User manual OMRON TJ1-CORT HARDWARE REFERENCE MANUAL

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Manual abstract: user guide OMRON TJ1-CORTHARDWARE REFERENCE MANUAL

Detailed instructions for use are in the User's Guide.

[. . . ] I51E-EN-05 Trajexia motion control system TJ1-MC04, TJ1-MC16, TJ1-ML04, TJ1-ML16, TJ1-PRT, TJ1-DRT, TJ1-CORT, TJ1-FL02 GRT1-ML2 hardware reference manual Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Failure to heed precautions can result in injury to people or damage to property. /i Definition of precautionary information WARNING Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious injury. Caution Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate injury, or property damage. Trademarks and Copyrights PROFIBUS is a registered trademark of PROFIBUS International. [. . . ] 24 1 3 5 7 9 11 13 15 17 19 21 23 25 27 2 4 6 8 10 12 14 16 18 20 22 24 26 28 LEDs 0 - 7 The I/O LEDs reflect the activity of the input and outputs. The table below lists the configuration for LEDs 0 - 7 and the DISPLAY=n command where n ranges from 0 to 7. /i LED label 0 1 n=0 IN 0 IN 1 n=1 IN 8 IN 9 n=2 IN 16 IN 17 n=3 IN 24 IN 25 n=4 OUT 0 OUT 1 n=5 OUT 8 OUT 9 n=6 OUT 16 OUT 17 n=7 OUT 24 OUT 25 Revision 5. 0 HARDWARE REFERENCE MANUAL 64 Hardware reference LED label 2 3 4 5 6 7 n=0 IN 2 IN 3 IN 4 IN 5 IN 6 IN 7 n=1 IN 10 IN 11 IN 12 IN 13 IN 14 IN 15 n=2 IN 18 IN 19 IN 20 IN 21 IN 22 IN 23 n=3 IN 26 IN 27 IN 28 IN 29 IN 30 IN 31 n=4 OUT 2 OUT 3 OUT 4 OUT 5 OUT 6 OUT 7 n=5 OUT 10 OUT 11 OUT 12 OUT 13 OUT 14 OUT 15 n=6 OUT 18 OUT 19 OUT 20 OUT 21 OUT 22 OUT 23 n=7 OUT 26 OUT 27 OUT 28 OUT 29 OUT 30 OUT 31 For example, if you use the DISPLAY=1 command, LED 5 reflects the activity of the input in 13 (pin16) of the 28-pin I/O connector. Digital inputs The following table and illustration details the digital input (Input 0 to Input 15) specifications for the I/O: /i Item Type Maximum voltage Input current ON voltage OFF voltage Specification PNP/NPN 24 VDC + 10% 5 mA at 24 VDC 14. 4 VDC 5. 0 VDC max. 0V common for Input circuits External power supply 24V 0V Input 1 Input 3 TJ 1-MC 16 fig. 25 The timings are dependant upon the MC16's servo period, and include physical delays in the input circuit. Maximum response times of 1250 µs (for servo periods of 0. 5 ms or 1. 0 ms) or 2500 µs (for a servo period of 2. 0 ms) are achieved between a change in the input voltage and a corresponding change in the IN Parameter. Revision 5. 0 HARDWARE REFERENCE MANUAL 65 Hardware reference Digital outputs The following table and illustration details the digital output (O8 to O15) specifications: /i Internal circuits (galvanically isolated from the system) fig. Voltage Protection Specification PNP 24 VDC + 10% 100 mA each output (800 mA for a group of 8) 24 VDC + 10% Over current, Over temperature and 2A fuse on Common TJ 1-MC 16 2A Fuse 28 24V output supply 19 O8 External power supply 24V 27 To other output circuits 0Vout The timings are dependant upon the MC16's servo period, and include physical delays in the output circuit. Maximum response times of 250 µs on and 350 µs off (for servo periods of 0. 5 ms or 1. 0 ms) or 500 µs on and 600 µs off (for a servo period of 2. 0 ms) are achieved between a change in the OP parameter and a corresponding change in the digital output circuit. HARDWARE REFERENCE MANUAL Load Equivalent circuit Revision 5. 0 66 Hardware reference 3. 4. 4 Battery fig. 27 The backup battery provides power to the RAM, where programs and global variables are stored, and real Time Clock when the power supply is off. To replace the battery the power must not be off for more than five minutes to ensure no backup memory loss. If the TJ1-MC__ has not been on, set the unit to on for at least five minutes before you replace the battery else the capacitor that gives backup power to the memory is not fully changed and backup memory may be lost before the new battery is inserted. A B C D E F G H 3. 4. 5 /i Item TJ1-MC__ Specification Specification TJ1-MC04 TJ1-MC16 Power supply Total power consumption Current consumption Approximate weight Number of axes Number of Inverters and I/Os Revision 5. 0 5 VDC and 24 VDC (supplied by a Power Supply Unit) 3. 3 W 650 mA at 5 VDC 230 g 5 (up to 4 axis on MECHATROLINK-II) 16 Up to 8 on MECHATROLINK-II, depending on the type of TJ1-ML__ in the system. Up to 4 Yes Number of TJ1-ML__ units Real Time Clock HARDWARE REFERENCE MANUAL 67 Hardware reference Item Specification TJ1-MC04 Servo period Programming language Multi-tasking Digital I/O Measurement units Available memory for user programs Data storage capacity Saving program data on the TJ1-MC__ Saving program data on the PC Communication connectors Firmware update Electrical characteristics of the Ethernet connector Ethernet connector 0. 5 ms, 1 ms or 2 ms BASIC-like motion language Up to 14 tasks 16 digital inputs and 8 digital outputs, freely configurable User-definable 500 kB Up to 2 MB flash data storage · · RAM and flash memory backup Battery backup TJ1-MC16 Trajexia Tools software manages backups on the harddisk of the PC · · 1 Ethernet connection 2 serial connections Via Trajexia Tools software Conforms to IEEE 802. 3 (100BaseT) RJ45 Serial connectors 1 and 2 /i Item Electrical characteristics Connector Baud rate Revision 5. 0 Specification · · PORT1: RS232C, non-isolated PORT2: RS485/RS422A, isolated SUB-D9 connector 1200, 2400, 4800, 9600, 19200 and 38400 bps 7 or 8 bit 1 or 2 bit Transmission format, databit length Transmission format, stop bit HARDWARE REFERENCE MANUAL 68 Hardware reference Item Transmission format, parity bit Transmission mode Transmission protocol Specification Even/odd/none · · · · · RS232C: Point-to-point (1:1) RS422/485: Point-to-multipoint (1:N) Host link master protocol Host link slave protocol ASCII general purpose Galvanic isolation Communication buffers Flow control Terminator Maximum cable length RS422/485 connector only 254 bytes None Yes, selected by switch · · RS232C: 15 m RS422/485: 100 m 3. 4. 6 TJ1-TER fig. 28 The TJ1-TER makes sure that the internal data bus of the Trajexia system functions correctly. A Trajexia system must always contain a TJ1-TER as the last unit. Revision 5. 0 HARDWARE REFERENCE MANUAL 69 Hardware reference 3. 4. 7 · · · · · · · · TJ1-MC__ box contents Safety sheet. 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. 3. 5 3. 5. 1 TJ1-ML__ Introduction The TJ1-ML__ controls MECHATROLINK-II devices in a cyclic and deterministic way. The TJ1-ML__ has these visible parts: /i Part A B Description LED indicators CN1 MECHATROLINK-II bus connector fig. 29 ML16 RUN A BF CN1 B Together the TJ1-ML__ and its devices form a serial network. · One TJ1-ML04 can control 4 devices. Revision 5. 0 HARDWARE REFERENCE MANUAL 70 Hardware reference 3. 5. 2 /i Label run LEDs description Status off on Description Start-up test failed. Normal operation Normal operation A fault in the MECHATROLINK-II bus Reserved BF off on - 3. 5. 3 TJ1-ML__ connection fig. 30 ML16 RUN The MECHATROLINK-II bus connector (A) fits a MECHATROLINK-II connector. Use this connector to connect the TJ1-ML__ to a MECHATROLINK-II network. The MECHATROLINK-II network must always be closed by the MECHATROLINK-II terminator. 8F CN1 A Revision 5. 0 HARDWARE REFERENCE MANUAL 71 Hardware reference Example connections Example 1 · 1 x TJ1-MC__ · 1 x TJ1-ML__ · 3 x Sigma-II Servo Driver · 1 x MECHATROLINK-II terminator fig. 31 Servo Driver Address 43 Address 44 Address 45 Terminator Axis 2 Axis 3 Axis 4 Revision 5. 0 HARDWARE REFERENCE MANUAL 72 Hardware reference Example 2 · 1 x TJ1-MC16 · 2 x TJ1-ML16 · 16 x Sigma-II Servo Driver · 2 x MECHATROLINK-II terminator fig. [. . . ] · The output power of Junma Servo Drivers and motors range from 100W to 800W. The input voltage of Junma Servo Drivers and motors is 200V single phase. Motion control algorithm · Sigma-II has a traditional PID control algorithm, which in most cases needs adjustments and tuning of parameters. Sometimes adjusting and tuning can be time consuming but the benefit is full coverage of a very wide range of applications regarding mechanical characteristics of the system, such as inertia ratio, rigidity etc. [. . . ]

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