Table Of Contents - Omron TJ1-DRT Hardware Reference Manual

Contents
1 Safety warnings and precautions................................................................................................................................................................ 8
1.1 Intended audience ............................................................................................................................................................................................................................8
1.2 General precautions .........................................................................................................................................................................................................................8
1.3 Safety precautions ............................................................................................................................................................................................................................8
1.4 Operating environment precautions..................................................................................................................................................................................................9
1.5 Application precautions...................................................................................................................................................................................................................10
1.6 Unit assembly precautions..............................................................................................................................................................................................................13
1.7 Conformance to EC Directives Conformance .................................................................................................................................................................................13
1.7.1 Concepts ..........................................................................................................................................................................................................................13
1.7.2 Conformance to EC Directives .........................................................................................................................................................................................13
2 System philosophy ..................................................................................................................................................................................... 14
2.1 Introduction .....................................................................................................................................................................................................................................14
2.2 Motion control concepts..................................................................................................................................................................................................................16
2.2.1 PTP control.......................................................................................................................................................................................................................17
2.2.2 CP control.........................................................................................................................................................................................................................20
2.2.3 EG control.........................................................................................................................................................................................................................22
2.2.4 Other operations...............................................................................................................................................................................................................25
2.3 Servo system principles ..................................................................................................................................................................................................................27
2.4 Trajexia system architecture .........................................................................................................................................................................................................30
2.5 Cycle time ......................................................................................................................................................................................................................................31
2.6 Program control and multi-tasking ..................................................................................................................................................................................................37
2.7 Motion sequence and axes.............................................................................................................................................................................................................40
2.7.1 Profile generator ..............................................................................................................................................................................................................41
2.7.2 Position loop ....................................................................................................................................................................................................................41
2.7.3 Axis sequence .................................................................................................................................................................................................................41
2.7.4 Type of axis .....................................................................................................................................................................................................................41
2.8 Motion buffers ...............................................................................................................................................................................................................................48
2.9 Mechanical system .........................................................................................................................................................................................................................50
3 Hardware reference .................................................................................................................................................................................... 51
3.1 Introduction .....................................................................................................................................................................................................................................51
3.1.1 Trajexia High-Lights .........................................................................................................................................................................................................52
3.1.2 Trajexia Tools ...................................................................................................................................................................................................................53
3.1.3 This manual ......................................................................................................................................................................................................................53
3.2 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 5