Omron SMARTSLICE GRT1-ML2 User manual

Contents
GRT1-ML2 MANUAL 1
1 Hardware reference ......................................................................................................................................................................................2
1.1 GRT1-ML2 overview.........................................................................................................................................................................................................................2
1.1.1 Unit dipswitches..................................................................................................................................................................................................................2
1.1.2 LED indicators....................................................................................................................................................................................................................3
1.1.3 Communication dipswitches...............................................................................................................................................................................................4
1.1.4 Rotary switch......................................................................................................................................................................................................................5
1.1.5 Power supply connector.....................................................................................................................................................................................................5
1.2 Specifications....................................................................................................................................................................................................................................6
1.3 Installation.........................................................................................................................................................................................................................................8
1.3.1 Connections........................................................................................................................................................................................................................8
1.3.2 Wiring .................................................................................................................................................................................................................................8
1.3.3 Replace ............................................................................................................................................................................................................................10
2 Setup and usage.........................................................................................................................................................................................11
2.1 MECHATROLINK-II I/O mapping ...................................................................................................................................................................................................11
2.1.1 Unit numbers....................................................................................................................................................................................................................11
2.1.2 SmartSlice I/O mapping....................................................................................................................................................................................................11
2.1.3 GRT1-ML2 status word ....................................................................................................................................................................................................13
2.2 GRT1-ML2 functions.......................................................................................................................................................................................................................14
2.2.1 Table registration..............................................................................................................................................................................................................14
2.2.2 Online replacement ..........................................................................................................................................................................................................14
3 Troubleshooting..........................................................................................................................................................................................16
3.1 Unit power supply errors.................................................................................................................................................................................................................16
3.2 I/O power supply errors ..................................................................................................................................................................................................................16
3.3 Unit errors.......................................................................................................................................................................................................................................16
3.4 SmartSlice I/O errors ......................................................................................................................................................................................................................17
A Timing..........................................................................................................................................................................................................19
A.1 Timing concepts..............................................................................................................................................................................................................................19
A.1.1 Refresh cycles..................................................................................................................................................................................................................19
A.1.2 Paging ..............................................................................................................................................................................................................................19
A.2 Examples........................................................................................................................................................................................................................................20
A.2.1 Example 1.........................................................................................................................................................................................................................21
A.2.2 Example 2.........................................................................................................................................................................................................................21

Hardware reference
GRT1-ML2 MANUAL 2
Revision 1.0
1 Hardware reference
1.1 GRT1-ML2 overview
The GRT1-ML2 SmartSlice Communication Unit controls data exchange
between a TJ1-MC__ Motion Controller Unit (via a connected TJ1-ML__
MECHATROLINK-II Master Unit) and SmartSlice I/O Units over a
MECHATROLINK-II network. For more information on SmartSlice I/O Units,
refer to the GRT1 Series SmartSlice I/O Units Operation Manual (W455).
/i
1.1.1 Unit dipswitches
/i
Label Description
ALEDindicators
B Unit dipswitches
C Unit power supply terminals
D I/O power supply terminals
E MECHATROLINK-II connectors
F Shielding terminal
1
2
3
4
SW1
SW1
SW2
SW2
CN2
CN2
CN1
CN1
A/B
A/B
ON
ON
+V
+V
-V
-V
+V
+V
-V
-V
UNIT
UNIT
I/O
I/O
DC24V
DC24V
INPUT
INPUT
REGS
NC
ADR
BACK
1
2
3
4
RUN
ALARM
ML COM
TS
UNIT PWR
I/O PWR
OMRON GRT1-ML2
8
7
6
5
4
3
2
1
0
F
E
D
C
B
A
9
A
G
H
F
EB
C
D
G Rotary switch
H Communication dipswitches
Dipswitch Function Setting Description
REGS Create/enable
registration
table
ON Registered table is enabled
OFF Registered table is disabled
OFF to ON1
1. When the unit power is on.
Register I/O unit table
ON to OFF1Clear registered I/O unit table
NC N/A OFF Not used, always set to OFF
ADR Automatic
restore OFF to ON When the SmartSlice I/O Units are replaced, the parameter data that was backed up with the
BACK dipswitch is automatically restored2
2. When dipswitch 1 is set to ON.
OFF Automatic restore disabled
BACK Backup trigger ON to OFF
to ON in 3
s3
Parameter data of all connected SmartSlice I/O
Units is backed up2
Label Description
ON
1
2
3
4
REGS
NC
ADR
BACK

Hardware reference
GRT1-ML2 MANUAL 3
Revision 1.0
The factory setting of all dipswitches is OFF.
1.1.2 LED indicators
/i
3. The setting of dipswitch 4 (BACK) is given in the figure below.
The Backup and Restore functionality is available in the GRT1-
ML2. However, the backed up and restored parameters cannot be
accessed via MECHATROLINK-II communication.
• It is recommended to do a registration of the SmartSlice I/O
Units (see section 2.2.1).
• It is recommended to set dipswitches 1, 3 and 4 on after this
registration.
ON OFF ON
1 s 1 s 1 s
The backup operation starts after DIP switch 4 is
turned from ON to OFF to ON within 3 seconds.
RUN
ALARM
ML COM
TS
UNIT PWR
I/O PWR
LED Description Color Status Meaning
RUN Unit status Green Not lit • Startup test failed, unit not operational
• Operation stopped due to a fatal error
Lit Initialization successful, unit is in normal
operation
ALARM Unit error Red Not lit Unit is in normal operation
Flashing A startup error has occurred
Lit Unit is in alarm state, or a fatal error has
occurred
ML
COM MECHATRO- LINK-II com-
munication
Green Not lit No MECHATROLINK-II communication
Lit MECHATROLINK-II communication active

Hardware reference
GRT1-ML2 MANUAL 4
Revision 1.0
1.1.3 Communication dipswitches
/i
TS SmartSliceI/O
system com-
munication
status
N/A Not Lit • No power supply
• Communication with SmartSlice I/O
Unit has not started
• Overcurrent detected
Green Flashing
(every
second)
SmartSlice I/O Unit added to the system
Flashing
(every
0.5 sec-
ond)
Backup/Restore function operating:
• Restoring settings to SmartSlice I/O
Unit, backup function operating
• Downloading SmartSlice I/O Unit set-
tings
Lit Communication with SmartSlice I/O Unit
established
Red Flashing Non-fatal communication error occurred.
• Communication timeout
• Verification error occurred with regis-
tered table
• Different model unit detected after
SmartSlice I/O Unit replacement
Lit Fatal communication error occurred.
Lit for 2 s Failure occurred while restoring settings to
I/O unit or downloading I/O unit settings
UNIT
PWR Green Not Lit No power supply to the unit (All LEDs are off)
Lit Power supply to the unit
I/O
PWR Green Not Lit No power supply to the SmartSlice I/O (No output from the SmartSlice I/O Units, even
when they are in operation)
Lit Power supply to the SmartSlice I/O
LED Description Color Status Meaning • When the power of the Trajexia system is turned on, the TJ1-
MC__ executes its startup sequence before it initializes the
MECHATROLINK-II bus. During this startup sequence, the ML
COM LED is off.
• When the TJ1-MC__ initalizes the MECHATROLINK-II bus
with the command MECHATROLINK(unit,0), the ML COM
LED goes on.
• When the GRT1-ML2 loses the MECHATROLINK-II communi-
cation with the master, or when the command
MECHATROLINK(unit,1) is executed, the ML COM LED goes
off.
Dipswitch Function Setting Description
1 MECHATROLINK-II
address range ON 70 hex −7F hex
OFF 60 hex −6F hex
2 MECHATROLINK-II
bus speed OFF 10 Mbps1
1. Trajexia only supports 10 Mbps bus speed. Therefore always set
dipswitch 2 to OFF.
3 Frame size OFF 32 bytes2
2. Trajexia only supports 32-byte communication. Therefore always set
dipswitch 3 to OFF.
4 HOLD/CLEAR ON HOLD: All outputs hold their values when com-
mication is lost
OFF CLEAR: All outputs become 0 when communi-
cation is lost

Hardware reference
GRT1-ML2 MANUAL 5
Revision 1.0
1.1.4 Rotary switch
The rotary switch (SW1) sets the MECHATROLINK-II address that identifies
the GRT1-ML2 in the MECHATROLINK-II network. The settings range is
from 0 hex to F hex.
To set the MECHATROLINK-II address of the GRT1-ML2, do these steps:
1. Turn off the Unit power supply of the GRT1-ML2.
2. To set the address of the unit, set communication dipswitch 1 and the
rotary switch as given in the table below.
/i
3. Turn the power on.
1.1.5 Power supply connector
The GRT1-ML2 has 2 24 VDC power supply terminals:
/i
The address of the GRT1-ML2 is read only at power on. Setting
the new address when the power is on has no effect.
Dipswitch 1 Rotary switch Address Dipswitch 1 Rotary switch Address
OFF 0 60 hex ON 0 70
OFF 1 61 hex ON 1 71
OFF 2 62 hex ON 2 72
OFF 3 63 hex ON 3 73
OFF 4 64 hex ON 4 74
OFF 5 65 hex ON 5 75
OFF 6 66 hex ON 6 76
OFF 7 67 hex ON 7 77
OFF 8 68 hex ON 8 78
OFF 9 69 hex ON 9 79
OFF A 6A hex ON A 7A
OFF B 6B hex ON B 7B
OFF C 6C hex ON C 7C
OFF D 6D hex ON D 7D
OFF E 6E hex ON E 7E
OFF F 6F hex ON F 7F
Make sure that the address is unique in the MECHATROLINK-II
network. If two or more units have the same MECHATROLINK-II
address, they cannot be initialized properly.
To make the MECHATROLINK-II address of the unit valid, do one
of these steps:
• Restart the TJ1-MC__.
• Execute the command MECHATROLINK(unit,0).
Label Power supply terminal Description
A Unit power supply
terminal Power supply to the internal circuits of the GRT1-ML2 and to the internal circuits of the connected SmartSlice I/
O Units (through the SmartSlice bus)
B External I/O power
supply terminal Power supply to the external I/Os connected to the SmartSlice I/O Units
UNIT
+V
-V
+V
-V
DC24V
INPUT
I/O
A24 VDC
24 VDC
B

Hardware reference
GRT1-ML2 MANUAL 6
Revision 1.0
1.2 Specifications
/i
1.2.1 Supported SmartSlice I/O Units
The GRT1-ML2, in combination with the Trajexia system, supports these
SmartSlice I/O Units.
/i
The unit power supply and the external I/O power supply
are not transferred through the GCN2-100 Turnback
cable. The GRT1-TBR units have the same power supply
terminals as the GRT1-ML2.
Item Specification
Installation
Unit type SmartSlice GRT1 series
Model GRT1-ML2
Installation position On a DIN rail
Power supply 24 VDC +10% −15% (20.4 to 26.4 VDC)
Current consumption 110 mA typical at 24 VDC
Dimensions (W ×H ×D) 58 ×80 ×70 mm
Weight 130 g
Environment
Ambient operating tem-
perature
−10 to 55°C (no icing or condensation)
Ambient operating
humidity 25% to 85% Relative humidity
Storage temperature −20 to 65°C (no icing or condensation)
Vibration resistance 10 to 57 Hz, 0.7 mm amplitude
57 to 150 Hz, acceleration: 49 m/s2
Shock resistance 150 m/s2
Dielectric strength 500 VAC (between isolated circuits)
Conformance to EMC
and electrical safety
standards
EN61131-2:2003
Enclosure rating IP20
SmartSlice I/O
Number of connectable
SmartSlice I/O Units 64 Units max. Connected directly to the GRT1-ML2 or via Turnback exten-
sion units
Baud rate 3 Mbps
Communication signal
level RS485
Communication dis-
tance SmartSlice I/O Units: 64 Units coupled (about 2 m max.) Turnback cable: 2 m max. (2 cables, 1 m each)
Turnback cable Length 1 m max., up to 2 cables can be connected
SmartSlice I/O Unit con-
nections Building-block style configuration with slide connectors (Units connect with Turnback cables).
Baseblock power supply Voltage: 24 VDC
Current: 4 A max.
Event messaging Supported
MECHATROLINK-II
Baud rate 10 Mbps (MECHATROLINK-II)
Data length 17-byte and 32-byte data transmission
Function Specification Model
4 NPN inputs 24 VDC, 6 mA, 3-wire connection GRT1-ID4
4 PNP inputs 24 VDC, 6 mA, 3-wire connection GRT1-ID4-1
8 NPN inputs 24 VDC, 4 mA, 1-wire connection + 4xG GRT1-ID8
8 PNP inputs 24 VDC, 4 mA, 1-wire connection + 4xV GRT1-ID8-1
Item Specification

Hardware reference
GRT1-ML2 MANUAL 7
Revision 1.0
1.2.2 Dimensions
The external dimensions are in mm.
4 NPN outputs 24 VDC, 500 mA, 2-wire connection GRT1-OD4
4 PNP outputs 24 VDC, 500 mA, 2-wire connection GRT1-OD4-1
4 PNP outputs with short-
circuit protection 24 VDC, 500 mA, 3-wire connection GRT1-OD4G-1
8 NPN outputs 24 VDC, 500 mA, 1-wire connection + 4xV GRT1-OD8
8 PNP outputs 24 VDC, 500 mA, 1-wire connection + 4xG GRT1-OD8-1
8 PNP outputs with short-
circuit protection 24 VDC, 500 mA, 1-wire connection + 4xG GRT1-OD8G-1
2 relay outputs 240 VAC, 2A, normally-open contacts GRT1-ROS2
2 analog inputs, current/
voltage 10 V, 0-10 V, 0-5 V, 1-5 V, 0-20 mA, 4-20 mA GRT1-AD2
2 analog outputs, voltage 10 V, 0-10 V, 0-5 V, 1-5 V GRT1-DA2V
2 analog outputs, current 0-20 mA, 4-20 mA GRT1-DA2C
Function Specification Model
0
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
1
2
3
4
SW1
SW1
SW2
SW2
CN2
CN2
CN1
CN1
A/B
A/B
ON
ON
+V
+V
-V
-V
+V
+V
-V
-V
UNIT
UNIT
I/O
I/O
DC24V
DC24V
INPUT
INPUT
REGS
NC
ADR
BACK
1
2
3
4
RUN
ALARM
ML COM
TS
UNIT PWR
I/O PWR
OMRON GRT1-ML2
17.1
36.8
58 2.4
16.2
35.5
83.5 2.9
2.9
54
28.8
26.3
61.2
69.7
1.5
11.9

Hardware reference
GRT1-ML2 MANUAL 8
Revision 1.0
1.3 Installation
Follow these rules when installing the GRT1-ML2:
• Before installing the GRT1-ML2 or connect or disconnect cables, switch
off the power of the Trajexia system, the SmartSlice I/O Units and the
external I/Os.
• Make sure that the power supplies of the GRT1-ML2, the SmartSlice I/O
Units and the external I/Os are correctly connected.
• Provide separate conduits or ducts for the I/O lines to prevent noise from
high-tension lines or power lines.
• It is possible to connect up to 64 SmartSlice I/O Units to 1 GRT1-ML2.
• Install the GRT1-ML2 and the SmartSlice I/O Units on a DIN rail. To
install a GRT1-ML2 on the DIN rail, press it onto the DIN track from the
front, and press the unit firmlyuntil it clicks. Check that all DIN rail sliders
of the unit are locked onto the DIN rail.
• To remove the GRT1-ML2 from the DIN rail, release the sliders from the
DIN rail with a screwdriver, and pull the unit straight from the DIN rail.
1.3.1 Connections
Connect the first SmartSlice I/O Unit to the GRT1-ML2:
• Align the sides of the GRT1-ML2 and the SmartSlice I/O Unit.
• Slide the SmartSlice I/O Unit to the rear until it clicks onto the DIN rail.
See the GRT1 Series SmartSlice I/O Units Operation Manual for more
information on connecting additional SmartSlice I/O Units, Turnback Units,
End Units and end plates.
1.3.2 Wiring
The GRT1-ML2 has 2 power supply terminals. Both power supply terminals
have screwless clamping-type connections.
To determine the power supply requirements, do the steps below.
Unit power supply requirements
The maximum power consumption for SmartSlice I/O Units is 80 W per
block.
1. Calculate the power consumption of all SmartSlice I/O Units connected
to the GRT1-ML2. Refer to the GRT1 Series SmartSlice I/O Units
Operation Manual (W455) for the power value for each SmartSlice I/O
Unit.
2. If the power consumption exceeds 80 W, mount a Right Turnback Unit
(GRT1-TBR) on the SmartSlice I/O Unit at the point where the power
consumption is less than 80 W.
3. Connect the 24 VDC unit power supply to the Left Turnback Unit (GRT1-
TBL).
I/O power supply
The maximum I/O current consumption is 4 A.
RUN
ALARM
ML COM
TS
UNIT PWR
I/O PWR
ON
+V
-V
+V
-V
UNIT
I/O
DC24V
INPUT
REGS
NC
ADR
BACK
1
2
3
4
CN2
SW1SW2
CN1
A/B
GRT1-ML2
Do not touch the connectors on the side of GRT1-ML2
and the SmartSlice I/O Units.

Hardware reference
GRT1-ML2 MANUAL 9
Revision 1.0
1. Calculate the total current consumption used by all external I/Os of the
connected SmartSlice I/O Units (including other units like Turnback
Units). Refer to the GRT1 Series SmartSlice I/O Units Operation Manual
(W455) for the current value for each SmartSlice I/O Unit.
2. If the current consumption exceeds 4 A or if you want to provide
separate systems for inputs and outputs, divide the SmartSlice I/O Units
at the desired point with a GRT1-PD_(-1) I/O Power Supply Unit and
provide a separate external I/O power supply.
The figure gives a wiring example. Connect and remove wires
To supply power to the units and the I/O devices, connect the power supply
wires to the power supply terminals of the GRT1-ML2. If the wire ends have
pin terminals, just insert the pin terminals in the power supply terminals.
To remove the wires, press the release button above the terminal hole with a
precision screwdriver, and pull out the wire.
It is also possible to provide a separate external I/O power
supply at a Left Turnback Unit (GRT1-TBL).
Make sure the power supply is isolated.
The GCN2-100 Turnback cable does not supply power.
I/O
(AD)
I/O
(AD)
I/O
(AD)
I/O
(IN)
I/O
(IN)
I/O
(OUT)
I/O
(OUT)
I/O
(OUT)
I/O
(OUT)
I/O
(OUT)
I/O
(AD)
I/O
(AD)
I/O
power
supply
GRT1-PD_(-1) I/O Power Supply Unit
End Unit
Turnback cable
GRT1 - ML2
Power supply
(24 VDC)
GRT1-TBR Right Turnback Unit
max. 80 W
I/O
power
supply
I/O
power
supply
GRT1-TBL Left Turnback Unit
max. 80 W
Precision screwdriver
Release button

Hardware reference
GRT1-ML2 MANUAL 10
Revision 1.0
Recommended power supplies
It is recommended to use a SELV (Safety Extra Low Voltage) power supply
with over-current protection. A SELV power supply has redundant or
increased insulation between the I/O, an output voltage of 30 V rms and a
42.4 V peak or maximum of 60 VDC.
Recommended power supplies are:
• S82K-01524 (OMRON)
• S8TS-06024 (OMRON).
Recommended wires
It is recommended to use wires with a gauge of 20 AWG to 16 AWG (0.5 to
1.25 mm2).
Strip the wire between 7 and 10 mm of insulation at the ends of the wires
(stranded or solid wire), or use pin terminals with a pin (conductor) length of
8 to 10 mm.
1.3.3 Replace
To replace the unit, follow these rules:
• Turn off the power before replacing the unit. This includes the power to
all master and slave units in the network.
• Make sure that the new unit is not damaged.
• If a poor connection is the probable cause of any malfunctioning, do
these steps:
- Clean the connectors with a clean, soft cloth and industrial-grade
alcohol.
- Remove any lint or threads left from the cloth.
- Install the unit again.
• When returning a damaged unit to the OMRON dealer, include a detailed
damage report with the unit.
• Before reconnecting the new unit, do these steps:
- Set the MECHATROLINK-II station address to the same address as
the old unit.
- If the table registration function was used for the old unit, create a
new registration table for the new unit. See section 2.2.1.
The GRT1-ML2 is a unit that is part of a network. If the GRT1-ML2
is damaged, it effects the whole network. Make sure that a dam-
aged GRT1-ML2 is repaired immediately.