TJ1-ML16 - Omron Automation and Safety

23Trajexia motion controller

Motion controllers

Trajexia stand-alone

Trajexia motion controller

Stand-alone advanced motion controller over

EtherCAT

• Perfect motion control of up to 64 axes. Scalability

with EtherCAT masters for 4, 16 and 64 axes.

• Supports position, speed and torque control

• Multi-tasking controller capable of running up to

22 tasks simultaneously

• Advanced motion control such as linear, circular,

helical or spherical interpolation, electronic cams

and gearboxes via simple motion commands.

• Control of servos, inverters, vision systems and dis-

tributed I/Os over a single EtherCAT network

• Support for EtherNet/IP communications

• Advanced debugging tools including data trace and

oscilloscope functions

• Open communication: Serial and EtherNet/IP built-

in, PROFIBUS-DP, DeviceNet and CANopen

System configuration

Y203-EN2-05+MotionDrives+Cat.book Seite 23 Freitag, 10. Juni 2011 4:05 16

NS-series HMI

CJ-series PLC

Ethernet

Digital I/Os

Host-link

Input

TJ1, TJ2 TJ1: ML04/16 (up to 4 units)

TJ2: ECT04/16/64 or ML04/16

(EtherCAT requires TJ2)

Accurax G5 series

Servo drive

Accurax G5

series Servo

motors

Fast registration

inputs, home and

limits switches...

Personal computer software:

CX-One (CX-Motion Pro)

Trajexia Studio

Fieldbus

Terminator

G-Series

Servo motors

SmartSlice IOs

CANopen

Devices

DeviceNet

Master

PROFIBUS-DP

Master

Motion controller

MECHATROLINK-II Network

EtherCAT Network

NS-series HMI

Personal computer software:

CX-One (CX-Motion Pro)

Trajexia Studio

Terminator

G-Series

Servo motors

• Multi-tasking controller capable of running

up to 22 tasks simultaneously

• Open communication: Serial Ethernet

built-in; Proﬁ bus-DP, DeviceNet and

CANopen modules available

24 Motion Control

Trajexia general specifications

Trajexia motion control units

Specifications

Item Details

Model TJ@

Ambient operating temperature 0 to 55°C

Ambient operating humidity 10 to 90%RH

Ambient storage temperature -20 to 70C

Ambient storage humidity 90% max. (with no condensation)

Atmosphere No corrosive gases

Vibration resistance 10 to 57 Hz: (0.075 mm amplitude)

57 to 100 Hz Acceleration: 9,8 m/s2, in X, Y and Z directions for 80 minutes.

Shock resistance 143 m/s2, 3 times each X, Y and Z directions.

Insulation resistance 20 MOhm

Dielectric strength 500 Volt

Protective structure IP20

International standards CE, EN 61131-2, cULus, Lloyds, RoHS compliant

Item Details

Model TJ2-MC64 TJ1-MC16 TJ1-MC04

Number of axes 64 16 4 (+1 using TJ1-FL02 unit)

Number of inverters and I/O modules Up to 64 (Inverters in position, speed

or torque mode)

8 maximum (Inverters in position,

speed or torque mode)

8 maximum (Max. 4 Inverters in

position mode)

Motion bus Number of EtherCAT master units*1

*1. The EtherCAT master unit cannot be used in combination with a MECHATROLINK master unit when using TJ2-MC64 motion controller unit with firmware 2.0132.

1 EtherCAT master is allowed per con-

troller (see below TJ2-ECT64/ECT16/

ECT04 for detailed info)

not supported

Number of ML2 master units Up to 4 MECHATROLINK-II master units per controller (see below TJ1-ML16/ML04 for detailed info)

Cycle time Selectable 0.25 ms, 0.5 ms, 1 ms or 2

Selectable 0.5 ms, 1 ms or 2 ms

Programming language BASIC-like motion language

Multi-tasking Up to 22 tasks running simultaneously Up to 14 tasks running simultaneously

Built-in digital I/O 16 inputs and 8 outputs, for general purpose

Measurement units User definable

Available memory for user programs 8 MB 500 KB

Data storage capacity Up to 32 MB Flash data storage Up to 2 MB Flash data storage

Saving program data, motion controller Flash-ROM SRAM with battery backup and Flash-ROM

Saving program data, personal computer Via CX-Motion Pro/Trajexia Studio software

Communication ports 1 Ethernet port and 2 serial ports

Firmware update Via CX-Motion Pro/Trajexia Studio software

Ethernet port Electrical characteristics Conform to IEEE 802.3 (100BaseT)

Connector RJ45 Ethernet connector

Transmission protocol Modbus TCP slave

TELNET

FINS server and client

EtherNet/IP slave not supported

Serial port Electrical characteristics Conform 1 port to RS232C and 1 port to RS485/RS422A (selectable by switch)

Connector SUB-D9 connector (Counterpart included in the package)

Synchronization Start-stop synchronization (asynchronous)

Baud rate 1200 / 2400 / 4800 / 9600 / 19200 / 38400 bps

Transmission format Databit length (7 or 8 bit)

Stop bit (1 or 2 bit)

Parity bit (Even/Odd/None)

Transmission mode Point-to-multipoint (1:N)

Transmission protocol RS-232C (1:1) Host Link master protocol,

Host Link slave protocol,

ASCII general-purpose,

Modbus RTU slave

RS-485 (1:N)

RS-422A (1:N)

Host Link master protocol,

Host Link slave protocol,

ASCII general-purpose,

Modbus RTU slave

Galvanic isolation RS422A port

Communication buffers 254 bytes

Flow control None

Terminator Yes, selectable by switch

Cable length 15 m for RS232 and 500 meter for RS422/485

Y203-EN2-05+MotionDrives+Cat.book Seite 24 Freitag, 10. Juni 2011 4:05 16

Trajexia motion controller 25

Motion controllers

Trajexia EtherCAT master units

Trajexia MECHATROLINK-II master units

Trajexia PROFIBUS slave unit

Trajexia DeviceNet slave unit

Trajexia CANopen unit

Item Specifications

Model TJ2-ECT64 TJ2-ECT16 TJ2-ECT04

Controlled devices with EtherCAT interface Accurax G5 servo drive, MX2 inverter and SmartSlice IOs

Electrical characteristics Conform to Ethernet (IEEE 802.3), 100Base Tx

Communications port 1 EtherCAT communication connector (to connect the EtherCAT twisted-pair cable)

Transmission speed 100 Mbps

Topology Daisy chain, line or drop line

Communications media STP Category 5

Communication cycle 0.5 ms, 1 ms or 2 ms

Stations slave types*1

*1. The TJ2-MC64 CPU supports a total of 1024 digital I/O points and 36 analogue I/O points.

Servo drives (axis)

Frequency inverters (axis)

I/O modules (devices)

Number of axes per master / Cycle time*2

*2. The number of axes per master/ cycle time is currently (TJ2-MC64 motion controller with firmware 2.01.32) limited to:

M a x . 3 2 a x e s @ 2 m s

Max. 16 axes @ 1 ms

Max. 8 axes @ 0.5 ms

Max.64 axes/2 ms Max. 16 axes/2 ms Max. 4 axes/2 ms

Max.32 axes/1 ms Max. 16 axes/1 ms Max. 4 axes/1 ms

Max. 16 axes/0.5 ms Max. 16 axes/0.5 ms Max. 4 axes/0.5 ms

Transmission distance Up to 100 meters between nodes

Auxiliary I/Os 8 fast registration inputs

Item Specifications

Model TJ1-ML16 TJ1-ML04

Controlled devices with MECHATROLINK-II interface Accurax G5, G-Series, MX2 inverter and SmartSlice IOs

Electrical characteristics Conforms to MECHATROLINK standard

Communication ports 1 MECHATROLINK-II master

Transmission speed 10 Mbps

Communication cycle 0.5 ms, 1 ms or 2 ms

Stations slave types Axes or servo drives

Frequency inverters

I/O modules

Number of stations per master / Cycle time Max.16 Stations/2 ms Max. 4 Stations/2 ms

Max. 8 Stations/1 ms Max. 4 Stations/1 ms

Transmission distance Max. 50 meters without using repeater

Items Specifications

Model TJ1-PRT

PROFIBUS standard Conforms to PROFIBUS-DP standard EN50170 (DP-V0)

Communication ports 1 PROFIBUS-DP slave

Transmission speed 9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500, 3000, 6000 and 12000 kbps

Node numbers 0 to 99

I/O size 0 to 122 words (16 bit), configurable, for both directions

Galvanic isolation Yes

Items Specifications

Model TJ1-DRT

DeviceNet standard Conforms to DeviceNet standard of CIP edition 1

Communication ports 1 DeviceNet slave

Transmission speed 125, 250 and 500 Kbps, auto-detect

Node numbers 0 to 63

I/O size 0 to 32 words (16 bit), configurable, for both directions

Galvanic isolation Yes

Items Specifications

Model TJ1-CORT

Electrical Characteristics Conforms to CAN 2.0 B

Communication ports 1 CANopen

Transmission speed 20, 50, 125 and 500 Kbps

Implemented CiA Standards DS301, DS302

PDO Support 8 TPDO and 8 RPDO

PDO Mapping Each PDO can be mapped into TJ1-MC16/04 VR, table, analogue and digital IO.

BASIC commands assign mapping and start address*1

*1. The TJ1-MC16/04 CPUs support a total of 256 digital I/O points and 36 analogue I/O points. The TJ2-MC64 CPU supports a total of 1024 digital I/O points and 36

analogue I/O points.

CANopen slave configuration Any SDO message can be sent using BASIC during start-up and operation

CANopen network states CANopen network can be set to pre-operational and operational using BASIC

CANopen slave emergencies Available using BASIC command

Galvanic isolation Yes

Y203-EN2-05+MotionDrives+Cat.book Seite 25 Freitag, 10. Juni 2011 4:05 16

26 Motion Control

Trajexia flexible axis unit

SmartSlice EtherCAT interface unit

SmartSlice MECHATROLINK-II interface unit

Items Specifications

Model TJ1-FL02

Number of axes 2. Every axis has 1 analog output, 1 encoder in/out -software configurable - and several digital I/O

Control methods

(independent per axis)

±10 V analogue output + encoder input (closed loop)

Line driver AB output

Stepper pulse output in closed loop or pulse train output in open loop

Encoder Encoder protocols Abs SSI 200 kHz, Abs EnDat 1 MHz, Abs Tamagawa and Incremental Line driver AB

Encoder Input maximum frequency 6 MHz

Encoder/pulse output max. frequency 2 MHz

Auxiliary I/Os 2 fast registration inputs, 2 definable inputs, 2 enable output, 4 position switch outputs or axes reset

Galvanic isolation Yes

Item Specifications

Model GRT1-ECT

Electrical characteristics Conform to Ethernet (IEEE 802.3), 100Base-TX

Communication cycle 0.25 ms min.

Power supply 24 VDC

Number of connectable Slices Up to 64 slices with a maximum amount of 128 bytes*1

*1. The TJ2-MC64 CPU supports a total of 1024 digital I/O points and 36 analogue I/O points.

IO mapping Automatic analogue and digital IO mapping into TJ2-MC64 CPU

Slice unit configuration Not supported

Supported slice units See ordering information section

Item Specifications

Model GRT1-ML2

Electrical characteristics Conform to MECHATROLINK standard

Communication cycle 0.5, 1 or 2 ms

Power supply 24 VDC

Number of connectable Slices Up to 64 slices with a maximum amount of 128 bytes*1

*1. The TJ1-MC16/04 CPUs support a total of 256 digital I/O points and 36 analogue I/O points.

The TJ2-MC64 CPU supports a total of 1024 digital I/O points and 36 analogue I/O points.

IO mapping Automatic analogue and digital IO mapping into TJ1-MC16/04 and TJ2-MC64 CPUs

Slice unit configuration Not supported

Supported slice units See ordering information section

Y203-EN2-05+MotionDrives+Cat.book Seite 26 Freitag, 10. Juni 2011 4:05 16

Trajexia motion controller 27

Motion controllers

Trajexia motion controller unit - TJ2-MC64, TJ1MC-16/04

Trajexia DeviceNet slave unit - TJ1-DRT

Trajexia PROFIBUS-DP unit - TJ1-PRT

Trajexia EtherCAT master unit - TJ2-ECT04/16/64

Trajexia MECHATROLINK-II master unit - TJ1-ML16/04

Trajexia CANopen unit - TJ1-CORT

Nomenclature

Display

RS-232C and

RS422A/485

serial ports

LEDs

RS422A/RS485

switches

Ethernet port

Digital I/O

connector

Battery

compartment

V-

CAN L

DRAIN

CAN H

V+

Unit LEDs

DeviceNet slave port

Node selection

Unit LEDs

PROFIBUS-DP slave port

PROFIBUS node

selection

Unit LEDs

EtherCAT master port

12-pin connector

(Registration inputs)

ECT64

CN1

CN2

RUN

ML16

CN1

Unit LEDs

MECHATROLINK-II master port

V-

CAN L

DRAIN

CAN H

V+

Unit LEDs

CANopen port

Node selection

CORT

Y203-EN2-05+MotionDrives+Cat.book Seite 27 Freitag, 10. Juni 2011 4:05 16

28 Motion Control

Trajexia Flex axis unit - TJ1-FL02 SmartSlice EtherCAT interface unit - GRT1-ECT

SmartSlice MECHATROLINK-II interf. unit - GRT1-ML2

Trajexia motion controller - TJ2-MC64, TJ1-MC16/04 Trajexia units - TJ1-ML16/04, -PRT, -DRT, -CORT, -FL02,

TJ2-ECT64/16/04

FL02

Unit LEDs

18 pin connector

(Digital and Analogue IOs)

15 pin connector

(Encoders IN/Out)

EtherCAT

node selection

Unit LEDs

Unit dipswitches

Unit power supply

terminals

I/O power supply

terminals

Link/activity LED IN port

EtherCAT connector OUT

EtherCAT connector IN

Link/activity LED OUT port

Unit LEDs

-V

INPUT

DC24V

A/B

CN1

CN2

BACK4

-V

I/O

UNIT

ADR

REGS

NC2

ML COM

ALARM

SW1

GRT1-ML2

SW2

RUN

I/O PWR

UNIT PWR

ML connectors

FG connector

MECHATROLINK-II

node selection

Slice-master switches

Unit power

IO power

Dimensions

70.3

39.9

70.30

Y203-EN2-05+MotionDrives+Cat.book Seite 28 Freitag, 10. Juni 2011 4:05 16

Trajexia motion controller 29

Motion controllers

Trajexia system - CJ1W-PA202 + TJ1-MC16 + one module + TJ1-TER

SmartSlice interface unit - GRT1-ML2

SmartSlice end unit - GRT1-END

SmartSlice interface unit - GRT1-ECT

SmartSlice I/O units - GRT1-_

29.7

3145

PA202

13.8

36.8

16.2

30.2

42.8

54.1

4.4

582.5

804.4

27.6

61.2

1.5 69.7

13.1

Y203-EN2-05+MotionDrives+Cat.book Seite 29 Freitag, 10. Juni 2011 4:05 16

30 Motion Control

Trajexia motion controller

Trajexia - axes control modules

Trajexia - communication modules

EtherCAT - related devices

Servo system & frequency inverters

Note: Refer to servo systems and frequency inverter sections for detailed specs and ordering information

Ordering information

Name Model

Trajexia motion controller Unit, up to 64 axes. (Trajexia end cover unit TJ1-TER is included) TJ2-MC64

Trajexia motion controller unit, up to 16 axes. (Trajexia end cover unit TJ1-TER is included) TJ1-MC16

Trajexia motion controller unit, up to 4 axes. (Trajexia end cover unit TJ1-TER is included) TJ1-MC04

Power supply for Trajexia system, 100-240 VAC CJ1W-PA202

Power supply for Trajexia system, 24 VDC CJ1W-PD022

Name Model

Trajexia EtherCAT master unit (up to 64 servo drives)*1

*1. The number of servo drives is currently limited to 32 when using TJ2-MC64 motion controller with firmware 2.0132.

Note: The TJ1-ML04 and TJ1-ML16 supported by the TJ2-MC64 motion controller are V2 (Version 2) and lot number equal or above Lot. No.091019

(YYMMDD).

TJ2-ECT64

Trajexia EtherCAT master unit (up to 16 servo drives) TJ2-ECT16

Trajexia EtherCAT master unit (up to 4 servo drives) TJ2-ECT04

Trajexia MECHATROLINK-II master unit (up to 16 stations) TJ1-ML16

Trajexia MECHATROLINK-II master unit (up to 4 stations) TJ1-ML04

Trajexia flexible axis unit (for 2 stations) TJ1-FL02

Name Model

Trajexia DevicNet slave unit TJ1-DRT

Trajexia PROFIBUS-DP slave unit TJ1-PRT

Trajexia CANopen unit TJ1-CORT

Name Model

Accurax G5 servo drive EtherCAT built-in R88D-KN@@@-ECT

MX2 inverter with EtherCAT option board Frequency inverter 3G3MX2-A@

EtherCAT option board 3G3AX-MX2-ECT

Motion

controller

Axes

control

Communication

slave

End cover

(Included into the Motion controller)

Power

Supply

Y203-EN2-05+MotionDrives+Cat.book Seite 30 Freitag, 10. Juni 2011 4:05 16

Trajexia motion controller 31

Motion controllers

SmartSlice IOs system

Note: Refer to Automation systems catalogue for detailed specs and accesories information

GX-Series I/O Blocks

Note: The GX-Series I/O blocks are only supported by the T2-MC64 motion controller and with official firmware release above 2.0132.

Vision system

Note: The vision systems are only supported by the T2-MC64 motion controller and with official firmware release above 2.0132.

MECHATROLINK-II - related devices

Servo system & frequency inverters

Note: Refer to servo systems and frequency inverter sections for detailed specs and ordering information

Function Specification Model

SmartSlice Interface unit SmartSlice EtherCAT inteface unit GRT1-ECT

End plate, one unit required per bus interface GRT1-END

4 NPN inputs 24 VDC, 6 mA, 3-wire connection GRT1-ID4

4 PNP inputs 24 VDC, 6 mA, 3-wire connection GRT1-ID4-1

8 NPN inputs 24 VDC, 4 mA, 1-wire connection + 4xG GRT1-ID8

8 PNP inputs 24 VDC, 4 mA, 1-wire connection + 4xV GRT1-ID8-1

4 AC inputs 110 VAC, 2-wire connection GRT1-IA4-1

4 AC inputs 230 VAC, 2-wire connection GRT1-IA4-2

4 NPN outputs 24 VDC, 500 mA, 2-wire connection GRT1-OD4

4 PNP outputs 24 VDC, 500 mA, 2-wire connection GRT1-OD4-1

4 PNP outputs with short-circuit protection 24 VDC, 500 mA, 3-wire connection GRT1-OD4G-1

4 PNP outputs with short-circuit protection 24 VDC, 2 A, 2-wire connection GRT1-OD4G-3

8 NPN outputs 24 VDC, 500 mA, 1-wire connection + 4xV GRT1-OD8

8 PNP outputs 24 VDC, 500 mA, 1-wire connection + 4xG GRT1-OD8-1

8 PNP outputs with short-circuit protection 24 VDC, 500 mA, 1-wire connection + 4xG GRT1-OD8G-1

2 relay outputs 240 VAC, 2 A, normally-open contacts GRT1-ROS2

2 analogue inputs, current/voltage ±10 V, 0-10 V, 0-5 V, 1-5 V, 0-20 mA, 4-20 mA GRT1-AD2

2 analogue outputs, voltage ± 10 V, 0-10 V, 0-5 V, 1-5 V GRT1-DA2V

2 analogue outputs, current 0-20 mA, 4-20 mA GRT1-DA2C

2 Pt100 inputs Pt100, 2-wire or 3-wire connection GRT1-TS2P

2 Pt1000 inputs Pt1000, 2-wire or 3-wire connection GRT1-TS2K

2 Thermocouple inputs Types B, E, J , K, N, R, S, T, U, W, PL2, with cold junction compensation GRT1-TS2T

Name Model

16 NPN inputs 24 VDC, 6 mA, 1-wire connection, expandable GX-ID1611

16 PNP inputs 24 VDC, 6 mA, 1-wire connection, expandable GX-ID1621

16 NPN outputs 24 VDC, 500 mA, 1-wire connection, expandable GX-OD1611

16 PNP outputs 24 VDC, 500 mA, 1-wire connection, expandable GX-OD1621

8 inputs and 8 outputs, NPN 24 VDC, 6 mA input, 500 mA output, 1-wire connection GX-MD1611

8 inputs and 8 outputs, PNP 24 VDC, 6 mA input, 500 mA output, 1-wire connection GX-MD1621

16 NPN inputs 24 VDC, 6 mA, 3-wire connection GX-ID1612

16 PNP inputs 24 VDC, 6 mA, 3-wire connection GX-ID1622

16 NPN outputs 24 VDC, 500 mA, 3-wire connection GX-OD1612

16 PNP outputs 24 VDC, 500 mA, 3-wire connection GX-OD1622

8 inputs and 8 outputs, NPN 24 VDC, 6 mA input, 500 mA output, 3-wire connection GX-MD1612

8 inputs and 8 outputs, PNP 24 VDC, 6 mA input, 500 mA output, 3-wire connection GX-MD1622

16 relay outputs 250 VAC, 2 A,1-wire connection, expandable GX-OC1601

4 analogue inputs, current/voltage ±10 V, 0-10 V, 0-5 V, 1-5 V, 4-20 mA GX-AD0471

2 analogue outputs, current/voltage ±10 V, 0-10 V, 0-5 V, 1-5 V, 4-20 mA GX-DA0271

2 encoder open collector inputs 500 kHz Open collector input GX-EC0211

2 encoder line-driver inputs 4 MHz Line driver input GX-EC0241

Name Specification Model

Vision system with EtherCAT interface NPN FZM1-350-ECT

PNP FZM1-355-ECT

Smart camera with EtherCAT interface NPN/ Color camera FQ-MS120-ECT

NPN/ Monocrome camera FQ-MS120-M-ECT

PNP/ Color camera FQ-MS125-ECT

PNP/ Monocrome camera FQ-MS125-M-ECT

Name Model

Accurax G5 servo drive ML-II built-in R88D-KN@@@-ML2

G-Series servo drive ML-II built-in R88D-GN@@H-ML2

MX2 inverter with MECHATROLINK-II option board Frequency inverter 3G3MX2-A@

ML2 option board 3G3AX-MX2-MRT

Y203-EN2-05+MotionDrives+Cat.book Seite 31 Freitag, 10. Juni 2011 4:05 16

32 Motion Control

SmartSlice IOs system

MECHATROLINK-II cables

Computer software

Function Specification Model

SmartSlice Interface unit SmartSlice MECHATROLINK-II inteface unit GRT1-ML2*1

*1. The GRT1-ML2 supports the GRT1-IA4-1, GRT1-IA4-2, GRT1-OD4G-3, GRT1-TS2P, GRT1-TS2K and GRT1-TS2T slice units only in combina-

tion with TJ2-MC64 motion controller. They are not supported in combination with TJ1-MC16/04.

Refer to Automation systems catalogue for detailed specs and accesories information