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Omron GRT1-ML2 Hardware Reference Manual

Trajexia motion control system
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See also: Programming Manual , Manual
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Cat. No.
I51E-EN-05
Trajexia motion control system
TJ1-MC04, TJ1-MC16, TJ1-ML04, TJ1-ML16, TJ1-PRT, TJ1-DRT, TJ1-CORT, TJ1-FL02
GRT1-ML2
hardware reference manual

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  • Page 1 Cat. No. I51E-EN-05 Trajexia motion control system TJ1-MC04, TJ1-MC16, TJ1-ML04, TJ1-ML16, TJ1-PRT, TJ1-DRT, TJ1-CORT, TJ1-FL02 GRT1-ML2 hardware reference manual...
  • Page 2 CANopen is a registered trademark of CAN in Automation (CiA). ModbusTCP is a registered trademark of Modbus IDA. All rights reserved. No part of this publication may be reproduced, stored in a retrieval sys- Trajexia is a registered trademark of OMRON.
  • Page 3 F7Z Inverter TOE S616-55 1-OY Describes the installation and operation Please read this manual and the related manuals listed in the following table of F7Z Inverters carefully and be sure you understand the information provided before attempting to install or operate the Trajexia Motion Control units. Be sure to...
  • Page 4 Open the terminal window and type the following commands: Failure to read and understand the information provided in this manual may result in personal injury or death, damage to the pro- Type in the terminal window. The version parameter returns duct, or product failure.

  • Page 5: Table Of Contents

    Hardware reference ....................................43 Introduction ..............................................43 All units ................................................46 Power Supply Unit (PSU) ..........................................57 TJ1-MC__ ..............................................59 TJ1-ML__................................................70 GRT1-ML2 ..............................................143 TJ1-PRT ...............................................158 TJ1-DRT ...............................................162 TJ1-CORT ..............................................166 3.10 TJ1-FL02 ..............................................170 Differences between Sigma-II and Junma .............................. 188 Revision history ......................................189 HARDWARE REFERENCE MANUAL...

  • Page 6: Safety Warnings And Precautions

    Not doing so may result in serious accidents. WARNING WARNING Do not attempt to take the Unit apart and do not touch any of the When the 24 VDC output (I/O power supply to the TJ1) is over- internal parts while power is being supplied.

  • Page 7: Operating Environment Precautions

    Caution The TJ1 will turn off the WDOG when its self-diagnosis function Tighten the screws on the terminal block of the Power Supply Unit detects any error.As a countermeasure for such errors, external to the torque specified in this manual.

  • Page 8: Application Precautions

    Do not start the system until you check that the axes are present Caution and of the correct type. Do not apply voltage to the Input Units in excess of the rated input The numbers of the Flexible axes will change if MECHATROLINK- voltage.
  • Page 9 Use crimp terminals for wiring. Do not connect bare stranded wires Caution directly to terminals. When replacing parts, be sure to confirm that the rating of a new Connection of bare stranded wires may result in burning. part is correct.

  • Page 10: Unit Assembly Precautions

    Safety warnings and precautions Caution Caution Do not pull on the cables or bend the cables beyond their natural The TJ1 will start operating in RUN mode when the power is limit. Doing so may break the cables. turned on and if a BASIC program is set to Auto Run mode.

  • Page 11: Conformance To Ec Directives Conformance

    The customer must, therefore, perform final checks to confirm that devices and the over-all machine conform to EMC standards. Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1,000 VAC or 75 to 1,500 VDC meet the required safety standards. 1.7.2 Conformance to EC Directives The Trajexia Motion Controllers comply with EC Directives.

  • Page 12: System Philosophy

    Is the time needed to execute one complete cycle of operations in the TJ1- Ethernet Profibus MC__. The cycle time is divided in 4 time slices of equal time length, called BUILT-IN TJ1-ML16 "CPU Tasks". The cycle time is 1ms if SERVO_PERIOD=0.5ms or SERVO_PERIOD=1ms and 2ms if the SERVO_PERIOD=2ms.

  • Page 13: Motion Control Concepts

    Low priority processes and Process 13 and 14 are High priority processes. First the process priority, High or Low, and then the process number, from high to low, will define to which CPU task the process will be assigned.
  • Page 14 A move is defined in either absolute or relative terms. An absolute move fig. 2 takes the axis (A) to a specific predefined position with respect to the origin point. A relative move takes the axis from the current position to a position that is defined relative to this current position.
  • Page 15 Suppose a control program is executed to move from the origin to an axis no. 0 (A) coordinate of 100 and axis no. 1 (B) coordinate of 50. If the speed parameter is set to be the same for both axes and the acceleration and deceleration rate are set sufficiently high, the movements for axis 0 and axis 1 will be as shown in the figure.
  • Page 16 6 ACCEL=10 DECEL=5 SPEED=10 MOVE(40) Move calculations The following equations are used to calculate the total time for the motion of the axes. • The moved distance for the MOVE command is D. • The demand speed is V.
  • Page 17 DECEL. 2.2.2 CP control Continuous Path control enables to control a specified path between the start and end position of a movement for one or multiple axes. The TJ1- MC__ supports the following operations: • Linear interpolation •...
  • Page 18 System philosophy Linear interpolation In applications it can be required for a set of motors to perform a move fig. 7 operation from one position to another in a straight line. Linearly interpolated moves can take place among several axes. The commands MOVE and MOVEABS are also used for the linear interpolation.
  • Page 19 It may be required that a tool travels from the starting point to the end point fig. 8 in an arc of a circle. In this instance the motion of two axes is related via a circular interpolated move using the MOVECIRC command.
  • Page 20 System philosophy Electronic gearbox The TJ1-MC__ is able to have a gearbox link from one axis to another as if fig. 10 there is a physical gearbox connecting them. This can be done using the CONNECT command in the program. In the command the ratio and the axis to link to are specified.
  • Page 21 This is like connecting two axes through a cam. In the figure, A is the Master axis (0) position, and B is the CAMBOX Axis (1) position.
  • Page 22 System philosophy Adding axes It is very useful to be able to add all movements of one axis to another. One fig. 13 possible application is for instance changing the offset between two axes linked by an electronic gearbox. The TJ1-MC__ provides this possibility by...
  • Page 23 The event is referred to as the print registration input. On the rising or falling edge of an input signal, which is either the Z-marker or an input, the TJ1-MC__ captures the position of an axis in hardware. This position can then be used to correct possible error between the actual position and the desired position.

  • Page 24: Servo System Principles

    System philosophy Merging moves If the MERGE axis parameter is set to 1, a movement is always followed by fig. 14 a subsequent movement without stopping. The figures show the transitions of two moves with MERGE value 0 and value 1.
  • Page 25 15 systems applied to positioning devices for industrial applications. The figure shows the basic principle of the servo system as used in the TJ1-MC__. 1. The TJ1-MC__ performs actual position control. The main input of the controller is the Following Error, which is the calculated difference between the demand position and the actual measured position.
  • Page 26 The demand position, the measured position and the Following Error are represented by the axis parameters MPOS, DPOS and FE. Five gain values have been implemented for the user to be able to configure the correct control operation for each application.

  • Page 27: Trajexia System Architecture

    Following Errors. The output speed gain axis parameter is Programs make the system work in a defined way. The programs are written called OV_GAIN. in a language similar to BASIC and control the application of the axes and • Speed feed forward gain modules.

  • Page 28: Cycle Time

    BASIC communication commands are used to write and read. 2.4.5 Peripherals All inputs and outputs are used with the set of parameters (IN, OP, AIN, AOUT). The inputs and outputs are automatically detected and mapped in Trajexia. Inverters are considered a peripheral device and have a set of BASIC commands to control them.
  • Page 29 System philosophy 2.5.1 Servo period The SERVO_PERIOD can be set at 0.5, 1 or 2ms. The processes that take place within the cycle time depend on the setting of the SERVO_PERIOD parameter. The SERVO_PERIOD parameter is a Trajexia parameter that must be set according to the system configuration.
  • Page 30 An incorrect value of the SERVO_PERIOD parameter results in an incorrect detection of the MECHATROLINK-II devices. The most restrictive rules are given in the tables below. For each unit the table lists the maximum number of devices the unit can control at the given SERVO_PERIOD setting.
  • Page 31 • 3x Sigma-II Servo Driver • SERVO_PERIOD = 1ms TJ1-MC__ Supports 0.5ms SERVO_PERIOD with 3 axes. TJ1-MC__ Supports 0.5ms SERVO_PERIOD with 3 devices. Sigma-II supports 1ms SERVO_PERIOD. This is the limiting factor. Address Address Address Terminator Axis 2 Axis 3...
  • Page 32 23 • 2x TJ1-ML16 Servo Drive • 16x Sigma-II Servo Driver • SERVO_PERIOD = 1ms TJ1-MC16 supports 1ms SERVO_PERIOD with 16 axes. TJ1-ML16 supports 1ms SERVO_PERIOD with 8 devices. Sigma-II supports 1ms SERVO_PERIOD. Address Address Address Address Address Address...
  • Page 33 8x Sigma-II Servo Driver • 1x F7Z Inverter with SI-T interface • 3x MECHATROLINK-II I/Os • SERVO_PERIOD = 2.0ms TJ1-ML16 supports 2.0ms SERVO_PERIOD with 12 devices. This is the Address Address Address Address limiting factor. Sigma-II supports 1.0ms SERVO_PERIOD. SI-T supports 1ms.

  • Page 34: Program Control And Multi-Tasking

    Enter button. 2.6.3 Multi-tasking Each cycle time is divided into 4 time slices called CPU tasks. Processes run fig. 26 in the first 3 CPU tasks according to the priority of the process. Motion sequence and low-priority processes (A) are executed in the Low Task (LT) period.

  • Page 35: Motion Sequence And Axes

    • block The axis type can be set and read by the parameter ATYPE. At start-up the Trajexia system automatically detects the configuration of the axes. • •...
  • Page 36 The motion controller applies motion commands to an axis array that is defined with the BASE command. If the motion command concerns one axis, it is applied to the first axis in the BASE array. If the motion command concerns more than one axis, and makes an orthogonal...
  • Page 37 System philosophy move, the axes are taken from the array in the order defined by the BASE command. For more information on the BASE command and the definition of the axis sequence in an axis array, refer to the Trajexia Programming Manual, chapter 3 (BASIC commands).
  • Page 38 MECHATROLINK-II bus as servo axes. Virtual axis ATYPE=0 You can split a complex profile into two or more simple movements, each fig. 31 assigned to a virtual axis. These movements can be added together with the BASIC command ADDAX then assigned to a real axis.
  • Page 39 System philosophy MECHATROLINK-II position ATYPE=40 With SERVO = ON, the position loop is closed in the Servo Driver. Gain fig. 32 settings in the TJ1-MC__ have no effect. The position reference is sent to TJ1-MC__ TJ1-ML__ SERVO the Servo Driver.
  • Page 40 Stepper output ATYPE=43 The position profile is generated and the output from the system is a pulse train and direction signal. This is useful to control a motor via pulses or as a position reference for another motion controller. HARDWARE REFERENCE MANUAL...
  • Page 41 System philosophy Servo axis ATYPE=44 With SERVO = ON this is an axis with an analogue speed reference output fig. 35 and incremental encoder feedback input. The position loop is closed in the TJ1-MC__ which sends the resulting speed reference to the axis.
  • Page 42 Encoder output ATYPE=45 The position profile is generated and the output from the system is an fig. 37 incremental encoder pulse. This is useful to control a motor via pulses or as a position reference for another motion controller. TJ1-FL02...
  • Page 43 Inverter every 5 ms. This is a DPRAM limitation. This means position error command Measured that the use of the Inverter is similar to the use of a Servo Driver, but the position performance is lower. DPRAM REFRESH...
  • Page 44 MECHATROLINK-II axes. Set the torque with T_REF. Position via torque The position loop is closed in Trajexia. The out- (MECHATROLINK-II) put of the position loop is sent as the torque ref- erence to the Servo Driver. 44, 46, Speed Recommended mode for speed control with...

  • Page 45: Motion Buffers

    ....Currently executed CONNECT(1,1) CONNECT(1,1) MOTION COMMAND It is possible to check if the process buffer is full by checking the PMOVE ..DEMAND process parameter. POSITION Profile generator When a motion instruction is executed in the BASIC program, the instruction fig.
  • Page 46 BUFFER ..MOVE(1000) ..3.- A third movement can DATUM(3) DATUM(3) --------------------------------- ..still be stored in the process bu NTYPE MOVE(1000) MOVE(200) --------------------------------- MOVE -500 If the basic program reaches ..MTYPE MOVE(-500) ‘MOVE(200)’ it will wait. BASIC PROGRAM BASIC PROGRAM ..

  • Page 47: Mechanical System

    With a ratio of 1:30 for small Servo Drivers and a ratio of 1:5 for big Servo Drivers you can reach the maximum dynamic of the motor-driver combination.

  • Page 48: Hardware Reference

    You can select from a wide choice of best-in-class rotary, linear and direct- MECHATROLINK-II driver servos as well as Inverters. The system is scalable up to 16 axes and 8 Inverters & I/O modules. 3.1.1...
  • Page 49 Serial Port and Local I/Os A serial connector provides direct connectivity with any OMRON PLC, HMIs or any other field device. 16 Inputs and 8 outputs are freely configurable embedded I/Os in the controller to enable you to tailor Trajexia to your machine design.
  • Page 50 This Hardware Reference Manual gives the dedicated information for: • The description, connections and use of the Trajexia units • The description, connections and use of the MECHATROLINK-II slaves • A detailed philosophy of the system design to obtain the best results for Trajexia HARDWARE REFERENCE MANUAL...

  • Page 51: All Units

    0 to 4 TJ1-ML__ units. • 0 to 3 TJ1-FL02 units. • 0 or 1 TJ1-PRT or TJ1-DRT units • 0 or 1 TJ1-CORT units. 1. Trajexia does not support both a TJ1-PRT and a TJ1-DRT unit in the same system. HARDWARE REFERENCE MANUAL...
  • Page 52 Hardware reference The figure is an example of a simple configuration. fig. 4 A. Power supply B. TJ1-MC__. C. TJ1-ML__. D. Sigma-II Servo Driver E. NS115 MECHATROLINK-II Interface Unit. F. Sigma-II servo motor G. TJ1-TER. OM RO MO TIO N CO...
  • Page 53 CN 3 CN 1 TE RM ON /O WI RE CN 2 5. Push the clips (A) on top and bottom of all the units to the front. fig. 6 OM RO MO TIO N CO NT RO LL ER...
  • Page 54 CN 3 CN 1 TE RM ON /O W IR 2/ 4 CN 2 7. Push the clips (A) on top and bottom to the rear. fig. 8 M C1 OM RO MO TIO N CO NT RO LLE R...
  • Page 55 10. Pull down all the clips (D) on all units. fig. 10 11. Attach the Trajexia system to the DIN rail in an upright position to provide proper cooling. The recommended DIN rail is of type PFP- 100N2, PFP-100N or PFP-50N.
  • Page 56 Hardware reference 14. Do not install the Trajexia units in one of these positions: fig. 11 • Upside down. • With the top side forward. • With the bottom forward. • Vertically. HARDWARE REFERENCE MANUAL...
  • Page 57 Hardware reference 15. When you design a cabinet for the units, make sure that the cabinet fig. 12 allows at least 20 mm of space around the units to provide sufficient airflow. We advise to allow at least 100 mm of space around the units.
  • Page 58 Hardware reference 3.2.3 Unit dimensions The dimensions for the units of the Trajexia system are as follows: Trajexia motion controller All measurements are in mm. fig. 13 70.3 HARDWARE REFERENCE MANUAL...
  • Page 59 Hardware reference Trajexia units All measurements are in mm. fig. 14 70.3 39.9 HARDWARE REFERENCE MANUAL...
  • Page 60 All measurements are in mm. fig. 15 PA202 29.7 The installation depth of the Trajexia system is up to 90 mm, depending on fig. 16 the modules that are mounted. Allow sufficient depth in the control cabinet. 70.30 81.60 to 89.0 mm 3.2.4...
  • Page 61 1. Strip the wires. fig. 17 2. To make it easier to insert the wires, twist them. 3. If necessary, crimp the plain (top) ferrules or the collared (bottom) ferrules. 4. Insert the screwdriver into the inner (square) hole. Push firmly.

  • Page 62: Power Supply Unit (Psu)

    Hardware reference Power Supply Unit (PSU) 3.3.1 Introduction The PSU supplies power to the other units in the Trajexia system. You can use three different types of Power Supply Unit with the Trajexia system: • CJ1W-PA202 • CJ1W-PA205R • CJ1W-PD025.
  • Page 63 LG terminals on the Power Supply Unit. Not connecting a ground of 100Ω or less may result in electric shock. Each Power Supply Unit has one green LED (G). This LED comes on when you connect the Power Supply Unit to the power source. Caution Tighten the screws of the power supply terminal block to the torque of 1.2 N·m.

  • Page 64: Tj1-Mc

    TJ1-MC__ 3.4.1 Introduction The TJ1-MC__ is the heart of the Trajexia system. You can program the TJ1-MC__ with the BASIC programming language to control the expansion units and the servo motors attached to the expansion units. Refer to the Programming Manual.
  • Page 65 The LED display shows the following information: fig. 20 Information When IP address and sub- Shows 3 times when you connect the Trajexia system to the power net mask supply. IP address Shows 4 times when you connect an Ethernet cable to the Ethernet connector of the TJ1-MC__ and to a PC.
  • Page 66 Use either a crossover or a Ethernet patch cable for this connection. If you connect the PC directly to the TJ1-MC__, and not via a hub or any other network device, the PC must have a fixed IP address.
  • Page 67 RS232 TERM ON/OFF Switch Sets the termination on/off of the RS422 / 485 serial connection. The setting of the TERM ON/OFF switch depends on the communication standard of the serial connection and the position of the TJ1-MC__ in the network:...
  • Page 68 To use one of the communication standards, do this: Communication standard How to select it RS422 Set the WIRE 2/4 switch right RS485 Set the WIRE 2/4 switch left Note In RS485 mode, the transmit pair is connected to the receive pair. HARDWARE REFERENCE MANUAL...
  • Page 69 Outputs. LEDs 0 - 7 The I/O LEDs reflect the activity of the input and outputs. You can use the BASIC DISPLAY=n command to set the LEDs. The table below lists the configuration for LEDs 0 - 7 and the DISPLAY=n command where n ranges from 0 to 7.
  • Page 70 Maximum response times of 1250 µs (for servo periods of 0.5 ms or 1.0 ms) or 2500 µs (for a servo period of 2.0 ms) are achieved between a change in the input voltage and a corresponding change in the IN Parameter.
  • Page 71 Maximum response times of 250 µs on and 350 µs off (for servo periods of 0.5 ms or 1.0 ms) or 500 µs on and 600 µs off (for a servo period of 2.0 ms) are achieved between a change in the OP parameter and a corresponding change in the digital output circuit.
  • Page 72 The part number of the backup battery is CJ1W-BAT01. To replace the battery the power must not be off for more than five minutes to ensure no backup memory loss. If the TJ1-MC__ has not been on, set the...
  • Page 73 0.5 ms, 1 ms or 2 ms Programming language BASIC-like motion language Multi-tasking Up to 14 tasks Digital I/O 16 digital inputs and 8 digital outputs, freely configurable Measurement units User-definable Available memory for user pro- 500 kB grams Data storage capacity...
  • Page 74 RS232C: 15 m • RS422/485: 100 m 3.4.6 TJ1-TER The TJ1-TER makes sure that the internal data bus of the Trajexia system fig. 28 functions correctly. A Trajexia system must always contain a TJ1-TER as the last unit. HARDWARE REFERENCE MANUAL...

  • Page 75: Tj1-Ml

    The TJ1-ML__ has these visible parts: Part Description LED indicators CN1 MECHATROLINK-II bus connector Together the TJ1-ML__ and its devices form a serial network. The first unit in the network is the TJ1-ML__. • One TJ1-ML16 can control 16 devices. •...
  • Page 76 Reserved 3.5.3 TJ1-ML__ connection The MECHATROLINK-II bus connector (A) fits a MECHATROLINK-II fig. 30 connector. Use this connector to connect the TJ1-ML__ to a MECHATROLINK-II network. ML16 The MECHATROLINK-II network must always be closed by the MECHATROLINK-II terminator. HARDWARE REFERENCE MANUAL...
  • Page 77 Hardware reference Example connections Example 1 fig. 31 • 1 x TJ1-MC__ Servo Driver • 1 x TJ1-ML__ • 3 x Sigma-II Servo Driver • 1 x MECHATROLINK-II terminator Address Address Address Terminator Axis 2 Axis 3 Axis 4 HARDWARE REFERENCE MANUAL...
  • Page 78 Hardware reference Example 2 fig. 32 • 1 x TJ1-MC16 Servo Drive • 2 x TJ1-ML16 • 16 x Sigma-II Servo Driver • 2 x MECHATROLINK-II terminator Address Address Address Address Address Address Address Address Terminator Axis 0 Axis 1...
  • Page 79 Hardware reference The MECHATROLINK-II Units can control different combinations of axes, fig. 33 Inverters and I/O units. Example 3 • 1 x TJ1-MC__ • 1 x TJ1-ML16 • 1 x Sigma-II Servo Driver • 1 x Inverter • 3 x I/O units •...
  • Page 80 Model • TJ1-ML__. Distributed I/O mod- MECHATROLINK-II Smartslice coupler GRT1-ML2 • Protection label attached to the top surface of the unit. ules 64-point digital input and 64-point digital JEPMC-IO2310 output (24 VDC sinking) 3.5.6 Related BASIC commands 64-point digital input and 64-point digital...
  • Page 81 Other functionality of the Servo Driver is available but refreshed at slower rate. A Servo Driver is considered an axis by the TJ1-MC__. When you connect a servo to the Trajexia, the parameter does not change automatically so, depending on the application, you may have to change values.
  • Page 82 Not lit: no alarm active Ready Green Lit: communication active Not lit: no communication in progress Address settings (SW1 & SW2) The dipswitches (B) on the NS115 configure the communication settings. fig. 36 Dipswitch Function Setting Description Baud rate 10 Mbps...
  • Page 83 Hardware reference Set the address selector (A, fig 35) of the NS115 to n (where n ranges from 0 fig. 37 to F) to assign the following address to the NS115: Rotary Dipswitch 3 Station address Axis in motion controller...
  • Page 84 MECHATROLINK-II cable. Both connectors are parallelled so you can connect both cables to both connectors. Connect a MECHATROLINK-II terminator resistor in one of the connectors if the Servo Driver is the last device in the network. CN4 Full-closed encoder connector...
  • Page 85 Phase-A input - Phase-B input + Phase-B input - Note Make sure that shielded cable is used and that the shield is con- nected to the connector shell. Relevant servo parameters related with the use of Trajexia: HARDWARE REFERENCE MANUAL...
  • Page 86 Encoder gear ratio resolution These two parameters define the units of the system in combination with UNITS. • Pn202: Gear ratio numerator. Default is 4, set to 1 to obtain the maximum encoder resolution. • Pn203: Gear ratio denominator. Default=1.
  • Page 87 • DRIVE_STATUS • DRIVE_WRITE For more information, refer to the Trajexia Programming Manual. 3.5.9 MECHATROLINK-II Servo Drivers Sigma-V series You can also connect a Sigma-V Servo Driver to a Trajexia system. fig. 40 Label Terminal/LED Description CHARGE Charge indicator L1, L2, L3...
  • Page 88 The 4 dipswitches configure the communication settings. fig. 41 Dipswitch Function Setting Description Factory setting Baud rate 10 Mbps Data length 32-byte data transmission Address Addresses 40-4F range Addresses 50-5F Reserved Must always be set to off. on is not used HARDWARE REFERENCE MANUAL...
  • Page 89 Hardware reference Address settings (SW1) Set the address selector of the Sigma-V Servo Driver to n (where n ranges fig. 42 from 0 to F) to assign the following station address to it: Rotary Dipswitch 3 Station address Axis in motion controller...
  • Page 90 Green Lit: communication active nication LED Not lit: no communication Panel display The panel display is a 7-segment LED display. It indicates the status of the Servo Driver. The panel display has 3 display modes: • Status display The display shows the statuses listed in the table below.
  • Page 91 Hardware reference • Alarm/warning If an alarm or a warning occurs, the display shows the alarm code or the fig. 43 warning code. Status Unlit Unlit Unlit Unlit Unlit The figure shows an example of displaying alarm code A.E60. Display •...
  • Page 92 1. NPN only. For more information, refer to the Trajexia Programming Manual. For more information, refer to the Sigma-V Series SERVOPACKs manual. CN2 encoder connector The tables below shows the pin layout for the Sigma-V encoder connector. Signal Description PG 5 V...
  • Page 93 Hardware reference 3.5.10 MECHATROLINK-II Servo Drivers Junma series You can also connect a Junma Servo Driver to a Trajexia system. fig. 45 Label Terminal/LED Description Rotary switch for reference filter setting COM ALM RDY CN6A & CN6B MECHATROLINK-II bus connectors...
  • Page 94 Hardware reference Communication settings (SW2) The 4 dipswitches configure the communication settings. fig. 46 Dipswitch Function Setting Description Reserved Must always be set to ON. OFF is not used Data 32 bytes length Address Addresses 40-4F range Addresses 50-5F Filter...
  • Page 95 Hardware reference Address settings (SW1) Set the address selector of the Junma Servo Driver to n (where n ranges fig. 47 from 0 to F) to assign the following station address to it: Rotary Dipswitch 3 Station address Axis in motion controller...
  • Page 96 Hardware reference CN1 I/O Signal connector The table below shows the pin layout for the I/O signal connector (CN1). fig. 48 Code Signal name 8 9 10 11 12 13 14 Input /EXT1 External latch Input /DEC Homing deceleration Input...
  • Page 97 Hardware reference CN2 encoder input connector The tables below shows the pin layout for the Junma Servo Driver encoder fig. 49 connector. Signal PG5V 9 7 5 3 1 PG0V (GND) Phase A (+) Phase A (-) Phase B (+)
  • Page 98 Hardware reference CNB servo motor connector The tables below shows the pin layout for the CNB servo motor connector. fig. 51 Signal Name Phase U Phase V Phase W Related BASIC commands The following BASIC commands are related to the MECHATROLINK-II Servo Drivers Junma series: •...
  • Page 99 Hardware reference 3.5.11 MECHATROLINK-II Servo Drivers G-series You can also connect a G-Series Servo Driver to a Trajexia system. fig. 52 Label Terminal/LED Description SP, IM, G Analog monitor check pins L1, L2, L3 Main-circuit power terminals AC SERVO DRIVE...
  • Page 100 X1 (right) and X10 (left) rotary switches. Rotary switches for setting a node The setting range for the node address setting rotary switch is 1 to 31. The address actual station address used on the network will be the sum of the rotary...
  • Page 101 The display of the 7-segment LED on the front panel is shown below. fig. 54 Turn ON Control Power Supply When the power is turned ON, the node address set with the rotary switch is displayed, followed by the display content set by the Default Display (Pn001) All OFF parameter.
  • Page 102 Hardware reference CN1 I/O Signal connector The table below shows the pin layout for the I/O signal connector (CN1). fig. 55 12 to 24-VDC Forward Drive +24VIN Power Supply Prohibit Input Code Signal name Input Emergency Reverse Drive STOP Stop Input...
  • Page 103 MECHATROLINK-II device, or to connect a MECHATROLINK-II terminator. Note Cable length between nodes (L1, L2, ... Ln) should be 0.5 m or longer. Total cable length should be L1 + L2 + ... + Ln = 50 m max. Termination resistor HARDWARE REFERENCE MANUAL...
  • Page 104 Battery - Encoder +phase S input Encoder -phase S input Shell Shield ground CNA power supply connector The table below shows the pin layout for the CNA power supply connector. Signal Name Main circuit power supply input Control circuit power supply input...
  • Page 105 Hardware reference CNB servo motor connector The table below shows the pin layout for the CNB servo motor connector. Signal Name External Regeneration Resistor connection terminals Servomotor connection terminals Frame ground HARDWARE REFERENCE MANUAL...
  • Page 106 Hardware reference 3.5.12 MECHATROLINK-II Servo Drivers Accurax G5 You can also connect an Accurax G5 Servo Driver to a Trajexia system. fig. 57 Label Terminal/LED Description Display area Analog monitor check pins L1, L2, L3 Main-circuit power terminals L1C, L2C...
  • Page 107 Node address setting error (Err82.0) • SYNC process error (Err84.3) Note If 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.
  • Page 108 X1 (right) and X10 (left) rotary switches. MECHATROLINK-II communications The setting range for the node address setting rotary switch is 1 to 31. The status LED indicator (COMM) actual station address used on the network will be the sum of the rotary...
  • Page 109 The 7-segment LED indicator is on the front panel. fig. 59 When the power is turned on, it shows the node address that is set by the Turn ON Control Power Supply rotary switches. Then the indication changes in accordance with the setting on the Default Display (Pn700).
  • Page 110 Hardware reference CN1 I/O Signal connector The table below shows the pin layout for the I/O signal connector (CN1). fig. 60 Absolute General-purpose encoder backup OUTM1 Output 1 Absolute Code Signal name battery input General-purpose encoder backup OUTM1COM BATGND Output 1 Common...
  • Page 111 MECHATROLINK-II device, or to connect a MECHATROLINK-II terminator. Note Cable length between nodes (L1, L2, ... Ln) should be 0.5 m or longer. Total cable length should be L1 + L2 + ... + Ln = 50 m max. Termination resistor HARDWARE REFERENCE MANUAL...
  • Page 112 Encoder +phase S input Encoder -phase S input Shell Shield ground CN4 External encoder connector The table below shows the pin layout for the external encoder connector. Signal Name Encoder power supply +5 V Encoder power supply GND Encoder +phase S input...
  • Page 113 Hardware reference CN5 Monitor connector The table below shows the pin layout for the CN5 monitor connector. Signal Name Analog monitor output 1 Analog monitor output 2 Analog monitor ground Reserved: do not connect. Reserved: do not connect. Reserved: do not connect.
  • Page 114 Hardware reference Signal Name Shell Shield ground CNA Power supply connector The table below shows the pin layout for the CNA power supply connector. Signal Name Main circuit power supply input Control circuit power supply input CNB Servo motor connector The table below shows the pin layout for the CNB servo motor connector.
  • Page 115 Hardware reference • DRIVE_CLEAR • DRIVE_CONTROL • DRIVE_INPUTS • DRIVE_MONITOR • DRIVE_READ • DRIVE_RESET • DRIVE_STATUS • DRIVE_WRITE For more information, refer to the Trajexia Programming Manual. HARDWARE REFERENCE MANUAL...
  • Page 116 No position control is supported via MECHATROLINK-II. By default an Inverter is not considered an axis by the TJ1-MC__. To control an Inverter as a servo axis, this axis must be defined with function 8 of the command INVERTER_COMMAND. Refer to section 2.7.4 for more information.
  • Page 117 Hardware reference LED indicators The LED indicators indicate the status of the communications of the fig. 63 MECHATROLINK-II and the SI-T/V7 Unit. A. Run B. TX C. RX D. ERR Name Display Explanation Color Status Green Normal operation Not lit...
  • Page 118 S2 of the rotary switch is 3F. Maintenance S1-4 Normally off Not used 1. For maintenance. Always leave this switch off. Rotary switch The following table shows the rotary switch settings of the SI-T/V7 Unit. fig. 65 Label Status Function Factory setting 0 to F Set the 1st digit of the station number.
  • Page 119 Hardware reference S1-3 Station number S1-3 Station number Fault To use the V7 Inverter with the MECHATROLINK-II interface it is necessary to make the following settings in the Inverter: • N3=3 Sequence via MECHATROLINK-II • N4=9 Reference via MECHATROLINK-II Check the manual for details about the V7 Inverter.
  • Page 120 AC induction motor. No position control is supported via MECHATROLINK- By default an Inverter is not considered an axis by the TJ1-MC__. To control an Inverter as a servo axis, this axis must be defined with function 8 of the command INVERTER_COMMAND. Refer to section 2.7.4 for more information The illustration shows the installation of the SI-T card.
  • Page 121 67 A. LED B. Rotary switch C. Dipswitch D. Communications connector E. Code No. F. Type LED indicators The LED indicators indicate the status of the communications of the MECHATROLINK-II and the SI-T Card. Name Display Explanation Color Status Green...
  • Page 122 Not lit Sending of data stopped, hardware reset Green Searching for receiving carrier Not lit No receiving carrier found, hardware reset Dipswitch The following table shows the dipswitch settings of the SI-T/V7 Unit. fig. 68 Name Label Status Function Baud rate...
  • Page 123 Hardware reference Rotary switch The following table shows the rotary switch settings of the SI-T/V7 Unit. fig. 69 Label 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.
  • Page 124 Hardware reference To use the F7 or G7 Inverter with the MECHATROLINK-II interface it is necessary to make the following settings in the Inverter: • B1-01=3 Sequence via MECHATROLINK-II • B1-02=3 Reference via MECHATROLINK-II Check the corresponding manual for details about the F7 or G7 Inverter.
  • Page 125 Input signal and output signal monitors. The meaning of these indicators depends on the I/O indicator switch setting. Indicator switch: Selects which 32 I/O points are monitored by the I/O indicators. • IN1: Input signals 1 to 32 fig. 72 •...
  • Page 126 Hardware reference I/O Signal connector: Connect the I/O Unit with external I/O signals through the I/O Cable. fig. 74 Number of I/O points: 64 inputs and 64 outputs IN 1 OUT 1 IN 2 OUT 2 B1 A1 B1 A1...
  • Page 127 Input 3 IN02 Input 2 IN01 Input 1 (NC) (NC) +24V_1 24-V power sup- +24V_1 24-V power sup- ply 1 ply 1 Note: The +24V_1 is used for IN01 to IN16; +24V_2 is used for IN17 to IN32. HARDWARE REFERENCE MANUAL...
  • Page 128 Input 35 IN34 Input 34 IN33 Input 33 (NC) (NC) +24V_3 24-V power +24V_3 24-V power sup- supply 3 ply 3 Note: The +24V_3 is used for IN33 to IN48; +24V_4 is used for IN49 to IN64. HARDWARE REFERENCE MANUAL...
  • Page 129 Hardware reference The following table shows the pin layout of the OUT1 connector. Signal name Remarks Signal name Remarks 024V_6 Common 024V_6 Common ground ground 6 +24V_6 24-V power +24V_6 24-V power sup- supply 6 ply 6 OUT32 Output 32...
  • Page 130 Hardware reference The following table shows the pin layout of the OUT2 connector. Signal name Remarks Signal name Remarks 024V_8 Common 024V_8 Common ground ground 8 +24V_8 24-V power +24V_8 24-V power sup- supply 8 ply 8 OUT64 Output 64...
  • Page 131 Station Number switch sets the station number of the module in the fig. 76 MECHATROLINK-II system. The range is 0 to F. Use a unique station number for each unit if two or more units are connected. Dipswitch settings: fig. 77 The dipswitch sets the communication parameters.
  • Page 132 Address number switch switch 1(61h) 16(70h) 2(62h) 17(71h) 3(63h) 18(72h) 4(64h) 19(73h) 5(65h) 20(74h) 6(66h) 21(75h) 7(67h) 22(76h) 8(68h) 23(77h) 9(69h) 24(78h) 10(6Ah) 25(79h) 11(6Bh) 26(7Ah) 12(6Ch) 27(7Bh) 13(6Dh) 28(7Ch) 14(6Eh) 29(7Dh) 15(6Fh) Not used E, F HARDWARE REFERENCE MANUAL...
  • Page 133 7V max./1.3 mA max. on time / off time on time: 2ms, off time: 3 ms Output points per common 16 points per common (1 to 16, 17 to 32, 33 to 48, 49 to HARDWARE REFERENCE MANUAL...
  • Page 134 2 ms max., off time: 4 ms max. 15 kΩ Output points per common 16 points per common (1 to 16, 17 to 32, 33 to 48, 49 to 64) Fuses A fuse for each common point to prevent fire caused by the...
  • Page 135 Hardware reference Related BASIC commands The following BASIC commands are related to the MECHATROLINK-II digital I/O module: • • • For more information, refer to the Trajexia Programming Manual. HARDWARE REFERENCE MANUAL...
  • Page 136 The I/Os are automatically mapped in AIN(x) according to the MECHATROLINK-II node number. In the case of existing several AN2900 units, the one with lowest node number corresponds to AIN(0) to AIN(3), the next lowest one to AIN(4) to AIN(7).
  • Page 137 Sets the baud rate to 10 Mbps. Slave address settings: Set the slave address with pins 1 to 5 on the dipswitch on the front of the front of the distributed I/O module. Refer to the following table, and set the slave addresses as required.
  • Page 138 Hardware reference Pin No. Slave address Not used HARDWARE REFERENCE MANUAL...
  • Page 139 Hardware reference Pin No. Slave address Not used Specification The performance specifications of the analogue input module (±10 V, 4 CH) are shown below. Item Specifications Name Analog input module (-10 V to + 10 V, 4 CH) Model description...
  • Page 140 Approx. 300 g Dimensions (mm) 161 x 44 x 79 (W x H x D) The figure shows the circuit configuration for the analogue input module. Related BASIC commands The following BASIC commands are related to the MECHATROLINK-II analogue input module: •...
  • Page 141 85 analogue output is automatically allocated by the Trajexia system according to the unit number and can be read by Trajexia starting from AOUT(0). The I/Os are automatically mapped in AOUT(x) according to the MECHATROLINK-II node number. In case of existing several AN2910 units, the one with lower node number corresponds to AOUT(0) to AOUT(1), the next one to AOUT(3) to AOUT(4).
  • Page 142 Sets the baud rate to 10 Mbps. Slave address settings: Set the slave address with pins 1 to 5 on the dipswitch on the front of the distributed I/O module. Refer to the following table, and set the slave addresses as required.
  • Page 143 Hardware reference Pin No. Slave address Not used HARDWARE REFERENCE MANUAL...
  • Page 144 Hardware reference Pin No. Slave address Not used Specification The performance specifications of the analogue output module (±10 V, 2 CH) are shown below. The illustration shows the circuit configuration for the analogue input module. fig. 88 Item Specifications Name...
  • Page 145 Dielectric 1,500 VAC for 1 minute between output terminals and strength internal circuits Insulation resist- 100 MΩ min. at 500 VDC between input terminals and ance internal circuits (at room temperature and humidity) External power supply Main external power supply: 24 VDC (20.4 to 26.4 VDC), 120 mA max.
  • Page 146 Not lit: No communication via CN2 MECHATROLINK-II connectors Use one MECHATROLINK-II connector (CN1 or CN2) to connect the repeater to the master-side network, i.e. the part of the network that had the TJ1-ML__. Use the other connector to connect the repeater to the network extension.
  • Page 147 Hardware reference The table below gives the pin layout for the power supply connector. fig. 90 Signal Description Frame ground 0 VDC input +24 V 24 VDC input Dipswitch settings (SW) The dipswitch is for future use. Set all the pins to OFF.

  • Page 148: Grt1-Ml2

    TJ1-MC__ Motion Controller Unit (via a connected TJ1-ML__ MECHATROLINK-II Master Unit) and SmartSlice I/O Units over a MECHATROLINK-II network. For more information on SmartSlice I/O Units, refer to the GRT1 Series SmartSlice I/O Units Operation Manual (W455). fig. 92 Label...
  • Page 149 OF F T he backup operation s tarts after DIP s witch 4 is Note turned from ON to OF F to ON within 3 s econds . • It is recommended to do a registration of the SmartSlice I/O Units (see the Trajexia Programming Manual).
  • Page 150 ALARM Unit error Not lit Unit is in normal operation Flashing A startup error has occurred Unit is in alarm state, or a fatal error has occurred ML COM MECHATRO- Green Not lit No MECHATROLINK-II communication LINK-II com-...
  • Page 151 No power supply system com- • Communication with SmartSlice I/ • When the power of the Trajexia system is turned on, the TJ1- munication O Unit has not started MC__ executes its startup sequence before it initializes the status •...
  • Page 152 The address of the GRT1-ML2 is read only at power on. Setting the new address when the power is on has no effect. 2. To set the address of the unit, set communication dipswitch 1 and the rotary switch as given in the table below.
  • Page 153 INPUT supply terminal SmartSlice I/O Units Note The 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. HARDWARE REFERENCE MANUAL...
  • Page 154 24 VDC +10% −15% (20.4 to 26.4 VDC) Power supply Current consumption 110 mA typical at 24 VDC Dimensions (W × H × D) 58 × 80 × 70 mm Weight 130 g −10 to 55°C (no icing or condensation)
  • Page 155 SmartSlice I/O Units: 64 Units coupled (about 2 m max.) tance Turnback cable: 2 m max. (2 cables, 1 m each) Turnback cable Length 1 m max., up to 2 cables can be connected SmartSlice I/O Unit con- Building-block style configuration with slide connectors nections (Units connect with Turnback cables).
  • Page 156 2 relay outputs 240 VAC, 2A, normally-open contacts GRT1-ROS2 2 analog inputs, current/ 10 V, 0-10 V, 0-5 V, 1-5 V, 0-20 mA, 4-20 GRT1-AD2 voltage 2 analog outputs, voltage 10 V, 0-10 V, 0-5 V, 1-5 V...
  • Page 157 Follow these rules when installing the GRT1-ML2: • Before installing the GRT1-ML2 or connect or disconnect cables, switch off the power of the Trajexia system, the SmartSlice I/O Units and the external I/Os. • Make sure that the power supplies of the GRT1-ML2, the SmartSlice I/O Units and the external I/Os are correctly connected.
  • Page 158 Install the GRT1-ML2 and the SmartSlice I/O Units on a DIN rail. To install a GRT1-ML2 on the DIN rail, press it onto the DIN track from the front, and press the unit firmly until it clicks. Check that all DIN rail sliders of the unit are locked onto the DIN rail.
  • Page 159 (GRT1-TBR) on the SmartSlice I/O Unit at the point where the power consumption is less than 80 W. 3. Connect the 24 VDC unit power supply to the Left Turnback Unit (GRT1- TBL). The maximum I/O current consumption is 4 A.
  • Page 160 S8TS-06024 (OMRON). Releas e button It is recommended to use wires with a gauge of 20 AWG to 16 AWG (0.5 to 1.25 mm Strip the wire between 7 and 10 mm of insulation at the ends of the wires (stranded or solid wire), or use pin terminals with a pin (conductor) length of 8 to 10 mm.
  • Page 161 I/O Unit is removed and replaced. To replace a SmartSlice I/O Unit online, do these steps: 1. Turn off all power supplies of the SmartSlice I/O Unit. This is the I/O power supply, plus possible external power supplies to the terminal block (for example, a Relay Output Unit).
  • Page 162 3. Remove the main block of the unit. Replace it with a new SmartSlice I/O Unit of the same type. 4. Attach the new unit to the system. Close the locks on the front of the unit. 5. Turn on the power supplies to the unit.

  • Page 163: Tj1-Prt

    Hardware reference TJ1-PRT 3.7.1 Introduction The TJ1-PRT is an interface between the Trajexia system and a PROFIBUS fig. 101 network. The TJ1-PRT has these visible parts. Part Description LEDs B and C Node number selectors PROFIBUS connector 3.7.2 LEDs description...
  • Page 164 Both selectors range from 0 to 9. To set a selector to n, turn the arrow to point to the label n. Refer to the chapter, Communication Protocols in the Programming Manual.
  • Page 165 Electrical characteristics Conforms to PROFIBUS-DP standard EN50170 (DP-V0) Communication connector 1 PROFIBUS-DP slave connector Transmission speed 9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500, 3000, 6000 and 12000 Kbps Node numbers 0 to 99 I/O size 0 to 122 words (16-bit), configurable, for both directions...
  • Page 166 TJ1-PRT box: • Safety sheet. • TJ1-PRT. • Protection label attached to the top surface of the unit. 3.7.7 Applicable BASIC commands The following BASIC commands are applicable for the TJ1-PRT: • PROFIBUS For more information, refer to the Trajexia Programming Manual.

  • Page 167: Tj1-Drt

    Hardware reference TJ1-DRT 3.8.1 Introduction The TJ1-DRT is an interface between the Trajexia system and a DeviceNet fig. 103 network. Part Description LEDs B and C Node number selectors DeviceNet connector 3.8.2 LEDs description CAN L DRAIN Label Status Description CAN H Start-up test failed.
  • Page 168 Both selectors range from 0 to 9. To set a selector to n, turn the arrow to point to the label n. Refer to the chapter, Communication Protocols in the Programming Manual.
  • Page 169 15 mA at 24 VDC tion Power dissipation 0.6 W Approximate weight 100 g Electrical characteristics Conforms to DeviceNet standard of CIP edition 1. Communication connector 1 DeviceNet slave connector Transmission speed 125, 250 and 500 Kbps, auto-detected HARDWARE REFERENCE MANUAL...
  • Page 170 Safety sheet. • TJ1-DRT. • DeviceNet connector. • Protection label attached to the top surface of the unit. 3.8.7 Applicable BASIC commands The following BASIC commands are applicable for the TJ1-DRT: • DEVICENET For more information, refer to the Trajexia Programming Manual.

  • Page 171: Tj1-Cort

    Hardware reference TJ1-CORT 3.9.1 Introduction The CANopen Master Unit (TJ1-CORT) is an interface between the Trajexia system and a CANopen network. fig. 105 Part Description CORT LED indicators NWST B and C Node number selectors CANopen port CAN L DRAIN CAN H 3.9.2...
  • Page 172 The upper node number selector sets the tens of the node number. The lower node number selector sets the units of the node number. Both selectors range from 0 to 9. To set a selector to n, turn the arrow to point to the label n.
  • Page 173 Communication line, high Power supply input, positive voltage 3.9.5 TJ1-CORT specifications Item Specification Power supply 5 VDC (supplied by the TJ1-MC__) Power consumption 120 mA at 5 VDC Network power supply 24 VDC Network current con- 15 mA at 24 VDC...
  • Page 174 I/O size 8 RPDO and 8 TPDO Galvanic isolation Device profile DS302: CANopen manager profile Note: This CANopen master does not support motion control features of slaves with the DS401 profile 3.9.6 TJ1-CORT unit box contents CANopen Master Unit box: •...

  • Page 175: Tj1-Fl02

    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. The TJ1-FL02 is an analogue control unit. It controls up to two axes A and B fig. 107 in these modes: •...
  • Page 176 Axis enabled flashing Axis error Axis disabled REG 0 OUT 0 Encoder A REG 1 Encoder Z OUT 1 Encoder B 3.10.3 TJ1-FL02 connections The signals of the 15-pin connector depend on the type of interface selected: HARDWARE REFERENCE MANUAL...
  • Page 177 Do not use Do not use Step+ Clock+ Step- Clock- Dir+ Dir- 1. 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). HARDWARE REFERENCE MANUAL...
  • Page 178 OUT1 Auxiliary outputs I/O 0V I/O +24 V 24V Power supply Input for Common the Outputs. Digital inputs The following table and illustration details the digital input specifications: fig. 110 Item Specification TJ 1-FL02 Type Reg A0 7 Maximum voltage...
  • Page 179 Hardware reference Note In 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. Note A maximum of 4 inputs on is allowed simultaneously.
  • Page 180 Output impedance Isolated 0V 10 k Ω min Load impedance Note The analogue output of one flexible axis is always 0V unless both axes in the TJ1-FL02, axis A & B are enabled, that is: WDOG=ON AXIS_ENABLE AXIS(A)=1 AXIS_ENABLE AXIS(B)=1...
  • Page 181 ENA0+ / Z0- / ENA0- / 5,15 The example shows the connections for the TJ1-FL02 to a F7 Inverter for fig. 115 position control. The encoder from the motor must be connected to the encoder interface (PG-X2) in the Inverter (connector TA1). The encoder signal is forwarded in the connector TA2 of the (PG-X2).
  • Page 182 The cable for pins 1 and 3 must be shielded twisted pair. The cables for pins 5 and 6 are two single strand cables. Make the connections for the 15 pin connector on the TJ1-FL02 to the PG- X2 option board on the F7 Inverter as follows:...
  • Page 183 • One enable output • Two definable outputs Note The 5 VDC power supply can only be used when both axes are in SERVO_AXIS mode (ATYPE=44). 3.10.5 Applicable BASIC commands The following BASIC commands are applicable for the TJ1-FL02: •...
  • Page 184 (D) and reverse or counterclockwise rotation (E). The signals A, B and Z appear physically as A+ and A-, B+ and B- and Z+ and Z-. They appear as differential signals on twisted-pair wire inputs. This makes sure that common mode noise is rejected.
  • Page 185 Hardware reference The table below and the figure give an example of how to connect the fig. 117 OMRON E6B2-CWZ1Z encoder to the TJ1-FL02. TJ1-FL02 Encoder TJ1-FL02 Signal Wire color Signal Black Black/red White 0 V (COM) White/red 5 VDC...
  • Page 186 The SSI interface of the TJ1-FL02 accepts absolute values from an encoder if the data is in Gray Code format or in binary format and if the resolution is 25 bits or less. The number of bits, and therefore the number of clock pulses sent to the encoder in each frame, is programmable.
  • Page 187 The 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. The table below and the figure give an example of how to connect the fig. 120 Stegmann ATM 60-A encoder to the TJ1-FL02.
  • Page 188 /CLOCK 5 / 15 5 / 15 Note The TJ1-FL02 does not have a termination inside. In case of long distances or disturbed communication, add an external termination to the TJ1-FL02. The table below and the figure give fig. 121...
  • Page 189 Axis B TJ1-FL02 5 / 15 5 / 15 ADM485 kΩ kΩ Note kΩ The TJ1-FL02 does not have a termination inside. In case of long distances or disturbed communication, add an external termination to the TJ1-FL02. HARDWARE REFERENCE MANUAL...
  • Page 190 Hardware reference The table below and the figure give an example of how to connect the fig. 123 Tamagawa TS5667N420 encoder to the TJ1-FL02. TJ1-FL02 Encoder TJ1-FL02 Signal Wire color Signal Blue Blue/Black Black Use an external power supply 5 VDC Power Supply...
  • Page 191 The event is called the print registration input. On the rising or falling edge of an input signal (either the Z marker or an input), the TJ1-FL02 captures the position of an axis in hardware. You can use this position to correct possible errors between the actual position and the desired position.
  • Page 192 Hardware reference 3.10.10 Hardware PSWITCH The TJ1-FL02 has 2 outputs that you can use as hardware position switches. These outputs go on when the measured position of the predefined axis is reached. They go off when another measured position is reached.

  • Page 193: A Differences Between Sigma-Ii And Junma

    The output power of Sigma-II Servo Drivers and motors range from • Junma has 4 digital inputs and 2 digital outputs. They are not flexible, 30 W to 15 kW. The input voltages of Sigma-II Servo Drivers and but have fixed functionality. Fully closed encoder configuration is not motors are 200 V single phase and 400 V three phase.

  • Page 194: Revision History

    Revision history Revision history A manual revision code shows as a suffix to the catalogue number on the front cover of the manual. Revision code Date Revised content August 2006 Original October 2006 DeviceNet update May 2007 Updated with TJ1-MC04, TJ1-ML04, JUNMA series Servo Drivers and the MECHATROLINK-II repeater.
  • Page 195 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.

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