User manual OMRON TRAJEXIA MOTION CONTROLLER DATASHEET

[. . . ] Trajexia motion controller Stand-alone advanced motion controller over 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 synchronization 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 CJ-series PLC NS-series HMI Personal computer software: CX-One (CX-Motion Pro) Trajexia Studio Ethernet PROFIBUS-DP Master DeviceNet Master Digital I/Os CANopen Devices Fieldbus Host-link Motion controller MECHATROLINK-II Terminator Accurax G5 series Servo drive G- Series Servo drive CN2 GRT1-ML2 SW1 SW2 AC SERVO DRIVER 01 ADR 23 9 01 8 X10 X1 CN1 A/B COM SP IM G SmartSlice IOs Input Accurax G5 series Servo motors Fast registration inputs, home and limits switches. . . G-Series Servo motors Trajexia motion controller 23 Motion controllers TJ 23 4 5 67 Specifications Trajexia general specifications Item Model Ambient operating temperature Ambient operating humidity Ambient storage temperature Ambient storage humidity Atmosphere Vibration resistance Shock resistance Insulation resistance Dielectric strength Protective structure International standards Details TJ@ 0 to 55°C 10 to 90%RH -20 to 70 C 90% max. [. . . ] TJ2-MC64 and TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 analogue IO points. Trajexia flexible axis unit Items Model Number of axes Control methods (independent per axis) Encoder Encoder protocols Encoder Input maximum frequency Encoder/pulse output max. Every axis has 1 analog output, 1 encoder in/out -software configurable - and several digital I/O ±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 Abs SSI 200 kHz, Abs EnDat 1 MHz, Abs Tamagawa and Incremental Line driver AB 6 MHz 2 MHz 2 fast registration inputs, 2 definable inputs, 2 enable output, 4 position switch outputs or axes reset Yes Auxiliary I/Os Galvanic isolation SmartSlice MECHATROLINK-II interface unit Item Model Electrical characteristics Communication cycle Power supply Number of connectable Slices IO mapping Slice unit configuration Supported slice units Specifications GRT1-ML2 Conform to MECHATROLINK standard 0. 5, 1 or 2 ms 24 VDC Up to 64 slices with a maximum amount of 128 bytes*1 Automatic analogue and digital IO mapping into TJ1-MC16/04 CPU Not supported See ordering information section *1. TJ2-MC64 and TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 analogue IO points. Trajexia motion controller 25 Motion controllers Item Number of stations per master / Cycle time Specifications Max. 16 Stations/2 ms Max. 50 meters without using repeater Nomenclature Trajexia motion controller unit - TJ2-MC64, TJ1MC-16/04 Trajexia MECHATROLINK-II master unit - TJ1-ML16/04 ML16 RUN LEDs Battery compartment Display Unit LEDs 8F Ethernet port CN1 MECHATROLINK-II master port RS422A/RS485 switches Digital I/O connector RS-232C and RS422A/485 serial ports Trajexia DeviceNet slave unit - TJ1-DRT Trajexia CANopen unit - TJ1-CORT CORT Unit LEDs 901 Unit LEDs 78 78 901 23 23 456 901 901 23 Trajexia PROFIBUS-DP unit - TJ1-PRT 26 78 901 23 78 901 23 456 78 78 Node selection 23 Node selection 456 456 VCAN L DRAIN CAN H V+ VCAN L DeviceNet slave port DRAIN CAN H V+ CANopen port Trajexia Flex axis unit - TJ1-FL02 FL02 H B Unit LEDs Unit LEDs 456 PROFIBUS node selection 15 pin connector (Encoders IN/Out) 456 PROFIBUS-DP slave port 18 pin connector (Digital and Analogue IOs) Motion Control GRT1-ML2 RUN ALARM ML COM UNIT PWR MECHATROLINK-II node selection Unit LEDs FG connector SW1 SW2 TS I/O PWR CN2 ON 1 REGS 2 NC Slice-master switches ML vonnectors Unit power IO power CN1 A/B 3 ADR 4 BACK UNIT +V -V I/O +V -V DC24V INPUT Dimensions Trajexia motion controller - TJ2-MC64, TJ1-MC16/04 Trajexia modules - TJ1-ML16/04, -PRT, -DRT, -CORT, -FL02 94 65 70. 3 70. 30 62 71 90 31 39. 9 Trajexia system - CJ1W-PA202 + TJ1-MC16 + one module + TJ1-TER 65 PA202 45 62 31 29. 7 Trajexia motion controller 90 94 94 90 27 Motion controllers SmartSlice MECHATROLINK-II interface unit - GRT1-ML2 SmartSlice communication unit - GRT1-ML2 SmartSlice I/O units - GRT1-_ SmartSlice end unit - GRT1-END 28 Motion Control Power Supply Motion controller Axes control Communication slave End cover (Included into the Motion controller) Trajexia motion controller Name Trajexia motion controller unit, up to 4 axes. (Trajexia end cover unit TJ1-TER is included) Trajexia motion controller unit, up to 16 axes. (Trajexia end cover unit TJ1-TER is included) Trajexia motion controller Unit, up to 64 axes. (Trajexia end cover unit TJ1-TER is included) Power supply for Trajexia system, 100-240 VAC Power supply for Trajexia system, 24 VDC Model TJ1-MC04 TJ1-MC16 TJ2-MC64 CJ1W-PA202 CJ1W-PD022 Trajexia - axes control modules Name Trajexia MECHATROLINK-II master unit (up to 4 stations) Trajexia MECHATROLINK-II master unit (up to 16 stations) Trajexia flexible axis unit (for 2 axes) Model TJ1-ML04 TJ1-ML16 TJ1-FL02 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 Name Trajexia DevicNet slave unit Trajexia PROFIBUS-DP slave unit Trajexia CANopen unit Model TJ1-DRT TJ1-PRT TJ1-CORT MECHATROLINK-II - related devices Servo system & frequency inverters Name Accurax G5 servo drive ML-II built-in G-Series servo drive ML-II built-in Note: Refer to servo systems section for detailed specs and ordering information Model R88D-KNH-ML2 SmartSlice IOs system Function SmartSlice Interface unit End plate, one unit required per bus interface 4 NPN inputs 4 PNP inputs 8 NPN inputs 8 PNP inputs 4 NPN outputs 4 PNP outputs 4 PNP outputs with short-circuit protection 8 NPN outputs 8 PNP outputs 8 PNP outputs with short-circuit protection 2 relay outputs 2 analogue inputs, current/voltage 2 analogue outputs, voltage 2 analogue outputs, current Specification SmartSlice MECHATROLINK-II inteface unit 24 VDC, 6 mA, 3-wire connection 24 VDC, 6 mA, 3-wire connection 24 VDC, 4 mA, 1-wire connection + 4xG 24 VDC, 4 mA, 1-wire connection + 4xV 24 VDC, 500 mA, 2-wire connection 24 VDC, 500 mA, 2-wire connection 24 VDC, 500 mA, 3-wire connection 24 VDC, 500 mA, 1-wire connection + 4xV 24 VDC, 500 mA, 1-wire connection + 4xG 24 VDC, 500 mA, 1-wire connection + 4xG 240 VAC, 2 A, normally-open contacts ±10 V, 0-10 V, 0-5 V, 1-5 V, 0-20 mA, 4-20 mA ± 10 V, 0-10 V, 0-5 V, 1-5 V 0-20 mA, 4-20 mA Model GRT1-ML2 GRT1-END GRT1-ID4 GRT1-ID4-1 GRT1-ID8 GRT1-ID8-1 GRT1-OD4 GRT1-OD4-1 GRT1-OD4G-1 GRT1-OD8 GRT1-OD8-1 GRT1-OD8G-1 GRT1-ROS2 GRT1-AD2 GRT1-DA2V GRT1-DA2C Note: Refer to Automation systems catalogue for detailed specs and accesories information Trajexia motion controller 29 Motion controllers Ordering information MECHATROLINK-II cables Name MECHATROLINK-II cables Remarks 0. 5 meter 1 meter 3 meters 5 meters 10 meters 20 meters 30 meters Terminating resistor Network repeater Model JEPMC-W6003-A5 JEPMC-W6003-01 JEPMC-W6003-03 JEPMC-W6003-05 JEPMC-W6003-10 JEPMC-W6003-20 JEPMC-W6003-30 JEPMC-W6022 JEPMC-REP2000 MECHATROLINK-II terminator MECHATROLINK-II repeater Computer software Specifications CX-Motion Pro V1. 22 or higher Trajexia Studio*1 V1. 22 or higher *1. [. . . ] I53E-EN-03 In the interest of product improvement, specifications are subject to change without notice. 30 Motion Control [. . . ]