Trajexia motion controller
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1 TJ1- Trajexia motion controller Stand-alone advanced motion controller using MECHATROLINK-II motion bus 16 axes advanced motion controller over a robust and fast motion link MECHATROLINK-II Supports position, speed and torque control Each axis can run complex interpolation moves, e-cams and e-gearboxes Advanced debugging tools including trace and oscilloscope functions Hardware registration input for each servo axis Control of servos, inverters and I/Os over a single motion network Multi-tasking controller capable of running up to 14 tasks simultaneously Open communication - ethernet built-in, PROFIBUS-DP and DeviceNet as options System configuration CJ-series PLC NS-series HMI Ethernet CX-One Trajexia tool PROFIBUS-DP Digital I/Os Host link PROFIBUS-DP Motion controller 16 axes max. Total lenght: 50 m MECHATROLINK-II I/O module Sigma-II series Servo Drive Frequency inverter Input Terminator Fast registration input, home Sigma-II series Servo Motors JUSP-NS115 MECHATROLINK-II unit M Sigma-II series Linear Motors Trajexia motion controller 23
2 General specifications Item Details Ambient operating temperature 0 to 55 C Ambient operating humidity 10 to 90% RH Ambient storage temperature -20 to 70 C Ambient storage humidity 90% max. (with no condensation) Atmosphere No corrosive gases Vibration resistance 10 to 57 Hz: (0.075 mm amplitude) 57 to 100 Hz acceleration: 9.8 m/s 2, in X, Y and Z directions for 80 minutes. Shock resistance 143 m/s 2, 3 times each X, Y and Z directions. Insulation resistance 20 MΩ Dielectric strength 500 Volt Protective structure IP20 International standards CE, EN and RO (approval pending for culus and Lloyds) Motion control unit Item Details TJ1-MC16 Number of axes 16 Number of inverters and I/O modules 8 maximum Number of MECHATROLINK-II master units Up to 4 MECHATROLINK-II master units (TJ1-ML16, see below) can be connected Cycle time Selectable 0.5 ms, 1 ms or 2 ms Programming language BASIC-like motion language Multi-tasking Up to 14 tasks running simultaneously Digital I/O 16 inputs and 8 outputs freely configurable Measurement units User definable Available memory for user programs 500 KB Data storage capacity Up to 2 MB flash data storage Saving program data, motion controller SRAM with battery backup and Flash-ROM Saving program data, personal computer Trajexia motion perfect software manages a backup on the hard disk of the personal computer. Communication ports 1 ethernet port and 2 serial ports Firmware update Via Trajexia tools software Ethernet port Electrical characteristics Conform to IEEE (100BaseT) Connector RJ45 ethernet connector Serial port Electrical characteristics Conform 1 port to RS232C and 1 port to RS485/RS422A (selectable by switch) Connector SUB-D9 connector (counterpart included in the package) Synchronization Start-stop synchronization (asynchronous) Baud rate 1200 / 2400 / 4800 / 9600 / / bps Transmission format Databit length 7 or 8 bit Stop bit 1 or 2 bit Parity bit Even/odd/none Transmission mode Point-to-multipoint (1:N) Transmission protocol RS-232C (1:1) Host link master protocol, Host link slave protocol, ASCII general-purpose RS-422A (1:N) Host link master protocol, Host link slave protocol, ASCII general-purpose RS-485 (1:N) Hostlink master protocol, Hostlink slave protocol, ASCII general-purpose Galvanic isolation RS422A port Communication buffers 254 bytes Flow control None Terminator Yes, selectable by switch Cable length 15 m for RS232 and 500 meter for RS422/485 MECHATROLINK-II master unit Item Controlled devices with MECHATROLINK-II interface Electrical characteristics Communication ports Transmission speed Communication cycle Stations slave types Number of stations per master/cycle time Transmission distance TJ1-ML16 Sigma-2 and Sigma-3 servo drives, various I/O units and V7, F7 and G7 frequency inverters Conform to MECHATROLINK standard 1 MECHATROLINK-II master 10 Mbps 0.5 ms, 1 ms or 2 ms Axes or servo drives Frequency inverters I/O modules Max.16 stations / 2 ms Max.8 stations / 1 ms Max. 4 stations / 0.5 ms (only Sigma-3 servo drives) Max. 50 meters without using repeater 24 Motion controllers
3 PROFIBUS slave unit Items TJ1-PRT PROFIBUS standard Conform to PROFIBUS-DP standard EN50170 (DP-V0) Communication ports 1 PROFIBUS-DP slave Transmission speed 9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500, 3000, 6000 and kbits/s Node numbers 0 to 99 I/O size For both directions a configurable size of 0 to 122 words(16 bit) Galvanic isolation Yes Flexible axis unit Items TJ1-FL02 Number of axes 2 Control method ±10 V analogue output in closed loop or pulse train output in open loop Encoder Position/speed feedback 2 incremental and absolute encoders Absolute encoder standards supported SSI, EnDat and Tamagawa Encoder input maximum frequency 6 MHz Encoder/pulse output max. frequency 2 MHz Auxiliary I/Os 2 fast registration inputs per axis, 2 definable inputs, 1 enable output, 4 configurable outputs Galvanic isolation Yes Nomenclature Trajexia motion controller unit - TJ1-MC16 LEDs Display Battery compartment Ethernet port RS-422A/RS-485 switches Digital I/O connector RS-232C and RS-422A/-485 serial ports Trajexia MECHATROLINK-II master unit - TJ1-ML16 Unit LEDs MECHATROLINK-II master port Trajexia motion controller 25
4 Trajexia PROFIBUS-DP slave unit - TJ1-PRT Unit LEDs PROFIBUS node selection PROFIBUS-DP slave port Dimensions Trajexia motion controller - TJ1-MC16 Trajexia modules - TJ1-ML16, TJ1-PRT, TJ1-FL Trajexia system - CJ1W-PA202 + TJ1-MC16 + one module + TJ1-TER 65 PA Motion controllers
5 Ordering information Power supply Motion controller Axes control Communication slave End cover (Included into the motion controller) Trajexia motion controller Name Trajexia motion controller unit. (Trajexia end cover unit TJ1-TER is included) Power supply for Trajexia system, VAC Power supply for Trajexia system, 24 VDC Trajexia - axes control modules Name Trajexia MECHATROLINK-II master unit (up to 16 axes) Trajexia flexible axis unit (for 2 axes) Trajexia - communication modules Name Trajexia PROFIBUS-DP slave unit TJ1-MC16 CJ1W-PA202 CJ1W-PD022 TJ1-ML16 TJ1-FL02 TJ1-PRT MECHATROLINK-II - related devices Name Remarks Distributed I/O modules 64-point digital input and 64-point digital output (24 VDC) JEPMC-IO2310 Analogue input: -10 V to +10 V, 4 channels JEPMC-AN2900 Analogue output: -10 V to +10 V, 2 channels JEPMC-AN2910 MECHATROLINK-II cables 0.5 meter JEPMC-W6003-A5 1 meter JEPMC-W meters JEPMC-W meters JEPMC-W meters JEPMC-W meters JEPMC-W meters JEPMC-W MECHATROLINK-II terminator Terminating resistor JEPMC-W6022 MECHATROLINK-II interface For Sigma-II series servo drives. (Firmware version 39 or later) JUSP-NS115 unit For Varispeed V7 inverter SI-T/V7 (for inverter s version supported contact your OMRON sales office) For Varispeed F7, G7 inverter (for inverter s version supported contact your OMRON sales office) SI-T I/O cables Remarks Lenght m I/O cable for JEPMC-IO2310 With connector on the IO2310 side 0.5 JEPMC-W JEPMC-W JEPMC-W Servo system & frequency inverters Note: Refer to motion & drives catalogue for detailed specs and ordering information Computer software Trajexia motion perfect and CX-drive V1.2 or higher TJ1-tools Trajexia motion controller 27
6 ALL DIMENSIONS SHOWN ARE IN MILLIMETERS. To convert millimeters into inches, multiply by To convert grams into ounces, multiply by Cat. No. I53E-EN-01 In the interest of product improvement, specifications are subject to change without notice. 28 Motion controllers
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