Omron TJ2-MC64 PROGRAMMING Manual

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Cat. No. I57E-EN-01

Trajexia machine control system

TJ2-MC64, TJ1-ML04, TJ1-ML16, TJ1-PRT, TJ1-DRT, TJ1-CORT, TJ1-FL02, GRT1-ML2

HARDWARE REFERENCE MANUAL

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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. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

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. MECHATROLINK is a registered trademark of Yaskawa Corporation. DeviceNet is a registered trademark of Open DeviceNet Vendor Assoc INC. CIP is a registered trademark of Open DeviceNet Vendor Assoc INC. CANopen is a registered trademark of CAN in Automation (CiA). ModbusTCP is a registered trademark of Modbus IDA. Trajexia is a registered trademark of OMRON. All other product names, company names, logos or other designations mentioned herein are trademarks of their respective owners.

Revision 1.0

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

HARDWARE REFERENCE MANUAL III

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About this manual

Name Cat. No. Contents

This manual describes the installation and operation of the Trajexia Machine Control System. Please read this manual and the related manuals listed in the following table carefully and be sure you understand the information provided before attempting to install or operate the Trajexia Machine Control units. Be sure to read the precautions provided in the following section.

Name Cat. No. Contents

Trajexia motion control system QUICK START GUIDE

Trajexia machine control system HARDWARE REFERENCE MANUAL

Trajexia machine control system PROGRAMMING MANUAL

Sigma-II Servo Drive manual

Sigma-III with MECHATROLINK interface manual

Sigma-V Servo Drive manual

JUNMA series Servo Drive manual

Revision 1.0

V7 Inverter TOEP C71060605 02-OY Describes the installation and operation

I50E Describes how to get quickly familiar

with Trajexia, moving a single axis using MECHATROLINK-II, in a test set-up.

I57E Describes the installation and hardware

specification of the Trajexia units, and explains the Trajexia system philosophy.

I58E Describes the BASIC commands to be

used for programming Trajexia, communication protocols and Trajexia Studio software, gives practical examples and troubleshooting information.

SIEP S800000 15 Describes the installation and operation

of Sigma-II Servo Drives

SIEP S800000 11 Describes the installation and operation

of Sigma-III Servo Drives with MECHATROLINK-II interface

SIEP S800000-44 SIEP S800000-46 SIEP S800000-48

TOEP-C71080603 01-OY Describes the installation and operation

Describes the installation and operation of Sigma-V Servo Drives

of JUNMA Servo Drives

of V7 Inverters

F7Z Inverter TOE S616-55 1-OY Describes the installation and operation

of F7Z Inverters

G7 Inverter TOE S616-60 Describes the installation and operation

of G7 Inverters

JUSP-NS115 manual

SI-T MECHATROLINK interface for the G7 & F7

ST-T/V7 MECHATROLINK interface for the V7

MECHATROLINK IO Modules

SYSMAC CS/CJ Series Communications Commands

Omron Smartslice GRT1-Series, slice I/ O units, Operation manual

OMNUC G-Series user’s manual

Accurax G5 user’s manual

Trajexia Studio user manual

SIEP C71080001 Describes the installation and operation

of the MECHATROLINK-II application module

SIBP-C730600-08 Describes the installation and operation

of MECHATROLINK-II interfaces for G7 and F7 Inverters

SIBP-C730600-03 Describes the installation and operation

of MECHATROLINK-II interfaces for V7 Inverters

SIE C887-5 Describes the installation and operation

of MECHATROLINK-II input and output modules and the MECHATROLINK-II repeater

W342 Describes FINS communications proto-

col and FINS commands

W455-E1 Describes the installation and operation

of Omron slice I/O units

I566-E1 Describes the installation and operation

of G-series Servo Drives

I572-E1 Describes the installation and operation

of Accurax G5 Servo Drives

I56E-EN Describes the use of Trajexia Studio

programming software

HARDWARE REFERENCE MANUAL IV

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WARNING

Failure to read and understand the information provided in this manual may result in personal injury or death, damage to the product, or product failure. Please read each section in its entirety and be sure you understand the information provided in the section and related sections before attempting any of the procedures or operations given.

Functions supported by unit versions

During the development of Trajexia new functionality will be added to the controller unit after market release. This functionality is implemented in the firmware, and/or the FPGA of the controller unit. In the table below, the overview of the applicable functionality is shown related to the firmware and FPGA version of the TJ2-MC64.

Functionality TJ2-MC64 Firmware

version

Initial release V2.0077 7

TJ2-MC64 FPGA version

Verify the firmware and FPGA versions of the TJ2-MC64

Connect the TJ2-MC64 to Trajexia Studio software. Refer to the Programming Manual. Open the terminal window and type the following commands:

Type

PRINT VERSION in the terminal window. The version parameter returns

the current firmware version number of the motion controller. Type

PRINT FPGA_VERSION SLOT(-1) in the terminal window. The

parameter returns the current FPGA version number of the TJ2-MC64.

Revision 1.0

HARDWARE REFERENCE MANUAL V

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1 Safety warnings and precautions................................................................................................................................................................1

1.1 Intended audience ............................................................................................................................................................................................................................1

1.2 General precautions .........................................................................................................................................................................................................................1

1.3 Safety precautions ............................................................................................................................................................................................................................1

1.4 Operating environment precautions..................................................................................................................................................................................................2

1.5 Application precautions.....................................................................................................................................................................................................................3

1.6 Unit assembly precautions................................................................................................................................................................................................................6

1.7 Conformance to EC Directives Conformance ...................................................................................................................................................................................6

2 System philosophy.......................................................................................................................................................................................7

2.1 Introduction .......................................................................................................................................................................................................................................7

2.2 Motion control concepts ....................................................................................................................................................................................................................8

2.3 Servo system principles ..................................................................................................................................................................................................................20

2.4 Trajexia system architecture .........................................................................................................................................................................................................23

2.5 Cycle time ......................................................................................................................................................................................................................................24

2.6 Program control and multi-tasking using BASIC programs only.....................................................................................................................................................31

2.7 Motion sequence and axes.............................................................................................................................................................................................................33

2.8 Motion buffers ...............................................................................................................................................................................................................................43

2.9 Mechanical system .........................................................................................................................................................................................................................45

3 Hardware reference ....................................................................................................................................................................................46

3.1 Introduction .....................................................................................................................................................................................................................................46

3.2 All units ..........................................................................................................................................................................................................................................50

3.3 Power Supply Unit (PSU) ...............................................................................................................................................................................................................61

3.4 TJ2-MC64 .....................................................................................................................................................................................................................................63

3.5 TJ1-ML__........................................................................................................................................................................................................................................75

3.6 GRT1-ML2 ....................................................................................................................................................................................................................................113

3.7 TJ1-PRT .......................................................................................................................................................................................................................................129

3.8 TJ1-DRT .......................................................................................................................................................................................................................................133

3.9 TJ1-CORT ....................................................................................................................................................................................................................................137

3.10 TJ1-FL02 ......................................................................................................................................................................................................................................141

Revision history .............................................................................................................................................................................................. 160

Revision 5.0

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Safety warnings and precautions

1 Safety warnings and precautions

1.1 Intended audience

This manual is intended for personnel with knowledge of electrical systems (electrical engineers or the equivalent) who are responsible for the design, installation and management of factory automation systems and facilities.

WARNING

Never short-circuit the positive and negative terminals of the batteries, charge the batteries, disassemble them, deform them by applying pressure, or throw them into a fire. The batteries may explode, combust or leak liquid.

1.2 General precautions

The user must operate the product according to the performance specifications described in this manual. Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, safety equipment, petrochemical plants, and other systems, machines and equipment that can have a serious influence on lives and property if used improperly, consult your OMRON representative.

1.3 Safety precautions

WARNING

Do not attempt to take the Unit apart and do not touch any of the internal parts while power is being supplied. Doing so may result in electrical shock.

WARNING

Do not touch any of the terminals or terminal blocks while power is being supplied. Doing so may result in electric shock.

Revision 1.0

WARNING

Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. Not doing so may result in serious accidents.

WARNING

Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided by the customer as external circuits, i.e., not in the Trajexia motion controller. Not doing so may result in serious accidents.

WARNING

When the 24 VDC output (I/O power supply to the TJ2) is overloaded or short-circuited, the voltage may drop and result in the outputs being turned off.As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

WARNING

The TJ2 outputs will go off due to overload of the output transistors (protection).As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

HARDWARE REFERENCE MANUAL 1

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Safety warnings and precautions

WARNING

The TJ2 will turn off the WDOG when its self-diagnosis function detects any error.As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system.

WARNING

Provide safety measures in external circuits, i.e., not in the Trajexia Motion Controller (referred to as "TJ2"), in order to ensure safety in the system if an abnormality occurs due to malfunction of the TJ2 or another external factor affecting the TJ2 operation. Not doing so may result in serious accidents.

WARNING

Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in malfunction, fire, or electric shock.

Caution

Confirm safety at the destination unit before transferring a program to another unit or editing the memory. Doing either of these without confirming safety may result in injury.

Caution

User programs written to the Motion Control Unit will not be automatically backed up in the TJ2 flash memory (flash memory function).

Caution

Tighten the screws on the terminal block of the Power Supply Unit to the torque specified in this manual. Loose screws may result in burning or malfunction.

1.4 Operating environment precautions

Caution

Do not operate the Unit in any of the following locations. Doing so may result in malfunction, electric shock, or burning.

- Locations subject to direct sunlight.

- Locations subject to temperatures or humidity outside the range specified in the specifications.

- Locations subject to condensation as the result of severe changes in temperature.

- Locations subject to corrosive or flammable gases.

- Locations subject to dust (especially iron dust) or salts.

- Locations subject to exposure to water, oil, or chemicals.

- Locations subject to shock or vibration.

Caution

Take appropriate and sufficient countermeasures when installing systems in the following locations. Inappropriate and insufficient measures may result in malfunction.

- Locations subject to static electricity or other forms of noise.

- Locations subject to strong electromagnetic fields.

- Locations subject to possible exposure to radioactivity.

- Locations close to power supplies.

Caution

Revision 1.0

Pay careful attention to the polarity (+/-) when wiring the DC power supply.A wrong connection may cause malfunction of the system.

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Safety warnings and precautions

Caution

The operating environment of the TJ2 System can have a large effect on the longevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the TJ2 System. Make sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system.

1.5 Application precautions

WARNING

Do not start the system until you check that the axes are present and of the correct type. The numbers of the Flexible axes will change if MECHATROLINKII network errors occur during start-up or if the MECHATROLINK-II network configuration changes. Not doing so may result in unexpected operation.

WARNING

Check the user program for proper execution before actually running it in the Unit. Not checking the program may result in an unexpected operation.

Caution

Always use the power supply voltage specified in this manual. An incorrect voltage may result in malfunction or burning.

Caution

Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction.

Caution

Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

Caution

Do not apply voltage to the Input Units in excess of the rated input voltage. Excess voltage may result in burning.

Caution

Do not apply voltage or connect loads to the Output Units in excess of the maximum switching capacity. Excess voltage or loads may result in burning.

Caution

Disconnect the functional ground terminal when performing withstand voltage tests. Not disconnecting the functional ground terminal may result in burning.

Revision 1.0

Caution

Always connect to a class-3 ground (to 100Ω or less) when installing the Units. Not connecting to a class-3 ground may result in electric shock.

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Safety warnings and precautions

Caution

Always turn off the power supply to the system before attempting any of the following. Not turning off the power supply may result in malfunction or electric shock.

- Mounting or dismounting expansion Units, CPU Units, or any other Units.

- Assembling the Units.

- Setting dipswitches or rotary switches.

- Connecting or wiring the cables.

- Connecting or disconnecting the connectors.

Caution

Be sure that all mounting screws, terminal screws, and cable connector screws are tightened to the torque specified in this manual. Incorrect tightening torque may result in malfunction.

Caution

Leave the dust protective label attached to the Unit when wiring. Removing the dust protective label may result in malfunction.

Caution

Remove the dust protective label after the completion of wiring to ensure proper heat dissipation. Leaving the dust protective label attached may result in malfunction.

Caution

Double-check all the wiring before turning on the power supply. Incorrect wiring may result in burning.

Caution

Wire correctly. Incorrect wiring may result in burning.

Caution

Mount the Unit only after checking the terminal block completely.

Caution

Be sure that the terminal blocks, expansion cables, and other items with locking devices are properly locked into place. Improper locking may result in malfunction.

Caution

Confirm that no adverse effect will occur in the system before changing the operating mode of the system. Not doing so may result in an unexpected operation.

Caution

Resume operation only after transferring to the new CPU Unit the contents of the VR and table memory required for operation. Not doing so may result in an unexpected operation.

Caution

Use crimp terminals for wiring. Do not connect bare stranded wires

Revision 1.0

directly to terminals. Connection of bare stranded wires may result in burning.

Caution

When replacing parts, be sure to confirm that the rating of a new part is correct. Not doing so may result in malfunction or burning.

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Safety warnings and precautions

Caution

Do not pull on the cables or bend the cables beyond their natural limit. Doing so may break the cables.

Caution

Before touching the system, be sure to first touch a grounded metallic object in order to discharge any static build-up. Otherwise it might result in a malfunction or damage.

Caution

UTP cables are not shielded. In environments that are subject to noise use a system with shielded twisted-pair (STP) cable and hubs suitable for an FA environment. Do not install twisted-pair cables with high-voltage lines. Do not install twisted-pair cables near devices that generate noise. Do not install twisted-pair cables in locations that are subject to high humidity. Do not install twisted-pair cables in locations subject to excessive dirt and dust or to oil mist or other contaminants.

Caution

The TJ2 will start operating in RUN mode when the power is turned on and if a BASIC program is set to Auto Run mode.

Caution

Always check the “Status-Words” of each GRT1-ML2 coupler. Not doing so can lead to missing or incorrect I/O data.

Caution

Always check the status of the connected MECHATROLINK-II devices in a BASIC program. Not doing so may result in an unexpected operation.

Caution

The TJ1-CORT unit is developed to exchange I/O data between the Trajexia system and a CANopen network. The TJ1-CORT is not able to exchange motion commands. Using the TJ1-CORT to exchange motion commands may result in unexpected operation.

Caution

Use the dedicated connecting cables specified in operation manuals to connect the Units. Using commercially available RS-232C computer cables may cause failures in external devices or the Motion Control Unit.

WARNING

Although the TJ2-MC64 in most cases is backwards compatible with TJ1-MC__, applications written for TJ1-MC__ must be tested carefully when running on TJ2-MC64. Not doing so may result in unexpected operation.

Caution

Outputs may remain on due to a malfunction in the built-in transistor outputs or other internal circuits.

Revision 1.0

As a countermeasure for such problems, external safety measures must be provided to ensure the safety of the system.

HARDWARE REFERENCE MANUAL 5

WARNING

When using multiple TJ1-ML__ units, do not swap the MECHATROLINK-cables. This can result in different axis allocation. This can result in serious injury and/or significant damage.

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Safety warnings and precautions

1.6 Unit assembly precautions

Caution

Install the unit properly. Improper installation of the unit may result in malfunction.

Caution

Be sure to mount the TJ1-TER supplied with the TJ2-MC64 to the right most Unit. Unless the TJ1-TER is properly mounted, the TJ2 will not function properly.

1.7 Conformance to EC Directives Conformance

1.7.1 Concepts

The concepts for the directives EMC and Low Voltage are as follows:

EMC Directives

OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or machines. The actual products have been checked for conformity to EMC standards. Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer. EMC-related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel in which the OMRON devices are installed. The customer must, therefore, perform final checks to confirm that devices and the over-all machine conform to EMC standards.

1.7.2 Conformance to EC Directives

The Trajexia Motion Controllers comply with EC Directives. To ensure that the machine or device in which a system is used complies with EC directives, the system must be installed as follows:

1. The system must be installed within a control panel.

2. Reinforced insulation or double insulation must be used for the DC power supplies used for the communications and I/O power supplies.

Low Voltage Directive

Always ensure that devices operating at voltages of 50 to 1,000 VAC or 75 to

Revision 1.0

1,500 VDC meet the required safety standards.

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System philosophy

2 System philosophy

2.1 Introduction

The system philosophy is centred around the relationship between:

• System architecture

• Cycle timeDrive

• Program control and multi-tasking

• Motion sequence and axes

• Motion buffers

A clear understanding of the relationship between these concepts is necessary to obtain the best results for the Trajexia system.

2.1.1 Glossary

Motion sequence

The Motion Sequence is responsible for controlling the position of the axes.

Servo period

Defines the frequency at which the Motion Sequence is executed. The servo period must be set according to the configuration of the physical axes. The available settings are 0.25ms, 0.5ms, 1ms or 2ms.

Cycle time

Is the time needed to execute one complete cycle of operations in the TJ2MC64. The cycle time is divided in 4 time slices of equal time length, called "CPU slots". The cycle time is 1ms if SERVO_PERIOD=0.25ms, 0.5ms or 1ms and 2ms if the SERVO_PERIOD=2ms.

TJ2-MC64

Program Buffer

BASIC PROGRAMS

Process 0

Process 1

Process 2

…

Process 21

Comms

MC I/O

Built-in Via TJ1-ML__

PLC TASKS

Ethernet

TJ1 PRT/DRT/CORT

FINS

Profibus

Ethernet

DeviceNET

CANopen

Buffer &

profile

gererator

MOTION SEQUENCE

Position

Loop

TJ1 ML__

TJ1 FL02

AXIS TYPE

fig. 1

Servo Driver

Position

Loop

Speed Loop

Servo Driver

Speed Loop

Torque

Loop

Torque

Loop

ENC

All other Servo Drivers

MOTOR

ENC

MOTOR

CPU slots

The operations executed in each CPU slot are:

CPU slot Operation

Revision 1.0

First CPU slot BASIC and/or PLC execution

Motion Network update (if SERVO_PERIOD=0.25ms)

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System philosophy

CPU slot Operation

Second CPU slot BASIC and/or PLC execution

Motion Network update (if SERVO_PERIOD=0.25ms or 0.5ms)

Third CPU slot Internal houskeeping

Motion Network update (if SERVO_PERIOD=0.25ms)

Fourth CPU slot BASIC and/or PLC execution

Motion Network update (all SERVO_PERIODs)

Program

A program is a piece of BASIC code.

Process

Is a program in execution with a certain priority assigned. Low Priority BASIC programs get assigned to process 0 to 19 and High Priority BASIC programs get assigned to Process 20 and 21. First the process priority, High or Low, and then the process number, from high to low, will define to which CPU slot the process will be assigned. Process 22 to 24 are for internal housekeeping. Each PLC task will get assigned to process 27 to 42. Process 25 and 26 are for internal housekeeping of the PLC engine.

2.2 Motion control concepts

The TJ2-MC64 offers these types of positioning control operations:

1. Point-to-Point (PTP) control

2. Continuous Path (CP) control

3. Electronic Gearing (EG) control.

This section introduces some of the commands and parameters used in the BASIC programming of the motion control application.

Coordinate system

Positioning operations performed by the TJ2-MC64 are based on an axis

Revision 1.0

coordinate system. The TJ2-MC64 converts the position data from either the connected Servo Drive or the connected encoder into an internal absolute coordinate system.

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System philosophy

The engineering unit that specifies the distances of travelling can be freely defined for each axis separately. The conversion is performed through the use of the unit conversion factor, which is defined by the UNITS axis parameter. The origin point of the coordinate system can be determined using the DEFPOS command. This command re-defines the current position to zero or any other value.

A move is defined in either absolute or relative terms. An absolute move takes the axis (A) to a specific predefined position with respect to the origin point. A relative move takes the axis from the current position to a position that is defined relative to this current position. The figure shows an example of relative (command MOVE) and absolute (command MOVEABS) linear moves.

2.2.1 PTP control

In point-to-point positioning, each axis is moved independently of the other axis. The TJ2-MC64 supports the following operations:

• Relative move

• Absolute move

• Continuous move forward

• Continuous move reverse.

MOVE(30)

fig. 2

MOVEABS(30)

MOVE(60)

MOVEABS(50)

MOVE(50)

50 100

Revision 1.0

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System philosophy

Relative and absolute moves

To move a single axis either the command MOVE for a relative move or the command MOVEABS for an absolute move is used. Each axis has its own move characteristics, which are defined by the axis parameters. Suppose a control program is executed to move from the origin to an axis no. 0 (A) coordinate of 100 and axis no. 1 (B) coordinate of 50. If the speed parameter is set to be the same for both axes and the acceleration and deceleration rate are set sufficiently high, the movements for axis 0 and axis 1 will be as shown in the figure. At start, both the axis 0 and axis 1 moves to a coordinate of 50 over the same duration of time. At this point, axis 1 stops and axis 0 continues to move to a coordinate of 100.

The move of a certain axis is determined by the axis parameters. Some relevant parameters are:

Parameter Description

UNITS Unit conversion factor

ACCEL Acceleration rate of an axis in units/s

DECEL Deceleration rate of an axis in units/s

fig. 3

MOVEABS(100) AXIS(0) MOVEABS(50) AXIS(1)

100

SPEED Demand speed of an axis in units/s

Defining moves

The speed profile in this figure shows a simple MOVE operation. Axis A is

fig. 4

the time, axis B is the speed. The UNITS parameter for this axis has been defined for example as meters. The required maximum speed has been set to 10 m/s. In order to reach this speed in one second and also to decelerate to zero speed again in one second, both the acceleration as the deceleration rate have been set to 10 m/s

. The total distance travelled is the sum of

ACCEL=10 DECEL=10 SPEED=10 MOVE(40)

distances travelled during the acceleration, constant speed and deceleration segments. Suppose the distance moved by the MOVE command is 40 m, the speed profile is given by the figure.

Revision 1.0

010123 456

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System philosophy

The two speed profiles in these figures show the same movement with an acceleration time respectively a deceleration time of 2 seconds. Again, Axis A is the time, axis B is the speed.

fig. 5

010123 456

fig. 6

010123 456

ACCEL=5 DECEL=10 SPEED=10 MOVE(40)

ACCEL=10 DECEL=5 SPEED=10 MOVE(40)

Move calculations

The following equations are used to calculate the total time for the motion of the axes.

• The moved distance for the MOVE command is D.

• The demand speed is V.

• The acceleration rate is a.

• The deceleration rate is d.

Revision 1.0

Acceleration time =

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System philosophy

Acceleration distance =

Deceleration time =

Deceleration distance =

Constant speed distance =

To t a l t i me =

Continuous moves

The FORWARD and REVERSE commands can be used to start a continuous movement with constant speed on a certain axis. The

FORWARD command moves the axis in positive direction and the REVERSE command in negative direction. For these commands also the

axis parameters ACCEL and SPEED apply to specify the acceleration rate and demand speed. Both movements can be cancelled by using either the CANCEL or RAPIDSTOP command. The CANCEL command cancels the move for one axis and RAPIDSTOP cancels moves on all axes. The deceleration rate is set by DECEL.

2.2.2 CP control

Continuous Path control enables to control a specified path between the start and end position of a movement for one or multiple axes. The TJ2MC64 supports the following operations:

• Linear interpolation

Revision 1.0

• Circular interpolation

• CAM control.

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System philosophy

Linear interpolation

In applications it can be required for a set of motors to perform a move operation from one position to another in a straight line. Linearly interpolated moves can take place among several axes. The commands MOVE and MOVEABS are also used for the linear interpolation. In this case the commands will have multiple arguments to specify the relative or absolute move for each axis. Consider the three axis move in a 3-dimensional plane in the figure. It corresponds to the MOVE(50,50,50) command. The speed profile of the motion along the path is given in the diagram. The three parameters SPEED, ACCEL and DECEL that determine the multi axis movement are taken from the corresponding parameters of the base axis. The MOVE command computes the various components of speed demand per axis. A is the time axis, B is the speed axis.

fig. 7

Revision 1.0

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System philosophy

Circular interpolation

It may be required that a tool travels from the starting point to the end point in an arc of a circle. In this instance the motion of two axes is related via a circular interpolated move using the MOVECIRC command. Consider the diagram in the figure. It corresponds to the MOVECIRC(- 100,0,-50,0,0) command. The centre point and desired end point of the trajectory relative to the start point and the direction of movement are specified. The MOVECIRC command computes the radius and the angle of rotation. Like the linearly interpolated MOVE command, the ACCEL, DECEL and SPEED variables associated with the base axis determine the speed profile along the circular move.

fig. 8

CAM control

Additional to the standard move profiles the TJ2-MC64 also provides a way to define a position profile for the axis to move. The CAM command moves an axis according to position values stored in the TJ2-MC64 Table array. The speed of travelling through the profile is determined by the axis parameters of the axis. The figure corresponds to the command CAM(0,99,100,20). A is the time axis, B is the position axis.

2.2.3 EG control

Electronic Gearing control allows you to create a direct gearbox link or a linked move between two axes. The MC Unit supports the following operations.

• Electronic gearbox

•Linked CAM

Revision 1.0

• Linked move

• Adding axes

-50

050

fig. 9

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System philosophy

Electronic gearbox

The TJ2-MC64 is able to have a gearbox link from one axis to another as if there is a physical gearbox connecting them. This can be done using the CONNECT command in the program. In the command the ratio and the axis to link to are specified. In the figure, A is the Master axis, and B is the CONNECT axis.

fig. 10

2:1

1:1

Axes Ratio CONNECT command

0 1

1:1 CONNECT(1,0) AXIS(1)

2:1 CONNECT(0.5,0) AXIS(1)

1:2 CONNECT(2,0) AXIS(1)

1:2

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System philosophy

Linked CAM control

Next to the standard CAM profiling tool the TJ2-MC64 also provides a tool to link the CAM profile to another axis. The command to create the link is called CAMBOX. The travelling speed through the profile is not determined by the axis parameters of the axis but by the position of the linked axis. This is like connecting two axes through a cam. In the figure, A is the Master axis (0) position, and B is the CAMBOX Axis (1) position.

Linked move

The MOVELINK command provides a way to link a specified move to a master axis. The move is divided into an acceleration, deceleration and constant speed part and they are specified in master link distances. This can be particularly useful for synchronizing two axes for a fixed period. The labels in the figure are: A. Time axis. B. Speed axis. C. Master axis (1). D. Synchronized. E. MOVELINK axis (0).

fig. 11

fig. 12

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System philosophy

Adding axes

It is very useful to be able to add all movements of one axis to another. One possible application is for instance changing the offset between two axes linked by an electronic gearbox. The TJ2-MC64 provides this possibility by using the ADDAX command. The movements of the linked axis will consists of all movements of the actual axis plus the additional movements of the master axis. In the figure, A is the time axis and B is the speed axis.

fig. 13

BASE(0) ADDAX(2) FORWARD MOVE(100) AXIS(2) MOVE(-60) AXIS(2)

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System philosophy

2.2.4 Other operations

Cancelling moves

In normal operation or in case of emergency it can be necessary to cancel the current movement from the buffers. When the CANCEL or RAPIDSTOP commands are given, the selected axis respectively all axes will cancel their current move.

Origin search

If the encoder feedback for controlling the position of the motor is incremental, it means that all movement must be defined with respect to an origin point. The DATUM command is used to set up a procedure whereby the TJ2-MC64 goes through a sequence and searches for the origin based on digital inputs and/or Z-marker from the encoder signal.

Print registration

The TJ2-MC64 can capture the position of an axis in a register when an event occurs. The event is referred to as the print registration input. On the rising or falling edge of an input signal, which is either the Z-marker or an input, the TJ2-MC64 captures the position of an axis in hardware. This position can then be used to correct possible error between the actual position and the desired position. The print registration is set up by using the REGIST command. The position is captured in hardware, and therefore there is no software overhead and no interrupt service routines, eliminating the need to deal with the associated timing issues.

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System philosophy

Merging moves

If the MERGE axis parameter is set to 1, a movement is always followed by a subsequent movement without stopping. The figures show the transitions of two moves with MERGE value 0 and value 1. In the figure, A is the time axis and B is the speed axis.

fig. 14

MERGE=0

Forced speed moves

Motion commands (like MOVE) use the axis SPEED parameter when being executed. The force-speed motion commands (like MOVESP) use the FORCE_SPEED speed paramater which is stored in the motion buffer together with the move command. This allows for controlling the speed per motion command.

Jogging

Jogging moves the axes at a constant speed forward or reverse by manual operation of the digital inputs. Different speeds are also selectable by input. Refer to the FWD_JOG, REV_JOG and FAST_JOG axis parameters.

MERGE=1

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2.3 Servo system principles

The servo system used by and the internal operation of the TJ2-MC64 are briefly described in this section.

2.3.1 Semi-closed loop system

The servo system of the TJ2-MC64 uses a semi-closed or inferred closed loop system. This system detects actual machine movements by the rotation of the motor in relation to a target value. It calculates the error between the target value and actual movement, and reduces the error through feedback.

2.3.2 Internal operation of the TJ2-MC64

Inferred closed loop systems occupy the mainstream in modern servo systems applied to positioning devices for industrial applications. The figure shows the basic principle of the servo system as used in the TJ2-MC64.

1. The TJ2-MC64 performs actual position control. The main input of the controller is the Following Error, which is the calculated difference between the demand position and the actual measured position.

2. The Position Controller calculates the required speed reference output determined by the Following Error and possibly the demanded position and the measured position. The speed reference is provided to the Servo Drive.

3. The Servo Drive controls the rotational speed of the servo motor corresponding to the speed reference. The rotational speed is proportional to the speed reference.

4. The rotary encoder generates the feedback pulses for both the speed feedback within the Servo Drive speed loop and the position feedback within the TJ2-MC64 position loop.

The labels in the figure are: A. TJ2-MC64. B. Servo system. C. Demand position.

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D. Position control. E. Speed reference.

fig. 15

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System philosophy

F. Speed control. G. M oto r. H. Encoder. I. Measured speed. J. Measured position.

2.3.3 Position loop algorithm in the CPU

The servo system controls the motor by continuously adjusting the speed reference to the Servo Drive. The speed reference is calculated by the motion control algorithm of the TJ2-MC64, which is explained in this section. The motion control algorithm uses the demand position (A), the measured position (D) and the Following Error (B) to determine the speed reference. The Following Error is the difference between the demanded and measured position. The demand position, the measured position and the Following Error are represented by the axis parameters MPOS, DPOS and FE. Five gain values have been implemented for the user to be able to configure the correct control operation for each application. C is the output signal.

• Proportional gain The proportional gain K Following Error E.

= Kp · E

All practical systems use proportional gain. For many just using this gain parameter alone is sufficient. The proportional gain axis parameter is called P_GAIN.

• Integral gain The integral gain K of the Following Errors that have occurred during the system operation.

= Ki · ΣE

Integral gain can cause overshoot and so is usually used only on systems working at constant speed or with slow accelerations. The integral gain axis parameter is called I_GAIN.

• Derivative gain

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The derivative gain K change in the Following Error E and speeds up the response to changes in error while maintaining the same relative stability.

creates an output Op that is proportional to the

creates an output Oi that is proportional to the sum

produces an output Od that is proportional to the

fig. 16

∑

vff

AB C

∑

∆

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System philosophy

Od = Kd · ∆E

Derivative gain may create a smoother response. High values may lead to oscillation. The derivative gain axis parameter is called D_GAIN.

• Output speed gain The output speed gain K the change in the measured position P

= Kov · ∆P

produces an output Oov that is proportional to

and increases system damping.

The output speed gain can be useful for smoothing motions but will generate high Following Errors. The output speed gain axis parameter is called OV_GAIN.

• Speed feed forward gain The speed feedforward gain K proportional to the change in demand position P

produces an output O

vff

and minimizes the

that is

vff

Following Error at high speed.

= K

vff

· ∆P

The parameter can be set to minimise the Following Error at a constant machine speed after other gains have been set. The speed feed forward gain axis parameter is called VFF_GAIN.

The default settings are given in the table along with the resulting profiles. Fractional values are allowed for gain settings.

Gain Default value

Proportional gain 0.1

Integral gain 0.0

Derivative gain 0.0

Output speed gain 0.0

Speed feedforward gain 0.0

2.3.4 Position loop algorithm in the Servo Drive

Refer to the Servo Drive manual for details.

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2.4 Trajexia system architecture

The system architecture of the Trajexia is dependant upon these concepts:

• Program control

• Motion Sequence

• Motion buffers

• Communication

• Peripherals

These concepts depend upon the value set in the SERVO_PERIOD parameter. The relationship between the value of SERVO_PERIOD and the different concepts of the system architecture are describes as follows.

2.4.1 Program control

Programs make the system work in a defined way. The programs are written in a language similar to BASIC and control the application of the axes and modules. 22 Programs can be executed in parallel. The programs can be set to run at system power-up, started and stopped from other programs and executed from Trajexia Studio / CX-Motion Pro. Programs execute commands to move the axes, control inputs and outputs and make communication via BASIC commands.

2.4.2 Motion sequence

The motion sequence controls the position of all 64 axes with the actions as follows:

• Reading the Motion buffer

• Reading the current Measured Position (MPOS)

• Calculating the next Demanded Position (DPOS)

• Executing the Position loop if it is done in the CPU

• Sending the Axis reference

• Error handling

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System philosophy

2.4.3 Motion buffers

Motion buffers are the link between the BASIC commands and the Axis control loop. When a BASIC motion command is executed, the command is stored in one of the buffers. During the next motion sequence, the profile generator executes the movement according to the information in the buffer. When the movement is finished, the motion command is removed from the buffer. The TJ2-MC64 can have up to 64 motion buffers, which is defined by the LIMIT_BUFFERED system parameter.

2.4.4 Communication

A set of BASIC communication commands are used to configure the communications. When the Trajexia is a communication slave (as in the PROFIBUS communication) it is only necessary to configure the communication in an initial task. The values are exchanged from the configured global variables in a transparent way. When the Trajexia is a communications master, the BASIC communication commands are used to write and read.

2.4.5 Peripherals

All inputs and outputs are used with the set of parameters (IN, OP, AIN, AOUT). The inputs and outputs are automatically detected and mapped in

Trajexia. Inverters are considered a peripheral device and have a set of BASIC commands to control them. Various MECHATROLINK-II input and output modules can be connected to a TJ1-ML__ unit.

2.5 Cycle time

All processes in the Trajexia system are based on the cycle time. The cycle time is divided into four CPU slots:

•250µs time intervals for a SERVO_PERIOD of 0.25, 0.5 and 1.0ms

•500µs time intervals for a SERVO_PERIOD of 2.0ms

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The processes that can be carried out in each time interval depends on the

250µs

SERVO_PERIOD that is set.

HARDWARE REFERENCE MANUAL 24

fig. 17

Cycle time = 1ms

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System philosophy

The operations executed in each CPU slot are:

CPU slot Operation

CPU slot 1 Execute whichever comes first in the list:

• Low priority BASIC Program, or

• High priority BASIC Program, or

•PLC

CPU slot 2 Execute whichever comes first in the list:

•PLC, or

• High priority BASIC Program, or

• Low priority BASIC Program

CPU slot 3 System processes

CPU slot 4 Execute whichever comes first in the list:

• High priority BASIC Program, or

•PLC, or

• Low priority BASIC Program

In each of the three CPU slots (1, 2 and 4) the type (High or Low priority BASIC programs or PLC) is executed which comes first in the list. Only processes of that type will then be executed in that slot.

Example 1

Executing one High and two Low priority BASIC programs.

• CPU slot 1: Low priority BASIC programs executed alternating

• CPU slot 2: High priority BASIC program executed

• CPU slot 4: High priority BASIC program executed

500 µs

fig. 18

Cycle time = 2 ms

Special case: in case both Low and High priority BASIC programs are running in parallel to the PLC, CPU slot 1 executes the Low and High pritority BASIC programs alternately. Example 2 Executing one High and two Low priority BASIC programs in parallel to the PLC:

• CPU slot 1: Running High and low priority BASIC programs alternately

• CPU slot 2: PLC

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• CPU slot 4: High priority BASIC program executed

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System philosophy

Note

The Motion sequence execution depends on setting of the

SERVO_PERIOD parameter.

2.5.1 Servo period

The SERVO_PERIOD can be set at 0.25, 0.5, 1 or 2ms. The processes that take place within the cycle time depend on the setting of the SERVO_PERIOD parameter. The SERVO_PERIOD parameter is a Trajexia parameter that must be set according to the system configuration. The factory setting is 1ms (SERVO_PERIOD=1000). A change is set only after a restart of the TJ2-MC64.

Note

Only the Sigma-V Servo Drive support the 0.5 ms transmission cycle.

Servo period rules

The number of axes and MECHATROLINK-II devices in the Trajexia system determines the value of the SERVO_PERIOD system parameter. There are 3 types of MECHATROLINK-II devices that are supported by the TJ2-MC64 units:

• Servo Drives The TJ2-MC64 considers Servo Drives as axes.

• Inverters By default, Inverters are not considered as axes, although this can be changed by command.

• I/O units and slice bus couplers The TJ2-MC64 does not consider I/O units (analog and digital, counter and pulse) and slice bus couplers as axes.

You must obey the most restrictive rules when you set the SERVO_PERIOD

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parameter. An incorrect value of the SERVO_PERIOD parameter results in an incorrect detection of the MECHATROLINK-II devices.

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System philosophy

The most restrictive rules are given in the tables below. For each unit the table lists the maximum number of devices the unit can control at the given SERVO_PERIOD setting.

SERVO_PERIOD TJ2-MC64

0.25 ms

0.5 ms 32 axes 4 devices 4 devices

1.0 ms 64 axes 8 devices 4 devices

2.0 ms 64 axes 16 devices 4 devices

16 axes N/A N/A

1. Total number of axes: real + virtual

2. MECHATROLINK-II does not support 0.25 ms

TJ1-ML16 TJ1-ML04

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System philosophy

Configuration examples

Example 1

• 1x TJ2-MC64

• 1x TJ1-ML04

• 3x G-Series Servo Drive

• SERVO_PERIOD = 1ms

TJ2-MC64 Supports 0.25ms SERVO_PERIOD with 3 axes. TJ1-ML04 Supports 0.5ms SERVO_PERIOD with 3 devices. G-Series supports 1ms SERVO_PERIOD. This is the limiting factor.

fig. 19

Servo Driver

Address

Address44Address

Terminator

Axis 2 Axis 3 Axis 4

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System philosophy

Example 2

• 1x TJ2-MC64

• 2x TJ1-ML16

• 16x G-Series Servo Drive

• SERVO_PERIOD = 1ms

TJ1-MC16 supports 0.25ms SERVO_PERIOD with 16 axes. TJ1-ML16 supports 1ms SERVO_PERIOD with 8 devices. G-Series supports 1ms SERVO_PERIOD.

fig. 20

Address41Address42Address43Address44Address45Address46Address47Address

Servo Drive

Terminator

Axis 0

Address

8 7

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Address4AAddress4BAddress4CAddress4DAddress4EAddress4FAddress

Axis 7

Terminator

Axis 8

Revision 1.0

Axis 9

Axis 10

Axis 11

Axis 12

Axis 13

Axis 14

Axis 15

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System philosophy

Example 3

• 1x TJ2-MC64

• 1x TJ1-ML16

• 8x G-Series Servo Drive

• 1x F7Z Inverter with SI-T interface

• 3x MECHATROLINK-II I/Os

• SERVO_PERIOD = 2.0ms

fig. 21

TJ1-ML16 supports 2.0ms SERVO_PERIOD with 12 devices. This is the limiting factor. G-Series Servo Drive supports 1.0ms SERVO_PERIOD. SI-T supports 1ms. MECHATROLINK-II I/Os support 1.0ms.

Example 4

• 1x TJ2-MC64

• 1x TJ1-ML16

• 2x TJ1-FL02

• 1x TJ1-PRT (does not influence in the SERVO_PERIOD)

• 5x G-Series Servo Drive

• SERVO_PERIOD = 1.0ms

TJ1-MC16 supports 0.5ms SERVO_PERIOD with 9 axes (5 MECHATROLINK-II servo axes and 4 TJ1-FL02 axes) TJ1-ML16 supports 1.0ms SERVO_PERIOD with 5 devices TJ1-FL02 supports 0.5ms SERVO_PERIOD (2 axes each module) Sigma-II supports 1.0ms SERVO_PERIOD.

Address

0 31 32 95 96 159 160

I/O Memory Allocations

Address62Address

Address41Address42Address43Address44Address45Address46Address47Address

2 3

fig. 22

Axis 8Axis 7 Axis 1Axis 0

Address43Address44Address45Address46Address

8 7

Revision 1.0

Axis 2 Axis 3 Axis 4 Axis 5 Axis 6

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System philosophy

2.6 Program control and multi-tasking using

BASIC programs only

The Trajexia system has programs, processes and multi tasking control.

2.6.1 Program control

The Trajexia system can control 22 processes that are written as BASIC programs. When the program is set to run, the program is executed. Processes 0 to 19 are low priority, 20 and 21 are high priority.

2.6.2 Processes

The "Terminal Window" of Trajexia Studio has its own process (process 22). This terminal window is used to write direct BASIC commands to the TJ2MC64 independent to other programs. These commands are executed after you press the Enter button.

2.6.3 Multi-tasking

Each cycle time is divided into 4 time slots. User processes run in 3 slots

fig. 23

according to the priority and type of the process. The rules which type of process is is run in which slot are defined in the table below.

CPU slot Operation

CPU slot 1 Execute whichever comes first in the list:

• Low priority BASIC Program, or

• High priority BASIC Program, or

•PLC

CPU slot 2 Execute whichever comes first in the list:

•PLC, or

• High priority BASIC Program, or

• Low priority BASIC Program

CPU slot 3 System processes

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HARDWARE REFERENCE MANUAL 31

Slot 1 Slot 2 Slot 3

Cycle time

Slot 4

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System philosophy

CPU slot Operation

CPU slot 4 Execute whichever comes first in the list:

• High priority BASIC Program, or

•PLC, or

• Low priority BASIC Program

2.6.4 Multi-tasking examples

In the example 1, there are two high-priority processes (20 and 21) and 3 low-priority processes (0, 1 and 2). The first slot will execute low-priority processes (first in the list). The second and fourth slots will execute the highpriority processes. In this example the high-priority processes are executed every cycle. The low-priority processes are executed once every 3 cycles. Therefore the high-priority processes run 3 times faster than the low-priority processes. In the middle example, there is only one high-priority process (21). The highpriority process now runs twice every cycle and theerfore runs 6 times faster than the low-priority processes. In the lower example, there are no high-priority processes. Therefore, all slots can be used for the low-priority processes. All 3 processes get (in average) the same number of slots per cycle and therefore run with the same speed.

Revision 1.0

fig. 24

1ms 1ms

SYS

21 202

1ms 1ms

SYS

21 212

1ms 1ms

SYS

102

SYS

21 201

SYS

21 211

SYS

102

1ms

SYS

21 200

1ms

SYS

21 210

1ms

SYS

102

1ms

SYS

21 202

1ms

SYS

21 212

1ms

SYS

102

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System philosophy

2.7 Motion sequence and axes

Motion sequence is the part of the TJ2-MC64 that controls the axes. The actual way that the motion sequence operates depends on the axis type. The axis type can be set and read by the parameter ATYPE. At start-up the Trajexia system automatically detects the configuration of the axes.

• The default value for the parameter ATYPE for MECHATROLINK-II axes is 40 (MECHATROLINK-II position).

• The default value for the parameter ATYPE for the TJ1-FL02 axes is 44 (Servo axis with an incremental encoder).

All non allocated axes are set as a virtual axis. The value for the parameter ATYPE is 0. Every axis has the general structure as shown in fig. 25.

The motion sequence which will be executed at the beginning of each servo period will contain the following elements:

1. Transfer any moves from BASIC process buffers to motion buffers (see section 2.8).

2. Read digital inputs.

3. Load moves. (See note.)

4. Calculate speed profile. (See note.)

5. Calculate axis positions. (See note.)

6. Execute position servo. For axis 0 this also includes the Servo Drive communications. (See note.)

7. Update outputs.

fig. 25

• block

•

Servo Drive

OFF

Speed loop

Torq ue

loop

Profile generatorProfile generator

AXIS PARAMETER

Position loop

Foll owing

Demanded

position

Measured

position

Foll owing

error

Speed

command

Note

Each of these items will be performed for each axis in turn before moving on to the next item.

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System philosophy

2.7.1 Profile generator

The profile generator is the algorithm that calculates the demanded position for each axis. The calculation is made every motion sequence. The profile is generated according to the motion instructions from the BASIC programs.

2.7.2 Position loop

The position loop is the algorithm that makes sure that there is a minimal deviation between the measured position (MPOS) and the demand position (DPOS) of the same axis.

2.7.3 Axis sequence

• The motion controller applies motion commands to an axis array that is

defined with the BASE command. If the motion command concerns one axis, it is applied to the first axis in the BASE array. If the motion command concerns more than one axis, and makes an orthogonal move, the axes are taken from the array in the order defined by the BASE command. For more information on the BASE command and the definition of the axis sequence in an axis array, refer to the Trajexia Programming Manual, chapter 3 (BASIC commands).

•If SERVO=OFF for one axis, the motion commands for that axis are

ignored.

• If the Following Error (FE) in one axis exceeds the parameter value FELIMIT, the next action occurs:

- WDOG is set to OFF and all axes stop.

- SERVO for the axis that causes the error goes to OFF.

- The current move is cancelled and removed from the buffer.

Basic Program

.........

MOVE(1000)

.........

fig. 26

Profile generator

Demand Position

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System philosophy

2.7.4 Type of axis

ATYPE Applicable to Name Description

0 All axes Virtual axis Internal axis with no physical output. It is the

only valid setting for non-allocated axes. That is, those that are not MECHATROLINK-II servos or a flexible axis.

40 MECHATRO-

LINK-II Servo Drives con-

41 MECHATRO-

42 MECHATRO-

43 External Drive

44 Servo axis

45 Encoder out-

46 Absolute Tam-

47 Absolute

nected to a TJ1ML__

connected to a TJ1-FL02

MECHATROLINK-II Position

LINK-II Speed (Default)

LINK-II Torque

Stepper output Pulse and direction outputs. Position loop is in

(Default) Encoder

put

agawa

EnDat

Position loop in the Servo Drive. TJ2-MC64 sends position reference to the Servo Drive via MECHATROLINK-II.

Position loop in the Trajexia. TJ2-MC64 sends speed reference to the Servo Drive via MECHATROLINK-II.

Position loop in the Trajexia. TJ2-MC64 sends torque reference to the Servo Drive via MECHATROLINK-II.

the Drive. TJ1-FL02 sends pulses and receives no feed back.

Analogue servo. Position loop is in the TJ2MC64. The TJ1-FL02 sends speed reference and receives position from an incremental encoder.

The same as stepper, but with the phase differential outputs emulating an incremental encoder.

The same as servo axis but the feed back is received from a Tamagawa absolute encoder.

The same as servo axis but the feed back is received from an EnDat absolute encoder.

48 Absolute SSI The same as servo axis but the feed back is

Revision 1.0

received from an SSI absolute encoder.

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System philosophy

ATYPE Applicable to Name Description

49 ML__ Inverter as

axis

60 External Drive

connected to a TJ1-FL02

Stepper input Pulse and direction inputs.

Inverters (with built-in encoder interface) are controlled on the MECHATROLINK-II bus as servo axes.

Virtual axis ATYPE=0

The main use cases of a virtual axis are:

• As perfect master axis of the machine. All the other axes follow this virtual master axis.

• As auxiliary axis to split a complex profile into two or more simple movements, each assigned to a virtual axis. These movements can be added together with the BASIC command ADDAX then assigned to a real axis

Profile generator

MEASURED

POSITION

fig. 27

POSITION

DEMAND

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System philosophy

MECHATROLINK-II position ATYPE=40

With SERVO = ON, the position loop is closed in the Servo Drive. Gain settings in the TJ2-MC64 have no effect. The position reference is sent to the Servo Drive.

TJ1-MC__

fig. 28

TJ1-ML__ SERVO

Note

Although MPOS and FE are updated, the real value is the value in the Servo Drive. The real Following Error can be monitored by the

DRIVE_MONITOR parameter by setting DRIVE_CONTROL = 2.

Note

The MECHATROLINK-II position ATYPE = 40 is the recom- mended setting to obtain a higher performance of the servo motor.

MECHATROLINK-II speed ATYPE=41

With SERVO = ON, the speed loop is closed in the TJ2-MC64. Speed reference is sent to the Servo Drive. This setting is not recommended, since there is one cycle delay in the loop (DPOS(n) is compared with MPOS(n-1)). With SERVO = OFF, the speed reference is sent via S_REF command. 0x40000000 means maximum speed of the servomotor. This is the recommended setting.

Profile generator

Trajexia Position Loop is deactivated (Gains are not used!)

Profile generator

SERVO = OFF SERVO = OFF

Position loop

Demanded

position

Measured

position

Following

error

Speed

command

fig. 29

TJ1-MC__

Demanded

position

Measured

position

Position loop

Following

error

Speed

command

SERVO = OFF SERVO = OFF

ML-II

Position

command

TJ1-ML__

ML-II

Speed

command

Position Loop

Speed Loop

SERVO

Speed Loop

Torque Loop

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System philosophy

MECHATROLINK-II torque ATYPE=42

With SERVO = ON, the torque loop is closed in the TJ2-MC64. The torque reference in the Servo Drive depends on the FE and the gain. With SERVO = OFF, the torque reference is sent directly via the T_REF command. 0x40000000 is the maximum torque of the servomotor.

TJ1-MC__

fig. 30

TJ1-ML__

SERVO

Note To monitor the torque in the servo in DRIVE_MONITOR, set DRIVE_CONTROL=11.

Stepper output ATYPE=43

The position profile is generated and the output from the system is a pulse train and direction signal. This is useful to control a motor via pulses or as a position reference for another motion controller.

Profile generator

Demanded

position

Measured

position

Position loop

Following

error

Torque

command

SERVO = OFF SERVO = OFF

ML-II

Torque

command

Torque Loop

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System philosophy

Servo axis ATYPE=44

With SERVO = ON this is an axis with an analogue speed reference output and incremental encoder feedback input. The position loop is closed in the TJ2-MC64 which sends the resulting speed reference to the axis.

Profile generator

fig. 31

TJ1-MC__ TJ1-FL02 DRIVE

Demanded

Position

Measured

Position

Position loop

Following

Error

Speed

Command

Encoder Signal

SERVO = OFF SERVO = OFF

10V

With SERVO = OFF, the position of the external incremental encoder is

fig. 32

read. The analogue output can be set with BASIC commands only and can

Measured

Position

TJ1-MC__ TJ1-FL02

be used for general purposes.

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Encoder output ATYPE=45

The position profile is generated and the output from the system is an incremental encoder pulse. This is useful to control a motor via pulses or as a position reference for another motion controller.

fig. 33

TJ1-FL02

Profile generator

Absolute Tamagawa encoder ATYPE=46

With SERVO = ON, this is an axis with analogue speed reference output and absolute Tamagawa encoder feedback. The position loop is closed in the TJ2-MC64 and the resulting speed reference is sent to the axis. With SERVO = OFF, the position of the external absolute Tamagawa encoder is read. The analogue output can be set with BASIC commands only and can be used for general purposes. See fig. 35 for reference.

Absolute EnDat encoder ATYPE=47

With SERVO = ON, this is an axis with analogue speed reference output and absolute EnDat encoder feedback. The position loop is closed in the TJ2MC64 and the resulting speed reference is sent to the axis. With SERVO = OFF, the position of the external absolute EnDat encoder is read. The analogue output can be set with BASIC commands only and can be used for general purposes. See fig. 35 for reference.

AXIS 1

ATYPE = 45

Demanded

position

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Absolute SSI encoder ATYPE=48

With SERVO = ON, this is an axis with analogue speed reference output and absolute SSI encoder feedback. The position loop is closed in the TJ2-MC64 and the resulting speed reference is sent to the axis. With SERVO = OFF, the position of the external absolute SSI encoder is read. The analogue output can be set with BASIC commands only and can be used for general purposes. See fig. 35 for reference.

Inverter axis ATYPE=49

This type allows Inverters (with built-in encoder interface) to be controlled on the MECHATROLINK-II bus as servo axes. From the controller point of view, Inverter axes are handled the same as servo axes in MECHATROLINK-II Speed Mode (ATYPE=41). Unlike the other axis types, this Inverter axis must be defined programmatically with function 8 of the command INVERTER_COMMAND.

The Speed command to the Inverter and the feedback from the encoder is refreshed in the Inverter every 5 ms. This is a DPRAM limitation. This means that the use of the Inverter is similar to the use of a Servo Drive, but the performance is lower.

Summary of axis types and control modes

The following table lists the axis types and their recommended modes for speed control, position control and torque control.

Profile generator

SERVO = OFF

Demanded

position

Measured

position

TJ1-MC__

Position loop

Following

error

fig. 34

Speed

command

SERVO = OFF

TJ1-ML__

ML-II

Speed

command

DPRAM

REFRESH

EVERY 5ms

INVERTER

Speed Loop

ATYPE SERVO Mode Comment

40 OFF Position

40 ON Position

Revision 1.0

41 OFF Speed

(MECHATROLINK-II)

The position loop is closed in the Servo Drive. No new motion command is allowed.

Recommended mode for position control with MECHATROLINK-II axes.

Recommended mode for speed control with MECHATROLINK-II axes. Set the speed with

S_REF.

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System philosophy

ATYPE SERVO Mode Comment

41 ON Position

(MECHATROLINK-II)

42 OFF Torque

(MECHATROLINK-II)

42 ON Position via torque

(MECHATROLINK-II)

44, 46, 47, 48

49 OFF Speed Inverter (with built-in encoder interface) control-

49 ON Position Inverter (with built-in encoder interface) control-

OFF Speed

(Flexible Axis)

ON Position

(Flexible Axis)

The position loop is closed in Trajexia. This gives lower performance than closing the position loop in the Servo Drive.

Recommended mode for torque control with MECHATROLINK-II axes. Set the torque with T_REF.

The position loop is closed in Trajexia. The output of the position loop is sent as the torque reference to the Servo Drive.

Recommended mode for speed control with Flexible Axis.

The position loop is closed in Trajexia. Recommended mode for position control with Flexible Axis.

led on the MECHATROLINK-II bus as a servo axis. Set the speed with S_REF.

led on the MECHATROLINK-II bus as a servo axis. The position loop is closed in Trajexia.

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2.8 Motion buffers

The motion buffer is a temporary store of the motion instruction from the BASIC program or PLC task to the profile generator. The BASIC program continues while the instruction waits in the buffer. There are three types of buffer:

• MTYPE. The current movement that is being executed. MTYPE relates to the axis and not to the process.

• NTYPE. The new movement that waits for execution. NTYPE relates to the axis and not to the process. NTYPE is the first entry of the Look Ahead buffer which size is defined by LIMIT_BUFFERED.

• Process Buffer. The third buffered movement cannot be monitored. The process buffer relates to the process and not to the axis.

It is possible to check if the process buffer is full by checking the PMOVE process parameter.

When a motion instruction is executed, the instruction is loaded into the process buffer and distributed to the corresponding axis buffer in the next motion sequence. If all buffers are full and an additional motion instruction is executed, the BASIC program stops execution until a process buffer is free for use. In case of a PLC task the motion Function Block will signal that the motion instruction cannot be loaded in the buffer.

BASIC PROGRAM

..... ..

MOVE(-500)

..... ..

MOVE(1000)

..... ..

CONNECT(1,1)

..... ..

Process 1

Process 2

Process 3

Process 4

Process 5

Process 6

Process 7

CONNECT(1,1) AXIS(2)

PROCESS BUFFER

Process Buffer

fig. 35

fig. 36

AXIS BUFFER

(one per axis)

NTYPE

Waiting to be executed

MTYPE

Profile generator

Axis 0

Axis 1

Axis 2

Axis 3

WAITING EXECUTING

NTYPE

NTYPE MTYPE

MOTION COMMAND

Currently executed

MOTION COMMAND

DEMAND

POSITION

MTYPE

Process 14

Each process has its own “Process Buffer”

Revision 1.0

Program Buffer

Each Axis has its own 2 buffers: NTYPE & MTYPE

NTYPE MTYPE

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System philosophy

Example of buffered instructions:

EXAMPLE:

BASIC PROGRAM

.......

MOVE(-500)

.......

MOVE(1000)

.......

DATUM (3)

.......

MOVE(200)

.......

BASIC PROGRAM

.......

MOV E(- 50 0)

.......

MOV E(1 00 0)

.......

DATUM( 3)

.......

MOV E(2 00 )

.......

BASIC PROGRAM

.......

MOV E(-50 0)

.......

MOVE(1000)

.......

DAT UM(3)

.......

MOVE(200)

.......

BASIC PROGRAM

.......

MOV E(-50 0)

.......

MOVE(1000)

.......

DAT UM(3)

.......

MOVE(200)

.......

BASIC PROGRAM

.......

MOVE(-500)

.......

MOVE(1000)

.......

DAT UM(3)

.......

MOVE(200)

.......

BASIC PROGRAM

.......

MO VE(-50 0)

.......

MOVE(1000)

.......

DATU M(3)

.......

MOVE(200)

.......

BUFFER

--------------------------------NTYPE IDLE

--------------------------------MTYPE MOVE(-500)

- - - -

BUFFER

- - - -

--------------------------------NTYPE MOVE(1000)

--------------------------------MTY PE MOV E( -5 00)

BUFFER

DATUM(3)

----------------------------- ---NTYPE MOVE(1000)

----------------------------- ---MTYPE MOVE(-500)

BUFFER

MOVE(200)

----------------------------- ----

----------------------------- ---NTYPE DATUM(3)

NTYPE DATUM(3)

----------------------------- ----

----------------------------- ---MTYPE MOVE(1000)

MTYPE MOVE(1000)

BUFFER

- - - - - -

---------------------------------

--------------------------------NTYPE MOVE(200)

NTYPE MOVE(200)

---------------------------------

--------------------------------MTYPE DATUM(3)

MTYPE DATUM(3)

BUFFER

- - - - - -

---------------------------------

--------------------------------NTYPE IDLE

NTYPE IDLE

---------------------------------

--------------------------------MTYPE MOVE(200)

MTYPE MOVE(200)

MOVE -500

MOV E -50 0

MOVE -500

fig. 37

MOVE 1000

DATU M (3)

DAT UM (3)

MOVE 200

1.- All buffers are empty and a movement is loaded. The movement starts to execute.

2.- A second movement is loaded while the first one is not finished. The new movement waits in the second buffer.

3.- A third movement can still be stored in the process buffer. If the basic

program reaches

‘MOVE(200)’ it will wait.

4.- The first movement has finished. Thebuffer moves

by one pos ition . The next movement starts to execute.

5.- As the sent movements are finished, the buffer

empties.

6.- If no new movements are executed, fin ally, the buffer will b ecome emp ty and the profile generator becomes inactive.

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2.9 Mechanical system

2.9.1 Inertia ratio

The inertia ratio is a stability criterion. The higher the intertia of the load in relation to the intertia of the motor, the lower the gains you can set in your system before you reach oscillation, and the lower the performance you can reach. With a ratio of 1:30 for small Servo Drives and a ratio of 1:5 for big Servo Drives you can reach the maximum dynamic of the motor-Drive combination.

2.9.2 Rigidity

If a machine is more rigid and less elastic, you can set higher gains without vibration, and you can reach higher dynamic and lower Following Error.

2.9.3 Resonant frequency

A mechanical system has at least one resonant frequency. If you excite your mechanical system to the resonant frequency, it starts oscillating. For motion systems, it is best to have mechanical systems with a very high resonant frequency, that is, with low inertia and high rigidity. The resonant frequency of the mechanical system is the limit for the gain settings.

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3 Hardware reference

3.1 Introduction

Trajexia is OMRON's motion platform that offers you the performance and the ease of use of a dedicated motion system.

Trajexia is a stand-alone modular system that allows maximum flexibility and scalability. At the heart of Trajexia lies the TJ2 multi-tasking machine controller. Powered by a 64-bit processor, it can do motion tasks such as ecam, e-gearbox, registration control and interpolation, all via simple motion commands.

Trajexia offers control of up to 64 axes over a MECHATROLINK-II motion bus or traditional analogue or pulse control with independent position, speed or torque control for every axis. And its powerful motion instruction set makes programming intuitive and easy.

You can select from a wide choice of best-in-class rotary, linear and directdrive Servo systems as well as Inverters. The system is scalable up to 64 axes, Inverters or I/O modules.

The TJ2-MC64 also contains a IEC 61131-3 compliant soft PLC, capable of controlling I/O and performing motion.

3.1.1 Trajexia High-Lights

NS-series HMI

Digital I/O

Hostlink

CJ-series PLC CX-one

Ethernet

MECHATROLINK-II

fig. 1

Trajexia Tools

PROFIBUS-DP

Master

DEVICENET

Master

CANopen

Master

The main high-lights of the trajexia system are as follows:

Direct connectivity via Ethernet

Trajexia's built-in Ethernet interface provides direct and fast connectivity to PCs, PLCs, HMIs and other devices while providing full access to the CPU and to the Drives over a MECHATROLINK-II motion bus. It allows explicit messaging over Ethernet and through MECHATROLINK-II to provide full

Revision 1.0

transparency down to the actuator level, and making remote access possible.

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Keep your know-how safe

By preventing access to the programs in the controller Trajexia guarantees complete protection and confidentiality for your valuable know-how.

Serial Port and Local I/Os

A serial connector provides direct connectivity with any OMRON PLC, HMIs or any other field device. 16 Inputs and 8 outputs are freely configurable embedded I/Os in the controller to enable you to tailor Trajexia to your machine design.

MECHATROLINK-II Master

The MECHATROLINK-II master performs control of up to 64 Servo Drives, Inverters or I/Os while allowing complete transparency across the whole system.MECHATROLINK-II offers the communication speed and time accuracy essential to guarantee perfect motion control of Servo Drives. The motion cycle time is selectable between 0.5 ms, 1 ms or 2 ms.

TJ1-FL02 (Flexible Axis Unit)

The TJ1-FL02 allows full control of two actuators via an analogue output or pulse train. The module supports the main absolute encoder protocols allowing the connection of an external encoder to the system.

Drives and Inverters

A wide choice of rotary, linear and direct-drive Servo systems as well as Inverters are available to fit your needs in compactness, performance and reliability. The Inverters connected to the MECHATROLINK-II are driven at the same update cycle time as the Servo Drives.

Remote I/Os

The I/Os on the MECHATROLINK-II motion bus provide for system expansion while keeping the devices under one motion bus.

PROFIBUS-DP

Revision 1.0

The PROFIBUS-DP slave allows connectivity to the PROFIBUS network in your machine.

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DeviceNet

The DeviceNet slave allows connectivity to the DeviceNet network in your machine.

CANopen

The CANopen master allows connectivity to the CANopen network in your machine.

Modbus

Both ModbusRTU via serial and ModbusTCP via Ethernet are supported to be able to connect to masters supporting the same interface.

3.1.2 Trajexia Studio and CX-Motion Pro

One software

Trajexia's intuitive and easy programming tool, based on the Motion BASIC instruction set, includes dedicated commands for linking axes, e-cams, egearboxes etc. Multi-tasking provides flexibility in application design. The motion commands are "buffered" so the BASIC programs are executed while motion movements are executed.

Note

Trajexia Studio and CX-Motion Pro are the same software. Trajexia Studio is supplied standalone where CX-Motion Pro is part of the CX-One automation suite.

One connection

The parameters and functions inside the Drives on the MECHATROLINK-II are fully accessible from the Ethernet connection.

One minute

Trajexia Studio includes advanced debugging tools, including trace and oscilloscope functions, to ensure efficient operation and minimum downtime.

Revision 1.0

The Servo Drives, Inverters and I/Os connected to the MECHATROLINK-II motion bus are automatically identified and configured, allowing you to set up your system in minutes.

fig. 2

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3.1.3 This manual

This Hardware Reference Manual gives the dedicated information for:

• The description, connections and use of the Trajexia units

• The description, connections and use of the MECHATROLINK-II slaves

• A detailed philosophy of the system design to obtain the best results for Trajexia

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3.2 All units

3.2.1 System installation

A Trajexia system consists of these units:

• A Power Supply Unit.

• A TJ2-MC64 (Machine Controller Unit).

• Up to 7 expansion units.

• A TJ1-TER (Terminator Unit).

The expansion units (unit numbers 0-6) can be arranged in any order. The TJ2-MC64 autodetects all units.

A Trajexia system with a TJ2-MC64 can include:

• 0 to 4 TJ1-ML__ units (MECHATROLINK-II Master Unit).

• 0 to 7 TJ1-FL02 units.

• 0 or 1 TJ1-PRT (PROFIBUS-DP Slave Unit) or TJ1-DRT units (DeviceNet Slave Unit)

• 0 or 1 TJ1-CORT units (CANopen Master Unit).

fig. 3

-1Unit number: 0123456

Revision 1.0

1. Trajexia does not support both a TJ1-PRT and a TJ1-DRT unit in the same

system.

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The figure is an example of a simple configuration. A. Power supply B. TJ2-MC64. C. TJ1-ML__. D. G-Series Servo Drive E. G-Series Servo motor F. TJ1-TER.

MC16

OMRON

MOTION CONTROLLER

CN3

fig. 4

0 1 2 3 4 5 6 7

TERM ON/OFF

WIRE 2/4

ML16

RUN

CN1

CN2

CN1

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1. Remove all the units from the packaging. Make sure all units are complete.

2. Do not remove the protection labels from the units.

3. To disconnect the TJ2-MC64 and the TJ1-TER, push the clips (A) on top and bottom of the TJ1-TER to the front.

4. Disconnect the TJ1-TER from the TJ2-MC64.

5. Push the clips (A) on top and bottom of all the units to the front.

fig. 5

MC16

M OTION CON

TROLLER

4 5 6 7

CN1

TER

N/O

IRE

2/4

fig. 6

MC16

OMRON

1 2

MOTION CONTROLLER

3 4 5 6 7

CN3

CN1

TERM ON/OFF

IRE

2/4

CN2

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6. Attach the TJ2-MC64 (C) to the Power Supply Unit (B).

7. Push the clips (A) on top and bottom to the rear.

fig. 7

MC16

OMRON

MOTION CONTROLLER

fig. 8

0 1

2 3 4 5 6 7

CN3

CN1

TERM ON/OFF

IRE

2/4

CN2

C16

RON

MOTION CONTROLLER

3 4 5 6 7

CN3

CN1

TERM ON/OFF

WIRE 2/4

CN2

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8. Repeat the previous two steps for all other units.

9. Make sure the last unit is the TJ1-TER.

10. Pull down all the clips (D) on all units.

11. Attach the Trajexia system to the DIN rail in an upright position to provide proper cooling. The recommended DIN rail is of type PFP100N2, PFP-100N or PFP-50N.

12. Push all the clips (D) up on all units.

13. After you complete the wiring of the units, remove the protection labels from the units.

fig. 9

MC16

OMRON

1 2

OTIO

N C

ONTR

LLER

CN3

ML16

5 6 7

C N

TERM O

N/O

IRE

2/4

CN2

RUN

CN1

fig. 10

MC16

O N

MOTION CONTROLLER

3 4

ML16

5 6 7

CN3

CN1

TERM ON/OFF

WIRE 2/4

CN2

U N

CN1

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14. Do not install the Trajexia units in one of these positions:

• Upside down.

• With the top side forward.

• With the bottom forward.

•Vertically.

fig. 11

N C

2/4

IR W

N O

1 N

LLE

N C

OTIO

OMRON

5 4 3 2 1 0

ML16

MC16

CN1

8F U R

16 L M

C16 M

OFF

2/4

WIR

TERM

CN3

MOTION CONTROLLE

OMRON

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15. When you design a cabinet for the units, make sure that the cabinet allows at least 20 mm of space around the units to provide sufficient airflow. We advise to allow at least 100 mm of space around the units.

3.2.2 Environmental and storage for all units

Item Specification

Ambient operating temperature 0 to 55°C

Ambient operating humidity 10 to 90% RH. (with no condensation)

Ambient storage temperature -20 to 70°C (excluding battery)

fig. 12

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 147 m/s

Insulation resistance 20 MΩ

Dielectric strength 500 VAC

Protective structure IP20

Revision 1.0

International standards CE, EN 61131-2, cULus, Lloyds

RoHS compliant

, 3 times each X, Y and Z directions

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3.2.3 Unit dimensions

The dimensions for the units of the Trajexia system are as follows:

Trajexia machine controller

All measurements are in mm.

fig. 13

70.3

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Trajexia units

All measurements are in mm.

fig. 14

39.9

70.3

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Trajexia system

All measurements are in mm.

fig. 15

A202

The installation depth of the Trajexia system is up to 90 mm, depending on the modules that are mounted. Allow sufficient depth in the control cabinet.

3.2.4 Wire the I/O connectors

To wire the I/O connectors of the TJ2-MC64 and the TJ1-FL02 units, do

Revision 1.0

these steps:

fig. 16

3145

70.30

81.60 to 89.0 mm

29.7

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1. Strip the wires.

2. To make it easier to insert the wires, twist them.

3. If necessary, crimp the plain (top) ferrules or the collared (bottom) ferrules.

4. Insert the screwDrive into the inner (square) hole. Push firmly.

5. Insert the wire into the outer (circular) hole.

6. Remove the screwDrive.

7. Make sure that there are no loose strands.

Wiring specifications

Item Specification

Wire types 0.14−1.0 mm

Solid, stranded or stranded with ferrule:

• Crimp ferrules according to DIN46228/1

• Crimp ferrules wit plastic collar according to DIN46228/4

• With recommended tool Weidmüller PZ6

Insertion tool 2.5 mm flat-bladed screwDrive

Recommended ferrule types

Stripping length 7 mm without ferrules (tolerance: +1 mm, −0 mm)

Weidmüller AEH H0,14/12 AEH H0,25/12 AEH H0,34/12

10 mm with ferrules (tolerance: +1 mm, −0 mm)

fig. 17

Conductor size

Item Specification

Clamping range 0.08−1.0 mm

Wires without ferrule 0.5−1.0 mm

Wires with ferrule AEH H0,14/12, 0.13 mm

Revision 1.0

AEH H0,25/12, 0.25 mm AEH H0,34/12, 0.34 mm

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3.3 Power Supply Unit (PSU)

3.3.1 Introduction

The PSU supplies power to the other units in the Trajexia system. You can use three different types of Power Supply Unit with the Trajexia system:

• CJ1W-PA202

• CJ1W-PA205R

• CJ1W-PD025.

3.3.2 PSU Connections

Each Power Supply Unit has six terminals:

Item CJ1W-PA202 CJ1W-PA205R CJ1W-PD025

A 110 - 240 VAC input 110 - 240 VAC input 24 VDC input

B 110 - 240 VAC input 110 - 240 VAC input 0 V input

C Line earth Line earth Line earth

D Earth Earth Earth

EN/C

F N/C Wdog relay contact N/C

Wdog relay contact

N/C

1. Terminals E and F for the CJ1W-PA205R are relay contacts that close

when Wdog is enabled. Refer to the BASIC Commands in the Programming manual.

Caution

Always connect to a class-3 ground (to 100Ω or less) when installing the Units. Not connecting to a class-3 ground may result in electric shock.

Revision 1.0

XXXXX

AC100

-240V

INPUT

L2/N

fig. 18

POWER

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Caution

A ground of 100Ω or less must be installed when shorting the GR and LG terminals on the Power Supply Unit. Not connecting a ground of 100Ω or less may result in electric shock.

Each Power Supply Unit has one green LED (G). This LED comes on when you connect the Power Supply Unit to the power source.

Caution

Tighten the screws of the power supply terminal block to the torque of 1.2 N·m. Loose screws can result in short-circuit, malfunction or fire.

3.3.3 PSU Specifications

Power Supply Unit

CJ1W-PA202 110 - 240 VAC 2.8 A 0.4 A 14 W

CJ1W-PA205R 110 - 240 VAC 5.0 A 0.8 A 25 W

CJ1W-PD025 24 VDC 5.0 A 0.8 A 25 W

Input voltage

Maximum current consumption Output

5 V group 24 V group

power

Caution

The amount of current and power that can be supplied to the system is limited by the capacity of the Power Supply Unit. Refer to this table when designing your system so that the total current consumption of the units in the system does not exceed the maximum current for each voltage group.

Revision 1.0

The total power consumption must not exceed the maximum for the Power Supply Unit.

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3.3.4 PSU box contents

• Safety sheet.

• Power Supply Unit.

• Protection label attached to the top surface of the unit.

3.4 TJ2-MC64

3.4.1 Introduction

The TJ2-MC64 is the heart of the Trajexia system. You can program the TJ2-MC64 with the BASIC programming language to control the expansion units and the Servo motors attached to the expansion units. Refer to the Programming Manual. The TJ2-MC64 has these visible parts:

fig. 19

Part Description

ALED display

B I/O LEDs 0 - 7

C Battery

D Ethernet connector

E TERM ON/OFF switch

F WIRE 2/4 switch

G Serial connector

H 28-pin I/O connector

G H

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3.4.2 LED Display

The LED display shows the following information:

Information When

IP address and subnet mask

IP address Shows 4 times when you connect an Ethernet cable to the Ethernet

RUN When the TJ2-MC64 operates a Servo Drive.

OFF When the TJ2-MC64 does not operate a Servo Drive.

ERR + code When an error occurs in the Trajexia system.

Shows 3 times when you connect the Trajexia system to the power supply.

connector of the TJ2-MC64 and to a PC.

The code is the error code. Refer to troubleshooting chapter in the Programming Manual.

fig. 20/i

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3.4.3 TJ2-MC64 Connections

The TJ2-MC64 comes with these connectors:

• One Ethernet connector, to connect to a PC or Ethernet network (D)

• One serial connector (G).

• One 28-pin I/O connector (H).

The parts for the serial connector and the 28-pin connector are supplied.

Ethernet connector

The Ethernet connector is used to connect the TJ2-MC64 to a PC or Ethernet network. The Ethernet connector is the only connection that can be used to program the system. Use either a crossover or a Ethernet patch cable for this connection. If you connect the PC directly to the TJ2-MC64, and not via a hub or any other network device, the PC must have a fixed IP address. The TJ2-MC64 automatically detects when a cable is connected to the Ethernet connector.

BASIC installation precautions

Make sure that the Ethernet system is to the IEEE Std 802.3 standard. Do not install the Ethernet system near a source of noise.

Environmental precautions

UTP cables are not shielded. In environments that are subject to noise use a system with shielded twisted-pair (STP) cable and hubs suitable for an FA environment. Install twisted-pair cables away from high-voltage lines and devices that generate noise. Install twisted-pair cables in locations that are free of high humidity and excessive dust and contaminates.

fig. 21

G H

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Serial connector

The serial connector allows for three communication standards:

• RS232.

• RS422.

• RS485.

Pin Communication Connection

1 RS422/RS485 /Tx

2 RS232 Tx

3 RS232 Rx

4N/C N/C

5N/C N/C

6 RS422/RS485 /Rx

7 RS422/RS485 Tx

8 RS422/RS485 Rx

9 RS232 0 V

TERM ON/OFF Switch

Sets the termination on/off of the RS422 / 485 serial connection. The setting of the TERM ON/OFF switch depends on the communication standard of the serial connection and the position of the TJ2-MC64 in the network:

fig. 22

9 8 7 6

4 3 2 1

Communication standard

RS422 or RS485 First or last Left (on)

RS422 or RS485 Not the first and not the last Right (off)

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Position of the TJ2-MC64 Setting of the TERM ON/OFF

switch

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Hardware reference

WIRE 2/4 Switch

The WIRE 2/4 switch sets the communication standard for the RS422/485 serial connection. To use one of the communication standards, do this:

Communication standard How to select it

RS422 Set the WIRE 2/4 switch right

RS485 Set the WIRE 2/4 switch left

fig. 23

Note

In RS485 mode, the transmit pair is connected to the receive pair.

G H

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Hardware reference

28-Pin I/O connector

The 28 pin connector is a Weidmuller connector designation: B2L 3.5/28 LH.

Pin Connection Pin Connection

1 0 V input common 2 0 V input common

3 Input 0 4 Input 1

5 Input 2 6 Input 3

7 Input 4 8 Input 5

9 Input 6 10 Input 7

11 Input 8 12 Input 9

13 Input 10 14 Input 11

fig. 24/i

15 Input 12 16 Input 13

17 Input 14 18 Input 15

19 Output 8 20 Output 9

21 Output 10 22 Output 11

23 Output 12 24 Output 13

25 Output 14 26 Output 15

27 0 V output common 28 24V Power supply Input for

the Outputs.

LEDs 0 - 7

The I/O LEDs reflect the activity of the input and outputs. You can use the BASIC DISPLAY=n command to set the LEDs. The table below lists the configuration for LEDs 0 - 7 and the DISPLAY=n command where n ranges from 0 to 7.

LED

Revision 1.0

label

0 IN 0 IN 8 IN 16 IN 24 OUT 0 OUT 8 OUT 16 OUT 24

1 IN 1 IN 9 IN 17 IN 25 OUT 1 OUT 9 OUT 17 OUT 25

n=0 n=1 n=2 n=3 n=4

n=5 n=6 n=7

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LED label

2 IN 2 IN 10 IN 18 IN 26 OUT 2 OUT 10 OUT 18 OUT 26

3 IN 3 IN 11 IN 19 IN 27 OUT 3 OUT 11 OUT 19 OUT 27

4 IN 4 IN 12 IN 20 IN 28 OUT 4 OUT 12 OUT 20 OUT 28

5 IN 5 IN 13 IN 21 IN 29 OUT 5 OUT 13 OUT 21 OUT 29

6 IN 6 IN 14 IN 22 IN 30 OUT 6 OUT 14 OUT 22 OUT 30

7 IN 7 IN 15 IN 23 IN 31 OUT 7 OUT 15 OUT 23 OUT 31

n=0 n=1 n=2 n=3 n=4

n=5 n=6 n=7

1. Outputs 0 to 7 are not physical outputs.

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:

Item Specification

Type PNP/NPN

Maximum voltage 24 VDC + 10%

Input current 5 mA at 24 VDC

ON voltage 14.4 VDC

OFF voltage 5.0 VDC max.

External power

supply 24V

Input

0V Input

fig. 25

TJ 1-MC 16

The timings are dependant upon the MC64’s servo period, and include

0V common for Input circuits

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.

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Digital outputs

The following table and illustration details the digital output (O8 to O15) specifications:

Item Specification

Type PNP

Maximum voltage 24 VDC + 10%

Current capacity 100 mA each output (800 mA for a group of 8)

Max. Voltage 24 VDC + 10%

Protection Over current, Over temperature and 2A fuse on

Common

The timings are dependant upon the MC64’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.

lvanically

Equivalent circuit

isolated from the system)

Internal circuits (ga

To other output circuits

fig. 26

TJ 1-MC 16

2A Fuse

24V output supply28

19 O8

0Vout

External

power

supply

24V

Load

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3.4.4 Battery

The backup battery provides power to the RAM, where global variables are stored, and real Time Clock when the power supply is off. You must replace it every five years. The part number of the backup battery is CJ1W-BAT01. To replace the battery the power must not be off for more than five minutes to ensure no backup memory loss. If the TJ2-MC64 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.

3.4.5 TJ2-MC64 Specification

Item Specification

Power supply 5 VDC and 24 VDC (supplied by a Power Supply Unit)

Total power consumption 3.1 W

fig. 27

G H

Current consumption 620 mA at 5 VDC

Approximate weight 230 g

Number of axes 64

Number of Inverters and I/Os Up to 64 on MECHATROLINK-II

Number of TJ1-ML__ units Up to 4

Real Time Clock Yes

Revision 1.0

Servo period 0.25 ms, 0.5 ms, 1 ms or 2 ms

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Item Specification

Programming languages • BASIC-like motion language

• IEC 61131-3 LD and ST

Multi-tasking Up to 22 BASIC programs

Up to 16 PLC tasks

Digital I/O 16 digital inputs and 8 digital outputs, freely configurable

Measurement units User-definable

Available memory for user programs

Data storage capacity Up to 32 MB Flash data storage

Saving program data • RAM and Flash-ROM memory backup

Saving program data on the PC Trajexia Studio software manages backups on the hard-

Communication connectors • 1 Ethernet connection

Firmware update Via Trajexia Studio / CX-Motion Pro software

Electrical characteristics of the Ethernet interface

8 MB

• Battery backup

disk of the PC

• 2 serial connections

Conforms to IEEE 802.3 (100BaseT)

Ethernet supported protocols • TELNET

• FINS server and client

• ModbusTCP slave

Ethernet connector RJ45

Serial connectors 1 and 2

Item Specification

Electrical characteristics • PORT1: RS232C, non-isolated

• PORT2: RS485/RS422A, isolated

Revision 1.0

Connector SUB-D9 connector

Baud rate 1200, 2400, 4800, 9600, 19200 and 38400 bps

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Item Specification

Transmission format, databit length 7 or 8 bit

Transmission format, stop bit 1 or 2 bit

Transmission format, parity bit Even/odd/none

Transmission mode • RS232C: Point-to-point (1:1)

• RS422/485: Point-to-multipoint (1:N)

Transmission protocol • Host link master protocol

• Host link slave protocol

• ModbusRTU slave protocol

• ASCII general purpose

Galvanic isolation RS422/485 connector only

Communication buffers 254 bytes

Flow control None

Terminator Yes, selected by switch

Maximum cable length • RS232C: 15 m

• RS422/485: 100 m

Revision 1.0

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3.4.6 TJ1-TER

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.

fig. 28

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3.4.7 TJ2-MC64 box contents

• Safety sheet.

• TJ2-MC64 (battery included).

• Protection label attached to the top surface of the TJ2-MC64.

• TJ1-TER, attached to the TJ2-MC64.

• Parts for a serial connector.

• Parts for an I/O connector.

• 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 TJ1-ML__

3.5.1 Introduction

The TJ1-ML__ controls MECHATROLINK-II devices in a cyclic and deterministic way. MECHATROLINK-II slaves can be:

• Servo Drives.

• Inverters.

•I/Os.

The TJ1-ML__ has these visible parts:

Part Description

ALED indicators

ML16

fig. 29

RUN

CN1

B CN1 MECHATROLINK-II bus connector

Together the TJ1-ML__ and its devices form a serial network. The first unit in the network is the TJ1-ML__.

• One TJ1-ML16 can control 16 devices.

• One TJ1-ML04 can control 4 devices.

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3.5.2 LEDs description

Label Status Description

run off Start-up test failed. Unit not operational

Operation stopped. Fatal error

on Start-up test successful. Normal operation

BF off Normal operation

on A fault in the MECHATROLINK-II bus

- Reserved

3.5.3 TJ1-ML__ connection

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.

Revision 1.0

ML16

fig. 30

RUN

CN1

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Hardware reference

Example connections

Example 1

• 1 x TJ2-MC64

•1 x TJ1-ML__

• 3 x G-Series Servo Drive

• 1 x MECHATROLINK-II terminator

fig. 31

Servo Driver

Address

Address44Address

Axis 2 Axis 3 Axis 4

Terminator

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Example 2

• 1 x TJ2-MC64

• 2 x TJ1-ML16

• 16 x G-Series Servo Drive

• 2 x MECHATROLINK-II terminator

fig. 32

Address41Address42Address43Address44Address45Address46Address47Address

Axis 0

Address

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

2 3

Axis 7

Address4AAddress4BAddress4CAddress4DAddress4EAddress4FAddress

Servo Drive

Terminator

Axis 8

Axis 9

Axis 10

Axis 11

Axis 12

Axis 13

Axis 14

Axis 15

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The MECHATROLINK-II Units can control different combinations of axes, Inverters and I/O units. Example 3

• 1 x TJ2-MC64

•1 x TJ1-ML16

• 1 x G-Series Servo Drive

•1 x Inverter

• 3 x I/O units

• 1 x MECHATROLINK-II terminator

Address

INVERTERS

All Inverter Addresses

are numbered 2x

(valid range 20 to 2F)

Address

fig. 33

Address

0 31 32 95 96 159 160 223 224

I/O UNITS

I/O Addresses are numbered 6x

(valid range 60 to 6F)

I/O Address selected on DIP Switches

Address

Terminator

I/O Memory Allocations

Axis 0

3.5.4 TJ1-ML__ specifications

Item Specification

TJ1-ML04 TJ1-ML16

Power supply 5 VDC (supplied by the TJ2-MC64)

Revision 1.0

Total power consumption 1.0 W

Current consumption 200 mA at 5 VDC

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Hardware reference

Item Specification

TJ1-ML04 TJ1-ML16

Approximate weight 75 g

Number of controlled devices 4 16

Controlled devices • G-Series and Accurax G5 Servo Drives

• Sigma-II, Sigma-V and Junma-ML Servo Drives

• I/Os

• V7, F7 and G7 Inverters

Electrical characteristics Conforms to MECHATROLINK-II standard

Communication connection 1 MECHATROLINK-II master connector

Transmission speed 10 Mbps

Servo period 0.5 ms, 1 ms or 2 ms

Transmission distance without a repeater

Up to 50 m

TJ1-ML__ related devices

Name Remarks Model

Distributed I/O modules

MECHATROLINK-II cables

Revision 1.0

MECHATROLINK-II SmartSlice coupler GRT1-ML2

64-point digital input and 64-point digital output (24 VDC sinking)

64-point digital input and 64-point digital output (24 VDC sourcing)

Analogue input: -10V to +10 V, 4 channels

Analogue output: -10 V to +10 V, 2 channels

0.5 meter JEPMC-W6003-A5

1 meters JEPMC-W6003-01

3 meters JEPMC-W6003-03

5 meters JEPMC-W6003-05

JEPMC-IO2310

JEPMC-IO2330

JEPMC-AN2900

JEPMC-AN2910

HARDWARE REFERENCE MANUAL 80

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Hardware reference

Name Remarks Model

10 meters JEPMC-W6003-10

20 meters JEPMC-W6003-20

30 meters JEPMC-W6003-30

MECHATROLINK-II terminator

MECHATROLINK-II interface unit

Terminating resistor JEPMC-W6022

For Sigma-II series Servo Drives (firmware version 39 or later)

For Varispeed V7 Inverter (For the supported version details of the Inverter, contact your OMRON sales office).

For Varispeed F7, G7 Inverter (For the supported version details of the Inverter, contact your OMRON sales office).

JUSP-NS115

SI-T/V7

SI-T

3.5.5 TJ1-ML__ box contents

MECHATROLINK-II Interface Unit box:

• Safety sheet.

• TJ1-ML__.

• Protection label attached to the top surface of the unit.

3.5.6 Related BASIC commands

The following BASIC commands are related to the TJ1-ML__:

• ATYPE

• MECHATROLINK

• AXIS_OFFSET

For more information, refer to the Trajexia Programming Manual.

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3.5.7 MECHATROLINK-II Servo Drives

A MECHATROLINK-II Servo Drive is designed to do position control in Trajexia. In every MECHATROLINK-II cycle, the TJ2-MC64 receives the position feedback from the Servo Drive via the TJ1-ML__. The TJ2-MC64 sends either the target position, speed or torque to the receiver, depending on the axis type. Other functionality of the Servo Drive is available but refreshed at slower rate. A Servo Drive is considered an axis by the TJ2-MC64. When you connect a servo to the Trajexia, the parameter does not change automatically so, depending on the application, you may have to change values.

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3.5.8 MECHATROLINK-II G-series Servo Drives

You can also connect a G-series Servo Drive to a Trajexia system.

Label Terminal/LED Description

A SP, IM, G Analog monitor check pins

B L1, L2, L3 Main-circuit power terminals

C L1C, L2C Control-circuit power terminals

D B1, B2, B3 External Regeneration Resistor connection terminals

E U, V, W Servomotor connection terminals

F CN2 Protective ground terminals

G --- Display area

H --- Rotary switches

I COM MECHATROLINK-II communications status LED indicator

J CN3 RS-232 communications connector

K CN6A, CN6B MECHATROLINK-II communications connector

L CN1 Control I/O connector

M CN2 Encoder connector

LED indicators

LED Description

COM Lit: MECHATROLINK-II communication in progress

Not lit: No MECHATROLINK-II communication

fig. 34

AC SERVO DRIVE

ADR

X10

COM

Revision 1.0

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Hardware reference

Address settings (SW1)

Set the address selector of the G-series Servo Drive to the required node address by using the X1 (right) and X10 (left) rotary switches. The setting range for the node address setting rotary switch is 1 to 31. The actual station address used on the network will be the sum of the rotary switch setting and the offset value of 40h. These node addresses correspond to axis numbers 0 (node address = 1) to 30 (node address = 31). A maximum of 31 different node addresses can be set. To support more Drives an offset can be added to map duplicated noded addresses to unique axis numbers. This offset (AXIS_OFFSET) needs to be specified per TJ1ML__. Please note that the node address per TJ1-ML__ needs to be unique.

Example:

TJ2-MC64 + 2 x TJ1-ML16 + 32 Drives (16 per TJ-ML16) First TJ1-ML16:

• Node address range: 1 to 16

• AXIS_OFFSET SLOT(0) = 0

• Assigned axis numbers: 0 to 15

Second TJ1-ML16

• Node address range: 1 to 16

• AXIS_OFFSET SLOT(1) = 16

• Assigned axis numbers: 16 to 31

7-segment LED (2 digits)

Analog monitor pins

Speed monitor

SP:

Torque monitor

IM:

Signal ground

fig. 35

AC SERVO DRIVER

ADR

X10

COM

Rotary switches for setting a node address

MECHATROLINK-II communications status LED indicator (COM)

WARNING

When using multiple TJ1-ML__ units, do not swap the MECHATROLINK-cables. This can result in different axis allocation. This can result in serious injury and/or significant damage.

Note

The node address is only loaded once when the control power supply is turned ON. Changes made after turning the power ON

Revision 1.0

will not be applied until the power is turned ON next time. Do not change the rotary switch setting after turning the power ON. If the rotary switch setting is not between 1 and 31, a node address setting error (alarm code 82) will occur.

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7-segment LED

The display of the 7-segment LED on the front panel is shown below.

When the power is turned ON, the node address set with the rotary switch is displayed, followed by the display content set by the Default Display (Pn001) parameter. When an alarm occurs, the alarm code will be displayed. When a warning occurs, the warning code will be displayed.

fig. 36

Turn ON Control Power Supply

All OFF

All ON

8.8.

nkak

k3k

(approx. 0.6 s)

[nA] (Node Address) (approx. 0.6 s)

Rotary switch setting (for MSD = 0, LSD = 3) (Time set by the Power ON Address Display Duration Setting (Pn006))

-k-k

Main Power Supply ON and Network Established

Main Power Supply OFF or Network Not Established

-k-.

Servo ON

Servo OFF

0k0.

Alarm Issued

Alarm code flashes in decimal display (Below is an example for overload)

Revision 1.0

Alarm Cleared

[- -]

[- -] + right dot ON

[00] + right dot ON

Warning Issued

Alternates between warning code (hex) and normal display (Below is an example for overload)

Warning Cleared

1k6k 9k0. 0k0.

Warning code (2 s) Normal Display

HARDWARE REFERENCE MANUAL 85

(approx. 4 s)

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Hardware reference

CN1 I/O Signal connector

The table below shows the pin layout for the I/O signal connector (CN1).

Pin I/O Code Signal name

1 Input +24VIN 12 to 24-VDC Power Supply Input

2 Input STOP Emergency Stop Input

3 Input EXT3 External Latch Signal 3

4 Input EXT2 External Latch Signal 2

5 Input EXT1 External Latch Signal 1

6 Input IN1 External general-purpose Input 1

7 Input PCL Forward Torque Limit Input

8 Input NCL Reverse Torque Limit Input

19 to 20 Input POT Forward Drive Prohibit Input

NOT Reverse Drive Prohibit Input

21 Input DEC Origin Proximity Input

22 Input IN0 External general-purpose Input 0

23 Input IN2 External general-purpose Input 2

11 to 14 Input --- Spare inputs. Do not connect anything to

these inputs.

STOP

EXT2

IN1

NCL

ALMCOM

Emergency

Stop Input

External Latch

Signal 2

External

General-purpose

Input 1

Reverse Torque

Limit Input

Alarm Output

fig. 37

EXT3

EXT1

PCL

/ALM

12 to 24-VDC Power Supply

Input

External Latch

Signal 3

External Latch

Signal 1

Forward Torque

Limit Input

Alarm Output

OUTM2COM

OUTM3COM

NOT

IN0

BAT

OUTM1

Reverse Drive

Prohibit Input

External

General-purpose

Input 0

General-purpose

Output 2

General-purpose

Output 3

Backup Battery

Input

General-purpose

Output 1

BATCOM

OUTM1COM

OUTM2

OUTM3

+24VIN1

POT

DEC

IN2

Forward Drive

Prohibit Input

Origin Proximity

Input

External

General-purpose

Input2

General-purpose

Output 2

General-purpose

Output 3

Backup Battery

Input

General-purpose

Output1

9 to 10 Input --- Spare inputs. Do not connect anything to

these inputs.

27 to 28 Input --- Spare inputs. Do not connect anything to

these inputs.

34 Input BAT Backup

33 Input BATCOM

Battery Input

17 to 18 Input --- Spare inputs. Do not connect anything to

these inputs.

24 to 26 Input --- Spare inputs. Do not connect anything to

Revision 1.0

these inputs.

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Hardware reference

Pin I/O Code Signal name

15 Output /ALM Alarm Output

16 Output ALMCOM

29 Output OUTM2 General-purpose

30 Output OUTM2COM

Output 2 (READY)

31 Output OUTM3 General-purpose

32 Output OUTM3COM

Output 3 (CLIM)

36 Output OUTM1 General-purpose

35 Output OUTM1COM

Output 1 (BKIR)

Shell --- --- FG

MECHATROLINK-II connectors (CN6A & CN6B)

Connect the G-series Servo Drive to the MECHATROLINK-II network using the CN6A and CN6B connectors. Use one of the MECHATROLINK-II connectors to connect to the previous MECHATROLINK-II device or the TJ1-ML__. Use the other MECHATROLINK-II connector to connect to the next MECHATROLINK-II device, or to connect a MECHATROLINK-II terminator.

MC Unit

fig. 38

L1 L2 Ln

Note

Cable length between nodes (L1, L2, ... Ln) should be 0.5 m or longer. Total cable length should be L1 + L2 + ... + Ln = 50 m max.

Termination resi st or

Revision 1.0

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Hardware reference

CN2 encoder input connector

The table below shows the pin layout for the encoder connector.

Pin Signal Name

1 E5V Encoder power supply +5 V

2 E0V Encoder power supply GND

3 BAT+ Battery +

4 BAT- Battery -

5 PS+ Encoder +phase S input

6 PS- Encoder -phase S input

Shell FG Shield ground

CNA power supply connector

The table below shows the pin layout for the CNA power supply connector.

Pin Signal Name

1 L1 Main circuit

2L2

3L3

4 L1C Control circuit

5 L2C

power supply input

Revision 1.0

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Hardware reference

CNB servo motor connector

The table below shows the pin layout for the CNB servo motor connector.

Pin Signal Name

1 B1 External Regeneration Resistor

2B2

3B3

4 U Servomotor

8 Frame ground

connection terminals

Related BASIC commands

The following BASIC commands are related to the MECHATROLINK-II Gseries Servo Drives:

• ATYPE

• AXIS

• AXIS_ENABLE

• AXISSTATUS

• DRIVE_ALARM

• DRIVE_CLEAR

• DRIVE_CONTROL

• DRIVE_INPUTS

• DRIVE_MONITOR

• DRIVE_READ

• DRIVE_RESET

• DRIVE_STATUS

• DRIVE_WRITE

For more information, refer to the Trajexia Programming Manual.

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3.5.9 MECHATROLINK-II Accurax G5 Servo Drives

You can also connect an Accurax G5 Servo Drive to a Trajexia system.

Label Terminal/LED Description

A --- Display area

B CN5 Analog monitor check pins

C L1, L2, L3 Main-circuit power terminals

D L1C, L2C Control-circuit power terminals

E CHARGE Charge lamp

F B1, B2, B3 External Regeneration Resistor connection terminals

G U, V, W Servomotor connection terminals

H --- Protective ground terminals

I COMM MECHATROLINK-II communications status LED indicator

J --- Rotary switches

K CN6A, CN6B MECHATROLINK-II communications connector

L CN7 USB connector

M CN8 Connector for safety function devices

N CN1 Control I/O connector

O CN4 Full-closed encoder connector

P CN2 Encoder connector

fig. 39

(

)

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MECHATROLINK-II Communications Status LED Indicator

The table below shows the LED indication status and the corresponding conditions of the communications.

LED status Communications status

Not lit No communication is established.

Green Flash Asynchronous communications is established.

Green Light Synchronous communications is established.

Red Flash A clearable error occurred in MECHATROLINK-II communications.

• Communications error (Err83.0)

• Transmission cycle error (Err84.0)

• SSYNC_SET error (Err84.4)

• Watchdog data error (Err86.0)

• Transmission cycle setting error (Err90.0)

• CONNECT error (Err90.1)

• SYNC command error (Err91.0)

Red Light A non-clearable error occurred in MECHATROLINK-II communica-

tions.

• Node address setting error (Err82.0)

• SYNC process error (Err84.3)

Note

If any of communication related error occurs while an error that is not related to MECHATROLINK-II communications happens, the MECHATROLINK-II Communications Status LED Indicator follows the corresponding communications status as shown above.

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Address settings (SW1)

Set the address selector of the Accurax G5 Servo Drive to the required node address by using the X1 (right) and X10 (left) rotary switches. The setting range for the node address setting rotary switch is 1 to 31. The actual station address used on the network will be the sum of the rotary switch setting and the offset value of 40h. A maximum of 31 different node addresses can be set. To support more Drives an offset can be added to map duplicated noded addresses to unique axis numbers. This offset (AXIS_OFFSET) needs to be specified per TJ1ML__. Please note that the node address per TJ1-ML__ needs to be unique.

Example:

TJ2-MC64 + 2 x TJ1-ML16 + 32 Drives (16 per TJ-ML16) First TJ1-ML16:

• Node address range: 1 to 16

• AXIS_OFFSET SLOT(0) = 0

• Assigned axis numbers: 0 to 15

Second TJ1-ML16

• Node address range: 1 to 16

• AXIS_OFFSET SLOT(1) = 16

• Assigned axis numbers: 16 to 31

7-segment LED indicator (2-digit)

Connector for

nalog Monitor

fig. 40

COMM

MECHATROLINK-II communications status LED indicator (COMM)

Rotary switches for node address setting

ADR

WARNING

When using multiple TJ1-ML__ units, do not swap the MECHATROLINK-cables. This can result in different axis allocation. This can result in serious injury and/or significant damage.

Note

The node address set by the rotary switch is read only once when the control power is turned on. Any changes made by the rotary switches after the power-on are not reflected to the Controller.

Revision 1.0

Such changes become effective only after the subsequent poweron following to a power-off. Do not change the rotary switch setting after the power-on.

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Note

The settable range for a node address is between 1 and 31. The node address used over the network is the value obtained by adding the offset 40h to the rotary switch set value. If any value over or under the range is set, the Node address setting error (Err82.0) occurs.

Revision 1.0

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Hardware reference

7-segment LED

The 7-segment LED indicator is on the front panel. When the power is turned on, it shows the node address that is set by the rotary switches. Then the indication changes in accordance with the setting on the Default Display (Pn700). If any alarming error occurs, it indicates the error number (Errxxx) as the alarm code. If any warning situation occurs, it indicates the warning number as the warning code.

fig. 41

Control power on

Fully unlit

Fully lit (for approx. 0.6 s)

Main power is ON and the network communication is established.

Servo-ON Servo-OFF

Alarm occurs Alarm cleared

The alarm code in a decimal number flashes. (E.g. overload)

Main power is OFF and the network communication is not established.

[nA] (Node Address) (for approx. 0.6 s)

Rotary switch setting (This example is the case when the MSD is set to 0 and the LSD is to 3.) (Displays for the period set on Address Display Time Setting at Power-On (Pn701).)

[− −]

[− −]＋Right dot lights

[00]＋Right dot lights

Warning occurs Warning resolved

The warning code hex and the normal indication show alternatively. (E.g. overload)

Revision 1.0

*1. When the Safety input error (Err30.0) occurs, the alarm code is not shown. Instead, "St" flashes.

Warning code (for 2 s)

Normal indication (for approx 4 s)

HARDWARE REFERENCE MANUAL 94

Page 100

Hardware reference

CN1 I/O Signal connector

The table below shows the pin layout for the I/O signal connector (CN1).

Pin I/O Code Signal name

6 Input +24 VIN 12 to 24-VDC Power Supply Input

5 Input IN1 General-purpose Input 1

7 Input IN2 General-purpose Input 2

8 Input IN3 General-purpose Input 3

9 Input IN4 General-purpose Input 4

10 Input IN5 General-purpose Input 5

11 Input IN6 General-purpose Input 6

12 Input IN7 General-purpose Input 7

13 Input IN8 General-purpose Input 8

3 Output /ALM Alarm output

4 Output ALMCOM

1 Output OUTM1 General-purpose

2 Output OUTM1COM

25 Output OUTM2 General-purpose

26 Output OUTM2COM

Output 1

Output 2

fig. 42

Absolute

encoder backup

battery input

Signal Ground

General-purpose

Output 2 Common

BATGND

OUTM2

Absolute

encoder backup

battery input

General-purpose

Output 2

/ALM

IN1

IN2

IN4

IN6

IN8

General-purpose

Output 1

Alarm Output

General-purpose

Input 1

General-purpose

Input 2

General-purpose

Input 4

General-purpose

Input 6

General-purpose

Input 8

OUTM1COM

ALMCOM

+24 VIN

IN3

IN5

IN7

General-purpose

Output 1 Common

Alarm Output

Common

12 to 24-VDC

power

supply input

General-purpose

Input 3

General-purpose

nput 5

General-purpose

Input 7

OUTM2COM

BAT

GND

OUTM1

14 --- BAT Backup

15 --- BATGND

Battery Input

16 --- GND Signal ground

17 to 24 Input --- Spare inputs. Do not connect anything to

these inputs.

Shell --- --- FG

Revision 1.0

HARDWARE REFERENCE MANUAL 95

Omron TJ2-MC64 PROGRAMMING Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Notice

Contents

1 Safety warnings and precautions

1.1 Intended audience

1.2 General precautions

1.3 Safety precautions

1.4 Operating environment precautions

1.5 Application precautions

1.6 Unit assembly precautions

1.7 Conformance to EC Directives Conformance

2 System philosophy

2.1 Introduction

2.2 Motion control concepts

2.3 Servo system principles

2.4 Trajexia system architecture

2.5 Cycle time

2.7 Motion sequence and axes

2.8 Motion buffers

2.9 Mechanical system

3 Hardware reference

3.1 Introduction

3.2 All units

3.3 Power Supply Unit (PSU)

3.4 TJ2-MC64

3.5 TJ1-ML__