trajexia motion control system - omron · trajexia motion control system hardware reference manual...

Trajexia motion control systemTJ1-MC04, TJ1-MC16, TJ1-ML04, TJ1-ML16, TJ1-PRT, TJ1-DRT, TJ1-CORT, TJ1-FL02 GRT1-ML2

hardware reference manual

Cat. No. I51E-EN-05

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Note:Although we do 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 information described in this catalogue. Product information in this catalogue is provided ‚as is‘ without warranty of any kind, either express or implied, including, but not limited to, the implied warranties of merchantability, fitness for a particular purpose, or non-infringement. In a jurisdiction where the exclusion of implied warranties is not valid, the exclusion shall be deemed to be replaced by such valid exclusion, which most closely matches the intent and purpose of the original exclusion. Omron Europe BV and/or its subsidiary and affiliated companies reserve the right to make any changes to the products, their specifications, data at its sole discretion at any time without prior notice. The material contained in this catalogue may be out of date and Omron Europe BV and/or its subsidiary and affiliated companies make no commitment to update such material.

Cat. No. I51E-EN-04

Trajexia motion control system hardware reference manualCat. No. I51E-EN-04

HARD I

Revision 5.0

NotiOMRby a qThe fthis mheed

Defi

TradPROFMECDevicCIP isCANoModbTrajeMotioAll otment

publication may be reproduced, stored in a retrieval sys-r by any means, mechanical, electronic, photocopying, e prior written permission of OMRON. respect to the use of the information contained herein. nstantly striving to improve its high-quality products, the al is subject to change without notice. Every precaution of this manual. Nevertheless, OMRON assumes no s. Neither is any liability assumed for damages resulting tained in this publication.

WARE REFERENCE MANUAL

ceON products are manufactured for use according to proper procedures ualified operator and only for the purposes described in this manual.

ollowing conventions are used to indicate and classify precautions in anual. Always heed the information provided with them. Failure to

precautions can result in injury to people or damage to property.

nition of precautionary information

emarks and CopyrightsIBUS is a registered trademark of PROFIBUS International.

HATROLINK is a registered trademark of Yaskawa Corporation.eNet is a registered trademark of Open DeviceNet Vendor Assoc INC. a registered trademark of Open DeviceNet Vendor Assoc INC.pen is a registered trademark of CAN in Automation (CiA).usTCP is a registered trademark of Modbus IDA.xia is a registered trademark of OMRON.n Perfect is a registered trademark of Trio Motion Technology Ltd.her product names, company names, logos or other designations ioned herein are trademarks of their respective owners.

/i

WARNINGIndicates a potentially hazardous situation, which, if not avoided, could result in death or serious injury.

CautionIndicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate injury, or property damage.

© OMRON, 2010

All rights reserved. No part of this tem, or transmitted, in any form, orecording, or otherwise, without thNo patent liability is assumed withMoreover, because OMRON is coinformation contained in this manuhas been taken in the preparation responsibility for errors or omissionfrom the use of the information con

HARD II

Revision 5.0

AboThis mContrPleascarefattemread /i

Name

Trajextrol syQUICGUID

Trajextrol syWARREFEUAL

Trajextrol syPROGMANU

SigmDrive

SigmMECHinterfa

SigmDrive

JUNMdrive

060605 02-OY Describes the installation and operation of V7 Inverters

55 1-OY Describes the installation and operation of F7Z Inverters

60 Describes the installation and operation of G7 Inverters

80001 Describes the installation and operation of the MECHATROLINK-II application module

600-08 Describes the installation and operation of MECHATROLINK-II interfaces for G7 and F7 Inverters

600-03 Describes the installation and operation of MECHATROLINK-II interfaces for V7 Inverters

Describes the installation and operation of MECHATROLINK-II input and output modules and the MECHATROLINK-II repeater

Describes FINS communications proto-col and FINS commands

Describes the installation and operation of Omron slice I/O units

Describes the installation and operation of G-series Servo Drivers

Describes the installation and operation of Accurax G5 Servo Drivers

Describes the use of Trajexia Studio programming software

Contents


ut this manualanual describes the installation and operation of the Trajexia Motion

ol System.e read this manual and the related manuals listed in the following table

ully and be sure you understand the information provided before pting to install or operate the Trajexia Motion Control units. Be sure to the precautions provided in the following section.

Cat. No. Contents

ia motion con-stemK START E

I50E Describes how to get quickly familiar with Trajexia, moving a single axis using MECHATROLINK-II, in a test set-up.

ia motion con-stem HARD-

E RENCE MAN-

I51E Describes the installation and hardware specification of the Trajexia units, and explains the Trajexia system philosophy.

ia motion con-stemRAMMING AL

I52E Describes the BASIC commands to be used for programming Trajexia, commu-nication protocols and Trajexia Studio software, gives practical examples and troubleshooting information.

a-II Servo r manual

SIEP S800000 15 Describes the installation and operation of Sigma-II Servo Drivers

a-III with ATROLINK ce manual

SIEP S800000 11 Describes the installation and operation of Sigma-III Servo Drivers with MECHA-TROLINK-II interface

a-V Servo r manual

SIEP S800000-44-O-OYSIEP S800000-46-O-OYSIEP S800000-48-O-OY

Describes the installation and operation of Sigma-V Servo Drivers

A series servo manual

TOEP-C71080603 01-OY Describes the installation and operation of JUNMA Servo Drivers

V7 Inverter TOEP C71

F7Z Inverter TOE S616-

G7 Inverter TOE S616-

JUSP-NS115 man-ual

SIEP C710

SI-T MECHATRO-LINK interface for the G7 & F7

SIBP-C730

ST-T/V7 MECHA-TROLINK interface for the V7

SIBP-C730

MECHATROLINK IO Modules

SIE C887-5

SYSMAC CS/CJ Series Communica-tions Commands

W342

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

W455-E1

Omron G-series user’s manual

I566-E1

Omron Accurax G5 user’s manual

I572-E1

Trajexia Studio user manual

I56E-EN

Name Cat. No.

HARD III

Revision 5.0

FunDurincontrThis fcontrIn therelate/i

Verify

ajexia Studio software. Refer to the

d type the following commands:

erminal window. The version parameter returns number of the motion controller.SLOT(-1) in the terminal window. The t FPGA version number of the TJ1-MC__.

Func

Full s

Supp

Supp

Supp

SuppbusTC(excemandas se

SuppSigm

Supp


ctions supported by unit versionsg the development of Trajexia new functionality was added to the oller unit after market release.unctionality is implemented in the firmware, and/or the FPGA of the oller unit. table below, the overview of the applicable functionality is shown d to the firmware and FPGA version of the TJ1-MC__.

the firmware and FPGA versions of the TJ1-MC__

Connect the TJ1-MC__ to TrProgramming Manual.Open the terminal window an

Type PRINT VERSION in the tthe current firmware version Type PRINT FPGA_VERSION parameter returns the curren

WARNINGFailure to read and understand the information provided in this manual may result in personal injury or death, damage to the pro-duct, 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 opera-tions given.

tionality TJ1-MC__ Firmware version

TJ1-MC__ FPGAversion

upport TJ1-FL02 V1.6509 21 and higher

ort BASIC commands FINS_COMMS V1.6509 All versions

ort TJ1-DRT V1.6509 All versions

ort TJ1-MC04 andTJ1-ML04 V1.6607 21 and higher

ort TJ1-CORT, GRT1-ML2, Mod-P, Sigma-V series Servo Drivers

pt DATUM and REGIST BASIC com-s) and allow Inverters to be controlled rvo axes

V1.6652 21 and higher

ort for G-series Drivers, full support for a-V series Servo Drivers

V1.6714 21 and higher

ort for Accurax G5 Drivers V1.6720 21 and higher

Contents

HARDWARE REFERENCE MANUAL IV

Revision 5.0

1 Safety warnings and precautions................................................................................................................................................................ 11.1 Intended audience ............................................................................................................................................................................................................................11.2 General precautions .........................................................................................................................................................................................................................11.3 Safety precautions ............................................................................................................................................................................................................................11.4 Operating environment precautions..................................................................................................................................................................................................21.5 Application precautions.....................................................................................................................................................................................................................31.6 Unit assembly precautions................................................................................................................................................................................................................51.7 Conformance to EC Directives Conformance...................................................................................................................................................................................6

2 System philosophy....................................................................................................................................................................................... 72.1 Introduction .......................................................................................................................................................................................................................................72.2 Motion control concepts....................................................................................................................................................................................................................82.3 Servo system principles..................................................................................................................................................................................................................192.4 Trajexia system architecture .........................................................................................................................................................................................................222.5 Cycle time ......................................................................................................................................................................................................................................232.6 Program control and multi-tasking ..................................................................................................................................................................................................292.7 Motion sequence and axes.............................................................................................................................................................................................................302.8 Motion buffers ...............................................................................................................................................................................................................................402.9 Mechanical system .........................................................................................................................................................................................................................42

3 Hardware reference .................................................................................................................................................................................... 433.1 Introduction .....................................................................................................................................................................................................................................433.2 All units ..........................................................................................................................................................................................................................................463.3 Power Supply Unit (PSU) ...............................................................................................................................................................................................................573.4 TJ1-MC__ .....................................................................................................................................................................................................................................593.5 TJ1-ML__........................................................................................................................................................................................................................................703.6 GRT1-ML2 ....................................................................................................................................................................................................................................1433.7 TJ1-PRT .......................................................................................................................................................................................................................................1583.8 TJ1-DRT .......................................................................................................................................................................................................................................1623.9 TJ1-CORT ....................................................................................................................................................................................................................................1663.10 TJ1-FL02 ......................................................................................................................................................................................................................................170

A Differences between Sigma-II and Junma.............................................................................................................................................. 188Revision history .............................................................................................................................................................................................. 189

Safety

HARD 1

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1

1.1This m(electinstal

1.2The uspeciBeformanuaviatiotheron livrepre

1.3

e positive and negative terminals of the bat-tteries, disassemble them, deform them by r throw them into a fire. xplode, combust or leak liquid.

must be taken by the customer to ensure f incorrect, missing, or abnormal signals gnal lines, momentary power interruptions, or

sult in serious accidents.

uits, interlock circuits, limit circuits, and similar st be provided by the customer as external cir-Trajexia motion controller. sult in serious accidents.

utput (I/O power supply to the TJ1) is over-ited, the voltage may drop and result in the off.As a countermeasure for such problems,

sures must be provided to ensure safety in the

go off due to overload of the output transistors ntermeasure for such problems, external st be provided to ensure safety in the system.

warnings and precautions


Safety warnings and precautions

Intended audienceanual is intended for personnel with knowledge of electrical systems

rical engineers or the equivalent) who are responsible for the design, lation and management of factory automation systems and facilities.

General precautionsser must operate the product according to the performance fications described in this manual.e using the product under conditions which are not described in the al or applying the product to nuclear control systems, railroad systems, on systems, vehicles, safety equipment, petrochemical plants, and systems, machines and equipment that can have a serious influence es and property if used improperly, consult your OMRON sentative.

Safety precautions

WARNINGDo 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.

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

WARNINGNever short-circuit thteries, charge the baapplying pressure, oThe batteries may e

WARNINGFail-safe measures safety in the event ocaused by broken siother causes. Not doing so may re

WARNINGEmergency stop circsafety measures mucuits, i.e., not in the Not doing so may re

WARNINGWhen the 24 VDC oloaded or short-circuoutputs being turnedexternal safety measystem.

WARNINGThe TJ1 outputs will(protection).As a cousafety measures mu

Safety

HARD 2

Revision 5.0

ronment precautions

n the terminal block of the Power Supply Unit ed in this manual.esult in burning or malfunction.

nit in any of the following locations. in malfunction, electric shock, or burning.t to direct sunlight.t to temperatures or humidity outside the

in the specifications.t to condensation as the result of severe erature.t to corrosive or flammable gases.t to dust (especially iron dust) or salts.t to exposure to water, oil, or chemicals.t to shock or vibration.

d sufficient countermeasures when installing ing locations.

sufficient measures may result in malfunction.t to static electricity or other forms of noise.t to strong electromagnetic fields.t to possible exposure to radioactivity.to power supplies.



1.4 Operating envi

WARNINGThe TJ1 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.

WARNINGProvide safety measures in external circuits, i.e., not in the Tra-jexia Motion Controller (referred to as "TJ1"), in order to ensure safety in the system if an abnormality occurs due to malfunction of the TJ1 or another external factor affecting the TJ1 operation.Not doing so may result in serious accidents.

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

CautionConfirm 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.

CautionUser programs written to the Motion Control Unit will not be auto-matically backed up in the TJ1 flash memory (flash memory func-tion).

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

CautionTighten the screws oto the torque specifiLoose screws may r

CautionDo not operate the UDoing so may result- Locations subjec- Locations subjec

range specified - Locations subjec

changes in temp- Locations subjec- Locations subjec- Locations subjec- Locations subjec

CautionTake appropriate ansystems in the followInappropriate and in- Locations subjec- Locations subjec- Locations subjec- Locations close

Safety

HARD 3

Revision 5.0

1.5

asures to ensure that the specified power with d frequency is supplied. Be particularly careful power supply is unstable. upply may result in malfunction.

kers and take other safety measures against ternal wiring. easures against short-circuiting may result in

to the Input Units in excess of the rated input

result in burning.

or connect loads to the Output Units in um switching capacity. ads may result in burning.

tional ground terminal when performing with-

e functional ground terminal may result in

class-3 ground (to 100Ω or less) when install-

class-3 ground may result in electric shock.



Application precautions

CautionThe operating environment of the TJ1 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 TJ1 System.Make sure that the operating environment is within the specified conditions at installation and remains within the specified condi-tions during the life of the system.

WARNINGDo 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 MECHATROLINK-II network errors occur during start-up or if the MECHATROLINK-II network configuration changes.Not doing so may result in unexpected operation.

WARNINGCheck the user program for proper execution before actually run-ning it in the Unit. Not checking the program may result in an unexpected operation.

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

CautionTake appropriate methe rated voltage anin places where the An incorrect power s

CautionInstall external breashort-circuiting in exInsufficient safety mburning.

CautionDo not apply voltagevoltage. Excess voltage may

CautionDo not apply voltageexcess of the maximExcess voltage or lo

CautionDisconnect the funcstand voltage tests. Not disconnecting thburning.

CautionAlways connect to aing the Units. Not connecting to a

Safety

HARD 4

Revision 5.0

wiring before turning on the power supply. result in burning.

result in burning.

after checking the terminal block completely.

inal blocks, expansion cables, and other vices are properly locked into place. y result in malfunction.

erse effect will occur in the system before ing mode of the system. sult in an unexpected operation.

nly after transferring to the new CPU Unit the nd table memory required for operation. sult in an unexpected operation.

s, be sure to confirm that the rating of a new

sult in malfunction or burning.



CautionAlways 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 elec-tric 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.

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

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

CautionRemove the dust protective label after the completion of wiring to ensure proper heat dissipation. Leaving the dust protective label attached may result in malfunc-tion.

CautionUse crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connection of bare stranded wires may result in burning.

CautionDouble-check all theIncorrect wiring may

CautionWire correctly. Incorrect wiring may

CautionMount the Unit only

CautionBe sure that the termitems with locking deImproper locking ma

CautionConfirm that no advchanging the operatNot doing so may re

CautionResume operation ocontents of the VR aNot doing so may re

CautionWhen replacing partpart is correct. Not doing so may re

Safety

HARD 5

Revision 5.0

precautions

erating in RUN mode when the power is ASIC program is set to Auto Run mode.

tatus-Words” of each GRT1-ML2 coupler.d to missing or incorrect I/O data.

atus of the connected MECHATROLINK-II program.sult in an unexpected operation.

is developed to exchange I/O data between and a CANopen network. t able to exchange motion commands. to exchange motion commands may result in n.

rly. of the unit may result in malfunction.

TJ1-TER supplied with the TJ1-MC__ to the

is properly mounted, the TJ1 will not function



1.6 Unit assembly

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

CautionBefore 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.

CautionUTP 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.

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

CautionOutputs may remain on due to a malfunction in the built-in transis-tor outputs or other internal circuits.As a countermeasure for such problems, external safety measures must be provided to ensure the safety of the system.

CautionThe TJ1 will start opturned on and if a B

CautionAlways check the “SNot doing so can lea

CautionAlways check the stdevices in a BASIC Not doing so may re

CautionThe TJ1-CORT unitthe Trajexia system The TJ1-CORT is noUsing the TJ1-CORTunexpected operatio

CautionInstall the unit propeImproper installation

CautionBe sure to mount theright most Unit.Unless the TJ1-TERproperly.

Safety

HARD 6

Revision 5.0

1.7

1.7.1

The c

EMCOMREMCmachstandused EMCDireccondiare inthat d

Low Alway1,500

1.7.2

The TTo enwith E1. T2. R

p



Conformance to EC Directives Conformance

Concepts

oncepts for the directives EMC and Low Voltage are as follows:

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

Voltage Directives ensure that devices operating at voltages of 50 to 1,000 VAC or 75 to VDC meet the required safety standards.

Conformance to EC Directives

rajexia Motion Controllers comply with EC Directives.sure that the machine or device in which a system is used complies C directives, the system must be installed as follows:

he system must be installed within a control panel.einforced insulation or double insulation must be used for the DC ower supplies used for the communications and I/O power supplies.

Syste

HARD 7

Revision 5.0

2

2.1fig. 1The s

• S• C• P• M• M

A cleneces

2.1.1

MotiThe M

ServDefinperioavaila

CyclIs theMC__"CPUSERV

CPUThe o

AXIS TYPEAXIS TYPE

OL LOOP

Servo Driver

MOTORPosition

LoopPosition

LoopSpeed LoopSpeed Loop

Torque Loop

Torque Loop

Servo Driver

MOTOR

ENC

Speed Loop

Torque Loop

ENC

AXIS TYPE

J1 ML__-

J1 FL02-

All otherServo Drivers

CPU t

First C

m philosophy


System philosophy

Introductionystem philosophy is centred around the relationship between: ystem architectureycle timerogram control and multi-taskingotion sequence and axesotion buffers

ar understanding of the relationship between these concepts is sary to obtain the best results for the Trajexia system.

Glossary

on sequence otion Sequence is responsible for controlling the position of the axes.

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

e time time needed to execute one complete cycle of operations in the TJ1-. The cycle time is divided in 4 time slices of equal time length, called Tasks". The cycle time is 1ms if SERVO_PERIOD=0.5ms or O_PERIOD=1ms and 2ms if the SERVO_PERIOD=2ms.

tasks perations executed in each CPU task are:

AXIS CONTR

Position Loop

Position Loop

Buffer & profile

gererator

Buffer & profile

gererator

Via

Program Buffer

BASIC PROGRAMSProcess 1

Process 2

Process 3

…

Process 14

Comms

TJ1-MC__

T

T

EthernetFINS

Ethernet

TJ1 PRT-

MC I/O

Profibus

BUILT-IN TJ1-ML16

ask Operation

PU task Motion SequenceLow priority process

Syste

HARD 8

Revision 5.0

ProgA pro

ProcIs a pare Lprocenumbassig

2.2The T1. P2. C3. E

This sBASI

CoorPositcoordconnecoord

The edefineuse o

Secon

Third

Fourth

CPU t

m philosophy


ram gram is a piece of BASIC code.

ess rogram in execution with a certain priority assigned. Process 0 to 12 ow priority processes and Process 13 and 14 are High priority sses. First the process priority, High or Low, and then the process er, from high to low, will define to which CPU task the process will be ned.

Motion control conceptsJ1-MC__ offers these types of positioning control operations:oint-to-Point (PTP) controlontinuous Path (CP) controllectronic Gearing (EG) control.

ection introduces some of the commands and parameters used in the C programming of the motion control application.

dinate systemioning operations performed by the TJ1-MC__ are based on an axis inate system. The TJ1-MC__ converts the position data from either the cted Servo Driver or the connected encoder into an internal absolute inate system.

ngineering unit that specifies the distances of travelling can be freely d for each axis separately. The conversion is performed through the f the unit conversion factor, which is defined by the UNITS axis

d CPU task High priority process

CPU task Motion Sequence (only if SERVO_PERIOD=0.5ms)LED UpdateHigh priority process

CPU task External Communications

ask Operation

Syste

HARD 9

Revision 5.0

paramusingto zer

fig. 2A motakespoint.that isof relmove

2.2.1

In poaxis. • R• A• C• C

50 100A

MOVE(50)

MOVEABS(50)

MOVE(60)

MOVEABS(30)

m philosophy


eter. The origin point of the coordinate system can be determined the DEFPOS command. This command re-defines the current position o or any other value.

ve is defined in either absolute or relative terms. An absolute move the axis (A) to a specific predefined position with respect to the origin A relative move takes the axis from the current position to a position defined relative to this current position. The figure shows an example

ative (command MOVE) and absolute (command MOVEABS) linear s.

PTP control

int-to-point positioning, each axis is moved independently of the other The TJ1-MC__ supports the following operations:elative movebsolute moveontinuous move forwardontinuous move reverse.

0

MOVE(30)

Syste

HARD 10

Revision 5.0

Relafig. 3To mo

commmoveSuppno. 0paramdecel1 willAt stasamemove

The mreleva/i

Definfig. 4The s

the timdefineto 10 to zerrate hdistansegmthe sp

50 100 A

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

Param

UNITS

ACCE

DECE

SPEE

3 4 5 6A

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

m philosophy


tive and absolute movesve a single axis either the command MOVE for a relative move or the and MOVEABS for an absolute move is used. Each axis has its own characteristics, which are defined by the axis parameters.ose a control program is executed to move from the origin to an axis (A) coordinate of 100 and axis no. 1 (B) coordinate of 50. If the speed

eter is set to be the same for both axes and the acceleration and eration rate are set sufficiently high, the movements for axis 0 and axis be as shown in the figure.rt, both the axis 0 and axis 1 moves to a coordinate of 50 over the duration of time. At this point, axis 1 stops and axis 0 continues to to a coordinate of 100.

ove of a certain axis is determined by the axis parameters. Some nt parameters are:

ing movespeed profile in this figure shows a simple MOVE operation. Axis A is e, axis B is the speed. The UNITS parameter for this axis has been

d for example as meters. The required maximum speed has been set m/s. In order to reach this speed in one second and also to decelerate o speed again in one second, both the acceleration as the deceleration ave been set to 10 m/s2. The total distance travelled is the sum of ces travelled during the acceleration, constant speed and deceleration ents. Suppose the distance moved by the MOVE command is 40 m, eed profile is given by the figure.

0

50

B

eter Description

Unit conversion factor

L Acceleration rate of an axis in units/s2

L Deceleration rate of an axis in units/s2

D Demand speed of an axis in units/s2

0

10

1 2

B

Syste

HARD 11

Revision 5.0

fig. 5The taccelA is t

fig. 6

MoveThe fthe a• T• T• T• T

/i

3 4 5 6A


3 4 5 6A


Accele

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wo speed profiles in these figures show the same movement with an eration time respectively a deceleration time of 2 seconds. Again, Axis he time, axis B is the speed.

calculationsollowing equations are used to calculate the total time for the motion of xes.he moved distance for the MOVE command is D.he demand speed is V.he acceleration rate is a.he deceleration rate is d.

0

10

1 2

B

0

10

1 2

B

ration time =

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Const

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inuous movesORWARD and REVERSE commands can be used to start a uous movement with constant speed on a certain axis. The ARD command moves the axis in positive direction and the RSE command in negative direction. For these commands also the arameters ACCEL and SPEED apply to specify the acceleration rate emand speed.movements can be cancelled by using either the CANCEL or DSTOP command. The CANCEL command cancels the move for one nd RAPIDSTOP cancels moves on all axes. The deceleration rate is DECEL.

CP control

nuous Path control enables to control a specified path between the nd end position of a movement for one or multiple axes. The TJ1- supports the following operations:

inear interpolationircular interpolationAM control.

ration distance =

eration time =

eration distance =

ant speed distance =

ime =

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A

1

2

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ar interpolationplications it can be required for a set of motors to perform a move tion from one position to another in a straight line. Linearly interpolated s can take place among several axes. The commands MOVE and EABS are also used for the linear interpolation. In this case the ands will have multiple arguments to specify the relative or absolute for each axis.ider the three axis move in a 3-dimensional plane in the figure. It sponds to the MOVE(50,50,50) command. The speed profile of the n along the path is given in the diagram. The three parameters D, ACCEL and DECEL that determine the multi axis movement are from the corresponding parameters of the base axis. The MOVE and computes the various components of speed demand per axis.

he time axis, B is the speed axis.

B

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CAMfig. 9Addit

to dean axThe sparamThe faxis,

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Electlinkedopera• E• L• L• A

0 50

50

A

B

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lar interpolationy be required that a tool travels from the starting point to the end point arc of a circle. In this instance the motion of two axes is related via a ar interpolated move using the MOVECIRC command.ider the diagram in the figure. It corresponds to the MOVECIRC(-,-50,0,0) command. The centre point and desired end point of the tory relative to the start point and the direction of movement are fied. The MOVECIRC command computes the radius and the angle of n. Like the linearly interpolated MOVE command, the ACCEL, DECEL PEED variables associated with the base axis determine the speed along the circular move.

control

ional to the standard move profiles the TJ1-MC__ also provides a way fine a position profile for the axis to move. The CAM command moves is according to position values stored in the TJ1-MC__ Table array. peed of travelling through the profile is determined by the axis eters of the axis.

igure corresponds to the command CAM(0,99,100,20). A is the time B is the position axis.

EG control

ronic Gearing control allows you to create a direct gearbox link or a move between two axes. The MC Unit supports the following tions.lectronic gearboxinked CAMinked movedding axes

-50

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1:2Axes

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tronic gearboxJ1-MC__ is able to have a gearbox link from one axis to another as if

is a physical gearbox connecting them. This can be done using the NECT command in the program. In the command the ratio and the axis to are specified. figure, A is the Master axis, and B is the CONNECT axis.

B

Ratio CONNECT command

0 1

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

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

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

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Linkfig. 12The M

masteconstbe paThe lA. TB. SC. MD. SE. M

A

B

A

E

D

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ed CAM controlto the standard CAM profiling tool the TJ1-MC__ also provides a tool to e CAM profile to another axis. The command to create the link is called

BOX. The travelling speed through the profile is not determined by the arameters of the axis but by the position of the linked axis. This is like cting two axes through a cam. figure, A is the Master axis (0) position, and B is the CAMBOX Axis (1) on.

ed moveOVELINK command provides a way to link a specified move to a r axis. The move is divided into an acceleration, deceleration and

ant speed part and they are specified in master link distances. This can rticularly useful for synchronizing two axes for a fixed period.abels in the figure are:ime axis.peed axis.aster axis (1).ynchronized.OVELINK axis (0).

B

C

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A

A

A

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

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ng axesery useful to be able to add all movements of one axis to another. One ble application is for instance changing the offset between two axes by an electronic gearbox. The TJ1-MC__ provides this possibility by the ADDAX command. The movements of the linked axis will consists movements of the actual axis plus the additional movements of the r axis. figure, A is the time axis and B is the speed axis.

B

B

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Other operations

elling movesrmal operation or in case of emergency it can be necessary to cancel rrent movement from the buffers. When the CANCEL or RAPIDSTOP ands are given, the selected axis respectively all axes will cancel their

nt move.

in searchncoder feedback for controlling the position of the motor is ental. This means that all movement must be defined with respect to

igin point. The DATUM command is used to set up a procedure by the TJ1-MC__ goes through a sequence and searches for the

based on digital inputs and/or Z-marker from the encoder signal.

registrationJ1-MC__ can capture the position of an axis in a register when an occurs. The event is referred to as the print registration input. On the or falling edge of an input signal, which is either the Z-marker or an the TJ1-MC__ captures the position of an axis in hardware. This on can then be used to correct possible error between the actual on and the desired position. The print registration is set up by using the ST command.osition is captured in hardware, and therefore there is no software ead and no interrupt service routines, eliminating the need to deal with ssociated timing issues.

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a subof twoIn the

JoggJoggioperaRefer

2.3The sbriefly

2.3.1

The sloop sof thetarge

MERGE=0

MERGE=1

A

A

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

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

Servo system principleservo system used by and the internal operation of the TJ1-MC__ are described in this section.

Semi-closed loop system

ervo system of the TJ1-MC__ uses a semi-closed or inferred closed ystem. This system detects actual machine movements by the rotation motor in relation to a target value. It calculates the error between the t value and actual movement, and reduces the error through feedback.

B

B

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systeshow1. T

cob

2. TdaS

3. Tcop

4. Tfew

The lA. TB. SC. DD. PE. SF. SG. MH. EI. MJ. M

2.3.3

The sreferemotio

B

D

J

I

E F G

H

23

4

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Internal operation of the TJ1-MC__

ed closed loop systems occupy the mainstream in modern servo ms applied to positioning devices for industrial applications. The figure s the basic principle of the servo system as used in the TJ1-MC__.he TJ1-MC__ performs actual position control. The main input of the ntroller is the Following Error, which is the calculated difference

etween the demand position and the actual measured position.he Position Controller calculates the required speed reference output etermined by the Following Error and possibly the demanded position nd the measured position. The speed reference is provided to the ervo Driver.he Servo Driver controls the rotational speed of the servo motor rresponding to the speed reference. The rotational speed is

roportional to the speed reference.he rotary encoder generates the feedback pulses for both the speed edback within the Servo Driver speed loop and the position feedback ithin the TJ1-MC__ position loop.

abels in the figure are:J1-MC__.ervo system.emand position.osition control.peed reference.peed control.otor.ncoder.easured speed.easured position.

Motion control algorithm

ervo system controls the motor by continuously adjusting the speed nce to the Servo Driver. The speed reference is calculated by the n control algorithm of the TJ1-MC__, which is explained in this section.

A

C 1

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TFOApaca

• InToOInsyin

• DTchinODto

• OTthO

C

D

∑

∑

Kp

Ki

Kd

Kvff

Kov ∆∆

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otion control algorithm uses the demand position (A), the measured on (D) and the Following Error (B) to determine the speed reference. ollowing Error is the difference between the demanded and measured on. The demand position, the measured position and the Following are represented by the axis parameters MPOS, DPOS and FE. Five alues have been implemented for the user to be able to configure the

ct control operation for each application.he output signal.roportional gainhe proportional gain Kp creates an output Op that is proportional to the ollowing Error E.p = Kp · Ell practical systems use proportional gain. For many just using this gain rameter alone is sufficient. The proportional gain axis parameter is lled P_GAIN.tegral gainhe integral gain Ki creates an output Oi that is proportional to the sum f the Following Errors that have occurred during the system operation.i = Ki · ΣEtegral gain can cause overshoot and so is usually used only on stems working at constant speed or with slow accelerations. The tegral gain axis parameter is called I_GAIN.erivative gainhe derivative gain Kd produces an output Od that is proportional to the ange in the Following Error E and speeds up the response to changes error while maintaining the same relative stability.d = Kd · ∆Eerivative gain may create a smoother response. High values may lead oscillation. The derivative gain axis parameter is called D_GAIN.utput speed gainhe output speed gain Kov produces an output Oov that is proportional to e change in the measured position Pm and increases system damping.ov = Kov · ∆Pm

A B

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ork in a defined way. The programs are written C and control the application of the axes and e executed in parallel. The programs can be set tarted and stopped from other programs and . s to move the axes, control inputs and outputs BASIC commands.

ls the position of all 16 axes with the actions as

rsured Position (MPOS)anded Position (DPOS)opce

tween the BASIC commands and the Axis motion command is executed, the command is uring the next motion sequence, the profile ment according to the information in the buffer.ed, the motion command is removed from the

out in the forth CPU task. A set of BASIC re used to configure the communications. unication slave (as in the PROFIBUS essary to configure the communication in an

Gain

Propo

Integr

Deriva

Outpu

Speed

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

peed feed forward gainhe speed feedforward gain Kvff produces an output Ovff that is roportional to the change in demand position Pd and minimizes the ollowing Error at high speed.vff = Kvff · ∆Pdhe parameter can be set to minimise the Following Error at a constant achine speed after other gains have been set. The speed feed forward ain axis parameter is called VFF_GAIN.

efault settings are given in the table along with the resulting profiles. ional values are allowed for gain settings.

Trajexia system architecture ystem architecture of the Trajexia is dependant upon thesepts:

rogram control otion Sequence otion buffers ommunicationeripherals

e concepts depend upon the value set in the SERVO_PERIOD eter. The relationship between the value of SERVO_PERIOD and the nt concepts of the system architecture are describes as follows.

2.4.1 Program control

Programs make the system win a language similar to BASImodules. 14 Programs can bto run at system power-up, sexecuted from Trajexia ToolsPrograms execute commandand make communication via

2.4.2 Motion sequence

The motion sequence controfollows: • Reading the Motion buffe• Reading the current Mea• Calculating the next Dem• Executing the Position lo• Sending the Axis referen• Error handling

2.4.3 Motion buffers

Motion buffers are the link becontrol loop. When a BASIC stored in one of the buffers. Dgenerator executes the moveWhen the movement is finishbuffer.

2.4.4 Communication

All communication is carried communication commands aWhen the Trajexia is a commcommunication) it is only nec

Default value

rtional gain 0.1

al gain 0.0

tive gain 0.0

t speed gain 0.0

feedforward gain 0.0

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2.5fig. 17All pr

time i• 2• 5

The pSERV

fig. 18The o

Cycle time = 1ms2 3 4

Cycle time = 2 ms2 3 4

CPU t

First C

Secon

Third

Fourth

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task. The values are exchanged from the configured global variables in sparent way. When the Trajexia is a communications master, the C communication commands are used to write and read.

Peripherals

uts and outputs are used with the set of parameters (IN, OP, AIN, T). The inputs and outputs are automatically detected and mapped in xia. Inverters are considered a peripheral device and have a set of C commands to control them. Various MECHATROLINK-II input and t modules can be connected to a TJ1-ML__ unit.

Cycle time ocesses in the Trajexia system are based on the cycle time. The cycle s divided into four CPU tasks:50µs time intervals for a SERVO_PERIOD of 0.5 and 1.0ms00µs time intervals for a SERVO_PERIOD of 2.0ms

rocesses that can be carried out in each time interval depends on the O_PERIOD that is set.perations executed in each CPU task are:

250µs

1

500 µs

1

ask Operation

PU task Motion SequenceLow priority process

d CPU task High priority process

CPU task 1 Motion Sequence (only if SERVO_PERIOD=0.5ms)LED Update.High priority process

CPU task External Communications

NoteThe Motion sequence execution depends on setting of the SERVO_PERIOD parameter.

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Examfig. 19The S

execuMotion sequenceLow priority task (0,1,2,3...)

High priority task (13,14)

LED refreshHigh priority task (13,14)Communication

Motion sequence 1ms

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Servo period

ERVO_PERIOD can be set at 0.5, 1 or 2ms. The processes that take within the cycle time depend on the setting of the SERVO_PERIOD eter. The SERVO_PERIOD parameter is a Trajexia parameter that

be set according to the system configuration. actory setting is 1ms (SERVO_PERIOD=1000). A change is set only a restart of the TJ1-MC__.

ple 1ERVO_PERIOD has a value of 0.5ms and the motion sequence is ted every 0.5ms.

NoteOnly the Sigma-III Servo Driver and the Sigma-V Servo Driver support the 0.5 ms transmission cycle.

CPU task 1

CPU task 2

CPU task 3

CPU task 4

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executask 3run fa

Examfig. 21The S

execu

ServThe ndeterThereTJ1-M• S

T• In

T• I/

Ta

You mparaman incThe mtable SERV

Motion sequenceLow priority task (0,1,2,3...)


LED refreshHigh priority task (13,14)

Communication

1ms

Motion sequenceLow priority task (0,1,2,3...)


LED refreshHigh priority task (13,14)

Communication

2ms

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ple 2ERVO_PERIOD has a value of 1ms and the motion sequence is ted every 1ms. As the motion sequence is not executed during CPU , there is more time for the program execution. High priority programs ster.

ple 3ERVO_PERIOD has a value of 2ms and the motion sequence is ted every 2.0ms.

o period rulesumber of axes and MECHATROLINK-II devices in the Trajexia system mines the value of the SERVO_PERIOD system parameter. are 3 types of MECHATROLINK-II devices that are supported by the C__ units:

ervo Drivershe TJ1-MC__ considers Servo Drivers as axes.vertershe TJ1-MC__ does not consider Inverters as axes.O units and slice bus couplershe TJ1-MC__ does not consider I/O units (analog and digital, counter nd pulse) and slice bus couplers as axes.

ust obey the most restrictive rules when you set the SERVO_PERIOD eter. An incorrect value of the SERVO_PERIOD parameter results in orrect detection of the MECHATROLINK-II devices.ost restrictive rules are given in the tables below. For each unit the

lists the maximum number of devices the unit can control at the given O_PERIOD setting.

CPU task 1

CPU task 2

CPU task 3

CPU task 4

CPU task 1

CPU task 2

CPU task 3

CPU task 4

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• 1• 3• S

TJ1-MTJ1-MSigm

SERV

0.5 m

1.0 m

2.0 m

ddress43

Axis 2 Axis 3 Axis 4

Address44

Address45

Terminator

Servo Driver

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iguration examples

ple 1x TJ1-MC__x TJ1-ML__x Sigma-II Servo DriverERVO_PERIOD = 1ms

C__ Supports 0.5ms SERVO_PERIOD with 3 axes.C__ Supports 0.5ms SERVO_PERIOD with 3 devices.

a-II supports 1ms SERVO_PERIOD. This is the limiting factor.

O_PERIOD TJ1-MC16 TJ1-MC04 TJ1-ML16 TJ1-ML04

s 8 axes 5 axes 4 devices 4 devices

4 non-axis devices

4 non-axis devices


8 non-axis devices

8 non-axis devices


8 non-axis devices

8 non-axis devices

A

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• 2• 1• S

TJ1-MTJ1-MSigm

3

11

Axis 4

Axis 12

Axis 5

Axis 13

Axis 6

Axis 14

Axis 7

Axis 15

ess Address 4D

Address 4E

Address 4F

Address 50

Terminator

Servo Drive

ess Address 45

Address 46

Address 47

Address 48

Terminator

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ple 2x TJ1-MC16x TJ1-ML166x Sigma-II Servo DriverERVO_PERIOD = 1ms

C16 supports 1ms SERVO_PERIOD with 16 axes. L16 supports 1ms SERVO_PERIOD with 8 devices.

a-II supports 1ms SERVO_PERIOD.

Address 49

Axis 0

Axis 8

Axis 1

Axis 9

Axis 2

Axis 10

Axis

Axis

Address 4A

Address 4B

Addr4C

Address 41

Address 42

Address 43

Addr44

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• 1• 8• 1• 3• S

TJ1-MlimitinSigmSI-T sMEC

Exam

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TJ1-MMECTJ1-MTJ1-FSigm

Address 41

Address 42

Address 43

Address 44

Address 45

Address 46

Address 47

Address 48

Address44

Address45

Address46

Address47

Axis 8Axis 7 Axis 1Axis 0

Axis 3 Axis 4 Axis 5 Axis 6

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ple 3x TJ1-MC16x TJ1-ML16x Sigma-II Servo Driverx F7Z Inverter with SI-T interfacex MECHATROLINK-II I/OsERVO_PERIOD = 2.0ms

L16 supports 2.0ms SERVO_PERIOD with 12 devices. This is the g factor.a-II supports 1.0ms SERVO_PERIOD.upports 1ms.

HATROLINK-II I/Os support 1.0ms.

ple 4

x TJ1-MC16x TJ1-ML16x TJ1-FL02x TJ1-PRT (does not influence in the SERVO_PERIOD)x Sigma-II Servo DriverERVO_PERIOD = 1.0ms

C16 supports 1.0ms SERVO_PERIOD with 9 axes (5 HATROLINK-II servo axes and 4 TJ1-FL02 axes)

L16 supports 1.0ms SERVO_PERIOD with 5 devicesL02 supports 0.5ms SERVO_PERIOD (2 axes each module)

a-II supports 1.0ms SERVO_PERIOD.

Address 61

Address 21

Address 62

Address 63

I/O Memory Allocations

0 31 32 95 96 159 160

Address43

Axis 2

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2.6.3fig. 26 Each

in theMotioTask High

fig. 27ExterupdaTrajeIn conavailataskstime aslot o

T #1 HT #2

Cycle time

COMS.

T #1 HT #2

Cycle time

COMS.

B

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Program control and multi-taskingrajexia system has program, processes and multi tasking control.

Program control

rajexia system can control 14 processes that are written as BASIC ams. When the program is set to run, the program is executed.sses 1 to 12 are low priority, 13 and 14 are high priority.

Processes

ow-priority process 0 is reserved for the "Terminal Window" of Trajexia . This terminal window is used to write direct BASIC commands to the C__ independent to other programs. These commands are executed

you press the Enter button.

Multi-tasking

cycle time is divided into 4 time slices called CPU tasks. Processes run first 3 CPU tasks according to the priority of the process.n sequence and low-priority processes (A) are executed in the Low (LT) period. priority processes (B) are executed in the high Task (HT) periods.

nal communication that are not related to the motion network are ted in the communications (COMS) period in the fourth CPU task. xia can control up to 14 programs at the same time. trast to low priority processes, a high priority process is always ble for execution during two of the four CPU tasks. The high-priority

are executed faster than the low-priority tasks, it is that they have more vailable for their execution. All the low-priority tasks must share one

f time and the high-priority task have their own two slots of time.

LT H

LT H

A

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2.7fig. 29Motio

actuaThe aTraje• T

is• T

(S

All noATYPEvery

The mperio

3

COMS. COMS.1411ms

140 (c/l)

1ms

COMS.

2 COMS. COMS.1 0 (c/l) 3 COMS.

1ms

2 1 0 (c/l)

1ms

COMS. COMS.11ms

0 (c/l)

1ms

COMS.14 1314 13

block

Speedcommand

Speedcommand

Speed loop

ON

OFFTorqueloop

M

E

Servo Drive

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Multi-tasking example

example 1, there are two high-priority processes, 13 and 14. The two riods are reserved for these processes, one for processes 13 and one

ocesses 14. The low-priority processes 3, 2, 1 and 0 are executed in period, one process per Cycle time here set to 1.0ms. middle example, there is only one high-priority process, 14. Both HT ds are reserved for this process. The low-priority processes, 3, 2, 1 and executed in the LT period, one process per cycle time. lower example, there are no high-priority processes. Therefore, the riods can be used for the low-priority processes. The LT period is also for the low-priority processes.

Motion sequence and axesn sequence is the part of the TJ1-MC__ that controls the axes. The l way that the motion sequence operates depends on the axis type. xis type can be set and read by the parameter ATYPE. At start-up the

xia system automatically detects the configuration of the axes. he default value for the parameter ATYPE for MECHATROLINK-II axes 41 (MECHATROLINK-II speed).he default value for the parameter ATYPE for the TJ1-FL02 axes is 44 ervo axis with an incremental encoder).

n allocated axes are set as a virtual axis. The value for the parameter E is 0. axis has the general structure as shown in fig. 29.

otion sequence which will be executed at the beginning of each servo d will contain the following elements:

2

3

14 114 13

143 COMS.

1ms

1421ms

3 2 1 COMS.

1ms

0 (c/l) 31ms

13 COMS.

1ms

21ms

•

•

Profile generatorProfile generator

+

-

Position loop

Demandedposition

Measuredposition

Followingerror

+

-

Position loop

Demandedposition

Measuredposition

Followingerror

AXIS PARAMETER

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co7. U

2.7.1fig. 30The p

for eaThe pprogr

2.7.2

The pdevia(DPO

2.7.3

• Tdaco

Profile generator

Demand Position

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ransfer any moves from BASIC process buffers to motion buffers (see ction 2.8).

ead digital inputs.oad moves. (See note.)alculate speed profile. (See note.)alculate axis positions. (See note.)xecute position servo. For axis 0 this also includes the Servo Driver mmunications. (See note.)

pdate outputs.

Profile generator

rofile generator is the algorithm that calculates the demanded position ch axis. The calculation is made every motion sequence.rofile is generated according to the motion instructions from the BASIC ams.

Position loop

osition loop is the algorithm that makes sure that there is a minimal tion between the measured position (MPOS) and the demand position S) of the same axis.

Axis sequence

he motion controller applies motion commands to an axis array that is efined with the BASE command. If the motion command concerns one xis, it is applied to the first axis in the BASE array. If the motion mmand concerns more than one axis, and makes an orthogonal

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

Basic Program..................MOVE(1000)..................

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ATYP

0

40

41

42

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ove, the axes are taken from the array in the order defined by the ASE command. For more information on the BASE command and the efinition of the axis sequence in an axis array, refer to the Trajexia rogramming Manual, chapter 3 (BASIC commands). SERVO=OFF for one axis, the motion commands for that axis are nored. the Following Error (FE) in one axis exceeds the parameter value ELIMIT, 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.

Type of axis

E Applicable to Name Description

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 ser-vos or a flexible axis.

MECHATRO-LINK-II Servo Drivers con-nected to a TJ1-ML__

MECHATRO-LINK-II Posi-tion

Position loop in the Servo Driver. TJ1-MC__ sends position reference to the Servo Driver via MECHATROLINK-II.

MECHATRO-LINK-II Speed (Default)

Position loop in the Trajexia. TJ1-MC__ sends speed reference to the Servo Driver via MECHATROLINK-II.

MECHATRO-LINK-II Torque

Position loop in the Trajexia. TJ1-MC__ sends torque reference to the Servo Driver via MECHATROLINK-II.

Syste

HARD 33

Revision 5.0

Virtufig. 31You c

assigBASI

43

44

45

46

47

48

49

ATYP

ator

EASUREDOSITION

DEMANDPOSITION

=

m philosophy


al axis ATYPE=0 an split a complex profile into two or more simple movements, each ned to a virtual axis. These movements can be added together with the C command ADDAX then assigned to a real axis.

External driver connected to a TJ1-FL02

Stepper output Pulse and direction outputs. Position loop is in the driver. TJ1-FL02 sends pulses and receives no feed back.

Servo axis (Default) Encoder

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

Encoder out-put

The same as stepper, but with the phase differ-ential outputs emulating an incremental encoder.

Absolute Tam-agawa

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

Absolute EnDat

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

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

ML__ Inverter as axis

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

E Applicable to Name Description

Profile gener

MP

Syste

HARD 34

Revision 5.0

MECfig. 32With

settinthe S

MECfig. 33With

SpeerecomcompWith 0x400recom

ME

TJ1-ML__ SERVO

SERVO = OFFML-II

Positioncommand

owingrror

Speedcommand

Position Loop

Speed Loop

Torque Loop

SERVO

ME

SERVO = OFF

TJ1-ML__

Speedcommand

ML-IISpeed

commandSpeed Loop

Torque Loop

m philosophy


HATROLINK-II position ATYPE=40 SERVO = ON, the position loop is closed in the Servo Driver. Gain gs in the TJ1-MC__ have no effect. The position reference is sent to ervo Driver.

HATROLINK-II speed ATYPE=41 SERVO = ON, the speed loop is closed in the TJ1-MC__.d reference is sent to the Servo Driver. This setting is not mended, since there is one cycle delay in the loop (DPOS(n) is

ared with MPOS(n-1)).SERVO = OFF, the speed reference is sent via S_REF command. 00000 means maximum speed of the servomotor. This is the mended setting.

Profile generator

TJ1-MC__

+

_

SERVO = OFF

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

Demandedposition

Measuredposition

Position loop

Folle

NoteAlthough MPOS and FE are updated, the real value is the value in the Servo Driver. The real Following Error can be monitored by the DRIVE_MONITOR parameter by setting DRIVE_CONTROL = 2.

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

+

_

SERVO = OFF

TJ1-MC__

Position loop

Demandedposition

Measuredposition

Profile generator

Followingerror

Syste

HARD 35

Revision 5.0

MECfig. 34With

refereWith comm

StepThe ptrain apositi

SERVO

ME

SERVO = OFF

TJ1-ML__

Torque LoopML-II

Torque command

Torquecommand

m philosophy


HATROLINK-II torque ATYPE=42 SERVO = ON, the torque loop is closed in the TJ1-MC__. The torque nce in the Servo Driver depends on the FE and the gain.

SERVO = OFF, the torque reference is sent directly via the T_REF and. 0x40000000 is the maximum torque of the servomotor.

per output ATYPE=43 osition profile is generated and the output from the system is a pulse nd direction signal. This is useful to control a motor via pulses or as a

on reference for another motion controller.

+

_

SERVO = OFF Position loop

Demandedposition

Measuredposition

Profile generator

Followingerror

TJ1-MC__

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

Syste

HARD 36

Revision 5.0

Servfig. 35With

and inTJ1-M

fig. 36With read.be us

ingr

SpeedCommand

Encoder Signal

10V+_

TJ1-FL02 DRIVE

SERVO = OFF

ME

MeasuredPosition

TJ1-MC__ TJ1-FL02

m philosophy


o axis ATYPE=44 SERVO = ON this is an axis with an analogue speed reference output cremental encoder feedback input. The position loop is closed in the C__ which sends the resulting speed reference to the axis.

SERVO = OFF, the position of the external incremental encoder is The analogue output can be set with BASIC commands only and can ed for general purposes.

FollowErro

DemandedPosition

MeasuredPosition

Position loop

+

_

TJ1-MC__

SERVO = OFF

Profile generator

Syste

HARD 37

Revision 5.0

Encofig. 37The p

increma pos

AbsoWith absolTJ1-MWith encodonly aSee f

AbsoWith absolMC__With read.be usSee f

TJ1-FL02

m philosophy


der output ATYPE=45osition profile is generated and the output from the system is an ental encoder pulse. This is useful to control a motor via pulses or as

ition reference for another motion controller.

lute Tamagawa encoder ATYPE=46 SERVO = ON, this is an axis with analogue speed reference output and ute Tamagawa encoder feedback. The position loop is closed in the C__ and the resulting speed reference is sent to the axis.

SERVO = OFF, the position of the external absolute Tamagawa er is read. The analogue output can be set with BASIC commands nd can be used for general purposes.

ig. 35 for reference.

lute EnDat encoder ATYPE=47SERVO = ON, this is an axis with analogue speed reference output and ute EnDat encoder feedback. The position loop is closed in the TJ1- and the resulting speed reference is sent to the axis.

SERVO = OFF, the position of the external absolute EnDat encoder is The analogue output can be set with BASIC commands only and can ed for general purposes. ig. 35 for reference.

AXIS 1ATYPE = 45

Profile generator

Demandedposition

Syste

HARD 38

Revision 5.0

AbsoWith absoland tWith read.be usSee f

Inverfig. 38This t

the MFromservoUnlikprogr

The Srefresthat tperfo

SumThe fspeed/i

INVERTER

ME

TJ1-ML__

Speedcommand

DPRAMREFRESH EVERY 5ms

ML-IISpeed

commandSpeed Loop

SERVO = OFF

ATYP

40

40

41

m philosophy


lute SSI encoder ATYPE=48SERVO = ON, this is an axis with analogue speed reference output and ute SSI encoder feedback. The position loop is closed in the TJ1-MC__ he resulting speed reference is sent to the axis.SERVO = OFF, the position of the external absolute SSI encoder is The analogue output can be set with BASIC commands only and can ed for general purposes. ig. 35 for reference.

ter axis ATYPE=49 ype allows Inverters (with built-in encoder interface) to be controlled on ECHATROLINK-II bus as servo axes. the controller point of view, Inverter axes are handled the same as axes in MECHATROLINK-II Speed Mode (ATYPE=44).e the other axis types, this Inverter axis must be defined ammatically with function 8 of the command INVERTER_COMMAND.

peed command to the Inverter and the feedback from the encoder is hed in the Inverter every 5 ms. This is a DPRAM limitation. This means

he use of the Inverter is similar to the use of a Servo Driver, but the rmance is lower.

mary of axis types and control modesollowing table lists the axis types and their recommended modes for control, position control and torque control.

+

_

TJ1-MC__

Position loop

Demandedposition

Measuredposition

Profile generator

Followingerror

SERVO = OFF

E SERVO Mode Comment

OFF Position(MECHATROLINK-II)

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

ON Position(MECHATROLINK-II)

Recommended mode for position control with MECHATROLINK-II axes.

OFF Speed(MECHATROLINK-II)

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

Syste

HARD 39

Revision 5.0

41

42

42

44, 4647, 48

44, 4647, 48

49

49

ATYP

m philosophy


ON Position(MECHATROLINK-II)

The position loop is closed in Trajexia. This gives lower performance than closing the posi-tion loop in the Servo Driver.

OFF Torque(MECHATROLINK-II)

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

ON Position via torque (MECHATROLINK-II)

The position loop is closed in Trajexia. The out-put of the position loop is sent as the torque ref-erence to the Servo Driver.

, OFF Speed(Flexible Axis)

Recommended mode for speed control with Flexible Axis.

, ON Position(Flexible Axis)

The position loop is closed in Trajexia. Recom-mended mode for position control with Flexible Axis.

OFF Speed Inverter (with built-in encoder interface) control-led on the MECHATROLINK-II bus as a servo axis. Set the speed with S_REF.

ON Position Inverter (with built-in encoder interface) control-led on the MECHATROLINK-II bus as a servo axis. The position loop is closed in Trajexia.

E SERVO Mode Comment

Syste

HARD 40

Revision 5.0

2.8fig. 39The m

BASIThe BThere• M

to• N

th• P

p

It is pproce

fig. 40Whenis loabufferIf a foBASIExam

DEMANDPOSITION

XIS(2)

ER

NTYPE

MTYPE

Waiting to be executed MOTION COMMAND

Currently executed MOTION COMMAND

AXIS BUFFER (one per axis)

Profile generator

Axis 0NTYPE MTYPE

WAITING EXECUTING

own

Axis 1NTYPE MTYPE

Axis 2NTYPE MTYPE

Axis 3NTYPE MTYPE

NTYPE MTYPEAxis 15

Each Axis has its own 2 buffers: NTYPE & MTYPE

m philosophy


Motion buffers otion buffer is a temporary store of the motion instruction from the

C program to the profile generator.ASIC program continues while the instruction waits in the buffer. are three types of buffer:TYPE. The current movement that is being executed. MTYPE relates the axis and not to the process. TYPE. The new movement that waits for execution. NTYPE relates to e axis and not to the process.rocess Buffer. The third buffered movement cannot be monitored. The rocess buffer relates to the process and not to the axis.

ossible to check if the process buffer is full by checking the PMOVE ss parameter.

a motion instruction is executed in the BASIC program, the instruction ded into the process buffer and distributed to the corresponding axis in the next motion sequence.urth motion instruction is executed and the three buffers are full, the C program stops execution until a process buffer is free for use.ple of buffered instructions:

.......

BASIC PROGRAM.......MOVE(-500).......MOVE(1000).......CONNECT(1,1)

BASIC PROGRAM.......MOVE(-500).......MOVE(1000).......CONNECT(1,1)

CONNECT(1,1) A

PROCESS BUFF

Process 1 Process Buffer

Each process has its “Process Buffer”

Process Buffer Process 2






Process 14 Program Buffer

Syste

HARD 41

Revision 5.0

fig. 41

MOVE -500

MOVE -500

MOVE -500

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 buIf the basic program reaches‘MOVE(200)’ it will wait.

1.- All buffers are empty

and a movement is loaded. The movement starts to execute.

5.- As the sent

movements are finished, the buffer empties.MOVE -500

MOVE 1000

DATUM (3)

MOVE -500

MOVE 1000

DATUM (3)

VE -500

MOVE 1000

DATUM (3) MOVE 200

VE -500

MOVE 1000

DATUM (3) MOVE 200

6.- If no new movements

are executed, finally, thebuffer will become empty and the profile generator

becomesinactive.

4.- The first movement has

finished. Thebuffer movesby one position . The next movement starts to

execute.

MOVE -500

MOVE 1000

MOVE -500

MOVE 1000

m philosophy


BASIC PROGRAM.......MOVE(-500).......MOVE(1000).......DATUM(3).......MOVE(200).......

- - - -

---------------------------------NTYPE IDLE---------------------------------MTYPE MOVE(-500)

BUFFER


- - - ----------------------------------NTYPE MOVE(1000)---------------------------------MTYPE MOVE(-500)

BUFFER


DATUM(3)---------------------------------NTYPE MOVE(1000)---------------------------------MTYPE MOVE(-500)

BUFFER

EXAMPLE:


- - - - - ----------------------------------NTYPE MOVE(200)---------------------------------MTYPE DATUM(3)

BUFFER


- - - - - ----------------------------------NTYPE MOVE(200)---------------------------------MTYPE DATUM(3)

BUFFER


- - - - - ----------------------------------NTYPE IDLE---------------------------------MTYPE MOVE(200)

BUFFER

MO


- - - - - ----------------------------------NTYPE IDLE---------------------------------MTYPE MOVE(200)

BUFFER

MO


MOVE(200)---------------------------------NTYPE DATUM(3)---------------------------------MTYPE MOVE(1000)

BUFFER


MOVE(200)---------------------------------NTYPE DATUM(3)---------------------------------MTYPE MOVE(1000)

BUFFER

Syste

HARD 42

Revision 5.0

2.9

2.9.1

The irelatiosystereachWith Drivecomb

2.9.2

If a mvibrat

2.9.3

A memechsystefrequThe rsettin

m philosophy


Mechanical system

Inertia ratio

nertia ratio is a stability criterion. The higher the intertia of the load in n to the intertia of the motor, the lower the gains you can set in your

m before you reach oscillation, and the lower the performance you can .a ratio of 1:30 for small Servo Drivers and a ratio of 1:5 for big Servo rs you can reach the maximum dynamic of the motor-driver ination.

Rigidity

achine is more rigid and less elastic, you can set higher gains without ion, and you can reach higher dynamic and lower Following Error.

Resonant frequency

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

Hardw

HARD 43

Revision 5.0

3

3.1fig. 1Traje

the e

Trajescalacoorde-geacomm

Trajebus oor tormake

You cdriver8 Inve

3.1.1

The m

DirecTrajePCs, over Etherto the

KeepTrajeconfid

CX-onerajexia Tools

PROFIBUS-DPMaster

DEVICENETMaster

CANopenMaster

are reference


Hardware reference

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

xia is a stand-alone modular system that allows maximum flexibility and bility. At the heart of Trajexia lies the TJ1 multi-tasking motion inator. Powered by a 32-bit DSP, it can do motion tasks such as e-cam, rbox, registration control and interpolation, all via simple motion ands.

xia offers control of up to 16 axes over a MECHATROLINK-II motion r traditional analogue or pulse control with independent position, speed que control for every axis. And its powerful motion instruction set s programming intuitive and easy.

an select from a wide choice of best-in-class rotary, linear and direct- servos as well as Inverters. The system is scalable up to 16 axes and rters & I/O modules.

Trajexia High-Lights

ain high-lights of the trajexia system are as follows:

t connectivity via Ethernetxia's Ethernet built-in connector provides direct and fast connectivity to PLCs, HMIs and other devices while providing full access to the drivers a MECHATROLINK-II motion bus. It allows explicit messaging over net and through MECHATROLINK-II to provide full transparency down actuator level, and making remote access possible.

your know-how safexia's encryption method guarantees complete protection and entiality for your valuable know-how.

NS-series HMICJ-series PLC

T

Ethernet

Digital I/O

Hostlink

MECHATROLINK-II

Hardw

HARD 44

Revision 5.0

SeriaA seror anembemach

MECThe MInversysteaccurmotio

TJ1-The Tpulseallow

DriveA widare aThe Iupda

RemThe Iexpan

PROThe Pyour

DeviThe Dmach

are reference


l Port and Local I/Osial connector provides direct connectivity with any OMRON PLC, HMIs y other field device. 16 Inputs and 8 outputs are freely configurable dded I/Os in the controller to enable you to tailor Trajexia to your ine design.

HATROLINK-II MasterECHATROLINK-II master performs control of up to 16 servos,

ters or I/Os while allowing complete transparency across the whole m.MECHATROLINK-II offers the communication speed and time acy essential to guarantee perfect motion control of servos. The n cycle time is selectable between 0.5 ms, 1 ms or 2 ms.

FL02 (Flexible Axis Unit)J1-FL02 allows full control of two actuators via an analogue output or train. The module supports the main absolute encoder protocols ing the connection of an external encoder to the system.

s and Inverterse choice of rotary, linear and direct-driver servos as well as Inverters vailable to fit your needs in compactness, performance and reliability. nverters connected to the MECHATROLINK-II are driven at the same te cycle time as the Servo Drivers.

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

FIBUS-DPROFIBUS-DP slave allows connectivity to the PROFIBUS network in

machine.

ceNeteviceNet slave allows connectivity to the DeviceNet network in your

ine.

Hardw

HARD 45

Revision 5.0

CANThe Cmach

3.1.2fig. 2One

Trajeinstrugearbmotiowhile

One The pare fu

One TrajeoscillThe sbus asyste

3.1.3

This H• T• T• A

T

are reference


openANopen master allows connectivity to the CANopen network in your ine.

Trajexia Studio

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

connectionarameters and functions inside the drivers on the MECHATROLINK-II lly accessible from the Ethernet connection.

minutexia Studio includes advanced debugging tools, including trace and oscope functions, to ensure efficient operation and minimum downtime.ervos, Inverters and I/Os connected to the MECHATROLINK-II motion re automatically identified and configured, allowing you to set up your m in minutes.

This manual

ardware Reference Manual gives the dedicated information for:he description, connections and use of the Trajexia unitshe description, connections and use of the MECHATROLINK-II slaves detailed philosophy of the system design to obtain the best results for rajexia

Hardw

HARD 46

Revision 5.0

3.2

3.2.1fig. 3A Tra

• A• A

--

• U• A

The eTJ1-M

A Tra• 0• 0• 0

(D• 0

A Tra• 0• 0• 0• 0

1 2 3 4 5 6

1.

are reference


All units

System installation

jexia system consists of these units: Power Supply Unit. TJ1-MC__ (Motion Controller Unit). This can be one of these:

TJ1-MC16. It supports 16 real or virtual axes, and 16 axes in total.TJ1-MC04. It supports 5 real and up to 16 virtual axes, 16 axes in total.

p to 7 expansion units. TJ1-TER (Terminator Unit).

xpansion units (unit numbers 0-6) can be arranged in any order. The C__ autodetects all units.

jexia system with a TJ1-MC16 can include: to 4 TJ1-ML__ units (MECHATROLINK-II Master Unit). to 7 TJ1-FL02 units. or 1 TJ1-PRT (PROFIBUS-DP Slave Unit) or TJ1-DRT units eviceNet Slave Unit)1.

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

jexia system with a TJ1-MC04 can include: to 4 TJ1-ML__ units. to 3 TJ1-FL02 units. or 1 TJ1-PRT or TJ1-DRT units1. or 1 TJ1-CORT units.

-1Unit number: 0

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

Hardw

HARD 47

Revision 5.0

fig. 4The fA. PB. TC. TD. SE. NF. SG. T

01234567

CN3

CN1

TERMON/OFFWIRE2/4

CN2

MC16

OMRONMOTION CONTROLLER

RUN

8F

CN1

ML16

GCBA

ED

are reference


igure is an example of a simple configuration.ower supplyJ1-MC__.J1-ML__.igma-II Servo DriverS115 MECHATROLINK-II Interface Unit.igma-II servo motorJ1-TER.

F

Hardw

HARD 48

Revision 5.0

fig. 51. Rco

2. D3. To

a4. D

fig. 65. P

A

01234567

CN1

TERMON/OFFWIRE2/4

CN2

OLLER

are reference


emove all the units from the packaging. Make sure all units are mplete.

o not remove the protection labels from the units. disconnect the TJ1-MC__ and the TJ1-TER, push the clips (A) on top

nd bottom of the TJ1-TER to the front.isconnect the TJ1-TER from the TJ1-MC__.

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

01234567

CN3

CN1

TERMON/OFFWIRE2/4

CN2

MC16


CN3

MC16

OMRONMOTION CONTR

A

Hardw

HARD 49

Revision 5.0

fig. 76. A

fig. 87. P

01234567

CN3

CN1

TERMON/OFFWIRE2/4

CN2

MC16


CB

CN1

ERMN/OFF

IRE/4

CN2

A

are reference


ttach the TJ1-MC__ (C) to the Power Supply Unit (B).

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

01234567

CN3

T

O

W

2

MC16


Hardw

HARD 50

Revision 5.0

fig. 98. R9. M

fig. 1010. P11. A

p1

12. P13. A

fr

RUN

8F

CN1

ML16

A

RUN

8F

CN1

ML16

D

are reference


epeat the previous two steps for all other units.ake sure the last unit is the TJ1-TER.

ull down all the clips (D) on all units.ttach the Trajexia system to the DIN rail in an upright position to rovide proper cooling. The recommended DIN rail is of type PFP-00N2, PFP-100N or PFP-50N. ush all the clips (D) up on all units.fter you complete the wiring of the units, remove the protection labels om the units.

01234567

CN3

CN1

TERMON/OFFWIRE2/4

CN2

MC16


01234567

CN3

CN1

TERMON/OFFWIRE2/4

CN2

MC16


Hardw

HARD 51

Revision 5.0

fig. 1114. D••••

0 1 2 3 4 5 6 7

CN

3

CN

1

TE

RM

ON

/OF

F

WIR

E2/4

CN

2

MC

16

OM

RO

N

MO

TIO

N C

ON

TR

OL

LE

R

RU

N

8F

CN

1

ML

16

01234567

CN3

CN1

TERMON/OFF

WIRE2/4

CN2

MC16

OMRON

MOTION CONTROLLER

RUN

8F

CN1

ML16

are reference


o not install the Trajexia units in one of these positions:Upside down.With the top side forward.With the bottom forward.Vertically.

Hardw

HARD 52

Revision 5.0

fig. 1215. Waa

3.2.2/i

Item

Ambi

Ambi

Ambi

Ambi

Atmo

Vibra

Shoc

Insula

Diele

Prote

Intern

are reference


hen you design a cabinet for the units, make sure that the cabinet llows at least 20 mm of space around the units to provide sufficient irflow. We advise to allow at least 100 mm of space around the units.

Environmental and storage for all units

Specification

ent operating temperature 0 to 55°C

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

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

ent storage humidity 90% max. (with no condensation)

sphere No corrosive gases

tion 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

k resistance 147 m/s2, 3 times each X, Y and Z directions

tion resistance 20 MΩ

ctric strength 500 VAC

ctive structure IP20

ational standards CE, EN 61131-2, cULus, LloydsRoHS compliant

Hardw

HARD 53

Revision 5.0

3.2.3

The d

Trajefig. 13All m

70.3

9094

are reference


Unit dimensions

imensions for the units of the Trajexia system are as follows:

xia motion controllereasurements are in mm.

62

65

71

Hardw

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Revision 5.0

Trajefig. 14All m

70.3

90

94

are reference


xia unitseasurements are in mm.

31

39.9

Hardw

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Revision 5.0

Trajefig. 15All m

fig. 16The ithe m

3.2.4

To withese

2 29.731

90 94

70.30

81.60 to 89.0 mm

90

94

are reference


xia systemeasurements are in mm.

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

Wire the I/O connectors

re the I/O connectors of the TJ1-MC__ and the TJ1-FL02 units, do steps:

6

65

45

PA202

Hardw

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Revision 5.0

fig. 171. S2. To3. If

fe4. In5. In6. R7. M

Wirin/i

Cond/i

Item

Wire

Insert

Recoferrul

Stripp

Item

Clam

Wires

Wires

are reference


trip the wires. make it easier to insert the wires, twist them.

necessary, crimp the plain (top) ferrules or the collared (bottom) rrules.sert the screwdriver into the inner (square) hole. Push firmly.sert the wire into the outer (circular) hole.emove the screwdriver.ake sure that there are no loose strands.

g specifications

uctor size

Specification

types 0.14−1.0 mm2

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

ion tool 2.5 mm flat-bladed screwdriver

mmended e types

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

ing length 7 mm without ferrules (tolerance: +1 mm, −0 mm)10 mm with ferrules (tolerance: +1 mm, −0 mm)

Specification

ping range 0.08−1.0 mm2

without ferrule 0.5−1.0 mm2

with ferrule AEH H0,14/12, 0.13 mm2

AEH H0,25/12, 0.25 mm2

AEH H0,34/12, 0.34 mm2

Hardw

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Revision 5.0

3.3

3.3.1

The Puse th

• C• C• C

3.3.2fig. 18Each

/iXXXX

POWER

L1AC100-240V

INPUTL2/N

NC

NC

A

B

C

D

E

F

Item

A

B

C

D

E

1.

F

are reference


Power Supply Unit (PSU)

Introduction

SU supplies power to the other units in the Trajexia system. You can ree different types of Power Supply Unit with the Trajexia system:

J1W-PA202J1W-PA205RJ1W-PD025.

PSU Connections

Power Supply Unit has six terminals:

XGCJ1W-PA202 CJ1W-PA205R CJ1W-PD025

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

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

Line earth Line earth Line earth

Earth Earth Earth

N/C 1Wdog relay contact

Terminals E and F for the CJ1W-PA205R are relay contacts that close when Wdog is enabled. Refer to the BASIC Commands in the Program-ming manual.

N/C

N/C Wdog relay contact N/C

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

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Eachyou c

3.3.3/i

PoweSuppUnit

CJ1W

CJ1W

CJ1W

are reference


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

PSU Specifications

CautionA 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.

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

rly

Inputvoltage

Maximum current consumption Outputpower5 V group 24 V group

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

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

-PD025 24 VDC 5.0 A 0.8 A 25 W

CautionThe amount of current and power that can be supplied to the sys-tem 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 maxi-mum current for each voltage group. The total power consumption must not exceed the maximum for the Power Supply Unit.

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3.3.4

• S• P• P

3.4

3.4.1

The TTJ1-Munits ProgrThereThe TThe T

fig. 19The T/i

A

B

C

D

EFGH

Part

A

B

C

D

E

F

G

H

are reference


PSU box contents

afety sheet.ower Supply Unit.rotection label attached to the top surface of the unit.

TJ1-MC__

Introduction

J1-MC__ is the heart of the Trajexia system. You can program the C__ with the BASIC programming language to control the expansion

and the servo motors attached to the expansion units. Refer to the amming Manual. are two versions of the TJ1-MC__:J1-MC04 supports 5 axes (up to 4 axis on MECHATROLINK-II)J1-MC16 supports 16 axes.J1-MC__ has these visible parts:

Description

LED display

I/O LEDs 0 - 7

Battery

Ethernet connector

TERM ON/OFF switch

WIRE 2/4 switch

Serial connector

28-pin I/O connector

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Revision 5.0

3.4.2

The Lfig. 20/i

Inform

IP adnet m

IP ad

RUN

OFF

ERR

are reference


LED Display

ED display shows the following information:

ation When

dress and sub-ask

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

dress Shows 4 times when you connect an Ethernet cable to the Ethernet connector of the TJ1-MC__ and to a PC.

When the TJ1-MC__ operates a Servo Driver.

When the TJ1-MC__ does not operate a Servo Driver.

+ code When an error occurs in the Trajexia system.The code is the error code. Refer to troubleshooting chapter in the Programming Manual.

Hardw

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Revision 5.0

3.4.3fig. 21The T

• O• O• O

The p

EtheThe EEtherused cableand naddreThe TEther

BASMakeDo no

EnviUTP systeenviroInstalgeneInstalexces

A

B

C

D

EFGH

are reference


TJ1-MC__ Connections

J1-MC__ comes with these connectors:ne Ethernet connector, to connect to a PC or Ethernet network (D)ne serial connector (G). ne 28-pin I/O connector (H).

arts for the serial connector and the 28-pin connector are supplied.

rnet connector thernet connector is used to connect the TJ1-MC__ to a PC or

net network. The Ethernet connector is the only connection that can be to program the system. Use either a crossover or a Ethernet patch for this connection. If you connect the PC directly to the TJ1-MC__, ot via a hub or any other network device, the PC must have a fixed IP ss.J1-MC__ automatically detects when a cable is connected to the net connector.

IC installation precautions sure that the Ethernet system is to the IEEE Std 802.3 standard.t install the Ethernet system near a source of noise.

ronmental precautionscables are not shielded. In environments that are subject to noise use a m with shielded twisted-pair (STP) cable and hubs suitable for an FA nment.

l twisted-pair cables away from high-voltage lines and devices that rate noise.l twisted-pair cables in locations that are free of high humidity and sive dust and contaminates.

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Seriafig. 22The s

• R• R• R

/i

TERMSets of theserial/i

54321

Pin1

2

3

4

5

6

7

8

9

Commstand

RS42

RS42

are reference


l connectorerial connector allows for three communication standards:S232.S422.S485.

ON/OFF Switchthe termination on/off of the RS422 / 485 serial connection. The setting TERM ON/OFF switch depends on the communication standard of the connection and the position of the TJ1-MC__ in the network:

9876

Communication ConnectionRS422/RS485 /Tx

RS232 Tx

RS232 Rx

N/C N/C

N/C N/C

RS422/RS485 /Rx

RS422/RS485 Tx

RS422/RS485 Rx

RS232 0 V

unication ard

Position of the TJ1-MC__ Setting of the TERM ON/OFF switch

2 or RS485 First or last Left (on)

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

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Revision 5.0

WIREfig. 23The W

serial/i

A

B

C

D

EFGH

Comm

RS42

RS48

are reference


2/4 SwitchIRE 2/4 switch sets the communication standard for the RS422/485

connection. To use one of the communication standards, do this:

unication standard How to select it

2 Set the WIRE 2/4 switch right

5 Set the WIRE 2/4 switch left

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

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28-PThe 2B2L 3

fig. 24/i

LEDsThe IBASIThe tcomm/i

246810121416182022242628

Pin

1

3

5

7

9

11

13

15

17

19

21

23

25

27

LED label

0

1

are reference


in I/O connector 8 pin connector is a Weidmuller connector designation: .5/28 LH.

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

13579

111315171921232527

Connection Pin Connection

0 V input common 2 0 V input common

Input 0 4 Input 1

Input 2 6 Input 3

Input 4 8 Input 5

Input 6 10 Input 7

Input 8 12 Input 9

Input 10 14 Input 11



Output 8 20 Output 9




0 V output common 28 24V Power supply Input for the Outputs.

n=0 n=1 n=2 n=3 n=4 n=5 n=6 n=7

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


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For eactivi

Digitfig. 25The f

15) s/i

The tphysiMaximor 25the in

2

3

4

5

6

7

LED label

TJ 1-MC 16

3

nput

common for Input circuits

1

nput

Item

Type

Maxim

Input

ON v

OFF

are reference


xample, if you use the DISPLAY=1 command, LED 5 reflects the ty of the input in 13 (pin16) of the 28-pin I/O connector.

al inputs ollowing table and illustration details the digital input (Input 0 to Input pecifications for the I/O:

imings are dependant upon the MC16’s servo period, and include cal delays in the input circuit.

um response times of 1250 µs (for servo periods of 0.5 ms or 1.0 ms) 00 µs (for a servo period of 2.0 ms) are achieved between a change in put voltage and a corresponding change in the IN Parameter.







n=0 n=1 n=2 n=3 n=4 n=5 n=6 n=7

0V I

0V

External powersupply 24V

I

Specification

PNP/NPN

um voltage 24 VDC + 10%

current 5 mA at 24 VDC

oltage 14.4 VDC

voltage 5.0 VDC max.

Hardw

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Revision 5.0

Digitfig. 26The f

speci/i

The tphysiMaxim0.5 mare achang

TJ 1-MC 16

Externalpowersupply24V

Load

2A Fuse24V output supply28

19 O8

27 0Vout

ircuits

Item

Type

Maxim

Curre

Max.

Prote

are reference


al outputsollowing table and illustration details the digital output (O8 to O15) fications:

imings are dependant upon the MC16’s servo period, and include cal delays in the output circuit.

um response times of 250 µs on and 350 µs off (for servo periods of s or 1.0 ms) or 500 µs on and 600 µs off (for a servo period of 2.0 ms) chieved between a change in the OP parameter and a corresponding e in the digital output circuit.

Equivalentcircuit

To other output cInte

rnal

circ

uits

(gal

vani

cally

isol

ated

from

the

syst

em)Specification

PNP


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

Voltage 24 VDC + 10%

ction Over current, Over temperature and 2A fuse on Common

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Revision 5.0

3.4.4fig. 27The b

variabmust CJ1WTo reto ensunit tocapacbacku

3.4.5/i

A

B

C

D

EFGH

Item

Powe

Total

Curre

Appro

Numb

Numb

Numb

Real

are reference


Battery

ackup battery provides power to the RAM, where programs and global les are stored, and real Time Clock when the power supply is off. You replace it every five years. The part number of the backup battery is -BAT01.

place the battery the power must not be off for more than five minutes ure no backup memory loss. If the TJ1-MC__ has not been on, set the on for at least five minutes before you replace the battery else the itor that gives backup power to the memory is not fully changed and p memory may be lost before the new battery is inserted.

TJ1-MC__ Specification

Specification

TJ1-MC04 TJ1-MC16

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

power consumption 3.3 W

nt consumption 650 mA at 5 VDC

ximate weight 230 g

er of axes 5 (up to 4 axis on MECHA-TROLINK-II)

16

er of Inverters and I/Os Up to 8 on MECHATROLINK-II, depending on the type of TJ1-ML__ in the system.

er of TJ1-ML__ units Up to 4

Time Clock Yes

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Revision 5.0

Seria/i

Servo

Progr

Multi-

Digita

Meas

Availagram

Data

SavinTJ1-M

Savin

Comm

Firmw

ElectrEther

Ether

Item

Item

Electr

Conn

Baud

Trans

Trans

are reference


l connectors 1 and 2

period 0.5 ms, 1 ms or 2 ms

amming language BASIC-like motion language

tasking Up to 14 tasks

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

urement units User-definable

ble memory for user pro-s

500 kB

storage capacity Up to 2 MB flash data storage

g program data on the C__

• RAM and flash memory backup• Battery backup

g program data on the PC Trajexia Tools software manages backups on the hard-disk of the PC

unication connectors • 1 Ethernet connection• 2 serial connections

are update Via Trajexia Tools software

ical characteristics of the net connector

Conforms to IEEE 802.3 (100BaseT)

net connector RJ45

Specification

TJ1-MC04 TJ1-MC16

Specification

ical characteristics • PORT1: RS232C, non-isolated• PORT2: RS485/RS422A, isolated

ector SUB-D9 connector

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

mission format, databit length 7 or 8 bit

mission format, stop bit 1 or 2 bit

Hardw

HARD 69

Revision 5.0

3.4.6fig. 28The T

functilast u

Trans

Trans

Trans

Galva

Comm

Flow

Termi

Maxim

Item

are reference


TJ1-TER

J1-TER makes sure that the internal data bus of the Trajexia system ons correctly. A Trajexia system must always contain a TJ1-TER as the nit.

mission format, parity bit Even/odd/none

mission mode • RS232C: Point-to-point (1:1)• RS422/485: Point-to-multipoint (1:N)

mission protocol • Host link master protocol• Host link slave protocol• ASCII general purpose

nic isolation RS422/485 connector only

unication buffers 254 bytes

control None

nator Yes, selected by switch

um cable length • RS232C: 15 m• RS422/485: 100 m

Specification

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Revision 5.0

3.4.7

• S• T• P• T• P• P• T

th• W

3.5

3.5.1

The Tdeter

fig. 29• S• In• I/

The T/i

Togetthe n• O• O

RUN

BF

CN1

A

BPart

A

B

are reference


TJ1-MC__ box contents

afety sheet.J1-MC__ (battery included).rotection label attached to the top surface of the TJ1-MC__.J1-TER, attached to the TJ1-MC__.arts for a serial connector.arts for an I/O connector.wo metal DIN-rail clips, to prevent the Trajexia system from sliding off e rail.hite clip, to replace the yellow clip of the Power Supply Unit.

TJ1-ML__

Introduction

J1-ML__ controls MECHATROLINK-II devices in a cyclic and ministic way. MECHATROLINK-II devices can be:ervo Drivers.verters.Os.

J1-ML__ has these visible parts:

her the TJ1-ML__ and its devices form a serial network. The first unit in etwork is the TJ1-ML__. ne TJ1-ML16 can control 16 devices.ne TJ1-ML04 can control 4 devices.

ML16

Description

LED indicators

CN1 MECHATROLINK-II bus connector

Hardw

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Revision 5.0

3.5.2/i

3.5.3fig. 30The M

conneMEC

The MMEC

Labe

run

BF

-

RUN

8F

ML16

CN1

A

are reference


LEDs description

TJ1-ML__ connection

ECHATROLINK-II bus connector (A) fits a MECHATROLINK-II ctor. Use this connector to connect the TJ1-ML__ to a

HATROLINK-II network.

ECHATROLINK-II network must always be closed by the HATROLINK-II terminator.

l Status Description

off Start-up test failed. Unit not operationalOperation stopped. Fatal error

on Start-up test successful. Normal operation

off Normal operation

on A fault in the MECHATROLINK-II bus

Reserved

Hardw

HARD 72

Revision 5.0

Examfig. 31Exam

• 1• 1• 3• 1

ddress43

Axis 2 Axis 3 Axis 4

Address44

Address45

Terminator

Servo Driver

are reference


ple connections ple 1

x TJ1-MC__ x TJ1-ML__ x Sigma-II Servo Driver x MECHATROLINK-II terminator

A

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Revision 5.0

fig. 32Exam• 1• 2• 1• 2

3

11

Axis 4

Axis 12

Axis 5

Axis 13

Axis 6

Axis 14

Axis 7

Axis 15

ess Address 4D

Address 4E

Address 4F

Address 50

Terminator

Servo Drive

ess Address 45

Address 46

Address 47

Address 48

Terminator

are reference


ple 2 x TJ1-MC16 x TJ1-ML166 x Sigma-II Servo Driver x MECHATROLINK-II terminator

Address 49

Axis 0

Axis 8

Axis 1

Axis 9

Axis 2

Axis 10

Axis

Axis

Address 4A

Address 4B

Addr4C

Address 41

Address 42

Address 43

Addr44

Hardw

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Revision 5.0

fig. 33The MInverExam• 1• 1• 1• 1• 3• 1

3.5.4/i

Address 61

Address 62

Address 63

I/O Memory Allocations

I/O UNITS I/O Addresses are numbered 6x

(valid range 60 to 6F) I/O Address selected on DIP Switches

sesx2F)

Terminator

0 31 32 95 96 159 160 223 224

Item

Powe

Total

Curre

are reference


ECHATROLINK-II Units can control different combinations of axes, ters and I/O units.ple 3

x TJ1-MC__ x TJ1-ML16 x Sigma-II Servo Driver x Inverter x I/O units x MECHATROLINK-II terminator

TJ1-ML__ specifications

Address 41

Axis 0

Address 21

INVERTERS All Inverter Addres

are numbered 2(valid range 20 to

Specification

TJ1-ML04 TJ1-ML16

r supply 5 VDC (supplied by the TJ1-MC__)



Hardw

HARD 75

Revision 5.0

TJ1-/i

ntents

Unit box:

to the top surface of the unit.

mmands

nds are related to the TJ1-ML__:

the Trajexia Programming Manual.

Appro

Numb

Contr

Electr

Comm

Trans

Servo

Transrepea

Name

Distriules

MECHcable

Item

FNY-W6003-05

FNY-W6003-10

FNY-W6003-20

FNY-W6003-30

resistor FNY-W6022

I series Servo Drivers rsion 39 or later)

JUSP-NS115

ed V7 Inverter (For the sup-ion details of the Inverter, con-

RON sales office).

SI-T/V7

ed F7, G7 Inverter (For the ersion details of the Inverter, r OMRON sales office).

SI-T

Model

are reference


ML__ related devices 3.5.5 TJ1-ML__ box co

MECHATROLINK-II Interface• Safety sheet.• TJ1-ML__.• Protection label attached

3.5.6 Related BASIC co

The following BASIC comma• ATYPE• MECHATROLINK

For more information, refer to

ximate weight 75 g

er of controlled devices 4 16

olled devices • Omron G-Series Servo Drivers• Omron Accurax G5 Servo Drivers• Sigma-II, Sigma-V and Junma-ML Servo Drivers• I/Os• V7, F7 and G7 Inverters

ical characteristics Conforms to MECHATROLINK-II standard

unication connection 1 MECHATROLINK-II master connector

mission speed 10 Mbps

period 0.5 ms, 1 ms or 2 ms

mission distance without a ter

Up to 50 m

Remarks Model

buted I/O mod- MECHATROLINK-II Smartslice coupler GRT1-ML2

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

JEPMC-IO2310

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

JEPMC-IO2330

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

JEPMC-AN2900

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

JEPMC-AN2910

ATROLINK-II s

0.5 meter FNY-W6003-A5

1 meters FNY-W6003-01

3 meters FNY-W6003-03

Specification

TJ1-ML04 TJ1-ML16 5 meters

10 meters

20 meters

30 meters

MECHATROLINK-II terminator

Terminating

MECHATROLINK-II interface unit

For Sigma-I(firmware ve

For Varispeported verstact your OM

For Varispesupported vcontact you

Name Remarks

Hardw

HARD 76

Revision 5.0

3.5.7

A METrajepositisendson thOtherrate.A SerWhenautomvalue

3.5.8fig. 34To co

MECFor d

are reference


MECHATROLINK-II Servo Drivers

CHATROLINK-II Servo Driver is designed to do position control in xia. In every MECHATROLINK-II cycle, the TJ1-MC__ receives the on feedback from the Servo Driver via the TJ1-ML__. The TJ1-MC__ either the target position, speed or torque to the receiver, depending

e axis type. functionality of the Servo Driver is available but refreshed at slower

vo Driver is considered an axis by the TJ1-MC__. you connect a servo to the Trajexia, the parameter does not change atically so, depending on the application, you may have to change

s.

MECHATROLINK-II Servo Drivers Sigma-II series

nnect a Sigma-II Servo Driver to a Trajexia system, a JUSP-NS115 HATROLINK-II interface must be connected to the Servo Driver.etails about the Sigma-II connections refer to the manual.

Hardw

HARD 77

Revision 5.0

LED fig. 35/i

AddrThe d

fig. 36/i

A

B

C

C

LED

Alarm

Read

1

N OFF

23

4

Dipsw

1

2

3

4

are reference


indicators on the NS115

ess settings (SW1 & SW2)ipswitches (B) on the NS115 configure the communication settings.

Color Description

Red Lit: an alarm occurredNot lit: no alarm active

y Green Lit: communication activeNot lit: no communication in progress

O

itch Function Setting Description

Baud rate on 10 Mbps

Data length on 32-byte data transmission

Address range off Addresses 40-4F

on Addresses 50-5F

Maintenance (Reserved)

off Must always be set to off. on is not used

Hardw

HARD 78

Revision 5.0

fig. 37Set thto F) /i

Do no

Rotarswitcnumb

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

0

are reference


e address selector (A, fig 35) of the NS115 to n (where n ranges from 0 to assign the following address to the NS115:

t use the addresses 40 and 51-5F. Use only the addresses 41-50.

y h er

Dipswitch 3 Station address Axis in motion controller

off 41 0

off 42 1

off 43 2

off 44 3

off 45 4

off 46 5

off 47 6

off 48 7

off 49 8

off 4A 9

off 4B 10

off 4C 11

off 4D 12

off 4E 13

off 4F 14

on 50 15

Hardw

HARD 79

Revision 5.0

MECfig. 38Conn

MECconnetermidevic

CN4 CN4 basedmotoyou h• T• T

The s

The tspeci

are reference


HATROLINK-II connectors (CN1A & CN1B) ect to the MECHATROLINK-II network as in the figure using a suitable HATROLINK-II cable. Both connectors are parallelled so you can ct both cables to both connectors. Connect a MECHATROLINK-II

nator resistor in one of the connectors if the Servo Driver is the last e in the network.

Full-closed encoder connectoris for connecting a full-closed encoder, that is, the position is controlled in one external encoder, and the speed and torque loop based in the

r encoder. This is used when you install the motor in machines where ave to measure directly on the load because either:here is slip or backlash in the mechanical transmission.he precision required is very high.

upported encoder is line driver and the pinout is shown in the figure.

able shows the CN4 connector terminal layout and connector fications.

Hardw

HARD 80

Revision 5.0

fig. 39/i

Relev

External PG

Externalpower supply

FA/FA

PG0V

FB/FBFC/FC

A/A

GND

B/BZ/Z

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

are reference


ant servo parameters related with the use of Trajexia:

NS115

1,2,31617

1918

1415

CN4PG0V Signal ground

PG0V Signal ground

PG0V Signal ground

- -

- -

- -

- -

- -

- -

- -

- -

- -

- -

FC Phase-C input +

/FC Phase-C input -

FA Phase-A input +

/FA Phase-A input -

FB Phase-B input +

/FB Phase-B input -

- -

NoteMake sure that shielded cable is used and that the shield is con-nected to the connector shell.

Hardw

HARD 81

Revision 5.0

EncoThesUNIT• P

m• P

Abso• P

co

Full • P

Z• P

1

Usin• P• P• P

d• P

For thinput ProgrFor th

RelaThe fServo• A• A• A• A

are reference


der gear ratio resolutione two parameters define the units of the system in combination with S.n202: Gear ratio numerator. Default is 4, set to 1 to obtain the aximum encoder resolution.n203: Gear ratio denominator. Default=1.

lute encodern205= Number of multiturn limit. Default 65535. Set to suitable value in mbination with the encoder gear ratio and UNITS.

close encodern002.3: 0=Disabled, 1=uses without Z, 2=uses with Z, 3=uses without reverse rotation, 4= uses with Z reverse rotation.n206: Number of full-closed encoder pulses per revolution. Default 6384

g the Servo Driver digital inputs with Trajexian50A: Mapping of the forward limit switch (P_OT).n50B: Mapping of the reverse limit switch (N_OT).n511: Mapping of the registration inputs and zero point return eclaration.n81E: Mapping of the normal inputs.

e overview of all possible settings and parameter values to map the signals from the Servo Driver to Trajexia, refer to the Trajexia amming manual, chapter “Mapping Servo Driver inputs and outputs”.e rest of the parameters and connections refer to the Sigma-II manual.

ted BASIC commandsollowing BASIC commands are related to the MECHATROLINK-II Drivers Sigma-II series:

TYPEXISXIS_ENABLEXISSTATUS

Hardw

HARD 82

Revision 5.0

• D• D• D• D• D• D• D• D• D

For m

3.5.9fig. 40You c

/i

43

210FEDC B A98765 ON

1

CN6

A/B

CN3

CN7

CN1

CN8

CN2

N PO

RQ

H

I

J

K

L

M

LabeA

B

C

D

E

F

G

H

I

J

K

L

M

N

O

P

Q

are reference


RIVE_ALARMRIVE_CLEARRIVE_CONTROLRIVE_INPUTSRIVE_MONITORRIVE_READRIVE_RESETRIVE_STATUSRIVE_WRITE

ore information, refer to the Trajexia Programming Manual.

MECHATROLINK-II Servo Drivers Sigma-V series

an also connect a Sigma-V Servo Driver to a Trajexia system.

CHARGE

L1

L2

L3

L1

L2

B2

B1

B3

1

2

U

V

W

A

C

D

E

B

F

G

l Terminal/LED DescriptionCHARGE Charge indicator

L1, L2, L3 Main circuit power supply terminals

L1, L2 Control power supply terminals

B1, B2 Regenerative resistor connecting terminals

1, 2 DC reactor terminals for harmonic suppression

U, V, W Servo motor terminals

+ Ground terminal

CN6A/B MECHATROLINK-II bus connectors

CN3 Connector for digital operator

CN7 PC connector

CN1 I/O signal connector

CN8 Connector for safety function devices

CN2 Encoder connector

SW1 Rotary switch for MECHATROLINK-II address settings

SW2 Dipswitches for MECHATROLINK-II communication settings

Panel display

MECHATROLINK-II communication LED

Hardw

HARD 83

Revision 5.0

Comfig. 41The 4

/i

R

Labe

1

Dipsw

1

2

3

4

are reference


munication settings (SW2) dipswitches configure the communication settings.

Power LED

l Terminal/LED Description

itch Function Setting Description Factory setting

Baud rate on 10 Mbps on

Data length on 32-byte data transmission on

Address range

off Addresses 40-4F off

on Addresses 50-5F

Reserved off Must always be set to off. on is not used

off

Hardw

HARD 84

Revision 5.0

Addrfig. 42Set th

from /i

Do no

Rotarswitcnumb

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

0

are reference


ess settings (SW1)e address selector of the Sigma-V Servo Driver to n (where n ranges

0 to F) to assign the following station address to it:


y h er


off 41 0

off 42 1

off 43 2

off 44 3

off 45 4

off 46 5

off 47 6

off 48 7

off 49 8

off 4A 9

off 4B 10

off 4C 11

off 4D 12

off 4E 13

off 4F 14

on 50 15

Hardw

HARD 85

Revision 5.0

LEDs/i

PaneThe pServoThe p• S

T/i

LED

Charg

Powe

MECHnicati

Displ

are reference


l displayanel display is a 7-segment LED display. It indicates the status of the Driver.anel display has 3 display modes:tatus displayhe display shows the statuses listed in the table below.

Color Description

e indicator Orange Lit: main circuit power supply is on or internal capacitor is chargedNot lit: no power supply and internal capacitor is not charged

r LED Green Lit: control power is suppliedNot lit: no control power

ATROLINK-II commu-on LED

Green Lit: communication activeNot lit: no communication

ay Description Remark

Baseblock Comes on when the motor current is shut off. Does not come on when the Servo Driver is on

Rotation detection(/TGON)

Comes on when the motor speed is greater than the value set in Pn502

Reference input Comes on when a reference is being input

CONNECT Comes on during connection

Hardw

HARD 86

Revision 5.0

• Afig. 43If

wT

• Tefig. 44T

w

MECConnthe CconneTJ1-Mnext Mtermi

CN1 The t/i

Unlit Unlit Unlit

Unlit Unlit Unlit

Pin

1

2

3

4

5

6

7

8

9

10

11

are reference


larm/warning an alarm or a warning occurs, the display shows the alarm code or the arning code.he figure shows an example of displaying alarm code A.E60.

st without motorhe display shows the sequence given in the figure if a test is executed ithout a motor.

HATROLINK-II connectors (CN6A & CN6B)ect the Sigma-V Servo Driver to the MECHATROLINK-II network using N6A and CN6B connectors. Use one of the MECHATROLINK-II ctors to connect to the previous MECHATROLINK-II device or the L__. Use the other MECHATROLINK-II connector to connect to the ECHATROLINK-II device, or to connect a MECHATROLINK-II

nator.

I/O Signal connectorable below shows the pin layout for the I/O signal connector (CN1).

StatusDisplay

Unlit Unlit

StatusDisplay

Unlit Unlit

I/O Signal Signal name

Output /BK+ (/SO1+) Brake interlock signal

Output /BK- (/SO1-) Brake interlock signal

Output ALM+ Servo alarm output signal

Output ALM- Servo alarm output signal

N/A N/A Not used

Input +24 V IN Control power supply for sequence signal

Input P-OT Forward run prohibited

Input N-OT Reverse run prohibited

Input /DEC Homing deceleration limit switch

Input /EXT1 External latch signal 11


Hardw

HARD 87

Revision 5.0

For m

CN2 The t/i

snds are related to the MECHATROLINK-II s:

the Trajexia Programming Manual.

12

13

14

15

16

17

18

19

20

21

22

23

24

25

26

1.

Pin1

2

3

4

5

PinPG serial signal input (-)

-

Description

are reference


ore information, refer to the Sigma-V Series SERVOPACKs manual.

encoder connectorables below shows the pin layout for the Sigma-V encoder connector.

Related BASIC commandThe following BASIC commaServo Drivers Sigma-V serie• 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


Input /SIO General-purpose input signal

N/A N/A Not used

N/A N/A Not used

Output FG Signal ground

N/A N/A Not used

N/A N/A Not used

N/A N/A Not used

N/A N/A Not used

Input BAT (+) Battery (+) input signal

Input BAT (-) Battery (-) input signal

Output /SO2+ General-purpose output signal

Output /SO2- General-purpose output signal

Output /SO3+ General-purpose output signal

Output /SO3- General-purpose output signal

NPN only.

Signal DescriptionPG 5 V PG power supply +5 V

PG 0 V PG power supply 0 V

BAT (+) Battery (+)(For an absolute encoder)

BAT (-) Battery (-)(For an absolute encoder)

PS PG serial signal input (+)

I/O Signal Signal name6 /PS

Shell Shield

Pin Signal

Hardw

HARD 88

Revision 5.0

3.5.1fig. 45You c

/i

LED /i

DY

43210 F EDCBA987

65

ON

1

I GH

EF

K

LabeA

B

C

D

E

F

G

H

I

J

K

LEDCOM

ALM

RDY

are reference


0 MECHATROLINK-II Servo Drivers Junma series

an also connect a Junma Servo Driver to a Trajexia system.

indicators

COM ALM R

FIL

L1

PWR

L2

U

V

W

CNBCNA

CN2

CN1

CN6

A/B

4321

0F E D CBA9

8765A

B

C

D

J

l Terminal/LED DescriptionFIL Rotary switch for reference filter setting

CN6A & CN6B MECHATROLINK-II bus connectors

CN1 I/O signal connector

CN2 Encoder input connector

SW1 Rotary switch for MECHATROLINK-II address settings

SW2 Dipswitches for MECHATROLINK-II communication settings

RDY Servo status indicator

ALM Alarm indicator

COM MECHATROLINK-II communication status indicator

CNA Connector for power supply

CNB Connector for servo motor

DescriptionLit: MECHATROLINK-II communication in progressNot lit: No MECHATROLINK-II communication

Lit: An alarm occurredNot lit: no alarm

Lit: Power is on, standby for establishment of communicationBlinking: Servo ON status

Hardw

HARD 89

Revision 5.0

Comfig. 46The 4

/i

1

Dipsw1

2

3

4

are reference


munication settings (SW2) dipswitches configure the communication settings.

itch Function Setting DescriptionReserved ON Must always be set to ON. OFF is not used

Data length

ON 32 bytes

Addressrange

OFF Addresses 40-4F

ON Addresses 50-5F

Filtersetting

OFF Set the filter with the FIL rotary switch

ON Set the filter with Pn00A

Hardw

HARD 90

Revision 5.0

Addrfig. 47Set th

from /i

Do no

Rotarswitcnumb

1

2

3

4

5

6

7

8

9

A

B

C

D

E

F

0

are reference


ess settings (SW1)e address selector of the Junma Servo Driver to n (where n ranges

0 to F) to assign the following station address to it:


y h er


off 41 0

off 42 1

off 43 2

off 44 3

off 45 4

off 46 5

off 47 6

off 48 7

off 49 8

off 4A 9

off 4B 10

off 4C 11

off 4D 12

off 4E 13

off 4F 14

on 50 15

Hardw

HARD 91

Revision 5.0

CN1 fig. 48The t

/i

MECConnthe CconneTJ1-Mnext Mtermi

10 11 12 13 14

2 3 4 5 6 7

Pin

1

2

3

4

5

6

7

8

9

10

11

12

13

14

Shell

are reference



HATROLINK-II connectors (CN6A & CN6B)ect the Junma Servo Driver to the MECHATROLINK-II network using N6A and CN6B connectors. Use one of the MECHATROLINK-II ctors to connect to the previous MECHATROLINK-II device or the L__. Use the other MECHATROLINK-II connector to connect to the ECHATROLINK-II device, or to connect a MECHATROLINK-II

nator.

8 9

1

I/O Code Signal name

Input /EXT1 External latch

Input /DEC Homing deceleration

Input N_OT Reverse run prohibit

Input P_OT Forward run prohibit

Input +24VIN External input power supply

Input E-STP Emergency stop

Output SG-COM Output signal ground

N/C

N/C

N/C

N/C

Output ALM Servo alarm

Output /BK Brake

N/C

- - FG

Hardw

HARD 92

Revision 5.0

CN2 fig. 49The t

conne/i

CNAfig. 50The t

/i

246810

9 7 5 3 1Pin1

2

3

4

5

6

7

8

9

10

Shell

A

43

21

N

1

2

3

4

Pin1

2

3

4

are reference


encoder input connectorables below shows the pin layout for the Junma Servo Driver encoder ctor.

power supply connectorables below shows the pin layout for the CNA power supply connector.

SignalPG5V

PG0V (GND)

Phase A (+)

Phase A (-)

Phase B (+)

Phase B (-)

Phase /Z

Phase U

Phase V

Phase W

-

Signal NameL1 Power supply terminal

L2 Power supply terminal

+ Regenerative unit connection terminal

- Regenerative unit connection terminal

Hardw

HARD 93

Revision 5.0

CNBfig. 51The t

/i

RelaThe fServo• A• A• A• A• D• D• D• D• D• D• D• D• D

For m

A

12

34

N

1

2

3

4

Pin1

2

3

4

are reference


servo motor connectorables below shows the pin layout for the CNB servo motor connector.

ted BASIC commandsollowing BASIC commands are related to the MECHATROLINK-II Drivers Junma series:

TYPEXISXIS_ENABLEXISSTATUSRIVE_ALARMRIVE_CLEARRIVE_CONTROLRIVE_INPUTSRIVE_MONITORRIVE_READRIVE_RESETRIVE_STATUSRIVE_WRITE


Signal NameU Phase U

V Phase V

W Phase W

N/C

Hardw

HARD 94

Revision 5.0

3.5.1fig. 52You c

/i

LED /i

G

K

L

J

M

I

H

COM

X10

32

10ADR

AC SERVO DRIVE

X1

6

78

9 0 1

23

45

LabeA

B

C

D

E

F

G

H

I

J

K

L

M

LEDCOM

are reference


1 MECHATROLINK-II Servo Drivers G-series

an also connect a G-Series Servo Driver to a Trajexia system.

indicators

A

E

C

B

D

F

G

IM

SP

l Terminal/LED DescriptionSP, IM, G Analog monitor check pins

L1, L2, L3 Main-circuit power terminals

L1C, L2C Control-circuit power terminals

B1, B2, B3 External Regeneration Resistor connection terminals

U, V, W Servomotor connection terminals

CN2 Protective ground terminals

--- Display area

--- Rotary switches

COM MECHATROLINK-II communications status LED indicator

CN3 RS-232 communications connector

CN6A, CN6B MECHATROLINK-II communications connector

CN1 Control I/O connector


DescriptionLit: MECHATROLINK-II communication in progressNot lit: No MECHATROLINK-II communication

Hardw

HARD 95

Revision 5.0

Addrfig. 53Set th

addreThe sactuaswitccorre

MECHATROLINK-IIcommunicationsstatus LED indicator (COM)

Rotary switches for setting a node address

COM

X10

32

10ADR

AC SERVO DRIVER

X1

6

78

9 0 1

23

45

are reference


ess settings (SW1)e address selector of the G-series Servo Driver to the required node ss by using the X1 (right) and X10 (left) rotary switches.etting range for the node address setting rotary switch is 1 to 31. The l station address used on the network will be the sum of the rotary h setting and the offset value of 40h. These node addresses spond to axis numbers 0 (node address = 1) to 15 (node address = 16).

7-segment LED (2 digits)

Analog monitor pinsSpeed monitorTorque monitorSignal ground

SP: IM: G:

G

IM

SP

NoteThe node address is only loaded once when the control power supply is turned ON. Changes made after turning the power ON will not be applied until the power is turned ON next time. Do not change the rotary switch setting after turning the power ON

NoteIf the rotary switch setting is not between 1 and 31, a node address setting error (alarm code 82) will occur.

Hardw

HARD 96

Revision 5.0

7-segfig. 54The d

Whendisplaparamwarni

9k0. 0k0.

upply

All OFF

All ON (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))

lay (Pn001) is set to 0)>

Warning code (2 s) Normal Display (approx. 4 s)

lay)

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

<Warning Display>

Warning Issued Warning Clearedleared

ervo OFF

[- -] + right dot ON

[00] + right dot ON

ain Power Supply OFF Network Not Established

[- -]

are reference


ment LEDisplay of the 7-segment LED on the front panel is shown below.

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

ng occurs, the warning code will be displayed.

8.8.

nkak

k3k

1k6k

-k-k

-k-.

0k0.

Turn ON Control Power S

<Node Address Display>

<Normal Display (when the Default Disp

Main Power Supply ON and Network Established

Servo ON

Alarm Issued

<Alarm Display>Alarm code flashes in decimal disp(Below is an example for overload

Alarm C

S

Mor

Hardw

HARD 97

Revision 5.0

CN1 fig. 55The t

/i

20

22

24

to 24-VDC ower Supply

Input19

21

23

25

27

29

31

33

35

26

28

30

32

34

36

POTForward Drive Prohibit Input

NOT

DEC

IN0

Origin Proximity Input

OUTM2General-purpose

Output 2

BAT Backup Battery Input

BATCOMlarm Output

ternal Latch Signal 3

Reverse Drive Prohibit Input

ExternalGeneral-purpose

Input 0

rward Torque Limit Input

ternal Latch Signal 1

*

*

*

*

IN2External

General-purpose Input2

*

*

OUTM2COMGeneral-purpose

Output 2


Output 3OUTM3COM General-purpose

Output 3Backup Battery

Input

OUTM1COMGeneral-purpose

Output1


Output 1

*

*

*

Pin

1

2

3

4

5

6

7

8

19 to

21

22

23

11 to

9 to 1

27 to

34

33

17 to

24 to

are reference



2

4

6

8

10

12

14

16

18

12P

Emergency Stop Input

+24VIN1

3

5

7

9

11

13

15

17

IN1

EXT3

Reverse Torque Limit Input

STOP

ALMCOM Alarm Output

/ALM A

NCL

PCL

Ex

Fo

ExternalGeneral-purpose

Input 1

EXT2External Latch

Signal 2EXT1 Ex

*

*

*

*


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

Input STOP Emergency Stop Input

Input EXT3 External Latch Signal 3



Input IN1 External general-purpose Input 1

Input PCL Forward Torque Limit Input

Input NCL Reverse Torque Limit Input

20 Input POT Forward Drive Prohibit Input

NOT Reverse Drive Prohibit Input

Input DEC Origin Proximity Input



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



Input BAT BackupBattery InputInput BATCOM



Hardw

HARD 98

Revision 5.0

MECfig. 56Conn

the CconneTJ1-Mnext Mtermi

15

16

29

30

31

32

36

35

Shell

Pin

L2 Ln

Termination resistor

are reference


HATROLINK-II connectors (CN6A & CN6B)ect the G-series Servo Driver to the MECHATROLINK-II network using N6A and CN6B connectors. Use one of the MECHATROLINK-II ctors to connect to the previous MECHATROLINK-II device or the L__. Use the other MECHATROLINK-II connector to connect to the ECHATROLINK-II device, or to connect a MECHATROLINK-II

nator.

Output /ALM Alarm Output

Output ALMCOM

Output OUTM2 General-purposeOutput 2 (READY)Output OUTM2COM

Output OUTM3 General-purposeOutput 3 (CLIM)Output OUTM3COM

Output OUTM1 General-purposeOutput 1 (BKIR)Output OUTM1COM

--- --- FG


0123456789A

BCDEF

MC Unit

L1

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

Hardw

HARD 99

Revision 5.0

CN2 The t/i

CNAThe t/i

Pin1

2

3

4

5

6

Shell

Pin1

2

3

4

5

are reference


encoder input connectorable below shows the pin layout for the encoder connector.

power supply connectorable below shows the pin layout for the CNA power supply connector.

Signal NameE5V Encoder power supply +5 V

E0V Encoder power supply GND

BAT+ Battery +

BAT- Battery -

PS+ Encoder +phase S input

PS- Encoder -phase S input

FG Shield ground

Signal NameL1 Main circuit

power supply inputL2

L3

L1C Control circuitpower supply inputL2C

Hardw

HARD 100

Revision 5.0

CNBThe t/i

Pin1

2

3

4

5

6

7

8

are reference


servo motor connectorable below shows the pin layout for the CNB servo motor connector.

Signal NameB1 External Regeneration Resistor

connection terminalsB2

B3

U Servomotorconnectionterminals

V

W

Frame ground

Hardw

HARD 101

Revision 5.0

3.5.1fig. 57You c

/i

LabeA

B

C

D

E

F

G

H

I

J

K

L

M

N

O

P

are reference


2 MECHATROLINK-II Servo Drivers Accurax G5

an also connect an Accurax G5 Servo Driver to a Trajexia system.

l Terminal/LED Description--- Display area

CN5 Analog monitor check pins

L1, L2, L3 Main-circuit power terminals

L1C, L2C Control-circuit power terminals

CHARGE Charge lamp

B1, B2, B3 External Regeneration Resistor connection terminals

U, V, W Servomotor connection terminals

--- Protective ground terminals

COMM MECHATROLINK-II communications status LED indicator

--- Rotary switches

CN6A, CN6B MECHATROLINK-II communications connector

CN7 USB connector

CN8 Connector for safety function devices

CN1 Control I/O connector

CN4 Full-closed encoder connector


Hardw

HARD 102

Revision 5.0

MECThe tcondi/i

LED Not li

Green

Green

Red F

Red L

are reference


HATROLINK-II Communications Status LED Indicatorable below shows the LED indication status and the corresponding tions of the communications.

status Communications statust No communication is established.

Flash Asynchronous communications is established.

Light Synchronous communications is established.

lash 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)

ight A non-clearable error occurred in MECHATROLINK-II communica-tions.• Node address setting error (Err82.0)• SYNC process error (Err84.3)

NoteIf 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.

Hardw

HARD 103

Revision 5.0

Addrfig. 58Set th

nodeThe sactuaswitccorre

MECHATROLINK-II communicationsstatus LED indicator (COMM)

Rotary switches fornode address setting

ADRCOMM

are reference


ess settings (SW1)e address selector of the Accurax G5 Servo Driver to the required

address by using the X1 (right) and X10 (left) rotary switches.etting range for the node address setting rotary switch is 1 to 31. The l station address used on the network will be the sum of the rotary h setting and the offset value of 40h. These node addresses spond to axis numbers 0 (node address = 1) to 15 (node address = 16).

Connector forAnalog Monitor

7-segment LEDindicator (2-digit)

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

NoteThe settable range for a node address is between 1 and 31. The node address used over the network is the value obtained by add-ing 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.

Hardw

HARD 104

Revision 5.0

7-segfig. 59The 7

Whenrotaryon therror indica

9k0. 0k0.

upply

All OFF

All ON (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))

lay (Pn001) is set to 0)>

Warning code (2 s) Normal Display (approx. 4 s)

lay)

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

<Warning Display>

Warning Issued Warning Clearedeared

ervo OFF

[- -] + right dot ON

[00] + right dot ON

ain Power Supply OFF Network Not Established

[- -]

are reference


ment LED-segment LED indicator is on the front panel. the power is turned on, it shows the node address that is set by the switches. Then the indication changes in accordance with the setting

e Default Display (Pn700). If any alarming error occurs, it indicates the number (Errxxx) as the alarm code. If any warning situation occurs, it tes the warning number as the warning code.

8.8.

nkak

k3k

1k6k

-k-k

-k-.

0k0.

Turn ON Control Power S

<Node Address Display>

<Normal Display (when the Default Disp

Main Power Supply ON and Network Established

Servo ON

Alarm Issued

<Alarm Display>Alarm code flashes in decimal disp(Below is an example for overload

Alarm Cl

S

Mor

Hardw

HARD 105

Revision 5.0

CN1 fig. 60The t

/i14

16

18

20

22

24

26

15

17

19

21

23

25

*

BAT

BATGND

OUTM2

*

GND

OUTM2COM

*

*

*

*

*

*

General-purposeOutput 2 Common

eneral-purposeutput 1 Common

Absolute encoder backup

battery input

Absolute encoder backup

battery input

2 to 24-VDC power

supply input

General-purposeOutput 2

larm OutputCommon

eneral-purposenput 5

eneral-purposeInput 7

Signal Ground

eneral-purposeInput 3

Pin

6

5

7

8

9

10

11

12

13

3

4

1

2

25

26

14

15

16

17 to

Shell

are reference



1

3

5

7

9

11

13

2

4

6

8

10

12

IN2

IN1

OUTM1

ALMCOM

/ALM

IN8

IN3

IN4

IN5

IN6

IN7

OUTM1COM

General-purposeInput 2

General-purposeOutput 1

GO

+24 VIN1

AAlarm Output



G


G


G


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

Input IN1 General-purpose Input 1








Output /ALM Alarm output

Output ALMCOM

Output OUTM1 General-purposeOutput 1Output OUTM1COM

Output OUTM2 General-purposeOutput 2Output OUTM2COM

--- BAT BackupBattery Input--- BATGND

--- GND Signal ground


--- --- FG

Hardw

HARD 106

Revision 5.0

MECfig. 61Conn

the CconneTJ1-Mnext Mtermi

L2 Ln

Termination resistor

are reference


HATROLINK-II connectors (CN6A & CN6B)ect the G-series Servo Driver to the MECHATROLINK-II network using N6A and CN6B connectors. Use one of the MECHATROLINK-II ctors to connect to the previous MECHATROLINK-II device or the L__. Use the other MECHATROLINK-II connector to connect to the ECHATROLINK-II device, or to connect a MECHATROLINK-II

nator.

0123456789AB

CDEF

MC Unit

L1

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

Hardw

HARD 107

Revision 5.0

CN2 The t/i

CN4 The t/i

Pin1

2

3

4

5

6

Shell

Pin1

2

3

4

5

6

7

8

9

10

Shell

are reference


Encoder input connectorable below shows the pin layout for the encoder connector.

External encoder connectorable below shows the pin layout for the external encoder connector.



BAT+ Battery +

BAT- Battery -



FG Shield ground





EXA+ Encoder +phase A input

EXA- Encoder -phase A input

EXB+ Encoder +phase B input

EXB- Encoder -phase B input

EXZ+ Encoder +phase Z input

EXZ- Encoder -phase Z input

FG Shield ground

Hardw

HARD 108

Revision 5.0

CN5 The t/i

CN7 The t/i

CN8 The t/i

Pin1

2

3

4

5

6

Pin1

2

3

4

5

Pin1

2

3

4

5

6

7

8

are reference


Monitor connectorable below shows the pin layout for the CN5 monitor connector.

USB Connectorable below shows the pin layout for the CN7 USB connector.

Safety connectorable below shows the pin layout for the CN8 safety connector.

Signal NameAM1 Analog monitor output 1

AM2 Analog monitor output 2

GND Analog monitor ground

--- Reserved: do not connect.



Signal NameVBUS

USB signal terminalD+

D-


SENGND Signal ground

Signal Name--- Reserved: do not connect.


SF1- Safety input 1

SF1+

SF2- Safety input 2

SF2+

EDM- EDM output

EDM+

Hardw

HARD 109

Revision 5.0

CNAThe t/i

CNBThe t/i

RelaThe fServo• A• A• A• A• D

Shell

Pin1

2

3

4

5

Pin

Pin1

2

3

4

5

6

7

8

are reference


Power supply connectorable below shows the pin layout for the CNA power supply connector.

Servo motor connectorable below shows the pin layout for the CNB servo motor connector.

ted BASIC commandsollowing BASIC commands are related to the MECHATROLINK-II Drivers Accurax G5:

TYPEXISXIS_ENABLEXISSTATUSRIVE_ALARM

FG Shield ground

Signal NameL1 Main circuit

power supply inputL2

L3

L1C Control circuitpower supply inputL2C

Signal Name

Signal NameB1 External Regeneration Resistor

connection terminalsB2

B3

U Servomotorconnectionterminals

V

W

Frame ground

Hardw

HARD 110

Revision 5.0

• D• D• D• D• D• D• D• D

For m

are reference


RIVE_CLEARRIVE_CONTROLRIVE_INPUTSRIVE_MONITORRIVE_READRIVE_RESETRIVE_STATUSRIVE_WRITE


Hardw

HARD 111

Revision 5.0

3.5.1fig. 62A V7

speedinduc

By dean Incomminform

The iA. LB. MC. OD. CE. DF. RG. GH. C

B

F D

C

E

are reference


3 MECHATROLINK-II Inverter V7

Inverter with a MECHATROLINK-II interface is designed to make and torque control (if the Inverter supports this feature) of an AC

tion motor. No position control is supported via MECHATROLINK-II.

fault an Inverter is not considered an axis by the TJ1-MC__. To control verter as a servo axis, this axis must be defined with function 8 of the and INVERTER_COMMAND. Refer to section 2.7.4 for more ation.

llustration shows the external appearance of the SI-T/V7 Unit.EDodular plug (CN10)ptional connector (CN1)ommunications connector (CN2)ipswitchotary switchround terminalommunications connector (CN2) H G

A

Hardw

HARD 112

Revision 5.0

LED fig. 63The L

MECA. RB. TC. RD. E

/i

DC

Name

RUN

ERR

TX

RX

are reference


indicators ED indicators indicate the status of the communications of the

HATROLINK-II and the SI-T/V7 Unit.unXXRR

BA

Display Explanation

Color Status

Green Lit Normal operation

- Not lit Communications CPU stopped, resetting hardware, RAM check error, DPRAM check error, station address setting error or Inverter model code error

Red Lit Watchdog timeout error, communications error or reset-ting hardware

Red Flashing ROM check error (once)*, RAM check error (twice)*, DPRAM check error (3 times)*, communications ASIC self-diagnosis error (4 times)*, ASIC RAM check error (5 times)*, station address setting error (6 times)*, Inverter model code error (7 times)**: indicates the number of flashes

- Not lit No communication error or self-diagnosis error

Green Lit Sending data

- Not lit Sending of data stopped, hardware reset

Green Lit Searching for receiving carrier

- Not lit No receiving carrier found, hardware reset

Hardw

HARD 113

Revision 5.0

DipsThe f

fig. 64/i

RotaThe f

fig. 65/i

/i

2 3 4

OFF

Name

Baud

Data

Statioaddre

Maint

1.

43

21

7

65

8

B

A 9

F

E

0

Labe

S2

S1-3

off

off

off

are reference


witch ollowing table shows the dipswitch settings of the SI-T/V7 Unit.

ry switchollowing table shows the rotary switch settings of the SI-T/V7 Unit.

1

Label Status Function

rate S1-1 on 10 Mbps (MECHATROLINK-II)

length S1-2 on 32-byte data transmission (MECHATROLINK-II)

n ss

S1-3 off Set the 10th digit of the station number to 2. Invalid if the maximum number of units including the S2 of the rotary switch is 20.

on Set the 10th digit of the station number to 3. Invalid if the maximum number of units including the S2 of the rotary switch is 3F.

enance S1-4 off Normally off1

For maintenance. Always leave this switch off.

on Not used

CD

l Status Function Factory setting

0 to F Set the 1st digit of the station number. Invalid if the maximum number of units including the S1-3 is 20 or 3F.

1

S2 Station number S1-3 S2 Station number

0 Fault on 0 30

1 21 on 1 31

2 22 on 2 32

Hardw

HARD 114

Revision 5.0

To usto ma• N• N

Chec

RelaThe fInver• A• IN• IN• IN

For m

off

off

off

off

off

off

off

off

off

off

off

off

off

S1-3

are reference


e the V7 Inverter with the MECHATROLINK-II interface it is necessary ke the following settings in the Inverter:3=3 Sequence via MECHATROLINK-II4=9 Reference via MECHATROLINK-II

k the manual for details about the V7 Inverter.

ted BASIC commandsollowing BASIC commands are related to the MECHATROLINK-II ters V7 series:TYPE (ATYPE=49) VERTER_COMMANDVERTER_READVERTER_WRITE


3 23 on 3 33

4 24 on 4 34

5 25 on 5 35

6 26 on 6 36

7 27 on 7 37

8 28 on 8 38

9 29 on 9 39

A 2A on A 3A

B 2B on B 3B

C 2C on C 3C

D 2D on D 3D

E 2E on E 3E

F 2F on F Fault


Hardw

HARD 115

Revision 5.0

3.5.1fig. 66The F

to maAC inII.

By dean Incomminform

The iA. SB. CC. 3D. OE. 2F. 4

A

are reference


4 MECHATROLINK-II Inverter F7 and G7

7 and G7 Inverters with a MECHATROLINK-II interface are designed ke speed and torque control (if the Inverter supports this feature) of an duction motor. No position control is supported via MECHATROLINK-

fault an Inverter is not considered an axis by the TJ1-MC__. To control verter as a servo axis, this axis must be defined with function 8 of the and INVERTER_COMMAND. Refer to section 2.7.4 for more ation

llustration shows the installation of the SI-T card.I-T Cardontrol terminalCN: Option D connectorption CN (To secure option C or D)CN: Option C connectorCN: Option A connector

D

F

E

C

B

Hardw

HARD 116

Revision 5.0

fig. 67The iA. LB. RC. DD. CE. CF. T

LED The LMEC

/i

A

C

B

D

Name

RUN

are reference


llustration shows the external appearance of the SI-T Card.EDotary switchipswitchommunications connectorode No.ype

indicatorsED indicators indicate the status of the communications of the

HATROLINK-II and the SI-T Card.

F

E

Display Explanation

Color Status

Green Lit Normal operation

- Not lit Communication CPU stopped, resetting hardware, RAM check error, DPRAM check error, station address setting error or Inverter model code error

Hardw

HARD 117

Revision 5.0

Dipsfig. 68The f

/i

ERR

TX

RX

Name

2 3 4

OFF

Name

Baud

Data

Statioaddre

Maint

1.

are reference


witchollowing table shows the dipswitch settings of the SI-T/V7 Unit.

Red Lit Watchdog timeout error, communication error, diagnosis error or resetting hardware

Red Flashing ROM check error (once)*, RAM check error (twice)*, DPRAM check error (3 times)*, communications ASIC self-diagnosis error (4 times)*, ASIC RAM check error (5 times)*, station address setting error (6 times)*, Inverter model code error (7 times)**: indicates the number of flashes

- Not lit No communication error or self-diagnosis error


- Not lit Sending of data stopped, hardware reset

Green Lit Searching for receiving carrier

- Not lit No receiving carrier found, hardware reset

Display Explanation

Color Status

1

Label Status Function

rate S1-1 on 10 Mbps (MECHATROLINK-II)

length S1-2 on 32-byte data transmission (MECHATROLINK-II)

n ss

S1-3 off Set the 10th digit of the station number to 2. Invalid if the maximum number of units including the S2 of the rotary switch is 20.

on Set the 10th digit of the station number to 3. Invalid if the maximum number of units including the S2 of the rotary switch is 3F.

enance S1-4 off Normally off1

For maintenance. Always leave this switch off.

on Not used

Hardw

HARD 118

Revision 5.0

RotaThe f

fig. 69/i

Switc/i

43

21

7

65

8

A 9

F

E

0

Labe

S2

S1-3

off

off

off

off

off

off

off

off

off

off

off

off

off

off

off

off

are reference


ry switchollowing table shows the rotary switch settings of the SI-T/V7 Unit.

h Setting and Station Number:

BC

D

l Status Function Factory set-ting

0 to F Set the 1st digit of the station number X0H-XFH. Invalid if the maximum number of units including the S1-3 is 20 or 3F.

1


0 Fault on 0 30

1 21 on 1 31

2 22 on 2 32

3 23 on 3 33

4 24 on 4 34

5 25 on 5 35

6 26 on 6 36

7 27 on 7 37

8 28 on 8 38

9 29 on 9 39

A 2A on A 3A

B 2B on B 3B

C 2C on C 3C

D 2D on D 3D

E 2E on E 3E

F 2F on F Fault

Hardw

HARD 119

Revision 5.0

To usneces• B• B

Chec

RelaThe fInver• A• IN• IN• IN

For m

3.5.1

An I/Oinputsthe T

Digitfig. 70This i

MECautomand cTrajeand Oof exicorreIN(15The vA. InB. OC. In

B

C

D

A

are reference


e the F7 or G7 Inverter with the MECHATROLINK-II interface it is sary to make the following settings in the Inverter:

1-01=3 Sequence via MECHATROLINK-II1-02=3 Reference via MECHATROLINK-II

k the corresponding manual for details about the F7 or G7 Inverter.

ted BASIC commandsollowing BASIC commands are related to the MECHATROLINK-II ters F7 and G7 series:TYPE (ATYPE=49) VERTER_COMMANDVERTER_READVERTER_WRITE


5 MECHATROLINK-II digital I/O slaves

device allows to integrate in the system remote digital and analogue and outputs. Those are autodetected and automatically allocated by

rajexia system.

al I/O module: JEPMC IO2310/IO2330 s a 64 channel Digital Input and 64 channel Digital Output HATROLINK-II slave unit. The digital inputs and outputs are

atically allocated by the Trajexia system according to the unit number an be read and set by Trajexia starting from IN(32) and OP(32).xia Inputs and outputs are automatically mapped starting from IN(32) P(32), according to the MECHATROLINK-II node number. In the case

sting several IO2310 units, the unit with lowest node number sponds to IN(32) to IN(95) and OP(32) to OP(95), the next lower to 6) to IN(219) and OP(156) to OP(219).alue is refreshed every servo period.put signal connector 1utput signal connector 1put signal connector 2

H

J

I

G

E

F

Hardw

HARD 120

Revision 5.0

D. OE. PF. I/G. SH. DI. MJ. I/

Connfig. 71I/O an

/i

IndicaSelec

fig. 72• IN• IN• O• O

fig. 73MECConn

R Active F12345678

910111213141516

1718192021222324

2526272829303132

IndicName

R

ACTI

F

1 to 3

IN22 IN1

OUT2OUT1

are reference


utput signal connector 2ower supply terminalsO indicator switchtation number switchipswitch for settingECHATROLINK-II connectorO indicators

ector description d Status Indicators:

tor switch:ts which 32 I/O points are monitored by the I/O indicators.1: Input signals 1 to 322: Input signals 33 to 64UT1: Output signals 1 to 32UT2: Output signals 33 to 64

HATROLINK-II Connector:ects through a MECHATROLINK-II cable.

ator Indicator Color Meaning when lit

Yellow Not used, stays lit

VE Yellow Sending data through MECHATROLINK-II

Red Blown fuse

2 Yellow Input signal and output signal monitors.The meaning of these indicators depends on the I/O indicator switch setting.

SW

Hardw

HARD 121

Revision 5.0

I/O Sfig. 74Conn

Numb 1 OUT 1 IN 2 OUT 2

B1A1 B1A1 B1A1 B1

are reference


ignal connector:ect the I/O Unit with external I/O signals through the I/O Cable.er of I/O points: 64 inputs and 64 outputs IN

A1

Hardw

HARD 122

Revision 5.0

DigitaThe pmodu

/i

Note:

No.

A1

A2

A3

A4

A5

A6

A7

A8

A9

A10

A11

A12

A13

A14

A15

A16

A17

A18

A19

A20

are reference


l I/O layoutin layout of the I/O connectors is the same for the IO2310, and IO2330 les. The following table shows the pin layout of the IN1 connector.

The +24V_1 is used for IN01 to IN16; +24V_2 is used for IN17 to IN32.

Signal name Remarks No. Signal name Remarks

(NC) B1 (NC)

+24V_2 24-V power sup-ply 2

B2 +24V_2 24-V power sup-ply 2

IN32 Input 32 B3 IN31 Input 31
















(NC) B19 (NC)

+24V_1 24-V power sup-ply 1


Hardw

HARD 123

Revision 5.0

The f/i

Note:

No.

A1

A2

A3

A4

A5

A6

A7

A8

A9

A10

A11

A12

A13

A14

A15

A16

A17

A18

A19

A20

are reference


ollowing table shows the pin layout of the IN2 connector.

The +24V_3 is used for IN33 to IN48; +24V_4 is used for IN49 to IN64.


(NC) B1 (NC)

+24V_4 24-V power supply 4


















(NC) B19 (NC)



Hardw

HARD 124

Revision 5.0

The f/i

Note:+24V

No.

A1

A2

A3

A4

A5

A6

A7

A8

A9

A10

A11

A12

A13

A14

A15

A16

A17

A18

A19

A20

are reference


ollowing table shows the pin layout of the OUT1 connector.

The +24V_5 and 024V_5 are used for OUT01 to OUT16;_5 and 024V_6 are used for OUT17 to OUT32.


024V_6 Common ground 6

B1 024V_6 Common ground 6



OUT32 Output 32 B3 OUT31 Output 31




















Hardw

HARD 125

Revision 5.0

The f/i

Note:+24V

No.

A1

A2

A3

A4

A5

A6

A7

A8

A9

A10

A11

A12

A13

A14

A15

A16

A17

A18

A19

A20

are reference


ollowing table shows the pin layout of the OUT2 connector.

The +24V_7 and 024V_7 are used for OUT33 to OUT48;_8 and 024V_8 are used for OUT49 to OUT64


























Hardw

HARD 126

Revision 5.0

fig. 75I/O CThe fcable/i

Statiofig. 76Statio

MECUse aconne

fig. 77DipswThe d/i

The d

Name

I/O C

4 3 217

6 5

8

BA

9

C

FED

0

ONOFF

123_

Displno.)

-

3

2

1

are reference


able:ollowing table shows the standard I/O cable models. The standard is used for both IO2310 and IO2330 modules.

n number and dipswitch settings n Number switch sets the station number of the module in the HATROLINK-II system. The range is 0 to F. unique station number for each unit if two or more units are cted.

itch settings:ipswitch sets the communication parameters.

ata in the parentheses indicate the MECHATROLINK-II addresses.

Model Length (m)

able JEPMC-W5410-05 0.5

JEPMC-W5410-10 1

JEPMC-W5410-30 3

ay (Switch Name Status Function

Reserved by system - Be sure to turn it off

MECHATROLINK-II upperplace address setting

on 7xh

off 6xh

I/O byte setting on 32-byte mode

Baud rate setting on 10 Mbps

Hardw

HARD 127

Revision 5.0

/i

StatioAddr

1(61h

2(62h

3(63h

4(64h

5(65h

6(66h

7(67h

8(68h

9(69h

10(6A

11(6B

12(6C

13(6D

14(6E

15(6F

are reference


n ess

Dipswitch 3 Station number switch

Station Address

Dipswitch 3 Station number switch

) off 1 16(70h) on 0

) off 2 17(71h) on 1

) off 3 18(72h) on 2

) off 4 19(73h) on 3

) off 5 20(74h) on 4

) off 6 21(75h) on 5

) off 7 22(76h) on 6

) off 8 23(77h) on 7

) off 9 24(78h) on 8

h) off A 25(79h) on 9

h) off B 26(7Ah) on A

h) off C 27(7Bh) on B

h) off D 28(7Ch) on C

h) off E 29(7Dh) on D

h) off F Not used on E, F

Hardw

HARD 128

Revision 5.0

Powefig. 78The e

/i

Specfig. 79 Input

The iboth /i

DC

C

Term

DC24

DC0V

FG

Input Circuit

0.01 µF

+ 5V

Item

Numb

Input

Isolat

Input

Input

on vo

off vo

on tim

Outpu

are reference


r supply inputxternal wiring terminal supplies 24 VDC to the I/O module.

ification circuit:nput circuit specifications are shown below. The input circuit is used for IO2310, and IO2330 modules.

24 V

0 VD

inal name Function

V +24 VDC

0 VDC

Protective ground terminal

4.7 kΩ

680 ΩSpecifications

er of input points 64 points (32 points x 2)

type Sinking or sourcing

ion method Photocoupler

voltage 24 VDC (20.4 to 28.8 VDC)

current 5 mA/point

ltage/current 9V min./1.6 mA min.

ltage/current 7V max./1.3 mA max.

e / off time on time: 2ms, off time: 3 ms

t points per common 16 points per common (1 to 16, 17 to 32, 33 to 48, 49 to 64)

Hardw

HARD 129

Revision 5.0

fig. 80OutpuThe o/i

Gene/i

cuit IO2310

+ 24V

O24V

10 kΩ

O24V

OUT

+ 24V

cuit IO2330

+ 24V

O24V

O24V

15 kΩ

OUT

+ 24V

Item

Modu

Numb

Outpu

Isolat

Outpu

Outpu

Leaka

on tim

Outpu

Fuses

Error

Item

Name

Mode

Mode

Exter

Rated

Inrush

Dime

are reference


t circuit:utput specifications are shown below.

ral specifications:

Output Cir

Output Cir

Specifications

le IO2310 IO2330

er of output points 64 points (32 point x 2)

t type Transistor, open collector or sinking

Transistor, open collector or sourcing

ion method Photocoupler

t voltage 24 VDC (20.4 to 28.8 VDC)

t current 50 mA/point

ge current when off 0.1 mA max.

e / off time on time: 2 ms max., off time: 4 ms max.

t points per common 16 points per common (1 to 16, 17 to 32, 33 to 48, 49 to 64)

A fuse for each common point to prevent fire caused by the output short-circuit

detection Blown fuse detection

Specifications

64-point I/O Module

l description IO2310/IO2330

l number JEPMC-IO2310/JEPMC-IO2330

nal power supply 24 VDC (20.4 to 28. 8VDC)

current 0.5 A

current 1A

nsions (mm) 120 x 130 x 105 (W x H x D)

Hardw

HARD 130

Revision 5.0

RelaThe fdigita• IN• N• O

For m

are reference


ted BASIC commandsollowing BASIC commands are related to the MECHATROLINK-II l I/O module:

IOP


Hardw

HARD 131

Revision 5.0

3.5.1

fig. 81This iinputsunit nThe IMECunits,next lThe vA. LB. MC. MD. ME. TeF. DG. EH. SI. TeJ. MK. FL. D

ConnLED

fig. 82/i

C

D

F

B

A

G E

RR FLT CH1 CH2 Ch3 Ch4

Indicname

RDY

TX

RX

are reference


6 MECHATROLINK-II 4-Channel analogue input module

s a 4-channel analogue input MECHATROLINK-II slave. The analogue are automatically allocated by the Trajexia system according to the umber and can be read by Trajexia starting from AIN(0)./Os are automatically mapped in AIN(x) according to the HATROLINK-II node number. In the case of existing several AN2900 the one with lowest node number corresponds to AIN(0) to AIN(3), the owest one to AIN(4) to AIN(7).alue is refreshed every servo_period.ED indicatorsodule description (AN2900)odule mounting holes (for M4 screws) for back mountingodule mounting holes (for M4 screws) for bottom mountingrminal cover

etachable terminalxternal connector terminals (M3, Phillips-head)ignal labelrminal block mounting screws (two M3.5 screws)ECHATROLINK-II connectorront coveripswitch

ector description Indicators:

J

L

K

I

H

RDY TX RX E

ator Indicator color Meaning when lit or flashing

Green Lit The module is operating normally

Flashing The transmission cable is discon-nected or the module is waiting for communication with the master


Green Lit Receiving data

Hardw

HARD 132

Revision 5.0

fig. 83DipswThe dshowuppeThe fAny schang/i

SlaveSet thfront Refer

ERR

FLT

CH1

Indicname

SW ON

ON2 3 4 5 6 7 8

Pin n

1 to 5

6

7

8

are reference


itch functions: ipswitch consists of eight pins. The pins are numbered 1 to 8, as n in the illustration. Each pin is turned to on when it is moved to the r position.ollowing table shows the function of each switch.witches other than pin 7 become effective when each switch is ed.

address settings:e slave address with pins 1 to 5 on the dipswitch on the front of the

of the distributed I/O module. to the following table, and set the slave addresses as required.

Red Lit A communication error occurred

Red Lit Offset/gain setting error

Flashing Self-diagnostic error

to CH4 Green Lit Each LED indicates that the input is out-of-range for that channel.Out-of-range inputs are as follows:+10.02 V < Channel input signalChannel input signal < -10.02 V


1

o. Setting Function

on Set the slave address of pins 1 through 5. For details, refer to the table below.off

on 32-byte data transmission (MECHATROLINK-II).

on Software filter (average is 5 times) is set to “Enabled“.

off Software filter is set to “Disabled“.

on Sets the baud rate to 10 Mbps.

Hardw

HARD 133

Revision 5.0

/i

Pin N

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

are reference


o. Slave address

2 3 4 5

0 0 0 0 Not used

0 0 0 0 1

1 0 0 0 2

1 0 0 0 3

0 1 0 0 4

0 1 0 0 5

1 1 0 0 6

1 1 0 0 7

0 0 1 0 8

0 0 1 0 9

1 0 1 0 10

1 0 1 0 11

0 1 1 0 12

0 1 1 0 13

1 1 1 0 14

1 1 1 0 15

0 0 0 1 16

0 0 0 1 17

1 0 0 1 18

1 0 0 1 19

0 1 0 1 20

0 1 0 1 21

1 1 0 1 22

1 1 0 1 23

0 0 1 1 24

Hardw

HARD 134

Revision 5.0

SpecThe pare s/i

1

0

1

0

1

0

1

Item

Name

Mode

Mode

Input

Speci

Numb

Input

Maxim

Digita

Data

Error

Input

Samp

Pin N

1

are reference


ification erformance specifications of the analogue input module (±10 V, 4 CH)

hown below.

0 0 1 1 25

1 0 1 1 26

1 0 1 1 27

0 1 1 1 28

0 1 1 1 29

1 1 1 1 30

1 1 1 1 Not used

Specifications

Analog input module (-10 V to + 10 V, 4 CH)

l description AN2900

l number JEPMC-AN2900

signal range -10 to 10V

al inputs None

er of input channels 4 channels, isolated as a group

impedance 1 MΩ min.

um allowable overload -20 to 20 V

l resolution 16 bits

format Binary (2s complement) -32,000 to 32,000

±0.5% F.S. (at 25ºC)±1.0% F.S. (at 0 to 60ºC)

delay time 4 ms max.

ling interval Input data is refreshed every communication cycle

o. Slave address

2 3 4 5

Hardw

HARD 135

Revision 5.0

fig. 84/i

The f

RelaThe fanalo• A• N

For m

Input

Numb

Maint

Exter

Item

Item

Input lation

Exter

Derat

Maxim

Hot s

weigh

Dime

are reference


igure shows the circuit configuration for the analogue input module.

ted BASIC commandsollowing BASIC commands are related to the MECHATROLINK-II gue input module:IN AIO


filter characteristics Software filter

er of allocated words 5 words/module

enance/diagnostic functions Watchdog timer

nal connections Removable terminal block with 23 M3 screw terminals

Specifications

Specifications

circuit iso- Isolation method

Photocoupler(There is no isolation between input channels.)

Dielectric strength

1,500 VAC for 1 minute between input terminals and internal circuits

Insulation resistance

100 MΩ min. at 500 VDC between input terminals and internal circuits (at room temperature and humidity)

nal power supply Main external power supply:24 VDC (20.4 to 26.4 VDC), 120 mA max.

ing conditions The maximum ambient operating temperature is limited with some mounting directions.

um heating value 2.88 W

wapping Terminal block: not permittedCommunication connector: permitted

t Approx. 300 g


Hardw

HARD 136

Revision 5.0

3.5.1fig. 85This i

analoto theThe IMECthe onext oThe vA. LB. MC. MD. ME. TeF. DG. EH. SI. TeJ. MK. FL. D

ConnLED

fig. 86/i

C

D

F

B

A

G E

RR FLT

Indicname

RDY

TX

are reference


7 MECHATROLINK-II 2-Channel analogue output module

s a 2-channel analogue output MECHATROLINK-II slave. The gue output is automatically allocated by the Trajexia system according unit number and can be read by Trajexia starting from AOUT(0)./Os are automatically mapped in AOUT(x) according to the HATROLINK-II node number. In case of existing several AN2910 units, ne with lower node number corresponds to AOUT(0) to AOUT(1), the ne to AOUT(3) to AOUT(4).alue is refreshed every SERVO_PERIOD.ED indicatorsodule description (AN2910)odule mounting holes (for M4 screws) for back mountingodule mounting holes (for M4 screws) for bottom mountingrminal cover

etachable terminalxternal connector terminals (M3, Phillips-head)ignal labelrminal block mounting screws (two M3.5 screws)ECHATROLINK-II connectorront coveripswitch

ector descriptionIndicators:

J

L

K

I

H

RDY TX RX E


Green Lit The module is operating normally

Flashing The transmission cable is discon-nected or the module is waiting for communication with the master


Hardw

HARD 137

Revision 5.0

fig. 87DipswThe dshowthe u

The schangThe feach /i

SlaveSet thdistribRefer/i

RX

ERR

FLT

Indicname

SW ON

ON2 3 4 5 6 7 8

Pin n

1 to 5

6

7

8

are reference


itch functions: ipswitch consists of eight pins. The pins are numbered 1 to 8, as n in the following diagram. Each pin is turned to on when it is moved to pper position.

etting of each pin becomes effective as soon as the dipswitch is ed.

ollowing table shows the functions that correspond to the settings for pin.

address settings:e slave address with pins 1 to 5 on the dipswitch on the front of the uted I/O module. to the following table, and set the slave addresses as required.

Green Lit Receiving data

Red Lit A communication error occurred

Red Lit Offset/gain setting error

Flashing Self-diagnostic error


1

o. Setting Function

on Set the slave address of pins 1 through 5. For details, refer to the table below:off

on 32-byte data transmission (MECHATROLINK-II).

on The output when communication stops is set to “data immedi-ately before stop“.

off The output when communication stops is set to “0“.

on Sets the baud rate to 10 Mbps.

Hardw

HARD 138

Revision 5.0

Pin N

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0

are reference


o. Slave address

2 3 4 5

0 0 0 0 Not used

0 0 0 0 1

1 0 0 0 2

1 0 0 0 3

0 1 0 0 4

0 1 0 0 5

1 1 0 0 6

1 1 0 0 7

0 0 1 0 8

0 0 1 0 9

1 0 1 0 10

1 0 1 0 11

0 1 1 0 12

0 1 1 0 13

1 1 1 0 14

1 1 1 0 15

0 0 0 1 16

0 0 0 1 17

1 0 0 1 18

1 0 0 1 19

0 1 0 1 20

0 1 0 1 21

1 1 0 1 22

1 1 0 1 23

0 0 1 1 24

Hardw

HARD 139

Revision 5.0

SpecThe pCH) aThe imodu

fig. 88/i

1

0

1

0

1

0

1

Pin N

1

7CH1+

9CH1-

8Shield 1

15

17

23

CH2+

CH2-

16Shield 2

220V

24 VDC

Isolationamplifier

0V (analog)

/Aon-

erter+

-

+

-

+ -

24 VDC

Load

Load

-12V

+12V

ingCter

ingCrter

Statusdisplay

Item

Name

Mode

Mode

Input

Numb

Maxim

Digita

Data

Error

Outpu

Numb

Maint

are reference


ification erformance specifications of the analogue output module (±10 V, 2 re shown below.

llustration shows the circuit configuration for the analogue input le.

0 0 1 1 25

1 0 1 1 26

1 0 1 1 27

0 1 1 1 28

0 1 1 1 29

1 1 1 1 30

1 1 1 1 Not used

o. Slave address

2 3 4 5

Dc

v

InsulatDC/D

conver

InsulatDC/D

conve

From CPU

0V

+5V

0V (analog)

+12V-12V

+5V

Inte

rnal

Circ

uits Photocoupler

Specifications

Analog output module (-10 V to +10 V, 2 CH)

l description AN2910

l number JEPMC-AN2910

signal range -10 to 10V

er of output channels 2 channels

um allowable load current ±5 mA (2 kΩ)

l resolution 16 bits

format Binary (2s complement) -32,000 to 32,000

±0.2% F.S. (at 25ºC)±0.5% F.S. (at 0 to 60ºC)

t delay time 1 ms

er of allocated words 2 words/module

enance/diagnostic functions Watchdog timer

Hardw

HARD 140

Revision 5.0

RelaThe fanalo• A

For m

3.5.1

The JrangeMEC

Outpu

Exter

Outpuisolat

Exter

Derat

Maxim

Hot s

weigh

Dime

Item

are reference


ted BASIC commandsollowing BASIC commands are related to the MECHATROLINK-II gue output module:OUT


8 MECHATROLINK-II repeater

EPMC-REP2000 is a MECHATROLINK-II repeater. It extends the and the maximum number of MECHATROLINK-II devices in the

HATROLINK-II network.

t status when master stops Mode selected with the dipswitch (SW7):SW7 off: clear outputs (output 0 V)SW7 on: retain prior output status

nal connections Removable terminal block with M3 screw terminals

t circuit ion

Isolation method Photocoupler(There is no isolation between channels.)

Dielectric strength

1,500 VAC for 1 minute between output terminals and internal circuits

Insulation resist-ance

100 MΩ min. at 500 VDC between input terminals and internal circuits (at room temperature and humidity)

nal power supply Main external power supply:24 VDC (20.4 to 26.4 VDC), 120 mA max.

ing conditions The maximum ambient operating temperature is lim-ited with some mounting directions.

um heating value 2.88 W

wapping Terminal block: not permittedCommunication connector: permitted

t Approx. 300 g


Specifications

Hardw

HARD 141

Revision 5.0

fig. 89/i

LED /i

MECUse orepeaTJ1-MextenBoth

PowConn(CN3

C

AB

Term

A

B

C

D

E

F

LED

POW

TX1

TX2

are reference


indicators

HATROLINK-II connectorsne MECHATROLINK-II connector (CN1 or CN2) to connect the ter to the master-side network, i.e. the part of the network that had the L__. Use the other connector to connect the repeater to the network

sion.connectors have a built-in terminator.

er supply connectorect an external 24 VDC power supply to the power supply connector ).

DE

F

inal/LED Label Description

TX1 CN1 communication indicator

TX2 CN2 communication indicator

POWER Power indicator

SW Dipswitch

CN1 & CN2 MECHATROLINK-II connectors

CN3 Power supply connector

Description

ER Lit: Power onNot lit: No power

Lit: Communication via CN1Not lit: No communication via CN1

Lit: Communication via CN2Not lit: No communication via CN2

Hardw

HARD 142

Revision 5.0

fig. 90The t/i

DipsThe d

Systfig. 91The m

in theMEC/i

The t• T• T

Termtermi

3

2

1

Pin

1

2

3

15 16

REP2000

CN1 CN2

B C

ANetw

1.

Maste

Exten

are reference


able below gives the pin layout for the power supply connector.

witch settings (SW)ipswitch is for future use. Set all the pins to OFF.

em configurationaximum number of MECHATROLINK-II devices that you can connect

MECHATROLINK-II network with a repeater is set by the HATROLINK-II cable length.

otal number of MECHATROLINK-II devices is set by the TJ1-ML__:he TJ1-ML04 can have up to 4 MECHATROLINK-II devices.he TJ1-ML16 can have up to 16 MECHATROLINK-II devices.

inate the last MECHATROLINK-II device with a MECHATROLINK-II nator (A).

Signal Description

FG Frame ground

0 V 0 VDC input

+24 V 24 VDC input

1

TJ1-ML16

ork part MECHATROLINK-IIcable length

Maximum number ofMECHATROLINK-II devices1

The repeater itself is included in the maximum number of MECHATRO-LINK-II devices.

r-side (B) Max. 30 m 16

Max. 50 m 15

sion (C) Max. 30 m 16

Max. 50 m 15

Hardw

HARD 143

Revision 5.0

3.6

3.6.1

The GbetweMECMECrefer

fig. 92/i

Unit fig. 93/i

1234

SW2SW2

ONON

+V+V

-V-V

+V+V

-V-V

UNITUNIT

I/OI/O

DC24VDC24VINPUTINPUT

REGS

NC

ADR

BACK

1

2

3

4

RUN

ALARM

ML COM

TS

UNIT PWR

I/O PWR

1-ML2

A

B

C

D

Labe

A

B

C

D

E

F

G

H

ON1

2

3

4

RE GS

NC

ADR

B ACK

Dipsw

REGS

NC

are reference


GRT1-ML2

Introduction

RT1-ML2 SmartSlice Communication Unit controls data exchange en a TJ1-MC__ Motion Controller Unit (via a connected TJ1-ML__

HATROLINK-II Master Unit) and SmartSlice I/O Units over a HATROLINK-II network. For more information on SmartSlice I/O Units, to the GRT1 Series SmartSlice I/O Units Operation Manual (W455).

dipswitches

SW1SW1

CN2CN2

CN1CN1A/BA/B

OMRON GRT

87

6

54

3

2 1 0 F

ED

CB

A9

G

H

F

E

l Description

LED indicators

Unit dipswitches

Unit power supply terminals

I/O power supply terminals

MECHATROLINK-II connectors

Shielding terminal

Rotary switch

Communication dipswitches


Create/enable registration table

ON Registered table is enabled

OFF Registered table is disabled

OFF to ON1 Register I/O unit table

ON to OFF1 Clear registered I/O unit table

N/A OFF Not used, always set to OFF

Hardw

HARD 144

Revision 5.0

fig. 94

The f

ADR

BACK

1.2.3.

Dipsw

OF F ON

1 s 1 s

operation starts after DIP switch 4 is N to OF F to ON within 3 seconds.

are reference


actory setting of all dipswitches is OFF.

Automatic restore

OFF to ON When the SmartSlice I/O Units are replaced, the parameter data that was backed up with the BACK dipswitch is automatically restored2

OFF Automatic restore disabled

Backup trigger ON to OFF to ON in 3 s3

Parameter data of all connected Smart-Slice I/O Units is backed up2

When the unit power is on.When dipswitch 1 is set to ON.The setting of dipswitch 4 (BACK) is given in figure 94.


ON

1 s

T he backup turned from O

CautionThe Backup and Restore functionality is available in the GRT1-ML2. However, the backed up and restored parameters cannot be accessed via MECHATROLINK-II communication.

Note

• It is recommended to do a registration of the SmartSlice I/O Units (see the Trajexia Programming Manual).

• It is recommended to set dipswitches 1, 3 and 4 on after this registration.

Hardw

HARD 145

Revision 5.0

LED fig. 95/i

RUN

ALARM

ML COM

TS

UNIT PWR

I/O PWR

LED

RUN

ALAR

ML C

are reference


indicators

Description Color Status Meaning

Unit status Green Not lit • Startup test failed, unit not opera-tional

• Operation stopped due to a fatal error

Lit Initialization successful, unit is in nor-mal operation

M Unit error Red Not lit Unit is in normal operation

Flashing A startup error has occurred

Lit Unit is in alarm state, or a fatal error has occurred

OM MECHATRO-LINK-II com-munication

Green Not lit No MECHATROLINK-II communication

Lit MECHATROLINK-II communication active

Hardw

HARD 146

Revision 5.0

hes

TS

UNITPWR

I/O P

LED

of the Trajexia system is turned on, the TJ1-its startup sequence before it initializes the K-II bus. During this startup sequence, the ML

C__ initializes the MECHATROLINK-II bus d MECHATROLINK(unit,0), the ML COM

-ML2 loses the MECHATROLINK-II communi-aster, or when the command K(unit,1) is executed, the ML COM LED goes

Setting Description

I ON 70 hex − 7F hex

OFF 60 hex − 6F hex

I OFF 10 Mbps1

Mbps bus speed. Therefore always set

OFF 32 bytes2

-byte communication. Therefore always set

ON HOLD: All outputs hold their values when communication is lost

OFF CLEAR: All outputs become 0 when communication is lost

are reference


Communication dipswitc/i

SmartSlice I/O system com-munication status

N/A Not Lit • No power supply• Communication with SmartSlice I/

O Unit has not started • Overcurrent detected

Green Flashing(every second)

SmartSlice I/O Unit added to the sys-tem

Flashing(every 0.5 second)

Backup/Restore function operating:• Restoring settings to SmartSlice I/

O Unit, backup function operating• Downloading SmartSlice I/O Unit

settings

Lit Communication with SmartSlice I/O Unit established

Red Flashing Non-fatal communication error occurred.• Communication timeout• Verification error occurred with

registered table• Different model unit detected after

SmartSlice I/O Unit replacement

Lit Fatal communication error occurred.

Lit for 2 s Failure occurred while restoring set-tings to I/O unit or downloading I/O unit settings

Green Not Lit No power supply to the unit(All LEDs are off)

Lit Power supply to the unit

WR Green Not Lit No power supply to the SmartSlice I/O (No output from the SmartSlice I/O Units, even when they are in operation)

Lit Power supply to the SmartSlice I/O

Description Color Status MeaningNote

• When the powerMC__ executes MECHATROLINCOM LED is off.

• When the TJ1-Mwith the commanLED goes on.

• When the GRT1cation with the mMECHATROLINoff.

Dipswitch Function

1 MECHATROLINK-Iaddress range

2 MECHATROLINK-Ibus speed

1. Trajexia only supports 10dipswitch 2 to OFF.

3 Frame size

2. Trajexia only supports 32dipswitch 3 to OFF.

4 HOLD/CLEAR

Hardw

HARD 147

Revision 5.0

RotaThe rthe Gfrom To se1. T

2. Toro/i

Dipsw

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

are reference


ry switchotary switch (SW1) sets the MECHATROLINK-II address that identifies RT1-ML2 in the MECHATROLINK-II network. The settings range is 0 hex to F hex.t the MECHATROLINK-II address of the GRT1-ML2, do these steps:urn off the Unit power supply of the GRT1-ML2.

set the address of the unit, set communication dipswitch 1 and the tary switch as given in the table below.

NoteThe address of the GRT1-ML2 is read only at power on. Setting the new address when the power is on has no effect.

itch 1 Rotaryswitch

Address Dipswitch 1 Rotaryswitch

Address

0 60 hex ON 0 70

1 61 hex ON 1 71

2 62 hex ON 2 72

3 63 hex ON 3 73

4 64 hex ON 4 74

5 65 hex ON 5 75

6 66 hex ON 6 76

7 67 hex ON 7 77

8 68 hex ON 8 78

9 69 hex ON 9 79

A 6A hex ON A 7A

B 6B hex ON B 7B

C 6C hex ON C 7C

D 6D hex ON D 7D

E 6E hex ON E 7E

Hardw

HARD 148

Revision 5.0

3. T

Powfig. 96The G

/i

OFF

Dipsw

UNIT

+V

-V

+V

-V

DC24VINPUT

I/O

DC

DC

Labe

A

B

are reference


urn the power on.

er supply connectorRT1-ML2 has 2 24 VDC power supply terminals:

F 6F hex ON F 7F

NoteMake sure that the address is unique in the MECHATROLINK-II network. If two or more units have the same MECHATROLINK-II address, they cannot be initialized properly.

NoteTo make the MECHATROLINK-II address of the unit valid, do one of these steps:• Restart the TJ1-MC__.• Execute the command MECHATROLINK(unit,0).

itch 1 Rotaryswitch

Address Dipswitch 1 Rotaryswitch

Address

A 24 V

24 VB

l Power supply terminal Description

Unit power supplyterminal

Power supply to the internal circuits of the GRT1-ML2 and to the internal circuits of the connected SmartSlice I/O Units (through the SmartSlice bus)

External I/O powersupply terminal

Power supply to the external I/Os connected to the SmartSlice I/O Units

NoteThe unit power supply and the external I/O power supply are not transferred through the GCN2-100 Turnback cable. The GRT1-TBR units have the same power supply terminals as the GRT1-ML2.

Hardw

HARD 149

Revision 5.0

3.6.2/i

Item

Inst

alla

tion

U

M

I

P

C

D

W

Env

ironm

ent

Ap

Ah

S

V

S

D

Cas

E

are reference


Specifications

Specification

nit type SmartSlice GRT1 series

odel GRT1-ML2

nstallation position On a DIN rail

ower supply 24 VDC +10% −15% (20.4 to 26.4 VDC)

urrent consumption 110 mA typical at 24 VDC

imensions (W × H × D) 58 × 80 × 70 mm

eight 130 g

mbient operating tem-erature

−10 to 55°C (no icing or condensation)

mbient operating umidity

25% to 85% Relative humidity

torage temperature −20 to 65°C (no icing or condensation)

ibration resistance 10 to 57 Hz, 0.7 mm amplitude57 to 150 Hz, acceleration: 49 m/s2

hock resistance 150 m/s2

ielectric strength 500 VAC (between isolated circuits)

onformance to EMC nd electrical safety tandards

EN61131-2:2003

nclosure rating IP20

Hardw

HARD 150

Revision 5.0

SuppThe GSmar/i

Sm

artS

lice

I/O

NS

B

Cl

Ct

T

Sn

B

E

ME

CH

ATR

OLI

NK

-II B

D

Func

4 NPN

4 PNP

8 NPN

8 PNP

4 NPN

Item

are reference


orted SmartSlice I/O UnitsRT1-ML2, in combination with the Trajexia system, supports these

tSlice I/O Units.

umber of connectable martSlice I/O Units

64 Units max.Connected directly to the GRT1-ML2 or via Turnback exten-sion units

aud rate 3 Mbps

ommunication signal evel

RS485

ommunication dis-ance

SmartSlice I/O Units: 64 Units coupled (about 2 m max.)Turnback cable: 2 m max. (2 cables, 1 m each)

urnback cable Length 1 m max., up to 2 cables can be connected

martSlice I/O Unit con-ections

Building-block style configuration with slide connectors (Units connect with Turnback cables).

aseblock power supply Voltage: 24 VDCCurrent: 4 A max.

vent messaging Supported

aud rate 10 Mbps (MECHATROLINK-II)

ata length 17-byte and 32-byte data transmission

tion Specification Model

inputs 24 VDC, 6 mA, 3-wire connection GRT1-ID4

inputs 24 VDC, 6 mA, 3-wire connection GRT1-ID4-1

inputs 24 VDC, 4 mA, 1-wire connection + 4xG GRT1-ID8

inputs 24 VDC, 4 mA, 1-wire connection + 4xV GRT1-ID8-1

outputs 24 VDC, 500 mA, 2-wire connection GRT1-OD4

Specification

Hardw

HARD 151

Revision 5.0

4 PNP

4 PNPcircui

8 NPN

8 PNP

8 PNPcircui

2 rela

2 anavoltag

2 ana

2 ana

Func

are reference


outputs 24 VDC, 500 mA, 2-wire connection GRT1-OD4-1

outputs with short-t protection

24 VDC, 500 mA, 3-wire connection GRT1-OD4G-1

outputs 24 VDC, 500 mA, 1-wire connection + 4xV

GRT1-OD8

outputs 24 VDC, 500 mA, 1-wire connection + 4xG

GRT1-OD8-1

outputs with short-t protection

24 VDC, 500 mA, 1-wire connection + 4xG

GRT1-OD8G-1

y outputs 240 VAC, 2A, normally-open contacts GRT1-ROS2

log inputs, current/e

10 V, 0-10 V, 0-5 V, 1-5 V, 0-20 mA, 4-20 mA

GRT1-AD2

log outputs, voltage 10 V, 0-10 V, 0-5 V, 1-5 V GRT1-DA2V

log outputs, current 0-20 mA, 4-20 mA GRT1-DA2C

tion Specification Model

Hardw

HARD 152

Revision 5.0

DimeThe e

fig. 97

3.6.3

Follow• B

oe

• MU

0 F

ED

CB

A987

6

54

3

2 1

1234

SW1SW1 SW2SW2

CN2CN2

CN1CN1A/BA/B

ONON

+V+V

-V-V

+V+V

-V-V

UNITUNIT

I/OI/O

DC24VDC24VINPUTINPUT

REGS

NC

ADR

BACK

1

2

3

4

RUN

ALARM

ML COM

TS

UNIT PWR

I/O PWR

OMRON GRT1-ML2

17.1

36.8

58 2.4

16.2

35.5

83.5

2.9

2.9

54

are reference


nsionsxternal dimensions are in mm.

Installation

these rules when installing the GRT1-ML2:efore installing the GRT1-ML2 or connect or disconnect cables, switch ff the power of the Trajexia system, the SmartSlice I/O Units and the xternal I/Os.ake sure that the power supplies of the GRT1-ML2, the SmartSlice I/O nits and the external I/Os are correctly connected.

28.8

26.3

61.2

69.71.5

11.9

Hardw

HARD 153

Revision 5.0

• Ph

• It• In

infro

• ToD

Connfig. 98Conn

• A• S

See tinformEnd U

WirinThe Ghave To deThe mblock

RUN

ALARM

ML COM

TS

UNIT PWR

I/O PWR

ON

+V

-V

+V

-V

UNIT

I/O

DC24V

INPUT

REGS

NC

ADR

BACK

1

2

3

4

are reference


rovide separate conduits or ducts for the I/O lines to prevent noise from igh-tension lines or power lines. is possible to connect up to 64 SmartSlice I/O Units to 1 GRT1-ML2.stall the GRT1-ML2 and the SmartSlice I/O Units on a DIN rail. To stall a GRT1-ML2 on the DIN rail, press it onto the DIN track from the ont, and press the unit firmly until it clicks. Check that all DIN rail sliders f the unit are locked onto the DIN rail. remove the GRT1-ML2 from the DIN rail, release the sliders from the

IN rail with a screwdriver, and pull the unit straight from the DIN rail.

ectionsect the first SmartSlice I/O Unit to the GRT1-ML2:lign the sides of the GRT1-ML2 and the SmartSlice I/O Unit.lide the SmartSlice I/O Unit to the rear until it clicks onto the DIN rail.

he GRT1 Series SmartSlice I/O Units Operation Manual for more ation on connecting additional SmartSlice I/O Units, Turnback Units, nits and end plates.

gRT1-ML2 has 2 power supply terminals. Both power supply terminals

screwless clamping-type connections.termine the power supply requirements, do the steps below.aximum power consumption for SmartSlice I/O Units is 80 W per

.

CN2

SW1SW2

CN1

A/B

GRT1-ML2

CautionDo not touch the connectors on the side of GRT1-ML2 and the SmartSlice I/O Units.

Hardw

HARD 154

Revision 5.0

1. CtoOU

2. If(Gco

3. CT

The m1. C

coU(W

2. Ifseap

The f

are reference


alculate the power consumption of all SmartSlice I/O Units connected the GRT1-ML2. Refer to the GRT1 Series SmartSlice I/O Units peration Manual (W455) for the power value for each SmartSlice I/O nit. the power consumption exceeds 80 W, mount a Right Turnback Unit RT1-TBR) on the SmartSlice I/O Unit at the point where the power nsumption is less than 80 W.

onnect the 24 VDC unit power supply to the Left Turnback Unit (GRT1-BL).

aximum I/O current consumption is 4 A.alculate the total current consumption used by all external I/Os of the nnected SmartSlice I/O Units (including other units like Turnback

nits). Refer to the GRT1 Series SmartSlice I/O Units Operation Manual 455) for the current value for each SmartSlice I/O Unit.

the current consumption exceeds 4 A or if you want to provide parate systems for inputs and outputs, divide the SmartSlice I/O Units

t the desired point with a GRT1-PD_(-1) I/O Power Supply Unit and rovide a separate external I/O power supply.

igure gives a wiring example.

NoteIt is also possible to provide a separate external I/O power supply at a Left Turnback Unit (GRT1-TBL).

NoteMake sure the power supply is isolated.

NoteThe GCN2-100 Turnback cable does not supply power.

Hardw

HARD 155

Revision 5.0

fig. 99To suwirespin te

fig. 100To remprecis

It is rewith oincrea42.4 Reco• S• S

It is re1.25 Strip (stran8 to 1

I/O (AD)

I/O (AD)

I/O (OUT )

I/O (OUT )

I/O (OUT )

I/O (OUT )

I/O (OUT )

(-1) I/O Power Supply Unit

E nd Unit

T urnback cable

GRT 1-T B R Right T urnback Unit

max. 80 W

max. 80 W

Precis ion screwdriver

Release button

are reference


pply power to the units and the I/O devices, connect the power supply to the power supply terminals of the GRT1-ML2. If the wire ends have rminals, just insert the pin terminals in the power supply terminals.

ove the wires, press the release button above the terminal hole with a ion screwdriver, and pull out the wire.

commended to use a SELV (Safety Extra Low Voltage) power supply ver-current protection. A SELV power supply has redundant or sed insulation between the I/O, an output voltage of 30 V rms and a

V peak or maximum of 60 VDC.mmended power supplies are:82K-01524 (OMRON)8TS-06024 (OMRON).

commended to use wires with a gauge of 20 AWG to 16 AWG (0.5 to mm2).the wire between 7 and 10 mm of insulation at the ends of the wires ded or solid wire), or use pin terminals with a pin (conductor) length of 0 mm.

I/O (AD)

I/O (IN)

I/O (IN)

I/O (AD)

I/O (AD)

I/Opowersupply

GRT 1-PD_

GRT 1 - ML2

Power supply(24 VDC)

I/Opowersupply

I/Opowersupply

GRT 1-T B L Left T urnback Unit

Hardw

HARD 156

Revision 5.0

Repl

To re• T

a• M• If

th-

--

• Wd

• B-

-

3.6.4

It is pwhenI/O UTo re1. T

p(f

2. RD

are reference


ace

place the unit, follow these rules:urn off the power before replacing the unit. This includes the power to ll master and slave units in the network.ake sure that the new unit is not damaged. a poor connection is the probable cause of any malfunctioning, do ese steps:

Clean the connectors with a clean, soft cloth and industrial-grade alcohol.Remove any lint or threads left from the cloth.Install the unit again.

hen returning a damaged unit to the OMRON dealer, include a detailed amage report with the unit.efore reconnecting the new unit, do these steps:

Set the MECHATROLINK-II station address to the same address as the old unit.If the table registration function was used for the old unit, create a new registration table for the new unit. See the Trajexia Programming Manual.

Online replacement

ossible to replace SmartSlice I/O Units connected to a GRT1-ML2 the power is on. The I/O communication continues while a SmartSlice nit is removed and replaced.place a SmartSlice I/O Unit online, do these steps:urn off all power supplies of the SmartSlice I/O Unit. This is the I/O ower supply, plus possible external power supplies to the terminal block or example, a Relay Output Unit).elease the locks on the front of the unit and remove the terminal block. o not remove the wiring.

CautionThe GRT1-ML2 is a unit that is part of a network. If the GRT1-ML2 is damaged, it effects the whole network. Make sure that a dam-aged GRT1-ML2 is repaired immediately.

Hardw

HARD 157

Revision 5.0

3. RU

4. A5. T

When• W

o• If

si• O• If

o• If

re

Whenreporback,detecbeforrepla1. E

b2. R3. E

e

3.6.5

The fGRT1• M

For m

are reference


emove the main block of the unit. Replace it with a new SmartSlice I/O nit of the same type.ttach the new unit to the system. Close the locks on the front of the unit.urn on the power supplies to the unit.

replacing a SmartSlice I/O Unit online, note the following things:hen a unit is removed from the I/O communication, the withdrawn flag

f the unit is set on and the TS LED on the GRT1-ML2 flashes red. I/O power supply of the unit is not turned off, there can be false output gnals, false input signals and electrical shocks.nly replace one SmartSlice I/O Unit at a time. a unit is replaced with a different type of unit, there can be unexpected utputs and the restore operation can be incomplete. the base block has faults or damage, turn off the power supply and place the entire unit.

an online replacement is performed, the status word of the GRT1-ML2 ts an error (missing I/O Unit). When the I/O Unit is replaced or put the status word changes to 8000 hex, but the error has already been ted by the TJ1-MC__. To avoid this, it is necessary to mask the errors e the online replacement is performed. To perform the online cement do the following:xecute MECHATROLINK(unit,37,station_addr, 0). This masks all its, including errors, in the GRT1-ML2 status word.eplace the I/O Unit.xecute MECHATROLINK(unit,37,station_addr, $4000). This sets the rror mask to its default value.

Related BASIC commands

ollowing BASIC commands are related to the MECHATROLINK-II -ML2 module:ECHATROLINK


Hardw

HARD 158

Revision 5.0

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3.7.1fig. 101The T

netwoThe T/i

3.7.2/i

0 9 8 7654

3210 9 876

54

321

H

B A

B

D

C

Part

A

B and

D

Labe

run

ERC

ERH

are reference


TJ1-PRT

Introduction

J1-PRT is an interface between the Trajexia system and a PROFIBUS rk.J1-PRT has these visible parts.

LEDs description

Description

LEDs

C Node number selectors

PROFIBUS connector





flashing Start-up error

on Fatal error in programError occurred while Reading or Writing error log


flashing I/O-size not configured

on Error detected in communication with controller

Hardw

HARD 159

Revision 5.0

3.7.3

You cPRT. The ulowerselecthe laProgr

COM

BF

Labe

are reference


Node number selectors

an use the node number selectors to assign a node number to the TJ1-This node number identifies the TJ1-PRT in the PROFIBUS network.pper node number selector sets the tens of the node number. The node number selector sets the units of the node number. Both tors range from 0 to 9. To set a selector to n, turn the arrow to point to bel n. Refer to the chapter, Communication Protocols in the amming Manual.

off No PROFIBUS data exchange communication

on I/O data exchange on PROFIBUS is active

off No PROFIBUS bus communication errors

flashing Parameter values sent by the PROFIBUS master unit are invalid. I/O data exchange is not possible.

on No PROFIBUS communication is detected by the unit


Hardw

HARD 160

Revision 5.0

3.7.4fig. 102/i

3.7.5/i

54321

Pin

1

2

3

4

5

6

7

8

9

Item

Powe

Powe

Curre

Appro

Electr

Comm

Trans

Node

I/O si

Galva

are reference


TJ1-PRT Connections

TJ1-PRT Specifications

9876

Signal Description

Shield Connected to the metal shell

N/A N/A

B-line Data signal

RTS Direction control signal for repeaters

DGND Data 0 Volts

VP Power output for the termination, 5 V, 10 mA

N/A N/A

A-line Data signal

N/A N/A

Specification


r consumption 0.8 W


ximate weight 100 g

ical characteristics Conforms to PROFIBUS-DP standard EN50170 (DP-V0)

unication connector 1 PROFIBUS-DP slave connector

mission speed 9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500, 3000, 6000 and 12000 Kbps

numbers 0 to 99

ze 0 to 122 words (16-bit), configurable, for both directions

nic isolation Yes

Hardw

HARD 161

Revision 5.0

3.7.6

TJ1-P• S• T• P

3.7.7

The f• P

For m

are reference


TJ1-PRT unit box contents

RT box:afety sheet.J1-PRT.rotection label attached to the top surface of the unit.

Applicable BASIC commands

ollowing BASIC commands are applicable for the TJ1-PRT:ROFIBUS


Hardw

HARD 162

Revision 5.0

3.8

3.8.1fig. 103The T

netwo/i

3.8.2/i

0 9 8 7654

3210 9 876

54

321

V-

CAN L

DRAIN

CAN H

V+

A

B

D

C

Part

A

B and

D

Labe

RUN

ERC

ERH

NOK

are reference


TJ1-DRT

Introduction

J1-DRT is an interface between the Trajexia system and a DeviceNet rk.

LEDs description

Description

LEDs


DeviceNet connector






on Fatal error in programError occurred while Reading or Writing error log


flashing I/O-size not configured

on Error detected in communication with controller

off Baud rate not detected or node address duplication check not completed.

flashing Slave not allocated to a DeviceNet master.

on Slave is on-line and allocated to a DeviceNet master.

Hardw

HARD 163

Revision 5.0

3.8.3

You cDRT. The ulowerselecthe laProgr

The Dnumbselecsoftw

NF

Labe

are reference



an use the node number selectors to assign a node number to the TJ1-This node number identifies the TJ1-DRT in the DeviceNet network.pper node number selector sets the tens of the node number. The node number selector sets the units of the node number. Both tors range from 0 to 9. To set a selector to n, turn the arrow to point to bel n. Refer to the chapter, Communication Protocols in the amming Manual.

eviceNet node numbers range from 0 to 63. If you select a node er with the node number selectors that exceeds this range, you will t the node number that is set by software. The nodes that enable are settings are 64 to 99.

off No network error detected.

flashing Connection time-out detected for I/O connection with the Device-Net master.

on Other device detected with the same node number or severe net-work error detected.


Hardw

HARD 164

Revision 5.0

3.8.4fig. 104/i

3.8.5/i

Pin

1

2

3

4

5

Item

Powe

Powe

Netw

Netwtion

Powe

Appro

Electr

Comm

Trans

are reference


TJ1-DRT Connections

TJ1-DRT Specifications

1

2

3

4

5

Signal Description

V- Power supply input, negative voltage

CAN L Communication line, low

DRAIN Shield

CAN H Communication line, high

V+ Power supply input, positive voltage

Specification


r consumption 120 mA at 5 VDC

ork power supply 24 VDC

ork current consump- 15 mA at 24 VDC

r dissipation 0.6 W

ximate weight 100 g

ical characteristics Conforms to DeviceNet standard of CIP edition 1.

unication connector 1 DeviceNet slave connector

mission speed 125, 250 and 500 Kbps, auto-detected

Hardw

HARD 165

Revision 5.0

3.8.6

TJ1-D• S• T• D• P

3.8.7

The f• D

For m

Node

I/O si

Galva

Item

are reference


TJ1-DRT unit box contents

RT box:afety sheet.J1-DRT.eviceNet connector.rotection label attached to the top surface of the unit.


ollowing BASIC commands are applicable for the TJ1-DRT:EVICENET


numbers 0 to 63

ze 0 to 32 words (16-bit), configurable, for both directions

nic isolation Yes

Specification

Hardw

HARD 166

Revision 5.0

3.9

3.9.1

The Csyste

fig. 105/i

3.9.2/i

0 9 8 7654

3210 9 876

54

321

V-

CAN L

DRAIN

CAN H

V+

CORT

NWST

BF A

B

D

C

Part

A

B and

D

Labe

RUN

ERC

are reference


TJ1-CORT

Introduction

ANopen Master Unit (TJ1-CORT) is an interface between the Trajexia m and a CANopen network.

LEDs description

Description

LED indicators


CANopen port


off Start-up test failed. Unit not operational.Operation stopped. Fatal error.

on Start-up test successful. Normal operation.



on Fatal error in program.Error occurred while Reading or Writing error log.

Hardw

HARD 167

Revision 5.0

3.9.3

You cCORTThe ulowerselecthe laThe Conly sinvaliTJ1-C

ERH

NWS

BF

1.2.3.

Labe

are reference



an use the node number selectors to assign a node number to the TJ1-. This node number identifies the TJ1-CORT in the CANopen network.pper node number selector sets the tens of the node number. The node number selector sets the units of the node number. Both tors range from 0 to 9. To set a selector to n, turn the arrow to point to bel n.ANopen node number can range from 0 to 127. But the TJ1-CORT upports node numbers from 1 to 99. The default node number, 0, is

d. Therefore, the default node number must be changed before the ORT is used.

off Normal operation.

flashing I/O size not configured.

on Error detected in communication with controller.

T off Start-up error or fatal error detected.

single flash TJ1-CORT in stopped state.

flashing TJ1-CORT in pre-operational state.

on TJ1-CORT in operational state.

off No network error detected.

single flash1 Warning limit reached.At least one of the error counters of the CAN controller has reached or exceeded the warning level (too many errors).

double flash2 A remote error or a heartbeat event has occurred.

flashing3 Invalid configuration.

on A duplicate node address has been detected, orthe unit is in Bus OFF state.

Single flash: one 200ms pulse, followed by 1 second off.Double flash: two 200ms pulses, followed by 1 second off.LED flashing frequency: 2.5 Hz.


Hardw

HARD 168

Revision 5.0

3.9.4fig. 106/i

3.9.5/i

Pin

1

2

3

4

5

Item

Powe

Powe

Netw

Netwsump

Powe

Appro

Electrtics

are reference


TJ1-CORT connections

TJ1-CORT specifications

1

2

3

4

5

Signal Description

V- Power supply input, negative voltage

CAN L Communication line, low

DRAIN Shield

CAN H Communication line, high

V+ Power supply input, positive voltage

Specification


r consumption 120 mA at 5 VDC

ork power supply 24 VDC

ork current con-tion

15 mA at 24 VDC

r dissipation 0.6 W

ximate weight 100 g

ical characteris- Conforms to ISO 11898-1

Hardw

HARD 169

Revision 5.0

3.9.6

CANo• S• C• D• P

3.9.7

The f• C

For m

Comm

Trans

Node

I/O si

Galva

Devic

Item

are reference


TJ1-CORT unit box contents

pen Master Unit box:afety sheet.ANopen Master Unit.eviceNet connector.rotection label attached to the top surface of the unit.


ollowing BASIC commands are applicable for the TJ1-CORT:AN_CORT


unication ports 1 CAN port

mission speed 20, 50, 125 and 500 Kbps

numbers 1 to 99

ze 8 RPDO and 8 TPDO

nic isolation Yes

e profile DS302: CANopen manager profile Note:This CANopen master does not support motion control features of slaves with the DS401 profile

Specification

Hardw

HARD 170

Revision 5.0

3.10

3.10.

fig. 107The Tin the• A• In• P

At stasequein uni(usingfree aThe T/i

3.10.

The fAXIS

FL02

A

B

C

Part

A

B

C

are reference


TJ1-FL02

1 Introduction

J1-FL02 is an analogue control unit. It controls up to two axes A and B se modes:nalogue speed reference plus encoder feedback.cremental or absolute encoder input.ulse output.

rt up the TJ1-MC__ assigns the TJ1-FL02 to the first 2 free axes in nce. When multiple TJ1-FL02 units are connected they are assigned

t sequence 0..6. Any MECHATROLINK-II axes that are assigned the driver switches) will not change. The TJ1-MC__ assigns the next xis.J1-FL02 has these visible parts:

2 LED description

unction of the LEDs is defined by the BASIC command _DISPLAY. For more information, refer to the Programming Manual.

WARNINGDo 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 MECHATROLINK-II network errors occur during start-up or if the MECHATROLINK-II network configuration changes.

Description

LEDs

15-pin connector

18-pin connector

Hardw

HARD 171

Revision 5.0

/i

3.10.

The sselec

Axis

All

A

B

are reference


3 TJ1-FL02 connections

ignals of the 15-pin connector depend on the type of interface ted:

Label Status AXIS_DISPLAY parameter

0 1 2 3

run on The TJ1-MC__ recognises the TJ1-FL02

A EN on Axis enabled.

flashing Axis error

off Axis disabled

A 0 on REG 0 AUX OUT 0 Encoder A

A 1 on REG 1 Encoder Z OUT 1 Encoder B

B EN on Axis enabled

flashing Axis error

off Axis disabled

B 0 on REG 0 AUX OUT 0 Encoder A

B 1 on REG 1 Encoder Z OUT 1 Encoder B

Hardw

HARD 172

Revision 5.0

15-pfig. 108/i

510

49

38

27

16

Pin

1.

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

are reference


in connector

1514131211

Axis Encoder input1

With the VERIFY parameter the input type can be changed from phase differential (VERIFY=ON, default) to Step (Channel A) and Direction (Channel B) (VERIFY=OFF).

Encoder output

Stepper output

SSI/EnDat Tamagawa

A A+ A+ Step+ Clock+

A A- A- Step- Clock-

A B+ B+ Dir+

A B- B- Dir-

GND GND GND GND GND

A Z+ Enable+ Data+ SD+

A Z- Enable- Data- SD-

B Z+ Enable+ Enable+ Data+ SD+

B Z- Enable- Enable- Data- SD-

+5V out Do not use Do not use Do not use Do not use

B A+ A+ Step+ Clock+

B A- A- Step- Clock-

B B+ B+ Dir+

B B- B- Dir-

GND GND GND GND GND

Hardw

HARD 173

Revision 5.0

18-pfig. 109/i

Digit

fig. 110The f/i

Input• w• w

2

4

6

8

10

12

14

16

18

Pin

1

3

5

7

9

11

13

15

17

TJ 1-FL02

Reg A0 7

0V I/O

0V common for Input circuits

17

Item

Type

Maxim

Input

on vo

off vo

are reference


in connector

al inputs

ollowing table and illustration details the digital input specifications:

response time (registration):ithout noise filter: 0.5µs maximum.ith noise filter 3.5µs maximum.

1

3

5

7

9

11

13

15

17

Axis Signal Pin Axis Signal Description

A Vout 2 B Vout Analog output

A 0V 4 B 0V 0V Reference for Vout

Wdog- 6 Wdog+ Enable relay contacts

A Reg 0 8 B Reg 0 24V registration inputs

A Reg 1 10 B Reg 1 24V registration inputs

A AUX 12 B AUX 24V auxiliary inputs

A OUT 0 14 B OUT 0 position switch outputs(HW_PSWITCH)

A OUT 1 16 B OUT 1 OUT1 Auxiliary outputs

I/O 0VCommon

18 I/O +24 V 24V Power supply Input for the Outputs.

External powersupply 24V

Specification

PNP


current 8 mA at 24 VDC

ltage 18.5 VDC min

ltage 5.0 VDC max

Hardw

HARD 174

Revision 5.0

Digitfig. 111The f

/i

Outpu• 1

TJ 1-FL02

Externalpowersupply24V

Load

2A Fuse24V output supply18

13 Out 0

17 0V I/O

ircuits

Item

Type

Maxim

Curre

Max.

Prote

are reference


al outputsollowing table and illustration details the digital output specifications:

t response time (PSwitch):40 µs maximum

NoteIn the case of an incorrect registration due to slow edges or noise, a digital noise filter can be enabled with the REGIST command. Refer to the BASIC Commands in the Programming Manual.

NoteA maximum of 4 inputs on is allowed simultaneously.

Equivalentcircuit

To other output cInte

rnal

circ

uitr

y (g

alva

nica

llyis

olat

ed fr

om s

yste

m)

Specification

PNP


nt capacity 100 mA each output (400 mA for a group of 4)

Voltage 24 VDC + 10%

ction Over current, Over temperature and 2A fuse on Common

Hardw

HARD 175

Revision 5.0

Analfig. 112The f

/i

Wdofig. 113The f

/i

TJ1-FL02

Vout 0

-15V

+15V 1

30V

Item

Outpu

Reso

Outpu

Load

TJ1-FL02

WDOG+ 5

6WDOG-

Item

Type

Curre

on re

Maxim

are reference


og outputsollowing table and illustration details the analog output specifications:

g relayollowing table and illustration details the Wdog relay:

Isolated 0V

Specification

t voltage -10 to +10 V

lution 16 bit

t impedance 100 Ω

impedance 10 k Ω min

NoteThe analogue output of one flexible axis is always 0V unless both axes in the TJ1-FL02, axis A & B are enabled, that is:WDOG=ONAXIS_ENABLE AXIS(A)=1AXIS_ENABLE AXIS(B)=1

Specification

Solid state relay

nt capacity 50 mA

sistance 25 Ω max.


Hardw

HARD 176

Revision 5.0

Encofig. 114The f

/i

Conn

fig. 115The epositiThe e(PG-Xthe coMaketermi/i

+5V

0V

TJ1-FL02

0

,15

Item

Type

Signa

Input

Load

Termi

Encoder Feedback

ENC MOTOR

TJ1-Fpin n

1

3

5

are reference


der interfaceollowing table and illustration details the encoder interface:

ection example

xample shows the connections for the TJ1-FL02 to a F7 Inverter for on control. ncoder from the motor must be connected to the encoder interface 2) in the Inverter (connector TA1). The encoder signal is forwarded in nnector TA2 of the (PG-X2). the connections for the 18 pin connector on the TJ1-FL02 to the nal board on the F7 Inverter as follows:

+5V

0V

1A0+ /STEP0+ /...A0- /STEP0- /...

B0+ /DIR0+ /...B0- /DIR0- /...

Z0+ /ENA0+ /...Z0- /ENA0- /...

2

3

4

6

7

1

5

Specification

Phase differential incremental encoder

l level EIA RS-422-A Standards (line-driver)

impedance 48 kΩ min

impedance 220 Ω min

nation None

L02umber

F7 InverterTA1

Signal Description

A1 Vout Analog output

AC 0V 0V Reference for Vout

S1 Wdog- Enable relay contacts

Hardw

HARD 177

Revision 5.0

The cThe c

MakeX2 op/i

3.10./i

6

TJ1-Fpin n1

2

3

4

5

TJ1-Fpin n

Item

Powe

Total

Curre

Appro

Galva

Outpu

are reference


able for pins 1 and 3 must be shielded twisted pair.ables for pins 5 and 6 are two single strand cables.

the connections for the 15 pin connector on the TJ1-FL02 to the PG-tion board on the F7 Inverter as follows:

4 TJ1-FL02 specifications

SP Wdog+ Enable relay contacts

L02umber

F7 InverterTA2

Signal Description

1 A+ Pulse monitor input phase A+

2 A- Pulse monitor input phase A-

3 B+ Pulse monitor input phase B+

4 B- Pulse monitor input phase B-

7 GND Isolated controller circuit GND

NoteThe cables are twisted pair (A+,A- and B+,B-) and shielded with the shield connected to the shell of the TJ1-FL02 15 pin connector.

L02umber

F7 InverterTA1

Signal Description

Specification

r supply 5 VDC and 24 VDC (supplied by the TJ1-MC__)


nt consumption 190 mA at 5 VDC and 100 mA at 24 VDC

ximate weight 110 g

nic isolation • Encoder interface• Analogue outputs• Digital interface

t power supply 5 VDC, 150 mA Maximum

Hardw

HARD 178

Revision 5.0

3.10.

The f• A• A• D• D

Numb

Contr

Enco

Absoporte

Enco

Encoquenc

Maxim

Auxili

Item

are reference


5 Applicable BASIC commands

ollowing BASIC commands are applicable for the TJ1-FL02:TYPEXIS_DISPLAYRIVE_CONTROLRIVE_STATUS

er of axes 2

ol method • +/- 10 V analogue output in Closed Loop• Pulse Train output in Open Loop

der position/speed feedback Incremental and absolute

lute encoder standards sup-d

• SSI 200 kHz• EnDat 1 MHz• Tamagawa

der input maximum frequency 6 MHz

der/pulse output maximum fre-y

2 MHz

um cable length: • SSI 200 kHz, 100 m• EnDat 1 MHz, 40 m• Tamagawa, 50 m• Encoder input, 100 m• Encoder/stepper output, 100 m

ary I/Os • Two fast registration inputs per axis• Two definable inputs• Two hardware position switch outputs• One enable output• Two definable outputs

Specification

NoteThe 5 VDC power supply can only be used when both axes are in SERVO_AXIS mode (ATYPE=44).

Hardw

HARD 179

Revision 5.0

BASIcorreBASI

3.10.

An in• A• A

By mrotatiothe cocountMost referedeter

Encofig. 116The p

for eiThe fforwa(E).The sand ZmakeWhenspecidiffererever

7 76 65 5 4 3 2 1 0

E

are reference


C commands applicable for specific encoder types, are listed with the sponding explanations in the next chapters. For more information of C commands, refer to the Trajexia Programming Manual.

6 Incremental encoder

cremental encoder has this phase definition:n advanced phase A for forward rotation.n advanced phase B for reverse rotation.

onitoring the relative phase of the 2 signals, you can easily detect the n direction. If signal A leads signal B, the movement is clockwise and unter increments. If channel B leads channel A, the movement is erclockwise and the counter decrements.rotary encodes also provide an additional Z marker. This Z marker is a nce pulse within each revolution. With these 3 signals, you can

mine the direction, the speed and the relative position.

der inputulse ratio of the TJ1-MC__ is 1: every encoder edge (i.e., a pulse edge

ther phase A or B) is equal to one internal count.igure shows phase A (A), phase B (B) and the number of counts (C) for rd or clockwise rotation (D) and reverse or counterclockwise rotation

ignals A, B and Z appear physically as A+ and A-, B+ and B- and Z+ -. They appear as differential signals on twisted-pair wire inputs. This s sure that common mode noise is rejected. you use an encoder from other manufacturers, check the encoder fication for the phase advancement carefully. If the phase definition is nt from the phase definition of the standard OMRON equipment,

se the B-phase wiring between the TJ1-MC__ and the encoder.

D

43210

A

B

C

NoteThe TJ1-FL02 does not have a termination inside. In case of long distances or disturbed communication, add an external termina-tion to the TJ1-FL02.

Hardw

HARD 180

Revision 5.0

fig. 117The tOMR/i

Encofig. 118The T

(C), t(B).

RelaThe f• A• E

For m

123467510

A+

TJ1-FL02

A-B+B-Z+Z-0 V (COM)5 VDC

Enco

Signa

A+

A-

B+

B-

Z+

Z-

0 V (C

5 VDC

2 3 4 5 6 7

are reference


able below and the figure give an example of how to connect the ON E6B2-CWZ1Z encoder to the TJ1-FL02.

der outputJ1-FL02 can generate encoder type pulses. For each internal count

he TJ1-FL02 produces one encoder edge for phase A (A) or phase B

ted BASIC commandsollowing BASIC commands are related to incremental encoders:TYPE (ATYPE=44 and ATYPE=45) NCODER_RATIO


der TJ1-FL02

l Wire color Pin Signal

Black 1 A+

Black/red 2 A-

White 3 B+

White/red 4 B-

Orange 6 Z+

Orange/red 7 Z-

OM) Blue 5 GND

Brown 10 + 5V

0 1

A

B

C

Hardw

HARD 181

Revision 5.0

3.10.

SSISSI (Sserialsensoout thThe Sif the 25 bitsent twith t

fig. 119WhencommThesset. T32 µssensoThe lA. TB. CC. CD. DE. MF. LG. C

Wheninterppositi

The c

µs32

G

F

are reference


7 Absolute encoder

ynchronous Serial Interface) is a digital system for transferring data in form. SSI is the most widely used serial interface between absolute rs and controllers. SSI uses a pulse train from the controller to clock e data from the sensor.SI interface of the TJ1-FL02 accepts absolute values from an encoder data is in Gray Code format or in binary format and if the resolution is s or less. The number of bits, and therefore the number of clock pulses o the encoder in each frame, is programmable. You set this number he BASIC command ENCODER_BITS = n. you have initialized the TJ1-FL02 with the ENCODER_BITS and, the TJ1-FL02 continuously sends clock pulses to the encoder.

e clock pulses are sent in frames of n+2 pulses, where n is the bit count he clock rate is fixed at 200 kHz. The clock interval between frames is . The resulting maximum cable length between the controller and the r is 200 m.

abels in the figure are:iming diagram.lock sequence.lock.ata.SB (Most Significant Bit).SB (Least Significant Bit).lock frame.

the data is clocked into the TJ1-MC__, the position value is reted. With this position value, it produces a value for MPOS and a on error that is used to close the control loop.

onnections for SSI are:

A

B

G

C

D E

Hardw

HARD 182

Revision 5.0

/i

fig. 120The tStegm/i

RelatThe f• A• E

For m

Enco

DATA

DATA

CLOC

CLOC

GND

24 VDC Power Supply

24 V0 V

67125

2

TJ1-FL02

103111

8

Enco

Pin

2

10

3

11

1

8

1.

are reference


able below and the figure give an example of how to connect the ann ATM 60-A encoder to the TJ1-FL02.

ed BASIC commandsollowing BASIC commands are related to SSI absolute encoders:TYPE (ATYPE=48) NCODER_BITS


der signal Axis A Axis B

+ 6 8

- 7 9

K+ 1 11

K- 2 12

5 / 15 5 / 15

NoteThe TJ1-FL02 does not have a termination inside. In case of long distances or disturbed communication, add an external termina-tion to the TJ1-FL02.

der TJ1-FL02

Signal Wire color Pin Signal

DATA+ White 6 DATA+

DATA- Brown 7 DATA-

CLOCK+ Yellow 1 CLOCK+

CLOCK- Lilac 2 CLOCK-

GND Blue 5 GND

Us Red See footnote 1

Use an external power supply

Hardw

HARD 183

Revision 5.0

EnDaYou cinterfencodrespoData when

fig. 121The tan exHeideC4 en

Enco

DATA

/DATA

CLOC

/CLO

GND

5 VDC Power Supply

5 V0 V

67125

3

TJ1-FL02

4765

21

Enco

Pin

3

4

7

6

5

are reference


tan configure the TJ1-FL02 to ace directly to EnDat absolute ers. EnDat absolute encoders nd on a dedicated Clock and 1 MHz RS485 serial interface their position is requested by

the controller. When you set the encoder to the relevant encoder mode, the axis transmits an information request to the encoder on a fixed 250 µs cycle. The connections for EnDat are: /i

able below and the figure give ample of how to connect the nhain ROC 425 2048 5XS08-coder to the TJ1-FL02.

/i


6 8

7 9

K 1 11

CK 2 12

5 / 15 5 / 15

NoteThe TJ1-FL02 does not have a termination inside. In case of long distances or disturbed communication, add an external termination to the TJ1-FL02.

der TJ1-FL02


DATA Grey 6 DATA

/DATA Pink 7 /DATA

CLOCK Violet 1 CLOCK

/CLOCK Yellow 2 /CLOCK

GND White/Green 5 GND

Hardw

HARD 184

Revision 5.0

RelatThe forelate• A• E• E• E• E• E

For mTraje

Tamafig. 122In the

and B

2

1

1.

Enco

Pin

kΩ

kΩ20

kΩ

V

TJ1-FL02B

Enco

SD

/SD

GND

are reference


ed BASIC commandsllowing BASIC commands are d to EnDat absolute encoders:TYPE (ATYPE=47) NCODER_BITS NCODER_CONTROL NCODER_READ NCODER_TURNS NCODER_WRITE

ore information, refer to the xia Programming Manual.

gawa

The TJ1-FL02 can interface directly to Tamagawa “SmartAbs” absolute encoders. Tamagawa encoders respond on a dedicated 2.5 MHz RS485 serial interface when their position is requested by the controller. When you set the encoder to the relevant encoder mode, the axis transmits an information request to the encoder on a fixed 250 µs cycle. The data returned is available to BASIC and you can use it to drive a servo motor.

figure, A is the encoder side, is the receiving side.

The connections for Tamagawa are: /i

0 V White See footnote 1

Up Blue

Use an external power supply

der TJ1-FL02


1

2

1

5

DE

ADM485

A


6 8

7 9

5 / 15 5 / 15

NoteThe TJ1-FL02 does not have a termination inside. In case of long distances or disturbed communication, add an external termination to the TJ1-FL02.

Hardw

HARD 185

Revision 5.0

fig. 123The tTama/i

RelatThe fencod• A• E• E• E

For m

675

SD

TJ1-FL02

/SDGND

VCC

5 VDC Power Supply

5 V0 V

Enco

Signa

SD

/SD

GND

Vcc

are reference


able below and the figure give an example of how to connect the gawa TS5667N420 encoder to the TJ1-FL02.

ed BASIC commandsollowing BASIC commands are related to Tamagawa absolute ers:

TYPE (ATYPE=46) NCODER_ID NCODER_STATUS NCODER_TURNS


der TJ1-FL02

l Wire color Pin Signal

Blue 6 SD

Blue/Black 7 /SD

Black 5 GND

Red Use an external power supply

Hardw

HARD 186

Revision 5.0

3.10.fig. 124The T

amplithis in• E• S• D

RelaThe f• A• IN

For m

3.10.

The TeventfallingcaptucorreYou sThe poverhBecacombcan utime fWe remore

MOVE(4) MOVE(-4)

are reference


8 Stepper

J1-FL02 can generate pulses to drive an external stepper motor fier. You can use single step, half step and micro-stepping drivers with terface. Applicable signals:nabletepirection.

ted BASIC commandsollowing BASIC commands are related to stepper outputs:TYPE (ATYPE=43) VERT_STEP


9 Registration

J1-FL02 can capture the position of an axis in a register when an occurs. The event is called the print registration input. On the rising or edge of an input signal (either the Z marker or an input), the TJ1-FL02 res the position of an axis in hardware. You can use this position to ct possible errors between the actual position and the desired position. et up the print registration with the REGIST command.osition is captured in hardware and therefore there is no software ead. This eliminates the need to deal with timing issues.use the registration inputs are very fast, they are susceptible to noise in ination with slow rising and falling edges. To counter this problem, you se a digital noise filter. Use of the noise filter increases the response rom 0.5 µs to 3.5 µs.fer to the REGIST command in the Trajexia Programming Manual for

information on using the registration inputs.

ENABLE

STEP

WDOG=ON

DIRECTION

Hardw

HARD 187

Revision 5.0

3.10.

The TswitcpredereachThe otimesWe reManu

3.10.

• S• T• P• P• P

are reference


10 Hardware PSWITCH

J1-FL02 has 2 outputs that you can use as hardware position hes. These outputs go on when the measured position of the fined axis is reached. They go off when another measured position is ed.utputs are driven by hardware only. This means that the response do not have software delays.fer to the HW_PSWITCH command in the Trajexia Programming al for more information on using the position switches.

11 TJ1-FL02 box contents

afety sheet.J1-FL02.rotection label attached to the top surface of the unit.arts for a 15-pin connector.arts for an 18-pin connector.

Differences between Sigma-II and Junma

HARDWARE REFERENCE MANUAL 188

Revision 5.0

A Differences between Sigma-II and JunmaThese are the differences between Sigma-II and Junma Servo Drivers and motors.1. Motor

• The Sigma-II Servo Driver can control a large range of servo motors. These include rotary, DD and Linear motors with different encoders, IP rates, inertias and other electrical and mechanical characteristics.

• The Junma can only control Junma motors with a 13-bit incremental encoder. These motors have a low IP rate and medium inertia.

2. Power and voltage range• The output power of Sigma-II Servo Drivers and motors range from

30 W to 15 kW. The input voltages of Sigma-II Servo Drivers and motors are 200 V single phase and 400 V three phase.

• The output power of Junma Servo Drivers and motors range from 100W to 800W. The input voltage of Junma Servo Drivers and motors is 200V single phase.

3. Power circuit• Sigma-II always has a breaking chopper. Most models have internal

braking resistor too. The voltage supplies for power and control circuits are separate.

• Junma has no breaking chopper or resistor. The same voltage supply is used for both power and control circuits.

4. Motion control algorithm• Sigma-II has a traditional PID control algorithm, which in most cases

needs adjustments and tuning of parameters. Sometimes adjusting and tuning can be time consuming but the benefit is full coverage of a very wide range of applications regarding mechanical characteristics of the system, such as inertia ratio, rigidity etc.

• Junma supports a new and innovative self-tuning control algorithm, which requires no adjustment and tuning from the user. The benefit of this algorithm is that commissioning of the system is very fast and easy. The drawback is a limited range of applications covered. This particularly applies to inertia ratio. Junma Servo Drivers and motors cannot serve applications where the inertia ratio is larger than 1:10 approximately.

5. Control modes

• Sigma-II can work in all three control modes: position mode (ATYPE=40), speed mode (ATYPE=41) and torque (force) mode (ATYPE=42).

• Junma can work only in position mode (ATYPE=40). Trying to set an axis assigned to a Junma Servo Driver and motor to some other control mode results in an alarm on the driver

6. I/O• Sigma-II has 7 digital inputs and 4 digital outputs. Functionality of

these I/Os is very flexible and can be configured using drivers parameters. Analog control is possible (with the TJ1-FL02). There is an encoder output as well, and fully closed encoder configuration is possible.

• Junma has 4 digital inputs and 2 digital outputs. They are not flexible, but have fixed functionality. Fully closed encoder configuration is not possible.

7. Operator interface and settings• The Sigma-II Servo Driver has a full operator interface. It consists of

a 4-digits display and 4 buttons. The interface can be used to monitor and change parameters, perform tuning etc. Changing parameters by using the CX-Drive software or by sending MECHATROLINK-II commands from Trajexia is also possible.

• The Junma Servo Driver has a limited operator interface. It consists of a 1-digit display that shows the driver status and alarms. Monitoring and changing of parameters is only possible by using a separate operator panel, the CX-Drive software or by sending MECHATROLINK-II commands from Trajexia.

For more detailed information on the differences between Sigma-II and Junma Servo Drivers and motors, please see their respective manuals.

Revision history

HARDWARE REFERENCE MANUAL 189

Revision 5.0

Revision historyA manual revision code shows as a suffix to the catalogue number on the front cover of the manual./i

Revision code Date Revised content

01 August 2006 Original

02 October 2006 DeviceNet update

03 May 2007 Updated with TJ1-MC04, TJ1-ML04, JUNMA series Servo Drivers and the MECHATROLINK-II repeater.Updated with motion control concepts, servo system principles and detailed encoder information.

04 June 2008 Updated with TJ1-CORT, GRT1-ML2, Sigma-V Servo Driver and MECHATROLINK-II functionality (Inverter as an axis)

05 January 2010 Updated with G-Series and Accurax G5 Servo Drivers

Trajexia motion control systemTJ1-MC04, TJ1-MC16, TJ1-ML04, TJ1-ML16, TJ1-PRT, TJ1-DRT, TJ1-CORT, TJ1-FL02 GRT1-ML2

hardware reference manual

Cat. No. I51E-EN-04

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Trajexia motion control system hardware reference manualCat. No. I51E-EN-04

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