Contents
HARDWARE REFERENCE MANUAL IV
Revision 5.0
1 Safety warnings and precautions................................................................................................................................................................ 1
1.1 Intended audience ............................................................................................................................................................................................................................1
1.2 General precautions .........................................................................................................................................................................................................................1
1.3 Safety precautions ............................................................................................................................................................................................................................1
1.4 Operating environment precautions..................................................................................................................................................................................................2
1.5 Application precautions.....................................................................................................................................................................................................................3
1.6 Unit assembly precautions................................................................................................................................................................................................................5
1.7 Conformance to EC Directives Conformance...................................................................................................................................................................................6
2 System philosophy ....................................................................................................................................................................................... 7
2.1 Introduction .......................................................................................................................................................................................................................................7
2.2 Motion control concepts ....................................................................................................................................................................................................................8
2.3 Servo system principles ..................................................................................................................................................................................................................19
2.4 Trajexia system architecture .........................................................................................................................................................................................................22
2.5 Cycle time ......................................................................................................................................................................................................................................23
2.6 Program control and multi-tasking ..................................................................................................................................................................................................29
2.7 Motion sequence and axes.............................................................................................................................................................................................................30
2.8 Motion buffers ...............................................................................................................................................................................................................................40
2.9 Mechanical system .........................................................................................................................................................................................................................42
3 Hardware reference .................................................................................................................................................................................... 43
3.1 Introduction .....................................................................................................................................................................................................................................43
3.2 All units ..........................................................................................................................................................................................................................................46
3.3 Power Supply Unit (PSU) ...............................................................................................................................................................................................................57
3.4 TJ1-MC__ .....................................................................................................................................................................................................................................59
3.5 TJ1-ML__........................................................................................................................................................................................................................................70
3.6 GRT1-ML2 ....................................................................................................................................................................................................................................143
3.7 TJ1-PRT .......................................................................................................................................................................................................................................158
3.8 TJ1-DRT .......................................................................................................................................................................................................................................162
3.9 TJ1-CORT ....................................................................................................................................................................................................................................166
3.10 TJ1-FL02 ......................................................................................................................................................................................................................................170
A Differences between Sigma-II and Junma .............................................................................................................................................. 188
Revision history .............................................................................................................................................................................................. 189
