Omron TRAJEXIA MOTION CONTROLLER DATASHEET

Trajexia motion controller

Stand-alone advanced motion controller over MECHATROLINK-II motion bus

• Control of up to 64 axes over a robust and fast motion bus

• Supports position, speed and torque control

• Advanced motion control such as CAM control, registration control, interpolation and axes synchronization via simple motion commands

• Advanced debugging tools including data trace and oscilloscope functions

• Control of servos, inverters and I/Os over a single motion network

• Multi-tasking controller capable of running up to 22 tasks simultaneously

• Open communication: Serial Ethernet built-in, PROFIBUS-DP, DeviceNet and CANopen

System configuration

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

X10

COM

SP IM

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

, 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

, 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

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.

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