Page 1 Cat. No. I51E-EN-03 Trajexia motion control system TJ1-MC04, TJ1-MC16, TJ1-ML04, TJ1-ML16, TJ1-PRT, TJ1-DRT, TJ1-FL02 hardware reference manual...
Page 2 © OMRON, 2007 All rights reserved. No part of this publication may be reproduced, stored in a retrieval sys- Trademarks and Copyrights tem, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.
Page 3: Sibp-C730600
LINK interface manual operation of Sigma-III servo Control System. drives with MECHATRO- Please read this manual and the related manuals listed in the following table LINK interface carefully and be sure you understand the information provided before V7 Inverter TOEP C71060605 02-OY Describes the installation and attempting to install or operate the Trajexia Motion Control units.
Page 4 During the development of Trajexia new functionality was added to the controller unit after market release. This functionality is implemented in the firmware, and/or the FPGA of the controller unit. In the table below, the overview of the applicable functionality is shown related to the firmware and FPGA version of the TJ1-MC__.
Page 5: Table Of Contents
Introduction ..............................................51 3.1.1 Trajexia High-Lights .........................................52 3.1.2 Trajexia Tools ...........................................53 3.1.3 This manual ............................................53 All units ................................................54 3.2.1 System installation ...........................................54 3.2.2 Environmental and storage for all units ..................................61 3.2.3 Unit dimensions ..........................................62 3.2.4 Wire the Weidmüller connectors.......................................64 HARDWARE REFERENCE MANUAL...
Page 6 LED Description..........................................80 3.5.3 TJ1-ML__ Connection ........................................80 3.5.4 TJ1-ML__ Specifications .........................................84 3.5.5 TJ1-ML__ box contents ........................................85 3.5.6 MECHATROLINK-II Servo Drivers Sigma-II series ................................85 3.5.7 MECHATROLINK-II Servo Drivers Junma series................................92 3.5.8 MECHATROLINK-II Inverter V7 .......................................98 3.5.9 MECHATROLINK-II Inverter F7 and G7..................................102 3.5.10 MECHATROLINK-II digital I/O slaves ...................................107...
Page 7 LED description ..........................................139 3.8.3 TJ1-FL02 connections ........................................140 3.8.4 TJ1-FL02 specifications .........................................146 3.8.5 Incremental encoder........................................147 3.8.6 Absolute encoder..........................................149 3.8.7 Stepper ............................................153 3.8.8 Registration ............................................153 3.8.9 Hardware PSWITCH ........................................154 3.8.10 TJ1-FL02 box contents........................................154 Differences between Sigma-II and Junma .............................. 162 HARDWARE REFERENCE MANUAL...
Page 8: 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 9: Operating Environment Precautions
Caution The TJ1 will turn off the WDOG when its self-diagnosis function Pay careful attention to the polarity (+/-) when wiring the DC power detects any error.As a countermeasure for such errors, external supply.A wrong connection may cause malfunction of the system.
Page 10: Application Precautions
Caution The numbers of the Flexible axes will change if MECHATROLINK- Do not apply voltage to the Input Units in excess of the rated input II network errors occur during start-up or if the MECHATROLINK-II voltage.
Page 11 Safety warnings and precautions Caution Caution Always connect to a class-3 ground (to 100Ω or less) when install- Remove the dust protective label after the completion of wiring to ing the Units. ensure proper heat dissipation. Not connecting to a class-3 ground may result in electric shock.
Page 12 Use the dedicated connecting cables specified in operation manu- Caution als to connect the Units. When replacing parts, be sure to confirm that the rating of a new Using commercially available RS-232C computer cables may part is correct. cause failures in external devices or the Motion Control Unit.
Page 13: Unit Assembly Precautions
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. HARDWARE REFERENCE MANUAL...
Page 14: System Philosophy
Is the time needed to execute one complete cycle of operations in Ethernet Profibus the TJ1-MC__. The cycle time is divided in 4 time slices of equal time length, called "CPU Tasks". The cycle time is 1ms if BUILT-IN TJ1-ML16 SERVO_PERIOD 0.5ms or 1ms and 2ms if the...
Page 15 Process Is a program in execution with a certain priority assigned. Process 0 to 12 are 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 16: Motion Control Concepts
A move is defined in either absolute or relative terms. An absolute fig. 2 move 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 MOVEABS(30) position.
Page 17: Ptp Control
0 and axis 1 will be as shown in the figure. At start, both the axis 0 and axis 1 moves to a coordinate of 50 over the same duration of time. At this point, axis 1 stops and axis 0 continues to move to a coordinate of 100.
Page 18 The speed profile in this figure shows a simple MOVE operation. fig. 4 Axis A is the time, axis B is the speed. The UNITS parameter for this axis has been defined for example as meters. The required maximum speed has been set to 10 m/s. In order to reach this...
Page 19 System philosophy 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. • The acceleration rate is a.
Page 20: Cp Control
The deceleration rate is set by 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 21 System philosophy Linear interpolation In applications it can be required for a set of motors to perform a fig. 7 move operation from one position to another in a straight line. Linearly interpolated moves can take place among several axes.
Page 22: Eg Control
It may be required that a tool travels from the starting point to the fig. 8 end point 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 23 This can be done using the CONNECT command in the program. In the command the ratio and the axis to link to are specified. In the figure, A is the Master axis, and B is the CONNECT axis. Axes Ratio...
Page 24 CAMBOX. The travelling speed through the profile is not determined by the axis parameters of the axis but by the position of the linked axis. This is like connecting two axes through a cam.
Page 25: Other Operations
System philosophy Adding axes It is very useful to be able to add all movements of one axis to fig. 13 another. One possible application is for instance changing the BASE(0) offset between two axes linked by an electronic gearbox. The TJ1-...
Page 26 MERGE value 0 and value MERGE=0 In the figure, A is the time axis and B is the speed axis. Jogging Jogging moves the axes at a constant speed forward or reverse by manual operation of the digital inputs.
Page 27: Servo System Principles
The servo system of the TJ1-MC__ uses a semi-closed or inferred closed loop system. This system detects actual machine movements by the rotation of the motor in relation to a target value. It calculates the error between the target value and actual movement, and reduces the error through feedback.
Page 28 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 29 Following Error at high speed. · ΔP The parameter can be set to minimise the Following Error at a constant machine speed after other gains have been set. The speed feed forward gain axis parameter is called VFF_GAIN.
Page 30: Trajexia System Architecture
Communication • Peripherals All communication is carried out in the forth CPU task. A set of BASIC communication commands are used to configure the communications. These concepts depend upon the value set in the SERVO_PERIOD When the Trajexia is a communication slave (as in the PROFIBUS parameter.
Page 31: Cycle Time
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 32 The SERVO_PERIOD has a value of 1ms and the motion fig. 20 sequence is executed every 1ms. As the motion sequence is not executed during CPU task 3, there is more time for the program CPU task 1 Motion sequence execution.
Page 33 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 34 22 • 1x TJ1-ML__ • 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. HARDWARE REFERENCE MANUAL...
Page 35 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 36 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 limiting factor. Address Address Address Address Sigma-II supports 1.0ms SERVO_PERIOD. SI-T supports 1ms.
Page 37: Program Control And Multi-Tasking
The Trajexia system can control 14 processes that are written as BASIC programs. When the program is set to run, the program is executed. Processes 1 to 12 are low priority, 13 and 14 are high priority. HARDWARE REFERENCE MANUAL...
Page 38 Multi-tasking Each cycle time is divided into 4 time slices called CPU tasks. fig. 26 Processes run in the first 3 CPU tasks according to the priority of the process. Motion sequence and low-priority processes (A) are executed in HT #1 HT #2 COMS.
Page 39 The two HT periods are reserved for these processes, one for processes 13 and one for processes 14. The low-priority processes 3, 2, 1 and 0 are executed in the LT period, one process per Cycle time here set to 1.0ms.
Page 40: Motion Sequence And Axes
The actual way that the motion sequence operates depends • block on the axis type. 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 41: Profile Generator
....2.7.2 Position loop Demand Position The position loop is the algorithm that makes sure that there is a minimal deviation between the measured position (MPOS) and the demand position (DPOS) of the same axis. 2.7.3 Axis sequence •...
Page 42 Position loop in the Trajexia. TJ1-MC__ sends LINK-II Torque torque reference to the Servo Driver via MECHATROLINK-II. External driver Stepper output Pulse and direction outputs. Position loop is in connected to a the driver. TJ1-FL02 sends pulses and receives TJ1-FL02 no feed back.
Page 43 DEMAND POSITION POSITION MECHATROLINK-II position ATYPE=40 With SERVO = ON, the position loop is closed in the Servo Driver. fig. 32 Gain settings in the TJ1-MC__ have no effect. The position reference is sent to the Servo Driver. TJ1-ML16 SERVO...
Page 44 Measured position SERVO_AXIS (n) = ON/OFF SERVO MECHATROLINK-II torque ATYPE=42 With SERVO = ON, the torque loop is closed in the TJ1-MC__. The fig. 34 torque reference in the Servo Driver depends on the FE and the gain. TJ1-ML16 SERVO...
Page 45 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. Servo axis ATYPE=44 With SERVO = ON this is an axis with an analogue speed fig.
Page 46 System philosophy Encoder output ATYPE=45 The position profile is generated and the output from the system is fig. 37 an incremental encoder pulse. This is useful to control a motor via pulses or as a position reference for another motion controller.
Page 47 The following table lists the axis types and their recommended modes for speed control, position control and torque control. ATYPE SERVO Mode Comment Position The position loop is closed in the Servo Driver. No new (MECHATROLINK-II) motion command is allowed. Position Recommended mode for position control with MECHA- (MECHATROLINK-II) TROLINK-II axes.
Page 48: Motion Buffers
MOTION COMMAND the axis..DEMAND • It is possible to check if the process buffer is full by checking the POSITION PMOVE process parameter. Profile generator When a motion instruction is executed in the BASIC program, the fig. 39...
Page 49 BUFFER ..MOVE(1000) ..3.- A third movement can DATUM(3) DATUM(3) --------------------------------- ..still be stored in the process buffer. 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 50: 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 51: Hardware Reference
CJ-series PLC CX-one Trajexia is a stand-alone modular system that allows maximum Trajexia Tools NS-series HMI flexibility and scalability. At the heart of Trajexia lies the TJ1 multi- PROFIBUS-DP DEVICENET Master Master tasking motion coordinator. Powered by a 32-bit DSP, it can do...
Page 52: Trajexia High-Lights
3.1.1 Trajexia High-Lights Drives and Inverters A wide choice of rotary, linear and direct-driver servos as well as inverters The main high-lights of the trajexia system are as follows: are available to fit your needs in compactness, performance and reliability.
Page 53: Trajexia Tools
• 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 54: All Units
• 0 to 4 TJ1-ML__ units. • 0 to 3 TJ1-FL02 units. • • 0 or 1 TJ1-PRT or TJ1-DRT units 1. Trajexia does not support both a TJ1-PRT and a TJ1-DRT unit in the same system. HARDWARE REFERENCE MANUAL...
Page 55 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 56 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 57 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 58 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 59 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 60 Hardware reference 15. When you design a cabinet for the units, make sure that the fig. 12 cabinet 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 61: Environmental And Storage For All Units
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/s2, in X, Y and Z directions for 80 minutes Shock resistance 147 m/s...
Page 62: Unit Dimensions
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 63 Hardware reference Trajexia units All measurements are in mm. fig. 14 70.3 39.9 HARDWARE REFERENCE MANUAL...
Page 64: Wire The Weidmüller Connectors
Trajexia system All measurements are in mm. fig. 15 PA202 29.7 The installation depth of the Trajexia system is up to 90 mm, fig. 16 depending on the modules that are mounted. Allow sufficient depth in the control cabinet. 70.30 81.60 to 89.0 mm...
Page 65 Hardware reference 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 66: Power Supply Unit (Psu)
100 Ohms. 2. To help prevent electrical shock, connect the earth terminal (D) to earth with a resistance of less than 100 Ohms with a 14- gauge wire or minimum cross section area of 2 mm 3. Terminals E and F for the CJ1W-PA205R are relay contacts that close when Wdog is enabled.
Page 67: Psu Specifications
Hardware reference Each Power Supply Unit has one green LED (G). This LED comes on when 3.3.4 PSU box contents you connect the Power Supply Unit to the power source. • Safety sheet. • Power Supply Unit. Caution • Protection label attached to the top surface of the unit.
Page 68: 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 69: Led Display
The LED display shows the following information: fig. 20 Information When IP address and Shows 3 times when you connect the Trajexia system to the subnet mask power 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 70: Tj1-Mc__ Connections
The Ethernet connector is used to connect the TJ1-MC__ to a PC or Ethernet network. The Ethernet connector is the only connection that can be used to program the system. 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 71 RS422/RS485 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 72 Hardware reference WIRE 2/4 Switch The WIRE 2/4 switch sets the communication standard for the fig. 23 RS422/485 serial connection. To use one of the communication standards, do this: Communication How to select it standard RS422 Set the WIRE 2/4 switch right...
Page 73 Hardware reference 28-Pin I/O connector The 28 pin connector is a Weidmuller connector designation: B2L 3.5/28 LH. fig. 24 Connection Connection 0 V input common 0 V input common Input 0 Input 1 Input 2 Input 3 Input 4 Input 5...
Page 74 Hardware reference 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 75 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 76: Battery
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 77: Tj1-Mc
Specification Ethernet connector TJ1-MC04 TJ1-MC16 Ethernet connector RJ45 Power supply 5 VDC and 24 VDC (supplied by a Power Supply Unit) Total power consumption 3.3 W Serial connectors 1 and 2 Current consumption 650 mA at 5 VDC Approximate weight...
Page 78: Tj1-Ter
Hardware reference 3.4.6 TJ1-TER The TJ1-TER makes sure that the internal data bus of the Trajexia fig. 28 system functions correctly. A Trajexia system must always contain a TJ1-TER as the last unit. 3.4.7 TJ1-MC__ box contents • Safety sheet.
Page 79: Tj1-Ml
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. One TJ1-ML04 can control 4 devices.
Page 80: Led Description
Reserved 3.5.3 TJ1-ML__ Connection The MECHATROLINK-II bus connector (A) fits a MECHATROLINK- fig. 30 II 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 81 Servo Drive • 1 x TJ1-ML__ • 3 x Sigma-II Servo Driver • 1 x MECHATROLINK-II terminator All Mechatrolink Adresses are numbered 4x (up to 16 per unit) Address Address Address Terminator Axis 2 Axis 3 Axis 4 HARDWARE REFERENCE MANUAL...
Page 82 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 83 Hardware reference The MECHATROLINK-II Units can control different combinations of fig. 33 axes, 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 84: Tj1-Ml__ Related Devices
200 mA at 5 VDC Analogue input: -10V to +10 V, JEPMC-AN2900 Approximate weight 75 g 4 channels Number of controlled devices Analogue output: -10 V to +10 V, JEPMC-AN2910 2 channels Controlled devices • Sigma-II, Junma-ML and Sigma-III Servo Driv- •...
Page 85: Tj1-Ml
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 86 The dipswitches (B) on the NS115 configure the communication settings. fig. 36 Dipswitch Function Set- Description ting Baud rate 10 Mbps Data length 32-byte data transmission Address Addresses 40-4F range Addresses 50-5F Maintenance Must always be set to off. on is not used (Reserved) HARDWARE REFERENCE MANUAL...
Page 87 Hardware reference Set the address selector (A, fig 35) of the NS115 to n (where n fig. 37 ranges from 0 to F) to assign the following address to the NS115: Rotary Dipswitch Station address Axis in motion controller switch number Do not use the addresses 40 and 51-5F.
Page 88 There is slip or backlash in the mechanical transmission. • The precision required is very high. The supported encoder is line driver and the pinout is shown in the figure. The table shows the CN4 connector terminal layout and connector specifications.
Page 89 Phase-A input + Phase-A input - Phase-B input + Phase-B input - Note. Make sure that shielded cable is used and that the shield is connected to the connector shell. Relevant servo parameters related with the use of Trajexia: HARDWARE REFERENCE MANUAL...
Page 90 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 91 DRIVE_INPUTS bit 13 CN1-42 DRIVE_INPUTS bit 14 CN1-43 DRIVE_INPUTS bit 15 Pn511=654X CN1-44 DRIVE_INPUTS bit 06 CN1-45 DRIVE_INPUTS bit 07 CN1-46 DRIVE_INPUTS bit 08 For the rest of the parameters and connections refer to the Sigma-II manual. HARDWARE REFERENCE MANUAL...
Page 92: Mechatrolink-Ii Servo Drivers Junma Series
Hardware reference 3.5.7 MECHATROLINK-II Servo Drivers Junma series You can also connect a Junma Servo Driver to a Trajexia system. fig. 40 Label Terminal/LED Description Rotary switch for reference filter setting COM ALM RDY CN6A & CN6B MECHATROLINK-II bus connectors...
Page 93 Hardware reference Communication settings (SW2) The 4 dipswitches configure the communication settings. fig. 41 Dipswitch Function Setting Description Reserved ON Must always be set to ON. OFF is not used Data 32 bytes length Address Addresses 40-4F range Addresses 50-5F...
Page 94 Hardware reference Address settings (SW1) Set the address selector of the Junma Servo Driver to n (where n fig. 42 ranges from 0 to F) to assign the following station address to it: Rotary Dipswitch Station address Axis in motion controller...
Page 95 Hardware reference CN1 I/O Signal connector The table below shows the pin layout for the I/O signal connector fig. 43 (CN1). 8 9 10 11 12 13 14 Code Signal name Input /EXT1 External latch Input /DEC Homing deceleration Input...
Page 96 Hardware reference CN2 encoder input connector The tables below shows the pin layout for the Junma Servo Driver fig. 44 connector. Signal PG5V 9 7 5 3 1 PG0V (GND) Phase A (+) Phase A (-) Phase B (+) Phase B (-)
Page 97 Hardware reference CNB servo motor connector The tables below shows the pin layout for the CNB servo motor fig. 46 connector. Signal Name Phase U Phase V Phase W HARDWARE REFERENCE MANUAL...
Page 98: Mechatrolink-Ii Inverter V7
MECHATROLINK-II Inverter V7 A V7 inverter with a MECHATROLINK-II interface is designed to fig. 47 make speed and torque control (if the inverter supports this feature) of an AC induction motor. No position control is supported via MECHATROLINK-II. An inverter is not considered an axis by the TJ1-MC__.
Page 99 Hardware reference LED indicators The LED indicators indicate the status of the communications of the fig. 48 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 100 Hardware reference Dipswitch The following table shows the dipswitch settings of the SI-T/V7 Unit. fig. 49 Name Label Status Function Baud rate S1-1 10 Mbps (MECHATROLINK-II) Data length S1-2 32-byte data transmission (MECHATROLINK-II) Station S1-3 Set the 10th digit of the station number to address 2.
Page 101 Hardware reference Rotary switch The following table shows the rotary switch settings of the SI-T/V7 Unit. fig. 50 Label 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.
Page 102: Mechatrolink-Ii Inverter F7 And G7
Hardware reference 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 103 Hardware reference The illustration shows the external appearance of the SI-T Card. fig. 52 A. LED B. Rotary switch C. Dipswitch D. Communications connector E. Code No. F. Type HARDWARE REFERENCE MANUAL...
Page 104 Hardware reference 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 Normal operation Not lit Communication CPU stopped, resetting hard- ware, RAM check error, DPRAM check error, sta-...
Page 105 Hardware reference Dipswitch The following table shows the dipswitch settings of the SI-T/V7 fig. 53 Unit. Name Label Status Function Baud rate S1-1 10 Mbps (MECHATROLINK-II) Data length S1-2 32-byte data transmission (MECHATROLINK-II) Station S1-3 Set the 10th digit of the station number to 2.
Page 106 Hardware reference Rotary switch The following table shows the rotary switch settings of the SI-T/V7 Unit. fig. 54 Label Status Function Factory setting 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 107: 3.5.10 Mechatrolink-Ii Digital I/O Slaves
Check the corresponding manual for details about the F7 or G7 inverter. 3.5.10 MECHATROLINK-II digital I/O slaves An I/O device allows to integrate in the system remote digital and analogue inputs and outputs. Those are autodetected and automatically allocated by the Trajexia system.
Page 108 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. 57 •...
Page 109 Hardware reference Digital I/O layout The pin layout of the I/O connectors is the same for the IO2310, and IO2330 modules. The following table shows the pin layout of the IN1 connector. Signal name Remarks Signal name Remarks (NC) (NC)
Page 110 +24V_3 24-V power +24V_3 24-V power supply 3 supply 3 Note: The +24V_3 is used for IN33 to IN48; +24V_4 is used for IN49 to IN64. The following table shows the pin layout of the OUT1 connector. HARDWARE REFERENCE MANUAL...
Page 111 Common 024V_5 Common ground 5 ground 5 +24V_5 24-V power +24V_5 24-V power supply 5 supply 5 Note: The +24V_5 and 024V_5 are used for OUT01 to OUT16; +24V_5 and 024V_6 are used for OUT17 to OUT32. HARDWARE REFERENCE MANUAL...
Page 112 Hardware reference The following table shows the pin layout of the OUT2 connector. Signal Remarks Signal name Remarks name 024V_8 Common 024V_8 Common ground 8 ground 8 +24V_8 24-V power +24V_8 24-V power supply 8 supply 8 OUT64 Output 64...
Page 113 Station Number switch sets the station number of the module in the fig. 61 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. 62 The dipswitch sets the communication parameters.
Page 114 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 115 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 64) HARDWARE REFERENCE MANUAL...
Page 116 / off time on time: 2 ms max., off time: 4 ms max. Output points per com- 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...
Page 117: Mechatrolink-Ii 4-Channel Analogue Input Module
This is a 4-channel analogue input MECHATROLINK-II slave. The fig. 66 analogue inputs are automatically allocated by the Trajexia system according to the unit number and can be read by Trajexia starting from AIN(0). The I/Os are automatically mapped in AIN(x) according to the MECHATROLINK-II node number.
Page 118 68 The dipswitch consists of eight pins. The pins are numbered 1 to 8, as shown in the illustration. Each pin is turned to on when it is moved to the upper position. 1 2 3 4 5 6 7 8 The following table shows the function of each switch.
Page 119 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 120 Hardware reference Pin No. Slave address Not used HARDWARE REFERENCE MANUAL...
Page 121 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 AN2900 Model number JEPMC-AN2900 Input signal range -10 to 10V...
Page 122 2.88 W Hot swapping Terminal block: not permitted Communication connector: permitted weight Approx. 300 g Dimensions (mm) 161 x 44 x 79 (W x H x D) The illustration shows the circuit configuration for the analogue input module. HARDWARE REFERENCE MANUAL...
Page 123: Mechatrolink-Ii 2-Channel Analogue Output Module
This is a 2-channel analogue output MECHATROLINK-II slave. The fig. 70 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.
Page 124 72 The dipswitch consists of eight pins. The pins are numbered 1 to 8, as shown in the following diagram. Each pin is turned to on when it is moved to the upper position. 1 2 3 4 5 6 7 8 The setting of each pin becomes effective as soon as the dipswitch is changed.
Page 125 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 126 Hardware reference Pin No. Slave address Not used HARDWARE REFERENCE MANUAL...
Page 127 (±10 V, 2 CH) are shown below. The illustration shows the circuit configuration for the analogue input module. fig. 73 Item Specifications Name Analog output module (-10 V to +10 V, 2 CH) +12V Status Model description AN2910 display Photocoupler...
Page 128: 3.5.13 Mechatrolink-Ii Repeater
Communication connector: permitted weight Approx. 300 g Dimensions (mm) 161 x 44 x 79 (W x H x D) 3.5.13 MECHATROLINK-II repeater The JEPMC-REP2000 is a MECHATROLINK-II repeater. It extends the range and the maximum number of MECHATROLINK-II devices in the MECHATROLINK-II network.
Page 129 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 130 0 VDC input +24 V 24 VDC input Dipswitch settings (SW) The dipswitch is for future use. Set all the pins to OFF. System configuration The maximum number of MECHATROLINK-II devices that you can fig. 76 connect in the MECHATROLINK-II network with a repeater is set by the MECHATROLINK-II cable length.
Page 131: Tj1-Prt
Hardware reference TJ1-PRT 3.6.1 Introduction The TJ1-PRT is an interface between the Trajexia system and a fig. 77 PROFIBUS network. The TJ1-PRT has these visible parts. Part Description LEDs B and C Node number selectors PROFIBUS connector 3.6.2 LEDs description...
Page 132: Node Number Selectors
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. Refer to the chapter, Communication Protocols in the Programming Manual.
Page 133: Tj1-Prt Specifications
I/O size 0 to 120 words (16-bit), configurable, for both direc- tions Galvanic isolation 3.6.6 TJ1-PRT unit box contents TJ1-PRT box: • Safety sheet. • TJ1-PRT. • Protection label attached to the top surface of the unit. HARDWARE REFERENCE MANUAL...
Page 134: Tj1-Drt
Hardware reference TJ1-DRT 3.7.1 Introduction The TJ1-DRT is an interface between the Trajexia system and a fig. 79 DeviceNet network. Part Description LEDs B and C Node number selectors DeviceNet connector 3.7.2 LEDs description CAN L DRAIN Label Status Description CAN H Start-up test failed.
Page 135: Node Number Selectors
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. Refer to the chapter, Communication Protocols in the Programming Manual.
Page 136: Tj1-Drt Connections
Hardware reference 3.7.4 TJ1-DRT Connections fig. 80 Signal Description Power supply input, negative voltage CAN L Communication line, low DRAIN Shield CAN H Communication line, high Power supply input, positive voltage HARDWARE REFERENCE MANUAL...
Page 137: Tj1-Drt Specifications
15 mA at 24 VDC sumption Power dissipation 0.6 W Approximate weight 100 g Electrical characteristics Conforms to DeviceNet standard of CIP edition 1. Communication con- 1 DeviceNet slave connector nector Transmission speed 125, 250 and 500 Kbps, auto-detected Node numbers...
Page 138: Tj1-Fl02
The numbers of the Flexible axes will change if MECHA- TROLINK-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 fig. 81 A and B in these modes: •...
Page 139: Led Description
Hardware reference 3.8.2 LED description The function of the LEDs is defined by the AXIS_DISPLAY parameter. For more information about the AXIS_PARAMETER refer to the Programming Manual. Axis Label Status AXIS_DISPLAY parameter The TJ1-MC__ recognises the TJ1-FL02 A EN Axis enabled.
Page 140: Tj1-Fl02 Connections
Hardware reference 3.8.3 TJ1-FL02 connections The signals of the 15-pin connector depend on the type of interface selected: 15-pin connector fig. 82 Axis Encoder Encoder Stepper SSI/ Tamagawa input output output EnDat Step+ Clock+ Step- Clock- Dir+ Dir- Enable+ Data+...
Page 141 Reg 1 Reg 1 24V registration inputs 24V auxiliary inputs OUT 0 OUT 0 position switch outputs (HW_PSWITCH) OUT 1 OUT 1 OUT1 Auxiliary outputs I/O 0V I/O +24 V 24V Power supply Input Com- for the Outputs. HARDWARE REFERENCE MANUAL...
Page 142 • with noise filter 3.5μs maximum. 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.
Page 143 Type 24V output supply Maximum voltage 24 VDC + 10% External power 13 Out 0 Current capacity 100 mA each output (400 mA for a group of 4) supply Equivalent circuit Max. Voltage 24 VDC + 10% 0V I/O Protection...
Page 144 Hardware reference Wdog relay The following table and illustration details the Wdog relay: fig. 87 Item Specification TJ1-FL02 Type Solid state relay WDOG+ Current capacity 50 mA 25 Ω max. on resistance WDOG- Maximum voltage 24 VDC + 10% Encoder interface The following table and illustration details the encoder interface: fig.
Page 145 (PG-X2) in the inverter (connector TA1). The encoder signal is forwarded in the connector TA2 of the (PG-X2). Make the connections for the 18 pin connector on the TJ1-FL02 to the terminal board on the F7 Inverter as follows:...
Page 146: Tj1-Fl02 Specifications
Hardware reference 3.8.4 TJ1-FL02 specifications Note The 5 VDC power supply can only be used when both axes are in Item Specification SERVO_AXIS mode (ATYPE=44). Power supply 5 VDC and 24 VDC (supplied by the TJ1-MC__) Total power consumption 3.35 W...
Page 147: Incremental Encoder
(C) for forward or clockwise rotation (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.
Page 148 Hardware reference The table below and the figure give an example of how to connect fig. 91 the 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 149: Absolute Encoder
TJ1-FL02 continuously sends clock pulses to the encoder. These clock pulses are sent in frames of n+2 pulses, where n is the bit count set. The clock rate is fixed at 200 kHz. The clock interval between frames is 32 μs. The resulting maximum cable length between the controller and the sensor is 200 m.
Page 150 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 an example of how to connect fig. 94 the Stegmann ATM 60-A encoder to the TJ1-FL02.
Page 151 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 an example of how to connect fig. 95 the Heidenhain ROC 425 2048 5XS08-C4 encoder to the TJ1- TJ1-FL02 FL02.
Page 152 250 μs cycle. The data returned is available to BASIC and you can use it to drive a servo motor. In the figure, A is the encoder side, and B is the receiving side. fig. 96 The connections for Tamagawa are:...
Page 153: Stepper
The TJ1-FL02 can capture the position of an axis in a register when an event occurs. 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.
Page 154: Hardware Pswitch
Hardware reference 3.8.9 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 155 Caution, safety ........................................8 Communication ........................................30 Complex profile ........................................42 Configuration examples ..................................... 34 Connection JEPMC IO2310/IO2330 ....................................108 Power Supply Unit ......................................66 TJ1-DRT ........................................136 TJ1-FL02 ........................................140 TJ1-MC__ ........................................70 TJ1-ML__ ........................................80 TJ1-PRT ........................................132...
Page 156 Index Connection example TJ1-FL02 ........................................145 TJ1-ML__ ...................................... 81, 82, 83 CPU task ..........................................15 Cycle time ........................................14, 31 Definition CPU task ........................................15 Cycle time ........................................14 Motion sequence ......................................14 Process ........................................15 Program ........................................15 Servo period ......................................... 14 Description Motion buffers ....................................
Page 157 Multi-tasking ......................................... 39 Servo period ......................................... 32 Explanation Communication ......................................30 Cycle time ........................................31 Motion buffers ....................................... 48 Motion sequence ....................................30, 40 Multi-tasking ......................................... 38 Peripherals ........................................30 Program control ......................................30 Servo period ......................................... 31 Flexible axis Encoder output ......................................
Page 158 LED description JEPMC IO2310/IO2330 ....................................108 JEPMC-AM2900 ......................................118 JEPMC-AN2910 ......................................124 JUSP-NS115 ........................................ 86 SI-T card Inverter F7 and G7 ..................................104 SI-T card Inverter V7 ....................................99 TJ1-DRT ........................................134 TJ1-FL02 ........................................139 TJ1-MC__ ........................................74 TJ1-ML__ ........................................80 TJ1-PRT ........................................
Page 159 Motion control ........................................16 Continuous path ......................................20 Electronic gearing ......................................22 Point-to-point ........................................ 17 Motion controller ........................................ 68 Motion sequence ....................................... 14, 30 MTYPE ..........................................48 Multi-tasking example ......................................39 NTYPE ..........................................48 Peripherals ......................................... 30 Position control ........................................43 Position loop algorithm ......................................
Page 160 Unit assembly ....................................... 13 Serial ports ......................................... 71 Servo driver Junma ........................................... 92 Sigma-II ........................................85 Servo parameters for JUSP-NS115 ................................... 89 Servo period ........................................14 Examples ........................................32 Rules ..........................................33 Servo system ........................................27 Motion control algorithm ....................................28 Semi-closed loop ......................................
Page 161 Index Stepper ..........................................153 Storage ..........................................61 System architecture ......................................30 Tamagawa ......................................... 46 Terminator Unit ........................................78 TJ1-DRT .......................................... 134 TJ1-FL02 ......................................... 138 TJ1-MC__ .......................................... 68 TJ1-ML__ ........................................... 79 TJ1-PRT .......................................... 131 Torque control ........................................44 Trajexia Tools ........................................53 Virtual axis .........................................
Page 162: 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 163 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 DriverBs and the MECHATROLINK-II repeater.

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Tj1-fl02 Tj1-mc04 Tj1-mc16 Tj1-ml04 Tj1-ml16 Tj1-prt

Omron TJ1-DRT Hardware Reference Manual

1 Safety Warnings and Precautions

2 System Philosophy

3 Hardware Reference

A Differences between Sigma-II and Junma

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