Omron TJ1-MC04 User manual


TJ1-MC04
TJ1-MC16

Cat. No.
I50E-EN-03
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Cat. No. I50E-EN-03
 
Cat. No.
I50E-EN-03

Contents
QUICK START GUIDE 2
Revision 3.0
1 Introduction ................................................................................................................................................................................................... 4
1.1 About this guide ................................................................................................................................................................................................................................4
1.2 Overview of this guide ......................................................................................................................................................................................................................5
1.3 What you need..................................................................................................................................................................................................................................6
2 From box to rail............................................................................................................................................................................................. 7
2.1 Rules of a Trajexia system ...............................................................................................................................................................................................................7
2.2 Contents of the boxes.......................................................................................................................................................................................................................8
2.3 Install the Trajexia system ..............................................................................................................................................................................................................10
3 Connections ................................................................................................................................................................................................ 13
3.1 Before work.....................................................................................................................................................................................................................................13
3.2 Power Supply Units ........................................................................................................................................................................................................................13
3.2.1 Recommended Power Supply Unit...................................................................................................................................................................................14
3.2.2 Optional Power Supply Units............................................................................................................................................................................................15
3.3 TJ1-MC__ .......................................................................................................................................................................................................................................16
3.4 TJ1-ML__........................................................................................................................................................................................................................................17
3.4.1 Attach the MECHATROLINK-II Interface Unit to the Servo Driver ...................................................................................................................................18
3.4.2 Connect the 200 V single-phase Servo Driver .................................................................................................................................................................19
3.4.3 Connect the 400 V three-phase Servo Driver...................................................................................................................................................................20
3.4.4 Connect the NS115 ..........................................................................................................................................................................................................21
3.4.5 Set the dipswitches and address of the NS115................................................................................................................................................................22
3.5 Complete installation ......................................................................................................................................................................................................................23
4 Trajexia Tools.............................................................................................................................................................................................. 24
4.1 Minimum PC configuration..............................................................................................................................................................................................................24
4.2 Install the Trajexia Tools software ..................................................................................................................................................................................................24
4.3 Connection to the TJ1-MC__..........................................................................................................................................................................................................29
4.4 Create a project for the first time ....................................................................................................................................................................................................34
4.5 Complete installation ......................................................................................................................................................................................................................42
5 More information......................................................................................................................................................................................... 43
5.1 The Trajexia system .......................................................................................................................................................................................................................43
5.2 Trajexia highlights...........................................................................................................................................................................................................................44
5.2.1 Direct connectivity via Ethernet ........................................................................................................................................................................................44
5.2.2 Keep your know-how safe ................................................................................................................................................................................................44
5.2.3 Serial port and local I/Os ..................................................................................................................................................................................................44
5.2.4 MECHATROLINK-II..........................................................................................................................................................................................................44
5.2.5 TJ1-FL02 ..........................................................................................................................................................................................................................44
5.2.6 Drivers and inverters ........................................................................................................................................................................................................45
5.2.7 Remote I/Os .....................................................................................................................................................................................................................45
I50E-EN-03+Trajexia+Quick_Start_Guide.book Seite 2 Montag, 25. Juni 2007 4:28 16

Contents
QUICK START GUIDE 3
Revision 3.0
5.2.8 PROFIBUS .......................................................................................................................................................................................................................45
5.2.9 DeviceNet .........................................................................................................................................................................................................................45
5.3 Trajexia manuals ............................................................................................................................................................................................................................45
I50E-EN-03+Trajexia+Quick_Start_Guide.book Seite 3 Montag, 25. Juni 2007 4:28 16

Introduction
QUICK START GUIDE 4
Revision 3.0
1 Introduction
This Quick Start Guide intends the user to get familiar quickly with
the Trajexia system. This Quick Start Guide explains how to get a
single axis moving in a simple desktop set-up by the Trajexia
system and a Sigma-II Servo Driver by MECHATROLINK-II.
This Quick Start Guide is intended for personnel with knowledge of
electrical systems (electrical engineers or equivalent).
The engineer has to make sure to operate safely with respect to the
power (power supply for Trajexia and power for the Servo Driver,
which may be 380 VAC) and moving parts of the motor.
When the Trajexia system is used in a real application, the safety
warnings and cautions listed in the Hardware Reference Manual
must be followed.
For detailed information of the Trajexia system, please refer to the
manuals listed in section 5.3.
1.1 About this guide
This Quick Start Guide describes how to connect a Trajexia system
to a Sigma-II Servo Driver by MECHATROLINK-II communication.
Also the installation of the Trajexia Tools operating software is
described, and an example program that controls one servo motor
is given.
This Quick Start Guide contains both procedures and descriptive
information. Procedure steps that the reader must execute are
numbered. All other information is plain text or bulleted text.
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Introduction
QUICK START GUIDE 5
Revision 3.0
1.2 Overview of this guide
fig. 1
Chapter 2 describes how to unpack the boxes and install the
Trajexia units on a rail.
fig. 2
Chapter 3 describes how to connect a servo motor to the Trajexia
system.
fig. 3
Chapter 4 describes how to connect the Trajexia system to a PC
and write an example program to operate the servo motor.
0
1
2
3
4
5
6
7
CN3
CN1
TERM
ON/OFF
WIRE
2/4
CN2
MC16
OMRON
MOTIONCONTROLLER
RUN
8F
CN1
ML16
0
1
2
3
4
5
6
7
CN3
CN1
TERM
ON/OFF
WIRE
2/4
CN2
MC16
OMRON
MOTIONCONTROLLER
RUN
8F
CN1
ML16
0
1
2
3
4
5
6
7
CN3
CN1
TERM
ON/OFF
WIRE
2/4
CN2
MC16
OMRON
MOTIONCONTROLLER
RUN
8F
CN1
ML16
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Introduction
QUICK START GUIDE 6
Revision 3.0
1.3 What you need
You need these items for the installation described in this Quick
Start Guide.
1.3.1 Trajexia units
• A Power Supply Unit. This can be one of these:
- CJ1W-PA202.
- CJ1W-PA205R.
- CJ1W-PD025.
• A TJ1-MC__ (Motion Controller Unit). This can be one of these:
-TJ1-MC04.
-TJ1-MC16.
• A TJ1-ML__ (MECHATROLINK-II Master Unit). This can be
one of these:
- TJ1-ML04.
- TJ1-ML16.
• A TJ1-TER (Terminator Unit). Supplied together with the TJ1-
MC__ unit.
1.3.2 Other units
• A MECHATROLINK-II Interface Unit (NS115).
• A MECHATROLINK-II cable.
• A MECHATROLINK-II terminator.
• A 200 V single-phase Servo Driver or a 400 V three-phase
Servo Driver.
•Aservomotor.
•APC.
• The Trajexia Tools software CD-ROM.
• Power and encoder cables from Servo Driver to motor.
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From box to rail
QUICK START GUIDE 7
Revision 3.0
2 From box to rail
This chapter describes the actions needed to attach the units to a
DIN rail.
2.1 Rules of a Trajexia system
Before you attach the units together, make sure these rules of
attachment are followed:
• The first unit on the left is a Power Supply Unit.
• You must attach one TJ1-MC__ to the Power Supply Unit.
• You can attach no more than seven units plus a TJ1-TER to the
TJ1-MC__.
• The last unit must be a TJ1-TER.
• You can install up to four TJ1-ML__ units in the system.
• You can install up to seven TJ1-FL02 units (Flexible Axis Unit)
in the system with the TJ1-MC16. You can install up to three
TJ1-FL02 units in the system with the TJ1-MC04.
• You can install either one TJ1-PRT (PROFIBUS-DP Slave Unit)
or one TJ1-DRT (DeviceNet Slave Unit) in the system.
• You can fit the units between the TJ1-MC__ and the TJ1-TER
in any order.
Do not change the positions of the units after programs have
been written. Programs can become invalid.
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From box to rail
QUICK START GUIDE 8
Revision 3.0
2.2 Contents of the boxes
This section lists the Trajexia units you need for the installation.
2.2.1 Power Supply Unit
The box of the Power Supply Unit contains:
• Safety sheet.
• Power Supply Unit.
• Protection label attached to the top surface of the unit.
2.2.2 TJ1-MC__
The box of the TJ1-MC__ contains:
• Safety sheet.
•TJ1-MC__.
• Protection label attached to the top surface of the TJ1-MC__.
• TJ1-TER, attached to the TJ1-MC__.
• Parts for a serial connector.
• Parts for an I/O connector.
• Two metal DIN-rail clips, to prevent the Trajexia system from
sliding off the rail.
• White clip, to replace the yellow clip of the Power Supply Unit.
2.2.3 TJ1-ML__
The box of the TJ1-ML__ contains:
• Safety sheet.
• TJ1-ML__.
• Protection label attached to the top surface of the unit.
2.2.4 Software
The software box contains:
• Trajexia Tools CD-ROM.
• Label with the software licence number, attached to the CD
jewel case.
• Warranty Registration Form card.
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From box to rail
QUICK START GUIDE 9
Revision 3.0
• Address labels.
• Licence envelope.
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From box to rail
QUICK START GUIDE 10
Revision 3.0
2.3 Install the Trajexia system
fig. 1
1. Remove all the units from the packaging. Make sure all units
are complete.
2. Do not remove the protection labels from the units.
3. To disconnect the TJ1-MC__ and the TJ1-TER, push the clips
(A) on top and bottom of the TJ1-TER to the front.
4. Disconnect the TJ1-TER from the TJ1-MC__.
fig. 2
5. Push the clips (A) on top and bottom of all the units to the front.
0
1
2
3
4
5
6
7
CN3
CN1
TERM
ON/OFF
WIRE
2/4
CN2
MC16
OMRON
MOTIONCONTROLLER
A
0
1
2
3
4
5
6
7
CN3
CN1
TERM
ON/OFF
WIRE
2/4
CN2
MC16
OMRON
MOTION CONTROLLER
A
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From box to rail
QUICK START GUIDE 11
Revision 3.0
fig. 3
6. Attach the TJ1-MC__ (C) to the Power Supply Unit (B).
fig. 4
7. Push the clips (A) on top and bottom to the rear.
0
1
2
3
4
5
6
7
CN3
CN1
TERM
ON/OFF
WIRE
2/4
CN2
MC16
OMRON
MOTION CONTROLLER
CB
0
1
2
3
4
5
6
7
CN3
CN1
TERM
ON/OFF
WIRE
2/4
CN2
MC16
OMRON
MOTIONCONTROLLER
A
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From box to rail
QUICK START GUIDE 12
Revision 3.0
fig. 5
8. Repeat the previous two steps for all other units.
9. Make sure the last unit is the TJ1-TER.
fig. 6
10. Pull down all the clips (D) on all units.
11. Attach the Trajexia system to the DIN rail.
12. Push all the clips (D) up on all units.
0
1
2
3
4
5
6
7
CN3
CN1
TERM
ON/OFF
WIRE
2/4
CN2
MC16
OMRON
MOTIONCONTROLLER
RUN
8F
CN1
ML16
A
0
1
2
3
4
5
6
7
CN3
CN1
TERM
ON/OFF
WIRE
2/4
CN2
MC16
OMRON
MOTIONCONTROLLER
RUN
8F
CN1
ML16
D
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Connections
QUICK START GUIDE 13
Revision 3.0
3 Connections
This chapter describes the connections of the Trajexia units.
3.1 Before work
In this desktop environment the emergency stops, interlock circuits
and limit switches are not installed.
3.2 Power Supply Units
You can use three different types of Power Supply Unit:
/i
Caution
The electrical engineer has to make sure to operate
safely with respect to the power (power supply for Tra-
jexia and power for the Servo Driver, which may be 380
VAC) and moving parts of the motor.
Power
Supply
Unit
Current Input
voltage
Operating
voltage
limits
Operating
frequency
limits
Output
power
CJ1W-PA202 AC 110 - 240 V 85 - 264 V 47 - 63 Hz 14 W
CJ1W-PA205R AC 110 - 240 V 85 - 264 V 47 - 63 Hz 25 W
CJ1W-PD025 DC 24 V 21.6 - 26.4 V N/A 25 W
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Connections
QUICK START GUIDE 14
Revision 3.0
3.2.1 Recommended Power Supply Unit
The recommended Power Supply Unit is the CJ1W-PA202.
fig. 1
1. Connect the CJ1W-PA202 Power Supply Unit as follows:
/i
PA202
POWER
L1
AC100
-240V
INPUT
L2/N
NC
NC
A
B
D
C
Terminal Description Connection
A 110 - 240 V power supply Live VAC
B 110 - 240 V power supply Live VAC
C Line earth Short-circuit to terminal D
D Earth • Short-circuit to terminal C
•Earth
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Connections
QUICK START GUIDE 15
Revision 3.0
3.2.2 Optional Power Supply Units
fig. 2
1. Connect the CJ1W-PA205R Power Supply Unit as follows:
/i
fig. 3
1. Connect the CJ1W-PD025 Power Supply Unit as follows:
/i
POWER
PA205R
D
C
24V
A
C
24
0
V
OU
TP
U
T
RU
N
I
NP
U
T
A
C
1
00
-24
0
V
L
2
/N
L1
A
B
D
C
Terminal Description Connection
A 110 - 240 V power supply Live VAC
B 110 - 240 V power supply Live VAC
C Line earth Short-circuit to terminal D
D Earth • Short-circuit to terminal C
•Earth
POWER
PD025
POWER
PD025
INPUT
NC
NC
A
B
D
C
Terminal Description Connection
A 24 V power supply 24 VDC
B 0 V power supply 0 V
C Line earth Short-circuit to terminal D
D Earth • Short-circuit to terminal C
•Earth
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Connections
QUICK START GUIDE 16
Revision 3.0
3.3 TJ1-MC__
fig. 4
3.3.1 Ethernet port
If you set the power of the Trajexia system on, the three-digit LED
display (A) shows the IP address and the subnet mask of the TJ1-
MC__.
Use the Ethernet port (B) to connect the TJ1-MC__ to a PC. You
can use both a crossover and a patch Ethernet cable. If you
connect the PC directly to the TJ1-MC__, and not via a hub or any
other network device, the PC must have a fixed IP address.
The TJ1-MC__ automatically detects when you insert an Ethernet
cable into the Ethernet port. When you insert an Ethernet cable into
the Ethernet port, the LED display (A) shows the IP address of the
TJ1-MC__.
3.3.2 Serial port
The serial port (D) is used to connect the TJ1-MC__ to a device
that needs serial connection. It is described in the Hardware
Reference Manual. You do not need this port in the example
installation.
3.3.3 28-Pin I/O port
The 28-pin I/O port (C) contains 16 digital inputs and 8 digital
outputs. It is described in the Hardware Reference Manual. You do
not need this port in the example installation.
A
B
C
D
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Connections
QUICK START GUIDE 17
Revision 3.0
3.4 TJ1-ML__
fig. 5
The TJ1-ML__ is the master of a number of MECHATROLINK-II
devices. MECHATROLINK-II devices are Servo Drivers, I/Os or
inverters. I/Os and inverters are described in the Hardware
Reference Manual.
The TJ1-ML__ has one port (A) to connect it to the first
MECHATROLINK-II device.
RUN
8F
ML16
CN1
A
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Connections
QUICK START GUIDE 18
Revision 3.0
3.4.1 Attach the MECHATROLINK-II Interface Unit to the
Servo Driver
fig. 6
You can use a 200 V single-phase Servo Driver (see page 19) or a
400 V three-phase Servo Driver (see page 20).
1. Insert the clips (A) of the MECHATROLINK-II Interface Unit
(NS115) into the openings (B) of the Servo Driver.
2. Make sure the port (C) of the Servo Driver is located opposite to
the slot of the NS115.
3. Insert the clip (D) of the NS115 into the opening (E) of the Servo
Driver.
fig. 7
4. Connect the earth wire (F) of the NS115 to the point marked G
(G) on the Servo Driver.
D
A B
E
C
F
G
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Connections
QUICK START GUIDE 19
Revision 3.0
3.4.2 Connect the 200 V single-phase Servo Driver
fig. 8
1. The terminals in group A are for the mains supply input that is
used to generate power output to the motor (group C). Connect
the terminals as follows:
/i
2. The terminals in group B are for the mains supply input for the
internal power needs of the Servo Driver (display, LEDs).
Connect the terminals as follows:
/i
3. The terminals in group C are terminals for the power output to
the motor. Connect the terminals as follows:
/i
4. Connect the encoder input port (J) to the servo motor encoder
cable.
w
v
U
B2
B1
L2C
L1C
L2
L1
CHARGE
MODE/SET
200V
DATA/
POWER
C
N
3
2
1
C
N
1
C
N
2
L2
L1
2
1
B2
B1
L2C
L1C
W
V
U
D
A
B
C
E
F
G
J
U
V
W
H
I
Terminal Description Connection
D, E 200 - 230 V power supply Live VAC
F +DC bus 1 Short-circuit to terminal G
G +DC bus 2 Short-circuit to terminal F
Terminal Description Connection
H 200 - 230 V control supply Live VAC
I 200 - 230 V control supply Live VAC
Terminal Description Connection
U Motor phase U The U terminal on the motor
V Motor phase V The V terminal on the motor
W Motor phase W The W terminal on the motor
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Connections
QUICK START GUIDE 20
Revision 3.0
3.4.3 Connect the 400 V three-phase Servo Driver
fig. 9
1. The terminals in group A are for the mains supply input that is
used to generate power output to the motor (group C). Connect
the terminals as follows:
/i
2. The terminals in group B are for the mains supply input for the
internal power needs of the Servo Driver (display, LEDs).
Connect the terminals as follows:
/i
3. The terminals in group C are terminals for the power output to
the motor. Connect the terminals as follows:
/i
4. Connect the encoder input port (M) to the servo motor encoder
cable.
L2
L1
L3
2
1
w
v
U
B2
B3
B1
L2C
L1C
CHARGE
MODE/SET
400V
DATA/
POWER
C
N
3
C
N
1
C
N
2
B2
B3
B1
L2C
L1C
W
V
U
L2
L1
L3
2
1
D
A
B
C
E
F
G
H
M
U
V
W
I
J
K
L
Terminal Description Connection
D, E, F 400 V three-phase power supply Live VAC
G +DC bus 1 Short-circuit to terminal H
H +DC bus 2 Short-circuit to terminal G
Terminal Description Connection
I Control supply 24 VDC
J Control supply 0 VDC
K Common for regenerative resistance Short-circuit to terminal L 1
1. If the internal resistor is used.
L Internal regenerative resistance Short-circuit to terminal K
Terminal Description Connection
U Motor phase U The U terminal on the motor
V Motor phase V The V terminal on the motor
W Motor phase W The W terminal on the motor
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