Omron TRAJEXIA - 1 User manual

» You decide
» Freedom to communicate
» Freedom to design
TRAJEXIA
To t a l Fr e e d o m i n M o t i o n C o n t ro l

Freedom to communicate
Besides a built-in Ethernet port that provides connectivity
meeting today’s and foreseeable future communication
standards, Trajexia also includes interfaces to popular field
buses such as Profibus-DP and DeviceNet.
Trajexia is Omron’s new motion platform that offers
you the performance of a dedicated motion system,
the ease of use you get from an automation specialist
and the peace of mind you get from a global player.
Trajexia puts you in full control to create the best
machines today and… tomorrow.
The advanced motion controller
that puts you in control
MECHATROLINK-II
Up to 16 axes

» Freedom to design
Freedom to control
Trajexia offers perfect control of up to 16 axes over
a MECHATROLINK-II motion bus with independent position,
speed or torque control for every axis. And its powerful motion
instruction set makes programming intuitive and easy.
Freedom to build
You can select from a wide choice of best-in-class rotary,
linear and direct-drive servos as well as inverters.
And the system is scalable from 2 axes up to 16 axes
and 8 inverters & I/O modules.
Ethernet
I
/0 Units

Perfect motion control
At the heart of Trajexia lies the new TJ1 multi-tasking motion
coordinator. Powered by a 32-bit DSP, it’s specifically designed
to meet the most demanding motion tasks such as e-cam,
e-gearbox and registration control and interpolation… with
best performance and all via simple motion commands.
Ethernet
Power supply Motion controller MECHATROLINK-II
Master
Profibus Slave
» Freedom to choose
Scalability
Free choice between 4 or 16 axes CPUs. Capable of controlling
up to 4 axes, the new MC04 CPU, together with the new 4 axes
MECHATROLINK-II master, bring a compact solution without
compromising performance.

Direct connectivity via Ethernet
Trajexia’s Ethernet built-in port provides direct and fast
connectivity to PLCs and HMIs while providing full access
to the drives over a MECHATROLINK-II motion bus.
Serial Port
A serial port provides direct connectivity with Omron PLCs,
HMIs or any other field device.
Local I/Os
Freely-configurable embedded I/Os in the controller enable
you to perfectly tailor Trajexia to your machine design.
MECHATROLINK-II Master
The MECHATROLINK-II master performs perfect control
of up to 16 servos, inverters or I/Os while allowing complete
transparency across the whole system.
Profibus-DP, DeviceNet and CANopen
Standardised on Profibus, DeviceNet or CANopen?
That’s no problem. Trajexia offers these interfaces on request
plus many more possibilities.
Flexible Axis module
The Flexible Axis module allows full control of two actuators
via an analogue output or pulse train. The module supports
the main absolute encoder protocols allowing the connection
of an external encoder to the system.
Drives
A wide choice of best-in-class rotary, linear and direct-drive
servos as well as inverters are available to fit your needs
in compactness, performance and reliability.
Remote I/Os
The I/Os on the MECHATROLINK-II motion bus provides
for system expansion while keeping the devices under
one motion bus.
Actual size
DeviceNet Slave Flexible Axis module End cover
CANopen unit

Design simplicity
Handling from 2 to 16 axes, the system’s scalability provides
you with a single application for several versions of your
machine.
Keep your know-how safe
Trajexia’s sophisticated encryption method guarantees
complete protection and confidentiality for your valuable
know-how.
Advanced tools
Trajexia’s advanced debugging tools, including trace and
oscilloscope functions, ensure efficient operation and
minimum downtime.
Automatic recognition of devices
The servos, inverters and I/Os connected to the
MECHATROLINK-II motion bus are automatically identified and
configured, allowing you to set up your system in minutes.
Full access to devices from one connection
The parameters and functions inside the drives on the
MECHATROLINK-II are fully accessible from the Ethernet
connection.
Remote access
Trajexia’s smart architecture allows explicit messaging
over Ethernet and through MECHATROLINK-II to provide full
transparency down to the actuator level, and making remote
access possible.
» Freedom to create
Intuitive and powerful engineering
Trajexia’s intuitive and easy programming tool, based on the Motion Basic instruction set, includes
dedicated commands for linking axes, e-cams, e-gearboxes etc. What’s more, multitasking capability
provides total freedom in application design.

Perfect control of 16 axes
Controlling all 16 axes with a total system cycle time of 1 ms,
Trajexia ensures fastest operation at highest accuracy.
Real multi-tasking
Trajexia is a real multi-tasking controller capable of running
up to 14 tasks simultaneously.
Robust and stable motion bus
Specifically designed for motion control, MECHATROLINK-II
offers the communication speed and time accuracy essential
to guarantee perfect motion control of servos.
» Freedom to perform
Trajexia offers best-in-class motion devices for producing
the best automation solutions for today and tomorrow…
Best-in-class servo drives
Offering a wide variety of rotary and linear servomotors,
Omron’s Sigma II servo series is designed with NO
compromise on quality, reliability and performance
to guarantee best-in-class motion control.
Inverters and servos over the same bus
The inverters connected to the MECHATROLINK-II are driven
at the same update cycle time as the servo drives.
Product Infeed
Speed controlled conveyor provides
product from the upstream process.
Film Unwind
Film tension is kept constant for
right product forming and sealing.
Space Adjust
Product rate and space between
products is synchronised with the
lug chain.

Longitudinal Seal
Sealing rolls electronically geared
to lug chain for film pulling control,
registration is used to match the
printed area with the product position.
Outfeed conveyor
Inverters can easily be integrated
for speed controlled axes.
Fast registration Input
Real time position registration
provides the information to correct
and synchronise movements
according to printed marks.
Infeed Lug Chain
The product is placed precisely on
the forming area. This axis acts as
a master and is the reference for all
machine movements.
Sealing knife
Electronic CAM ensures film cutting
according to printed mark position.
It easily adapts to different product
sizes without any mechanical change.

1Trajexia Motion Controller
TJ1-
Trajexia Motion Controller
Stand-Alone Advanced Motion Controller
Using MECHATROLINK-II Motion Bus
• 16 axes advanced motion coordination over a
robust and fast motion link: MECHATROLINK-II
• Supports position, speed and torque control
• Each axis can run complex interpolated moves,
e-cams and e-gearboxes
• Advanced debugging tools including trace and
oscilloscope functions
• Hardware registration input for each servo axis
• Control of servos, inverters and I/Os over a single
motion network
• Multi-tasking controller capable of running up to
14 tasks simultaneously
• Open communication - Ethernet built-in,
PROFIBUS-DP, DeviceNet and CANopen as
options
System Configuration
CX-One
Trajexia tool
NS-series
HMI
JUSP-NS115
MECHATROLINK-II
unit
Sigma-II series
linear motors
Sigma-II series
servomotors
Sigma-II series
servodrive
Input
Motion controller
CJ-series PLC
Digital I/Os
Host-link
Fast registration
input, home
Ethernet
MECHATROLINK-II
Frequency
inverter
SW1 SW2
SmartSlice IOs
PROFIBUS-DP
Master
DeviceNet
Master
CANopen
Devices
Fieldbus
10 Trajexia Motion Controller