User manual OMRON TRAJEXIA-PLC

[. . . ] TRAJEXIA-PLC To t a l f r e e d o m i n m o t i o n c o n t r o l » Yo u d e c i d e » » Tr a j e x i a i n c o m p a c t f o r m a t Fr e e d o m t o d e s i g n 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. . . [. . . ] Total lenght: 50 m Input Terminator Fast registration input, home Sigma-II series Servo Motors JUSP-NS115 MECHATROLINK-II unit M Sigma-II series Linear Motors 6 Motion control unit Motion control unit 1 Specifications General Specifications Item Model Ambient operating temperature Ambient operating humidity Storage temperature Atmosphere Vibration resistance Shock resistance Insulation resistance Dielectric strength Protective structure International standards Details CJ1W-MCH72 0 to 55 C 90%RH (without condensation) -20º to 70º C No corrosive gases 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 143 m/s² , 3 times each X, Y, Z directions 20 MOhm 500 V IP20 CE:IEC61131-2, IEC61000-6-2, IEC61000-6-4 cULus: UL508C (Industrial Control Equipment) Lloyds; RoHS compliant Motion Control Unit Item Number of axes Number of inverters Cycle time Programming language Details 30 (31 total with vitual axis) 8 maximum (Inverters in speed or torque mode) Selectable 0. 5 ms, 1 ms , 2 ms or 4 ms 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 redesigned 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 Controlled devices Junma ML-II, Sigma-II and Sigma III servo drives and V7, F7 and G7 frequency inverters master port 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. 2 Motion controllers Motion controllers 7 MECHATROLINK-II, Servo drive interface unit (JUSP-NS115) Item Type Applicable servo drive Installation Method Basic Power supply method specifications Power consumption MECHATROLINK -II Baud rate/transmission cycle communications Command format Operation specification Reference input Details JUSP-NS115 SGDH-@E models (version 38 or later) Mounted on the SGDH servo drive side: CN10. Supplied from the servo drive control power supply. MECHATROLINK-II communications Positioning using MECHATROLINK-I/II communications. MECHATROLINK-I/II communications Commands: position, speed, torque, parameter read/write, monitor output Linear first/second-step, asymmetric, exponential, S-curve Position control with fully closed feedback is possible. 5 V differential line-driver output (complies with EIA standard RS-422A) A quad B line-driver 1 Mpps To be prepared by customer. Forward/reverse run prohibited, zero point return deceleration LS External latch signals 1, 2, 3 Forward/reverse torque control Position data latching is possible using phase C, and external signals 1, 2, 3 Parameters damage, parameter setting errors, communications errors, WDT errors, fully closed encoder detecting disconnection A: alarm, R: MECHATROLINK-I/II communicating NS115 Position control functions Acceleration/deceleration method Fully closed control Fully closed Encoder pulse output in the system specifications servo drive Fully closed encoder pulse signal Maximum receivable frequency for servo drive Power supply for fully closed encoder Input signals in the Signal allocation changes servo drive possible Internal functions Position data latch function Protection LED indicators Nomenclature CJ1W-MCH72 - Trajexia Motion Control Unit Unit status LEDs Battery compartment I/O status LEDs Unit No setting MECHATROLINK-II Port Digital I/O connector 9 pin Encoders connector JUSP-NS115 - MECHATROLINK-II Interface Unit Rotary switch (SW1) Used to set the MECHATROLINK-II station address NS115 LED(A) Alarm status LED(R) MECHATROLINK-II communication status DIP switch (SW2) Used to for MECHATROLINK-II communications setting MECHATROLINK-II communications CN6A and CN6B connectors: Connects to 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 8 Motion control unit Motion control unit 3 Dimensions CJ1W-MCH72 - Trajexia Motion Control Unit MCH72 RUN ERC ERH WDOG BF 0 1 2 3 4 5 6 7 OPEN BATTERY UNIT No. MLK 90 I/O Enc. 48. 75mm 71 JUSP-NS115 - MECHATROLINK-II Interface Units: mm Approx. [. . . ] Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. We reserve the right to make any changes at any time without prior notice. [. . . ]