Omron TRAJEXIA TJ1-MC16, TRAJEXIA TJ1-MC04 Datasheet

»

You decide

»

Freedom to communicate

»

Freedom to design

TRAJEXIA

To t a l Fre ed o m i n Mo ti o n C o n t r o l

Freedom to communicate

Besides a built-in Ethernet port that provides connectivity

meeting today’s and foreseeable future communication

standards, Trajexia also includes interfaces to popular field

buses such as Profibus-DP and DeviceNet.

Trajexia is Omron’s new motion platform that offers

you the performance of a dedicated motion system,

the ease of use you get from an automation specialist

and the peace of mind you get from a global player.

Trajexia puts you in full control to create the best

machines today and… tomorrow.

The advanced motion controller
that puts you in control

MECHATROLINK-II

Up to 16 axes

»

Freedom to design

Freedom to control

Trajexia offers perfect control of up to 16 axes over

a MECHATROLINK-II motion bus with independent position,

speed or torque control for every axis. And its powerful motion

instruction set makes programming intuitive and easy.

Freedom to build

You can select from a wide choice of best-in-class rotary,

linear and direct-drive servos as well as inverters.

And the system is scalable from 2 axes up to 16 axes

and 8 inverters & I/O modules.

Ethernet

I

/0 Units

Perfect motion control

At the heart of Trajexia lies the new TJ1 multi-tasking motion

coordinator. Powered by a 32-bit DSP, it’s specifically designed

to meet the most demanding motion tasks such as e-cam,

e-gearbox and registration control and interpolation… with

best performance and all via simple motion commands.

Ethernet

Power supply Motion controller MECHATROLINK-II

Master

Profibus Slave

»

Freedom to choose

Scalability

Free choice between 4 or 16 axes CPUs. Capable of controlling

up to 4 axes, the new MC04 CPU, together with the new 4 axes

MECHATROLINK-II master, bring a compact solution without

compromising performance.

Direct connectivity via Ethernet

Trajexia’s Ethernet built-in port provides direct and fast

connectivity to PLCs and HMIs while providing full access

to the drives over a MECHATROLINK-II motion bus.

Serial Port

A serial port provides direct connectivity with Omron PLCs,

HMIs or any other field device.

Local I/Os

Freely-configurable embedded I/Os in the controller enable

you to perfectly tailor Trajexia to your machine design.

MECHATROLINK-II Master

The MECHATROLINK-II master performs perfect control

of up to 16 servos, inverters or I/Os while allowing complete

transparency across the whole system.

Profibus-DP, DeviceNet and CANopen

Standardised on Profibus, DeviceNet or CANopen?

That’s no problem. Trajexia offers these interfaces on request

plus many more possibilities.

Flexible Axis module

The Flexible Axis module 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

A wide choice of best-in-class rotary, linear and direct-drive

servos as well as inverters are available to fit your needs

in compactness, performance and reliability.

Remote I/Os

The I/Os on the MECHATROLINK-II motion bus provides

for system expansion while keeping the devices under

one motion bus.

Actual size

DeviceNet Slave Flexible Axis module End cover

CANopen unit

Design simplicity

Handling from 2 to 16 axes, the system’s scalability provides

you with a single application for several versions of your

machine.

Keep your know-how safe

Trajexia’s sophisticated encryption method guarantees

complete protection and confidentiality for your valuable

know-how.

Advanced tools

Trajexia’s advanced debugging tools, including trace and

oscilloscope functions, ensure efficient operation and

minimum downtime.

Automatic recognition of devices

The servos, 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.

Full access to devices from one connection

The parameters and functions inside the drives on the

MECHATROLINK-II are fully accessible from the Ethernet

connection.

Remote access

Trajexia’s smart architecture allows explicit messaging

over Ethernet and through MECHATROLINK-II to provide full

transparency down to the actuator level, and making remote

access possible.

»

Freedom to create

Intuitive and powerful engineering

Trajexia’s intuitive and easy programming tool, based on the Motion Basic instruction set, includes
dedicated commands for linking axes, e-cams, e-gearboxes etc. What’s more, multitasking capability
provides total freedom in application design.

Perfect control of 16 axes

Controlling all 16 axes with a total system cycle time of 1 ms,

Trajexia ensures fastest operation at highest accuracy.

Real multi-tasking

Trajexia is a real multi-tasking controller capable of running

up to 14 tasks simultaneously.

Robust and stable motion bus

Specifically designed for motion control, MECHATROLINK-II

offers the communication speed and time accuracy essential

to guarantee perfect motion control of servos.

»

Freedom to perform

Trajexia offers best-in-class motion devices for producing
the best automation solutions for today and tomorrow…

Best-in-class servo drives

Offering a wide variety of rotary and linear servomotors,

Omron’s Sigma II servo series is designed with NO

compromise on quality, reliability and performance

to guarantee best-in-class motion control.

Inverters and servos over the same bus

The inverters connected to the MECHATROLINK-II are driven

at the same update cycle time as the servo drives.

Product Infeed

Speed controlled conveyor provides

product from the upstream process.

Film Unwind

Film tension is kept constant for

right product forming and sealing.

Space Adjust

Product rate and space between

products is synchronised with the

lug chain.

Longitudinal Seal

Sealing rolls electronically geared

to lug chain for film pulling control,

registration is used to match the

printed area with the product position.

Outfeed conveyor

Inverters can easily be integrated

for speed controlled axes.

Fast registration Input

Real time position registration

provides the information to correct

and synchronise movements

according to printed marks.

Infeed Lug Chain

The product is placed precisely on

the forming area. This axis acts as

a master and is the reference for all

machine movements.

Sealing knife

Electronic CAM ensures film cutting

according to printed mark position.

It easily adapts to different product

sizes without any mechanical change.

1Trajexia Motion Controller

TJ1-

Trajexia Motion Controller

Stand-Alone Advanced Motion Controller
Using MECHATROLINK-II Motion Bus

• 16 axes advanced motion coordination over a
robust and fast motion link: MECHATROLINK-II

• Supports position, speed and torque control

• Each axis can run complex interpolated moves,
e-cams and e-gearboxes

• Advanced debugging tools including trace and
oscilloscope functions

• Hardware registration input for each servo axis

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

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

• Open communication - Ethernet built-in,
PROFIBUS-DP, DeviceNet and CANopen as
options

System Configuration

CX-One
Trajexia tool

NS-series

HMI

JUSP-NS115
MECHATROLINK-II
unit

Sigma-II series
linear motors

Sigma-II series
servomotors

Sigma-II series
servodrive

Input

Motion controller

CJ-series PLC

Digital I/Os

Host-link

Fast registration
input, home

Ethernet

MECHATROLINK-II

Frequency
inverter

SW1 SW2

SmartSlice IOs

PROFIBUS-DP

Master

DeviceNet

Master

CANopen

Devices

Fieldbus

10 Trajexia Motion Controller

2 Motion Control

Specifications

Trajexia General Specifications

Trajexia Motion Control Units

Trajexia MECHATROLINK-II Master Units

Item Details

Model TJ1-@
Ambient operating temperature 0 to 55qC
Ambient operating humidity 10 to 90%RH
Ambient storage temperature -20 to 70qC
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/s

2

, in X, Y and Z directions for 80 minutes.

Shock resistance 143 m/s

2

, 3 times each X, Y and Z directions.
Insulation resistance 20 MOhm
Dielectric strength 500 Volt
Protective structure IP20
International standards CE, EN 61131-2, cULus, Lloyds (cULus approval pending for TJ1-MC04 and TJ1-ML04) RoHS compliant

Item Details

Model TJ1-MC16 TJ1-MC04
Number of axes 16 4 (+1 using TJ1-FL02 unit)
Number of inverters and I/O modules 8 maximum (Inverters in speed or torque mode)
Number of MECHATROLINK-II master units Up to 4 MECHATROLINK-II master units (see below TJ1-ML16/ML04) can be connected
Cycle time Selectable 0.5 ms, 1 ms or 2 ms
Programming language BASIC-like Motion language
Multi-tasking Up to 14 tasks running simultaneously
Built-in Digital I/O 16 Inputs and 8 Outputs, for general purpose
Measurement units User definable
Available memory for user programs 500KB
Data storage capacity Up to 2 MB flash data storage
Saving program data, motion controller SRAM with battery backup and Flash-ROM
Saving program data, personal computer Trajexia Motion Perfect software manages a backup on the hard disk of the personal computer.
Communication ports 1 Ethernet port and 2 serial ports
Firmware update Via Trajexia software tool
Ethernet port Electrical characteristics Conform to IEEE 802.3 (100BaseT)

Connector RJ45 Ethernet connector

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

Stop Bit 1 or 2 bit

Parity Bit Even/Odd/None
Transmission mode Point-to-multipoint (1:N)
Transmission protocol RS-232C (1:1) Host Link master protocol,

Host Link slave protocol,
ASCII general-purpose

RS-422A (1:N) Host Link master protocol,

Host Link slave protocol,
ASCII general-purpose

RS-485 (1:N) ASCII general-purpose
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

Item Specifications

Model TJ1-ML16 TJ1-ML04
Controlled devices with MECHATROLINK-II interface Junma MLII, Sigma-2 and Sigma-3 Servo drives, SmartSlice IOs, other I/O units and V7, F7 and

G7 Frequency inverters

Electrical characteristics Conforms to MECHATROLINK standard
Communication ports 1 MECHATROLINK-II master
Transmission speed 10Mbps
Communication cycle 0.5 ms, 1ms or 2ms
Stations slave types Axes or Servo drives

Frequency inverters

I/O Modules

Number of stations per master / Cycle time Max.16 Stations / 2ms Max.4 Stations / 2ms

Max.8 Stations / 1ms Max.4 Stations / 1ms

Max.4 Stations / 0.5 ms (Only Sigma-3 drives) Max.4 Stations / 0.5 ms (Only Sigma-3 drives )

Transmission distance Max.50 meters without using repeater

11Motion Control

Trajexia Motion Controller 3

Trajexia PROFIBUS Slave Unit

Trajexia DeviceNet Slave Unit

Trajexia CANopen Unit

Note: (*) TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 Analogue IO points.

Trajexia Flexible Axis Unit

SmartSlice MECHATROLINK-II Interface Unit

Note: (*) TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 Analogue IO points.

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 12000 kbps
Node numbers 0 to 99
I/O size 0 to 120 words (16bit), configurable, for both directions
Galvanic isolation Yes

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 (16bit), configurable, for both directions
Galvanic isolation Yes

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.

BASIC commands assign mapping and start address (*)
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

Items Specifications

Model TJ1-FL02
Number of axes 2
Control method ±10V Analogue Output in closed loop or pulse train output in open loop
Encoder Position/speed Feedback 2 Incremental and Absolute encoders

Absolute encoder standards supported SSI 200 kHz, EnDat 1 MHz and Tamagawa
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

Item Specifications

Model GRT1-ML2
Electrical characteristics Conform to MECHATROLINK standard
Communication cycle 0.5, 1 or 2 ms
Power supply 24Vdc
Number of connectable Slices Up to 64 slices with a maximum amount of 128 bytes (*)
IO mapping Automatic analogue and digital IO mapping into TJ1-MC16/04 CPU
Slice unit configuration Not supported
Supported slice units See ordering information section

12 Trajexia Motion Controller

4 Motion Control

Nomenclature

Trajexia Motion Controller Unit - TJ1-MC16/04

Trajexia DeviceNet Slave Unit - TJ1-DRT

Trajexia PROFIBUS-DP Unit - TJ1-PRT

Trajexia MECHATROLINK-II Master Unit - TJ1-ML16/04

Trajexia CANopen Unit - TJ1-CORT

Trajexia Flex Axis Unit - TJ1-FL02

Display

RS-232C and
RS422A/485
serial ports

LEDs

RS422A/RS485
switches

Ethernet port

Digital I/O
connector

Battery
compartment

0

9

8

7

6

5

4

3

2

1

0

9

8

7

6

5

4

3

2

1

V-

CAN L

DRAIN

CAN H

V+

Unit LEDs

DeviceNet slave port

Node selection

0

9

8

7

6

5

4

3

2

1

0

9

8

7

6

5

4

3

2

1

H

B

Unit LEDs

PROFIBUS-DP slave port

PROFIBUS node
selection

RUN

8F

ML16

CN1

Unit LEDs

MECHATROLINK-II master port

0

9

8

7

6

5

4

3

2

1

0

9

8

7

6

5

4

3

2

1

V-

CAN L

DRAIN

CAN H

V+

Unit LEDs

CANopen port

Node selection

CORT

FL02

Unit LEDs

18 pin connector
(Digital and Analogue IOs)

15 pin connector
(Encoders IN/Out)

13Motion Control

Trajexia Motion Controller 5

SmartSlice MECHATROLINK-II Interface Unit - GRT1-ML2

Dimensions

Trajexia Motion Controller - TJ1-MC16/04 Trajexia Modules - TJ1-ML16/04, -PRT, -DRT, -CORT, -FL02

Trajexia System - CJ1W-PA202 + TJ1-MC16 + One Module + TJ1-TER

Unit LEDs

-V

INPUT

DC24V

A/B

CN1

CN2

BACK 4

-V

I/O

+V

UNIT

+V

ON

ADR

REGS

3

NC 2

1

ML COM

ALARM

SW1

GRT1-ML2

SW2

TS

RUN

I/O PWR

UNIT PWR

ML Connectors

FG Connector

MECHATROLINK-II Node selection

Slice-master Switches

Unit Power

IO Power

62

65

71

70.3

90

94

31

39.9

70.30

90

94

62

65

29.7

3145

90

94

PA202

14 Trajexia Motion Controller

6 Motion Control

SmartSlice Communication unit - GRT1-ML2

SmartSlice End unit - GRT1-END

SmartSlice I/O units - GRT1-_

15Motion Control

Trajexia Motion Controller 7

Ordering Information

Trajexia motion controller

Trajexia -

Axes control modules

Trajexia -

Communication modules

MECHATROLINK-II - Related devices

Servo System & Frequency Inverters

Note: Refer to Motion & Drives catalogue for detailed specs and ordering information

SmartSlice IOs system

Note: Refer to Automation Systems catalogue for detailed specs and accesories information

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
Power Supply for Trajexia system, 100-240V AC CJ1W-PA202
Power Supply for Trajexia system, 24V DC CJ1W-PD022

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

Name Model

Trajexia DevicNet slave unit TJ1-DRT
Trajexia PROFIBUS-DP slave unit TJ1-PRT
Trajexia CANopen unit TJ1-CORT

Name Remarks Model

MECHATROLINK-II interface unit for
Servos and Inverters

For Sigma-II series Servo drives. (Firmware version 39 or later) JUSP-NS115
Junma servo drives with MECHATROLINK-II port built-in the drive SJDE-@@ANA-OY
For Varispeed V1000 Inverter. Release by 2008

(For Inverter’s version supported contact your Omron sales office)

SI-T3

For Varispeed V7 Inverter
(For Inverter’s version supported contact your Omron sales office)

SI-T/V7

For Varispeed F7, G7 Inverter
(For Inverter’s version supported contact your Omron sales office)

SI-T

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 V DC, 6 mA, 3-wire connection GRT1-ID4
4 PNP inputs 24 V DC, 6 mA, 3-wire connection GRT1-ID4-1
8 NPN inputs 24 V DC, 4 mA, 1-wire connection + 4xG GRT1-ID8
8 PNP inputs 24 V DC, 4 mA, 1-wire connection + 4xV GRT1-ID8-1
4 NPN outputs 24 V DC, 500 mA, 2-wire connection GRT1-OD4
4 PNP outputs 24 V DC, 500 mA, 2-wire connection GRT1-OD4-1
4 PNP outputs with short-circuit protection 24 V DC, 500 mA, 3-wire connection GRT1-OD4G-1
8 NPN outputs 24 V DC, 500 mA, 1-wire connection + 4xV GRT1-OD8
8 PNP outputs 24 V DC, 500 mA, 1-wire connection + 4xG GRT1-OD8-1
8 PNP outputs with short-circuit protection 24 V DC, 500 mA, 1-wire connection + 4xG GRT1-OD8G-1
2 relay outputs 240 V AC, 2A, 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

Motion
controller

Axes
control

Communication
slave

End cover

(Included into the Motion controller)

Powe r
Supply

16 Trajexia Motion Controller

8 Motion Control

MECHATROLINK-II Cables

Other IO modules

Computer Software

Name Remarks Model

MECHATROLINK-II cables 0.5 meter JEPMC-W6003-A5

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
MECHATROLINK-II terminator Terminating resistor JEPMC-W6022
MECHATROLINK-II Repeater Network repeater JEPMC-REP2000

Name Remarks Lenght Model

MLII IO modules 64-point digital input and 64-point didital output (24VDC) - JEPMC-IO2310

Analogue input: -10V to +10V, 4 channels - JEPMC-AN2900
Analogue output: -10V to +10V, 2 channels - JEPMC-AN2910

I/O Cable for JEPMC-IO2310 With connector on the IO2310 side 0.5 JEPMC-W5410-05

1.0 JEPMC-W5410-10

3.0 JEPMC-W5410-30

Specifications Model

Trajexia Studio v1.0 or higher TJ1-Studio

In the interest of product improvement, specifications are subject to change without notice.

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-02A

17Motion Control

18

19

Austria

Tel: [phone]
www.industrial.omron.at

Belgium

Tel: [phone]
www.industrial.omron.be

Czech Republic

Tel: [phone]
www.industrial.omron.cz

Denmark

Tel: [phone]
www.industrial.omron.dk

Finland

Tel: [phone]
www.industrial.omron.fi

France

Tel: [phone]
www.industrial.omron.fr

Germany

Tel: [phone]
www.industrial.omron.de

Hungary

Tel: [phone]
www.industrial.omron.hu

Italy

Tel: [phone]
www.industrial.omron.it

Middle East & Africa

Tel: [phone]
www.industrial.omron.eu

Netherlands

Tel: [phone]
www.industrial.omron.nl

Norway

Tel: [phone]
www.industrial.omron.no

Poland

Tel: [phone]
www.industrial.omron.pl

Portugal

Tel: [phone]
www.industrial.omron.pt

Russia

Tel: [phone]
www.industrial.omron.ru

Spain

Tel: [phone]
www.industrial.omron.es

Sweden

Tel: [phone]
www.industrial.omron.se

Switzerland

Tel: [phone]
www.industrial.omron.ch

Turkey

Tel: [phone]
www.industrial.omron.com.tr

United Kingdom

Tel: [phone]
www.industrial.omron.co.uk

More Omron representatives

www.industrial.omron.eu

Control Systems

• Programmable logic controllers • Human-machine interfaces • Remote I/O

Motion & Drives

• Motion controllers • Servo systems • Inverters

Control Components

• Temperature controllers • Power supplies • Timers • Counters • Programmable relays

• Digital panel indicators • Electromechanical relays • Monitoring products • Solid-state relays

• Limit switches • Pushbutton switches • Low voltage switch gear

Sensing & Safety

• Photoelectric sensors • Inductive sensors • Capacitive & pressure sensors • Cable connectors

• Displacement & width-measuring sensors • Vision systems • Safety networks • Safety sensors

• Safety units/relay units • Safety door/guard lock switches

Authorised Distributor:

Although we strive for perfection, Omron Europe BV and/or its subsidiary and affiliated companies do not warrant
or make any representations regarding the correctness or completeness of the information described in this document.
We reserve the right to make any changes at any time without prior notice.

OMRON EUROPE B.V.

Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. Tel: [phone] Fax: [phone] www.industrial.omron.eu

Trajexia_EN_INT03