed Capture status bits are used to read capture 0 value capture 1 value and capture differential value as arbitrary variables through user programs These values are read at the time of relevant calculation processing 12 6 High speed Counter F...

Страница 521: ...eset each time an I O refresh is performed Note 3 Capture status bits are reflected each time an I O refresh is performed If multiple capture operations are performed continuously the capture 0 completion status bit or capture 1 completion status bit will remain ON If control signals used as capture triggers are input frequently the capture 0 completion status bit or capture 1 completion status bi...

Страница 522: ...tinue the operating status when an error occurs change the value of PLC parameter A unit error occurred to Continue operation 1 From Device view in the navigator pane double click the Device object 2 Click the PLC Parameters tab in the Device window 12 6 High speed Counter Function 12 60 WUME GM1RTXOP 01 ...

Страница 523: ...3 Change the value of A unit error occurred to Continue operation 12 6 High speed Counter Function WUME GM1RTXOP 01 12 61 ...

Страница 524: ...rogrammer 12 7 1 Parameter Settings Parameter Setting item Settings Default value Description Input time constant None 0 1 ms 0 5 ms 1 ms 5 ms 10 ms 20 ms 70 ms None Input time constant 12 7 2 I O Mapping for I O Unit Channel Type Description Remarks Ch0_In WORD Ch0_In Ch1_In WORD Ch1_In Ch0_Out WORD Ch0_Out Ch1_Out WORD Ch1_Out Ch _In represents 0 or 1 12 7 Settings of I O Unit 12 62 WUME GM1RTXO...

Страница 525: ...3 Ch _In14 BOOL Ch _In14 Ch _In15 BOOL Ch _In15 Ch _Out represents 0 or 1 Channel Type Description Remarks Ch _Out00 BOOL Ch _Out00 Ch _Out01 BOOL Ch _Out01 Ch _Out02 BOOL Ch _Out02 Ch _Out03 BOOL Ch _Out03 Ch _Out04 BOOL Ch _Out04 Ch _Out05 BOOL Ch _Out05 Ch _Out06 BOOL Ch _Out06 Ch _Out07 BOOL Ch _Out07 Ch _Out08 BOOL Ch _Out08 Ch _Out09 BOOL Ch _Out09 Ch _Out10 BOOL Ch _Out10 Ch _Out11 BOOL Ch ...

Страница 526: ... MEMO 12 64 WUME GM1RTXOP 01 ...

Страница 527: ...us TCP Master Communication 13 24 13 3 3 Modbus TCP Slave Communication 13 28 13 3 4 Modbus RTU Master Communication 13 30 13 3 5 Modbus RTU Slave Communication 13 38 13 4 EtherNet IP 13 42 13 4 1 What is EtherNet IP 13 42 13 4 2 Cyclic Communication Function 13 42 13 4 3 EtherNet IP Scanner Function 13 42 13 4 4 Setting up the EtherNet IP Scanner Function 13 42 13 4 5 EtherNet IP Scanner Operatio...

Страница 528: ...rpose communication MODBUS TCP Master Slave EtherNet IP Scanner Adapter 32 connections The IP address of the LAN port can be changed using the PLC Parameters tab in the Device setting window For details refer to 5 2 Setting up the GM1 Controller 13 1 1 Adding Network Communication Devices Add a communication device object to the device object of a LAN port For example use the following procedure t...

Страница 529: ... to the navigator pane For details on how to set up Modbus TCP refer to 13 3 MODBUS 13 1 2 Adding Serial Communication Devices 1 Right click the Device object in the navigator pane and then select Add Device from the context sensitive menu that is displayed 13 1 Overview of Communication Function WUME GM1RTXOP 01 13 3 ...

Страница 530: ...lick the Add Device button The selected Modbus_COM object will be added to the navigator pane 4 Right click the Modbus_COM object and then select Add Device from the context sensitive menu that is displayed 13 1 Overview of Communication Function 13 4 WUME GM1RTXOP 01 ...

Страница 531: ... Select Modbus_Serial_Device 6 Click the Add Device button The selected Modbus_Serial_Device object will be added to the navigator pane For details on how to set up refer to 13 3 MODBUS 13 1 Overview of Communication Function WUME GM1RTXOP 01 13 5 ...

Страница 532: ...window will be displayed Library_Manager Check that the following CAA_NetBaseServices library is registered in Library_Manager TCP CLIENT processing example The following is a processing example of data transmission reception via TCP when the local unit is TCP CLIENT This processing example assumes the following operating environment Processing for data transmission reception The processing for da...

Страница 533: ...ored Result The result of processing execution is stored TRUE Error occurrence FALSE Normal termination If the result of processing execution is abnormal check the error code of each processing NBS_ClientError Result of TCP client connection processing NBS_WriteError Result of transmission processing NBS_ReadError Result of reception start processing Operation example The TCP client connects to th...

Страница 534: ...Declaration section common to ST and LD programming languages 13 2 General purpose Communication 13 8 WUME GM1RTXOP 01 ...

Страница 535: ...Implementation section ST programming language 13 2 General purpose Communication WUME GM1RTXOP 01 13 9 ...

Страница 536: ...Implementation section LD programming language 13 2 General purpose Communication 13 10 WUME GM1RTXOP 01 ...

Страница 537: ...alue 1 TCP server open processing 2 TCP connection processing 3 Reception start processing 4 Transmission processing MyAddr The IP address of the local unit is set MyPort The port number of the local unit is set SendData Data to be sent is set RecvBuf Received data is stored RecvCount The number of receptions is stored RecvSize The size of received data is stored sClientAddr The IP address of the ...

Страница 538: ...rom 1 to 2 The local unit is ready to receive data In this state the local unit can receive data from the destination unit The value of Process is changed to 3 The local unit sends data to the destination unit 10 byte data is sent to the destination unit The value of Process is changed to 4 Declaration section common to ST and LD programming languages 13 2 General purpose Communication 13 12 WUME ...

Страница 539: ...Implementation section ST programming language 13 2 General purpose Communication WUME GM1RTXOP 01 13 13 ...

Страница 540: ...Implementation section LD programming language 13 2 General purpose Communication 13 14 WUME GM1RTXOP 01 ...

Страница 541: ... processing example An example of processing for data transmission reception via UDP is as follows This processing example assumes the following operating environment Processing for data transmission reception The processing for data transmission reception is as follows Port open processing Reception start processing Transmission processing Explanation of variables Process When the value is rewrit...

Страница 542: ... abnormal check the error code of each processing NBS_PeerError Result of port open processing NBS_RecError Result of reception start processing NBS_ReadError Result of transmission processing Operation example The port is opened and the local unit is ready to receive data In this state the local unit can receive data from the destination unit The value of Process is changed from 1 to 2 The local ...

Страница 543: ...Declaration section common to ST and LD programming languages 13 2 General purpose Communication WUME GM1RTXOP 01 13 17 ...

Страница 544: ...Implementation section ST programming language 13 2 General purpose Communication 13 18 WUME GM1RTXOP 01 ...

Страница 545: ...Implementation section LD programming language 13 2 General purpose Communication WUME GM1RTXOP 01 13 19 ...

Страница 546: ... rate 115200 bps Data bits 8 Parity bit Odd Stop bit 1 Processing for data transmission reception The processing for data transmission reception is as follows Serial port open processing Serial port close processing Reception processing Transmission processing Explanation of variables Process When the value is rewritten the following processing is executed After the execution is completed the vari...

Страница 547: ...ion If the result of processing execution is abnormal check the following error code ComErr COM processing result Operation example Serial port is opened The value of Process is changed to 1 Received data is read The value of Process is changed to 2 10 byte data is sent The value of Process is changed to 3 Serial port is closed The value of Process is changed to 4 Declaration section common to ST ...

Страница 548: ...Implementation section ST programming language 13 2 General purpose Communication 13 22 WUME GM1RTXOP 01 ...

Страница 549: ...Implementation section LD programming language 13 2 General purpose Communication WUME GM1RTXOP 01 13 23 ...

Страница 550: ...ings are used Transmission method based on slave initialization Transmission method Cyclic Rising edge Application ModbusChannel function block 2 When device object settings are not used A method by which a user program ModbusRequest function block generates and sends commands For details on how to use ModbusRequest refer to the GM1 Series Reference Manual Instruction The method in 1 is explained ...

Страница 551: ...ect Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 4 Select Modbus TCP Slave under Modbus TCP Slave and click the Add Device button Modbus_TCP_Slave will be added to the Modbus_TCP_Master object Example When master communication is performed via LAN port1 5 Open the device AGM1CSR16T1 of the GM1 controller select the PLC Parameters tab and ...

Страница 552: ...bus_TCP_Slave object will be displayed 7 Select the Modbus Slave Channel tab 8 Click the Add Channel button The Modbus Channel dialog box will be displayed Enter information for channels to be used Up to 100 channels can be set 13 3 MODBUS 13 26 WUME GM1RTXOP 01 ...

Страница 553: ... Writes to single register 15 Write Multiple Coils Writes to multiple coils 16 Write Multiple Registers Writes to multiple registers 23 Read Write Multiple Registers Reads from or writes to multiple registers Trigger Select conditions for command transmission Access type Description Cyclic Commands are sent periodically Enter a transmission interval in the Cycle time field Rising edge Commands are...

Страница 554: ...ecifies the number of registers to be written to The value of the parameter depends on the function code This completes the device object settings for the method for sending commands based on slave initialization and the method for sending commands based on channel settings 13 3 3 Modbus TCP Slave Communication This section explains how to use the Modbus TCP slave function The slave function is us...

Страница 555: ... register IW will be set to zero Settable value 500 to 200000 Slave port Port number used by the slave local unit Settable value 1 to 65535 Unit ID A station number is set Settable value 1 to 247 Holding registers IW The number of holding registers is set Buffer size of holding register 1 to 4096 Input registers QW The number of input registers is set Buffer size of input register 1 to 4096 4 Sele...

Страница 556: ...s Holding register Read Write Input register Read Holding register Write Note 1 The register to be used is changed according to whether the Holding register data area overlay and input register data area overlay check box is selected 13 3 4 Modbus RTU Master Communication The Modbus RTU master function can be used to send commands to slave devices in the following two ways 1 When device object cha...

Страница 557: ... button The Modbus_COM object will be added to the Device object 3 Right click the Modbus_COM object in the navigator pane and then select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 4 Select Modbus Master COM Port under Modbus Serial Master and click the Add Device button The Modbus_Master_COM_Port object will be added below the Modbus_...

Страница 558: ...er Modbus Serial Slave and click the Add Device button The Modbus_Slave_COM_Port object will be added below the Modbus_Master_COM_Port object 7 Double click Modbus_COM in the navigator pane The Modbus_COM object will be displayed Select the General tab and set appropriate values for each item Item Description COM port Settable value 1 to 99 The COM port of the GM1 controller is fixed at 1 13 3 MOD...

Страница 559: ...t ms 0 65535 Waiting time for response from slave If a response timeout period is set in the slave device the settings in the slave device will take effect Time between frames ms 0 65535 Time period during which master transmission is paused from when the last response is received until the next command is sent Auto restart communication When the check box is selected After a communication error o...

Страница 560: ...ce Response timeout ms 2 65535 Waiting time for response from slave The response timeout value for the master device is overwritten 10 Select the Modbus Slave Channel tab 11 Click the Add Channel button The Modbus Channel dialog box will be displayed Enter information for channels to be used Up to 100 channels can be set 13 3 MODBUS 13 34 WUME GM1RTXOP 01 ...

Страница 561: ...Write Multiple Registers Writes to multiple registers 23 Read Write Multiple Registers Reads from or writes to multiple registers Trigger Select conditions for command transmission Access type Description Cyclic Commands are sent periodically Enter a transmission interval in the Cycle time field Rising edge Commands are sent at the rising edge of a Boolean trigger variable The trigger variable are...

Страница 562: ...r depends on the function code 12 Select the Initialize Modbus Slave tab Slave devices can be initialized Slave initialization is executed once when a slave is activated at the time of startup or RUN mode Click the New button and enter information for channels to be used Up to 20 commands can be added for each device List of access types function codes Code Access type Description 5 Write Single C...

Страница 563: ...each cycle of the bus cycle task This completes the device object settings for the method for sending commands based on slave initialization and the method for sending commands based on channel settings The following is an example of creating an LD program that sends commands when a trigger is set as an application in channel settings The ModbusChannel function block is used for command transmissi...

Страница 564: ... from the context sensitive menu that is displayed The Add Device dialog box will be displayed 2 Select Modbus COM under Modbus Serial Port and click the Add Device button The Modbus_COM object will be added to the Device object 3 Right click the Modbus_COM object in the navigator pane and then select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be di...

Страница 565: ...tion COM port Settable value 1 to 99 The COM port of the GM1 controller is fixed at 1 Baud rate Can be selected from 1200 2400 4800 9600 19200 38400 57600 and 115200 Parity Can be selected from EVEN ODD and NONE Data bits Data bit length between start bit and stop bit Settable value 7 bits and 8 bits Settable 0 to 255 The default value of Modbus is 8 bits Stop bit Settable value 1 bit and 2 bits T...

Страница 566: ... number is set Settable value 1 to 247 Holding registers IW The number of holding registers is set Buffer size of holding register 1 to 500 Input registers QW The number of input registers is set Buffer size of input register 1 to 500 7 Select the Modbus Serial Device I O Mapping tab You can allocate variables to holding registers and input registers Registers correspond to each access type functi...

Страница 567: ...g register 4 Read Input Registers Input register 5 Write Single Coil Holding register 6 Write Single Register Holding register 15 Write Multiple Coils Holding register 16 Write Multiple Registers Holding register 23 Read Write Multiple Registers Holding register Read Write 13 3 MODBUS WUME GM1RTXOP 01 13 41 ...

Страница 568: ...entary note About GM1 controllers used as adapter devices Adapter devices are classified into the following two types Adapter devices connected under the control of the GM1 controller used as a scanner device and adapter devices that are the GM1 controller itself To avoid confusion the following two different terms are used in this manual Local adapter Adapter device that is the GM1 controller its...

Страница 569: ... the navigator pane and then select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 1 2 Select EtherNet_IP_Scanner and click the Add Device button Image of added device and tasks After an EtherNet IP scanner device has been added a device and tasks are added to the Device tree as shown below 13 4 EtherNet IP WUME GM1RTXOP 01 13 43 ...

Страница 570: ...ner device object added in Step 1 and select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 2 2 Select a remote adapter device to be added and click the Add Device button 13 4 EtherNet IP 13 44 WUME GM1RTXOP 01 ...

Страница 571: ...x is not selected The device is stopped in the event of a communication error When the check box is selected The device is reconnected automatically in the event of a communication error Setting up a remote adapter device Set up a remote adapter device as below Setting items for remote adapter devices differ according to the EDS file The following procedure is explained using Panasonic AFP7CPS31E ...

Страница 572: ... check In this case the user can select only the Check device type check box Strict identity check The user specifies check items individually Normally it is OK to use the default values 3 Set a connection point 3 1 In the Connection tab click the Add Connection button The New Connection window will be displayed 3 2 Set up parameters required for connection 13 4 EtherNet IP 13 46 WUME GM1RTXOP 01 ...

Страница 573: ...General parameters section differ according to the selected connection point Example Set RPI to 10 ms and T O size to 16 bytes For tag connection uppercase English letters cannot be used for tag names 4 In the Assemblies tab set up a data configuration If T O size in the General parameters section is set to 16 bytes the default data configuration will be as shown below 13 4 EtherNet IP WUME GM1RTX...

Страница 574: ...cture is changed to the WORD type 4 word data structure and the DWORD type 2 word data structure 5 In the EtherNet IP I O Mapping tab map data to variables in the application POU as below 5 1 In the POU create variables to which data is to be mapped 5 2 Map I O data to each variable that has been created 13 4 EtherNet IP 13 48 WUME GM1RTXOP 01 ...

Страница 575: ...pter is placed in Adapter in IDLE state and displayed as in the Device tree When the GM1 controller is set to RUN mode the remote adapter is placed in Adapter running and displayed as 〇 in the Device tree To perform a status check or reset using a program use I O of the remote adapter device The following is an example of adapter operation using device I O Declaration section common to ST and LD p...

Страница 576: ... xAcknowledge FP7CPU_UNIT_AFP7CPS41ES xReset xReset Implementation section LD programming language The current state of the remote adapter is stored in eState Exampl e When line is connected normally When line is disconnected RUNNING ENCAPSULATION_CONFIG If an error occurs xDiagnosticAvailable will be set to TRUE and a message will be found in sDiagString If xAcknowledge is set to TRUE xDiagnostic...

Страница 577: ...dd a local adapter device and module device to the Device tree as described below 1 Add a local adapter device A local adapter device serves as a connection point to which the scanner device connects 1 1 Right click the LANPort2 object in the navigator pane and then select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 1 2 Select EtherNet_I...

Страница 578: ...e device defines data to be transferred via cyclic communication 2 1 Right click the Local adapter device object added in Step 1 and select Add Device from the context sensitive menu that is displayed The Add Device dialog box will be displayed 2 2 Select the EtherNet IP Module object to be added and click the Add Device button 13 4 EtherNet IP 13 52 WUME GM1RTXOP 01 ...

Страница 579: ... adapter device Settings of local adapter device Check the settings of the local adapter device 1 Double click EtherNet_IP_Adapter in the navigator pane 2 In the General tab check the settings of the local adapter device 1 The settings of the local adapter device are shown below However the settings cannot be changed 13 4 EtherNet IP WUME GM1RTXOP 01 13 53 ...

Страница 580: ...asonic PanasonicGM1CSRX16_0005_0101 eds Setting up a module device Set up a module device as below 1 Double click EtherNet_IP_Module in the navigator pane 2 In the General tab set module information 2 1 1 Select a desired module type from the following 10 types Module type Size Direction Byte Input 1 byte O T Byte Output 1 byte T O Word Input 1 word 2 bytes O T Word Output 1 word 2 bytes T O DWord...

Страница 581: ...Net IP Module I O Mapping tab map data to variables in the application POU as below 3 1 In the POU create variables to which data is to be mapped 3 2 Map I O data to each variable that has been created Double click the section indicated by 1 and select a variable to which I O data is to be mapped 13 4 8 EtherNet IP Adapter Operation When a project in which EtherNet IP adapter settings have been co...

Страница 582: ... the Device tree and the status of the local adapter device is displayed as Adapter running The local adapter device can be connected from multiple scanner devices ExclusiveOwner connection using O T data is allowed for only one scanner device This is to prevent the same variable from being overwritten with input data from multiple scanner devices 13 4 EtherNet IP 13 56 WUME GM1RTXOP 01 ...

Страница 583: ...ile Manipulations Using the CAA File Library 14 2 14 2 Time Function 14 10 14 2 1 Overview of Time Function 14 10 14 2 2 Settings Based on GM Programmer 14 10 14 2 3 Settings Based on Function Blocks 14 10 14 3 Trace Function 14 11 14 3 1 Setting up Trace 14 11 14 3 2 Executing Trace 14 14 WUME GM1RTXOP 01 14 1 ...

Страница 584: ... card during operation use the following function to check whether the SD card cover is open or closed a SYS_GetSDCoverState Reads the open closed state of the SD card slot cover TRUE The SD card slot cover is closed FALSE The SD card slot cover is open When the SD card slot cover is open the SD card can be removed safely by stopping processing such as writing or reading directories or files using...

Страница 585: ...cessing is set to 1 overwrite mode or 2 insert mode After the execution is completed the variable is set to 0 invalid value sFileName Specifies a directory or file name sWriteData Sets data to be written bResult Substitutes the result of processing execution TRUE Error occurrence FALSE Normal termination If the result of processing execution is abnormal check the error code of each processing eOpe...

Страница 586: ...Declaration section common to ST and LD programming languages 14 1 SD Card Access 14 4 WUME GM1RTXOP 01 ...

Страница 587: ...Implementation section ST programming language 14 1 SD Card Access WUME GM1RTXOP 01 14 5 ...

Страница 588: ...Implementation section LD programming language 14 1 SD Card Access 14 6 WUME GM1RTXOP 01 ...

Страница 589: ...ts a buffer into which data is to be read szReadSize Stores the size of read data after read processing bResult Substitutes the result of processing execution TRUE Error occurrence FALSE Normal termination If the result of processing execution is abnormal check the error code of each processing eOpenResult Result of file open processing eReadResult Result of file read processing eCloseResult Resul...

Страница 590: ...Declaration section common to ST and LD programming languages Implementation section ST programming language 14 1 SD Card Access 14 8 WUME GM1RTXOP 01 ...

Страница 591: ...Implementation section LD programming language 14 1 SD Card Access WUME GM1RTXOP 01 14 9 ...

Страница 592: ...Time frame on the left side of the pane displays the date time information of the GM1 controller To set date and time enter date and time in the Date and Time frame on the right side of the pane and click the Update button The entered date and time will be set in the GM1 controller If the Get date time from PC check box is selected the date time information of the PC will be automatically set in t...

Страница 593: ... Recorded data can be checked in the form of a graph Data obtained by the trace function can also be saved in XML text or CSV format 14 3 1 Setting up Trace To use the trace function after adding a trace object you must register variables to be traced 1 Double click the Trace object in the navigator pane A trace object will be added 14 3 Trace Function WUME GM1RTXOP 01 14 11 ...

Страница 594: ...ained 2 Click the Configuration link The Trace Configuration dialog box will appear with the Record settings pane displayed 3 In Record Settings Task field select a task to be traced You can select a task from a list of tasks registered in the project Select a task that you want to trace 14 3 Trace Function 14 12 WUME GM1RTXOP 01 ...

Страница 595: ... pane displayed 6 In Variable settings Variable field enter a variable to be traced Either directly enter a variable to be traced or click the button to display the Input Assistant dialog box and then select a desired variable from the dialog box In the Variable settings pane you can set a graph color types and other items for the variable 14 3 Trace Function WUME GM1RTXOP 01 14 13 ...

Страница 596: ...ring variables to be traced in the trace object 14 3 2 Executing Trace By executing a trace you can check the variables registered in the trace object 1 Connect the PC where GM Programmer is installed and the GM1 controller and log in to the GM1 controller For details refer to 8 5 Connecting to the GM1 Controller 2 From the menu bar select Trace Download Trace A trace will be started After a cycle...

Страница 597: ... use View and other menus to zoom in or out expand or shrink the time axis or adjust variables From the menu bar select Trace and then select an appropriate menu item for the operation to be performed Traced data can be saved From the menu bar select Trace Save Trace With File type you can select a file format for the trace file to be saved 14 3 Trace Function WUME GM1RTXOP 01 14 15 ...

Страница 598: ... MEMO 14 16 WUME GM1RTXOP 01 ...

Страница 599: ... Connect 15 15 15 6 1 Configuring Servo Amplifier Communication Settings 15 15 15 6 2 Setting up the Servo Amplifier Connected to the GM1 Controller 15 17 15 6 3 Editing Settings without Connecting to the GM1 Controller 15 21 15 7 Parameter Window 15 23 15 7 1 Configuration of Parameters Window 15 23 15 7 2 Setting Parameters 15 25 15 7 3 Copying Parameters 15 26 15 7 4 Switching the Input Format ...

Страница 600: ... Communicate 15 42 15 12 3 I Cannot Print 15 42 15 12 4 I Cannot Set up Axes 15 43 15 12 5 PANATERM Lite for GM Does Not Behave Normally 15 43 15 12 6 The Parameter Window Does Not Behave Normally 15 43 15 12 7 The Monitor Window Does Not Behave Normally 15 44 15 12 8 The Alarm Window Does Not Behave Normally 15 44 15 Overview of PANATERM Lite for GM 15 2 WUME GM1RTXOP 01 ...

Страница 601: ...bit PC PC with the following installed Microsoft NET Framework 4 6 1 or higher Microsoft Visual C 2010 SP1 Redistributable Package x86 Microsoft Visual 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 Redistribut...

Страница 602: ...hen GM Programmer is installed PANATERM Lite for GM is also installed at the same time 15 2 2 Uninstalling PANATERM Lite for GM When GM Programmer is uninstalled PANATERM Lite for GM is also uninstalled at the same time 15 2 Installation and Uninstallation 15 4 WUME GM1RTXOP 01 ...

Страница 603: ...How to Start 1 Click the Start button in the Windows task bar and select Panasonic Corporation PANATERM Lite for GM 2 The Connect dialog box will be displayed Select communication settings and click OK 3 The Series setting dialog box will be displayed 15 3 Basic Operations WUME GM1RTXOP 01 15 5 ...

Страница 604: ...When the Selection of Aircraft Types dialog box is displayed select a model and click the OK button 4 PANATERM Lite for GM will be started 15 3 Basic Operations 15 6 WUME GM1RTXOP 01 ...

Страница 605: ...e the program without saving settings collected data or other information 1 From the menu bar select File Exit PANATERM Lite for GM will be closed You can also close PANATERM Lite for GM by clicking the button on the title bar 15 3 Basic Operations WUME GM1RTXOP 01 15 7 ...

Страница 606: ... for each purpose in list format 3 Toolbar The toolbar displays each command as an icon 4 Navigator pane This pane displays a list of axes 5 Main pane This pane displays the Parameter window Monitor window Alarm window and other windows The window can be switched by selecting a desired tab 6 Status field This field displays the status of connection to the GM1 controller 15 4 1 Menu Bar The menu ba...

Страница 607: ...nglish Switches the display language of GM Programmer to English 日本語 Switches the display language of GM Programmer to Japanese 中文簡体旧版 Switches the display language of GM Programmer to Chinese Help Item Function About Displays version information PANATERM Lite for GM Help Displays the manual 15 4 2 Toolbar The toolbar displays the following icons Name Icon Function Select the drive series Sets u...

Страница 608: ...vigation pane displays the following items No Name Icon Function 1 Auto Hide Always shows the navigation pane Minimizes and hides the navigation pane Close Closes the navigation pane 2 Axes Displays a list of axes downloaded to the GM1 controller 15 4 4 Main Pane The main pane displays the following components 15 4 Component Names 15 10 WUME GM1RTXOP 01 ...

Страница 609: ...indow Alarm window Monitor window and other windows 15 4 5 Status Field The status field displays the current communication status Display Description Indicates that there is no communication with the GM1 controller Indicates that there are communications with the GM1 controller 15 4 Component Names WUME GM1RTXOP 01 15 11 ...

Страница 610: ...ator pane from the left edge to the right edge of the window 1 Click the title bar of the navigator pane and then drag it to the main pane The navigator pane will stay in a floating state and arrows indicating movable directions will be displayed 2 Drag the navigator pane in the direction in which you want to move it The relocation destination will be displayed in light blue 15 5 Window Operations...

Страница 611: ...3 Release the left mouse button The navigator pane will be docked into the existing pane and the relocation will be completed 15 5 Window Operations WUME GM1RTXOP 01 15 13 ...

Страница 612: ...b key simultaneously The window for switching the tab of the main pane will be displayed 2 While holding down the Ctrl key press the Tab key until the desired tab is selected 3 Release the Ctrl key The window corresponding to the selected tab will be displayed 15 5 Window Operations 15 14 WUME GM1RTXOP 01 ...

Страница 613: ...sh a communication between the GM1 Controller and the servo amplifier Connect the PC and the servo amplifier with a USB cable and execute Configure amplifier communication settings Then with the servo amplifier and GM1 Controller connected set up the servo amplifier 15 6 1 Configuring Servo Amplifier Communication Settings This initial setup can be used to configure settings for establishing a com...

Страница 614: ...lick OK The Model confirmation dialog box will be displayed 3 Check the software version of the servo amplifier for which settings are to be changed and then click OK The Parameter change dialog box will be displayed 15 6 Selecting the Device to Connect 15 16 WUME GM1RTXOP 01 ...

Страница 615: ...er The PC communicates with the servo amplifier connected to the GM1 Controller Connect the PC and GM1 Controller with a USB cable or Ethernet cable With the GM1 Controller and servo amplifier connected with a Cat5e shielded cable set up the servo amplifier Make this setting only after the connection between the GM1 Controller and the servo amplifier has been established When Connected Using the E...

Страница 616: ...cation timeout settings dialog box will be displayed 3 Change the timeout time and click the OK button The Select Device dialog box will be displayed 4 Click the Scan Network button select the GM1 Controller and click the OK button 15 6 Selecting the Device to Connect 15 18 WUME GM1RTXOP 01 ...

Страница 617: ...USB cable use the following procedure 1 Start PANATERM Lite for GM The Connect dialog box will be displayed 2 Select Connect to the GM series controller with USB and click the OK button The Add USB Port dialog box will be displayed 15 6 Selecting the Device to Connect WUME GM1RTXOP 01 15 19 ...

Страница 618: ...and click the OK button A dialog box to add a USB port and to restart the Gateway will be displayed 4 Click the OK button The Select Device dialog box will be displayed 15 6 Selecting the Device to Connect 15 20 WUME GM1RTXOP 01 ...

Страница 619: ... can freely edit parameters and other data saved in files without connecting to the GM1 Controller The edited contents are not written to the servo amplifier 1 Start PANATERM Lite for GM The Connect dialog box will be displayed 2 Select No communication and click the OK button The Select Series dialog box will be displayed 15 6 Selecting the Device to Connect WUME GM1RTXOP 01 15 21 ...

Страница 620: ...o be connected and click the OK button The main pane will be displayed When the Selection of Aircraft Types dialog box is displayed select a model and click the OK button 15 6 Selecting the Device to Connect 15 22 WUME GM1RTXOP 01 ...

Страница 621: ...Parameters Window No Name Function 1 Toolbar The toolbar consists of basic operation commands related to parameters such as save and read Icon Name Function Read Reads parameters from file prm5 When this button is enabled you can specify a parameter file also by drag and drop operation Save Writes parameters to file prm5 Rcv Receives parameters from the servo amplifier 15 7 Parameter Window WUME G...

Страница 622: ...uction manual and other technical references for the servo amplifier 3 Parameter setting area Allows the user to set or edit parameters Name Function Class Displays parameter categories No Displays parameter numbers Parameter Name Displays parameter names Setup Range Displays the maximum and minimum allowable values of parameter settings Value Displays parameter values Values can be changed For pa...

Страница 623: ... in the parameter setting area represents an attribute 6 Display set value description check box Selecting the check box displays combo boxes and decimal points in the Value column of the parameter setting area To display parameter set values in an easy to understand manner select the check box 15 7 2 Setting Parameters 1 From the menu bar on the main pane select Display Parameter Alternatively on...

Страница 624: ...mplifier that were saved during installation If communication is performed with the servo amplifier parameter values will be reflected in the servo amplifier as soon as they are changed 2 Select one of the three options above and click the OK button The Parameter window will be displayed 3 After changing the parameter settings click the EEP button to write the parameter settings to the EEPROM of t...

Страница 625: ...copied 3 In the Copy destination area select an axis to which parameters are to be copied 4 Click the OK button 5 The Parameter window for the copy destination axis will be displayed 6 Click the Trans icon on the toolbar The parameters will be written to the servo amplifier 7 Click the EEP icon on the toolbar 15 7 Parameter Window WUME GM1RTXOP 01 15 27 ...

Страница 626: ...ue and then press the Enter key To enter parameter values in binary format click the button corresponding to each bit to switch between 0 and 1 Note If the entered value is outside the setting range of the parameter the allowable range will be displayed below the decimal display section 3 After the above input operation is complete click the OK button 15 7 5 Setting I O Pin Assignment I O pin assi...

Страница 627: ...tion selection window will be displayed 3 Select a function to be assigned to the pin for each control mode and a contact method only when an input function is selected 4 In the function selection window click the OK button The display will be returned to the pin assignment setting input window 5 Click the Apply button 15 7 Parameter Window WUME GM1RTXOP 01 15 29 ...

Страница 628: ...te the parameter settings to the EEPROM of the servo amplifier Click the Cancel button to close the window without writing the parameter settings to the EEPROM of the servo amplifier Note Pin assignment settings do not take effect until the servo amplifier is restarted 15 7 Parameter Window 15 30 WUME GM1RTXOP 01 ...

Страница 629: ...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 mode 0 When a change from base command oc...

Страница 630: ... Select extended RTEX status from In_Progress AC_OFF Pr7 112 settings 0 Follow the setting of Pr7 23 bit8 In_Progress AC_OFF 1 Follow the setting of Pr7 112 Pr7 25 RTEX speed unit setup Use setting value 1 command unit s Mandatory 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...

Страница 631: ...ters Icon Name Function Print Prints the contents of the Monitor window 2 Amplifier model name and serial number Displays the model name and serial number of the servo amplifier 3 Output signal status monitor Displays the status of each output signal The tab can be switched between Physical Output and Logical Output Physical Output Displays the status of output signals from the servo amplifier Red...

Страница 632: ...als of power supply to the servo amplifier 6 Pulse sum monitor Displays the sum of command and encoder pulses received by the servo amplifier 7 Encoder information monitor Displays encoder information Single turn data Displays an absolute position when the motor makes no more than a single turn Multi turn data Displays how many turns the motor made after Clear operation Clicking Clear Multi turn r...

Страница 633: ...e toolbar click the Open the Monitor view icon The Monitor window will be displayed 2 Check each item Check the input signal state output signal state and the internal status of the servo amplifier 3 Click the button on the Monitor window The Monitor window will be closed 15 9 Monitor Window WUME GM1RTXOP 01 15 35 ...

Страница 634: ...n the front panel of the servo amplifier is blinking due to motor operation failure or for some other reason 15 10 1 Configuration of Alarm Window Display of the current errors and warnings only during communication with servo amplifier 15 10 Alarm Window 15 36 WUME GM1RTXOP 01 ...

Страница 635: ...performed However you cannot clear any alarms that cannot be cleared by alarm clear input signals of servo amplifiers In such a case turn off the servo amplifier eliminate the cause of the alarm and then turn the power on again Clear Allows the user to clear error histories Print Prints error related information 2 Current error display area Displays the alarm numbers and names of all errors that a...

Страница 636: ... the selected error 9 Motor internal status display area Displays the motor internal status in the event of an alarm Note 1 Some alarms cause tripping as errors but are not recorded in error histories For alarms that are not recorded in error histories refer to the instruction manual of the servo amplifier Note 2 Up to 14 error histories are stored When more than 14 errors occur error histories ar...

Страница 637: ...and check for any errors that are currently occurring 3 Check for any errors that occurred in the past Click the Error History tab and check for any errors that occurred in the past 4 Click the button on the Alarm window The Alarm window will be closed 15 10 Alarm Window WUME GM1RTXOP 01 15 39 ...

Страница 638: ...d with that of the GM Programmer 15 11 2 Help Function While performing operation in PANATERM Lite for GM you can start the Help function to check information such as operating methods 1 From the menu bar select Help PANATERM Lite for GM Help PANATERM Lite for GM Operation Guide will be started 15 11 3 Version Display Function This function allows the user to check the version license and other in...

Страница 639: ...cription Version Info Displays information about the plug ins that have been applied and the operating system of the PC that is used License Info Displays license information for the software used by PANATERM Lite for GM 15 11 Other Functions WUME GM1RTXOP 01 15 41 ...

Страница 640: ...the instruction manual of the PC Check whether the USB driver is installed correctly After PANATERM Lite for GM is started the GM1 controller is not recognized in the window for connecting to the GM1 controller Check that the power to the GM1 controller is turned on Check the USB communication cable or Ethernet cable for loose connections or breakage or check whether a correct cable is used Check ...

Страница 641: ...d then on and start PANATERM Lite for GM again PANATERM Lite for GM does not respond Press the Ctrl key Alt key Delete key simultaneously to invoke the window for forcibly terminating programs and terminate PANATERM Lite for GM PANATERM Lite for GM suddenly terminates Start PANATERM Lite for GM again PANATERM Lite for GM does not start Microsoft NET Framework Ver 4 6 1 may have failed to be instal...

Страница 642: ...mptom Action method Error histories are not displayed If no error has occurred before or error histories have been cleared error histories are not displayed Supplementary information about errors is displayed only when the most recent the second most recent or the third most recent error history is selected Select an error history number again Errors that are not recorded in error histories are no...

Страница 643: ...Appendix Warranty Cautions for Proper Use Warranty App 2 Warranty Period App 2 Warranty Scope App 2 Cautions for Proper Use App 3 WUME GM1RTXOP 01 App 1 ...

Страница 644: ...d 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 accordance...

Страница 645: ...ation 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 t...

Страница 646: ... MEMO App 4 WUME GM1RTXOP 01 ...

Страница 647: ...Revision History The manual code is shown at the bottom of the cover page Date of issue Manual code Revision details February 2021 WUME GM1RTXOP 01 First edition WUME GM1RTXOP 01 ...

Страница 648: ... MEMO WUME GM1RTXOP 01 ...

Страница 649: ... MEMO WUME GM1RTXOP 01 ...

Страница 650: ...Panasonic Corporation 2021 February 2021 WUME GM1RTXOP 01 ...

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