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
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2Motion Control
Specifications
Trajexia General Specifications
Trajexia Motion Control Units
Trajexia MECHATROLINK-II Master Units
Item Details
Model TJ1-@
Ambient operating temperature 0 to 55qC
Ambient operating humidity 10 to 90%RH
Ambient storage temperature -20 to 70qC
Ambient storage humidity 90% max. (with no condensation)
Atmosphere No corrosive gases
Vibration resistance 10 to 57 Hz: (0.075 mm amplitude)
57 to 100 Hz Acceleration: 9,8 m/s2, in X, Y and Z directions for 80 minutes.
Shock resistance 143 m/s2, 3 times each X, Y and Z directions.
Insulation resistance 20 MOhm
Dielectric strength 500 Volt
Protective structure IP20
International standards CE, EN 61131-2, cULus, Lloyds (cULus approval pending for TJ1-MC04 and TJ1-ML04) RoHS compliant
Item Details
Model TJ1-MC16 TJ1-MC04
Number of axes 16 4 (+1 using TJ1-FL02 unit)
Number of inverters and I/O modules 8 maximum (Inverters in speed or torque mode)
Number of MECHATROLINK-II master units Up to 4 MECHATROLINK-II master units (see below TJ1-ML16/ML04) can be connected
Cycle time Selectable 0.5 ms, 1 ms or 2 ms
Programming language BASIC-like Motion language
Multi-tasking Up to 14 tasks running simultaneously
Built-in Digital I/O 16 Inputs and 8 Outputs, for general purpose
Measurement units User definable
Available memory for user programs 500KB
Data storage capacity Up to 2 MB flash data storage
Saving program data, motion controller SRAM with battery backup and Flash-ROM
Saving program data, personal computer Trajexia Motion Perfect software manages a backup on the hard disk of the personal computer.
Communication ports 1 Ethernet port and 2 serial ports
Firmware update Via Trajexia software tool
Ethernet port Electrical characteristics Conform to IEEE 802.3 (100BaseT)
Connector RJ45 Ethernet connector
Serial port Electrical characteristics Conform 1 port to RS232C and 1 port to RS485/RS422A (selectable by switch)
Connector SUB-D9 connector (Counterpart included in the package)
Synchronization Start-stop synchronization (asynchronous)
Baud rate 1200 / 2400 / 4800 / 9600 / 19200 / 38400 bps
Transmission format Databit Length 7 or 8 bit
Stop Bit 1 or 2 bit
Parity Bit Even/Odd/None
Transmission mode Point-to-multipoint (1:N)
Transmission protocol RS-232C (1:1) Host Link master protocol,
Host Link slave protocol,
ASCII general-purpose
RS-422A (1:N) Host Link master protocol,
Host Link slave protocol,
ASCII general-purpose
RS-485 (1:N) ASCII general-purpose
Galvanic isolation RS422A port
Communication buffers 254 bytes
Flow control None
Terminator Yes, selectable by switch
Cable length 15 m for RS232 and 500 meter for RS422/485
Item Specifications
Model TJ1-ML16 TJ1-ML04
Controlled devices with MECHATROLINK-II interface Junma MLII, Sigma-2 and Sigma-3 Servo drives, SmartSlice IOs, other I/O units and V7, F7 and
G7 Frequency inverters
Electrical characteristics Conforms to MECHATROLINK standard
Communication ports 1 MECHATROLINK-II master
Transmission speed 10Mbps
Communication cycle 0.5 ms, 1ms or 2ms
Stations slave types Axes or Servo drives
Frequency inverters
I/O Modules
Number of stations per master / Cycle time Max.16 Stations / 2ms Max.4 Stations / 2ms
Max.8 Stations / 1ms Max.4 Stations / 1ms
Max.4 Stations / 0.5 ms (Only Sigma-3 drives) Max.4 Stations / 0.5 ms (Only Sigma-3 drives )
Transmission distance Max.50 meters without using repeater
11Motion Control

Trajexia Motion Controller 3
Trajexia PROFIBUS Slave Unit
Trajexia DeviceNet Slave Unit
Trajexia CANopen Unit
Note: (*) TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 Analogue IO points.
Trajexia Flexible Axis Unit
SmartSlice MECHATROLINK-II Interface Unit
Note: (*) TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 Analogue IO points.
Items Specifications
Model TJ1-PRT
PROFIBUS standard Conforms to PROFIBUS-DP standard EN50170 (DP-V0)
Communication ports 1 PROFIBUS-DP Slave
Transmission speed 9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500, 3000, 6000 and 12000 kbps
Node numbers 0 to 99
I/O size 0 to 120 words (16bit), configurable, for both directions
Galvanic isolation Yes
Items Specifications
Model TJ1-DRT
PROFIBUS standard Conforms to DeviceNet standard of CIP edition 1
Communication ports 1 DeviceNet Slave
Transmission speed 125, 250 and 500 Kbps, auto-detect
Node numbers 0 to 63
I/O size 0 to 32 words (16bit), configurable, for both directions
Galvanic isolation Yes
Items Specifications
Model TJ1-CORT
Electrical Characteristics Conforms to CAN 2.0 B
Communication ports 1 CANopen
Transmission speed 20, 50, 125 and 500 Kbps
Implemented CiA Standards DS301, DS302
PDO Support 8 TPDO and 8 RPDO
PDO Mapping Each PDO can be mapped into TJ1-MC16/04 VR, Table, Analogue and digital IO.
BASIC commands assign mapping and start address (*)
CANopen slave configuration Any SDO message can be sent using BASIC during start-up and operation
CANopen network states CANopen network can be set to Pre-operational and Operational using BASIC
CANopen slave emergencies Available using BASIC command
Galvanic isolation Yes
Items Specifications
Model TJ1-FL02
Number of axes 2
Control method ±10V Analogue Output in closed loop or pulse train output in open loop
Encoder Position/speed Feedback 2 Incremental and Absolute encoders
Absolute encoder standards supported SSI 200 kHz, EnDat 1 MHz and Tamagawa
Encoder Input maximum frequency 6 MHz
Encoder/Pulse Output max. frequency 2 MHz
Auxiliary I/Os 2 Fast registration Inputs, 2 definable inputs, 2 Enable output, 4 position switch outputs or axes reset
Galvanic isolation Yes
Item Specifications
Model GRT1-ML2
Electrical characteristics Conform to MECHATROLINK standard
Communication cycle 0.5, 1 or 2 ms
Power supply 24Vdc
Number of connectable Slices Up to 64 slices with a maximum amount of 128 bytes (*)
IO mapping Automatic analogue and digital IO mapping into TJ1-MC16/04 CPU
Slice unit configuration Not supported
Supported slice units See ordering information section
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4Motion Control
Nomenclature
Trajexia Motion Controller Unit - TJ1-MC16/04
Trajexia DeviceNet Slave Unit - TJ1-DRT
Trajexia PROFIBUS-DP Unit - TJ1-PRT
Trajexia MECHATROLINK-II Master Unit - TJ1-ML16/04
Trajexia CANopen Unit - TJ1-CORT
Trajexia Flex Axis Unit - TJ1-FL02
Display
RS-232C and
RS422A/485
serial ports
LEDs
RS422A/RS485
switches
Ethernet port
Digital I/O
connector
Battery
compartment
0
9
8
7
6
5
4
3
2
1
0
9
8
7
6
5
4
3
2
1
V-
CAN L
DRAIN
CAN H
V+
Unit LEDs
DeviceNet slave port
Node selection
0
9
8
7
6
5
4
3
2
1
0
9
8
7
6
5
4
3
2
1
H
B
Unit LEDs
PROFIBUS-DP slave port
PROFIBUSnode
selection
RUN
8F
ML16
CN1
Unit LEDs
MECHATROLINK-II master port
0
9
8
7
6
5
4
3
2
1
0
9
8
7
6
5
4
3
2
1
V-
CAN L
DRAIN
CAN H
V+
Unit LEDs
CANopen port
Node selection
CORT
FL02
Unit LEDs
18pin connector
(Digital and Analogue IOs)
15 pin connector
(EncodersIN/Out)
13Motion Control

Trajexia Motion Controller 5
SmartSlice MECHATROLINK-II Interface Unit - GRT1-ML2
Dimensions
Trajexia Motion Controller - TJ1-MC16/04 Trajexia Modules - TJ1-ML16/04, -PRT, -DRT, -CORT, -FL02
Trajexia System - CJ1W-PA202 + TJ1-MC16 + One Module + TJ1-TER
Unit LEDs
-V
INPUT
DC24V
A/B
CN1
CN2
BACK4
-V
I/O
+V
UNIT
+V
ON
ADR
REGS
3
NC2
1
ML COM
ALARM
SW1
GRT1-ML2
SW2
TS
RUN
I/O PWR
UNIT PWR
ML Connectors
FG Connector
MECHATROLINK-II Node selection
Slice-master Switches
Unit Power
IO Power
62
65
71
70.3
90
94
31
39.9
70.30
90
94
62
65
29.7
3145
90
94
PA202
14 Trajexia Motion Controller

6Motion Control
SmartSlice Communication unit - GRT1-ML2
SmartSlice End unit - GRT1-END
SmartSlice I/O units - GRT1-_
15Motion Control

Trajexia Motion Controller 7
Ordering Information
Trajexia motion controller
Trajexia - Axes control modules
Trajexia - Communication modules
MECHATROLINK-II - Related devices
Servo System & Frequency Inverters
Note: Refer to Motion & Drives catalogue for detailed specs and ordering information
SmartSlice IOs system
Note: Refer to Automation Systems catalogue for detailed specs and accesories information
Name Model
Trajexia Motion Controller Unit, up to 4 axes. (Trajexia end cover unit TJ1-TER is included) TJ1-MC04
Trajexia Motion Controller Unit, up to 16 axes. (Trajexia end cover unit TJ1-TER is included) TJ1-MC16
Power Supply for Trajexia system, 100-240V AC CJ1W-PA202
Power Supply for Trajexia system, 24V DC CJ1W-PD022
Name Model
Trajexia MECHATROLINK-II Master Unit (up to 4 stations) TJ1-ML04
Trajexia MECHATROLINK-II Master Unit (up to 16 stations) TJ1-ML16
Trajexia Flexible Axis Unit (for 2 Axes) TJ1-FL02
Name Model
Trajexia DevicNet slave unit TJ1-DRT
Trajexia PROFIBUS-DP slave unit TJ1-PRT
Trajexia CANopen unit TJ1-CORT
Name Remarks Model
MECHATROLINK-II interface unit for
Servos and Inverters
For Sigma-II series Servo drives. (Firmware version 39 or later) JUSP-NS115
Junma servo drives with MECHATROLINK-II port built-in the drive SJDE-@@ANA-OY
For Varispeed V1000 Inverter. Release by 2008
(For Inverter’s version supported contact your Omron sales office)
SI-T3
For Varispeed V7 Inverter
(For Inverter’s version supported contact your Omron sales office)
SI-T/V7
For Varispeed F7, G7 Inverter
(For Inverter’s version supported contact your Omron sales office)
SI-T
Function Specification Model
SmartSlice Interface unit SmartSlice MECHATROLINK-II inteface unit GRT1-ML2
End plate, one unit required per bus interface GRT1-END
4 NPN inputs 24 V DC, 6 mA, 3-wire connection GRT1-ID4
4 PNP inputs 24 V DC, 6 mA, 3-wire connection GRT1-ID4-1
8 NPN inputs 24 V DC, 4 mA, 1-wire connection + 4xG GRT1-ID8
8 PNP inputs 24 V DC, 4 mA, 1-wire connection + 4xV GRT1-ID8-1
4 NPN outputs 24 V DC, 500 mA, 2-wire connection GRT1-OD4
4 PNP outputs 24 V DC, 500 mA, 2-wire connection GRT1-OD4-1
4 PNP outputs with short-circuit protection 24 V DC, 500 mA, 3-wire connection GRT1-OD4G-1
8 NPN outputs 24 V DC, 500 mA, 1-wire connection + 4xV GRT1-OD8
8 PNP outputs 24 V DC, 500 mA, 1-wire connection + 4xG GRT1-OD8-1
8 PNP outputs with short-circuit protection 24 V DC, 500 mA, 1-wire connection + 4xG GRT1-OD8G-1
2 relay outputs 240 V AC, 2A, normally-open contacts GRT1-ROS2
2 analogue inputs, current/voltage ±10 V, 0-10 V, 0-5 V, 1-5 V, 0-20 mA, 4-20 mA GRT1-AD2
2 analogue outputs, voltage ± 10 V, 0-10 V, 0-5 V, 1-5 V GRT1-DA2V
2 analogue outputs, current 0-20 mA, 4-20 mA GRT1-DA2C
Motion
controller
Axes
control
Communication
slave
End cover
(Included into the Motion controller)
Power
Supply
16 Trajexia Motion Controller

8Motion Control
MECHATROLINK-II Cables
Other IO modules
Computer Software
Name Remarks Model
MECHATROLINK-II cables 0.5 meter JEPMC-W6003-A5
1 meter JEPMC-W6003-01
3 meters JEPMC-W6003-03
5 meters JEPMC-W6003-05
10 meters JEPMC-W6003-10
20 meters JEPMC-W6003-20
30 meters JEPMC-W6003-30
MECHATROLINK-II terminator Terminating resistor JEPMC-W6022
MECHATROLINK-II Repeater Network repeater JEPMC-REP2000
Name Remarks Lenght Model
MLII IO modules 64-point digital input and 64-point didital output (24VDC) - JEPMC-IO2310
Analogue input: -10V to +10V, 4 channels - JEPMC-AN2900
Analogue output: -10V to +10V, 2 channels - JEPMC-AN2910
I/O Cable for JEPMC-IO2310 With connector on the IO2310 side 0.5 JEPMC-W5410-05
1.0 JEPMC-W5410-10
3.0 JEPMC-W5410-30
Specifications Model
Trajexia Studio v1.0 or higher TJ1-Studio
In the interest of product improvement, specifications are subject to change without notice.
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I53E-EN-02A
17Motion Control

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19

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Control Systems
• Programmable logic controllers • Human-machine interfaces • Remote I/O
Motion & Drives
• Motion controllers • Servo systems • Inverters
Control Components
• Temperature controllers • Power supplies • Timers • Counters • Programmable relays
• Digital panel indicators • Electromechanical relays • Monitoring products • Solid-state relays
• Limit switches • Pushbutton switches • Low voltage switch gear
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• Photoelectric sensors • Inductive sensors • Capacitive & pressure sensors • Cable connectors
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Authorised Distributor:
Although we strive for perfection, Omron Europe BV and/or its subsidiary and affiliated companies do not warrant
or make any representations regarding the correctness or completeness of the information described in this document.
We reserve the right to make any changes at any time without prior notice.
OMRON EUROPE B.V. Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. Tel: [phone] Fax: [phone] www.industrial.omron.eu
Trajexia_EN_INT03