TJ
Trajexia motion controller
Stand-alone advanced motion controller over
MECHATROLINK-II motion bus
• Control of up to 64 axes over a robust and fast
motion bus
• Supports position, speed and torque control
• Advanced motion control such as CAM control,
registration control, interpolation and axes synchronization via simple motion commands
• Advanced debugging tools including data trace and
oscilloscope functions
• Control of servos, inverters and I/Os over a single
motion network
• Multi-tasking controller capable of running up to
22 tasks simultaneously
• Open communication: Serial Ethernet built-in,
PROFIBUS-DP, DeviceNet and CANopen
System configuration
Motion controllers
NS-series
HMI
Digital I/Os
Host-link
Accurax G5 series
Servo motors
CJ-series PLC
Motion controller
Accurax G5 series
Servo drive
Input
Fast registration
inputs, home and
limits switches...
Ethernet
Personal computer software:
CX-One (CX-Motion Pro)
Trajexia Studio
PROFIBUS-DP
Fieldbus
MECHATROLINK-II
G- Series
Servo drive
AC SERVO DRIVER
ADR
1
1
0
0
9
2
2
8
3
3
7
4
6
5
X10
X1
COM
SP
IM
G
G-Series
Servo motors
Master
DeviceNet
Master
Terminator
GRT1-ML2
SW1 SW2
CN2
CN1
A/B
SmartSlice IOs
CANopen
Devices
23Trajexia motion controller
Specifications
Trajexia general specifications
Item Details
Model TJ@
Ambient operating temperature 0 to 55°C
Ambient operating humidity 10 to 90%RH
Ambient storage temperature -20 to 70°C
Ambient storage humidity 90% max. (with no condensation)
Atmosphere No corrosive gases
Vibration resistance 10 to 57 Hz: (0.075 mm amplitude)
Shock resistance 143 m/s
Insulation resistance 20 MOhm
Dielectric strength 500 Volt
Protective structure IP20
International standards CE, EN 61131-2, cULus, Lloyds, RoHS compliant
57 to 100 Hz Acceleration: 9,8 m/s
2
, 3 times each X, Y and Z directions.
Trajexia motion control units
Item Details
Model TJ2-MC64 TJ1-MC16 TJ1-MC04
Number of axes 64 16 4 (+1 using TJ1-FL02 unit)
Number of inverters and I/O modules Up to 64 (Inverters in position,
Number of MECHATROLINK-II master units Up to 4 MECHATROLINK-II master units (see below TJ1-ML16/ML04) can be connected
Cycle time Selectable 0.25 ms, 0.5 ms, 1 ms or
Programming language BASIC-like motion language
Multi-tasking Up to 22 tasks running simulta-
Built-in digital I/O 16 inputs and 8 outputs, for general purpose
Measurement units User definable
Available memory for user programs 8 MB 500 KB
Data storage capacity Up to 32 MB Flash data storage Up to 2 MB Flash data storage
Saving program data, motion controller Flash-ROM SRAM with battery backup and Flash-ROM
Saving program data, personal computer Via CX-Motion Pro/Trajexia Studio software
Communication ports 1 Ethernet port and 2 serial ports
Firmware update Via CX-Motion Pro/Trajexia Studio software
Ethernet port Electr i cal characteristics Conform to IEEE 802.3 (100BaseT)
Connector RJ45 Ethernet connector
Transmission protocol Modbus TCP slave
Serial port Electrical characteristics Conform 1 port to RS232C and 1 port to RS485/RS422A (selectable by switch)
Connector SUB-D9 connector (Counterpart included in the package)
Synchronization Start-stop synchronization (asynchronous)
Baud rate 1200 / 2400 / 4800 / 9600 / 19200 / 38400 bps
Transmission format Databit length 7 or 8 bit
Transmission mode Point-to-multipoint (1:N)
Transmission protocol RS-232C (1:1) Host Link master protocol,
RS-485 (1:N)
RS-422A (1:N)
Galvanic isolation RS422A port
Communication buffers 254 bytes
Flow control None
Terminator Yes, selectable by switch
Cable length 15 m for RS232 and 500 meter for RS422/485
speed or torque mode)
2 ms
neously
Stop bit 1 or 2 bit
Parity bit Even/Odd/None
Host Link slave protocol,
ASCII general-purpose,
Modbus TCP slave
Host Link master protocol,
Host Link slave protocol,
ASCII general-purpose,
Modbus TCP slave
2
, in X, Y and Z directions for 80 minutes.
8 maximum (Inverters in position, speed or torque mode)
Selectable 0.5 ms, 1 ms or 2 ms
Up to 14 tasks running simultaneously
Trajexia MECHATROLINK-II master units
Item Specifications
Model TJ1-ML16 TJ1-ML04
Controlled devices with MECHATROLINK-II interface Accurax G5 and G-Series servo drives ML-II built-in and SmartSlice IOs
Electrical characteristics Conforms to MECHATROLINK standard
Communication ports 1 MECHATROLINK-II master
Transmission speed 10 Mbps
Communication cycle 0.5 ms, 1 ms or 2 ms
Stations slave types Axes or servo drives
Frequency inverters
I/O modules
24 Motion Control
Item Specifications
Number of stations per master / Cycle time Max.16 Stations/2 ms Max. 4 Stations/2 ms
Transmission distance Max. 50 meters without using repeater
Max. 8 Stations/1 ms Max. 4 Stations/1ms
Trajexia PROFIBUS slave unit
Items Specifications
Model TJ1-PRT
PROFIBUS standard Conforms to PROFIBUS-DP standard EN50170 (DP-V0)
Communication ports 1 PROFIBUS-DP slave
Transmission speed 9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500, 3000, 6000 and 1200 0kbps
Node numbers 0 to 99
I/O size 0 to 122 words (16 bit), configurable, for both directions
Galvanic isolation Yes
Trajexia DeviceNet slave unit
Items Specifications
Model TJ1-DRT
PROFIBUS standard Conforms to DeviceNet standard of CIP edition 1
Communication ports 1 DeviceNet slave
Transmission speed 125, 250 and 500 Kbps, auto-detect
Node numbers 0 to 63
I/O size 0 to 32 words (16 bit), configurable, for both directions
Galvanic isolation Yes
Trajexia CANopen unit
Items Specifications
Model TJ1-CORT
Electrical Characteristics Conforms to CAN 2.0 B
Communication ports 1 CANopen
Transmission speed 20, 50, 125 and 500 Kbps
Implemented CiA Standards DS301, DS302
PDO Support 8 TPDO and 8 RPDO
PDO Mapping Each PDO can be mapped into TJ1-MC16/04 VR, table, analogue and digital IO.
CANopen slave configuration Any SDO message can be sent using BASIC during start-up and operation
CANopen network states CANopen network can be set to pre-operational and operational using BASIC
CANopen slave emergencies Available using BASIC command
Galvanic isolation Yes
*1. TJ2-MC64 and TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 analogue IO points.
BASIC commands assign mapping and start address
*1
Motion controllers
Trajexia flexible axis unit
Items Specifications
Model TJ1-FL02
Number of axes 2. Every axis has 1 analog output, 1 encoder in/out -software configura ble - and several digital I/O
Control methods
(independent per axis)
Encoder Encoder protocols Abs SSI 200 kHz, Abs EnDat 1 MHz, Abs Tamagawa and Incremental Line driver AB
Encoder Input maximum frequency 6 MHz
Encoder/pulse output max. frequency 2 MHz
Auxiliary I/Os 2 fast registration inputs, 2 definable inputs, 2 enable output, 4 position switch outputs or axes reset
Galvanic isolation Yes
±10 V analogue output + encoder input (closed loop)
Line driver AB output
Stepper pulse output in closed loop or pulse train output in open loop
SmartSlice MECHATROLINK-II interface unit
Item Specifications
Model GRT1-ML2
Electrical characteristics Conform to MECHATROLINK standard
Communication cycle 0.5, 1 or 2 ms
Power supply 24 VDC
Number of connectable Slices Up to 64 slices with a maximum amount of 128 bytes
IO mapping Automatic ana logue and digital IO mapping into TJ1-MC16/04 CPU
Slice unit configuration Not supported
Supported slice units See ordering information section
*1. TJ2-MC64 and TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 analogue IO points.
*1
Trajexia motion controller 25
Nomenclature
Trajexia motion controller unit - TJ2-MC64, TJ1MC-16/04
LEDs
Battery
compartment
Digital I/O
connector
Display
Ethernet port
RS422A/RS485
switches
RS-232C and
RS422A/485
serial ports
Trajexia DeviceNet slave unit - TJ1-DRT
Unit LEDs
3
2
4
1
5
0
6
9
7
8
3
2
4
1
5
0
6
9
7
8
Node selection
Trajexia MECHATROLINK-II master unit - TJ1-ML16/04
ML16
RUN
8F
CN1
Unit LEDs
MECHATROLINK-II master port
Trajexia CANopen unit - TJ1-CORT
CORT
Unit LEDs
3
2
4
1
5
0
6
9
7
8
3
2
4
1
5
0
6
9
7
8
Node selection
V-
CAN L
DRAIN
CAN H
V+
Trajexia PROFIBUS-DP unit - TJ1-PRT
H
B
3
2
4
1
5
0
6
9
7
8
3
2
4
1
5
0
6
9
7
8
DeviceNet slave port
Unit LEDs
PROFIBUS node
selection
PROFIBUS-DP slave port
V-
CAN L
DRAIN
CAN H
V+
Trajexia Flex axis unit - TJ1-FL02
FL02
CANopen port
Unit LEDs
15 pin connector
(Encoders IN/Out)
18 pin connector
(Digital and Analogue IOs)
26 Motion Control
SmartSlice MECHATROLINK-II interface unit - GRT1-ML2
GRT1-ML2
SW1
SW2
CN2
CN1
A/B
RUN
ALARM
ML COM
TS
UNIT PWR
I/O PWR
ON
MECHATROLINK-II node selection
Unit LEDs
FG connector
REGS
1
NC2
ADR
3
BACK4
UNIT
+V
-V
I/O
+V
-V
DC24V
INPUT
Slice-master switches
ML vonnectors
Unit power
IO power
Dimensions
Trajexia motion controller - TJ2-MC64, TJ1-MC16/04 Trajexia modules - TJ1-ML16/04, -PRT, -DRT, -CORT, -FL02
94
90
94
90
Motion controllers
65
70.3
62
71
Trajexia system - CJ1W-PA202 + TJ1-MC16 + one module + TJ1-TER
65
PA202
70.30
31
39.9
94
90
62
29.73145
Trajexia motion controller 27
SmartSlice communication unit - GRT1-ML2
SmartSlice end unit - GRT1-END
SmartSlice I/O units - GRT1-_
28 Motion Control
Ordering information
Motion controllers
Power
Supply
Motion
controller
Axes
control
Communication
slave
End cover
(Included into the Motion controller)
Trajexia motion controller
Name Model
Trajexia motion controller unit, up to 4 axes. (Trajexia end cover unit TJ1-TER is included) TJ1-MC04
Trajexia motion controller unit, up to 16 axes. (Trajexia end cover unit TJ1-TER is included) TJ1-MC16
Trajexia motion controller Unit, up to 64 axes. (Trajexia end cover unit TJ1-TER is included) TJ2-MC64
Power supply for Trajexia system, 100-240 VAC CJ1W-PA202
Power supply for Trajexia system, 24 VDC CJ1W-PD022
Trajexia - axes control modules
Name Model
Trajexia MECHATROLINK-II master unit (up to 4 stations) TJ1-ML04
Trajexia MECHATROLINK-II master unit (up to 16 stations) TJ1-ML16
Trajexia flexible axis unit (for 2 axes) TJ1-FL02
Note: The TJ1-ML04 and TJ1-ML16 supported by the TJ2-MC64 motion controller are V2 (Version 2) and lot number equal
or above Lot No.091019 (YYMMDD).
Trajexia - communication modules
Name Model
Trajexia DevicNet slave unit TJ1-DRT
Trajexia PROFIBUS-DP slave unit TJ1-PRT
Trajexia CANopen unit TJ1-CORT
MECHATROLINK-II - related devices
Servo system & frequency inverters
Name Model
Accurax G5 servo drive ML-II built-in R88D-KN@@@-ML2
G-Series servo drive ML-II built-in R88D-GN@@H-ML2
Note: Refer to servo systems section for detailed specs and ordering information
SmartSlice IOs system
Function Specification Model
SmartSlice Interface unit SmartSlice MECHATROLINK-II inteface unit GRT1-ML2
End plate, one unit required per bus interface GRT1-END
4 NPN inputs 24 VDC, 6 mA, 3-wire connection GRT1-ID4
4 PNP inputs 24 VDC, 6 mA, 3-wire connection GRT1-ID4-1
8 NPN inputs 24 VDC, 4 mA, 1-wire connection + 4xG GRT1-ID8
8 PNP inputs 24 VDC, 4 mA, 1-wire connection + 4xV GRT1-ID8-1
4 NPN outputs 24 VDC, 500 mA, 2-wire connection GRT1-OD4
4 PNP outputs 24 VDC, 500 mA, 2-wire connection GRT1-OD4-1
4 PNP outputs with short-circuit protection 24 VDC, 500 mA, 3-wire connection GRT1-OD4G-1
8 NPN outputs 24 VDC, 500 mA, 1-wire connection + 4xV GRT1-OD8
8 PNP outputs 24 VDC, 500 mA, 1-wire connection + 4xG GRT1-OD8-1
8 PNP outputs with short-circuit protection 24 VDC, 500 mA, 1-wire connection + 4xG GRT1-OD8G-1
2 relay outputs 240 VAC, 2 A, normally-open contacts GRT1-ROS2
2 analogue inputs, current/voltage ±10 V, 0-10 V, 0-5 V, 1-5 V, 0-20 mA, 4-20 mA GRT1-AD2
2 analogue outputs, voltage ± 10 V, 0-10 V, 0-5 V, 1-5 V GRT1-DA2V
2 analogue outputs, current 0-20 mA, 4-20 mA GRT1-DA2C
Note: Refer to Automation systems catalogue for detailed specs and accesories information
Trajexia motion controller 29
MECHATROLINK-II cables
Name Remarks Model
MECHATROLINK-II cables 0.5 meter JEPMC-W6003-A5
MECHATROLINK-II terminator Terminating resistor JEPMC-W6022
MECHATROLINK-II repeater Network repeater JEPMC-REP2000
1 meter JEPMC-W6003-01
3 meters JEPMC-W6003-03
5 meters JEPMC-W6003-05
10 meters JEPMC-W6003-10
20 meters JEPMC-W6003-20
30 meters JEPMC-W6003-30
Computer software
Specifications Model
CX-Motion Pro V1.22 or higher CX-One
Trajexia Studio
*1. When the Trajexia Studio software is included in CX-One, then it is called CX-Motion Pro.
*1
V1.22 or higher
TJ1-Studio
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I53E-EN-03A
In the interest of product improvement, specifications are subject to change without notice.
30 Motion Control
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