Omron Trajexia TJ2-MC64, Trajexia TJ1-MC16, Trajexia TJ1-MC04 Datasheet

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 Electrical characteristics Conform to IEEE 802.3 (100BaseT)

Serial port Electrical characteristics Conform 1 port to RS232C and 1 port to RS485/RS422A (selectable by switch)

Connector RJ45 Ethernet connector
Transmission protocol Modbus TCP slave

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

24 Motion Control

Frequency inverters
I/O modules

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 sl ave
Transmission speed 9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500, 3000, 6000 and 12000kbps
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 operat i onal 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 configurable - and several digit al 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

Auxiliary I/Os 2 fast registration inputs, 2 definable inputs, 2 enable output, 4 position switch outputs or axes reset
Galvanic isolation Yes

Encoder Input maximum frequency 6 MHz
Encoder/pulse output max. frequency 2 MHz

±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 analogue 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

Trajexia motion controller 27

62

29.73145

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