Omron TRAJEXIA-PLC User manual

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Total freedom in motion control
TRAJEXIA-PLC

Trajexia motion controller
integrated with your PLC
Trajexia, the family of advanced motion
controllers that put you in control, now has
a compact and integrated version.
Meet Trajexia-PLC, the motion controller that
has all the flexibility and modularity of Omron
PLCs, plus the outstanding motion-control
features of the Trajexia platform.
If you want to add advanced motion control
into your control system, Trajexia-PLC will help
you to meet the most demanding requirements
whilst minimizing space, saving on wiring,
optimizing design and allowing easy
integration with your HMI.
In fact, it’s just what you asked for… and
with all the familiarity and performance
you require!

Trajexia-PLC was specifically created with your application in mind.
By focussing on compactness and simplicity, it will help you
to create the next generation of market-leading machines quicker
than ever.
Integration of your application could not be made easier. Besides
a built-in MECHATROLINK-II port providing precise control of up
to  axes, it takes advantage of the wide range of CJ interface
Advanced control in one compact solution
board options to communicate to other Fieldbus systems such
as Ethernet, Profibus or DeviceNet, and naturally you have the
widest choice of best-in-class servos and inverters.
The Trajexia motion controller and the PLC exchange information
through shared memory areas, helping you to simplify
programming and data access, making your machine design
quicker and easier.
MECHATROLINK-II
Up to  axes
Ethernet

Actual size
Saving vital rack space in your machines and time spent
on wiring is only part of the overall package. Because in
addition to major space-saving and economic benefits, the
new Trajexia for PLC is a solution that offers all the familiar
and outstanding features of Trajexia Standalone, and with
the same look and feel. You don’t have to invest time
in re-learning to get started.
Deliver higher performance
in less space...
...made possible with
Data exchange is performed via the PLC bus, simplifying
design, saving space and enabling easy integration with
other devices.
Control of 30 axes
Coordinated over fast MECHATROLINK-II motion bus with
selectable cycle time from . ms to  ms.
Encoder interface
Allows connection of an external encoder to the system.
Supports incremental, absolute encoder and pulse train
output as well.
Digital I/Os
The motion controller has embedded and configurable I/Os.
MECHATROLINK-II master port
Controls up to  servos or inverters.
Drives
Full connectivity to the same range of servo drives and
inverters as other Trajexia controllers.
Advanced programming tools
The CJ-MCH motion CPU uses the same advanced
programming language as the Trajexia standalone CPUs and
the new monitoring and debugging tool, Trajexia Studio.

Encoder I/O
Intuitive and easy to use programming tools
New Trajexia Studio tool offers an easy and intuitive software environment,
helping to program and debug your applications using advanced tools.
•Improved user graphical interface
•Multi device support
•Drag & drop functionality
•Offline programming and advanced download
•Program compare tool
•Axis configuration wizard
•Advance editor features
Mechatrolink-II port
LEDs: CPU and I/O status
Digital I/Os
Battery

1Motion control unit
CJ1W-MCH72 - MECHATROLINK-II
Motion control unit
PLC Advanced Motion Controller Using
MECHATROLINK-II Motion Bus
• 30 physical axis 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 and inverters over a single motion
network
• Built-in Digital I/Os and master Encoder.
System configuration
M
CX-One
Trajexia Studio
NS-series
HMI
JUSP-NS115
MECHATROLINK-II
unit
Sigma-II series
Linear Motors
30 axes max.
To t al lenght: 50 m
Terminator
Sigma-II series
Servo Motors
Sigma-II series
Servo Drive
Input
Motion control unit
CJ1W-MCH72
Digital I/Os
Encoder Input/Output
Fast registration
input, home
Ethernet/serial
CJ1-series
MECHATROLINK-II
Frequency
inverter
6Motion control unit

2Motion controllers
Specifications
General Specifications
Motion Control Unit
Item Details
Model CJ1W-MCH72
Ambient operating temperature 0 to 55qC
Ambient operating humidity 90%RH (without condensation)
Storage temperature -20º to 70º C
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, Z directions
Insulation resistance 20 MOhm
Dielectric strength 500 V
Protective structure IP20
International standards CE:IEC61131-2, IEC61000-6-2, IEC61000-6-4
cULus: UL508C (Industrial Control Equipment)
Lloyds; RoHS compliant
Item Details
Number of axes 30 (31 total with vitual axis)
Number of inverters 8 maximum (Inverters in speed or torque mode)
Cycle time Selectable 0.5 ms, 1 ms , 2 ms or 4 ms
Programming language BASIC-like Motion language. Same function range as Trajexia TJ1-MC16
Note: MCH72 Trajexia uses and advanced instruction set; MCH 71 BASIC applications have to be re-
designed to be used in the new controller.
Multi-tasking Up to 14 tasks running simultaneously
Built-in Digital I/O 16 inputs, 2 with registration functionality. 8 outputs, 1 with hardware position switch functionality
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 Via Trajexia Studio Software
Firmware update Via Trajexia software tool
Encoder I/O Position/ Speed Feedback Incremental and Absolute encoder
Absolute encoder standard Supports SSI 200kHZ, EnDat 1MHz
Encoder Input max frecuency 6 MHz
Encoder /Pulse output max frecuency 2 MHz
MECHATROLINK-II
master port
Controlled devices Junma ML-II, Sigma-II and Sigma III servo drives and V7, F7 and G7 frequency inverters
Electrical characteristics Conforms to MECHATROLINK standard
Transmission speed 10Mbps
Stations Slave types Axes or servodrives and frequency inverters
Transmision distance Max. 50 meters without using repeater
Data Echange with PLC CJ1W-MCH72 exchanges data with memory areas in the PLC. Mapping for cyclic data exchange in the
PLC CPU to memory areas in the motion unit can be freely configured.
7
Motion controllers

Motion control unit 3
MECHATROLINK-II, Servo drive interface unit (JUSP-NS115)
Nomenclature
CJ1W-MCH72 - Trajexia Motion Control Unit
JUSP-NS115 - MECHATROLINK-II Interface Unit
Item Details
Type JUSP-NS115
Applicable servo drive SGDH-@@@E models (version 38 or later)
Installation Method Mounted on the SGDH servo drive side: CN10.
Basic
specifications
Power supply method Supplied from the servo drive control power supply.
Power consumption 2 W
MECHATROLINK -II
communications
Baud rate/transmission cycle 10 Mbps / 1 ms or more. MECHATROLINK-II communications
Command format Operation specification Positioning using MECHATROLINK-I/II communications.
Reference input MECHATROLINK-I/II communications
Commands: position, speed, torque, parameter read/write,
monitor output
Position control
functions
Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, S-curve
Fully closed control Position control with fully closed feedback is possible.
Fully closed
system specifications
Encoder pulse output in the
servo drive
5 V differential line-driver output (complies with EIA standard RS-422A)
Fully closed encoder pulse signal A quad B line-driver
Maximum receivable frequency for
servo drive
1 Mpps
Power supply for fully closed
encoder
To be prepared by customer.
Input signals in the
servo drive
Signal allocation changes
possible
Forward/reverse run prohibited, zero point return deceleration LS
External latch signals 1, 2, 3
Forward/reverse torque control
Internal functions Position data latch function Position data latching is possible using phase C,
and external signals 1, 2, 3
Protection Parameters damage, parameter setting errors, communications errors, WDT
errors, fully closed encoder detecting disconnection
LED indicators A: alarm, R: MECHATROLINK-I/II communicating
NS115
I/O status
LEDs
Unit status
LEDs
Battery
compartment
9 pin Encoders
connector
MECHATROLINK-II
Port
Unit No setting
Digital I/O
connector
NS115
Rotary switch (SW1)
Used to set the MECHATROLINK-II station address
LED(A)
Alarm status
LED(R)
MECHATROLINK-II communication status
DIP switch (SW2)
Used to for MECHATROLINK-II communicationssetting
MECHATROLINK-II communicationsCN6A and CN6B connectors:
Connectsto the MECHATROLINK-II system
CN4 fully closed encoder signal connector
Used for fully closed signal connection
Ground wire
Connected to ground mark on the servo drive
8Motion control unit

4Motion controllers
Dimensions
CJ1W-MCH72 - Trajexia Motion Control Unit
JUSP-NS115 - MECHATROLINK-II Interface
4
7
6
5
2
0
3
I/O
MLK
Enc.
UNIT
No.
1
RUN
ERC
ERH
BF
WDOG
OPEN
BATTERY
MCH72
mm
48.75
90
65
71
98
24
CN6A
Units: mm Approx. weight: 0.2 kg
NS115
S
W
1
20 128
142 100
2
S
W
2
A
R
C
N
6
A
C
N
6
B
C
N
4
Name
plate
CN6B
CN4
FG terminal
Connector
to SERVOPACK
M4
9Motion controllers

Motion control unit 5
Installation
MECHATROLINK-II Interface connections
+
-
+
-
MECHATROLINK I/F unit
type JUSP-NS115
To other
MECHATROLINK-II station
Backup battery
*1
2.8to 4.5 V
Zero point return
Deceleration LS
*2
with /DEC ON
Forward run prohibit
*2
with P-OT OFF
Reverse run prohibit
*2
with N-OT OFF
External latch 1
*2
with /EXT1 ON
External latch 2
*2
with /EXT2 ON
External latch 3
*2
with /EXT3ON
* 1 Connect when using an absolute encoder and when the battery isnot connected to CN8.
* 2 Set the signal assignment with the user constants.
CN 6A
2
3
4
/S
S
P
P
SH
120 ΩS
S
SH
BAT (+)
P
BAT (-)
+24 VIN
/DEC
P-OT
N-OT
/EXT 1
/EXT 2
/EXT 3
Connector shell
Connect shield to connector shell.
FG
+24 V
3.3kΩ
2
3
4
21
22
47
40
25
1
39
38
37
26
27
28
29
30
31
32
/COIN+
SG
AL 03
AL 02
AL 01
Alarm code output
Maximum operating voltage 30 VDC
Maximum output current 20 mADC
/COIN-
/BK+
/BK-
/S-RDY+
/S-RDY-
ALM+
ALM-
41
42
43
44
45
46
CN 6B
CN 1
For the terminal station, connect aterminator
(JEPMC-W6022)
Positioning completed
*2
(ON when positioning iscompleted)
BK output
*2
(ON when brake is r eleased)
Servo ready output
*2
(ON when ready)
Servo alarm output
(OFF with an alarm)
Photocoupler output
Maximum operating voltage 30 VDC
Maximum output current 50 mADC
Servo drive
Type SGDH
(For SERVOPACK connection,
see sigma-II chapter)
CN 4
External
power supply
1, 2, 3
PG0V
PA
/ PA
PB
/PB
PC
/PC
16
17
18
19
14
15
Fully-closed encoder
for speed/position
detection
PG
P representstwisted-pair wires.representsshield.
10 Motion control unit