Page 1 Motion Controller GM1 Controller RTEX User’s Manual Operation WUME-GM1RTXOP-01 2021.2...
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Page 3 Types of Manual ● There are different types of manuals for the GM1 series. Refer to the appropriate manual according to your need. These manuals can be downloaded from our website: https://industrial.panasonic.com/ac/e/...
Page 4 ■ GM Programmer A configuration tool for the GM1 Controller RTEX. Using GM Programmer makes it possible to set positioning data and various positioning parameters, and perform various monitoring. As this tool is equipped with tool operation mode that starts a motor independently without using user programs, it is convenient especially to verify operations at the time of initial startup.
Page 5 ■ 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.
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Page 7: Table Of Contents
Table of Contents 1 Before Using This Product..............1-1 1.1 Safety Precautions................1-2 1.2 Handling Precautions................1-3 1.3 Software License Agreement..............1-4 2 Operation Flow ..................2-1 2.1 System Configuration Diagram ............2-2 2.2 Work Flowchart ...................2-4 3 Overview of the GM Programmer ............3-1 3.1 System Requirements.................3-2 3.1.1 Usage Environment of the GM Programmer........
Page 8 4.14.2 Merging Differences ............... 4-34 5 Project Creation ..................5-1 5.1 Project Creation Flow................5-2 5.2 Setting up the GM1 Controller ............5-3 5.3 Setting up Motion Control ..............5-5 5.3.1 Setting up RTEX Master ..............5-5 5.3.2 Adding and Setting up Servo Amplifiers .......... 5-6 5.3.3 Adding and Setting up Free Encoder and Virtual Drive ....
Page 9 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 Function and Function Block...............6-32 6.6.1 Function ...................
Page 10 8.2 Connecting the GM1 Controller and PC ..........8-3 8.2.1 Selecting a Connection Port for GM Programmer ......8-3 8.2.2 Connecting the GM1 Controller and PC with a Cable...... 8-3 8.2.3 Operation when Power is ON ............8-3 8.3 Operation Mode Switching..............8-5 8.4 Communication Setting...............8-6...
Page 11 9.5.1 Reset Warm, Reset Cold, and Reset Origin ........9-19 9.5.2 Executing Device Reset 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 .................
Page 12 10.8.3 Implementing in Existing Function Block ........10-39 10.8.4 Extending the Interface ..............10-42 10.9 External File Functions ..............10-45 10.9.1 Setting up an External File Object ..........10-45 10.10 Servo Amplifier / Motor Operation Function (PANATERM Lite for GM) .......................10-47 10.10.1 Starting PANATERM Lite for GM ..........
Page 13 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 12 Unit Control ..................12-1 12.1 Overview of Unit Control ..............12-2 12.2 IO Parameters for Unit Control ............12-3 12.3 I/O Mapping for Unit Control .............12-4...
Page 14 15.6 Selecting the Device to 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 ..........
Page 15 15.7.3 Copying Parameters ..............15-26 15.7.4 Switching the Input Format of Parameter Values......15-28 15.7.5 Setting I/O Pin Assignment ............15-28 15.8 MINAS Parameters for the GM1 Controller ........15-31 15.9 Monitor Window ................15-33 15.9.1 Configuration of Monitor Window ........... 15-33 15.9.2 Checking the Monitor Window ............
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Page 17: Before Using This Product
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...
Page 18: Safety Precautions
● Do not perform work (such as connection or removal) with the power turned on. Doing so may result in electrical shock. ● If this product is used in any way that is not specified by Panasonic, its protection function may be impaired.
Page 19: Handling Precautions
1.2 Handling Precautions 1.2 Handling Precautions ■ In this manual, the following symbols are used to indicate safety information that must be observed. Indicates an action that is prohibited or a matter that requires caution. Indicates an action that must be taken. Indicates supplemental information.
Page 20: Software License Agreement
1.3 Software License Agreement 1.3 Software License Agreement WUME-GM1RTXOP-01...
Page 21 1.3 Software License Agreement WUME-GM1RTXOP-01...
Page 22 1.3 Software License Agreement WUME-GM1RTXOP-01...
Page 23: Operation Flow
2 Operation Flow 2.1 System Configuration Diagram ............2-2 2.2 Work Flowchart ...................2-4 WUME-GM1RTXOP-01...
Page 24: System Configuration Diagram
2.1 System Configuration Diagram 2.1 System Configuration Diagram The figure below shows the configuration of the GM1 series motion controller (Controller and expansion units), servo amplifiers, and PC. The GM Programmer and PANATERM Lite for GM communicate with the GM1 Controller via Gateway.
Page 25 ● To operate the system, you must install GM Programmer and PANATERM Lite for GM on the ● 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.
Page 26: Work Flowchart
2.2 Work Flowchart 2.2 Work Flowchart The following table explains the workflow from installation of the GM1 controller through to its operation. Step Description Reference Install GM Programmer and PANATERM Lite for GM. "GM1 Controller RTEX User's Manual Make preparations for the servo amplifiers.
Page 27 2.2 Work Flowchart Step Description Reference Set up the GM1 Controller in GM Programmer. Make time setting. "P.8-12" Log in to the GM1 Controller. "P.8-20" Log out from the GM1 Controller. "P.8-21" Upload the source. "P.8-27" Configure security settings with GM Programmer.
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Page 29: Overview Of The Gm Programmer
3 Overview of the GM Programmer 3.1 System Requirements.................3-2 3.1.1 Usage Environment of the GM Programmer........3-2 3.2 Installation and Uninstallation .............3-3 3.2.1 Installing GM Programmer ............... 3-3 3.2.2 Uninstalling GM Programmer............3-7 3.3 Basic Operations.................3-8 3.3.1 How to start ..................3-8 3.3.2 How to quit ..................
Page 30: System Requirements
3.1 System Requirements 3.1 System Requirements 3.1.1 Usage Environment of the GM Programmer Programming software Product name Version Applicable language GM Programmer Ver.1.0 Japanese / English / Chinese (Note 1) When GM Programmer is installed, MINAS setup support software ""PANATERM Lite for GM"" is installed at the same time.
Page 31: Installation And Uninstallation
3.2 Installation and Uninstallation 3.2 Installation and Uninstallation 3.2.1 Installing GM Programmer Before installing the GM Programmer on a PC, log on to the PC as an account with Administrator privileges. If other applications are running, be sure to close all the applications before installing GM Programmer.
Page 32 3.2 Installation and Uninstallation The following window will be displayed. Click [Next]. The following window will be displayed. Select [I accept the terms in the license agreement] and click [Next]. The following window will be displayed. If you change the installation destination folder, click [Change] and specify a desired installation destination.
Page 33 3.2 Installation and Uninstallation The window below will be displayed. Click [Install] to start the installation. The following window will be displayed while the installation is in progress. WUME-GM1RTXOP-01...
Page 34 3.2 Installation and Uninstallation Following this installation, the three packages below will be installed. (The segments indicated by * differ according to the version of the software.) ● 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.
Page 35: Uninstalling Gm Programmer
From the Start menu, select Windows System>Control Panel, and then click "Uninstall a program". A list of installed programs will be displayed. Double-click "Panasonic GM Programmer". The following window will be displayed. [Yes] Click the [Yes] button. The GM Programmer will be uninstalled.
Page 36: Basic Operations
3.3 Basic Operations This section explains how to start and quit GM Programmer. 3.3.1 How to start 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.
Page 37: How To Quit
3.3 Basic Operations 3.3.2 How to quit ● Before closing GM Programmer, be sure to save any project files that you are editing and must save. From the menu bar, select File>Exit. If changes have not been saved, the following window will be displayed. If exiting without saving, select [No].
Page 38: Component Names
3.4 Component Names 3.4 Component Names This section presents the name and display content of each component of GM Programmer. No. Name Description The title bar displays the project file name, [minimize] button, [maximize] button, and Title bar [close] button. Menu bar The menu bar displays the menu commands for each purpose in list format.
Page 39 3.4 Component Names Item Function Close Project Close the project that is currently viewed. Save Project Saves the project that is currently viewed, in overwrite mode. Save Project As Saves the project that is currently viewed, as a different file name. Source Upload Loads the project source code as a project archive.
Page 40 3.4 Component Names Item Function Item Function Allows the cursor to move to the position Go To Definition where the variable or function specified by the cursor is defined within the editor. Allows the positions where the variable Browse Cross specified by the cursor is used to be References displayed in the "Cross reference List"...
Page 41 3.4 Component Names Item Function Allows the cursor to move to bookmarked locations. Used to browse the positions where the declaration part of a defined variable is referenced or used. Item Function Saves the position selected in the active Toggle Bookmark editor as a bookmark.
Page 42 Adds a folder. Edit Object Allows the user to edit an object. Removes the applications downloaded to the GM1 controller and Online Config Mode allows connection to the GM1 controller. Allows the user to set project author information or check project file Project Information information.
Page 43 Allows the user to perform a login operation without connecting to Simulation the GM1 controller and check behaviors in the same way as if the user logged in. Allows the user to configure user management, project encryption, and other settings.
Page 44 3.4 Component Names Item Function Item Function Debug Allows all debug operations to be executed. Prohibits some operations such as adding Locked new breakpoints or forcing variable values. Prohibits any changes other than writing Operational variables. Debug Item Function Start Starts the application.
Page 45: Toolbar
3.4 Component Names Tools Item Function Allows the user to select a device to which PANATERM Lite for GM PANATERM Lite for GM is to connect. Allows the user to install a created library in the library repository in Library Repository order to use the functions or function blocks in the library.
Page 46 3.4 Component Names Name Icon Function Open Project Opens a project that is stored. Saves the project that is currently viewed, in overwrite Save Project mode. Print Prints the active editor screen. Undo Reverses the results of a previous editing action. Redo Allows the user to redo the last editing action after Undo.
Page 47 Build Compiles an object in the application. Downloads the applications generated by code generation Login to the GM1 controller at the time of login. Logout Logs out from the device to which the user logged in. Start Starts the application.
Page 48 3.4 Component Names Name Icon Function Localization] and then [Manage Localizations] from the [Project] menu. Commits the difference between the objects compared by Commit accepted changes selecting the [Project] > [Compare] from the menu bar. Insert Network Inserts an empty network. Toggle network comment state Changes the comment status of the selected network.
Page 49: Navigator Pane
3.4 Component Names Name Icon Function Insert Jump Inserts a jump in the specified position. Insert label Inserts a label in the selected network. Insert Return Inserts a return value in the specified position. Insert Input Adds an input to the specified box. Negation Adds a negation to the selected element.
Page 50: Main Pane
3.4 Component Names Name Icon Function ● New Horizontal Tab Group Moves the selected window to the right. ● New Vertical Tab Group Moves the selected window downward. ● Float Window Position Sets the selected window in a floating state. ●...
Page 51: Status Bar
3.4 Component Names Name Function Declaration section Allows the user to declare variables. (first pane) Implement section Allows the user to enter a program. (second pane) Message view Displays any error or warning messages. Allows the user to place elements in the implementation section by selecting ToolBox them and then dragging and dropping them in the implementation section.
Page 52 3.4 Component Names Name Icon Function Compares the application information of the displayed Application Information project with the application information downloaded to the GM1 controller. Displays the users who are logged in to the displayed Project user － project. 3-24 WUME-GM1RTXOP-01...
Page 53: Window Operations
3.5 Window Operations 3.5 Window Operations This section explains operations related to common windows for GM Programmer. 3.5.1 Moving the Pane Location You can freely change the layout of each window for GM Programmer. For example, use the following procedure to move the navigator pane from the left edge to the right edge of the window.
Page 54 3.5 Window Operations Release the left mouse button. The navigator pane will be docked into the existing pane and the relocation will be completed. ● You can return the changed layout of the window to its initial state. From the menu bar, select Window>Reset Window Layout. ●...
Page 55: Showing / Hiding Panes
3.5 Window Operations 3.5.2 Showing / Hiding Panes You can normally hide the navigator pane and some sub-panes in the main pane and show them only when you use them. ■ Showing / hiding the navigator pane Click on the title bar of the navigator pane. The navigator pane will be minimized and hidden.
Page 56: Switching The Tab Of The Main Pane
3.5 Window Operations ● You can also hide the navigator pane from the menu bar. From the menu bar, select Window>Auto Hide. To always display 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.
Page 57 3.5 Window Operations While holding down the "Ctrl" key, press the "Tab" key until the desired tab is selected. Release the "Ctrl" key. The current tab will be switched to the selected tab. WUME-GM1RTXOP-01 3-29...
Page 58: Full-Screen Display
3.5 Window Operations 3.5.4 Full-screen Display You can display each window of GM Programmer in full-screen mode. From the menu bar, select View>Full Screen. Then GM Programmer window will be displayed in full-screen mode. From the menu bar, select View>Full Screen again. Then GM Programmer window will return from full-screen mode to normal display mode.
Page 59: Switching The Object Window
3.6 Switching the Object Window 3.6 Switching the Object Window Double-clicking an object added to the navigator pane displays its window in the main pane. You can open multiple objects in the main pane and switch to each of their windows using the tab.
Page 60: Other Functions
3.7 Other Functions 3.7 Other Functions 3.7.1 Option Setting Function GM Programmer allows the user to set up each function from the "Options" dialog box. The settings will be applied to all projects created with GM Programmer. From the menu bar, select Tools>Options. The "Options"...
Page 61: Display Language Setting Function
3.7 Other Functions Category name Function Reference page "P.7-11" Allows the user to configure settings related to editing, FBD, LD and IL editor commenting, and printing FBD, LD, and IL programs. "P.7-32" Allows the user to configure settings related to the sizes and fonts of SFC editor elements, the behavior at the time of action element insertion, the display of SFC editor...
Page 62: Online Help Function
3.7 Other Functions The "Options" dialog box will be displayed. Select "International Settings" from the Categories pane. The "International Settings" pane will be displayed. Select User Interface Language>Specific language option and specify a desired language in the field. Click [OK]. The "Options"...
Page 63: Version Display Function
3.7 Other Functions Press the [F1] key. Online help will be started and the page corresponding to the 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.
Page 64 3.7 Other Functions From the menu bar, select Help>About. You can check the logo, profile name, and trademark. Click a desired button at the bottom of the window. Button Description Displays information about the plug-ins that have been applied and the operating Version Info system of the PC that is used.
Page 65 3.7 Other Functions Clicking the [License Info] button displays the "License Information" dialog box. WUME-GM1RTXOP-01 3-37...
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Page 67: Project Operations
4 Project Operations 4.1 Creating a New Project ...............4-2 4.2 Saving a Project..................4-5 4.3 Opening a Project ................4-6 4.4 Closing a Project.................4-7 4.5 Device Tree Configuration ..............4-8 4.6 Project Configuration ................4-10 4.7 Adding an Object ................4-11 4.7.1 Adding Objects................. 4-12 4.7.2 Adding Devices ................
Page 68: Creating A New Project
This section describes how to create a new project. Given below is an example that explains the procedure to create a project for the GM1 controller (product number: AGM1CSRX16T) in Structured Text (ST) format.
Page 69 "Location" field. Click the [OK] button. The "Standard Project" dialog box will be displayed. Select "AGM1CSRX16T(Panasonic Corporation)" in the "Device" field and "Structured Text (ST)." in the "Program in" field, and click the [OK] button. WUME-GM1RTXOP-01...
Page 70 4.1 Creating a New Project A new project will be created. Device and other objects including objects for ST programs are arranged in the navigator pane. <Uses of objects arranged in the navigator pane> Name Function Device object Sets up device objects. Application object Sets up application objects.
Page 71: Saving A Project
4.2 Saving a Project 4.2 Saving a Project Save a project that is created. The project will be saved as a file with extension "".project"". Unsaved projects are indicated by "*" on the right side of their project file names on the title bar. From the menu bar, select File>Save Project, or press the shortcut keys "Ctrl+s".
Page 72: Opening A Project
4.3 Opening a Project 4.3 Opening a Project From the menu bar, select File>Open Project. The "Open Project" dialog box will be displayed. Select a project file and click the [Open] button. The selected project file will be opened. WUME-GM1RTXOP-01...
Page 73: Closing A Project
4.4 Closing a Project 4.4 Closing a Project From the menu bar, select File>Close Project. The project 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.
Page 74: Device Tree Configuration
4.5 Device Tree Configuration 4.5 Device Tree Configuration When a new project is created, it is started in the device tree configuration shown below. Sample1 Project name WUME-GM1RTXOP-01...
Page 75 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...
Page 76: Project Configuration
4.6 Project Configuration 4.6 Project Configuration 4-10 WUME-GM1RTXOP-01...
Page 77: Adding An Object
4.7 Adding an Object 4.7 Adding an Object Check the following list for objects that can be added. Addition source Added object Device DeviceTrace Application CNC program CNC setting Interface Cam table Global variable list Trace External file Persistent variable POU for implicit checks Action Transition...
Page 78: Adding Objects
4.7 Adding an Object Addition source Added device EtherNet/IP Scanner Remote adapter for each device can be selected EtherNet/IP Adapter EtherNet/IP Module Modbus COM Modbus Serial Device Modbus Master, COM Port Modbus Master, COM Port Modbus Slave COM Port 4.7.1 Adding Objects Program creation objects (POU objects) and objects with various functions can be added to applications within a project.
Page 79 4.7 Adding an Object Enter a program name in the "Name" field, select a programming language from the "Implementation Language" drop-down list, and click the [Add] button. WUME-GM1RTXOP-01 4-13...
Page 80 4.7 Adding an Object A [POU] object for the programming language selected in the "Implementation Language" drop-down list will be added to the navigator pane. 4-14 WUME-GM1RTXOP-01...
Page 81 4.7 Adding an Object ● You can also add objects by selecting the [Application] object in the navigator pane and then selecting Project>Add Object from the menu bar. ● To remove an object, select the object in the navigator pane and then press the "Delete" key or right-click the object and then select "Delete"...
Page 82: Adding Devices
4.7 Adding an Object 4.7.2 Adding Devices You can add a device to the devices within the project. For example, use the following procedure to add a Modbus COM device to Device (AGM1CSRX16T). Right-click "Device (AGM1CSRX16T)" in the navigator pane and then select "Add Device" from the context-sensitive menu that is displayed.
Page 83 4.7 Adding an Object The "Modbus COM" object will be added to the navigator pane. WUME-GM1RTXOP-01 4-17...
Page 84: Setting Up A Project
4.8 Setting up A Project 4.8 Setting up A Project Projects can be set up using the "Project Settings" dialog box. The settings will be applied to only the project that is set up. From the menu bar, select Project>Project Settings. The "Project Settings"...
Page 85 4.8 Setting up A Project Category name Function Reference page Allows the user to configure settings regarding whether Compiler warnings "P.7-59" to enable warnings output during build. Allows the user to configure build-related settings such Compile options as whether to enable Unicode and the number of "P.9-6"...
Page 86: Exporting And Importing Objects
4.9 Exporting and Importing Objects 4.9 Exporting and Importing Objects Objects in a project can be exported as XML files. The extension of exported files is ".export". Files that are being exported can be imported to GM Programmer. 4.9.1 Exporting Objects From the menu bar, select Project>Export.
Page 87: Importing Objects
4.9 Exporting and Importing Objects Click the [Save] button. Export will be executed. 4.9.2 Importing Objects This section explains the procedure for importing objects exported to a project into GM Programmer. For example, use the following procedure to import objects below the "Application" object. Select the [Application] object in the navigator pane and then select Project>Import from the menu bar.
Page 88 4.9 Exporting and Importing Objects Select a file with 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. 4-22 WUME-GM1RTXOP-01...
Page 89 4.9 Exporting and Importing Objects ● To import an object into GM Programmer, select an export file where only one object below the [Application] object is selected. Clear the check boxes of the objects that do not need to be imported and click the [OK] button.
Page 90: Creating A Backup When A Project Is Saved
4.10 Creating a Backup when a Project Is Saved 4.10 Creating a Backup when a Project Is Saved When saving a project, you can create a backup file of the project file to be updated. The extension of backup files is ".backup". From the menu bar, select Tools>Options.
Page 91 4.10 Creating a Backup when a Project Is Saved <Restoring backup files> To 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. WUME-GM1RTXOP-01 4-25...
Page 92: Automatically Saving Project Files
4.11 Automatically Saving Project Files 4.11 Automatically Saving Project Files Project files can be saved automatically during editing. Even if data disappears when GM Programmer terminates abnormally, a file up to the point in time when it was saved automatically can be restored. The extension of backup files is ".autosave". From the menu bar, select Tools>Options.
Page 93 4.11 Automatically Saving Project Files After auto save is set, project files will be automatically saved as files with extension ".autosave" at the specified interval during editing. After a project file is closed 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"...
Page 94: Printing A Project
4.12 Printing a Project 4.12 Printing a Project You can print the entire project. From the menu bar, select Project>Document. The "Document Project" dialog box will be displayed. Select the check boxes of the devices and objects for which documents are to be printed, and click the [OK] button.
Page 95 4.12 Printing a Project ● By clicking the [Preview] button in the "Document Project" dialog box, a print preview window is displayed, so that you can check what a hard copy would 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.
Page 96: Printing An Object Within A Project
4.13 Printing an Object within a Project 4.13 Printing an Object within a Project With the object editor opened, from the menu bar, select File>Print. The "Print" dialog box will be displayed. Execute printing. 4-30 WUME-GM1RTXOP-01...
Page 97: Comparing Projects
4.14 Comparing Projects 4.14 Comparing Projects You can compare the opened project file with another project file to display and merge the differences between them. 4.14.1 Project Comparison Method Compare the opened project file with another project file. From the menu bar, select Project>Compare. The "Project Comparison"...
Page 98 4.14 Comparing Projects Description Removed object Object with a difference in contents Object with a difference in properties Added object Opened project Specified project Double-clicking an object line with a difference in contents displays the object comparison results. 4-32 WUME-GM1RTXOP-01...
Page 99 4.14 Comparing Projects Clicking the icon returns the display to the comparison view in the navigator pane. Clicking the icon switches to the mode in which comparison results including removed object lines are displayed. The above window in which comparison results are displayed will be switched to the window shown below.
Page 100: Merging Differences
4.14 Comparing Projects 4.14.2 Merging Differences Differences displayed by comparing projects can be merged into the opened project. When there are differences in the contents of objects, the differences can be merged by using the [Accept Block] button or [Accept Single] button. For example, use the following procedure to merge the differences in the contents of programs.
Page 101 4.14 Comparing Projects ● To merge between objects 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. WUME-GM1RTXOP-01 4-35...
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Page 103: Project Creation
5 Project Creation 5.1 Project Creation Flow................5-2 5.2 Setting up the GM1 Controller ............5-3 5.3 Setting up Motion Control ..............5-5 5.3.1 Setting up RTEX Master ..............5-5 5.3.2 Adding and Setting up 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...
Page 104: Project Creation Flow
This chapter explains operations for projects, operations for adding objects to projects, and other related operations. First, this section explains the flow of project creation. Setting up the GM1 controller Set up parameters for the GM1 controller. Refer to "5.2 Setting up the GM1 Controller".
Page 105: Setting Up The Gm1 Controller
5.2 Setting up the GM1 Controller 5.2 Setting up the GM1 Controller This section explains how to set up parameters for the GM1 controller. Double-click the [Device] object in the navigator pane. In the Device pane, the Communication Settings sub-pane will be displayed.
Page 106 5.2 Setting up the GM1 Controller Change the values of the parameters that you 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.
Page 107: Setting Up Motion Control
5.3 Setting up Motion Control 5.3 Setting up Motion Control 5.3.1 Setting up RTEX Master Set the communication / control cycle for RTEX. Double-click "RTEX_Master". The RTEX_Master editor will open. Set the communication / control cycle. WUME-GM1RTXOP-01...
Page 108: Adding And Setting Up Servo Amplifiers
5.3 Setting up Motion Control 5.3.2 Adding and Setting up Servo Amplifiers Add device objects for servo amplifiers to a project and set them up. The description below explains how to add device objects for A6N servo amplifiers to a project and how to set them up.
Page 109 5.3 Setting up Motion Control Double-click the MAC ID row in the "Device: RTEX_Master" table. The "Select Device" dialog box will be displayed. Select a device object for the servo amplifier. The selected device object of the servo amplifier will be added. WUME-GM1RTXOP-01...
Page 110 5.3 Setting up Motion Control Click the [Select Device] button. Click the [OK] button. The selected device object of the servo amplifier will be added to the navigator pane. Double-click the added object. WUME-GM1RTXOP-01...
Page 111: Adding And Setting Up Free Encoder And Virtual Drive
5.3 Setting up Motion Control The setting pane will be displayed in the main pane. Specify settings related to servo amplifier A6N. ● To remove a device object that has been added, select the device object in the navigator pane and press the "Delete"...
Page 112 5.3 Setting up Motion Control The "Device Management" dialog box will be displayed. Double-click the first row in the "Device: SoftMotion drive" table. The "Select Device" dialog box will be displayed. Select a device object for the virtual drive. 5-10 WUME-GM1RTXOP-01...
Page 113 5.3 Setting up Motion Control Click the [Select Device] button. The selected device object of the virtual drive will be added. Click the [OK] button. The selected device object of the virtual drive will be added to the navigator pane. Double-click the added object.
Page 114 5.3 Setting up Motion Control The setting pane will be displayed 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"...
Page 115: Setting Up Unit Control
5.4.1 Setting up General-purpose I/O, PWM Output, and High-speed Counter for GM1 Controller This section explains how to set up general-purpose I/O, PWM output, and high-speed counter for the GM1 Controller. The object of each unit is shown below. ● For details on general-purpose I/O, refer to "12.4 General-purpose...
Page 116 5.4 Setting up Unit Control Set up parameters for the high-speed counter. Select the category of a channel to be set up in the "Category Selection" section and enter values in the "Parameter Settings" section. Select the "Counter I/O Mapping" tab and set the correspondence (mapping) between the channel and variable in the mapping setting pane.
Page 117: Adding Expansion Units
5.4 Setting up Unit Control ● You can copy the parameter set in a channel. To do so, select a channel (CH0 or CH1) in the "Category Selection" column and click the [Copy] button. Next, select another channel and click the [Paste] button.
Page 118 5.4 Setting up Unit Control The "Unit Management" dialog box will be displayed. Double-click the first row in the "Device: Unit_Configuration" table. The "Select Device" dialog box will be displayed. Select a device object for the expansion unit to be added. 5-16 WUME-GM1RTXOP-01...
Page 119 5.4 Setting up Unit Control Click the [Select Device] button. The selected device object of the expansion unit will be added. Click the [OK] button. The selected device object of the expansion unit will be added to the navigator pane. Double-click the added object.
Page 120 5.4 Setting up Unit Control ● To remove the device object of an expansion unit that has been added, select the expansion unit to be removed in the "Unit Management" dialog box and press the "Delete" key or click the [Delete] button.
Page 121: Setting Up The Communication Function
5.5 Setting up the Communication Function 5.5 Setting up the Communication Function 5.5.1 Adding a Protocol to Be Used for the LAN Port This section explains how to add an object of the protocol to be used for the LAN port to a project and set it up.
Page 122 5.5 Setting up the Communication Function Click the [Add Device] button. Object "[Modbus_TCP_Master]" will be added to the navigator pane. Then, add object "[ModbusTCP_Slave_Device]" below object "[Modbus_TCP_Master]". Right-click the [LANPort1] object and then select "Add Device" from the context-sensitive menu that is displayed. The "Add Device"...
Page 123 5.5 Setting up the Communication Function Select device "Modbus TCP Slave Device". Click the [Add Device] button. The [ModbusTCP_Slave_Device] object will be added. WUME-GM1RTXOP-01 5-21...
Page 124: Adding A Protocol To Be Used For The Com Port
5.5 Setting up the Communication Function Double-click the added object. The setting pane will be displayed in the main pane. Specify settings related to Modbus TCP. ● To remove a device that has been added, select the device in the navigator pane and press the "Delete"...
Page 125 5.5 Setting up the Communication Function The "Add Device" dialog box will be displayed. Select device "Modbus COM". WUME-GM1RTXOP-01 5-23...
Page 126 5.5 Setting up the Communication Function Click the [Add Device] button. Object "[Modbus_COM]" will be added to the navigator pane. Then, add object "[Modbus_Master_COM_Port]" below object "[Modbus_COM]". Right-click the [Modbus_COM] object in the navigator pane and then select "Add Device" from the context-sensitive menu that is displayed.
Page 127 5.5 Setting up the Communication Function Select device "Modbus Master, COM Port". Click the [Add Device] button. The [Modbus_Master_COM_Port] object will be added. WUME-GM1RTXOP-01 5-25...
Page 128 5.5 Setting up the Communication Function Double-click the added [Modbus_Master_COM_Port] object. The setting pane will be displayed in the main pane. Specify settings related to Modbus RTU. 5-26 WUME-GM1RTXOP-01...
Page 129: Program Creation
6 Program Creation 6.1 Flow of Program Creation ..............6-2 6.2 Program Creation Window..............6-3 6.2.1 Main Pane ..................6-3 6.2.2 Declaration Editor ................6-3 6.2.3 Auto Declaration ................6-5 6.2.4 Toolbox..................... 6-7 6.2.5 Setting up the Program Input Window ..........6-8 6.2.6 Window Operations for the Program Input Window ......
Page 130: Flow Of Program Creation
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...
Page 131: Program Creation Window
6.2 Program Creation Window 6.2 Program Creation Window This section explains the window for creating programs in GM Programmer. 6.2.1 Main Pane The upper section of the main pane is the declaration section where variables are declared. The lower section of the main pane is the implementation section where program processes are coded.
Page 132 6.2 Program Creation Window The display format of declarations is divided into table format and text format. The table format and text format can be switched using the switching button on the top right of the declaration editor. ■ Table format ●...
Page 133: Auto Declaration
6.2 Program Creation Window ● You can use single-line comments (prefixed with //) and multiple-line comments (enclosed with *). ● Pressing the "F2" key starts Input Assistant, which allows the user to enter variable types and other items by selecting them. For details on Input Assistant, refer to "7.7.5 Input Assistant Function".
Page 134 ■ Address In the Address field, you can specify the address of input data or output data for the GM1 controller or expansion unit. In such a case, the variable assigned to the input data or output data corresponding to the entered address is declared.
Page 135: Toolbox
6.2 Program Creation Window ● You can also prevent the "Auto Declare" dialog box from being displayed when a variable that has not been declared is entered in the implementation section. From the menu bar, select Tools>Options>SmartCoding category and clear the "Delcare unknown variables automatically (AutoDeclare)"...
Page 136: Setting Up The Program Input Window
6.2 Program Creation Window 6.2.5 Setting up the Program Input Window You can change settings related to the text editor. From the 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...
Page 137 6.2 Program Creation Window Edit Item name Default value Settings Sets the maximum number of times [Edit]-[Undo] can be executed from the Number of menu bar undos Setting range: 1 to 1000 (times) Specifies the method for defining the code structure None: Does not collapse code Folding...
Page 138 6.2 Program Creation Window Item name Default value Settings Keep tabs Selected Specifies whether to insert space characters or a tab character when the Tab key is pressed Selected: Inserts a tab character when the Tab key is pressed Cleared: Inserts space characters when the Tab key is pressed Inserts tab spaces with the specified width when "Auto"...
Page 139 6.2 Program Creation Window Default Item name Settings value Selected / Cleared Displays a guide as the vertical line specified for the theme, in the column used as the base of wrapping. Wrap guide Cleared If any value other than "0" is specified in "Wrap margin", a guide will be displayed.
Page 140: Window Operations For The Program Input Window
6.2 Program Creation Window Default Item name Settings value Toggle fold fully: Expands or folds all nested areas when areas are nested Font Displays a "Font" dialog box for setting fonts Monitoring Default Item name Settings value Displays a monitoring field in the program implementation section in online mode Enable inline monitoring Selected...
Page 141 6.2 Program Creation Window Number Item Description Normal mode This mode allows the user to select a component by clicking it. This mode allows the user to moves the window by clicking in the Move mode window and then dragging the mouse. Clicking the icon opens the enlarged view tool window.
Page 142: Creating A Program Object (Pou Object)
6.3 Creating a Program Object (POU Object) 6.3 Creating a Program Object (POU Object) ■ Creating programs Programs are created within POU objects. A single POU object allows the use of only one program. If you want to use different programs within a project, you must add POU objects. ■...
Page 143: Types Of Programming Language
6.4 Types of Programming Language 6.4 Types of Programming Language GM Programmer supports five programming languages that comply with IEC 61131-3, the international standard for PLC programming languages. ● Continuous Function Chart (CFC) and Page-Oriented CFC are not included in the five programming languages compliant with IEC 61131-3.
Page 144 6.4 Types of Programming Language ■ Function Block Diagram program (FBD program) Function Block Diagram is a graphical programming language used to create a program by arranging functions and function blocks on a network (circuit). Unlike Ladder Diagram programs, contacts, coils and other ladder logic elements cannot be arranged in Function Block Diagram programs.
Page 145 6.4 Types of Programming Language ■ Continuous Function Chart (CFC) and Page-Oriented CFC programs Continuous Function Chart (CFC) and Page-Oriented CFC are graphical programming languages used to create a program by arranging function blocks and other elements on the screen. Elements can be freely arranged on the screen and the order of execution can be specified.
Page 146: Variables
6.5 Variables 6.5 Variables Variables are declared in the main pane of POU objects for programs. 6.5.1 Standard Data Types GM Programmer allows the following data types to be used as standard data types. Type Data type Range Size (in bits) Truth BOOL TRUE (1) and FALSE (0)
Page 147: Array
6.5 Variables ● You can also use user-defined data types such as structure, enumeration, alias, and union. For details, refer to "6.5.4 Structure, Enumeration, Alias, and Union Data Types". 6.5.2 Array GM Programmer allows the use of arrays. Using arrays enables multiple data items to be used as a single variable. This feature is useful when variables of the same type are handled collectively.
Page 148: Structure, Enumeration, Alias, And Union Data Types
6.5 Variables Subrange types can also be declared in table format. ● Whether values are within the declared range can be automatically checked when subrange type variables of the DINT, UDINT, LINT, or ULINT data type are accessed. Use a POU for implicit checks that checks ranges.
Page 149 6.5 Variables Select a data type to be defined, enter the necessary information, and then click the [Add] button. A DUT object for defining the selected data type will be added to the navigator pane. Example: Adding a structure data type Select an object to be added and enter definitions in the main pane.
Page 150 6.5 Variables The variable declared as a variable for structure struct2 can access the 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.
Page 151 6.5 Variables Enumeration The following are a declaration that defines enumeration enum1 and an example of an ST program that accesses members of enum1. "0" and "3" are substituted for variables iVar0 and iVar1, respectively. Alias An alias can be used to assign a user-defined name as the name of a data type. Declare a variable by using an alias defined in the declaration section.
Page 152: Constants
6.5 Variables 6.5.5 Constants GM Programmer allows the use of constants. Constants are declared according to the following syntax. VAR CONSTANT Constant name:Type:=Default value; END_VAR Type Constant type Description BOOL BOOL TRUE (1), FALSE (0) Binary, octal, decimal, and hexadecimal numbers Types that can be used For numbers other than decimal numbers, integer constants are Integer...
Page 153: Global Variables
6.5 Variables Variables declared in the global variable list can be accessed by using "object-name.global- variable-name" in the global variable list. Example: When variables in global variable list "Object GVL" are accessed by an ST program For details, refer to "6.5.7 Global Variables".
Page 154 6.5 Variables The GVL window will be displayed in the main pane. Declare variables 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"...
Page 155: Persistent Variables
6.5 Variables ● Variables declared before the build process can be imported and exported in XML format. Right-click the object in the global variable list and then select "Properties" from the context- sensitive menu that is displayed. The "Properties" dialog box will be displayed. Open the "Link To File"...
Page 156 6.5 Variables Right-click the [Application] object in the navigator pane and then select Add Object>Persistent Variable from the context-sensitive menu that is displayed. The "Add Persistent Variable" dialog box will be displayed. Enter a name for the persistent variable list and click the [Add] button. A "Persistent variable list"...
Page 157 6.5 Variables Example: Persistent variable list object with name "PersistentVars" Declare variables in the persistent 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"...
Page 158: Short Form Function
6.5 Variables ● Persistent variables used as local variables can be declared (as VAR PERSISTENT RETAIN) in the declaration section for each POU object. ● Instance paths of persistent variables declared in each POU object can be added to the persistent variable list.
Page 159 6.5 Variables 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 WUME-GM1RTXOP-01 6-31...
Page 160: Function And Function Block
6.6 Function and Function Block 6.6 Function and Function Block Functions and function blocks can be invoked from programs. Functions and function blocks can be created with POU objects. The differences between functions and function blocks are as below. ■ Function (FUN) ●...
Page 161 6.6 Function and Function Block Select the "Function" check box, enter appropriate values in the Name and Return type fields, and select an appropriate programming language from the Implementation Language drop-down 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.
Page 162 6.6 Function and Function Block The POU object is displayed as "function-name (FUN)" in the navigator pane. Enter function processing. Open the POU object of the function and create a function. In "VAR_INPUT", declare input variables for the function. Substitute function output for the variable of the function name. This completes the function creation procedure.
Page 163 6.6 Function and Function Block Example: Invoking the function from ST program ● Additional outputs can be defined for the function. Declare an additional output as variable "VAR_OUTPUT" in the declaration section of the POU object that defines the function. Example: Definition of function "ADD_SUB"...
Page 164: Function Block
6.6 Function and Function Block 6.6.2 Function Block A function block generates one or more outputs in response to one or more inputs. To use function blocks, variables (instances) must be declared. For example, use the following procedure to create function block "FB_ADD", which uses three INT type variables as inputs and outputs the sum of three arguments, and to invoke an instance.
Page 165 6.6 Function and Function Block Click the [Add] button. A POU object of the function block will be added. The POU object is displayed as "FB_ADD (FB)" in the navigator pane. 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.
Page 166 6.6 Function and Function Block Next, the procedure for invoking the created function block is explained below. Open the POU object from which the function block is to be invoked, and declare an instance of the function block in the declaration section. Declare an instance that is a copy of the function block.
Page 167 7 Entering Programs in Each Programming Language 7.1 Programming in Ladder Diagram (LD)..........7-3 7.1.1 Inserting Contacts, Coils, and Function Blocks........ 7-3 7.1.2 Inserting Contacts in Parallel ............7-8 7.1.3 Inserting a Network (Circuit) ............7-9 7.1.4 Inserting a Branch ................7-10 7.1.5 Input of Title and Comment (LD)............
Page 168: Entering Programs In Each Programming Language
7 Entering Programs in Each Programming Language 7.8.1 Build ....................7-59 7.8.2 Rebuild ..................... 7-59 7.8.3 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 WUME-GM1RTXOP-01...
Page 169: Programming In Ladder Diagram (Ld)
7.1 Programming in Ladder Diagram (LD) 7.1 Programming in Ladder Diagram (LD) This section explains how to create programs (LD programs) in Ladder Diagram compliant with IEC 61131-3, the international standard for PLC programming languages. To create LD programs, POU objects for LD programs are required. Set the object setup language to Ladder Diagram (LD).
Page 170 7.1 Programming in Ladder Diagram (LD) 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", a normally open contact will be placed in the network (circuit).
Page 171 7.1 Programming in Ladder Diagram (LD) In Toolbox, select Ladder elements>Coil and drag the mouse until "Add output or jump here" is displayed in the main pane. When you drag the mouse until the position of "Add output or jump here" is reached, the display of "Add output or jump here"...
Page 172 7.1 Programming in Ladder Diagram (LD) In Toolbox, select Function block>TON and drag the mouse until is displayed in the main pane. Function block TON will be displayed. TON will be placed in the implementation section. Select TON and enter a variable name, and then press the <Enter> key. The "Auto Declare"...
Page 173 7.1 Programming in Ladder Diagram (LD) Enter "T#5s" for input PT ("IN PT") and "CurrentTime" for output ET ("O ET"), as shown below. In the declaration section, declare "CurrentTime" as a TIME type variable. This completes insertion of a normally open contact, coil, and function block TON. The network (circuit) is now complete.
Page 174: Inserting Contacts In Parallel
7.1 Programming in Ladder Diagram (LD) ● The LD program can be converted and displayed as an FBD program. From the menu bar, select FBD/LD/IL>View and select a post-conversion programming language. 7.1.2 Inserting Contacts in Parallel This section explains how to place a contact in parallel with a normally open contact. In Toolbox, 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.
Page 175: Inserting A Network (Circuit)
7.1 Programming in Ladder Diagram (LD) Select "Insert Contact Parallel (below)" from the context-sensitive menu that is displayed. A contact will be placed in parallel with the selected contacts. 7.1.3 Inserting a Network (Circuit) This section explains how to insert a new network (circuit). In Toolbox, select General>Network and drag the mouse until displayed in the network (circuit) in the main pane is reached.
Page 176: Inserting A Branch
7.1 Programming in Ladder Diagram (LD) A network (circuit) will be inserted underneath. ● You can also insert a network (circuit) underneath using the following procedure: • Right-click in the network (circuit) and select "Insert Network (Below)" from the context- sensitive menu that is displayed.
Page 177: Input Of Title And Comment (Ld)
7.1 Programming in Ladder Diagram (LD) Example: Creating a branch in the following network (circuit) that extends from a point between contacts bVar1 and bVar2 to a point between contacts bVar3 and bVar4 In Toolbox, select Ladder elements>Branch Start/End and drag the mouse until displayed on the right side of contact bVar1 in the main pane is reached.
Page 178 7.1 Programming in Ladder Diagram (LD) Item Description This is a comment on a declared variable. The same comment is displayed for the same variable. Enter a comment on a variable in the declaration section. Symbol comment The comment will be displayed in a cell with a black background.
Page 179: Commenting Out A Network (Circuit)
7.1 Programming in Ladder Diagram (LD) ● Titles and comments can be displayed as those translated in a particular language beforehand. For details, refer to "7.7.8 Displaying Programs in Multiple Languages (Project Localization)". 7.1.6 Commenting out a Network (Circuit) Networks (circuits) can be commented out. A network (circuit) that is commented out cannot be executed.
Page 180 7.1 Programming in Ladder Diagram (LD) ● You can also comment out the selected network (circuit) using the following procedure: • 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. •...
Page 181: Programming In Structured Text (St)
7.2 Programming in Structured Text (ST) 7.2 Programming in Structured Text (ST) This section explains how to create programs (ST programs) in Structured Text compliant with IEC 61131-3, the international standard for PLC programming languages. ● To create ST programs, POU objects for ST programs are required. Set the object setup language to Structured Text (ST).
Page 182 7.2 Programming in Structured Text (ST) Item Example Example: bVar0R=bVar1; Conditions are judged and subordinate instructions are executed according to the judgment result. Example: IF (iVar0 = 4) THEN iVar1 : = 5; IF instruction ELSIF (iVar0 = 7) THEN iVar1 : = 10;...
Page 183: Commenting Out Code In St Program
7.2 Programming in Structured Text (ST) Item Example iVar0 : = 0; Label1 : iVar0 : = iVar0 + 1; IF (iVar1 = 5) THEN JMP Label1; END_IF; CONTINUE The CONTINUE instruction is used to move control to the beginning of the loop within the instruction FOR, WHILE, or REPEAT instruction.
Page 184 7.2 Programming in Structured Text (ST) Example: Single-line and multiple-line comments 7-18 WUME-GM1RTXOP-01...
Page 185: Programming In Sequential Function Chart (Sfc)
7.3 Programming in Sequential Function Chart (SFC) 7.3 Programming in Sequential Function Chart (SFC) This section explains how to create programs (SFC programs) in Sequential Function Chart compliant with IEC 61131-3, the international standard for PLC programming languages. ● To create SFC programs, POU objects for SFC programs are required. Set the object setup language to Sequential Function Chart (SFC).
Page 186 7.3 Programming in Sequential Function Chart (SFC) "Step0" step element and "Trans0" transition element will be inserted below the TRUE element. Select the "Trans0" element. Click the right mouse button and select "Insert Step-transition" from the context-sensitive menu that is displayed. "Step1"...
Page 187: Inserting Elements From Toolbox
7.3 Programming in Sequential Function Chart (SFC) 7.3.2 Inserting Elements from Toolbox Each element can be inserted from Toolbox. This section explains the procedure for inserting elements from Toolbox, using a step element as an example. In Toolbox, select "Step" and then drag the step element to the position where you want to insert it.
Page 188: Inserting Elements From Toolbar
7.3 Programming in Sequential Function Chart (SFC) 7.3.3 Inserting Elements from Toolbar For example, step elements and transition elements can be inserted from the toolbar, as below. Select the TRUE transition element in the implementation section. The selected transition element will turn red. Click the icon ("Insert Step-transition After") on the toolbar.
Page 189: Setting Up The Sfc Editor
7.3 Programming in Sequential Function Chart (SFC) 7.3.4 Setting up the SFC Editor For SFC editor elements, you can change step specifications, fonts, and other settings. From the menu bar, select Tools>Options to open the "Options" dialog box. In the "Options" dialog box, select the "SFC editor" category and change the settings. Layout Item name Default value...
Page 190 7.3 Programming in Sequential Function Chart (SFC) Item name Default value Function (Note 1) Setting range: 2 to 100 matrix units Font Sets a font to be displayed on the SFC editor. Sets the operation to be performed when an action is added to a step.
Page 191: Setting Sfc Program Execution Conditions
7.3 Programming in Sequential Function Chart (SFC) Item name Default value Settings Property Visibility Cleared Specifies whether to display property values and names beside steps, etc. Selected: Displays property values and names Canceled: Does not display property values or names Online Display step Selected...
Page 192 7.3 Programming in Sequential Function Chart (SFC) In the "Properties" dialog box, select the "SFC Settings" 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.
Page 193: Programming In Function Block Diagram (Fbd)
7.4 Programming in Function Block Diagram (FBD) 7.4 Programming in Function Block Diagram (FBD) This section explains how to create programs (FBD programs) in Function Block Diagram compliant with IEC 61131-3, the international standard for PLC programming languages. ● To create FBD programs, POU objects for FBD programs are required. Set the object setup language to Function Block Diagram (FBD).
Page 194 7.4 Programming in Function Block Diagram (FBD) In Toolbox, select Function block>TON and drag the mouse until the mouse pointer reaches the position where "Start here" is displayed in the implementation section. "Start here" will be displayed in the implementation section. When you drag the mouse until the position of "Start here"...
Page 195 7.4 Programming in Function Block Diagram (FBD) Click the [OK] button. Instance variable TON_0 for function block TON will be declared in the declaration section. Select "???" beside IN of function block TON and enter variable bVar0, and then press the <Enter>...
Page 196 7.4 Programming in Function Block Diagram (FBD) In function block TON, enter "T#5s" for input PT ("IN PT") and variable "CurrentTime" for output ET ("O ET"). When "CurrentTime" is entered, the "Auto Declare" dialog box is displayed. When making a declaration, check that the type is "Time". In Toolbox, select General>Assignment and drag the mouse until a diamond-shaped icon appears on the right side of output "Q"...
Page 197 7.4 Programming in Function Block Diagram (FBD) When you stop dragging the mouse, "???" appears on the right side of output "Q". Select "???" on the right side of output "Q" and enter variable bVar1, and then press the <Enter> key. The "Auto Declare"...
Page 198: Inserting And Commenting Out A Network (Circuit)
7.4 Programming in Function Block Diagram (FBD) 7.4.2 Inserting and Commenting out a Network (Circuit) The procedure for inserting a new network (circuit) is the same as for LD programs. Refer to "7.1.3 Inserting a Network (Circuit)". Networks (circuits) can be commented out. The procedure for commenting out a network (circuit) is the same as for LD programs.
Page 199 7.4 Programming in Function Block Diagram (FBD) Type Item Description Selects whether to arrange elements by inserting line breaks Networks with line breaks automatically so that the display fits in the lateral width of the main pane. View Connect boxes with straight Selects whether to fix the shortest length of a line connecting line boxes.
Page 200: Programming In Instruction List (Il)
7.5 Programming in Instruction List (IL) 7.5 Programming in Instruction List (IL) This section explains how to create programs (IL programs) in Instruction List compliant with IEC 61131-3, the international standard for PLC programming languages. ● IL programs are text-based programs that consist of instructions and operands. ●...
Page 201 7.5 Programming in Instruction List (IL) Select the cell in the first row and the first column, and enter instruction "LD". The LD instruction will be entered. Press the <Tab> key to move to another cell and enter operand "iVar". The operand will be entered and the "Auto Declare"...
Page 202: Settings In Il Program
7.5 Programming in Instruction List (IL) ● To create IL programs, the "Enable IL" check box in the Options dialog box must be selected. Refer to "7.5.2 Settings in IL Program". ● To delete a row, select the row and press the <Ctrl > key + <Delete> key simultaneously. ●...
Page 203 7.5 Programming in Instruction List (IL) Type Item Description 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.
Page 204: Programming In Continuous Function Chart (Cfc)
7.6 Programming in Continuous Function Chart (CFC) 7.6 Programming in Continuous Function Chart (CFC) Continuous Function Chart is a graphical programming language that allows programs to be created by arranging elements within the CFC editor. Elements can be freely arranged within the editor and the order of execution is determined according to the list of elements inserted.
Page 205 7.6 Programming in Continuous Function Chart (CFC) In Toolbox, select CFC>Box and drag the box element and drop it in the implementation section. The box element will be placed in the implementation section. 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.
Page 206 7.6 Programming in Continuous Function Chart (CFC) Click the [OK] button. Variable TON_0 for function block TON will be declared in the declaration section. In Toolbox, select CFC>Input and drag the input element and drop it in the implementation section. The input element will be placed in the implementation section.
Page 207 7.6 Programming in Continuous Function Chart (CFC) Select the pin on input element "variable bVar0" and drag it to "IN" on TON. Input element "variable bVar0" and "IN" on TON will be connected with a line. In Toolbox, select CFC>Input and drag the input element and drop it in the implementation section.
Page 208 7.6 Programming in Continuous Function Chart (CFC) In Toolbox, select CFC>Output and drag the output element and drop it in the implementation section. The output element will be placed in the implementation section. Enter variable bVar1 and "CurrentTime" in output element "???" and press the "Enter" key. The "Auto Declare"...
Page 209: Connection Mark
7.6 Programming in Continuous Function Chart (CFC) 7.6.2 Connection Mark Connection marks can be used to separate connection lines. In Toolbox, select CFC>Connection Mark - Source and CFC>Connection Mark - Sink, arrange them in the implementation section, and enter the same name for them. ●...
Page 210: Program Creation Support Functions
7.7 Program Creation Support Functions 7.7 Program Creation Support Functions This section explains the program creation support functions used to create programs. 7.7.1 Bookmark The bookmark function allows the cursor to move to bookmarked locations. The bookmark function can be used in all programs other than SFC programs. This section explains the procedures for setting bookmarks and moving the cursor between bookmarks, using an LD program as an example.
Page 211: Cross Reference List View
7.7 Program Creation Support Functions From the menu bar, select View>Call Tree. The Call Tree view will be displayed. Enter a block to be searched in the POU Name field and press the <Enter> key. The caller and callee of the block will be displayed in tree structure. Double-clicking in any search result line displays the corresponding window in the main pane.
Page 212: Function Block Guidance
7.7 Program Creation Support Functions From the menu bar, select View>Cross Reference List. The Cross reference List view will be displayed. Enter a variable name (or another element name) to be searched in the search field and press the <Enter> key. The locations of the variable (or element) used will be displayed in list form.
Page 213 7.7 Program Creation Support Functions Double-click the [MC_PRG(PRG)] object in the navigator pane. The "MC_PRG" window will be displayed. 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. WUME-GM1RTXOP-01 7-47...
Page 214 7.7 Program Creation Support Functions Enter a character string in the Search field. Function blocks related to the entered character string will be displayed in the Function Block List table. 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.
Page 215 7.7 Program Creation Support Functions Click the [Operand] button. The instance and operand input fields will be displayed. Enter an instance 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"...
Page 216: Input Assistant Function
7.7 Program Creation Support Functions Click the [OK] button. If an instance name has not been declared, the "Auto Declare" dialog box will be displayed, so that an instance can be declared. The function block will be inserted into the program. ●...
Page 217: Argument / Variable Input Support (Component List)
7.7 Program Creation Support Functions Click the [OK] button. The selected element will be inserted. ● You can also open the "Input Assistant" dialog box by selecting Edit>Input Assistant from the menu bar. 7.7.6 Argument / Variable Input Support (Component List) This section explains the functions (component list) that support input of arguments and other data for function blocks during program creation.
Page 218: Global Renaming (Refactoring)
7.7 Program Creation Support Functions To enable this function, in the Options window, select SmartCoding>List components after typing a dot(.). Example: Displaying a list of members of structure variable stVar after structure variable stVar and a dot are entered ■ Displaying candidates for variables or other components starting with the entered character string Entering any character string and then pressing the <Ctrl>...
Page 219 7.7 Program Creation Support Functions Change the name of variable "iVar2" in the declaration section of the function block to "iVar3". The "Automatic Refactoring" dialog box will be displayed. Click [Yes]. The "Refactoring" 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.
Page 220 7.7 Program Creation Support Functions When ST_POU object is selected: Click the [OK] button. All changes will be reflected. 7-54 WUME-GM1RTXOP-01...
Page 221: Displaying Programs In Multiple Languages (Project Localization)
7.7 Program Creation Support Functions ● When the sections where the changed variable is used are displayed by the refactoring function, you can individually select whether to reflect the change. Right-click in the sections where the changed variable is used and select whether to reflect the change, from the context- sensitive menu that is displayed.
Page 222 7.7 Program Creation Support Functions Select information to be translated. To translate comments and titles in a program, select the "Comments" check box. To add location information to a template, select "First Appearance" or "All" in the Location information drop-down list. Click the [Create] button.
Page 223 7.7 Program Creation Support Functions From the menu bar, select Project>Project Localization>Manage Localizations. The "Manage Localizations" dialog box will be displayed. Click the [Add] button. The "Open Localization File" dialog box will be displayed. Select a localization file (".po") that has been created. The added localization file will be displayed in the "Available Localizations"...
Page 224 7.7 Program Creation Support Functions ● You can also switch the localization file by clicking on the toolbar. 7-58 WUME-GM1RTXOP-01...
Page 225: Build
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 when the application starts. From the menu bar, select Build>Code Generation.
Page 226: 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 log in to the GM1 controller again, you must download the applications. 7-60 WUME-GM1RTXOP-01...
Page 227: Clean All
7.8 Build ● Even if "Clean" is executed, the variables registered in the global persistent variable list will not be initialized. Other variables and persistent variables will be initialized. 7.8.5 Clean All Deletes all application build information in the same way as "Clean". From the menu bar, select Build>Clean All.
Page 228: Tasks
7.9 Tasks 7.9 Tasks The GM1-series motion controller executes the following three tasks. Task Description This is a user program task to perform motion control. MotionTask It is given the highest priority. Only one MotionTask is allowed for each project.
Page 229 7.9 Tasks In the "MotionTask" window, click the [Add Call] button. The "Input Assistant" dialog box will be displayed. WUME-GM1RTXOP-01 7-63...
Page 230 7.9 Tasks Select the POU object (LD_POU) of the program to be added to the task and click the [OK] button. 7-64 WUME-GM1RTXOP-01...
Page 231 7.9 Tasks The POU object of the program will be added to the task. WUME-GM1RTXOP-01 7-65...
Page 232 7.9 Tasks Selecting a cell in the "Comment" column 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.
Page 233: Adding A Usertask
7.9 Tasks 7.9.2 Adding a UserTask UserTask can be added to a project. Right-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. Enter a task name in the Name field and click the [Add] button. WUME-GM1RTXOP-01 7-67...
Page 234 7.9 Tasks The task object will be added. Add 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. 7-68 WUME-GM1RTXOP-01...
Page 235: Task Configuration Window
7.9 Tasks 7.9.3 Task Configuration Window The task configuration window allows the user to configure settings related to task execution, such as execution priorities, execution methods, execution intervals, and watchdog timer. For the procedure for displaying the task configuration window, refer to "7.9.1 Adding Programs".
Page 236 7.9 Tasks Item Description ● Case where the program execution time exceeds "Sensitivity"×"Time" during a single 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"...
Page 237 8.2 Connecting the GM1 Controller and PC ..........8-3 8.2.1 Selecting a Connection Port for GM Programmer ......8-3 8.2.2 Connecting the GM1 Controller and PC with a Cable...... 8-3 8.2.3 Operation when Power is ON ............8-3 8.3 Operation Mode Switching..............8-5 8.4 Communication Setting...............8-6...
Page 238: Connecting The Gm1
8.1 Flow of Operation Check 8.1 Flow of Operation Check This chapter explains how to connect the PC where GM Programmer is installed and the GM1 controller and operate the GM1 controller from the PC. First, this section explains the flow of operation check for a program that is created.
Page 239: Connecting The Gm1 Controller And Pc
Select either LAN port connection or USB port connection. 8.2.2 Connecting the GM1 Controller and PC with a Cable Use an Ethernet cable or USB cable to connect the GM1 Controller and a PC on which the GM Programmer is installed.
Page 240 8.2 Connecting the GM1 Controller and PC WUME-GM1RTXOP-01...
Page 241: Operation Mode Switching
● Press the operation button (▶) on the GM Programmer while the STOP LED is lit. ● Set the RUN/STOP switch on the GM1 Controller 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.
Page 242: Communication Setting
8.4 Communication Setting 8.4.1 Addition of the USB Port When connecting GM Programmer and the GM1 controller via a USB port, add a USB port. From the menu bar, select Online>Add USB Port. The "Add USB Port" dialog box will be displayed.
Page 243: Setting The Lan Port
8.4.2 Setting the LAN Port The following table shows the default network settings. When connecting GM Programmer and the GM1 controller via a LAN port, match the network settings of the PC with those of the GM1 controller. LAN port 1...
Page 244 8.4 Communication Setting Double-click the [Device] object in the navigator pane. The Device setting window will be displayed. Click the "PLC Parameters" tab in the Device setting window. Set the IP address, subnet mask, and default gateway for each LAN port. WUME-GM1RTXOP-01...
Page 245 8.4 Communication Setting Download the project to the 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. WUME-GM1RTXOP-01...
Page 246: Connecting To The Gm1 Controller
8.5 Connecting to the GM1 Controller 8.5 Connecting to the GM1 Controller Connect the PC where the GM Programmer is installed to the GM1 Controller. The connection status of the PC includes "Connected", "Connection as a device user", "Login", and "Online config mode".
Page 247 8.5 Connecting to the GM1 Controller ■ With device user registration List of available GM1 Controller operations Function Connected \as a device user Login Online config connected mode Setting / acquiring × × ○ × (Note 1) ○ Controller information Application management ×...
Page 248: Setting Time
The Communication Settings window for the device will be displayed. 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. 8-12 WUME-GM1RTXOP-01...
Page 249 Change the date, time, and time zone in the "Date/Time" section or select the "Get date/ time from PC" check box, and click the [Update] button. A confirmation message will be displayed. Click [Yes]. The date and time of the GM1 controller will be updated. WUME-GM1RTXOP-01 8-13...
Page 250: Other Settings
8.7 Other Settings 8.7 Other Settings For the connected device, configure settings described in "Change Device Name", "Sending Echo services", "Device preference management", and "Confirmed Online Mode". 8.7.1 Changing the Device Name This section explains how to change the name of the device connected via "Network Scan". Double-click the "Device"...
Page 251: Sending Echo Services
8.7 Other Settings Enter a new device name and click the [OK] button. The device name will be changed. 8.7.2 Sending Echo services This section explains how to send Echo services to the device connected via "Network Scan". Echo services can be used to conduct a network test. Double-click the "Device"...
Page 252: Device Preference Management
8.7 Other Settings The results of five transmissions with no data size followed by five transmissions with data size will be displayed. 8.7.3 Device preference management Devices 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.
Page 253 8.7 Other Settings From the "Device" menu, select "Options" and then "Add Current Device to Favorites". The connected device will be registered as a favorite device. WUME-GM1RTXOP-01 8-17...
Page 254: Confirmed Online Mode
8.7 Other Settings ● Devices registered as favorite devices can be viewed in the "Manage Favorite Devices" dialog box. The "Manage Favorite Devices" dialog box can be displayed by selecting "Options" and then "Manage 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.
Page 255 8.7 Other Settings From 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. WUME-GM1RTXOP-01 8-19...
Page 256: Login / Logout
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 GM1 Controller. When "Login" is executed, applications are downloaded to the GM1 Controller.
Page 257: Logout
Click [Yes]. The applications will be downloaded to the GM Programmer at the same time as you log in to the GM1 Controller (device). "connected" will be displayed at the [Device] object in the navigator pane and the status of the downloaded applications will be displayed.
Page 258 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 Cold, and Reset...
Page 259: Online Change
8.8 Login / Logout 8.8.4 Online Change Online change allows the user to change applications without having to stop the GM1 controller during operation. Executing online change downloads only different applications to the GM1 controller. If the applications generated by build during login differ from the applications within the GM1 controller, the following dialog box will be displayed.
Page 260 8.8 Login / Logout From the menu bar, select Project>Project Settings. The Project Settings dialog box will be displayed. In the "Project Settings" dialog box, select the "Static Analysis Light" category. 8-24 WUME-GM1RTXOP-01...
Page 261 8.8 Login / Logout Select the check boxes of the items to be checked. Click the [OK] button. WUME-GM1RTXOP-01 8-25...
Page 262 8.8 Login / Logout ● If the items to be checked are set beforehand, code analysis will be performed automatically during login. 8-26 WUME-GM1RTXOP-01...
Page 263: Source Upload
From the menu bar, select File>Source Upload. The "Select Device" dialog box will be displayed. 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.
Page 264 8.9 Source Upload ● If the source code does not exist in the selected GM1 controller, the following error message will be displayed. Specify the upload destination folder and click the [Extract] button. A confirmation dialog box will be displayed, asking whether to open the uploaded source code as a project file.
Page 265: Commissioning
A confirmation message will be displayed, asking whether to remove all applications. 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 menu bar remains selected.
Page 266: Conducting Commissioning For Servo Amplifiers
8.10 Commissioning 8.10.2 Conducting Commissioning for Servo Amplifiers While in the online config mode, you can conduct commissioning for servo amplifiers. There is no need to create a program for commissioning. The following is an example of commissioning using the A6N-series servo amplifiers. Double-click the servo amplifier object in the navigator pane.
Page 267 8.10 Commissioning Group Description Allows the user to set commissioning parameters. Drive Allows the user to execute commissioning. Status Displays the running status of the servo amplifiers during commissioning. Displays errors that occurred during commissioning. Error Allows the user to clear errors. Click an appropriate button in the Operation group to start commissioning.
Page 268 8.10 Commissioning For the servo amplifier and RTEX statuses during commissioning, check the "Status" and "Error" groups. To erase errors that are displayed, click the [Clear] button or [All Clear ] button in the "Error" group. ● Pressing the [Clear] button will erase axis errors, drive errors, RTEX errors, and FB errors [0].
Page 269 8.10 Commissioning ● If you display another window during commissioning, "Stop" will be executed. ● Even if communication with the servo amplifier 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.
Page 270 (MEMO) 8-34 WUME-GM1RTXOP-01...
Page 271: Debug
9 Debug 9.1 Running and Stopping the GM1 Controller .........9-2 9.1.1 Running and Stopping the GM1 Controller ........9-2 9.1.2 Single Cycle ..................9-3 9.2 Breakpoint...................9-5 9.2.1 Setting a Breakpoint................. 9-5 9.2.2 Setting an Execution Point ............... 9-6 9.2.3 Call Stack View ................9-8 9.3 Debug Operations................9-10...
Page 272: Running And Stopping The Gm1 Controller
9.1 Running and Stopping the GM1 Controller 9.1 Running and Stopping the GM1 Controller This section explains how to run and stop the GM1 controller and how to run a single cycle operation that is executed in units of a cycle.
Page 273: Single Cycle
From the menu bar, select Debug>Display Mode and select a display format from those shown. ● If 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".
Page 274 9.1 Running and Stopping the GM1 Controller The opened POU will enter a state in which it has been executed in a single cycle. WUME-GM1RTXOP-01...
Page 275: Breakpoint
9.2 Breakpoint 9.2 Breakpoint By setting a breakpoint in a particular position in a program, you can forcibly stop executing the program and check the variable values. All programming languages support breakpoints. 9.2.1 Setting a Breakpoint Select a position where you want to set a breakpoint. From the menu bar, select Debug>Toggle Breakpoint or press the <F9>...
Page 276: Setting An Execution Point
GM1 controller. The application does not stop at the position where an execution point is set. Select a position where you want to set an execution point. From the menu bar, select Debug>New Breakpoint.
Page 277 9.2 Breakpoint Click the "Execution Point Settings" tab. The Execution Point Settings window will be displayed. Select the "Execution point" 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"...
Page 278: Call Stack View
9.2 Breakpoint Example: Multiplying the value of "x3" by 5 and outputting the value to the log Click the [OK] button. The execution point will be set. When the execution point is enabled, appears at the execution point. ● To output a message to the log when an execution point is reached, from the menu bar, select Project>Project Settings.
Page 279 9.2 Breakpoint Set a breakpoint and 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" WUME-GM1RTXOP-01...
Page 280: Debug Operations
This section explains how to perform debug operations such as writing values and watch. 9.3.1 Writing Values and Forcibly Changing Values Variable values for the GM1 controller can be changed. There are two methods for changing values: Writing values and forcibly changing values.
Page 281: Watch
9.3 Debug Operations From the menu bar, select Debug>Force Values, or press the <F7> key. The variabsle value will be forcibly changed. appears in front of a variable whose value has been forcibly changed, and then the value will not be updated by the program. From the menu bar, select Debug>Unforce Values, or press the <Alt>...
Page 282: Flow Control
9.3 Debug Operations Drag the variable "x1" element in the implementation section and drop it in the watch view. Variable "x1" will be registered in the watch view. You can also register the variable in the watch view by dragging it from the declaration section and dropping it in the watch view.
Page 283 9.3 Debug Operations Click the [OK] button. The display will be switched to flow control display. The positions where the program was executed are displayed in green and the positions where the program was not executed are displayed in white. Example: Flow control display for LD programs Example: Flow control display for ST programs ●...
Page 284: Operation Mode
9.3.4 Operation Mode Using the operation mode function makes it possible to prevent some debug operations from being executed. This can prevent incorrect operation of the GM1 controller when it is operated accidentally. The current operation mode is displayed as an icon on the status bar.
Page 285: Monitoring Function
9.4 Monitoring Function The monitoring function allows the user to check the variables in the program and the current values of the device parameters in real time while being logged in the GM1 controller. ■ Monitoring variables in the declaration editor The variables declared in the declaration editor can be monitored.
Page 286 9.4 Monitoring Function <Inline monitoring for ST programs> ● Inline monitoring can be disabled. Open the Options window (by selecting Tools>Options), select the "Text editor" category and then "Monitoring" tab, and clear the "Enable inline monitoring" check box. ■ Monitoring variables in the watch view By registering variables in the watch view, you can monitor the variables.
Page 287 9.4 Monitoring Function WUME-GM1RTXOP-01 9-17...
Page 288: Reset
Reset Cold Initializes variables other than the PERSISTENT variable. Reset Origin Initializes all variables. Active applications are deleted from the GM1 controller. Device Reset Initializes all variables and device user management information. Applications and source code are deleted from the GM1 controller.
Page 289: Reset Warm, Reset Cold, And Reset Origin
Reset warm will 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.
Page 290: Executing Device Reset From Gm1 Controller
9.5.3 Executing Device Reset from GM1 Controller Device reset can be executed from the GM1 controller. Check that the power is OFF, set the mode selector switch to STOP, and set the reset bit of the DIP switch to ON.
Page 291 9.5 Reset After device reset is completed, turn the power OFF and set the reset bit of the DIP switch to OFF. WUME-GM1RTXOP-01 9-21...
Page 292: Checking The Status Of Gm1 Controller
9.6 Checking the Status of GM1 Controller 9.6 Checking the Status of GM1 Controller 9.6.1 Checking Logs You can check logs of GM1 controller startup, shutdown, application download, and other events. Connect the PC where GM Programmer is installed and the GM1 controller.
Page 293: Checking The Status
You can check only one error item that has the highest severity level among all errors currently occurring in the GM1 controller. Connect the PC where GM Programmer is installed and the GM1 controller. For details, refer to "8.5 Connecting to the GM1 Controller".
Page 294: Checking The System Data History
Programmer". 9.6.3 Checking the System Data History You can check histories of errors that have occurred up until now. Connect the PC where GM Programmer is installed and the GM1 controller. For details, refer to "8.5 Connecting to the GM1 Controller".
Page 295: Task Monitoring
9.6 Checking the Status of GM1 Controller Clicking the [Export] button outputs the system data histories displayed in the dialog box to a ".csv" file. Clicking the [Clear History] button deletes the system data histories that are displayed. Click the "×" button.
Page 296: Device Trace Function
9.7 Device Trace Function 9.7 Device Trace Function The Device Trace function of GM Programmer can monitor the CPU load factor of the GM1 controller. This function allows you to check whether the entire task falls within the appropriate CPU time range.
Page 297: Device Trace Function
9.7 Device Trace Function From the menu bar, select Trace>Online List..The "Online 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. WUME-GM1RTXOP-01 9-27...
Page 298 9.7 Device Trace Function To change the graph display settings, click "Configuration" in the top right corner of the "DeviceTrace" window to open the "Trace Configuration" window. 9-28 WUME-GM1RTXOP-01...
Page 299 9.7 Device Trace Function WUME-GM1RTXOP-01 9-29...
Page 300 9.7 Device Trace Function 9-30 WUME-GM1RTXOP-01...
Page 301 9.7 Device Trace Function The following operations can be performed on the graph. Dragging the mouse: To move the time axis Dragging the mouse To move the Y-axis while holding down the Ctrl key: Scrolling the screen: To lengthen or shorten the time axis Scrolling the screen To lengthen or shorten the Y-axis while holding down the...
Page 302 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.
Page 303: Checking The Performance Of Gm1 Controller
9.8.1 Performance Check Based on Cycle Time The GM1 controller allows POU to be executed by allocating the POU to a task. To execute POU normally, the processing time ("Average Cycle Time") of the task must be smaller than the specified interval (*1) of the task.
Page 304: Performance Check Based On Device Trace
9.8.2 Performance Check Based on Device Trace The GM1 controller allows multiple tasks to run. However, use the GM1 controller 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"...
Page 305 The selected "DeviceTrace" object will be added 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.
Page 306: Error Notification Function
9.9 Error Notification Function 9.9 Error Notification Function 9.9.1 Overview of Errors The GM1 controller has a self-diagnostic function which identifies errors and stops operation if necessary. Indications concerning self-diagnosis are as follows. ■ LEDs related to self-diagnostic errors ●: Lit, ▲: Flashing, ○: Unlit, －: Indefinite (Lit or unlit)
Page 307: Obtaining Error Information Using User Programs
List". 9.9.3 Obtaining Error Information Using User Programs The following function block can be used to obtain error information for the GM1 controller. ● SYS_SysGetSystemError This function block is used to obtain error information for the GM1 controller from external devices such as display units.
Page 308 In the function that has been added, write a program for SYS_SysGetSystemError. 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. 9-38 WUME-GM1RTXOP-01...
Page 309: Error Recovery Processing
9.9 Error Notification Function If an error occurs, the error code will be set in the variable, so that external devices can get error information for the GM1 controller. 9.9.4 Error Recovery Processing ● For errors during simulation, check the log window or each function block.
Page 310: Error Code List
9.9 Error Notification Function Turn the controller OFF and then ON. If the problem persists, consult your Panasonic representative. 9.9.5 Error Code List Error Operatio Name Error description and action method Recover method 0x0001 Stop System error Notify us of the error information or system data history...
Page 311 9.9 Error Notification Function Error Operatio Name Error description and action method Recover method Communicatio n error 0x0201 Stop Expansion unit More than 15 expansion units are connected. Check Power connections. cycle Number of connections exceeded 0x0203 Stop Expansion unit An attempt to upgrade the expansion unit could have failed.
Page 312 RTEX function enhancement setting1 0x1025 Stop RTEX The connected servo amplifiers are not supported by the Power GM1 controller. cycle Amplifier connection error 0x1026 Stop RTEX RTEX_Master Communication / Control Cycle settings do Communicatio not match the settings for the servo amplifiers. Review the n / Control settings.
Page 313 9.9 Error Notification Function Error Operatio Name Error description and action method Recover method 0x1070 Stop RTEX An attempt to clear a servo amplifier alarm has failed. Reset Amplifier alarm amplifier clearing timeout 0x1071 Stop RTEX An RTEX communication error has occurred. Check the Reset network connection / installation environment.
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Page 315: Useful Functions Of Gm Programmer
10.4 Security Function: Encryption ............10-16 10.4.1 Encrypting Project Files ..............10-16 10.4.2 Encrypting the Communication Path: Encrypting Communications Using the Certificate Possessed by the GM1 Controller....10-17 10.4.3 Encrypting the Communication Path: Encrypting Communications Using a Created Certificate............... 10-20 10.5 Security Function: Write-protection...........10-25 10.5.1 Opening Files in Read-only Mode..........
Page 316: Simulation Function
10.1 Simulation Function 10.1 Simulation Function Simulation mode allows the user to perform a login operation without connecting to the GM1 controller. It also allows the user to check behaviors in the same way as if the user logged in.
Page 317: Security Function
Provides password-based encryption for project files and Encryption / signature encrypts connections between the GM1 controller and the "P.10-16" Provides write-protection for project files and prevents Write-protection project files from being modified unintentionally by "P.10-25"...
Page 318: Security Function: User Management
10.3 Security Function: User Management 10.3 Security Function: User Management Project user management allows execution permissions for operations (such as executing menu commands and adding, editing, and deleting objects) to be assigned to each group in which users are registered. Logon must be performed by a user of a privileged group. Device user management also enables logins to be permitted by assigning permission for login to the device to each user and entering passwords.
Page 319 10.3 Security Function: User Management The "Users and Groups" setting pane will be displayed. Click the [Add] button. The "Add User" dialog box will be displayed. Enter information for a new user to be added. Enter information about a new user (Fred) to be added. WUME-GM1RTXOP-01 10-5...
Page 320 10.3 Security Function: User Management Click the [OK] button. The "Logon" dialog box will be displayed. To add a new user, you must log in as an Owner user. In the "User name" field, enter "Owner". The default password for "Owner" is not set in the Password field. The "Password"...
Page 321 10.3 Security Function: User Management The name ("Owner") of the user who logged on is displayed in the status field. Select the "Groups" tab and click the [Add] button. The "Add Group" dialog box will be displayed. Enter information for a new group to be added. Enter information about a new group (GroupA) to be added.
Page 322: Setting Operation Privileges
10.3 Security Function: User Management Click the [OK] button. The "Project Settings" dialog box will be closed. This completes the procedure for registering user "Fred" in group "GroupA". After the procedure is complete, the following groups and users exist in the project. Group User Remarks...
Page 323 10.3 Security Function: User Management In the "Action" pane, select the operation to be permitted. Select Project Object>View>Device>Program Configuration>Application>POU_1. In the "Permissions" pane, set privileges to be assigned. Select "Everyone" and click . "Reject" will be set. Select "GroupA" and click .
Page 324: Performing Operation With Privileges Set
10.3 Security Function: User Management Click the [Close] button. The "Permissions" dialog box will be closed. ● Settings of operation privileges can be exported in XML format. In the "Permissions" dialog box, click the [Export/Import] button and then select the "Export All Permissions" menu item or "Export selected permissions"...
Page 325: Device User Management
When you log in as an Administrator user for the first time, you must set any password. Connect the PC where GM Programmer is installed and the GM1 controller. For details, refer to "8.5 Connecting to the GM1 Controller".
Page 326 10.3 Security Function: User Management Double-click the [Device] object in the navigator pane. The Device setting window will be displayed. Click the "Users and Groups" tab. The "Users and Groups" pane will be displayed. Click the [ ] icon (Synchronization). A confirmation dialog box will be displayed.
Page 327 10.3 Security Function: User Management Click the [Yes] button. The "Device User Logon" dialog box will be displayed. Enter "user name" and "password". Enter Administrator in the "User name" field and Administrator in the "Password" field. Click the [OK] button. The "Password expired, please enter a new one"...
Page 328 10.3 Security Function: User Management Click the [OK] button. The password will be set for the Administrator user and you will be logged in as an Administrator user. From the menu that is displayed, select Online>Login. You can log in to the device as an Administrator user account. 10-14 WUME-GM1RTXOP-01...
Page 329 ● Device user management information can be initialized by resetting the device. ● If you forget your password, you cannot log in to the GM1 controller. In this case, reset the GM1 controller. For details on how to reset the GM1 controller, refer to the GM1 Series User’s Manual (Hardware).
Page 330: Security Function: Encryption
10.4 Security Function: Encryption 10.4 Security Function: Encryption This section explains how to encrypt project files. 10.4.1 Encrypting Project Files Project files can be encrypted using passwords. If a password is set, the password must be entered when a project file is opened. From the menu bar, select Project>Project Settings.
Page 331: Encrypting The Communication Path: Encrypting Communications Using The Certificate Possessed By The Gm1 Controller
10.4.2 Encrypting the Communication 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.
Page 332 10.4 Security Function: Encryption In the Device menu, select "Encrypted Communication". If "Encrypted Communication" is selected, the connection lines between the integrated development environment, gateway, and controller will be displayed in yellow. 10-18 WUME-GM1RTXOP-01...
Page 333 The "Select Device" dialog box will be displayed. Select the connected GM1 controller and click the [OK] button. A message window will be displayed, indicating that the certificate of the GM1 controller is not certified with a trusted signature for encrypted communication.
Page 334: Encrypting The Communication Path: Encrypting Communications Using A Created Certificate
10.4 Security Function: Encryption When the certificate of the GM1 controller is used as a trusted certificate, the validity period of the certificate is 30 days. ● If the certificate has already expired, the message window shown in step 4 above will be displayed, indicating that the certificate has expired.
Page 335 10.4 Security Function: Encryption Enter the "cert-getapplist" command in the input field. All certificates that are used will be displayed. Enter the "cert-genselfsigned 1" command in the input field. Create a certificate for ComponentName "CmpSecureChannel". Open the "Log" tab of the device editor and click the [Update Information] button. Check whether a certificate has been created.
Page 336 10.4 Security Function: Encryption In the Device menu, select "Encrypted Communication". If "Encrypted Communication" is selected, the connection lines between the integrated development environment, gateway, and controller will be displayed in yellow. 10-22 WUME-GM1RTXOP-01...
Page 337 The "Select Device" dialog box will be displayed. Select the connected GM1 controller and click the [OK] button. A message window will be displayed, indicating that the certificate of the GM1 controller is not certified with a trusted signature for encrypted communication.
Page 338 10.4 Security Function: Encryption When the created certificate is used as a trusted certificate, the validity period of the certificate is 360 days. 10-24 WUME-GM1RTXOP-01...
Page 339: Security Function: Write-Protection
10.5 Security Function: Write-protection 10.5 Security Function: Write-protection This section explains how to implement write-protection for project files to prevent project files from being modified unintentionally by mistake. 10.5.1 Opening Files in Read-only Mode Open a project file in read-only mode. When selecting a project file to be opened, select the "Open in Read-only Mode"...
Page 340 10.5 Security Function: Write-protection To save a project 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. 10-26 WUME-GM1RTXOP-01...
Page 341: User Library Function
10.6 User Library Function 10.6 User Library Function Combining created functions and function blocks as a library enables other projects to use these functions and function blocks. The library that has been created must be installed in the library repository. Adding the library installed in the library repository to the project makes it possible to use the functions and function blocks in the library.
Page 342 10.6 User Library Function Click the [OK] button. A project for libraries will be created. The extension of project files for libraries is "library". For libraries, the POU view is displayed in the navigator pane. Add objects required for creating libraries to the POU view. Double-click the "Project Information"...
Page 343 10.6 User Library Function If necessary, change the settings in the "Company", "Title", and "Version" fields. The information set in these fields will be displayed in the selection window when created libraries are added to the project. If the "Release" check box is selected, a confirmation message will be displayed when an attempt is made to change a library.
Page 344 10.6 User Library Function Click the [Add] button. An object of the function block will be added to the POU view in the navigator pane. Enter a program in the function block. After entering a program, from the menu bar, execute Build>Check All Pooled Objects. Build will be executed to perform a syntax check.
Page 345: Using Created Libraries
10.6 User Library Function Clicking the [Detail] button enables the user to check information such as function blocks included in the library. This completes the procedure for installing the library in the library repository. ● The source codes in the installed library can also be checked from the project where the library is used.
Page 346 10.6 User Library Function Select a created library and click the [OK] button. The selected library will be added to the application 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.
Page 347: Pou For Implicit Checks
10.7 POU for implicit checks 10.7 POU for implicit checks POU for implicit checks is an object with functions that check the range of array indexes or subrange type variables, validity of pointer addresses, and division by zero. Adding this object to the project makes it possible to automatically call these functions and perform checks, without calling the functions explicitly within the program.
Page 348 10.7 POU for implicit checks Select the check box of a function that you want to add. Multiple functions (objects) will be added, depending on the item that you select. Check type Function name (object name) Bound checks CheckBounds CheckDivDInt CheckDivLInt Division checks CheckDivLReal...
Page 349: Interface
10.8 Interface 10.8 Interface The interface object defines common methods and properties that are used between different function blocks in the same way. The interface object is one of the means of implementing object-oriented programming. The interface object contains only method and property declarations but does not contain implementation.
Page 350 10.8 Interface Right-click the "ITF" object added to the navigator pane and then select Add Object>Interface property or method from the context-sensitive menu that is displayed. The "Add Interface property" dialog box or "Add Interface method" dialog box will be displayed.
Page 351: Implementing In New Function Block
10.8 Interface The added "METH" and "Prop" objects are used to define methods and properties, respectively. This completes the procedure for creating an interface object. 10.8.2 Implementing in New Function Block This section explains how to implement an interface in a new function block to be created. Right-click the "Application"...
Page 352 10.8 Interface Enter a name. In the Type section, select the Function block option, select the "Implements" check box, and enter an interface to be implemented. Click the [Add] button. A function block with the interface implemented will be added under the "Application" object.
Page 353: Implementing In Existing Function Block
10.8 Interface ● 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 3"...
Page 354 10.8 Interface Table format Right-click the 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. 10-40 WUME-GM1RTXOP-01...
Page 355 10.8 Interface Select a desired programming language and click the [OK] button. The method and property objects will be added under the function block object. Open the respective editors for the added "METH" and "Prop" objects, and implement internal processing for the methods and properties. ●...
Page 356: Extending The Interface
10.8 Interface ● When methods and properties are implemented, warning messages are automatically implemented. Therefore, when compilation is executed, the following warning messages are displayed. These warning messages do not indicate any problems. However, to prevent particular warning messages from being displayed, from the menu bar, select Project>Project Settings and then clear the check boxes of the target warning messages in the Compiler Warnings pane.
Page 357 10.8 Interface The "Add Interface" dialog box will be displayed. In the "Add Interface" dialog box, select the "Extends" check box and enter an interface to be inherited. Interface "ITFExtend" will be created. Right-click the "ITFExtend" object 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"...
Page 358 10.8 Interface Enter a name. In the Type section, select the Function 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. 10-44 WUME-GM1RTXOP-01...
Page 359: External File Functions
10.9 External File Functions 10.9 External File Functions The external file object allows text files, image files, and other files to be saved in the project. 10.9.1 Setting up an External File Object This section explains how to add an external file object. Right-click the "Application"...
Page 360 10.9 External File Functions "Remember the link and embed into project" Saves a copy of the file and a link to the file to the project at the same time. As long as the file exists at the link destination, the setting of the "When the external file changes, then"...
Page 361: Servo Amplifier / Motor Operation Function (Panaterm Lite For Gm)
You can start PANATERM Lite for GM, which allows you to check the settings of servo amplifiers, the operating states of servo amplifiers and motors, and the error status of servo amplifiers via the GM1 controller. For details, refer to "15 Overview of PANATERM Lite for...
Page 362 (MEMO) 10-48 WUME-GM1RTXOP-01...
Page 363 11 Motion Control 11.1 RTEX Axis Setting................11-3 11.1.1 Overview of RTEX Axis Setting............11-3 11.1.2 Basic Settings of the RTEX Axis ............ 11-3 11.1.3 RTEX Axis Extended Setting............11-6 11.2 Basic Preparations for Operation ............11-14 11.2.1 Overview of Basic Preparations for Operation ....... 11-14 11.2.2 Servo ON or OFF ................
Page 364: Motion Control
11 Motion Control 11.5.14 Interpolation Operation Programming: Settings in POU for P- point Control and C-point Control ............. 11-91 11.5.15 Interpolation Operation Programming: 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 ..........
Page 365: Rtex Axis Setting
11.1 RTEX Axis Setting 11.1 RTEX Axis Setting 11.1.1 Overview of RTEX Axis Setting To use the motion function, you must configure axis settings for RTEX. This section explains how to set axis information for RTEX in GM Programmer. ● For details on how to set up RTEX and add axes, refer to "5.3 Setting up Motion Control".
Page 366 You can set the real axis or virtual axis. Use of the real axis: The real axis is used to actually control the servo amplifier. Use of the virtual axis: A virtual servo amplifier is created in the GM1 Controller and its virtual axis is used.
Page 367 11.1 RTEX Axis Setting deceleration in response to the software error, for the maximum distance in response to the software error, or for the dynamic limit. (4) Software error reaction Settings can be made to stop operation when an error occurs. ●...
Page 368: Rtex Axis Extended Setting
11.1 RTEX Axis Setting (6) Scaling/Mapping ● Rotary When the axis type is set to modulo, the ratio in the conversion from the drive increment to the application unit is set. The unit on the servo amplifier and the unit on the application (POU) are converted. Example: One rotation of the MINAS A6N is 0x800000.
Page 369 11.1 RTEX Axis Setting Select the "General" tab and set the following items. (1) Position lag supervision The GM1 controller does not support position lag supervision. (2) Velocity ramp type Velocity profiles are defined for each axis. ● Trapezoid In the trapezoidal velocity profile, velocity continues linearly.
Page 370 11.1 RTEX Axis Setting ● Sin In the velocity profile defined with the Sin function, transition motion within each section of the velocity profile is smooth and acceleration rises less sharply. In this mode, jerk restriction basically does not work in each function block. However, 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.
Page 371 11.1 RTEX Axis Setting ● Quadratic (Smooth) This 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 WUME-GM1RTXOP-01 11-9...
Page 372 11.1 RTEX Axis Setting When "Modulo" is selected 11-10 WUME-GM1RTXOP-01...
Page 373 11.1 RTEX Axis Setting When "Finite" is selected (4) "Online" - "State" This indicates one of the axis states in the following figure. WUME-GM1RTXOP-01 11-11...
Page 374 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 application unit is set.
Page 375 11.1 RTEX Axis Setting Note: Invert direction: The direction 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. WUME-GM1RTXOP-01 11-13...
Page 376: Basic Preparations For Operation
11.2 Basic Preparations for Operation 11.2 Basic Preparations for Operation 11.2.1 Overview of Basic Preparations for Operation This section explains how to run and stop the motor. 11.2.2 Servo ON or OFF To turn ON or OFF the servo motor, use the "MC_Power" function block. ■...
Page 377: Home Return
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 MINAS V1.24 or later.
Page 378 11.2 Basic Preparations for Operation Settings and operations of home return Behavior overview After the rising edge (front edge) of the near home switch (DOG) is detected, the rising edge of the first home position (Z phase) is DOG method 1 detected and the motor stops.
Page 379 11.2 Basic Preparations for Operation Type Reference home position DOG method 1 (E3) Edge detection of near home 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 not be regarded as a home position (Z phase).
Page 380 11.2 Basic Preparations for Operation DOG method 3 [Edge detection of near home switch + Home position (Z phase) based on rear edge] After the falling edge (rear edge) of the near home switch (DOG) is detected, the rising edge of the first home position (Z phase) in the home return direction is detected and the motor stops.
Page 381 11.2 Basic Preparations for Operation Limit method 1 [Edge detection of limit switch + Home position (Z phase) based on front edge] After the rising edge of the limit switch on the opposite side of the home return direction is detected, the rotation of the motor is reversed.
Page 382 11.2 Basic Preparations for Operation Limit method 2 (Edge detection of limit switch) The rising edge of the limit switch in the home return direction is detected and the motor stops. The stopping position is set as the home position. Home position method [Edge detection of home position (Z phase)] The axis moves from the current value toward the direction of home return.
Page 383 11.2 Basic Preparations for Operation 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 [Stop-on-contact detection + Home position (Z phase) based on front edge] After the axis is stopped by a mechanical stopping mechanism such as a stopper, the rotation...
Page 384 11.2 Basic Preparations for Operation Data set method The current position is set as the home position. High-speed home return Executing high-speed home return enables the axis to move to the home position (position 0) of the coordinate system for the absolute encoder. The behavior is similar to that of positioning.
Page 385 11.2 Basic Preparations for Operation GM Programmer Value / Type Default 5: Home return method 6: Stop-on-contact method 1 7: Stop-on-contact method 2 8: Data setting method 10: High-speed home return method Target speed 0 or more / LREAL Creep speed 0 or more / LREAL Acceleration 0 or more / LREAL...
Page 386: Jog Operation
11.2 Basic Preparations for Operation 11.2.4 JOG Operation Executing a JOG operation continues to run the motor at the specified speed. JOG operation can be executed with the "MC_Jog" function block. ■ Explanation of functions ● While input "JogForward" is set to TRUE, the motor continues to run in the forward direction. While input "JogBackward"...
Page 387 11.2 Basic Preparations for Operation The "Busy" flag is set to TRUE during execution. While the "Busy" flag is set to TRUE, MC_Jog_0 must be called every cycle. Otherwise, the operation will terminate with an error. "JogForward" and "JogBackward" must not be turned ON at the same time. Otherwise, JOG operation will terminate.
Page 388: Single-Axis Operation
This section explains how to switch the control mode and how to do programming for typical control methods in each control mode. For the detailed specifications of function blocks supported by the GM1 controller, refer to the instruction reference. 11.3.2 Position Control Position control is control that runs the motor until the specified position or distance is reached.
Page 389 11.3 Single-axis Operation LD program ST program The following ST program example executes the same behavior as the LD program on the previous page. WUME-GM1RTXOP-01 11-27...
Page 390 11.3 Single-axis Operation "MC_MoveAbsolute" and "MC_MoveRelative" 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. 11-28 WUME-GM1RTXOP-01...
Page 391 Otherwise, the operation will terminate with an error. Motion function blocks for the GM1 controller allow the user to change parameters during operation. To change parameter settings such as target positions ("Position") during operation, temporarily set the "Execute"...
Page 392 11.3 Single-axis Operation Motion function blocks for the GM1 controller can be overwritten with other instances during operation. In the following 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".
Page 393 11.3 Single-axis Operation The "CommandAborted" flag of "MC_MoveRelative" is set to TRUE, causing the processing to be suspended and "MC_MoveAbsolute" to be executed. WUME-GM1RTXOP-01 11-31...
Page 394 11.3 Single-axis Operation 11-32 WUME-GM1RTXOP-01...
Page 395: Switching The Control Mode
This function allows the user to switch the control mode between torque control, velocity control, and position 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"...
Page 396: Velocity Control
11.3 Single-axis Operation 11.3.4 Velocity Control Velocity control is control that runs the motor at the specified velocity. Velocity control can be executed with the "MC_MoveVelocity" function block. ■ Explanation of functions ● When "Execute" is set to TRUE, the motor continues to run in the specified direction ("Direction") and at the specified velocity ("Velocity").
Page 397 11.3 Single-axis Operation ST program WUME-GM1RTXOP-01 11-35...
Page 398: Torque Control
11.3 Single-axis Operation In the GM1 controller, "MC_MoveVelocity" is executed in position control mode or velocity control mode (Default: Position control mode). In the program example, "SMC_SetControllerMode" is used to switch to velocity control mode (SMC_velocity). In the program example, velocity control is started at the rising edge of the "Execute" flag of "MC_MoveVelocity".
Page 399 11.3 Single-axis Operation ST program WUME-GM1RTXOP-01 11-37...
Page 400: Stop
"MC_ReadActualTorque" is a function block that acquires the actual torque value of the axis. For details on each function block, refer to the GM1 Series Reference Manual (Instruction). ● In the torque control mode (SMC_torque), the axis cannot be stopped using "MC_Stop".
Page 401 11.3 Single-axis Operation In the program example, stop operation is started at the rising edge of the "Execute" flag of "MC_Stop". The "Busy" flag is set to TRUE during execution. While 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"...
Page 402: Synchronous Operation
11.4 Synchronous Operation 11.4 Synchronous Operation This section explains synchronous cam operation, synchronous gear operation, and synchronous phase operation that use function blocks. 11.4.1 Synchronous Cam Operation To perform synchronous 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.
Page 403 11.4 Synchronous Operation Enter a cam table name in the "Name" field and then click the [Add] button. A cam table object will be added. The entered cam table name will be used when you specify a cam table with a function block.
Page 404 11.4 Synchronous Operation ● You can change the minimum and maximum scale values on the horizontal axis (master axis) and vertical 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.
Page 405 11.4 Synchronous Operation In the "Compile format" section, select "polynomial (XYVA)". Do not select another option. Select "Add pointer" in Toolbox, 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.
Page 406 11.4 Synchronous Operation ● To delete the point, select the point and press the "Del" key. ● You can also check and change a cam table numerically, not in graph format. Select the "Cam table" tab. Numerical values that are changed will also be reflected in graphs in the "Cam"...
Page 407 11.4 Synchronous Operation WUME-GM1RTXOP-01 11-45...
Page 408: Synchronous Gear Operation
11.4 Synchronous Operation In the program example, the master axis is controlled by "MC_MoveVelocity" and the slave axis moves in sync with the master axis. When the synchronous operation is completed, the "MC_CamIn_0.InSync" flag is set to TRUE. The "Busy" flag is set to TRUE during execution. While the "Busy" flag is set to TRUE, "MC_MoveVelocity_0"...
Page 409 11.4 Synchronous Operation In the program example, the master axis is controlled by "MC_MoveVelocity" and the slave axis moves in sync with the master axis. When the synchronous operation is completed, the "MC_GearIn_0.InGear" flag is set to TRUE. The "Busy" flag is set to TRUE during execution. While the "Busy" flag is set to TRUE, "MC_MoveVelocity_0"...
Page 410 11.4 Synchronous Operation from the master axis, you must stop the slave axis with the "MC_Halt" function block or another function block. 11-48 WUME-GM1RTXOP-01...
Page 411: 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...
Page 412: Linear Interpolation And Circular Interpolation
Only SMC_CNC_REF can be repeatedly used. 11.5.2 Linear Interpolation and Circular Interpolation The GM1 controller supports linear interpolation, circular interpolation, and helical interpolation as interpolation controls. ■ Linear interpolation 　Linear interpolation can be used for two axes or three axes.
Page 413: How To Use Interpolation Control
11.5 Multi-axis Operation 11.5.3 How to Use Interpolation Control To use interpolation control with the GM1 controller, you must configure settings and do programming as described below. ■ Setting up a CNC table Setting up a CNC table makes it possible to perform continuous movements by combining interpolation controls.
Page 414: Registering A Cnc Table
11.5 Multi-axis Operation 11.5.4 Registering a CNC Table Set up a CNC table (operation patterns for interpolation control) using 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"...
Page 415 A CNC table is created in simple table input format. Because this item is not supported by the GM1 controller, select "Din66025". [Recommended] SMC_CNC_REF All interpolation control functions of the GM1 controller can be used.　 [Not recommended] Compi SMC_OUTQUEUE Movement speed is improved, but changing the settings in CNC tables, joining CNC tables, and other similar operations cannot be performed.
Page 416 11.5 Multi-axis Operation The G-code editor and CNC graphic editor are displayed in the right pane of the GM Programmer screen. ■ G-code editor Enter an interpolation control pattern using G-code. For details on the input method, refer to "11.5.6 G-code Editor and Coding Rules".
Page 417 11.5 Multi-axis Operation Setting item Description 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 WUME-GM1RTXOP-01 11-55...
Page 418 11.5 Multi-axis Operation ● "Preinterpolation" tab 11-56 WUME-GM1RTXOP-01...
Page 419 11.5 Multi-axis Operation ● "Table editor" tab WUME-GM1RTXOP-01 11-57...
Page 420 Maximum jerk operation. This tab is used to perform CNC in "table format". Because the Table editor 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 Programmer, right-click Application>CNC_Sample>Properties in this order.
Page 421 11.5 Multi-axis Operation ● "Common" tab ● "Build" tab WUME-GM1RTXOP-01 11-59...
Page 422 11.5 Multi-axis Operation ● "Access Control" tab 11-60 WUME-GM1RTXOP-01...
Page 423 11.5 Multi-axis Operation Setting item Description Tab name Settings This tab displays the CNC table name and object type. To change Common 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"...
Page 424 11.5 Multi-axis Operation This window is used to configure initial settings for CNC operation. 11-62 WUME-GM1RTXOP-01...
Page 425: Overview Of G-Code
Start position For the SMC_OUTQUEUE type, specify the coordinates from which interpolation control is to be started. Because the GM1 controller has the starting position controlled 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.
Page 426: G-Code Editor And Coding Rules
GM Programmer. ■ Only one G-code per line For the GM1 controller, only one G-code can be entered in each line. Split each line as below. ● Acceptable coding N01 G17 N02 G20 X_ Y_ I_ J_ F_ ●...
Page 427: Movements Executed By Each G-Code And Setting Methods
■ Setting rules for linear interpolation The following rules apply when G-code is used to set linear interpolation for the GM1 controller. ● Settings for axes untargeted for interpolation For 2-axis control, set only parameters for the target plane. Do not set parameters for untargeted axes.
Page 428 11.5 Multi-axis Operation Parameter name Input value E xxx (xxx > 0: Acceleration [u/sec ]), (xxx < 0: Deceleration [u/sec Acceleration / deceleration * When E = 0, an error occurs. ● Linear interpolation specification Linear interpolation can be specified with G-code. G-code Function Linear interpolation...
Page 429 G19) ■ Setting rules for circular interpolation The following rules apply when G-code is used to set circular interpolation for the GM1 controller. ● Specifying the coordinate plane for circular interpolation For circular interpolation, it is necessary to determine the plane targeted for interpolation. If no plane is specified, the XY-plane will be set by default.
Page 430 11.5 Multi-axis Operation Parameter name Input value X-axis I xxx (xxx: Center point coordinates) Center point Y-axis J xxx (xxx: Center point coordinates) Z-axis K xxx (xxx: Center point coordinates) Radius R xxx (xxx: Circle radius) Velocity F xxx (xxx: Composite velocity [u/sec]) E xxx (xxx >...
Page 431 11.5 Multi-axis Operation * A round circle can be specified by omitting an end point or entering the same coordinates for the start point and end point as below. (For center point specification only) [Setting example 2] (When end point is omitted) G-code setting example: N03 G17 N04　G02 X100 Y0 I50 J0 F100 E1 E-1...
Page 432 11.5 Multi-axis Operation ● 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 (X100, Y0) Radius 50 Velocity 100 Acceleration 1 [u/sec ], deceleration -1 [u/sec ●...
Page 433 11.5 Multi-axis Operation [Setting example 5] G-code setting example: N10 G19 N11 G02 Y100 Z0 J50 K0 F100 E1 E-1 • Explanation of G-code N10: An YZ-plane is selected. N11: Circular interpolation is performed in the YZ-plane according to the following values. Current value (Y0, Z0), end point (Y100, Z0) Center point (Y50, Z0) Velocity 100...
Page 434 (coordinate value: 0). To use absolute coordinate specification, specify G90. Because absolute coordinate specification is the default value for target position settings for the GM1 controller, absolute coordinate specification will be used unless G91 (relative coordinate specification) is specified.
Page 435 11.5 Multi-axis Operation N10: Absolute coordinate specification is set. N20: Linear interpolation is performed according to the following values. Current value (X0, Y0), end point (X50, Y50) Acceleration 1 [u/sec ], deceleration -1 [u/sec N30: Linear interpolation is performed according to the following values. Current value (X50, Y50), end point (X100, Y50) Acceleration 1 [u/sec ], deceleration -1 [u/sec...
Page 436 11.5 Multi-axis Operation N30: Linear interpolation is performed according to the following values. Current value (X50, Y50), end point (X+50, Y+0) Actual end point (X100, Y50) Acceleration 1 [u/sec ], deceleration -1 [u/sec Center point relative / absolute coordinate specification (G98, G99) As is the case with target coordinates, center point coordinates can also be specified by selecting relative coordinates or absolute coordinates.
Page 437 11.5 Multi-axis Operation G-code setting example: N00 G90 N01 G01 X100 Y100 F100 E1 E-1 N02 G99 N03 G17 N04 G02 X200 Y100 I50 J0 F100 E1 E-1 ● Explanation of G-code N00: The target position is specified as absolute coordinates. (This specification can be omitted if the default setting of G90 is applied.) N01: Movement to X100 / Y100 coordinates (linear interpolation) is performed.
Page 438 11.5 Multi-axis Operation N02: The center point is specified as absolute coordinates. (This specification can be omitted if the default setting of G90 is applied.) N03: An XY-plane is selected. N04: Circular interpolation is performed in the XY-plane according to the following values. Current value (X100, Y100), end point (X200, Y100) Center point (X150, Y100) Velocity 100...
Page 439: Smc_Cnc_Ref And Smc_Outqueue
11.5 Multi-axis Operation 11.5.8 SMC_CNC_REF and SMC_OUTQUEUE Two compilation modes are available for CNC tables. They can be selected when a table is created. For details on how to set compilation mode, refer to "11.5.4 Registering a CNC Table". ■ SMC_OutQueue (Pre-registration mode) ●...
Page 440: Interpolation Operation Programming: How To Create A Program For Executing Operation
When the program is completed, execute "build". When the build process is completed, execute "login". After executing login, select "Login with download" in the "Options" section and then click "OK". When the GM1 controller is connected, the program is downloaded automatically. For details, refer to "7.8...
Page 441 11.5 Multi-axis Operation ● Before executing "build", check the confirmation items and notes in the following sections. ■ Confirmation items during programming To ensure normal operation, check the following items. ● Dynamical analysis for CNC table CNC tables that have been created can be subject to dynamical analysis to preliminarily check how each axis moves.
Page 442 11.5 Multi-axis Operation ● If variables are used in CNC tables, the "Dynamical Analysis" window cannot be displayed. For details on how to convert to variables in CNC tables, refer to "11.5.16 Interpolation Operation Programming: Changing Parameter Settings (Converting to Variables in CNC Table)".
Page 443: Interpolation Operation Programming: Explanation Of Function Block (Fb)
11.5 Multi-axis Operation ■ Notes on POU registration Created POU ("POU_Sample" in the example below) must be registered in Program Configuration>Application>Task Configuration>1.Motion>MotionTask in the Device tree. Do not register it in "2.User" or "3.System". ■ Confirmation items of MotionTask cycle Check the control cycle of RTEX_Master.
Page 444 ■ PMC_Interpolator2D (2-axis interpolation) The function block executes 2-axis interpolation control according to the specified CNC table. For the detailed specifications of the function block, refer to the GM1 Series Reference Manual (Instruction). Programming method for PMC_Interpolator2D [Setting example 1] ST program example: SMC_CNC_REF type CNC table G-code (SMC_CNC_REF): CNC_Table1 N01　G01 X10 Y10 F10 E1 E-1...
Page 445 "11.5.11 Interpolation Operation Programming: Specifying the Starting Coordinates".) ■ PMC_Interpolator3D (3-axis interpolation) The function block executes 3-axis interpolation control according to the specified CNC table. For the detailed specifications of the function block, refer to the GM1 Series Reference Manual (Instruction). WUME-GM1RTXOP-01 11-83...
Page 446: Interpolation Operation Programming: Specifying The Starting Coordinates
11.5 Multi-axis Operation ● When executing multiple interpolation controls, do not use the same buffer for different instances. ● When executing multiple interpolation controls at the same time, do not use the same table for different instances. Otherwise, normal operation may not occur. (If the same table is used for different instances, create multiple tables with the same contents.) ●...
Page 447 11.5 Multi-axis Operation ■ For SMC_CNC_REF Starting coordinates can be specified in PMC_NCDecoder when decoding is executed. Variable declaration section: //FB instances NCDecoder : PMC_NCDecoder; Interpolator2D : PMC_ Interpolator2D; ReadSetPosition : SMC_ReadSetPosition //Read current value //Variables : ARRAY[0..10] OF SMC_GEOINFO; //Buffer for decoding fSetXPosition : LREAL;...
Page 448 11.5 Multi-axis Operation 2. Click the "CNC" tab in the upper section of the Properties window that is displayed. 11-86 WUME-GM1RTXOP-01...
Page 449 11.5 Multi-axis Operation 3. In the "Start position" section, specify the respective operation starting coordinates for the X, Y, and Z axes and then click [OK]. WUME-GM1RTXOP-01 11-87...
Page 450: Interpolation Operation Programming: P-Point Control And C-Point Control
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"...
Page 451 ● This also applies to movements when dwell time is set. (If dwell time is set to 0 ms, continuous movements will occur without waiting time.) For C-point control, the GM1 controller supports the use case patterns shown in the table below.
Page 452: Interpolation Operation Programming: Settings In Cnc Table For C-Point Control
Repeating CNC 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...
Page 453: Interpolation Operation Programming: Settings In Pou For P- Point Control And C-Point Control
11.5 Multi-axis Operation ● P-point control is used when paths are connected linearly (with no angle), as shown in the connection between Path (1) and Path (2). ● C-point control is used when paths are connected with an angle, as shown in the connection between Path (2) and Path (3).
Page 454: Interpolation Operation Programming: Joining And Repeating Cnc Tables
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 [Setting example 1] ST program example: Joining CNC tables using PMC_NCDecoder G-code: CNC_Table1 N01　G01 X10 Y10 F10 E100 E-100...
Page 455 11.5 Multi-axis Operation G-code: CNC_Table2 N01　G01 X20 Y20 F10 E100 E-100 Variable declaration section: //FB instances NCDecoder : PMC_NCDecoder; Interpolator2D : PMC_ Interpolator2D; //Variables buf: ARRAY[0..10] OF SMC_GEOINFO; //Buffer for decoding iSequence: : INT; //Execution control No. Control section: Case iSequence OF NCDecoder(nSizeOutQueue := SIZEOF(buf),pbyBufferOutQueue := ADR(buf), ncprog := CNC_Table1,bExecute:= TRUE,　bAppend:=TRUE);...
Page 456 11.5 Multi-axis Operation SMC_OUTQUEUE which is output is executed as a CNC table in PMC_Interpolator2D or PMC_Interpolator3D. Joining CNC tables: C-point control [PMC_Interpolator 2D(3D)] [Setting example 1] ST program example: PMC_NCDecoder G-code: CNC_Table N01　G01 X10 Y0 F10 E100 E-100 N02　G01 X10 Y10 N03　G01 X0 Y0 Variable declaration section: //FB instances...
Page 457: Interpolation Operation Programming: Changing Parameter Settings (Converting To Variables In Cnc Table)
● 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)
Page 458 11.5 Multi-axis Operation N01 G01 X$ g_x $　Y$ g_y $ Z$ g_z $ F$ g_f $ E$ g_accel $ E$ g_decel $ Explanation of G-code Values to be set are specified as variables. [Setting example 1] ST program Example of global variable declaration section: VAR_GLOBAL g_x : REAL := 100;...
Page 459: Motion Function Errors
11.6 Motion Function Errors 11.6 Motion Function Errors 11.6.1 Overview of Motion Function Errors Motion function errors can be classified as below. ■ Function block (FB) errors These errors occur when motion function blocks are executed. They are defined as SMC_ERROR in CODESYS.
Page 460: Error Check Method
11.6 Motion Function Errors 11.6.2 Error Check Method ■ Online monitor in the axis setting window for SM3_Drive_RTEX_A6N The oldest error is displayed in the "FB error" field. This is the same error result as that output by the MC_ReadFBError function block. * Some FB errors are not displayed (SMC_RP_REQUESTING_ERROR, etc.).
Page 461: Clearing Errors
11.6 Motion Function Errors Alarm information acquisition RTEX_ReadAmpAlarm 11.6.3 Clearing Errors When errorstop occurs Execute MC_Reset. When an error 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.
Page 462 (MEMO) 11-100 WUME-GM1RTXOP-01...
Page 463 12 Unit Control This chapter explains unit control for the GM1 controller. 12.1 Overview of Unit Control ..............12-2 12.2 IO Parameters for Unit Control ............12-3 12.3 I/O Mapping for Unit Control .............12-4 12.4 General-purpose I/O .................12-5 12.4.1 Overview of General-purpose I/O Function ........12-5 12.4.2 Setting Parameters with GM Programmer ........
Page 464: Overview Of Unit Control
12.1 Overview of Unit Control 12.1 Overview of Unit Control Unit control provides control for the controller functions (I/O, PWM, and counter) and expansion units. 12-2 WUME-GM1RTXOP-01...
Page 465: Io Parameters For Unit Control
12.2 IO Parameters for Unit Control 12.2 IO Parameters for Unit Control The parameter window is used to set up parameters for the controller functions (I/O, PWM, and counter) and each expansion unit. This section explains parameter settings, using IO_Configuration as an example. In the navigator pane, double-click the "IO_Configuration"...
Page 466: I/O Mapping For Unit Control
12.3 I/O Mapping for Unit Control 12.3 I/O Mapping for Unit Control The I/O mapping window is used to allocate variables to I/O mapping for the controller functions (I/O, PWM, and counter) and each expansion unit. This section explains I/O mapping, using IO_Configuration as an example. Click the "I/O Mapping"...
Page 467: General-Purpose I/O
12.4 General-purpose I/O 12.4 General-purpose I/O 12.4.1 Overview of General-purpose I/O Function The general-purpose I/O function allows use of up to 16 input points and 16 output points. * However, the general-purpose I/O function shares some ports with the high-speed counter function and PWM output function.
Page 468: Setting Items Of Io_Configuration Parameters
12.4 General-purpose I/O Set up general-purpose IO parameters. Select an IO parameter to be changed and then select a desired item from the drop-down list. Select the "I/O Mapping" tab and set the correspondence (mapping) between the channel and variable in the mapping setting pane. Click the "Variable"...
Page 469: I/O Mapping For General-Purpose I/O
12.4 General-purpose I/O Setting item Setting item Settings Default value Description 1 ms 5 ms 10 ms 20 ms 70 ms Input function setting X0 IO(Ch0_In00) IO(Ch0_In00) Select X0 Counter(Ch0_Control0) IO(Ch0_In01) IO(Ch0_In01) Select X1 Counter(Ch0_Control1) IO(Ch0_In02) IO(Ch0_In02) Select X2 Counter(Ch1_Control0) IO(Ch0_In03) IO(Ch0_In03) Select X3...
Page 470 12.4 General-purpose I/O ■ Ch0_In Channel Type Description Remarks Ch0_In00 BOOL Ch0_In00 Ch0_In01 BOOL Ch0_In01 Ch0_In02 BOOL Ch0_In02 Ch0_In03 BOOL Ch0_In03 Ch0_In04 BOOL Ch0_In04 Ch0_In05 BOOL Ch0_In05 Ch0_In06 BOOL Ch0_In06 Ch0_In07 BOOL Ch0_In07 Ch0_In08 BOOL Ch0_In08 Ch0_In09 BOOL Ch0_In09 Ch0_In10 BOOL Ch0_In10 Ch0_In11...
Page 471: Pwm Output
12.5 PWM Output 12.5 PWM Output 12.5.1 Overview of PWM Output The PWM output function enables up to 100 kHz of PWM output to be obtained within a range of 0% to 100%. ■ Outline of specifications Item Specifications Remarks Number of output Max.
Page 472: I/O Mapping For Pwm Output
12.5 PWM Output If necessary, change Y4 to Y7 in "Output port configuration" to PWM(Ch0_PWM_Output) to PWM(Ch3_PWM_Output), respectively. 12.5.3 I/O Mapping for PWM Output The high-speed counter function is controlled by user programs. ■ InputArea (input area) Channel Type Description Remarks PwmStatusRegister WORD...
Page 473: Data Update Timing (Output Frequency)
12.5 PWM Output ■ OutputArea (output area) Channel Type Description Remarks PwmRequestRegist PWM request WORD register Ch* frequency set Ch*_FrequestValue UDINT Unit: Hz (0 to 100,000 Hz) value Ch* duty ratio set Ch* DutyValue UINT Unit: 0.1% (0 to 100.0%) value ■...
Page 474: Data Update Timing (Duty Ratio)
■ 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 enable request bit is ON, PWM output will be started.
Page 475 12.5 PWM Output Next, perform I/O mapping for variables 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. WUME-GM1RTXOP-01 12-13...
Page 476 12.5 PWM Output 3. In this example, variables with the same name as the channel 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"...
Page 477 12.5 PWM Output 5. Click the "IO I/O Mapping" tab. 6. Variables 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. WUME-GM1RTXOP-01 12-15...
Page 478 12.5 PWM Output Description If the rising edge of the start request bit is detected when the enable request bit is ON, PWM output will be started. PWM output is performed with a duty ratio of 50% and at a frequency of 100 Hz. When the enable request bit turns OFF, PWM output stops.
Page 479 12.5 PWM Output ST program WUME-GM1RTXOP-01 12-17...
Page 480: High-Speed Counter Function
12.6 High-speed Counter Function 12.6 High-speed Counter Function 12.6.1 Overview of High-speed Counter Function ■ Two 4-MHz, signed 32-bit high-speed counters are provided ● High-speed counting of input signals is available for up to the maximum frequency 4 MHz (or 16 MHz for 2-phase input 4 multiple).
Page 481: Setting Parameters With Gm Programmer
12.6 High-speed Counter Function up to 16 comparison match flags for each comparison condition match their respective target values. ● For each counter, up to two comparison match flags and external output signals can be linked with each counter. ■ ON hold time setting (for band comparison function only) ●...
Page 482 12.6 High-speed Counter Function In the "Counter_Configuration" window, click the "Counter parameter" tab. Set up parameters of each function for each counter. Counter function Comparison match leading edge reset / Comparison match trailing edge reset 12-20 WUME-GM1RTXOP-01...
Page 483 12.6 High-speed Counter Function Comparison function (band comparison) Comparison function (band comparison) 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 WUME-GM1RTXOP-01 12-21...
Page 484: Counter Parameter Setting Items
12.6 High-speed Counter Function Set/reset patterns for comparison function (target value match comparison) comparison data External output function Capture function ● You can copy the parameter set in a counter. To do so, select a channel (Ch0 or Ch1) in the "Category Selection"...
Page 485 12.6 High-speed Counter Function Setting item Settings Default value Counter upper limit -2,147,483,647 to 2,147,483,647 2,147,483,647 Counter lower limit -2,147,483,648 to 2,147,483,646 -2,147,483,648 Count in normal Specify count direction Count in normal direction / Count in reverse direction direction Count signal Internal clock 0.25 µs (4 MHz) Select count input Internal clock 1.00 µs (1 MHz)
Page 486 12.6 High-speed Counter Function (Note 1) The control 0 signal and control 1 signal cannot be assigned to the capture function if they are assigned to the enable operation. Setting item Settings Default value Comparison match leading Selects a comparison match flag that resets the count Not reset edge reset / Comparison match value at the rising edge or falling edge.
Page 487: I/O Mapping For High-Speed Counter Output
12.6 High-speed Counter Function Setting item Settings Default value External output 1 signal ON Setting range: 0 to 1,000 (ms) 0 ms hold delay (Note 1) "ON hold time" is enabled only when the band comparison function is used. ■ Capture function (Settable for each counter) Setting item Settings...
Page 488 12.6 High-speed Counter Function Channel Type Description Remarks Ch*_CaptureDifferen Ch* capture Stores the value (Capture 1 value - Capture DINT ceValue differential value 0 value) ■ Ch*_StatusRegister (Ch* status register) Channel Type Description Remarks Indicates whether the count function is Ch*_OperationRead Ch* operation ready ready to run.
Page 489 12.6 High-speed Counter Function Channel Type Description Remarks Ch*_ComparisonMat to Ch* comparison ch15Status match 15 flag ■ OutputArea (output area) Channel Type Description Remarks Ch*_RequestRegist WORD Ch* request register Stores the value to replace the preset Ch*_TemporaryPres Ch* temporary value. DINT etValue preset value...
Page 490: Operation Ready Request
12.6 High-speed Counter Function Validity Channel Type Description Remarks condition Capture function: Specifies whether to enable the capture function. Ch* capture enable Ch*_CaptureEnable BOOL Level Request (Note 1) 0: Disable, 1: Enable request Sampling capture function Used as a capture flag. Ch*_ExternalOutput Ch* external output Relay to forcibly turn on the...
Page 491 12.6 High-speed Counter Function The following 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 WUME-GM1RTXOP-01 12-29...
Page 492 ■ 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.
Page 493: Count Function
12.6 High-speed Counter Function 12.6.6 Count Function ■ Setup procedure 1. From "Device view" in the navigator pane, double-click "Couter_Configuration". 2. Click the "Counter parameter" tab. 3. For each channel, select the count function and set up each parameter. ● For details on how to set up parameters, refer to "12.6.2 Setting Parameters with GM Programmer".
Page 494 12.6 High-speed Counter Function Behavior example of linear counter Behavior example of ring counter ● If the count is decremented from the lower limit, the counter will roll over the count and continue a decremental count from the upper limit. ●...
Page 495 12.6 High-speed Counter Function ■ Count method ● You can select from the three types shown in the table below according to the input device to be connected. ● The count behavior changes according to the settings of a multiplication factor, as described on the following pages.
Page 496 12.6 High-speed Counter Function Timing chart Multiplic ation Incrementation Decrementation Multiply by 4 Count operation of individual input Timing chart Multiplic ation Incrementation Decrementation Multiply by 1 Multiply by 2 Count operation of direction detection input Timing chart Multiplic ation Incrementation Decrementation Multiply...
Page 497 12.6 High-speed Counter Function ● Enable count operation is used by allocating the enable function to the control flag. Count operation is performed while the control flag is enabled. ● Enable count operation can be set using the methods shown in the following table. Types of control flag (enable processing) Enable condition Signal...
Page 498 12.6 High-speed Counter Function Reset condition Setting method using the Signal Counter_Configuration parameters Input Z signal Setting the reset operation conditions by setting ● ● ● ● up the input Z signal function Comparison Setting the "Comparison match rising edge reset" match status or "Comparison match falling edge reset"...
Page 499 12.6 High-speed Counter Function Reset (preset) count operation example ■ Enable reset count operation ● Enable reset count operation is used by allocating the enable function and reset function to the control flag. ● The count value is reset to zero when the counter becomes enabled due to the change of the control flag (enable reset processing).
Page 500 12.6 High-speed Counter Function Positive logic enable operation and reset (preset) operation at rising edge Negative logic enable operation and reset (preset) operation at falling edge ■ Reading the count value or changing the current count value or preset value ●...
Page 501 12.6 High-speed Counter Function ● The following are LD program and ST program examples for sample POU (Counter2). • In this example, 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.
Page 502 12.6 High-speed Counter Function ST program ■ Count value when the power is turned on ● When the power is turned on, the count value is "0". ■ Changing the current count value ● The current count value can be changed to any value as necessary. ●...
Page 503: Comparison Function
12.6 High-speed Counter Function Example: A program to change the preset value of CH0 to 1000000 ● Preset values that are set cannot be read by programs. 12.6.7 Comparison Function ■ Setup procedure 1. From "Device view" in the navigator pane, double-click "Counter_Configuration". 2.
Page 504 12.6 High-speed Counter Function Item Specifications Comparison match 0 flag or comparison match 1 flag can be allocated to external output. ON hold time can be set only when the band comparison function is used. ON hold time: 0 to 1,000 ms ●...
Page 505 12.6 High-speed Counter Function 2. Click Counter parameter>Counter (Ch0 or Ch1)>Comparison function>Comparison data and specify target values for each comparison data item. 3. Select "Addition set pattern", "Addition reset pattern", "Subtraction set pattern", and "Subtraction reset pattern" separately and set ""No change", "Set output", or "Reset output"" for each comparison match flag.
Page 506 12.6 High-speed Counter Function Compariso Compariso Compariso Compariso Compariso Target Output setting n match 0 n match 1 n match 2 n match 3 n data value flag flag flag flag Addition reset pattern Subtraction set pattern ○ ○ Subtraction reset pattern Addition set pattern ○...
Page 507 12.6 High-speed Counter Function Behavior of comparison match flag during decrementation count When the current value matches the comparison data, the comparison match flag behaves according to the setting of "Subtraction set pattern" or "Subtraction reset pattern". ● For ring counters, comparison data can be set in an area including the lower and upper limits where count values are rolled over.
Page 508 12.6 High-speed Counter Function ● A total of 16 comparison match flags can be set separately for each comparison data item. ● Multiple comparison data items can be set for the same band. ● For details on how to set up parameters, refer to "12.6.2 Setting Parameters with GM Programmer".
Page 509: External Output Function
12.6 High-speed Counter Function ● For ring counters, comparison data can be set in an area including the lower and upper limits where count values are rolled over. ■ Parameter settings for external output function ● The comparison match 0 flag and comparison match 1 flag can be output externally using parameter settings.
Page 510: Capture Function
12.6 High-speed Counter Function Counter_Configuration parameter setting example ■ ON hold time (for band comparison only) When the band comparison function is used, ON hold time can be set as an output signal. Differences in behavior between settings ON hold time Timing chart for comparison match flag and external output signal 1 to 1,000 ms ■...
Page 511 12.6 High-speed Counter Function ● For details on how to set up parameters, refer to "12.6.2 Setting Parameters with GM Programmer". ■ Types of capture function Capture function ● The count value at the point in time when the input signal from an external device changes is stored in the capture 0 value or capture 1 value register.
Page 512 12.6 High-speed Counter Function ■ Comparison between capture function and sampling capture function Available conditions differ between the functions. Comparison between both functions Item Capture function Sampling capture function Max. 2 points Max. 1 point Number of points that can be The capture function cannot be used when the sampling capture function is used used.
Page 513 12.6 High-speed Counter Function Item Capture function Sampling capture function By allocating one of the control signals to the same capture number, Capture enable request bit (positive the capture function can be allocated logic) as the rising or falling edge of the signal.
Page 514 12.6 High-speed Counter Function When "rising edge" and "falling edge" of the same signal are specified as the capture trigger conditions ● The sign of the capture differential value changes according to the sequence of the capture enable request bit and capture flag. ■...
Page 515 12.6 High-speed Counter Function When "rising edge" is specified as the capture trigger condition When "falling edge" is specified as the capture trigger condition WUME-GM1RTXOP-01 12-53...
Page 516 12.6 High-speed Counter Function When "rising edge" and "falling edge" of the same signal are specified as the capture trigger conditions ● The sign of the capture differential value changes according to the sequence of the capture enable request bit and capture flag. ●...
Page 517 12.6 High-speed Counter Function Timing chart ■ Sampling capture function (continuous operation) ● Each time the specified sampling time elapses after the capture flag turns ON or OFF, successively, 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.
Page 518 12.6 High-speed Counter Function Timing chart ■ Reading captured data Areas where captured data is stored ● The latest captured data is stored in the capture 0 value and capture 1 value registers. ● Captured data is stored 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".
Page 519 12.6 High-speed Counter Function LD program ST program ■ Behaviors and read operations of capture * status 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.
Page 520 12.6 High-speed Counter Function (Note 1) (Note 2) (Note 3) (Note 1) The capture enable request bit is turned ON by a user program. (Note 2) Each time a capture flag turns ON, a capture operation is performed asynchronously with user program execution.
Page 521 12.6 High-speed Counter Function Processing when capture trigger input occurs frequently (Note 1) (Note 2) (Note 3) (Note 1) The capture enable request bit is turned ON by a user program. (Note 2) Each time a capture flag turns ON, a capture operation is performed asynchronously with user program execution.
Page 522: Unit Error
12.6 High-speed Counter Function 12.6.10 Unit Error Overflow and underflow errors with the counter unit are operation stop errors. To continue the operating status when an error occurs, change the value of PLC parameter "A unit error occurred" to "Continue operation". From "Device view"...
Page 523 12.6 High-speed Counter Function Change the value of "A unit error occurred" to "Continue operation". WUME-GM1RTXOP-01 12-61...
Page 524: Settings Of I/O Unit
12.7 Settings of I/O Unit 12.7 Settings of I/O Unit Expansion I/O units are classified into 64-point input, 64-point output, and 32-point I/O units. This section explains 32-point I/O units as an example. Setting Parameters with GM Programmer 12.7.1 Parameter Settings ■...
Page 525 12.7 Settings of I/O Unit Channel Type Description Remarks Ch*_In00 BOOL Ch*_In00 Ch*_In01 BOOL Ch*_In01 Ch*_In02 BOOL Ch*_In02 Ch*_In03 BOOL Ch*_In03 Ch*_In04 BOOL Ch*_In04 Ch*_In05 BOOL Ch*_In05 Ch*_In06 BOOL Ch*_In06 Ch*_In07 BOOL Ch*_In07 Ch*_In08 BOOL Ch*_In08 Ch*_In09 BOOL Ch*_In09 Ch*_In10 BOOL Ch*_In10 Ch*_In11...
Page 526 (MEMO) 12-64 WUME-GM1RTXOP-01...
Page 527: Communication Function
13 Communication Function 13.1 Overview of Communication Function ..........13-2 13.1.1 Adding Network Communication Devices ........13-2 13.1.2 Adding Serial Communication Devices .......... 13-3 13.2 General-purpose Communication .............13-6 13.2.1 General-purpose Communication (Ethernet) ......... 13-6 13.2.2 General-purpose Communication (Serial) ........13-20 13.3 MODBUS ..................13-24 13.3.1 What is Modbus TCP? ..............
Page 528: Overview Of Communication Function
13.1 Overview of Communication Function 13.1 Overview of Communication Function The GM1 controller allows general-purpose communication, Modbus communication, and EtherNet/IP communication with external devices via COM and LAN ports. The following table shows the functions supported by each port. Port...
Page 529: Adding Serial Communication Devices
13.1 Overview of Communication Function Select "ModbusTCP Slave Device". Click the [Add Device] button. The selected "ModbusTCP_Slave_Device" object will be added 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 Right-click the "Device"...
Page 530 13.1 Overview of Communication Function The "Add Device" dialog box will be displayed. Select "Modbus COM". Click the [Add Device] button. The selected "Modbus_COM" object will be added to the navigator pane. Right-click the "Modbus_COM" object and then select "Add Device" from the context- sensitive menu that is displayed.
Page 531 13.1 Overview of Communication Function The "Add Device" dialog box will be displayed. Select "Modbus_Serial_Device". 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".
Page 532: General-Purpose Communication
13.2 General-purpose Communication 13.2 General-purpose Communication 13.2.1 General-purpose Communication (Ethernet) This section explains how to use the CAA_NetBaseServices library, in the following order. 1. Library_Manager 2. TCP CLIENT processing example 3. TCP SERVER processing example 4. UDP processing example Double-click Library_Manager in the navigator pane. The Library_Manager setting window will be displayed.
Page 533: General-Purpose Communication (Serial)
13.2 General-purpose Communication ● Transmission processing Explanation of variables Process When the value is rewritten, the following processing is executed. After the execution is completed, the variable is set to 0 (invalid value). 1 = TCP client connection processing 2 = Reception start processing 3 = Transmission processing ClientAddr The IP address of the destination unit is set.
Page 534 13.2 General-purpose Communication Declaration section (common to ST and LD programming languages) 13-8 WUME-GM1RTXOP-01...
Page 535 13.2 General-purpose Communication Implementation section (ST programming language) WUME-GM1RTXOP-01 13-9...
Page 536 13.2 General-purpose Communication Implementation section (LD programming language) 13-10 WUME-GM1RTXOP-01...
Page 537 13.2 General-purpose Communication ■ TCP SERVER processing example The following is a processing example of data transmission / reception via TCP when the local unit is TCP SERVER. This processing example assumes the following operating environment. Processing for data transmission / reception The processing for data transmission / reception is as follows: ●...
Page 538 13.2 General-purpose Communication ● NBS_ReadError: Result of reception start processing ● NBS_WriteError: Result of transmission processing Operation example The TCP server is opened and connected to the TCP client. ● The value of "Process" is changed from 1 to 2. The local unit is ready to receive data.
Page 539 13.2 General-purpose Communication Implementation section (ST programming language) WUME-GM1RTXOP-01 13-13...
Page 540 13.2 General-purpose Communication Implementation section (LD programming language) 13-14 WUME-GM1RTXOP-01...
Page 541 13.2 General-purpose Communication When multiple clients are connected simultaneously to the same port, multiple TCP_Connection instances are created. The hServer handle acquired by one TCP_Server is set to the multiple TCP_Connection instances. Example: When two clients are connected simultaneously to the same port Declaration section iServer: NBS.TCP_Server;// TCP_Server instance iConnection: ARRAY [0..1] OF NBS.TCP_Connection;　// TCP_Connection instance (two...
Page 542 13.2 General-purpose Communication RecvBuf Received data is stored. RecvCount The number of receptions is stored. RecvPort The port that received data is stored. RecvSize The size of received data is stored. RecvIpAddr The IP address of the received data destination is stored. Result The result of processing execution is stored.
Page 543 13.2 General-purpose Communication Declaration section (common to ST and LD programming languages) WUME-GM1RTXOP-01 13-17...
Page 544 13.2 General-purpose Communication Implementation section (ST programming language) 13-18 WUME-GM1RTXOP-01...
Page 545 13.2 General-purpose Communication Implementation section (LD programming language) WUME-GM1RTXOP-01 13-19...
Page 546: General-Purpose Communication (Serial)
13.2 General-purpose Communication 13.2.2 General-purpose Communication (Serial) This section explains how to use the CAA SerialCom library, in the following order. 1. Library_Manager 2. COM transmission / reception processing example ■ Library_Manager Check that the following CAA SerialCom library is registered in Library_Manager. ■...
Page 547 13.2 General-purpose Communication SendBufLen The length of data to be sent is set. RecvBuf The buffer to store received data is set. ReadBufLen The length of receiver buffer is set. ReadSize The size of received data is stored. Result The result of processing execution is stored. (TRUE: Error occurrence, FALSE: Normal termination) If the result of processing execution is abnormal, check the following error code.
Page 548 13.2 General-purpose Communication Implementation section (ST programming language) 13-22 WUME-GM1RTXOP-01...
Page 549 13.2 General-purpose Communication Implementation section (LD programming language) WUME-GM1RTXOP-01 13-23...
Page 550: Modbus
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 below.
Page 551 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 Open the device (AGM1CSR16T1) of the GM1 controller, select the "'PLC' Parameters" tab, and set the IP address of LAN port1. WUME-GM1RTXOP-01...
Page 552 13.3 MODBUS Double-click "Modbus_TCP_Slave" in the navigator pane. The "Modbus_TCP_Slave" object will be displayed. Select the "Modbus Slave Channel" tab. 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. 13-26 WUME-GM1RTXOP-01...
Page 553 13.3 MODBUS Access type: Select an access type (function code) and change the value of the READ or WRITE register parameter according to the selected access type. Function code Access type Description Read Coils Reads from coils Read Discrete Inputs Reads from discrete inputs Read Holding Registers Reads from holding registers...
Page 554: Modbus-Tcp Slave Communication
13.3 MODBUS READ register settings Item Description Offset Specifies the starting address from which read operation is to be started. Length Specifies the number of registers to be read from. The value of the parameter depends on the function code. Error handling Defines data that identifies communication errors.
Page 555 13.3 MODBUS The "ModbusTCP_Slave_Device" object will be added to the "LANPort1" object. Double-click "ModbusTCP_Slave_Device" in the navigator pane. The "LANPort1" object will be displayed. Select the "General" tab and set appropriate values for each item. Item Description If no valid command is received from the master during the preset time period, the holding register (%IW) will be set to zero.
Page 556: Modbus-Rtu Master Communication
13.3 MODBUS Registers correspond to each access type (function code) Function Access type Register code When the check box is When the check box is (Note 1) (Note 1) not selected selected Read Coils Holding register Input register Read Discrete Inputs Input register Input register Read Holding Registers...
Page 557 13.3 MODBUS Right-click the "Device" 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. Select "Modbus COM" under "Modbus Serial Port" and click the [Add Device] button. The "Modbus_COM"...
Page 558 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 Settable value: 1 to 99 COM port The COM port of the GM1 controller is fixed at 1. 13-32 WUME-GM1RTXOP-01...
Page 559 13.3 MODBUS Item Description Can be selected from 1200, 2400, 4800, 9600, 19200, 38400, 57600, and Baud rate 115200 Parity Can be selected from EVEN, ODD, and NONE Data bit length between start bit and stop bit Data bits Settable value: 7 bits and 8 bits (Settable: 0 to 255) The default value of Modbus is 8 bits.
Page 560 13.3 MODBUS Select the "General" tab and set appropriate values for each item. Item Description Slave address [1..247] Specifies the address (station number) of the slave device Response timeout (ms) Waiting time for response from slave [2..65535] * The response timeout value for the master device is overwritten. Select the "Modbus Slave Channel"...
Page 561 13.3 MODBUS Access type: Select an access type (function code) and change the value of the READ or WRITE register parameter according to the selected access type. Function code Access type Description Read Coils Reads from coils Read Discrete Inputs Reads from discrete inputs Read Holding Registers Reads from holding registers...
Page 562 13.3 MODBUS Item Description Length Specifies the number of registers to be read from. The value of the parameter depends on the function code. Error handling Defines data that identifies communication errors. ● "Keep last value": Holds the last value that is read ●...
Page 563 13.3 MODBUS Read areas, write areas, and trigger variable areas are defined according to the channel information created in Step 10. Allocate variables as necessary. Update settings for I/O variables Item Description Use parent device settings Updates I/O variables according to the parent device settings Enable 1 (Bus cycle task if not Updates I/O variables in the bus cycle if not used by any other task used by any tasks)
Page 564: Modbus-Rtu Slave Communication
13.3 MODBUS 13.3.5 Modbus-RTU Slave Communication This section explains how to use the Modbus-RTU slave function. The slave function is used by setting up the device object. Right-click the "Device" object in the navigator pane and then select Add Device from the context-sensitive menu that is displayed.
Page 565 Select the "General" tab and set appropriate values for each item. Item Description Settable value: 1 to 99 COM port The COM port of the GM1 controller is fixed at 1. Can be selected from 1200, 2400, 4800, 9600, 19200, 38400, 57600, and Baud rate 115200 Parity...
Page 566 13.3 MODBUS The "Modbus_Serial_Device" object will be displayed. Select the "General" tab and set appropriate values for each item. Item Description If no valid command is received from the master during the preset time period, the holding register (%IW) will be set to zero. Watchdog Settable value: 500 to 200000 A station number is set.
Page 567 13.3 MODBUS Function code Access type Description Read Discrete Inputs Input register Read Holding Registers Holding register Read Input Registers Input register Write Single Coil Holding register Write Single Register Holding register Write Multiple Coils Holding register Write Multiple Registers Holding register Read / Write Multiple Registers Holding register (Read/Write)
Page 568: Ethernet/Ip
● 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.
Page 569 13.4 EtherNet/IP Adding devices Add an EtherNet/IP scanner device and remote adapter device to the Device tree, as described below. Add an EtherNet/IP scanner device. 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"...
Page 570 13.4 EtherNet/IP Add a remote adapter device. Right-click the "EtherNet/IP scanner 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. Select a remote adapter device to be added and click the [Add Device] button. 13-44 WUME-GM1RTXOP-01...
Page 571 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" as an example. Double-click "FP7CPU_UNIT_AFP7CPS31E" in the navigator pane. In the "General" tab, set an IP address and items to be checked at the time of connection.
Page 572 13.4 EtherNet/IP IP address Set the IP address of the adapter device. Electronic Keying Select items to be checked at the time of connection. ● Compatibility check The adapter device executes its own compatibility check. In this case, the user can select only the "Check device type" check box. ●...
Page 573 13.4 EtherNet/IP This section displays the connection points that are supported by the adapter device according to the EDS file. Select a connection point to be used. Example: Select "Input Only (ID type)". The parameters in the "General parameters" section differ according to the selected connection point.
Page 574 13.4 EtherNet/IP To change the data structure, click a relevant data type and select a desired data type. In the following example, the BYTE type (16-byte data structure) is changed to the WORD type (4-word data structure) and the DWORD type (2-word data structure). In the "EtherNet/IP I/O Mapping"...
Page 575: Ethernet/Ip Scanner Operation
GM1 controller is set to RUN or STOP mode. When the GM1 controller is set to STOP mode, the remote adapter is placed in "Adapter in IDLE state" and displayed as △ in the Device tree.
Page 576 13.4 EtherNet/IP xDiagnosticAvailable : BOOL; // TRUE if there is diagnostic information sDiagString : STRING; // Diagnostic string xAcknowledge : BOOL := FALSE; // Approve diagnostic information xReset : BOOL := FALSE; // Remote adapter reset END_VAR Implementation section (ST programming language) eState := FP7CPU_UNIT_AFP7CPS41ES.eState;...
Page 577: Ethernet/Ip Adapter Function
13.4 EtherNet/IP 13.4.6 EtherNet/IP Adapter Function The EtherNet/IP adapter function allows the GM1 controller to communicate with EtherNet/IP scanner devices. 13.4.7 Setting up the EtherNet/IP Adapter Function This section explains how to set up the EtherNet/IP adapter function. Adding devices Add a local adapter device and module device to the Device tree, as described below.
Page 578 13.4 EtherNet/IP Image of added device and tasks After a local adapter device has been added, a device and tasks are added to the Device tree, as shown below. Add a module device. A module device defines data to be transferred via cyclic communication. Right-click the "Local adapter device"...
Page 579 13.4 EtherNet/IP Image of added devices Multiple module devices can be added within a local adapter device. The following is an example of four module devices added to a local adapter device. Settings of local adapter device Check the settings of the local adapter device. Double-click "EtherNet_IP_Adapter"...
Page 580 The remote adapter device specified here is registered as a device in CODESYS. ● Export EDS File The EDS file specified here is output. For scanner device settings, use the EDS file provided by Panasonic ("PanasonicGM1CSRX16_0005_0101.eds"). Setting up a module device Set up a module device, as below.
Page 581: Ethernet/Ip Adapter Operation
When a project in which EtherNet/IP adapter settings have been configured is downloaded to the GM1 controller and then RUN mode is invoked, the adapter device responds to a ForwordOpen packet from the scanner device and cyclic communication is started.
Page 582 13.4 EtherNet/IP The following shows the respective states of the local adapter device and module devices during normal operation. The local adapter device and module devices are displayed with "〇" symbol in 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.
Page 583 14 Other Controller Functions 14.1 SD Card Access................14-2 14.1.1 Overview of SD Card Access Function .......... 14-2 14.1.2 File 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 ..........
Page 584: Sd Card Access
14.1 SD Card Access 14.1 SD Card Access 14.1.1 Overview of SD Card Access Function The GM1 controller allows directories and files to be written to and read from the SD card via the CAA File library. ■ Preparation for SD card access 1.
Page 585 14.1 SD Card Access 2. Example of file write processing SampleDir/SampleFile.txt is created in the SD card and specified data is written to the file. ■ File write processing sequence The file write processing sequence is shown below. ● File open processing (overwrite mode, insert mode) •...
Page 586 14.1 SD Card Access Declaration section (common to ST and LD programming languages) 14-4 WUME-GM1RTXOP-01...
Page 587 14.1 SD Card Access Implementation section (ST programming language) WUME-GM1RTXOP-01 14-5...
Page 588 14.1 SD Card Access Implementation section (LD programming language) 14-6 WUME-GM1RTXOP-01...
Page 589 14.1 SD Card Access 3. Example of file read processing Data in SampleDir/SampleFile.txt in the SD card is read into the buffer. The effective range of data read into the buffer is judged from the data size information that is output after read processing. ■...
Page 590 14.1 SD Card Access Declaration section (common to ST and LD programming languages) Implementation section (ST programming language) 14-8 WUME-GM1RTXOP-01...
Page 591 14.1 SD Card Access Implementation section (LD programming language) WUME-GM1RTXOP-01 14-9...
Page 592: Time Function
The "Device Date and 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.
Page 593: Trace Function
14.3 Trace Function 14.3 Trace Function The trace function allows the variable value histories in the GM1 controller to be checked in GM Programmer. Trace start timing can be specified with options. 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.
Page 594 14.3 Trace Function This completes the procedure for adding a trace object. Next, the procedure for registering a task and variable to be traced is explained. Click the "Configuration" link. The "Trace Configuration" dialog box will appear with the "Record settings" pane displayed. In Record Settings>Task field, select a task to be traced.
Page 595 14.3 Trace Function Click the [OK] button. The selected task will be registered in the trace object. Click the "Add variable" link. The "Trace Configuration" dialog box will appear with the "Variable settings" pane displayed. 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"...
Page 596: Executing Trace
14.3.2 Executing Trace By executing a trace, you can check the variables registered in the trace object. 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...
Page 597 14.3 Trace Function From the menu bar, select Trace>Stop Trace. The trace will be stopped. To start a trace again, from the menu bar, select Trace>Start Trace. ● With respect to the trace display window, you can use "View" and other menus to zoom in or out, expand or shrink the time axis, or adjust variables.
Page 598 (MEMO) 14-16 WUME-GM1RTXOP-01...
Page 599: Overview Of Panaterm Lite For Gm
15.6 Selecting the Device to 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 ..........
Page 600 15 Overview of PANATERM Lite for GM 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 ..............
Page 601: System Requirements
15.1 System Requirements 15.1 System Requirements 15.1.1 Usage Environment of PANATERM Lite for GM Programming software Product name Version Applicable language PANATERM Lite for GM Ver.1.0 Japanese / English / Chinese (Note 1) When the GM Programmer is installed, MINAS setup support software "PANATERM Lite for GM" is installed at the same time.
Page 602: Installation And Uninstallation
15.2 Installation and Uninstallation 15.2 Installation and Uninstallation 15.2.1 Installing PANATERM Lite for GM When 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.
Page 603: Basic Operations
15.3 Basic Operations This section explains how to start and exit PANATERM Lite for GM. 15.3.1 How to Start Click the [Start] button in the Windows task bar and select Panasonic Corporation>PANATERM Lite for GM. The "Connect" dialog box will be displayed.
Page 604 15.3 Basic Operations When the "Selection of Aircraft Types" dialog box is displayed, select a model and click the "OK" button. PANATERM Lite for GM will be started. 15-6 WUME-GM1RTXOP-01...
Page 605: How To Exit
15.3 Basic Operations 15.3.2 How to Exit ● Note that all information will be lost if you close the program without saving settings, collected data, or other information. From the menu bar, select File>Exit. PANATERM Lite for GM will be closed. ●...
Page 606: Component Names
This pane displays the Parameter window, Monitor window, Alarm window, and other windows. Main pane The window can be switched by selecting a desired tab. Status field This field displays the status of connection to the GM1 controller. 15.4.1 Menu Bar The menu bar displays the following menus: 15-8 WUME-GM1RTXOP-01...
Page 607: Toolbar
15.4 Component Names File Item Function Settings Used to set up an amplifier with the amplifier connected or with a model selected. Select Model: Sets up an amplifier with the amplifier unconnected Connect Amplifier: Sets up an amplifier with the amplifier connected Exit Closes PANATERM Lite for GM View...
Page 608: Navigation Pane
Auto Hide Always shows the navigation pane. Minimizes and hides the navigation pane. Close Closes the navigation pane. Axes Displays a list of axes downloaded to the GM1 controller 15.4.4 Main Pane The main pane displays the following components: 15-10 WUME-GM1RTXOP-01...
Page 609: Status Field
The main view displays the Parameter window, 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. WUME-GM1RTXOP-01 15-11...
Page 610: Window Operations
15.5 Window Operations 15.5 Window Operations This section explains common window operations for PANATERM Lite for GM. 15.5.1 Moving the Pane Location You can freely change the layout of each pane of PANATERM Lite for GM. Example: Moving the navigator pane from the left edge to the right edge of the window Click the title bar of the navigator pane and then drag it to the main pane.
Page 611 15.5 Window Operations Release the left mouse button. The navigator pane will be docked into the existing pane and the relocation will be completed. WUME-GM1RTXOP-01 15-13...
Page 612: Switching The Tab Of The Main Pane
15.5 Window Operations 15.5.2 Switching the Tab of the Main Pane You can switch the tab of the main pane. Press the <Ctrl> key + <Tab> key simultaneously. The window for switching the tab of the main pane will be displayed. While holding down the <Ctrl>...
Page 613: Selecting The Device To Connect
When you use the servo amplifier for the first time after it was purchased, you must establish 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".
Page 614 15.6 Selecting the Device to Connect The "Connect" dialog box will be displayed. Select "AMP default setting" and click [OK]. The "Model confirmation" dialog box will be displayed. Check the software version of the servo amplifier for which settings are to be changed and then click [OK].
Page 615: Setting Up The Servo Amplifier Connected To The Gm1 Controller
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.
Page 616 The "Communication timeout settings" dialog box will be displayed Change the timeout time and click the [OK] button. The "Select Device" dialog box will be displayed. Click the [Scan Network] button, select the GM1 Controller, and click the [OK] button. 15-18 WUME-GM1RTXOP-01...
Page 617 15.6 Selecting the Device to Connect The main pane will be displayed. When Connected Using the USB Cable If connected using the USB cable, use the following procedure. Start PANATERM Lite for GM. The "Connect" dialog box will be displayed. Select "Connect to the GM series controller with USB"...
Page 618 15.6 Selecting the Device to Connect Change the timeout time and click the [OK] button. A dialog box to add a USB port and to restart the Gateway will be displayed. Click the [OK] button. The "Select Device" dialog box will be displayed. 15-20 WUME-GM1RTXOP-01...
Page 619: Editing Settings Without Connecting To The Gm1 Controller
The main pane will be displayed. 15.6.3 Editing Settings without Connecting to the GM1 Controller You 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.
Page 620 15.6 Selecting the Device to Connect Select a servo amplifier to 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"...
Page 621: Parameter Window
15.7 Parameter Window 15.7 Parameter Window The Parameter window allows the user to check and rewrite the values of servo amplifier parameters, save them to parameter files, and perform parameter-related operations. 15.7.1 Configuration of Parameters Window No. Name Function The toolbar consists of basic operation commands related to parameters, such as save and read.
Page 622 15.7 Parameter Window No. Name Function Icon Name Function Transmits parameters to the servo Trans amplifier. Copies the parameters of a servo Copy amplifier to servo amplifiers for other axes. Writes parameters to EEPROM of the servo amplifier. Inputs the selected settings in binary or Bin / Hex hexadecimal format.
Page 623: Setting Parameters
15.7 Parameter Window No. Name Function Name Function value, press the <Enter> key. To return a value to its original value, press the <Esc> key. Unit Displays the unit of parameter settings. Text display area Displays a description related to the selected parameter. Parameter attribute Displays a description of parameter attributes.
Page 624: Copying Parameters
15.7 Parameter Window Read-out from the driver Communicates with the connected servo amplifier and reads the parameter settings from the servo amplifier. If this mode is selected, parameter values will be reflected in the servo amplifier as soon as they are changed. Read from file Refer to the parameter file (".prm5") that was edited previously.
Page 625 15.7 Parameter Window Click the "Copy" icon on the toolbar. The Copy Parameter window will be displayed. In the "Copy source" area, select an axis from which parameters are to be copied. In the "Copy destination" area, select an axis to which parameters are to be copied. Click the [OK] button.
Page 626: Switching The Input Format Of Parameter Values
15.7 Parameter Window The parameters will be written to the EEPROM of the servo amplifier. 15.7.4 Switching the Input Format of Parameter Values Selected parameter values can be entered in binary or hexadecimal format. Click the "Bin / Hex" icon on the toolbar. The Binary / Hexadecimal Input window will be displayed.
Page 627 15.7 Parameter Window Click the "Pin assignment " icon on the toolbar. The pin assignment setting input window will be displayed. Double-click the row of the pin number to be set. The function selection window will be displayed. Select a function to be assigned to the pin for each control mode and a contact method (only when an input function is selected).
Page 628 15.7 Parameter Window A confirmation window will be displayed, asking whether to write to the servo amplifier. Click the [OK] button to write 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.
Page 629: Minas Parameters For The Gm1 Controller
15.8 MINAS Parameters for the GM1 Controller 15.8 MINAS Parameters for the GM1 Controller Some parameters for servo amplifiers affect the behaviors of the GM1 controller. Set parameters according to the following descriptions. Set value when GM1 Name Settings controller...
Page 630 We recommend that the set value should not be changed judging from the characteristics of the GM1 and MINAS. (Note 2) Do not change the set value. If the set value is changed, the GM1 Controller will make an error stop. 15-32 WUME-GM1RTXOP-01...
Page 631: Monitor Window
15.9 Monitor Window 15.9 Monitor Window The Monitor window displays the operating states of servo amplifiers and motors, I/O signals, internal statuses, and other information and also allows the user to check them. 15.9.1 Configuration of Monitor Window NO. Name Description The toolbar consists of basic operation commands related to parameters.
Page 632 15.9 Monitor Window NO. Name Description Logical Output – Displays the status of signals within the servo amplifier. Red: Indicates that signal status is active Pink: Indicates that signal status is inactive Displays the status of input signals. The tab can be switched between "Physical Input"...
Page 633: Checking The Monitor Window
15.9 Monitor Window 15.9.2 Checking the Monitor Window From the menu bar on the main pane, select Display>Monitor. Alternatively, on the toolbar, click the"Open the Monitor view" icon. The Monitor window will be displayed. Check each item. Check the input signal state, output signal state, and the internal status of the servo amplifier.
Page 634: Alarm Window
15.10 Alarm Window 15.10 Alarm Window The Alarm window allows the user to check error status when 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) 15-36...
Page 635 15.10 Alarm Window Display of error histories No. Name Description Icon Name Function Allows the user to clear the current alarm history. If you click this button after eliminating the cause of the alarm, the current alarm will be cleared and normal operation will be performed.
Page 636: Checking Alarms
15.10 Alarm Window No. Name Description The alarm displayed on the top of the list is the alarm displayed on the front panel of the servo amplifier. Error cause / treatment Displays the cause and treatment of the selected error. display area Motor internal status Displays the motor internal status in the event of an alarm.
Page 637 15.10 Alarm Window Check for any errors that are currently occurring. Click the current "Now Error / Warning" tab and check for any errors that are currently occurring. Check for any errors that occurred in the past. Click the "Error History" tab and check for any errors that occurred in the past. Click the [×] button on the Alarm window.
Page 638: Other Functions
15.11 Other Functions 15.11 Other Functions 15.11.1 Language Setting Function This function allows the user to set the display language of PANATERM Lite for GM. The default setting is the same language as the one set in GM Programmer. Select a language from the menu bar tool. The language set in PANATERM Lite for GM will be switched.
Page 639 15.11 Other Functions Click a desired button at the bottom of the window. Button Description Displays information about the plug-ins that have been applied and the operating Version Info system of the PC that is used. License Info Displays license information for the software used by PANATERM Lite for GM. WUME-GM1RTXOP-01 15-41...
Page 640: Troubleshooting For Servo Amplifiers And Motors
(Refer to the instruction manual of the PC.) ● Check whether the USB driver is installed correctly. ● 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.
Page 641: I Cannot Set Up Axes
15.12 Troubleshooting for Servo Amplifiers and Motors 15.12.4 I Cannot Set up Axes Symptom Solution ● Check whether the axis name (ID) of the servo amplifier connected to the PC is 0, the respective axis names (IDs) of other The number of servo amplifiers servo amplifiers are 1 to 15, and there are any duplicate axis connected does not match the number names (IDs).
Page 642: The Monitor Window Does Not Behave Normally
15.12 Troubleshooting for Servo Amplifiers and Motors 15.12.7 The Monitor Window Does Not Behave Normally Symptom Solution ● There is a possibility that communication with the servo amplifier Monitor display does not change has been disrupted and the PC is in an offline state. Check the connection status of the servo amplifier.
Page 643: Appendix Warranty / Cautions For Proper Use
Appendix Warranty / Cautions for Proper Use Warranty ....................App-2 Warranty Period ..................App-2 Warranty Scope ..................App-2 Cautions for Proper Use ................App-3 WUME-GM1RTXOP-01 App-1...
Page 644: Warranty
Parts exceeding their standard lifetime specified in this document are excluded. Warranty Scope Panasonic warrants the replacement of the defected parts of the Product or repair of them when the defects of the Product occur during the Warranty Period, and when the defects are under Panasonic responsibility.This Warranty only covers the Product itself and does not cover...
Page 645: Cautions For Proper Use
Cautions for Proper Use Cautions for Proper Use ● Practical considerations for exporting the product or assembly containing the product When the end user of the product or end use of the product is associated with military affair or weapon, its export may be controlled by the Foreign Exchange and Foreign rade Control Law.
Page 646 (MEMO) App-4 WUME-GM1RTXOP-01...
Page 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...
Page 648 (MEMO) WUME-GM1RTXOP-01...
Page 649 (MEMO) WUME-GM1RTXOP-01...
Page 650 Panasonic Corporation 2021 February,2021 WUME-GM1RTXOP-01...

This manual is also suitable for:

Gm1 series

Panasonic GM1 User Manual

1 Before Using this Product

2 Operation Flow

3 Overview of the GM Programmer

4 Project Operations

5 Project Creation

6 Program Creation

7 Entering Programs in each Programming Language

8 Connecting the GM1 Controller and PC

9 Debug

10 Useful Functions of GM Programmer

11 Motion Control

12 Unit Control

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Summary of Contents for Panasonic GM1