Page 1 Cat. No. I57E-EN-01 Trajexia machine control system TJ2-MC64, 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: About This Manual
G7 Inverter TOE S616-60 Describes the installation and operation Please read this manual and the related manuals listed in the following table of G7 Inverters carefully and be sure you understand the information provided before attempting to install or operate the Trajexia Machine Control units. Be sure...
Page 4 WARNING Failure to read and understand the information provided in this manual may result in personal injury or death, damage to the pro- duct, or product failure. Please read each section in its entirety and be sure you understand the information provided in the section and related sections before attempting any of the procedures or opera- tions given.
Page 5: Table Of Contents
Introduction ...............................................7 Motion control concepts ............................................8 Servo system principles ..........................................20 Trajexia system architecture .........................................23 Cycle time ..............................................24 Program control and multi-tasking using BASIC programs only ..............................31 Motion sequence and axes..........................................33 Motion buffers ...............................................43 Mechanical system ............................................45 Hardware reference ....................................46 Introduction ..............................................46...
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 TJ2) is over- internal parts while power is being supplied.
Page 7: Operating Environment Precautions
Caution The TJ2 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 Safety warnings and precautions Caution Caution Do not pull on the cables or bend the cables beyond their natural The TJ2 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: 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 12: System Philosophy
Is the time needed to execute one complete cycle of operations in the TJ2- Ethernet Profibus DeviceNET MC64. The cycle time is divided in 4 time slices of equal time length, called CANopen "CPU slots". The cycle time is 1ms if SERVO_PERIOD=0.25ms, 0.5ms or Built-in Via TJ1-ML__ 1ms and 2ms if the SERVO_PERIOD=2ms.
Page 13: Motion Control Concepts
CPU slot the process will be assigned. Process 22 to 24 are for internal housekeeping. Each PLC task will get assigned to process 27 to 42. Process 25 and 26 are for internal housekeeping of the PLC engine. Motion control concepts The TJ2-MC64 offers these types of positioning control operations: 1.
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 TJ2- MC64 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 TJ2-MC64 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 TJ2-MC64 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 TJ2-MC64 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 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: Servo System Principles
The servo system of the TJ2-MC64 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 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 Following Error at high speed. · ∆P 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 28: Trajexia System Architecture
Programs make the system work in a defined way. The programs are written in a language similar to BASIC and control the application of the axes and modules. 22 Programs can be executed in parallel. The programs can be set to run at system power-up, started and stopped from other programs and executed from Trajexia Studio / CX-Motion Pro.
Page 29: Cycle Time
When the movement is finished, the motion command is removed from the buffer. The TJ2-MC64 can have up to 64 motion buffers, which is defined by the LIMIT_BUFFERED system parameter.
Page 30 • Low priority BASIC Program In each of the three CPU slots (1, 2 and 4) the type (High or Low priority BASIC programs or PLC) is executed which comes first in the list. Only processes of that type will then be executed in that slot.
Page 31: Mechatrolink
SERVO_PERIOD parameter. 2.5.1 Servo period The SERVO_PERIOD can be set at 0.25, 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: Mechatrolink
System philosophy 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. SERVO_PERIOD TJ2-MC64 TJ1-ML16 TJ1-ML04 0.25 ms 16 axes 0.5 ms...
Page 33 • 3x G-Series Servo Drive • SERVO_PERIOD = 1ms TJ2-MC64 Supports 0.25ms SERVO_PERIOD with 3 axes. TJ1-ML04 Supports 0.5ms SERVO_PERIOD with 3 devices. G-Series supports 1ms SERVO_PERIOD. This is the limiting factor. Address Address Address Terminator Axis 2 Axis 3...
Page 34 20 • 2x TJ1-ML16 Servo Drive • 16x G-Series Servo Drive • SERVO_PERIOD = 1ms TJ1-MC16 supports 0.25ms SERVO_PERIOD with 16 axes. TJ1-ML16 supports 1ms SERVO_PERIOD with 8 devices. G-Series supports 1ms SERVO_PERIOD. Address Address Address Address Address Address...
Page 35: Mechatrolink
8x G-Series Servo Drive • 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. G-Series Servo Drive supports 1.0ms SERVO_PERIOD.
Page 36: Program Control And Multi-Tasking Using Basic Programs Only
Enter button. 2.6.3 Multi-tasking Each cycle time is divided into 4 time slots. User processes run in 3 slots fig. 23 according to the priority and type of the process. The rules which type of process is is run in which slot are defined in the table below.
Page 37 • Low priority BASIC Program In each of the three CPU slots (1, 2 and 4) the type (High or Low priority BASIC programs or PLC) is executed which comes first in the list. Only processes of that type will then be executed in that slot. Processes of the same type will be executed alternately.
Page 38: 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 39 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 move, the axes are taken from the array in the order defined by the BASE command.
Page 40: Mechatrolink
Position loop in the Trajexia. TJ2-MC64 sends LINK-II Torque torque reference to the Servo Drive via MECHATROLINK-II. External Drive Stepper output Pulse and direction outputs. Position loop is in connected to a the Drive. TJ1-FL02 sends pulses and receives TJ1-FL02 no feed back.
Page 41: Mechatrolink
Virtual axis ATYPE=0 The main use cases of a virtual axis are: fig. 27 • As perfect master axis of the machine. All the other axes follow this virtual master axis. Profile generator • As auxiliary axis to split a complex profile into two or more simple movements, each assigned to a virtual axis.
Page 42: Mechatrolink
System philosophy MECHATROLINK-II position ATYPE=40 With SERVO = ON, the position loop is closed in the Servo Drive. Gain fig. 28 settings in the TJ2-MC64 have no effect. The position reference is sent to TJ1-MC__ TJ1-ML__ SERVO the Servo Drive.
Page 43: Mechatrolink
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 44 System philosophy Servo axis ATYPE=44 With SERVO = ON this is an axis with an analogue speed reference output fig. 31 and incremental encoder feedback input. The position loop is closed in the TJ2-MC64 which sends the resulting speed reference to the axis.
Page 45 Encoder output ATYPE=45 The position profile is generated and the output from the system is an fig. 33 incremental encoder pulse. This is useful to control a motor via pulses or as a position reference for another motion controller. TJ1-FL02...
Page 46: Mechatrolink
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 Drive, but the position performance is lower. DPRAM REFRESH...
Page 47: Mechatrolink
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 Drive. 44, 46, Speed Recommended mode for speed control with...
Page 48: Motion Buffers
NTYPE. The new movement that waits for execution. NTYPE relates to (one per axis) BASIC PROGRAM BASIC PROGRAM the axis and not to the process. NTYPE is the first entry of the Look Waiting to be executed NTYPE CONNECT(1,1) AXIS(2) ..
Page 49 BUFFER ..MOVE(1000) ..DATUM(3) 3.- A third movement can 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 Drives and a ratio of 1:5 for big Servo Drives you can reach the maximum dynamic of the motor-Drive combination.
Page 51: Hardware Reference
At the heart of Trajexia lies the TJ2 multi-tasking machine Master Master Master controller. Powered by a 64-bit processor, it can do motion tasks such as e- Ethernet cam, e-gearbox, registration control and interpolation, all via simple motion commands.
Page 52 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 53: Hardware Reference Manual
Hardware reference DeviceNet The DeviceNet slave allows connectivity to the DeviceNet network in your machine. CANopen The CANopen master allows connectivity to the CANopen network in your machine. Modbus Both ModbusRTU via serial and ModbusTCP via Ethernet are supported to be able to connect to masters supporting the same interface.
Page 54 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 55: All Units
0 or 1 TJ1-PRT (PROFIBUS-DP Slave Unit) or TJ1-DRT units (DeviceNet Slave Unit) • 0 or 1 TJ1-CORT units (CANopen Master Unit). Unit number: 1. Trajexia does not support both a TJ1-PRT and a TJ1-DRT unit in the same system. HARDWARE REFERENCE MANUAL...
Page 56: Hardware Reference Manual
Hardware reference The figure is an example of a simple configuration. fig. 4 A. Power supply B. TJ2-MC64. C. TJ1-ML__. D. G-Series Servo Drive E. G-Series Servo motor OM RO MO TIO N CO NTR OLL ML 16 F. TJ1-TER.
Page 57: Hardware Reference Manual
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 58: Hardware Reference Manual
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 59: Hardware Reference Manual
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 60: Hardware Reference Manual
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 61: Hardware Reference Manual
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 62: Hardware Reference Manual
Hardware reference 3.2.3 Unit dimensions The dimensions for the units of the Trajexia system are as follows: Trajexia machine controller All measurements are in mm. fig. 13 70.3 HARDWARE REFERENCE MANUAL...
Page 63: Hardware Reference Manual
Hardware reference Trajexia units All measurements are in mm. fig. 14 70.3 39.9 HARDWARE REFERENCE MANUAL...
Page 64: Hardware Reference Manual
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 65 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 screwDrive into the inner (square) hole. Push firmly.
Page 66: 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 67 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 68: Tj2-Mc64
TJ2-MC64 3.4.1 Introduction The TJ2-MC64 is the heart of the Trajexia system. You can program the TJ2-MC64 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 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 TJ2-MC64 and to a PC.
Page 70 Use either a crossover or a Ethernet patch cable for this connection. If you connect the PC directly to the TJ2-MC64, and not via a hub or any other network device, the PC must have a fixed IP address.
Page 71 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 TJ2-MC64 in the network:...
Page 72 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 73 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 74: Digital Inputs
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 75: Digital Outputs
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 76 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 TJ2-MC64 has not been on, set the...
Page 77 • IEC 61131-3 LD and ST Multi-tasking Up to 22 BASIC programs Up to 16 PLC tasks Digital I/O 16 digital inputs and 8 digital outputs, freely configurable Measurement units User-definable Available memory for user pro- 8 MB grams Data storage capacity...
Page 78 Hardware reference Item Specification Transmission format, databit length 7 or 8 bit Transmission format, stop bit 1 or 2 bit Transmission format, parity bit Even/odd/none Transmission mode • RS232C: Point-to-point (1:1) • RS422/485: Point-to-multipoint (1:N) Transmission protocol • Host link master protocol •...
Page 79 Hardware reference 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 80: 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 81: Leds Description
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 82 Hardware reference Example connections Example 1 fig. 31 • 1 x TJ2-MC64 Servo Driver • 1 x TJ1-ML__ • 3 x G-Series Servo Drive • 1 x MECHATROLINK-II terminator Address Address Address Terminator Axis 2 Axis 3 Axis 4 HARDWARE REFERENCE MANUAL...
Page 83 Hardware reference Example 2 fig. 32 • 1 x TJ2-MC64 Servo Drive • 2 x TJ1-ML16 • 16 x G-Series Servo Drive • 2 x MECHATROLINK-II terminator Address Address Address Address Address Address Address Address Terminator Axis 0 Axis 1...
Page 84 Hardware reference The MECHATROLINK-II Units can control different combinations of axes, fig. 33 Inverters and I/O units. Example 3 • 1 x TJ2-MC64 • 1 x TJ1-ML16 • 1 x G-Series Servo Drive • 1 x Inverter • 3 x I/O units •...
Page 85 Electrical characteristics Conforms to MECHATROLINK-II standard Communication connection 1 MECHATROLINK-II master connector Transmission speed 10 Mbps Servo period 0.5 ms, 1 ms or 2 ms Transmission distance without a Up to 50 m repeater TJ1-ML__ related devices Name Remarks Model...
Page 86 TJ1-ML__ box contents MECHATROLINK-II Interface Unit box: • Safety sheet. • TJ1-ML__. • Protection label attached to the top surface of the unit. 3.5.6 Related BASIC commands The following BASIC commands are related to the TJ1-ML__: • ATYPE • MECHATROLINK •...
Page 87 Other functionality of the Servo Drive is available but refreshed at slower rate. A Servo Drive is considered an axis by the TJ2-MC64. 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 88: Led Indicators
Hardware reference 3.5.8 MECHATROLINK-II G-series Servo Drives You can also connect a G-series Servo Drive to a Trajexia system. fig. 34 Label Terminal/LED Description SP, IM, G Analog monitor check pins AC SERVO DRIVE L1, L2, L3 Main-circuit power terminals...
Page 89 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 90 The display of the 7-segment LED on the front panel is shown below. fig. 36 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 91 Hardware reference CN1 I/O Signal connector The table below shows the pin layout for the I/O signal connector (CN1). fig. 37 12 to 24-VDC Forward Drive +24VIN Power Supply Prohibit Input Input Code Signal name Emergency Reverse Drive STOP Prohibit Input...
Page 92 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 93 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 94 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 Related BASIC commands The following BASIC commands are related to the MECHATROLINK-II G- series Servo Drives: •...
Page 95 Hardware reference 3.5.9 MECHATROLINK-II Accurax G5 Servo Drives You can also connect an Accurax G5 Servo Drive to a Trajexia system. fig. 39 Label Terminal/LED Description Display area Analog monitor check pins L1, L2, L3 Main-circuit power terminals L1C, L2C...
Page 96 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 97 X1 (right) and X10 (left) rotary switches. MECHATROLINK-II communications status LED indicator (COMM) The setting range for the node address setting rotary switch is 1 to 31. The actual station address used on the network will be the sum of the rotary Rotary switches for node address setting switch setting and the offset value of 40h.
Page 98 The settable range for a node address is between 1 and 31. The node address used over the network is the value obtained by add- ing the offset 40h to the rotary switch set value. If any value over or under the range is set, the Node address setting error (Err82.0) occurs.
Page 99 The warning code hex and the normal (E.g. overload) indication show alternatively. (E.g. overload) Warning code Normal indication (for 2 s) (for approx 4 s) *1. When the Safety input error (Err30.0) occurs, the alarm code is not shown. Instead, "St" flashes. HARDWARE REFERENCE MANUAL...
Page 100 Hardware reference CN1 I/O Signal connector The table below shows the pin layout for the I/O signal connector (CN1). fig. 42 Absolute General-purpose encoder backup OUTM1 Output 1 Absolute battery input Code Signal name General-purpose encoder backup OUTM1COM BATGND Output 1 Common...
Page 101 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 102 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 103 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 104 Hardware reference Signal Name Shell Shield ground HARDWARE REFERENCE MANUAL...
Page 105 Hardware reference 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 106 You can also connect the following Yaskawa Servo Drives: • Sigma-II series Servo Drive with a JUSP-NS115 MECHATROLINK-II interface unit • Sigma-V series Servo Drive • Junma series Servo Drive For details please refer to the manuals of these Drives. HARDWARE REFERENCE MANUAL...
Page 107 A V7 Inverter with a MECHATROLINK-II interface is designed to make fig. 44 speed and torque control (if the Inverter supports this feature) of an AC induction motor. No position control is supported via MECHATROLINK-II. The illustration shows the external appearance of the SI-T/V7 Unit.
Page 108 Hardware reference LED indicators The LED indicators indicate the status of the communications of the fig. 45 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 109 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. 47 Label Status Function Factory setting 0 to F Set the 1st digit of the station number.
Page 110 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 111 AC induction motor. No position control is supported via MECHATROLINK- By default an Inverter is not considered an axis by the TJ2-MC64. 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 112 49 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 113 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. 50 Name Label Status Function Baud rate...
Page 114 Hardware reference Rotary switch The following table shows the rotary switch settings of the SI-T/V7 Unit. fig. 51 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 115 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 116 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 117: System Configuration
Max. 50 m Extension (C) Max. 30 m Max. 50 m 1. The repeater itself is included in the maximum number of MECHATRO- LINK-II devices. The total number of MECHATROLINK-II devices is set by the TJ1-ML__: • The TJ1-ML04 can have up to 4 MECHATROLINK-II devices.
Page 118: Grt1-Ml2
TJ2-MC64 Machine 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. 55 Label...
Page 119 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 120 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 121 Different model unit detected after SmartSlice I/O Unit replacement Fatal communication error occurred. Lit for 2 s Failure occurred while restoring set- tings to I/O unit or downloading I/O unit settings UNIT Green Not Lit No power supply to the unit...
Page 122 Hardware reference Note • When the power of the Trajexia system is turned on, the TJ2- MC64 executes its startup sequence before it initializes the MECHATROLINK-II bus. During this startup sequence, the ML COM LED is off. • When the TJ2-MC64 initializes the MECHATROLINK-II bus with the command MECHATROLINK(unit,0), the ML COM LED goes on.
Page 123 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 124 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 125: Specifications
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 126 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 127 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 128 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 129 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 130 (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 131 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 132 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 133 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 134: Tj1-Prt
Hardware reference TJ1-PRT 3.7.1 Introduction The TJ1-PRT is an interface between the Trajexia system and a PROFIBUS fig. 64 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 135 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 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 137 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 138: Tj1-Drt
Hardware reference TJ1-DRT 3.8.1 Introduction The TJ1-DRT is an interface between the Trajexia system and a DeviceNet fig. 66 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 139 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 140 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 141 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 142: 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. 68 Part Description CORT LED indicators NWST B and C Node number selectors CANopen port CAN L DRAIN CAN H 3.9.2...
Page 143 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 144 Communication line, high Power supply input, positive voltage 3.9.5 TJ1-CORT specifications Item Specification Power supply 5 VDC (supplied by the TJ2-MC64) Power consumption 120 mA at 5 VDC Network power supply 24 VDC Network current con- 15 mA at 24 VDC...
Page 145 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 146: 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. 70 in these modes: •...
Page 147: Led Description
OUT 0 Encoder A REG 1 Encoder Z OUT 1 Encoder B 1. In case of incremental encoder, it reflects the status of the Z-input. In case of absolute encoder, it reflects the status of the clock output. HARDWARE REFERENCE MANUAL...
Page 148 Hardware reference 3.10.3 TJ1-FL02 connections The signals of the 15-pin connector depend on the type of interface selected: 15-pin connector fig. 71 Axis Encoder Stepper Encoder Stepper SSI/EnDat Tamagawa input input output output Step+ Step+ Clock+ Step- Step- Clock- Dir+...
Page 149 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. 73 Item Specification TJ 1-FL02 Type Reg A0 7 Maximum voltage...
Page 150 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 151 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 152 ENA0+ / Z0- / ENA0- / 5,15 The example shows the connections for the TJ1-FL02 to a F7 Inverter for fig. 78 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 153 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 154 Two fast registration inputs per axis • Two definable inputs • Two hardware position switch outputs • 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). HARDWARE REFERENCE MANUAL...
Page 155 • An advanced phase B for reverse rotation. By monitoring the relative phase of the 2 signals, you can easily detect the rotation direction. If signal A leads signal B, the movement is clockwise and the counter increments. If channel B leads channel A, the movement is counterclockwise and the counter decrements.
Page 156 (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 157 Encoder output The TJ1-FL02 can generate encoder type pulses. For each internal count fig. 81 (C), the TJ1-FL02 produces one encoder edge for phase A (A) or phase B (B). Related BASIC commands The following BASIC commands are related to incremental encoders: •...
Page 158 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 159 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. 83 Stegmann ATM 60-A encoder to the TJ1-FL02.
Page 160 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 the fig. 84 Heidenhain ROC 425 2048 5XS08-C4 encoder to the TJ1-FL02.
Page 161 250 µs cycle. The data returned is available to BASIC and you can use it to drive a servo motor. HARDWARE REFERENCE MANUAL...
Page 162 Hardware reference In the figure, A is the encoder side, and B is the receiving side. fig. 85 The connections for Tamagawa are: Encoder signal Axis A Axis B TJ1-FL02 ADM485 kΩ 5 / 15 5 / 15 kΩ kΩ...
Page 163 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 164 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 165: 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 February 2010 First version HARDWARE REFERENCE MANUAL...
Page 166 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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Omron TJ2-MC64 Hardware Reference Manual

1 Safety Warnings and Precautions

2 System Philosophy

3 Hardware Reference

Revision History

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