Omron Trajexia TJ1-MC16 User manual

23Trajexia motion controller
Motion controllers
TJ
Trajexia motion controller
Stand-aloneadvancedmotioncontrollerover
MECHATROLINK-II motion bus
• Control of up to 64 axes over a robust and fast
motion bus
• Supports position, speed and torque control
• Advanced motion control such as CAM control,
registration control, interpolation and axes synchro-
nization via simple motion commands
• Advanced debugging tools including data trace and
oscilloscope functions
• Control of servos, inverters and I/Os over a single
motion network
• Multi-tasking controller capable of running up to
22 tasks simultaneously
• Open communication: Serial Ethernet built-in,
PROFIBUS-DP, DeviceNet and CANopen
System configuration
NS-series
HMI
Motion controller
CJ-series PLC
Digital I/Os
Host-link
Ethernet
MECHATROLINK-II
SW1 SW2
A/B
CN1
CN2
GRT1-ML2
SmartSlice IOs
PROFIBUS-DP
Master DeviceNet Master
CANopen
Devices
Fieldbus
Personal computer software:
CX-One (CX-Motion Pro)
TrajexiaStudio
Accurax G5 series
Servo drive
Accurax G5 series
Servo motors
Input
G
IM
SP
COM
X10
3
2
1
0
ADR
ACSERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
G- Series
Servo drive
Terminator
G-Series
Servo motors
Fast registration
inputs, home and
limitsswitches...
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24 Motion Control
Trajexia general specifications
Trajexia motion control units
Trajexia MECHATROLINK-II master units
Specifications
Item Details
Model TJ@
Ambient operating temperature 0 to 55°C
Ambient operating humidity 10 to 90%RH
Ambient storage temperature -20 to 70°C
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, RoHS compliant
Item Details
Model TJ2-MC64 TJ1-MC16 TJ1-MC04
Number of axes 64 16 4 (+1 using TJ1-FL02 unit)
Number of inverters and I/O modules Up to 64 (Inverters in position,
speed or torque mode) 8 maximum (Inverters in position, 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 0.25 ms, 0.5 ms, 1 ms or
2 ms Selectable 0.5 ms, 1 ms or 2 ms
Programming language BASIC-like motion language
Multi-tasking Up to 22 tasks running simulta-
neously 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 8 MB 500 KB
Data storage capacity Up to 32 MB Flash data storage Up to 2 MB Flash data storage
Saving program data, motion controller Flash-ROM SRAM with battery backup and Flash-ROM
Saving program data, personal computer Via CX-Motion Pro/Trajexia Studio software
Communication ports 1 Ethernet port and 2 serial ports
Firmware update Via CX-Motion Pro/Trajexia Studio software
Ethernet port Electrical characteristics Conform to IEEE 802.3 (100BaseT)
Connector RJ45 Ethernet connector
Transmission protocol Modbus TCP slave
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,
Modbus TCP slave
RS-485 (1:N)
RS-422A (1:N) Host Link master protocol, Host Link slave protocol,
ASCII general-purpose,
Modbus TCP slave
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 Accurax G5 and G-Series servo drives ML-II built-in and SmartSlice IOs
Electrical characteristics Conforms to MECHATROLINK standard
Communication ports 1 MECHATROLINK-II master
Transmission speed 10 Mbps
Communication cycle 0.5 ms, 1 ms or 2 ms
Stations slave types Axes or servo drives
Frequency inverters
I/O modules
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Trajexia motion controller 25
Motion controllers
Trajexia PROFIBUS slave unit
Trajexia DeviceNet slave unit
Trajexia CANopen unit
Trajexia flexible axis unit
SmartSlice MECHATROLINK-II interface unit
Number of stations per master / Cycle time Max.16 Stations/2 ms Max. 4 Stations/2 ms
Max. 8 Stations/1 ms Max. 4 Stations/1 ms
Transmission distance Max. 50 meters without using repeater
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 122 words (16 bit), 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 (16 bit), 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*1
*1. TJ2-MC64 and TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 analogue IO points.
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. Every axis has 1 analog output, 1 encoder in/out -software configurable - and several digital I/O
Control methods
(independent per axis) ±10 V analogue output + encoder input (closed loop) Line driver AB output
Stepper pulse output in closed loop or pulse train output in open loop
Encoder Encoder protocols Abs SSI 200 kHz, Abs EnDat 1 MHz, Abs Tamagawa and Incremental Line driver AB
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 24 VDC
Number of connectable Slices Up to 64 slices with a maximum amount of 128 bytes*1
*1. TJ2-MC64 and TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 analogue IO points.
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
Item Specifications
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26 Motion Control
Trajexia motion controller unit - TJ2-MC64, TJ1MC-16/04
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
Nomenclature
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)
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Trajexia motion controller 27
Motion controllers
SmartSlice MECHATROLINK-II interface unit - GRT1-ML2
Trajexia motion controller - TJ2-MC64, TJ1-MC16/04 Trajexia modules - TJ1-ML16/04, -PRT, -DRT, -CORT, -FL02
Trajexia system - CJ1W-PA202 + TJ1-MC16 + one module + TJ1-TER
Dimensions
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 vonnectors
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
29.73145
90
94
PA202
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28 Motion Control
SmartSlice communication unit - GRT1-ML2
SmartSlice end unit - GRT1-END
SmartSlice I/O units - GRT1-_
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Trajexia motion controller 29
Motion controllers
Trajexia motion controller
Trajexia - axes control modules
Note: The TJ1-ML04 and TJ1-ML16 supported by the TJ2-MC64 motion controller are V2 (Version 2) and lot number equal
or above Lot No.091019 (YYMMDD).
Trajexia - communication modules
MECHATROLINK-II - related devices
Servo system & frequency inverters
Note: Refer to servo systems section for detailed specs and ordering information
SmartSlice IOs system
Note: Refer to Automation systems catalogue for detailed specs and accesories information
Ordering 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
Trajexia motion controller Unit, up to 64 axes. (Trajexia end cover unit TJ1-TER is included) TJ2-MC64
Power supply for Trajexia system, 100-240 VAC CJ1W-PA202
Power supply for Trajexia system, 24 VDC 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 Model
Accurax G5 servo drive ML-II built-in R88D-KN@@@-ML2
G-Series servo drive ML-II built-in R88D-GN@@H-ML2
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 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
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, 2 A, 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
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30 Motion Control
MECHATROLINK-II cables
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
Specifications Model
CX-Motion Pro V1.22 or higher CX-One
Trajexia Studio*1 V1.22 or higher
*1. When the Trajexia Studio software is included in CX-One, then it is called CX-Motion Pro.
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-03A
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