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Motion & Drives - Motion Controllers

1. trajexia EI EH HARDWARE REFERENCE MANUAL 121 O Z UOY Hardware reference Dipswitch Function Setting Description ADR Automatic OFF to ON When the SmartSlice I O Units are restore replaced the parameter data that was backed up with the BACK dipswitch is automatically restored OFF Automatic restore disabled BACK Backup trigger ON to OFF to Parameter data of all connected Smart ON in 3 s Slice I O Units is backed up 1 When the unit power is on 2 When dipswitch 1 is set to ON 3 The setting of dipswitch 4 BACK is given in figure 60 Caution A The Backup and Restore functionality is available in the GRT1 ML2 However the backed up and restored parameters cannot be accessed via MECHATROLINK II communication H It is recommended to do a registration of the SmartSlice I O Units see the Trajexia Programming Manual It is recommended to set dipswitches 1 and 3 to on and dipswitch 4 to off after this registration The factory setting of all dipswitches is OFF HARDWARE REFERENCE MANUAL The backup operation starts after DIP switch 4 is turned from ON to OFF to ON within 3 seconds trajexia 122 O Z UOY Hardware reference LED in
2. 131 O Z UOY Hardware reference Provide separate conduits or ducts for the I O lines to prevent noise from high tension lines or power lines e Itis possible to connect up to 64 SmartSlice I O Units to 1 GRT1 ML2 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 To remove the GRT1 ML2 from the DIN rail release the sliders from the DIN rail with a screwDrive and pull the unit straight from the DIN rail Connections Connect the first SmartSlice I O Unit to the GRT1 ML2 Align the sides of the GRT1 ML2 and the SmartSlice I O Unit Slide the SmartSlice I O Unit to the rear until it clicks onto the DIN rail Caution A Do not touch the connectors on the side of GRT1 ML2 and the SmartSlice I O Units See the GRT1 Series SmartSlice I O Units Operation Manual for more information on connecting additional SmartSlice I O Units Turnback Units End Units and end plates Wiring The GRT1 ML2 has 2 power supply terminals Both power supply terminals have screwless clamping type connections To determine the power supply requirements do the steps below The maximum power consumption for SmartSlice I O Units is 80 W per block HARDWARE REFERENCE MANUAL
3. 000660 K CTO QH tO 7 o HARDWARE REFERENCE MANUAL 180 O Z UOY Hardware reference CN2 Encoder input connector The table below shows the pin layout for the encoder connector trajexia Signal Name 1 E5V Encoder power supply 5 V 2 EOV Encoder power supply GND 3 BAT Battery 4 BAT Battery 5 PS Encoder phase S input 6 PS Encoder phase S input Shell FG Shield ground CN4 External encoder connector The table below shows the pin layout for the external encoder connector Pin Signal Name 1 E5V Encoder power supply 5 V 2 EOV Encoder power supply GND 3 PS Encoder phase S input 4 PS Encoder phase S input 5 EXA Encoder phase A input 6 EXA Encoder phase A input 7 Encoder input 8 Encoder phase B input 9 EXZ Encoder phase Z input 10 EXZ Encoder phase Z input Shell FG Shield ground HARDWARE REFERENCE MANUAL 181 O Z uoisi e Hardware reference CN5 Monitor connector The table below shows the pin layout for the CN5 monitor connector Pin Signal Name 1 AM1 Analog monitor output 1 2 AM2 Analog m
4. Pin Signal Name 1 VBUS 2 D USB signal terminal 3 D 4 Reserved do not connect 5 SENGND Signal ground CN8 Safety connector The table below shows the pin layout for the CN8 safety connector Pin Signal Name 1 Reserved do not connect 2 Reserved do not connect 3 SF1 Safety input 1 4 SF1 5 SF2 Safety input 2 6 SF2 7 EDM EDM output 8 EDM HARDWARE REFERENCE MANUAL trajexia 104 O Z UOY Hardware reference Pin Signal Name Shell FG Shield ground CNA Power supply connector The table below shows the pin layout for the CNA power supply connector Pin Signal Name 1 L1 Main circuit 2 L2 power supply input 3 L3 4 L1C Control circuit 5 L2C power supply input CNB Servo motor connector The table below shows the pin layout for the CNB servo motor connector Pin Signal Name 1 B1 External Regeneration Resistor 2 B2 connection terminals 3 B3 4 U Servomotor 5 V connection 6 W terminals 7 8 Frame ground Related BASIC commands The following BASIC commands are related to the MECHATROLINK II Accurax G5 Servo Drives e ATYPE AXIS e AXIS ENABLE e AXISSTATUS DRIVE ALARM HARDWARE REFERENCE MANUAL 105 O Z UOY Hardware reference DRIVE_CLEAR DRIVE_CONTROL DRIVE_INPUTS DRIVE_MONITOR DRIVE
5. Pin Axis Encoder Stepper Encoder Stepper SSI EnDat Tamagawa input input output output 1 A A Step A Step Clock 2 A A Step A Step Clock 3 A B Dir B Dir 4 A B Dir B Dir 5 GND GND GND GND GND GND 6 A Z Z Enable Enable Data SD 7 A Z Z Enable Enable Data SD 8 B Z Z Enable Enable Data SD 9 B Z Z Enable Enable Data SD 10 5V out 5V out Donotuse Donotuse use Do not use 11 B A Step A Step Clock 12 B A Step A Step Clock 13 B B Dir B Dir 14 B B Dir B Dir 15 GND GND GND GND GND GND HARDWARE REFERENCE MANUAL Oo 151 O Z UOY Hardware reference 18 pin connector The 18 pin connector is a Weidmuller connector designation B2L 3 5 18 LH Pin Axis Signal Pin Axis Signal Description 1 A Vout 2 B Vout Analog output 3 A OV 4 B OV OV Reference for Vout 5 Wdog 6 Wdog Enable relay contacts 7 A Reg 0 8 B Reg 0 24V registration inputs 9 A Reg 1 10 B Reg 1 24V registration inputs 11 A AUX 12 B AUX 24V auxiliary inputs 13 A OUT 0 14 B OUT 0 position switch outputs HW_PSWITCH 15 A OUT 1 16 B OUT 1 OUT1 Auxiliary outputs 17 OV 18 24 24V Power supply Input for Common the Outputs Digital inputs The following table and illustration details the digital input specifications Item Specification Type PN
6. Pin Signal Name 1 B1 External Regeneration Resistor 2 B2 connection terminals 3 B3 4 U Servomotor 5 V connection 6 W terminals 7 8 Frame ground Related BASIC commands The following BASIC commands are related to the MECHATROLINK II G series Servo Drives e ATYPE AXIS AXIS ENABLE AXISSTATUS DRIVE ALARM DRIVE CLEAR DRIVE CONTROL DRIVE INPUTS DRIVE MONITOR DRIVE READ DRIVE RESET DRIVE STATUS DRIVE WRITE For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 95 O Z UOY Hardware reference 3 5 9 MECHATROLINK II Accurax G5 Servo Drives You can also connect an Accurax G5 Servo Drive to a Trajexia system Label Terminal LED Description A Display area B CN5 Analog monitor check pins C L1 L2 L3 Main circuit power terminals D L1C L2C Control circuit power terminals E CHARGE Charge lamp F B1 B2 B3 External Regeneration Resistor connection terminals G U V W Servomotor connection terminals H Protective ground terminals MECHATROLINK II communications status LED indicator J Rotary switches K CN6A CN6B MECHATROLINK II communications connector L CN7 USB connector M CN8 Connector for safety function devices N CN1 Control I O connector CN4 Full closed encoder connector P CN2 Encoder connector
7. Label Power supply terminal Description A Unit power supply Power supply to the internal circuits of the GRT1 ECT terminal and to the internal circuits of the connected SmartSlice 1 O Units through the SmartSlice bus B External I O power Power supply to the external I Os connected to the supply terminal SmartSlice I O Units HARDWARE REFERENCE MANUAL 195 O Z uoisi aH Hardware reference Note The unit power supply is siolated from the external I O power sup ply Please use 2 separate power supplies to keep this isolation 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 H 3 13 2 Specifications Specification Unit type SmartSlice GRT1 series Model GRT1 ECT Installation position On a DIN rail Power supply 24 VDC 10 15 20 4 to 26 4 VDC Current consumption TBD mA typical at 24 VDC Dimensions W x H x D 58 x 80 x 70 mm Installation Weight 130g HARDWARE REFERENCE MANUAL 196 O Z Hardware reference Item Specification Ambient operating tem 10 to 55 no icing or condensation perature Ambient op
8. 132 O Z uoisinay Hardware reference 1 Calculate the power consumption of all SmartSlice I O Units connected to the GRT1 ML2 Refer to the GRT1 Series SmartSlice I O Units Operation Manual W455 for the power value for each SmartSlice I O Unit If the power consumption exceeds 80 W mount a Right Turnback Unit GRT1 TBR on the SmartSlice I O Unit at the point where the power consumption is less than 80 W Connect the 24 VDC unit power supply to the Left Turnback Unit GRT1 TBL The maximum I O current consumption is 4 A 1 Calculate the total current consumption used by all external I Os of the connected SmartSlice I O Units including other units like Turnback Units Refer to the GRT1 Series SmartSlice I O Units Operation Manual W455 for the current value for each SmartSlice I O Unit If the current consumption exceeds 4 A or if you want to provide separate systems for inputs and outputs divide the SmartSlice I O Units at the desired point with a GRT1 PD 1 I O Power Supply Unit and provide a separate external I O power supply Note H It is also possible to provide a separate external I O power supply A at a Left Turnback Unit GRT1 TBL Note Make sure the power supply is isolated The GCN2 100 Turnback cable does not supply power The figure gives a wiring example HARDWARE REFERENCE MANUAL 133 O Z UOY Hardware reference To supply power to the units and the I O d
9. Cat No Contents F7Z Inverter TOE 5616 55 1 OY Describes the installation and operation of F7Z Inverters G7 Inverter TOE S616 60 Describes the installation and operation of G7 Inverters JUSP NS115 man ual SIEP C71080001 Describes the installation and operation of the MECHATROLINK II application module SI T MECHATRO LINK interface for the G7 amp F7 SIBP C730600 08 Describes the installation and operation of MECHATROLINK II interfaces for G7 and F7 Inverters ST T V7 MECHA TROLINK interface for the V7 SIBP C730600 03 Describes the installation and operation of MECHATROLINK II interfaces for V7 Inverters control system PROGRAMMING MANUAL Name Cat No Contents Trajexia motion con 150E Describes how to get quickly familiar trol system with Trajexia moving a single axis using QUICK START MECHATROLINK II in a test set up GUIDE Trajexia machine I57E Describes the installation and hardware control system specification of the Trajexia units and HARDWARE REF explains the Trajexia system philosophy ERENCE MANUAL Trajexia machine I58E Describes the BASIC commands to be used for programming Trajexia commu nication protocols and Trajexia Studio software gives practical examples and troubleshooting information Sigma ll Servo Drive manual SIEP 5800000 15 Describes the installation and operation of Sigma ll Servo Drives Sigmaz lll with
10. HARDWARE REFERENCE MANUAL 102 O Z UOY Hardware reference CN2 Encoder input connector The table below shows the pin layout for the encoder connector trajexia Signal Name 1 E5V Encoder power supply 5 V 2 EOV Encoder power supply GND 3 BAT Battery 4 BAT Battery 5 PS Encoder phase S input 6 PS Encoder phase S input Shell FG Shield ground CN4 External encoder connector The table below shows the pin layout for the external encoder connector Pin Signal Name 1 E5V Encoder power supply 5 V 2 EOV Encoder power supply GND 3 PS Encoder phase S input 4 PS Encoder phase S input 5 EXA Encoder phase A input 6 EXA Encoder phase A input 7 Encoder input 8 Encoder phase B input 9 EXZ Encoder phase Z input 10 EXZ Encoder phase Z input Shell FG Shield ground HARDWARE REFERENCE MANUAL 103 O Z uoisi e Hardware reference CN5 Monitor connector The table below shows the pin layout for the CN5 monitor connector Pin Signal Name 1 AM1 Analog monitor output 1 2 AM2 Analog monitor output 2 3 GND Analog monitor ground 4 Reserved do not connect 5 Reserved do not connect 6 Reserved do not connect CN7 USB Connector The table below shows the pin layout for the CN7 USB connector
11. 200 O Z Hardware reference Install the GRT1 ECT and the SmartSlice I O Units on a DIN rail To install a GRT1 ECT 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 To remove the GRT1 ECT from the DIN rail release the sliders from the DIN rail with a screwDrive and pull the unit straight from the DIN rail Connections Connect the first SmartSlice I O Unit to the GRT1 ECT Align the sides of the GRT1 ECT and the SmartSlice I O Unit Slide the SmartSlice I O Unit to the rear until it clicks onto the DIN rail Caution A Do not touch the connectors on the side of GRT1 ECT and the SmartSlice I O Units See the GRT1 Series SmartSlice I O Units Operation Manual for more information on connecting additional SmartSlice I O Units Turnback Units End Units and end plates Wiring The GRT1 ECT has 2 power supply terminals Both power supply terminals have screwless clamping type connections To determine the power supply requirements do the steps below The maximum power consumption for SmartSlice I O Units is 80 W per block 1 Calculate the power consumption of all SmartSlice I O Units connected to the GRT1 ECT Refer to the GRT1 Series SmartSlice I O Units Operation Manual W455 for the power value for each SmartSlice I O Unit 2 Ifthe power consumption exceeds 80
12. Caution A Always connect to a class 3 ground to 1000 or less when install ing the Units Not connecting to a class 3 ground may result in electric shock HARDWARE REFERENCE MANUAL 67 O Z UOY Hardware reference Caution A A ground of 1000 or less must be installed when shorting the GR and LG terminals on the Power Supply Unit Not connecting a ground of 100Q 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 A Tighten the screws of the power supply terminal block to the torque of 1 2 N m Loose screws can result in short circuit mal function or fire 3 3 3 PSU Specifications Power Input Maximum current consumption Output Supply voltage 5 V group 24 V group power Unit CJ1W PA202 110 240 VAC 28A 0 4A 14 W CJ1W PA205R 110 240 VAC 5 0A 0 8A 25 W CJ1W PD025 24 VDC 5 0A 0 8A 25 W Caution A The amount of current and power that can be supplied to the sys tem is limited by the capacity of the Power Supply Unit Refer to this table when designing your system so that the total current consumption of the units in the system does not exceed the maxi mum current for each voltage group The total power consumption must not exceed the maximum for the Power Supply Unit HARDWARE REFERENCE MANUAL 68 O Z Hardware reference 3 3 4 PSU box c
13. off the power before replacing the unit This includes the power to all master and slave units in the network Make sure that the new unit is not damaged poor connection is the probable cause of any malfunctioning do these steps Clean the connectors with a clean soft cloth and industrial grade alcohol Remove any lint or threads left from the cloth Install the unit again When returning a damaged unit to the OMRON dealer include a detailed damage report with the unit e Before reconnecting the new unit do these steps Set the MECHATROLINK II station address to the same address as the old unit If the table registration function was used for the old unit create a new registration table for the new unit See the Trajexia Programming Manual 3 6 4 Online replacement It is possible to replace SmartSlice I O Units connected to a GRT1 ML2 when the power is on The I O communication continues while a SmartSlice 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 2 Release the locks on the front of the unit and remove the terminal block Do not remove the wiring HARDWARE REFERENCE MANUAL 135 O Z UOY Hardware reference 3 Remove the main block of the unit Replace it with a new
14. 44 trajexia HARDWARE REFERENCE MANUAL 157 O Z UOY Hardware reference 3 10 5 Applicable BASIC commands The following BASIC commands are applicable for the TJ1 FL02 ATYPE AXIS OFFSET AXIS DISPLAY DRIVE CONTROL DRIVE STATUS BASIC commands applicable for specific encoder types are listed with the corresponding explanations in the next chapters For more information of BASIC commands refer to the Trajexia Programming Manual 3 10 6 Incremental encoder An incremental encoder has this phase definition An advanced phase A for forward rotation 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 Most rotary encodes also provide an additional Z marker This Z marker is a reference pulse within each revolution With these 3 signals you can determine the direction the speed and the relative position HARDWARE REFERENCE MANUAL 158 O Z Hardware reference Encoder input The pulse ratio of the TJ2 MC64 is 1 every encoder edge i e a pulse edge for either phase A or B is equal to one internal count The figure shows phase A A phase B B and the number of counts C for forward or clockwise rotation D and reverse or
15. Servo ON Servo OFF 00 Dot on right lights Gaz L7 C SUN O a Error Display Warning Display The main error code flashes The hexadecimal warning code and the as a decimal example for an overload normal display are displayed alternately example for an overload Z om gt 1 1 111 LILI Ll Warning code Normal code for 2 s for approx 4 s i will flash when a Safety Input Error Error No 30 0 occurs i does not flash on the display 178 trajexia Hardware reference CN1 I O Signal connector The table below shows the pin layout for the I O signal connector CN1 O Z UOY Generarputposo 1 Code Signal name uds ouTmicom Senerarpurpose wl 9 m Output 1 Common battery input 6 Input 24 VIN 12 to 24 VDC Power Supply Input Alarm Output Signal Ground Alarm Output 5 Input IN1 General purpose Input 1 General purpose ALMCOM 7 Input IN2 General purpose Input 2 T PM ca 8 Input IN3 General purpose Input 3 aa General 9 Input IN4 General purpose Input 4 10 Input IN5 General purpose Input 5 11 Input IN6 General purpose Input 6 12 Input IN7 General purpose Input 7 OUTM2COM General purpose 13 Input IN8 General purpose Input 8 Output 2 Common 3 O
16. Right dot lights Servo ON p 4 Servo OFF E Alarm display d The alarm code in a decimal number flashes E g overload l I I 00 Right dot lights Warning occurs v E Warning resolved Warning display The warning code hex and the normal indication show BB Ba E g overload BL nra m 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 100 trajexia Hardware reference CN1 I O Signal connector The table below shows the pin layout for the I O signal connector CN1 O Z UOY Generarputposo 1 Code Signal name uds ouTmicom Senerarpurpose wl 9 m Output 1 Common battery input 6 Input 24 VIN 12 to 24 VDC Power Supply Input Alarm Output Signal Ground Alarm Output 5 Input IN1 General purpose Input 1 General purpose ALMCOM 7 Input IN2 General purpose Input 2 T PM ca 8 Input IN3 General purpose Input 3 aa General 9 Input IN4 General purpose Input 4 10 Input IN5 General purpose Input 5 11 Input IN6 General purpose Input 6 12 Input IN7 General purpose Input 7 OUTM2COM General purpose 13 Input IN8 General purpose Input 8 Ou
17. EEE GEE i gt I L7 L7 EEE EFE gt gt Ch EEE GEE Lo i gt ET UER trajexia 70 O Z Hardware reference 3 4 5 TJ2 MC64 Connections The TJ2 MC64 comes with these connectors One Ethernet connector to connect to a PC or Ethernet network D One serial connector C e One 28 pin I O connector The parts for the serial connector and the 28 pin connector are supplied Ethernet connector The Ethernet connector is used to connect the TJ2 MC64 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 TJ2 MC64 and not via a hub or any other network device the PC must have a fixed IP address The TJ2 MC64 automatically detects when a cable is connected to the Ethernet connector BASIC installation precautions Make sure that the Ethernet system is to the IEEE Std 802 3 standard Do not install the Ethernet system near a source of noise Environmental precautions UTP cables are not shielded In environments that are subject to noise use a system with shielded twisted pair STP cable and hubs suitable for an FA environment Install twisted pair cables away from high voltage lines and devices that generate noise Install twisted pair cables in locations that are free of high humidity and excessive dus
18. HARDWARE REFERENCE MANUAL trajexia 96 O Z UOY Hardware reference MECHATROLINK II Communications Status LED Indicator The table below shows the LED indication status and the corresponding conditions of the communications LED status Communications status Not lit No communication is established Green Flash Asynchronous communications is established Green Light Synchronous communications is established Red Flash A clearable error occurred in MECHATROLINK II communications e Communications error Err83 0 Transmission cycle error Err84 0 SSYNC SET error Err84 4 Watchdog data error Err86 0 Transmission cycle setting error Err90 0 CONNECT error Err90 1 SYNC command error Err91 0 Red Light A non clearable error occurred in MECHATROLINK II communica tions Node address setting error Err82 0 SYNC process error Err84 3 Note H 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 HARDWARE REFERENCE MANUAL trajexia 97 O Z UOY Hardware reference Address settings SW1 Set the address selector of the Accurax G5 Servo Drive to the required node address by using the X1 right and X10 left rotary switches The setting range for the node address se
19. Name Remarks Model Distributed I O mod ules MECHATROLINK II SmartSlice coupler GRT1 ML2 64 point digital input and 64 point digital output 24 VDC sinking JEPMC 1O2310 64 point digital input and 64 point digital output 24 VDC sourcing JEPMC 1O2330 Analogue input 10V to 10 V 4 channels JEPMC AN2900 Analogue output 10 V to 10 V 2 channels JEPMC AN2910 MECHATROLINK II cables 0 5 meter JEPMC W6003 A5 1 meters JEPMC W6003 01 3 meters JEPMC W6003 03 HARDWARE REFERENCE MANUAL trajexia 86 O Z Hardware reference Name Remarks Model 5 meters JEPMC W6003 05 10 meters JEPMC W6003 10 20 meters JEPMC W6003 20 30 meters JEPMC W6003 30 MECHATROLINK II terminator Terminating resistor JEPMC W6022 MECHATROLINK II interface unit For Sigma ll series Servo Drives firmware JUSP NS115 version 39 or later For Varispeed V7 Inverter For the sup SI T V7 ported version details of the Inverter con tact your OMRON sales office For Varispeed F7 G7 Inverter For the SI T supported version details of the Inverter contact your OMRON sales office 3 5 5 TJ1 ML box contents MECHATROLINK II Interface Unit box e Safety sheet TJ1 ML_ e Protection label attached to the top surface of the unit 3 5 6 Related BASIC commands The following BASIC commands are related t
20. OUT Link activity Green OFF Link not established in physical layer OUT poit ON Link established in physical layer Flickering In operation after establishing link HARDWARE REFERENCE MANUAL fig 106 ORUN DOERR UNIT PWR o IO PWR trajexia 192 O Z Hardware reference LED Description Color Status Meaning TS SmartSlice O N A Not Lit No power supply system com e Communication with SmartSlice munication O Unit has not started status Overcurrent detected Green Flashing SmartSlice I O Unit added to the sys every tem second Flashing Backup Restore function operating every 0 5 Restoring settings to SmartSlice l second O Unit backup function operating e Downloading SmartSlice I O Unit settings Lit Communication with SmartSlice I O Unit established Red Flashing Non fatal communication error occurred Communication timeout Verification error occurred with registered table Different model unit detected after SmartSlice I O Unit replacement Lit Fatal communication error occurred Litfor2s 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 PWR All LEDs are off Lit Power supply to the unit 1 0 PWR Green Not Lit No power supply to the SmartSlice I O No output from the SmartSlice I O Units even when they are in oper
21. 140 us maximum HARDWARE REFERENCE MANUAL To other output circuits 153 O Z UOY Hardware reference Analog outputs The following table and illustration details the analog output specifications Item Specification Output voltage 10 to 10 V Resolution 16 bit Output impedance 100 Q Load impedance 10 k Q min Note H The analogue output of one flexible axis is always OV unless both axes in the TJ1 FL02 axis A amp B are enabled that is WDOG ON AXIS ENABLE AXIS A 1 AXIS ENABLE AXIS B 1 Wdog relay The following table and illustration details the Wdog relay Item Specification Type Solid state relay Current capacity 50 mA on resistance 25 max Maximum voltage 24 VDC 10 HARDWARE REFERENCE MANUAL fig 78 TJ1 FLO2 fig 79 TJ1 FLO2 154 O Z uoisi es Hardware reference trajexia Encoder interface The following table and illustration details the encoder interface fig 80 Item Specification TJ1 FLO2 Type Phase differential incremental encoder Cae Signal level EIA RS 422 A Standards line Drive Ac STEPO Input impedance 48 kO min x Load impedance 220 O min DIRO Termination None e BO DIRO Connection example 20 ENAO 20 1 The example shows the connections for the TJ1 FL02 to a F7 Inverter for fig 81 position control The encoder from the motor m
22. ATYPE 44 and ATYPE 45 ENCODER RATIO For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 160 O Z UOY Hardware reference 3 10 7 Absolute encoder SSI SSI Synchronous Serial Interface is a digital system for transferring data in serial form SSI is the most widely used serial interface between absolute sensors and controllers SSI uses a pulse train from the controller to clock out the data from the sensor 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 You set this number with the BASIC command ENCODER BITS n When you have initialized the TJ1 FLO2 with the ENCODER BITS command the TJ1 FLO2 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 us The resulting maximum cable length between the controller and the sensor is 200 m The labels in the figure are Timing diagram Clock sequence Clock Data MSB Most Significant Bit LSB Least Significant Bit Clock frame gt When the data is clocked into the TJ2 MC64 the position value is interpreted With this positi
23. e INVERTER Following SERVO OFF Position loop Pm Ss E o T Profile generator M i i i Speed command EtherCAT Speed Speed Loop command Torque Loop 46 O Z UOY System philosophy Summary of axis types and control modes The following table lists the axis types and their recommended modes for speed control position control and torque control ATYPE SERVO Mode Comment 40 OFF Position The position loop is closed in the Servo Drive MECHATROLINK II No new motion command is allowed 40 ON Position Recommended mode for position control with MECHATROLINK II MECHATROLINK II axes 41 OFF Speed Recommended mode for speed control with MECHATROLINK II MECHATROLINK II axes Set the speed with S_REF 41 ON Position via speed The position loop is closed in Trajexia This MECHATROLINK II gives lower performance than closing the posi tion loop in the Servo Drive 42 OFF Torque Recommended mode for torque control with MECHATROLINK II MECHATROLINK II axes Set the torque with T_REF 42 ON 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 OFF Speed Recommended mode for speed control with 47 48 Flexible Axis Flexible Axis 44 46 ON Position The position loop is closed in Trajexia Recom 47
24. Cat No I57E EN 02 Trajexia machine control system TJ2 MC64 TJ1 ML04 TJ1 ML16 TJ1 PRT TJ1 DRT TJ1 CORT TJ1 FLO2 GRT1 ML2 TJ2 ECT04 TJ2 ECT16 TJ2 ECT64 GRTI ECT 363AX MX2 MRT HARDWARE REFERENCE MANUAL 4 i D N 4 wee wD E Y CAM u B we B we i a We O Z UOY Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual The following conventions are used to indicate and classify precautions in this manual Always heed the information provided with them Failure to heed precautions can result in injury to people or damage to property Definition of precautionary information WARNING A Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Trademarks and Copyrights Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage PROFIBUS is a registered trademark of PROFIBUS International MECHATROLINK is a registered trademark of Yaskawa Corporation EtherCAT is a registered trademark of Beckhoff Automation Gmbh Ger many EtherCAT technology is protected by patents DeviceNet is a registered trademark of Open DeviceNet Vendor Assoc INC CIP is a registered trademark of Open DeviceNet Vendor Assoc INC CANopen is a registered trademark of CAN in Automation CiA
25. Jogging Jogging moves the axes at a constant speed forward or reverse by manual operation of the digital inputs Different speeds are also selectable by input Refer to the FWD JOG REV JOG and FAST JOG axis parameters HARDWARE REFERENCE MANUAL fig 14 MERGE 0 20 O Z uoisi eH System philosophy 2 3 Servo system principles The servo system used by and the internal operation of the TJ2 MC64 are briefly described in this section 2 3 1 Semi closed loop system 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 2 3 2 Internal operation of the TJ2 MC64 Inferred closed loop systems occupy the mainstream in modern servo systems applied to positioning devices for industrial applications The figure shows the basic principle of the servo system as used in the TJ2 MC64 1 The TJ2 MC64 performs actual position control The main input of the controller is the Following Error which is the calculated difference between the demand position and the actual measured position 2 The Position Controller calculates the required speed reference output determined by the Following Error and possibly the demanded position and the measured position The speed reference is provided to the Serv
26. LED indicators LED Description POWER Lit Power on Not lit No power TX1 Lit Communication via CN1 Not lit No communication via CN1 TX2 Lit Communication via CN2 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 Both connectors have a built in terminator HARDWARE REFERENCE MANUAL 119 O Z Hardware reference Power supply connector Connect an external 24 VDC power supply to the power supply connector CN3 The table below gives the pin layout for the power supply connector Pin Signal Description 1 FG Frame ground 2 OV 0 VDC input 3 24V 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 connect in the MECHATROLINK II network with a repeater is set by the MECHATROLINK II cable length Network part MECHATROLINK II Maximum number of ri cable length MECHATROLINK II devices Master side B Max 30 m 16 Max 50 m 15 Extension C Max 30 m 16 Max 50 m 15 1 The repeater itself is included in the maximum number of MECHATRO LINK II devices The t
27. 2 7 4 Type of axis O Z ATYPE Applicable to Name Description 0 All axes Virtual axis Internal axis with no physical output It is the only valid setting for non allocated axes That is those that are not MECHATROLINK II ser vos or a flexible axis 40 MECHATRO MECHATRO Position loop in the Servo Drive TJ2 MC64 LINK II Servo LINK II Posi sends position reference to the Servo Drive via Drives con tion Default MECHATROLINK II 41 MECHATRO Position loop in the Trajexia TJ2 MC64 sends TIME LINK II Speed speed reference to the Servo Drive via MECHATROLINK II 42 MECHATRO Position loop in the Trajexia TJ2 MC64 sends LINK II Torque torque reference to the Servo Drive via MECHATROLINK II 43 External Drive Stepper output Pulse and direction outputs Position loop is in connected to a the Drive TJ1 FL02 sends pulses and receives TJ1 FL0O2 no feed back 44 Servo axis Analogue servo Position loop is in the TJ2 Default MC64 The TJ1 FL02 sends speed reference Encoder and receives position from an incremental encoder 45 Encoder out The same as stepper but with the phase differ put ential outputs emulating an incremental encoder 46 Absolute Tam The same as servo axis but the feed back is agawa received from a Tamagawa absolute encoder 47 Absolute The same as servo axis but the feed back is EnDat received from an
28. Hardware reference 14 Do not install the Trajexia units in one of these positions Upside down With the top side forward With the bottom forward Vertically HARDWARE REFERENCE MANUAL fig 11 61 O Z UOY Hardware reference 15 When you design a cabinet for the units make sure that the 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 3 2 2 Environmental and storage for all units Item Specification Ambient operating temperature 0 to 55 C Ambient operating humidity 10 to 90 RH with no condensation Ambient storage temperature 20 to 70 C excluding battery 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 3 times each X Y and Z directions Insulation resistance 20 MO Dielectric strength 500 VAC Protective structure IP20 International standards CE EN 61131 2 cULus Lloyds RoHS compliant HARDWARE REFERENCE MANUAL trajexia 62 O Z UOY Hardware reference 3 2 3 Unit dimensions The dimensions for the units of the Trajexia system are as follows Trajexia machine controller All mea
29. 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 Example 1 Executing one High and two Low priority BASIC programs e CPU slot 1 Low priority BASIC programs executed alternating e CPU slot 2 High priority BASIC program executed CPU slot 4 High priority BASIC program executed Special case in case both Low and High priority BASIC programs are running in parallel to the PLC CPU slot 1 executes the Low and High pritority BASIC programs alternately Example 2 Executing one High and two Low priority BASIC programs in parallel to the PLC e CPU slot 1 Running High and low priority BASIC programs alternately e CPU slot 2 PLC CPU slot 4 High priority BASIC program executed HARDWARE REFERENCE MANUAL fig 18 Cycle time 2 ms 26 O Z UOY System philosophy Note H The Motion sequence execution depends on setting of the 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 The factory setting is 1ms SERVO_PERIOD 1000 A change is set only after a restart of the TJ2 MC64 Note With MECHATROLINK II only Sigma V Servo Drive support the 0 5 ms transmission
30. Status Description NF off No network error detected flashing Connection time out detected for I O connection with the Device Net master on Other device detected with the same node number or severe net work error detected 3 8 3 Node number selectors You can use the node number selectors to assign a node number to the TJ1 DRT This node number identifies the TJ1 DRT in the DeviceNet network 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 The DeviceNet node numbers range from 0 to 63 If you select a node number with the node number selectors that exceeds this range you will select the node number that is set by software The nodes that enable software settings are 64 to 99 HARDWARE REFERENCE MANUAL 142 O Z UOY Hardware reference 3 8 4 TJ1 DRT Connections fig 70 Pin Signal Description 1 V Power supply input negative voltage 2 CAN L Communication line low 3 DRAIN Shield 4 CAN H Communication line high 5 V Power supply input positive voltage 3 8 5 TJ1 DRT Specifications Item Specification Power supply 5 VD
31. ips 000 N 2 4 N trajexia 139 O Z UOY Hardware reference 3 7 6 TJ1 PRT unit box contents TJ1 PRT box Safety sheet TJ1 PRT e 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 e PROFIBUS For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 140 O Z Hardware reference 3 8 TJ1 DRT 3 8 1 Introduction The TJ1 DRT is an interface between the Trajexia system and a DeviceNet network Part Description A LEDs Band C Node number selectors D DeviceNet connector 3 8 2 LEDs description Label Status Description RUN off Start up test failed Unit not operational Operation stopped Fatal error on Start up test successful Normal operation ERC off Normal operation flashing Start up error on Fatal error in program Error occurred while Reading or Writing error log ERH off Normal operation flashing l O size not configured on Error detected in communication with controller NOK off Baud rate not detected or node address duplication check not completed flashing Slave not allocated to a DeviceNet master on Slave is on line and allocated to a DeviceNet master HARDWARE REFERENCE MANUAL trajexia 141 O Z UOY Hardware reference Label
32. 1 02 Digital Operator default 04 Option board Step 4 Restart the MX2 A_ Inverter for the changes to take effect HARDWARE REFERENCE MANUAL trajexia 117 O Z UOY Hardware reference Note When restarting the MX2 A_ Inverter wait for the Inverter power indicator to go out before switching on again Related BASIC commands The following BASIC commands are related to the MECHATROLINK II MX2 Inverters INVERTER COMMAND INVERTER READ INVERTER WRITE For more information refer to the Trajexia Programming Manual 3 5 13 Yaskawa MECHATROLINK II Inverters You can also connect the following Yaskawa Inverters e V7 Inverter with an SI T V7 MECHATROLINK Communications Interface Unit F7 and G7 Inverters with an SI T MECHATROLINK Communications Interface Card 1000 and 1000 Inverters with an SI T3 V MECHATROLINK Option For details please refer to the manuals of these Inverters HARDWARE REFERENCE MANUAL 118 O Z uoisi es Hardware reference 3 5 14 MECHATROLINK II repeater The FNY REP2000 is a MECHATROLINK II repeater It extends the range and the maximum number of MECHATROLINK II devices in the MECHATROLINK II network Terminal LED Label Description A TX1 CN1 communication indicator B TX2 CN2 communication indicator C POWER Power indicator D SW Dipswitch E CN1 amp CN2 MECHATROLINK II connectors F CN3 Power supply connector
33. 1 SERVO OFF SERVO OFF Position loop o T Profile generator 1 Demanded Following position error 7 position i 1 Speed command ML II Speed gt Speed Loop command Torque Loop 40 O Z UOY System philosophy MECHATROLINK II torque ATYPE 42 With SERVO ON the torque loop is closed in the TJ2 MC64 The torque fig 31 reference in the Servo Drive depends on the FE and the gain With SERVO OFF the torque reference is sent directly via the T_REF command 0x40000000 is the maximum torque of the servomotor Note UR SERVO OFF SERVO OFF H To monitor the torque in the servo in DRIVE MONITOR set di gt s DRIVE CONTROL 711 Demanded Following Torque position command Measured position ML II Torque Torque Loop command 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 41 O Z UOY System philosophy Servo axis ATYPE 44 With SERVO ON this is an axis with an analogue speed reference output and incremental encoder feedback input The position loop is closed in the TJ2 MC64 which sends the resulting speed reference to the axis fi
34. 10 OV common 11 OV common 12 OV common HARDWARE REFERENCE MANUAL fig 93 P ED D sr rl 171 O Z uoisi aH Hardware reference trajexia Digital inputs The digital inputs can both be used as registration inputs through the fig 94 R_REGIST command and as general purpose inputs The inputs are available in the IN array starting after the TJ2 MC build in TJ2 ECT The following table and illustration details the digital input specifications Item Specification pius aL Type PNP Maximum voltage 24 VDC 10 Input current 8 mA at 24 VDC on voltage 18 5 VDC min OV common for Input circuits off voltage 5 0 VDC max HARDWARE REFERENCE MANUAL 172 O Z UOY Hardware reference 3 11 4 TJ2 ECT specifications Item Specification TJ2 ECT04 TJ2 ECT16 TJ2 ECT64 Power supply 5 VDC supplied by the TJ2 MC64 Total power consumption 1 1 W Current consumption 250 mA at 5 VDC Approximate weight 80 g Communications protocol EtherCAT Baud rate 100 Mbps Physical layer 100Base TX Communications control functions Auto Negotiation Only for 100Base TX full duplex communications Topology Daisy chain line or drop line Communications media ST
35. 10 V 0 10 V 0 5 V 1 5 V GRT1 DA2V 2 analog outputs current 0 20 mA 4 20 mA GRT1 DA2C Four point AC Input Unit 100 to 120 VAC 50 60 Hz GRT1 IA4 1 Four point AC Input Unit 200 to 240 VAC 50 60 Hz GRT1 IA4 2 Two point Temperature Resistance thermometer input Inputtype GRT1 TS2P Input Unit PT100 200 to 850 C or PT100 200 to 200 C Two point Temperature Resistance thermometer input Inputtype GRT1 TS2PK Input Unit PT1000 200 to 850 C or PT1000 7200 to 200 C Two point Temperature Thermocouple input Input type R S KJ GRT1 TS2T Input Unit L W or PL2 HARDWARE REFERENCE MANUAL trajexia 130 O Z UOY Hardware reference Dimensions The external dimensions are in mm 3 6 3 Installation 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 sure that the power supplies of the GRT1 ML2 the SmartSlice I O Units and the external l Os are correctly connected HARDWARE REFERENCE MANUAL fig 63 MNA
36. 2 IN 10 IN 18 IN26 OUT2 OUT 10 OUT 18 OUT 26 3 IN 3 IN 11 IN 19 IN27 OUT3 OUT 11 OUT 19 OUT 27 4 IN 4 IN 12 IN20 IN28 OUT4 OUT 12 OUT20 OUT 28 5 IN 5 IN 13 IN 21 IN29 OUT5 OUT 13 OUT21 OUT 29 6 IN 6 IN 14 IN22 IN30 OUT6 OUT 14 OUT22 OUT 30 7 IN 7 IN 15 IN23 IN31 OUT7 OUT 15 OUT23 OUT 31 1 Outputs 0 to 7 are not physical outputs For example if you use the DISPLAY 1 command LED 5 reflects the activity of the input in 13 pin16 of the 28 pin I O connector Digital inputs The following table and illustration details the digital input Input O to Input 15 specifications for the I O Item Specification Type PNP NPN Maximum voltage 24 VDC 10 Input current 5 mA at 24 VDC ON voltage 14 4 VDC OFF voltage 5 0 VDC max The timings are dependant upon the MC64 s servo period and include physical delays in the input circuit Maximum response times of 1250 us for servo periods of 0 5 ms or 1 0 ms or 2500 us 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 HARDWARE REFERENCE MANUAL trajexia fig 25 TJ 1 MC 16 External power supply 24V OV common for Input circuits 75 O Z UOY Hardware reference Digital outputs The following table and illustration details the digital output O8 to 015 specificat
37. CAN port Transmission speed 20 50 125 and 500 Kbps Node numbers 1 to 99 size 8 RPDO and 8 TPDO Galvanic isolation Yes Device profile DS302 CANopen manager profile Note This CANopen master does not support motion control features of slaves with the DS401 profile 3 9 0 TJ1 CORT unit box contents CANopen Master Unit box Safety sheet e CANopen Master Unit DeviceNet connector Protection label attached to the top surface of the unit 3 9 7 Applicable BASIC commands The following BASIC commands are applicable for the TJ1 CORT CAN CORT For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 148 O Z uoisi aH Hardware reference 3 10 TJ1 FL02 3 10 1 Introduction WARNING A Do not start the system until you check that the axes are present and of the correct type 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 FLO2 is an analogue control unit It controls up to two axes and B in these modes Analogue speed reference plus encoder feedback Incremental or absolute encoder input Pulse output At start up the TJ2 MC64 assigns the TJ1 FLO02 to the first 2 free axes in sequence starting from the AXIS OFFSET parameter for that unit When multiple TJ1 FLO2 units are connected they are assigned in unit sequ
38. Configuring the Option Board All Option Board parameters are stored in the MX2 A Inverter This allows for easy replacement of the Option Board without the need to re configure After connecting the Option Board to an MX2 A Inverter for the first time however proceed with the following steps Step 1 It is recommended to set C102 3 to prevent the Inverter reset input and Stop reset button from interfering with Option Board during operation Setting C102 to another value causes the Option Board to reset when a trip condition is cleared Use the Inverter keypad to set C102 to 3 HARDWARE REFERENCE MANUAL trajexia 116 O Z UOY Hardware reference Param Description Setting C102 Reset mode selection Recommended to set to 3 Reset mode selection resets trip only not Option Board Step 2 Inverter registers P195 and P196 configure the MECHATROLINK network related parameters Adjust these to configure the frame length and node address Param Description Setting P195 MECHATROLINK frame length 0 32 bytes default after inverter reset 1 17 bytes P196 MECHATROLINK node address 21h to 3Eh Step 3 Change the control method for the RUN command and frequency reference to Optional Board Param Description Setting A001 Frequency Refer ence Selection 1 02 Digital Operator default 04 Option board A002 RUN Command Selection
39. Description A Display area B CN5 Analog monitor check pins C L1 L2 L3 Main circuit power terminals D L1C L2C Control circuit power terminals E CHARGE Charge lamp F B1 B2 B3 External Regeneration Resistor connection terminals G U V W Servomotor connection terminals H Protective ground terminals EtherCAT status indicators J Rotary switches for node address setting K CN7 USB connector L ECAT IN EtherCAT communications connector M ECAT OUT EtherCAT communications connector N CN8 Connector for safety function devices 1 Control I O connector P CN4 Full closed encoder connector Q CN2 Encoder connector HARDWARE REFERENCE MANUAL trajexia fig 95 Qu CHARGE 175 O Z UOY Hardware reference EtherCAT Communications Status Indicators The table below shows the LED indication status and the corresponding conditions of the communications Name Colour Status Description RUN Green OFF Init state Blinking Pre Operational state Single flash Safe Operational state ON Operational state ERR Red OFF No error Blinking Communications setting error Single flash Synchronization error or communica tions data error Double flash Application WDT timeout Flickering Boot error ON PDI WDT timeout L A IN Green OFF Link not established in physical layer ON Link established in physical
40. II communications status LED indicator J CN3 RS 232 communications connector K CN6A CN6B MECHATROLINK II communications connector L CN1 Control I O connector M CN2 Encoder connector LED indicators LED Description COM Lit MECHATROLINK II communication in progress Not lit No MECHATROLINK II communication HARDWARE REFERENCE MANUAL trajexia 89 O Z UOY Hardware reference Address settings SW1 Set the address selector of the G series Servo Drive to the required node address by using the X1 right and X10 left rotary switches 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 7 segment LED 2 digits switch setting and the offset value of 40h These node addresses correspond to axis numbers 0 node address 1 to 30 node address 31 A maximum of 31 different node addresses can be set To support more Drives an offset can be added to map duplicated noded addresses to unique axis numbers This offset AXIS OFFSET needs to be specified per TJ1 Analog monitor pins ML Please note that the node address per TJ1 ML needs to be unique SP Speed monitor IM Torque monitor Example G Signal ground TJ2 MC64 2 x TJ1 ML16 32 Drives 16 per TJ ML16 First TJ1 ML16 Node address range 1 to 16 AXIS OFFSET
41. Latch Signal 2 mE EL Reverse Torque 5 Input EXT1 External Latch Signal 1 Limit Input 6 Input IN1 External general purpose Input 1 7 Input PCL Forward Torque Limit Input eee G n 8 Input NCL Reverse Torque Limit Input OUTM2COM 19 20 Input Forward Drive Prohibit Input ouTmscom Generalpurpose Output 3 NOT Reverse Drive Prohibit Input m binis Backup Bate npu 21 Input DEC Origin Proximity Input ALMCOM Alarm Output PAPIAM Input OUTM1COM General purpose 22 Input INO External general purpose Input 0 Output 23 Input IN2 External general purpose Input 2 Output 11to 14 Input Spare inputs Do not connect anything to these inputs 9 to 10 Input Spare inputs Do not connect anything to these inputs 27 to 28 Input Spare inputs Do not connect anything to these inputs 34 Input BAT Backup 33 Input BATCOM Battery Input 17 to 18 Input Spare inputs Do not connect anything to these inputs 24 to 26 Input Spare inputs Do not connect anything to these inputs 92 O Z Hardware reference Pin Code Signal name 15 Output ALM Alarm Output 16 Output ALMCOM 29 Output OUTM2 General purpose 30 Output OUTM2COM Output 2 READY 31 Output OUTM3 General purpose 32 Output OUTM3COM Output 3 CLIM 36 Output OUTM1 General purpose 35 Output OUTM1COM Output 1 BKIR Shell FG MEC
42. MECHATROLINK interface manual SIEP S800000 11 Describes the installation and operation of Sigma lll Servo Drives with MECHA TROLINK II interface Sigma V Servo Drive manual SIEP S800000 44 SIEP S800000 46 SIEP S800000 48 Describes the installation and operation of Sigma V Servo Drives JUNMA series Servo TOEP C71080603 01 OY Describes the installation and operation Drive manual of JUNMA Servo Drives V7 Inverter TOEP C71060605 02 OY Describes the installation and operation of V7 Inverters MECHATROLINK IO SIE C887 5 Describes the installation and operation Modules of MECHATROLINK II input and output modules and the MECHATROLINK II repeater SYSMAC CS CJ W342 Describes FINS communications proto Series Communica col and FINS commands tions Commands Omron Smartslice W455 E1 Describes the installation and operation GRT1 Series slice l of Omron slice I O units O units Operation manual OMNUC G Series 1566 E1 Describes the installation and operation user s manual of G series Servo Drives Accurax G5 user s 1572 E1 Describes the installation and operation manual of Accurax G5 Servo Drives Trajexia Studio user I56E EN Describes the use of Trajexia Studio manual programming software Omron Accurax 65 1573 E1 Describes the installation and operation EtherCAT user s of Accurax EtherCAT Servo Drives manual HARDWARE REFERENCE MANUAL O Z
43. ModbusTCP is a registered trademark of Modbus IDA Trajexia is a registered trademark of OMRON All other product names company names logos or other designations men tioned herein are trademarks of their respective owners HARDWARE REFERENCE MANUAL OMRON 2011 All rights reserved No part of this publication may be reproduced stored in a retrieval sys tem or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication O Z uoisi es About this manual This manual describes the installation and operation of the Trajexia Machine Control System Please read this manual and the related manuals listed in the following table carefully and be sure you understand the information provided before attempting to install or operate the Trajexia Machine Control units Be sure to read the precautions provided in the following section trajexia
44. O Unit online note the following things When a unit is removed from the I O communication the withdrawn flag of the unit is set on and the TS LED on the GRT1 ECT flashes red power supply of the unit is not turned off there can be false output signals false input signals and electrical shocks Only replace one SmartSlice I O Unit at a time Ifa unitis replaced with a different type of unit there can be unexpected outputs and the restore operation can be incomplete Ifthe base block has faults or damage turn off the power supply and replace the entire unit When an online replacement is performed the status word of the GRT1 ECT reports an error missing I O Unit When the I O Unit is replaced or put back the status word changes to 8000 hex but the error has already been detected by the TJ2 MC64 To avoid this it is necessary to mask the errors before the online replacement is performed To perform the online replacement do the following 1 Execute lO STATUSMASK unit address 1 0 This masks all bits including errors in the GRT1 ECT status word 2 Replace the I O Unit 3 Execute IO STATUSMASK unit address 1 4000 This sets the error mask to its default value HARDWARE REFERENCE MANUAL 205 O Z uoisi aH Hardware reference 3 13 5 Related BASIC commands The following BASIC commands are related to the GRT1 ECT module ETHERCAT CO READ CO WRITE O STATUS O STATUSMAS
45. PROGRAM MOVE 200 BUFFER NTYPE DATUM MTYPE MOVE 1000 BASIC PROGRAM MOVE 500 MOVE 1000 DATUM 3 MOVE 200 e BUFFER MTYPE DATUM 3 BASIC PROGRAM MOVE 500 MOVE 1000 DATUM 3 MOVE 200 P d MOVE 500 MOVE 1000 DATUM 3 MOVE 200 lt lt BUFFER MTYPE MOVE 200 MOVE 500 MOVE 500 MOVE 500 MOVE 500 MOVE 1000 MOVE 1000 MOVE 1000 DATUM 3 DATUM 3 MOVE 200 All buffers are empty and a movement is loaded The movement starts to execute Asecond movement is loaded while the first one is not finished The new movement waits in the second buffer Athird movement can still be stored in the process buffer If the basic program reaches MOVE 200 it will wait The first movement has finished The buffer moves by one position The next movement starts to execute As the sent movements are finished the buffer empties If no new movements are executed finally the buffer will become empty and the profile generator becomes inactive 50 O Z uoisi aH System philosophy 2 9 Mechanical system 2 9 1 Inertia ratio The inertia ratio is a stability criterion The higher the intertia of the load in relation to the intertia of the motor the lower the gains you can set in your system before you reach oscillat
46. SLOT 0 2 0 Assigned axis numbers 0 to 15 Second TJ1 ML16 Node address range 1 to 16 AXIS OFFSET SLOT 1 16 Assigned axis numbers 16 to 31 WARNING A When using multiple TJ1 ML___ units do not swap the MECHA TROLINK cables This can result in different axis allocation This can result in serious injury and or significant damage Note H The node address is only loaded once when the control power supply is turned ON Changes made after turning the power ON will not be applied until the power is turned ON next time Do not change the rotary switch setting after turning the power ON If the rotary switch setting is not between 1 and 31 a node address setting error alarm code 82 will occur HARDWARE REFERENCE MANUAL omnon fig 35 AC SERVO DRIVER Rotary switches for setting a node address MECHATROLINK II communications status LED indicator COM 90 O Z Hardware reference tra j exi e 7 segment LED 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 v displayed followed by the display content set by the Default Display 001 parameter When an alarm occurs the alarm code will be displayed When a warning occurs the warning code will be displayed All OFF All ON approx 0 6 s nA Node Address approx 0 6
47. 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 When replacing a SmartSlice I O Unit online note the following things When a unit is removed from the I O communication the withdrawn flag of the unit is set on and the TS LED on the GRT1 ML2 flashes red If I O power supply of the unit is not turned off there can be false output signals false input signals and electrical shocks Only replace one SmartSlice I O Unit at a time Ifa unitis replaced with a different type of unit there can be unexpected outputs and the restore operation can be incomplete e Ifthe base block has faults or damage turn off the power supply and replace the entire unit When an online replacement is performed the status word of the GRT1 ML2 reports an error missing I O Unit When the I O Unit is replaced or put back the status word changes to 8000 hex but the error has already been detected by the TJ2 MC64 To avoid this it is necessary to mask the errors before the online replacement is performed To perform the online replacement do the following 1 Execute MECHATROLINK unit 37 station_addr 0 This masks all bits including errors in the GRT1 ML2 status word 2 Replace the I O Unit 3 Execute MECHATROLINK unit 37 station_addr 4000 This sets the error mask to its default value 3 6 5 Related BASIC commands The
48. W mount a Right Turnback Unit 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 HARDWARE REFERENCE MANUAL fig 110 201 O Z Hardware reference The maximum I O current consumption is 4 A 1 Calculate the total current consumption used by all external I Os of the connected SmartSlice I O Units including other units like Turnback Units Refer to the GRT1 Series SmartSlice I O Units Operation Manual W455 for the current value for each SmartSlice I O Unit 2 If the current consumption exceeds 4 A or if you want to provide separate systems for inputs and outputs divide the SmartSlice I O Units at the desired point with a GRT1 PD 1 I O Power Supply Unit and provide a separate external I O power supply Note H It is also possible to provide a separate external I O power supply at a Left Turnback Unit GRT1 TBL Note Make sure the power supply is isolated H The GCN2 100 Turnback cable does not supply power HARDWARE REFERENCE MANUAL 202 O Z uoisi es Hardware reference The figure gives a wiring example To supply power to the units and the I O devices connect the power supply wires to the power supply terminals of the GRT1 ECT If the wire ends have pin terminals just insert the pin terminals in the power supply terminals To remove the wi
49. Z UOY System philosophy 2 8 Motion buffers The motion buffer is a temporary store of the motion instruction from the BASIC program or PLC task to the profile generator The BASIC program continues while the instruction waits in the buffer There are three types of buffer MTYPE The current movement that is being executed MTYPE relates to the axis and not to the process NTYPE The new movement that waits for execution NTYPE relates to the axis and not to the process NTYPE is the first entry of the Look Ahead buffer which size is defined by LIMIT BUFFERED Process Buffer The third buffered movement cannot be monitored The process buffer relates to the process and not to the axis It is possible to check if the process buffer is full by checking the PMOVE process parameter When a motion instruction is executed the instruction is loaded into the process buffer and distributed to the corresponding axis buffer in the next motion sequence If all buffers are full and an additional motion instruction is executed the BASIC program stops execution until a process buffer is free for use In case of a PLC task the motion Function Block will signal that the motion instruction cannot be loaded in the buffer HARDWARE REFERENCE MANUAL MOVE 500 MOVE 1000 CONNECT 1 1 fig 40 CONNECT 1 1 AXIS 2 PROCESS BUFFER fig 41 Process 1 Process Buffer Process 2 CH2
50. and constant speed part and they are specified in master link distances This can be particularly useful for synchronizing two axes for a fixed period The labels in the figure are Time axis Speed axis Master axis 1 Synchronized MOVELINK axis 0 moom HARDWARE REFERENCE MANUAL fig 11 fig 12 17 O Z UOY System philosophy Adding axes It is very useful to be able to add all movements of one axis to another One possible application is for instance changing the offset between two axes linked by an electronic gearbox The TJ2 MC64 provides this possibility by using the ADDAX command The movements of the linked axis will consists of all movements of the actual axis plus the additional movements of the master axis In the figure A is the time axis and B is the speed axis HARDWARE REFERENCE MANUAL fig 13 BASE 0 ADDAX 2 FORWARD MOVE 100 AXIS 2 MOVE 60 AXIS 2 18 O Z uoisi aH System philosophy 2 2 4 Other operations Cancelling moves In normal operation or in case of emergency it can be necessary to cancel the current movement from the buffers When the CANCEL or RAPIDSTOP commands are given the selected axis respectively all axes will cancel their current move Origin search If the encoder feedback for controlling the position of the motor is incremental it means that all movement must be defined with respect to an origin point The DATUM command is used
51. conditions during the life of the system Application precautions WARNING Do not start the system until you check that the axes are present and of the correct type 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 Not doing so may result in unexpected operation WARNING Check the user program for proper execution before actually run ning it in the Unit Not checking the program may result in an unexpected operation WARNING AXIS_OFFSET is fixed to a unit number Changing the position of the attached units can therefore result in a different axis allocation This can result in serious injury and or significant damage HARDWARE REFERENCE MANUAL gt PPP gt gt WARNING Always connect the EtherCAT master port to the IN port of the first slave Not doing so can result in unreliable communication and changes to address and axes assignment of EtherCAT slaves WARNING Do not swap connections between the IN and OUT port of Ether CAT slaves This can result in changes of address and axes assignment of EtherCAT slaves WARNING Do not connect or disconnect EtherCAT slaves while the system is operational Doing so can result in unreliable communication Caution Always use the power supply voltage specified in this manual An incorrect voltage may result in malfunction or burning Caution Take appropriate m
52. connector The 28 pin connector is a Weidmuller connector designation B2L 3 5 28 LH Ll I ASSAS Ls Ll Li Pin Connection Pin Connection 1 0 V input common 2 0 V input common 3 Input 0 4 Input 1 5 Input 2 6 Input 3 7 Input 4 8 Input 5 9 Input 6 10 Input 7 11 Input 8 12 Input 9 13 Input 10 14 Input 11 15 Input 12 16 Input 13 17 Input 14 18 Input 15 19 Output 8 20 Output 9 21 Output 10 22 Output 11 23 Output 12 24 Output 13 25 Output 14 26 Output 15 27 0 V output common 28 24V Power supply Input for the 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 joo oo LED 0 1 2 nz3 41 5 6 7 label 0 INO IN 8 IN 16 IN 24 OUTO OUT8 OUT 16 OUT 24 1 IN 1 IN 9 IN 17 IN 25 OUT1 OUT9 OUT 17 OUT 25 HARDWARE REFERENCE MANUAL Jum 74 O Z UOY Hardware reference LED n 0 n 1 n 2 n 3 nz4 5 6 7 label 2 IN
53. counterclockwise rotation E The signals A B and Z appear physically as and A B and B and 2 and Z They appear as differential signals on twisted pair wire inputs This makes sure that common mode noise is rejected When you use an encoder from other manufacturers check the encoder specification for the phase advancement carefully If the phase definition is different from the phase definition of the standard OMRON equipment reverse the B phase wiring between the TJ2 MC64 and the encoder Note H The TJ1 FLO02 does not have a termination inside In case of long distances or disturbed communication add an external termina tion to the TJ1 FLO02 The table below and the figure give an example of how to connect the OMRON E6B2 CWZ41Z encoder to the TJ1 FL02 Encoder TJ1 FL02 Signal Wire color Pin Signal A Black 1 A A Black red 2 A White 3 White red 4 B 2 Orange 6 2 Orange red 7 Z 0 V COM Blue 5 GND 5 VDC Brown 10 5V fig 82 D E sr DLP i04 234536 7 716 54 32 40 C fig 83 TJ1 FLO2 HARDWARE REFERENCE MANUAL 159 O Z UOY Hardware reference Encoder output The 1 02 can generate encoder type pulses For each internal count the TJ1 FLO2 produces one encoder edge for phase A A or phase B B Related BASIC commands The following BASIC commands are related to incremental encoders
54. limiting factor Address Address Address 43 44 45 e 0 7 0 7 e 0 7 co S co 4 6 xi X Xi m Terminator HARDWARE REFERENCE MANUAL 30 O Z System philosophy trajexia Example 2 1x TJ2 MC64 fig 20 2x TJ1 ML16 16x G Series Servo Drive SERVO PERIOD 1ms Servo Drive TJ2 MC64 supports 0 25ms SERVO PERIOD with 16 axes TJ1 ML 16 supports 1ms SERVO PERIOD with 8 devices G Series supports 1ms SERVO PERIOD Address Address Address Address Address Address Address Address 45 46 47 48 41 42 43 44 16 j 1023 29 x 29 zi xl co ca a y e ca x x 4 x EN EN EIN yy X yy EN L aM LI L LJ LJ Terminator 0 Axis1 Axis2 Axis3 Axis4 55 Axis6 Axis Address Address Address Address Address Address Address Address 49 4 4 AD AE AF 50 GR CR Sh 3 Sh xi xt xi xt Xi x xt B Terminator Axis8 Axis9 Axis 10 Axis11 12 13 Axis 14 Axis 15 HARDWARE REFERENCE MANUAL 31 O Z uoisi aH System philosophy Example 3 e 1x TJ2 MC64 1x TJ1 ML16 G Series Servo Drive e 1x F7Z Inverter with SI T interface e 3x MECHATROLINK II I Os SERVO_PERIOD 2 0
55. network The MECHATROLINK II network must always be closed by the MECHATROLINK II terminator HARDWARE REFERENCE MANUAL 82 O Z Hardware reference Example connections Example 1 1xTJ2 MC64 e 1xTJft ML G Series Servo Drive 1xMECHATROLINK II terminator HARDWARE REFERENCE MANUAL Servo Driver Address Address 43 83 O Z Hardware reference Example 2 1 xTJ2 MC64 e 2 xTJ1 ML16 16x G Series Servo Drive 2 xMECHATROLINK II terminator HARDWARE REFERENCE MANUAL trajexia fig 32 Servo Drive i Address ah ir i Address e di i ad a Kor x coy oY G a XN Ko W 41 CJ Terminator L Axis0 Axis1 Axis2 Axis3 54 55 Axis6 7 Address Address Address Address Address Address ic n 49 4A 4B 4C 3 ER B XD 2 es B D X1 CJ Terminator Axis 8 i Axis 10 Axis 11 Axis12 Axis 13 Axis 14 Axis 15 84 O Z Hardware reference tra j exi e The MECHATROLINK II Units can control different combinations of axes Inverters and I O units Example 3 1xTJ2 MC64 1xTJ1
56. ralada Name Cat No Contents Open the terminal window and type the following commands MX2 User s Manual 1570 E2 Describes the installation and operation i Type PRINT VERSION in the terminal window The version parameter returns ofthe MX2 A Inverter the current firmware version number of the motion controller Type PRINT FPGA VERSION SLOT 1 in the terminal window The parameter returns the current FPGA version number of the TJ2 MC64 3G3AX MX2 ECT 1574 E1 Describes the installation and operation User s manual of the 3G3AX MX2 ECT EtherCAT Communication Unit WARNING A 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 Functions supported by unit versions During the development of Trajexia new functionality will be 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 TJ2 MC64 Functionality TJ2 MC64 Firmware TJ2 MC64 FPGA version version Initial release V2 0077 7 EtherNet IP sup
57. s Rotary switch setting for MSD 0 LSD 3 Time set by the Power ON Address Display Duration Setting Pn006 Normal Display when the Default Display Pn001 is set to 0 gt F4 Main Power Supply ON 4 Main Power Supply OFF and Network Established or Network Not Established right dot ON Servo ON Wy Servo OFF 00 right dot ON Alarm Display Warning Display Alarm code flashes in decimal display Alternates between warning code hex Below is an example for overload and normal display Below is an example for overload lt L4 Warning code 2 s Normal Display approx 4 s HARDWARE REFERENCE MANUAL 91 trajexia Hardware reference CN1 I O Signal connector The table below shows the pin layout for the I O signal connector CN1 O Z HARDWARE REFERENCE MANUAL 424VIN O Code Signal name Emergency Input Reverse Drive HM S10 Input External Latch Origin Proximity 1 Input 24VIN 12 to 24 VDC Power Supply Input IRE Signal 3 External input General purpose 2 Input STOP Emergency Stop Input Signal 2 EE Input 0 Bos 3 Input EXT3 External Latch Signal 3 Agna Input 4 Input EXT2 External
58. supplied with the TJ2 MC___ to the right most Unit Unless the TJ1 TER is properly mounted the TJ2 will not function properly 1 7 Conformance to EC Directives Conformance 1 7 1 Concepts The concepts for the directives EMC and Low Voltage are as follows EMC Directives OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or machines The actual products have been checked for conformity to EMC standards Whether the products conform to the standards in the system used by the customer however must be checked by the customer EMC related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel in which the OMRON devices are installed 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 O Z UOY Safety warnings and precautions 1 7 2 Conformance to EC Directives The Trajexia Motion Controllers comply with EC Directives To ensure that the machine or device in which a system is used complies with EC directives the system must be installed as follows 1 The system must be installed within a control panel 2 Reinf
59. unit detected after SmartSlice I O Unit replacement Lit Fatal communication error occurred Litfor2s 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 PWR All LEDs are off Lit Power supply to the unit 1 0 PWR Green Not Lit No power supply to the SmartSlice I O No output from the SmartSlice I O Units even when they are in operation Lit Power supply to the SmartSlice I O HARDWARE REFERENCE MANUAL trajexia 124 O Z UOY Hardware reference trajexia i 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 When the GRT1 ML2 loses the MECHATROLINK II communi cation with the master or when the command MECHATROLINK unit 1 is executed the ML COM LED goes off Communication dipswitches Dipswitch Function Setting Description 1 MECHATROLINK II ON 70 hex 7F hex address range OFF 60 hex hex 2 MECHATROLINK II OFF 10 Mbps bus speed 3 Frame size OFF 32 bytes 4 HOLD CLEAR ON HOLD All outputs hold their values when communication is lost OFF CLEAR All outputs become 0 when communication is lost 1 Trajexi
60. 1 used VR signal state gives feedback on Find and Replace A Find what Replace with Find options Match case Match whole word search up Ouse VR diag01 gives feedback of the MECHATROLINK ini the MECHATROLINK Sle VR diagO3 gives feedback forUnit detection Unit n detected in system detection signal state y gt 2A Find and Replace Properties Look in Current Program ax Offine 55 O Z UOY Hardware reference 0000 trex 3 2 All units 3 2 1 System installation A Trajexia system consists of these units A Power Supply Unit e A TJ2 MC64 Machine Controller Unit Up to 7 expansion units ATJ1 TER Terminator Unit The expansion units unit numbers 0 6 can be arranged in any order The TJ2 MC64 autodetects all units A Trajexia system with a TJ2 MC64 can include e 0to4 TJ1 ML units MECHATROLINK II Master Unit e Oto1TJ2 ECT units EtherCAT Master Unit e 0to7 TJ1 FLO2 units Oor1TJ1 PRT PROFIBUS DP Slave Unit or TJ1 DRT units DeviceNet Slave Unit e Oor1TJ1 CORT units CANopen Master Unit trajata Unit number 1 Trajexia does not support both a TJ1 PRT and a TJ1 DRT unit in the same system HARDWARE REFERENCE MANUAL 56 O Z Hardware refere
61. 3 mm h1 57 9 mm d 52 6 mm d3 44 8 mm w 67 6 mm d1 26 4 mm d4 28 4 mm 1 Dimension d1 gives the increase in MX2 Inverter dimension D when the Option Board is fitted Refer to section 2 3 of the Inverter user s manual unm Option Board Specifications Item Specification Unit type MX2 Series Option Card S Model 3G3AX MX2 PRT E 2 Dimensions W x H x D 68 x 58 x 45 mm Weight 170g typical HARDWARE REFERENCE MANUAL 115 O Z uoisihe Hardware reference Item Specification Ambient operating tem perature 10 to 55 C no icing or condensation Ambient operating humidity 20 to 9076 RH Storage temperature 20 to 65 no icing or condensation Vibration resistance 5 9m s 0 6G at 10 55Hz Dielectric strength 500 VAC between isolated circuits Conformance to EMC EN61800 3 2004 2004 108 EC Second environment 9 and electrical safety Category C3 g standards EN61800 5 1 2007 2006 95 EC SELV gt ij Enclosure rating IP20 Baud rate 10 Mbps MECHATROLINK II x 2 l E Data length 17 byte and 32 byte data transmission I gt 1 The derated or ambient operating temperature of the MX2 A Inverter takes precedence over that of the Option Board
62. 48 Flexible Axis mended mode for position control with Flexible Axis 49 OFF Speed Inverter with built in encoder interface control MECHATROLINK II led on the MECHATROLINK II bus as a servo axis Set the speed with S REF 49 ON Position Inverter with built in encoder interface control MECHATROLINK II led on the MECHATROLINK II bus as a servo axis The position loop is closed in Trajexia 65 OFF Position The position loop is closed in the Servo Drive EtherCAT No new motion command is allowed HARDWARE REFERENCE MANUAL trajexia 47 O Z UOY System philosophy ATYPE SERVO Mode Comment 65 ON Position Recommended mode for position control with EtherCAT EtherCAT Servo axes 66 OFF Speed Recommended mode for speed control with EtherCAT EtherCAT Servo axes Set the speed with S_REF 66 ON Position via speed The position loop is closed in Trajexia This EtherCAT gives lower performance than closing the posi tion loop in the Servo Drive 67 OFF Torque Recommended mode for torque control with EtherCAT EtherCAT Servo axes Set the torque with T_REF 67 ON Position via torque The position loop is closed in Trajexia The out EtherCAT put of the position loop is sent as the torque ref erence to the Servo Drive 68 OFF Velocity Inverter controlled on the EtherCAT bus as an EtherCAT axis Set the speed with S_REF HARDWARE REFERENCE MANUAL trajexia 48 O
63. 60 Hz GRT1 IA4 1 Four point AC Input Unit 200 to 240 VAC 50 60 Hz GRT1 IA4 2 Two point Temperature Resistance thermometer input Inputtype GRT1 TS2P Input Unit PT100 200 to 850 or PT100 200 to 200 C Two point Temperature Resistance thermometer input Inputtype GRT1 TS2PK Input Unit PT1000 200 to 850 or PT1000 7200 to 200 C Two point Temperature Thermocouple input Input type R S KJ GRT1 TS2T Hardware reference trajexia HARDWARE REFERENCE MANUAL 199 O Z uoisi es Hardware reference Dimensions The external dimensions are in mm 3 13 3 Installation Follow these rules when installing the GRT1 ECT e Before installing the GRT1 ECT or connect or disconnect cables switch off the power of the Trajexia system the SmartSlice I O Units and the external I Os sure that the power supplies of the GRT1 ECT the SmartSlice I O Units and the external l Os are correctly connected Provide separate conduits or ducts for the I O lines to prevent noise from high tension lines or power lines Itis possible to connect up to 64 SmartSlice I O Units to 1 GRT1 ECT HARDWARE REFERENCE MANUAL ec omron GRT1 ECT EXD
64. C supplied by the TJ2 MC64 Power consumption 120 mA at 5 VDC Network power supply 24 VDC Network current consump tion 15 mA at 24 VDC 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 trajexia 143 O Z UOY Hardware reference Item Specification Node numbers 0 to 63 I O size 0 to 32 words 16 bit configurable for both directions Galvanic isolation Yes 3 8 6 TJ1 DRT unit box contents TJ1 DRT box Safety sheet e 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 e DEVICENET For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 144 O Z Hardware reference TJ1 CORT 3 9 3 9 1 The CANopen Master Unit TJ1 CORT is an interface between the Trajexia Introduction system and a CANopen network Part Description A LED indicators B and C Node number selectors D CANopen port 3 9 2 LEDs description Label Status Description RUN off Start up test failed Unit not operatio
65. CPU Unit the contents of the VR and table memory required for operation Not doing so may result in an unexpected operation Caution When replacing parts be sure to confirm that the rating of a new part is correct Not doing so may result in malfunction or burning Caution Do not pull on the cables or bend the cables beyond their natural limit Doing so may break the cables Caution Before touching the system be sure to first touch a grounded metallic object in order to discharge any static build up Otherwise it might result in a malfunction or damage gt gt gt gt gt Safety warnings and precautions Caution UTP cables are not shielded In environments that are subject to noise use a system with shielded twisted pair STP cable and hubs suitable for an FA environment Do not install twisted pair cables with high voltage lines Do not install twisted pair cables near devices that generate noise Do not install twisted pair cables in locations that are subject to high humidity Do not install twisted pair cables in locations subject to excessive dirt and dust or to oil mist or other contaminants Caution Use the dedicated connecting cables specified in operation manu als to connect the Units Not doing so may result in malfunction of the system Caution Outputs may remain on due to a malfunction in the built in transis tor outputs or other internal circuits As a countermeasure for such problems exte
66. EnDat absolute encoder 48 Absolute SSI The same as servo axis but the feed back is received from an SSI absolute encoder HARDWARE REFERENCE MANUAL O Z UOY System philosophy ATYPE Applicable to Name Description 49 TJ1 ML Inverter as Inverters with built in encoder interface are axis controlled on the MECHATROLINK II bus as Servo axes 60 External Drive Stepper input Pulse and direction inputs connected to a TJ1 FLO2 65 EtherCAT Servo EtherCAT Position loop in the Servo Drive TJ2 MC64 Drives con CSP sends position reference to the Servo Drive via nected to a EtherCAT TJ2 ECT 66 EtherCAT Servo EtherCAT Position loop in the Servo Drive TJ2 MC64 Drives con CSV sends velocity reference to the Servo Drive via nected to a EtherCAT TJ2 ECT 67 EtherCAT Servo EtherCAT Position loop in the Servo Drive TJ2 MC64 Drives con CST sends torque reference to the Servo Drive via nected to a EtherCAT TJ2 ECT 68 EtherCAT Invert EtherCAT VL ers connected to TJ2 ECT__ Virtual axis ATYPE 0 The main use cases of a virtual axis are As perfect master axis of the machine All the other axes follow this virtual master axis e As auxiliary axis to split a complex profile into two or more simple movements each assigned to a virtual axis These movements can be added together with the BASIC command ADDAX then assigned to a real axis HARDWARE REFERENCE MANUAL Pro
67. HATROLINK II connectors CN6A amp CN6B Connect the G series Servo Drive to the MECHATROLINK II network using the CN6A and CN6B connectors Use one of the MECHATROLINK II connectors to connect to the previous MECHATROLINK II device or the TJ1 ML Use the other MECHATROLINK II connector to connect to the next MECHATROLINK II device or to connect a MECHATROLINK II terminator Note EH Cable length between nodes L1 L2 Ln should be 0 5 m or longer Total cable length should be L1 L2 Ln 50 max HARDWARE REFERENCE MANUAL JH Termination resistor 93 O Z UOY Hardware reference CN2 encoder input connector The table below shows the pin layout for the encoder connector Pin Signal Name 1 E5V Encoder power supply 5 V 2 EOV Encoder power supply GND 3 BAT Battery 4 BAT Battery 5 PS Encoder phase S input 6 PS Encoder phase S input Shell FG Shield ground CNA power supply connector The table below shows the pin layout for the CNA power supply connector Pin Signal Name 1 L1 Main circuit 2 L2 power supply input 3 L3 4 L1C Control circuit 5 L2C power supply input HARDWARE REFERENCE MANUAL trajexia 94 O Z UOY Hardware reference CNB servo motor connector The table below shows the pin layout for the CNB servo motor connector
68. J2 ECT16 3 MX2 Inverters Node address setting 01 04 and 07 AXIS OFFSET SLOT 0 4 Assigned axis numbers 4 7 and 10 HARDWARE REFERENCE MANUAL fig 102 Node address setting x 1 Node address setting x 10 186 O Z Hardware reference Note The set node address is read only once when the inverter power supply is turned ON If the setting is changed after the power sup ply is turned ON the new setting will not be used until the next time that the power is turned ON Do not change the setting on the rotary switches after the power supply has been turned ON Note When using an MX2 A Inverter through the EtherCAT interface it will get assigned an axis number and is controlled through axis commands and parameters The Inverter commands like INVERTER READ and INVERTER WRITE are not applicable This is different compared to interfacing an Inverter through the MECHATROLINK II network HARDWARE REFERENCE MANUAL 187 O Z UOY Hardware reference Configuring the Option Board All Option Board parameters are stored in the MX2 A_ Inverter This allows for easy replacement of the Option Board without the need to re configure After connecting the Option Board to an MX2 A_ Inverter for the first time however proceed with the following steps Step 1 It is recommended to set C102 3 to prevent the Inverter reset input and Stop reset button from interfering with Option Board duri
69. J2 MC64 Total power consumption 3 35 W Current consumption 190 mA at 5 VDC and 100 mA at 24 VDC Approximate weight 110 g Galvanic isolation e Encoder interface Analogue outputs Digital interface Output power supply 5 VDC 150 mA Maximum HARDWARE REFERENCE MANUAL trajexia 156 O Z uoisines Hardware reference Item Specification Number of axes 2 Control method e 10V analogue output in Closed Loop e Pulse Train output in Open Loop Encoder position speed feedback Incremental and absolute Absolute encoder standards sup ported e SSI 200 kHz Up to 25 bit Gray and binary encoding e EnDat 1 MHz Tamagawa EnDAT specification Compatible with version 2 1 and 2 2 Maximum supported number of bits 32 Servo period 0 25 ms 0 5 ms 1 ms 2ms Note 0 25 ms not supported by absolute encoder interfaces Encoder input maximum frequency 6 MHz Encoder pulse output maximum fre quency 2MHz Maximum cable length e SSI 200 kHz 100 m EnDat 1 MHz 40 m Tamagawa 50 m Encoder stepper input 100 m Encoder stepper output 100 m Auxiliary I Os e fast registration inputs per axis e Two definable inputs e Two hardware position switch outputs One enable output e Two definable outputs Note H The 5 VDC power supply can only be used when both axes are in SERVO AXIS mode
70. K For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 206 O Z UOY Revision history trajexia 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 01 February 2010 First version 02 January 2011 TJ2 ECT EtherCAT master added GRT1 ECT EtherCAT SmartSlice coupler added HARDWARE REFERENCE MANUAL 207 OMRON INDUSTRIAL AUTOMATION OMRON ELECTRONICS LLC THE AMERICAS HEADQUARTERS Schaumburg IL USA 847 843 7900 800 556 6766 www omron247 com OMRON CANADA INC HEAD OFFICE OMRON ARGENTINA SALES OFFICE Toronto ON Canada 416 286 6465 866 986 6766 Cono Sur 54 11 4783 5300 www omron247 com OMRON ELETRONICA DO BRASIL LTDA HEAD OFFICE OMRON CHILE SALES OFFICE S o Paulo SP Brasil e 55 11 2101 6300 www omron com br Santiago 56 9 9917 3920 OMRON ELECTRONICS MEXICO SA DE CV HEAD OFFICE OTHER OMRON LATIN AMERICA SALES Apodaca N L 52 811 156 99 10 001 800 556 6766 mela omron com 54 11 4783 5300 OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 00 Fax 31 0 23 568 13 88 www industrial omron eu Cat No I57E EN 02 02 11 Note Specifications are subject to change 2011 Omron Electronics LLC
71. Loosen the screw of the option board cover remove the cover and put the cover aside HARDWARE REFERENCE MANUAL fig 45 Type name MX2 AB004 E Model WJ200 O04SFE INVERTER Input 50Hz 60Hz 200 240 V_1Ph 7 3 6 3A 50Hz 60Hz V 3Ph Output 0 5 1000Hz 200 240V 3Ph 3 5 3 0 A S N 16212320000856 DATE 0903 Hitachi Industria Equipment Systems Co Ltd MADE IN JAPAN NE18020 003 109 O Z Hardware reference tra j exia Step 2 For Inverters up to 4 0 kW only loosen the screws of the terminal block cover and remove the cover to enable access to the chassis ground terminal screws Step 3 Secure the Option Board grounding cable to the MX2 A Inverter with a mounting screw fig 48 1 phase 20 3 phase 200 V 5 5 15 kW 3 phase 20 3 phase 400 V 5 5 15 kW 3 phase 40 HARDWARE REFERENCE MANUAL 110 aj ex tr 111 Hardware reference lt 4 PA Y Em b AN AN N Y LZ fig 49 Push the Option Board into the previous location of the option board cover If removed in Step 2 mount the terminal cover again and tighten the until it clicks into place screw s HARDWARE REFERENCE MANUAL Step 4 Step 5 Revision 2 0 tr Hardware reference AW S V EF JI SN EJ S S SN S S N Press dow
72. ML16 e 1xG Series Servo Drive 1x Inverter 3x I O units 1xMECHATROLINK II terminator INVERTERS All Inverter Addresses are numbered 2x valid range 20 to 2F l O UNITS Address Address I O Addresses are numbered 41 valid range 60 to 6F 37 Address selected on DIP Switches io 0 LT Address L Address L 61 62 Terminator Memory Allocations 0 3132 95 96 159 160 223 224 F 3 5 4 TJ1 ML specifications Item Specification TJ1 ML04 TJ1 ML16 Power supply 5 VDC supplied by the TJ2 MC64 Total power consumption 1 0W Current consumption 200 mA at 5 VDC HARDWARE REFERENCE MANUAL 85 O Z UOY Hardware reference Item Specification TJ1 ML04 TJ1 ML16 Approximate weight 75g Number of controlled devices 4 16 Controlled devices G Series and Accurax G5 Servo Drives Sigma ll Sigma V and Junma ML Servo Drives e Os VT F7 and G7 Inverters e V1000 1000 Inverters 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
73. N connector of the first slave Connect fig 107 the OUT connector on the first slave to the IN connector on the next slave Do not connect the OUT connector on the last slave Note EH Always turn OFF the power supply to the Machine Control Unit o and slaves before connecting or disconnecting the EtherCAT B Communications Cables The cable between two nodes L1 L2 Ln must be 100 m or less o oo oo affooffoolfo ooon o oopooro opoofoo o 9 Field Ground Terminal aaa pam The GRT1 ECT provides a Field Ground Terminal FG between the EtherCAT connectors If noise is a significant source of errors ground the Field Ground Terminal recommended wire 20 AWG to 14 AWG or 0 5 to 2 0 mm Strip the wire between 8 mm 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 mm to 10 mm iaa jo oo oo o o oor ooro Power supply connector fig 108 The GRT1 ECT has 2 24 VDC power supply terminals
74. NK II and EtherCAT network are fully accessible from the Ethernet connection Note Trajexia Studio and CX Motion Pro are the same software Trajexia Studio is supplied standalone where CX Motion Pro is part of the CX One automation suite One minute Trajexia Studio includes advanced debugging tools including trace and oscilloscope functions to ensure efficient operation and minimum downtime The Servo Drives Inverters and I Os connected to the MECHATROLINK II and EtherCAT motion bus are automatically identified and configured allowing you to set up your system in minutes 3 1 3 This manual 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 The description connections and use of the EtherCAT slaves Adetailed philosophy of the system design to obtain the best results for Trajexia HARDWARE REFERENCE MANUAL 5 Trajexia Studio QE sumus Add DRT Unit Add CORT Unit Add MLIG Unit Add MLO Unit Add FL Unit S Update Unit Detection in SHELL Program amp Toolbox 3 Solution Explorer Output 6 s applicatio VR 900 901 Bito Bitis 902 0 1 Pu 904 905 Bitn 906 907 d Build Error Log Find Results x Output j Watch Ready VR system0
75. P Maximum voltage 24 VDC 10 Input current 8 mA at 24 VDC on voltage 18 5 VDC min off voltage 5 0 VDC max Input response time registration e without noise filter 0 5us maximum e with noise filter 3 5us maximum HARDWARE REFERENCE MANUAL Ll T3 im z Bie aQaoodcoao fig 76 External power supply 24V OV common for Input circuits TJ 1 FL02 trajexia 152 trajexia Hardware reference Note H 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 H A maximum of 4 inputs on is allowed simultaneously Digital outputs O Z The following table and illustration details the digital output specifications fig 77 Item Specification Type PNP TJ 1 FLO2 8 i 2A Fuse Maximum voltage 24 VDC 10 Sg 18 24V output supply 5 0 1 T Current capacity 100 mA each output 400 mA for a group of 4 3 guste egi Max Voltage 24 VDC 10 851 Equivalent gd oe circuit Protection Over current Over temperature and 2A fuse on 89 52 Common Output response time PSwitch
76. P Category 5 Maximum cable length 100 m max between nodes Number of Servo axes 4 16 64 Servo period 0 25 ms 0 5 ms 1 ms 2ms Supported devices Accurax G5 Servo Drives MX2 Inverters with 2 GRT1 ECT SmartSlice Communication Unit Interface data Process data PDOs and mailbox data SDOs Device profile CANopen over EtherCAT CoE Applicable addressing modes Position Addressing Auto Increment Node Addressing Configured Station Addresses Auxiliary I Os 8 fast registration inputs HARDWARE REFERENCE MANUAL trajexia 173 O Z UOY Hardware reference 3 11 5 TJ2 ECT box contents EtherCAT Master Unit box e Safety sheet e TJ2 ECT Parts for an I O connector Protection label attached to the top surface of the unit 3 11 6 Related BASIC commands The following BASIC commands are related to the TJ2 ECT ETHERCAT To initialise the EtherCAT network CO READ AXIS CO WRITE AXIS To read and write CANopen objects in EtherCAT slaves e R REGIST To configure the registration inputs of the EtherCAT master For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 174 O Z UOY Hardware reference 3 11 7 EtherCAT Accurax G5 Servo Drives You can also connect an Accurax G5 Servo Drive to a Trajexia system Label Terminal LED
77. Process Buffer Process 3 Process Buffer Process 4 CJ Process Buffer Process 5 CE Process Buffer Process 6 Process Buffer Process 7 Cm Process Buffer Process 14 CJ Program Buffer Each process has its own Process Buffer AXIS BUFFER one per axis NTYPE i MTYPE i Profile generator Waiting to be executed MOTION COMMAND Currently executed MOTION COMMAND DEMAND POSITION WAITING EXECUTING NTYPE MTYPE MTYPE NTYPE MTYPE p NTYPE gt NTYPE MTYPE NTYPE m gt Each Axis has its own 2 buffers NTYPE amp MTYPE 49 O Z System philosophy Example of buffered instructions HARDWARE REFERENCE MANUAL fig 42 trajexia BASIC PROGRAM MOVE 500 BUFFER MOVE 1000 ae a NTYPE IDLE MOVE 200 MTYPE MOVE 500 BASIC PROGRAM MOVE 500 BUFFER MOVE 1000 Jus DATUM 3 E MOVE 1000 EE MOVE 200 I 2 e MOVE 500 BASIC PROGRAM MOVE 500 MOVE 1000 DATUMG MOVE 200 DATUMG BUFFER NTYPE MOVE 1000 MOVE 500 BASIC
78. REVERSE commands can be used to start a continuous movement with constant speed on a certain axis The FORWARD command moves the axis in positive direction and the REVERSE command in negative direction For these commands also the axis parameters ACCEL and SPEED apply to specify the acceleration rate and demand speed Both movements can be cancelled by using either the CANCEL or RAPIDSTOP command The CANCEL command cancels the move for one axis and RAPIDSTOP cancels moves on all axes The deceleration rate is set by DECEL 222 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 Circular interpolation e CAM control HARDWARE REFERENCE MANUAL 13 O Z UOY System philosophy Linear interpolation In applications it can be required for a set of motors to perform a move 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 In this case the commands will have multiple arguments to specify the relative or absolute move for each axis Consider the three axis move in a 3 dimensional plane in the figure It corresponds to the MOVE 50 50 50 command The speed profile of the motion along the path is given in the diagram The three par
79. Slice I O Units over an EtherCAT network For more information on SmartSlice I O Units refer to the GRT1 Series SmartSlice I O Units Operation Manual W455 Label Description LED indicators Unit dipswitches Unit power supply terminals I O power supply terminals Node address switches EtherCAT connector IN port EM Link activity LED IN port I O n m oj o oj gt Shielding terminal Link activity LED OUT port J EtherCAT connector OUT port Unit dipswitches Ethere ur Dipswitch Function Setting Description REGS Create enable ON Registered table is enabled registration table SFF Registered table is disabled OFF to ON Register I O unit table ON to OFF Clear registered I O unit table NC N A OFF Not used always set to OFF HARDWARE REFERENCE MANUAL trajexia 190 O Z UOY Hardware reference Dipswitch Function Setting Description ADR Automatic OFF to ON When the SmartSlice I O Units are restore replaced the parameter data that was backed up with the BACK dipswitch is automatically restored OFF Automatic restore disabled BACK Backup trigger ON to OFF to Parameter data of all connected Smart ON in 3 s Slice I O Units is backed up 1 When the uni
80. T Profile generator Trajexia Position Loop is tL Gains are not Demanded used position position Position loop ems deactivated X Measured af 1 1 Following Speed Loop Torque Loop command fig 37 e TJ2 ECT 1 SERVO OFF SERVO OFF Position loop o T Profile generator 1 Demanded Following position error 7 position i 1 Speed command EtherCAT Speed Speed Loop command Torque Loop 45 O Z UOY System philosophy EtherCAT Cyclic Synchronous Torque CST ATYPE 67 With SERVO ON the torque loop is closed in the TJ2 MC64 The torque reference in the Servo Drive depends on the FE and the gain With SERVO OFF the torque reference is sent directly via the T_REF command 0x40000000 is the maximum torque of the servomotor Note H To monitor the torque in the servo in DRIVE MONITOR set DRIVE CONTROL TBD EtherCAT Velocity VL ATYPE 68 With SERVO OFF the speed reference is sent via S REF command HARDWARE REFERENCE MANUAL fig 38 TJ2 ECT i SERVO OFF SERVO OFF Position loop P MET gt o Profile generator Demanded Following position i Measured position mo i Torque command EtherCAT Torque Torque Loop fig 39 TJ2 ECT
81. _READ DRIVE_RESET DRIVE_STATUS DRIVE_WRITE For more information refer to the Trajexia Programming Manual 3 5 10 Yaskawa MECHATROLINK II Servo Drives You can also connect the following Yaskawa Servo Drives Sigma ll series Servo Drive with a JUSP NS115 MECHATROLINK II interface unit Sigma V series Servo Drive e Junma series Servo Drive For details please refer to the manuals of these Drives HARDWARE REFERENCE MANUAL 106 O Z UOY Hardware reference trajexia 3 5 11 MECHATROLINK II Inverter MX2 The 3G3AX MX2 MRT E allows controlling monitoring and parameterization of an MX2 A Inverter via a MECHATROLINK II network The 3G3AX MX2 MRT E serves as a gateway that passes communicated register values from the MECHATROLINK II network to the MX2 A Inverter and vice versa The illustration shows the external appearance of the 3G3AX MX2 MRT E Unit Option board connector LED indicators RUN ERR RX TX 4 Warning label Fieldbus connector Grounding cable Housing Mounting screw Four LED indicators allow easy diagnosis An attached grounding cable is sized to reach the ground terminals on all MX2 A Inverter models A feature in the housing will retain the mounting screw when the Option Board is not mounted to the Inverter Please pay special attention to the Option Board connector It must be properly connected with the Inverter when the Option Board i
82. a only supports 10 Mbps bus speed Therefore always set dipswitch 2 to OFF 2 Trajexia only supports 32 byte communication Therefore always set dipswitch 3 to OFF HARDWARE REFERENCE MANUAL 125 O Z Hardware reference Rotary switch The rotary switch SW1 sets the MECHATROLINK II address that identifies the GRT1 ML2 in the MECHATROLINK II network The settings range is from 0 hex to F hex To set the MECHATROLINK II address of the GRT1 ML2 do these steps 1 Turn off the Unit power supply of the GRT1 ML2 Note H 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 Dipswitch 1 Rotary Address Dipswitch 1 Rotary Address switch switch OFF 0 60 hex ON 0 70 OFF 1 61 hex ON 1 71 OFF 2 62 hex ON 2 72 OFF 3 63 hex ON 3 73 OFF 4 64 hex ON 4 74 OFF 5 65 hex ON 5 75 OFF 6 66 hex ON 6 76 OFF 7 67 hex ON 7 77 OFF 8 68 hex ON 8 78 OFF 9 69 hex ON 9 79 OFF A 6A hex ON A 7A OFF B 6B hex ON B 7B OFF C 6C hex ON C 7C OFF D 6D hex ON D 7D OFF E 6E hex ON E HARDWARE REFERENCE MANUAL 126 O Z Uos noy Hardware reference Dipswitch 1 Rotary Address Dipswitch 1 Rotary Address switch switch OFF F 6F hex ON F Note Make s
83. ail Power supply 24 VDC 10 15 20 4 to 26 4 VDC Current consumption 110 mA typical at 24 VDC Dimensions W x D 58 x 80 70 mm 2 Weight 130 g Ambient operating tem 10 to 55 C no icing or condensation perature Ambient operating 25 to 85 Relative humidity humidity Storage temperature 20 to 65 C no icing or condensation Vibration resistance 10 to 57 Hz 0 7 mm amplitude 57 to 150 Hz acceleration 49 m s Shock resistance 150 m s Dielectric strength 500 VAC between isolated circuits 5 Conformance to EMC EN61131 2 2003 and electrical safety c standards gt ij Enclosure rating IP20 HARDWARE REFERENCE MANUAL trajexia 128 O Z UOY Hardware reference Item Specification Number of connectable SmartSlice I O Units 64 Units max Connected directly to the GRT1 ML2 or via Turnback exten sion units Baud rate 3 Mbps Communication signal level RS485 Communication dis tance SmartSlice I O Units 64 Units coupled about 2 m max 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 Q nections Units connect with Turnback cables 8 Baseblock power supply Voltage 24 VDC Current 4 Even
84. ameters SPEED ACCEL and DECEL that determine the multi axis movement are taken from the corresponding parameters of the base axis The MOVE command computes the various components of speed demand per axis A is the time axis B is the speed axis HARDWARE REFERENCE MANUAL 14 O Z UOY System philosophy Circular interpolation It may be required that a tool travels from the starting point to the 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 Consider the diagram in the figure It corresponds to the MOVECIRC 100 0 50 0 0 command The centre point and desired end point of the trajectory relative to the start point and the direction of movement are specified The MOVECIRC command computes the radius and the angle of rotation Like the linearly interpolated MOVE command the ACCEL DECEL and SPEED variables associated with the base axis determine the speed profile along the circular move CAM control Additional to the standard move profiles the TJ2 MC64 also provides a way to define a position profile for the axis to move The CAM command moves an axis according to position values stored in the TJ2 MC64 Table array The speed of travelling through the profile is determined by the axis parameters of the axis The figure corresponds to the command CAM 0 99 100 20 A is the time axis B is the position axis 2 2 5 control Elect
85. ation Lit Power supply to the SmartSlice I O HARDWARE REFERENCE MANUAL trajexia 193 O Z Hardware reference Rotary switches Set the address selector of the GRT1 ECT to the required node address by using the X1 right and X10 left rotary switches The setting range for the node address switches is 00 to 99 When the rotary switches are set to 00 the node address will be assigned automatically depending on the position in the network starting from 1000 When set from 01 to 99 the node address assigned will 1000 plus the switch setting To set the EtherCAT node address of the GRT1 ECT do these steps 1 Turn off the Unit power supply of the GRT1 ECT Note The address of the GRT1 ECT is read only at power on Setting the new address when the power is on has no effect 2 Toset the address of the unit either use auto addressing by setting the rotary switches to 00 or set the desired address with the rotary switches Note H Make sure that the address is unique in the EtherCAT network If two or more IO units have the same node address a configuration error will occur 3 Turn the power on Note H To make the EtherCAT address of the unit valid do one of these steps Restart the TJ2 MC64 Execute the command ETHERCAT 0 unit HARDWARE REFERENCE MANUAL 194 O Z UOY Hardware reference tra j exi a EtherCAT connectors IN amp OUT Connect the EtherCAT master to the I
86. bable cause of any malfunctioning do these steps Clean the connectors with a clean soft cloth and industrial grade alcohol Remove any lint or threads left from the cloth Install the unit again When returning a damaged unit to the OMRON dealer include a detailed damage report with the unit Before reconnecting the new unit do these steps Set the EtherCAT node address to the same address as the old unit If the table registration function was used for the old unit create a new registration table for the new unit See the Trajexia Programming Manual 3 13 4 Online replacement It is possible to replace SmartSlice I O Units connected to a GRT1 ECT when the power is on The I O communication continues while a SmartSlice 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 Release the locks on the front of the unit and remove the terminal block Do not remove the wiring HARDWARE REFERENCE MANUAL 204 O Z UOY Hardware reference 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 When replacing a SmartSlice I
87. cycle Servo period rules MECHATROLINK II The number of axes and MECHATROLINK II devices in the Trajexia system determines the value of the SERVO PERIOD system parameter There are types of MECHATROLINK II devices that are supported by the TJ2 MC64 units e Servo Drives The TJ2 MC64 considers Servo Drives as axes Inverters By default Inverters are not considered as axes although this can be changed by command e O units and slice bus couplers The TJ2 MC64 does not consider I O units analog and digital counter and pulse and SmartSlice bus couplers as axes You must obey the most restrictive rules when you set the SERVO PERIOD parameter An incorrect value of the SERVO PERIOD parameter results in an incorrect detection of the MECHATROLINK II devices HARDWARE REFERENCE MANUAL 27 O Z 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 N A N A 0 5 ms 32 axes 4 devices 4 devices 1 0 ms 64 axes 8 devices 4 devices 2 0 ms 64 axes 16 devices 4 devices 1 Total number of axes real virtual 2 MECHATROLINK II does not support 0 25 ms Servo period rules EtherCAT The number of axes with an EtherCAT network is restricted by the SERVO PERIOD system parameter the type of axis an
88. d the type of Ether CAT master unit There are 3 types of EtherCAT devices that are supported by the TJ2 MC64 units Devices with feedback Servo Drives The TJ2 MC64 considers Servo Drives as axes Maximum number restricted by the SERVO PERIOD and EtherCAT master type e Devices without feedback Inverters The TJ2 MC64 considers EtherCAT Inverters as axes but the maximum number is not restricted by the EtherCAT master type Maximum number restricted by the SERVO_PERIOD e units The TJ2 MC64 does not consider I O units as axes SERVO PERIOD TJ2 MC64 TJ2 ECT04 TJ2 ECT16 TJ2 ECT64 0 25 ms2 16 axes N A N A N A 0 5 ms 32 axes 4 axes 8 axes 8 axes HARDWARE REFERENCE MANUAL 28 O Z UOY System philosophy SERVO_PERIOD TJ2 Mc64 TJ2 ECT04 TJ2 ECT16 TJ2 ECT64 1 0 ms 64 axes 4 axes 16 axes 16 axes 2 0 ms 64 axes 4 axes 16 axes 32 axes 1 Total number of axes real virtual 2 The EtherCAT units do not yet support 0 25 ms HARDWARE REFERENCE MANUAL trajexia 29 O Z UOY System philosophy trajexia Configuration examples Example 1 1x TJ2 MC64 fig 19 1x TJ1 MLO4 Servo Driver 3x G Series Servo Drive e SERVO_PERIOD ims pem brajexia TJ2 MC64 Supports 0 25ms SERVO_PERIOD with 3 axes TJ1 ML04 Supports 0 5ms SERVO PERIOD with devices G Series supports 1ms SERVO PERIOD This is the
89. ddress setting 98 O Z Hardware reference Note H 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 HARDWARE REFERENCE MANUAL 99 O Z Hardware reference 7 segment LED The 7 segment LED indicator is on the front panel When the power is turned on it shows the node address that is set by the rotary switches Then the indication changes in accordance with the setting on the Default Display Pn700 If any alarming error occurs it indicates the error number Errxxx as the alarm code If any warning situation occurs it indicates the warning number as the warning code HARDWARE REFERENCE MANUAL Control power on d lt a E trajexia fig 41 Fully unlit Fully lit for approx 0 6 s nA Node Address for approx 0 6 s Rotary switch setting This example is the case when the MSD is set to 0 and the LSD is to 3 Displays for the period set on Address Display Time Setting at Power On Pn701 Normal display When the Initial State Indication Pn700 is set to 0 gt Main power is ON EM y Main power is OFF and the network and the network V communication is not established communication is established
90. dicators LED Description Color Status Meaning RUN Unit status Green Not lit Startup test failed unit not opera tional e Operation stopped due to a fatal error Lit Initialization successful unit is in nor mal operation ALARM Unit error Red Not lit Unit is in normal operation Flashing A startup error has occurred Lit Unit is in alarm state or a fatal error has occurred ML COM MECHATRO Green Not lit No MECHATROLINK II communication cone Lit MECHATROLINK II communication munication active HARDWARE REFERENCE MANUAL BRUN BALARM COM Hrs UNIT PWR O VO PWR n trajexia 123 O Z Hardware reference LED Description Color Status Meaning TS SmartSlice O N A Not Lit No power supply system com e Communication with SmartSlice munication O Unit has not started status Overcurrent detected Green Flashing SmartSlice I O Unit added to the sys every tem second Flashing Backup Restore function operating every 0 5 Restoring settings to SmartSlice l second O Unit backup function operating e Downloading SmartSlice I O Unit settings Lit Communication with SmartSlice I O Unit established Red Flashing Non fatal communication error occurred Communication timeout Verification error occurred with registered table Different model
91. ds Trajexia offers control of up to 64 axes over a MECHATROLINK II or El EtherCAT network or traditional analogue or pulse control with independent _ 3 Hostlink M MN ra joda position speed or torque control for every axis And its powerful motion instruction set makes programming intuitive and easy You can select from a wide choice of best in class rotary linear and direct MECHATROLINI drive Servo systems as well as Inverters The system is scalable up to 64 axes Inverters I O modules The TJ2 MC64 also contains an IEC 61131 3 compliant soft PLC capable of controlling I O and performing motion aaa 3 1 1 Trajexia High Lights The main high lights of the trajexia system are as follows Direct connectivity via Ethernet Trajexia s built in Ethernet interface provides direct and fast connectivity to PCs PLCs HMls and other devices while providing full access to the CPU and to the Drives over a MECHATROLINK II or EtherCAT network It allows explicit messaging over Ethernet and through MECHATROLINK II or EtherCAT to provide full transparency down to the actuator level and making remote access possible HARDWARE REFERENCE MANUAL 52 O Z uoisi aH Hardware reference Keep your kn
92. e 3 10 10 Hardware PSWITCH The TJ1 FLO2 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 The outputs are driven by hardware only This means that the response times do not have software delays We refer to the HW PSWITCH command in the Trajexia Programming Manual for more information on using the position switches 3 10 11 TJ1 FL02 box contents e Safety sheet e TJ1 FLO2 Protection label attached to the top surface of the unit e Parts for a 15 pin connector e Parts for an 18 pin connector HARDWARE REFERENCE MANUAL 167 O Z uoisi aH Hardware reference 3 11 TJ2 ECT 3 11 1 Introduction EtherCAT is an open high speed industrial network system that conforms to Ethernet IEEE 802 3 Each node achieves a short cycle time by transmitting Ethernet frames at high speed A mechanism that allows sharing clock information enables high precision synchronization control with low communications jitter The TJ2 ECT controls EtherCAT devices in a cyclic and deterministic way EtherCAT devices can be Servo Drives Inverters e Note H Only specific EtherCAT devices are supported This depends on the firmware version of the connected TJ2 MC64 Only master to slave communication is supported Master to mas ter communication is not supported The TJ2 ECT__ has t
93. e cycle of operations in the TJ2 Ethernet Profibus MC64 The cycle time is divided in 4 time slices of equal time length called pe CPU slots The cycle time is 1ms if SERVO PERIOD 70 25ms 0 5ms or Built in via TJ4 ML__ TJ2 ECT__ 1ms and 2ms if the SERVO PERIOD 2ms CPU slots The operations executed in each CPU slot are CPU slot Operation First CPU slot BASIC and or PLC execution Motion Network update if SERVO PERIOD 0 25ms HARDWARE REFERENCE MANUAL 8 O Z UOY System philosophy CPU slot Operation Second CPU slot BASIC and or PLC execution Motion Network update if SERVO_PERIOD 0 25ms or 0 5ms Third CPU slot Internal houskeeping Motion Network update if SERVO_PERIOD 0 25ms Fourth CPU slot BASIC and or PLC execution Motion Network update all SERVO_PERIODs Program A program is a piece of BASIC code Process Is a program in execution with a certain priority assigned Low Priority BASIC programs get assigned to process 0 to 19 and High Priority BASIC programs get assigned to Process 20 and 21 First the process priority High or Low and then the process number from high to low will define to which 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 2 2 Motion control concepts The TJ2 MC64 offers the
94. e memory is not fully changed and backup memory may be lost before the new battery is inserted 3 4 5 TJ2 MC64 Specification Item Specification Power supply 5 VDC and 24 VDC supplied by a Power Supply Unit Total power consumption 3 1 W Current consumption 620 mA at 5 VDC Approximate weight 230g Number of axes 64 Number of Inverters and I Os Up to 64 on MECHATROLINK II Number of TJ1 ML units Up to 4 Real Time Clock Yes Servo period 0 25 ms 0 5 ms 1 ms or 2 ms HARDWARE REFERENCE MANUAL 77 O Z uoisi es Hardware reference Item Specification Programming languages BASIC like motion language e EC 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 grams 8 MB Data storage capacity Up to 32 MB Flash data storage Saving program data and Flash ROM memory backup Battery backup Saving program data on the PC Trajexia Studio software manages backups on the hard disk of the PC Communication connectors 1 Ethernet connection 2 serial connections Firmware update Via Trajexia Studio CX Motion Pro software Electrical characteristics of the Ethernet interface Conforms to IEEE 802 3 100Ba
95. e other axis The TJ2 MC64 supports the following operations Relative move Absolute move Continuous move forward Continuous move reverse HARDWARE REFERENCE MANUAL 10 O Z UOY System philosophy trajexia Relative and absolute moves To move a single axis either the command MOVE for a relative move or the command MOVEABS for an absolute move is used Each axis has its own Xr iN MOVEABS 100 AXIS 0 move characteristics which are defined by the axis parameters MOVEABS 50 AXIS 1 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 At start both the axis O and axis 1 moves to a coordinate of 50 over the same duration of time At this point axis 1 stops and axis O continues to move to a coordinate of 100 The move of a certain axis is determined by the axis parameters Some relevant parameters are Parameter Description UNITS Unit conversion factor ACCEL Acceleration rate of an axis in units s DECEL Deceleration rate of an axis in units s SPEED Demand speed of an axis in units s Defining moves The speed profile in this figure shows a simple MOVE operation Axis A is the time axis B is th
96. e rau RR VES E dpa Ree P RAM RR EV RR pend qd hear Rea CR 120 S CRMEPRI eee tele ee rx esed OPER E rue AR reque dd raa deles Kw aV Rae ad FUE Rr b ue aU UR qub gcns Peau Peed Pe RRM rupe Soa S aie ded RR 136 o XMMMFLULD ZgET TPTIUPTMTTITTUMTTSTY 140 3 9 TJT GORTa a E Ray dee ge Re ae RE Kum x Eus Fa Rus Y Ra ROS ROC UR Da DR ena P Rune 144 3 10 TJT EEO2 ee UR Ve UR A Roe LR o ei AN 148 HARDWARE REFERENCE MANUAL 7 O Z UOY Safety warnings and precautions 1 Safety warnings and precautions 1 1 Intended audience This manual is intended for personnel with knowledge of electrical systems electrical engineers or the equivalent who are responsible for the design installation and management of factory automation systems and facilities 1 2 General precautions The user must operate the product according to the performance specifications described in this manual Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems railroad systems aviation systems vehicles safety equipment petrochemical plants and other systems machines and equipment that can have a serious influence on lives and property if used improperly consult your OMRON representative 1 3 A A Safety precautions WARNING Do not attempt to take the Unit apart and do not touch any of the inte
97. e 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 speed in one second and also to decelerate to zero speed again in one second both the acceleration as the deceleration pec rate have been set to 10 m s The total distance travelled is the sum of ROVER distances travelled during the acceleration constant speed and deceleration segments Suppose the distance moved by the MOVE command is 40 m the speed profile is given by the figure HARDWARE REFERENCE MANUAL 11 O Z uoisi es System philosophy The two speed profiles in these figures show the same movement with an acceleration time respectively a deceleration time of 2 seconds Again Axis A is the time axis B is the speed 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 demand speed is V The acceleration rate is deceleration rate is d Acceleration time Dix HARDWARE REFERENCE MANUAL ACCEL 5 DECEL 10 SPEED 10 MOVE 40 ACCEL 10 DECEL 5 SPEED 10 MOVE 40 12 O Z System philosophy Acceleration distance V 2a Deceleration time V d 2 Deceleration distance 2d Va d Constant speed distance pD Via d 2ad Total time D 4 V a d V 2ad Continuous moves The FORWARD and
98. easures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Caution Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning O Z UOY Safety warnings and precautions gt gt gt gt gt Caution Do not apply voltage to the Input Units in excess of the rated input voltage Excess voltage may result in burning Caution Do not apply voltage or connect loads to the Output Units in excess of the maximum switching capacity Excess voltage or loads may result in burning Caution Disconnect the functional ground terminal when performing with stand voltage tests Not disconnecting the functional ground terminal may result in burning Caution Always connect to a class 3 ground to 1000 or less when install ing the Units Not connecting to a class 3 ground may result in electric shock Caution Always turn off the power supply to the system before attempting any of the following Not turning off the power supply may result in malfunction or electric shock Mounting or dismounting expansion Units CPU Units or any other Units Assembling the Units Setting dipswitches or rotary switches Connecting or wiring the cables Con
99. ence 0 6 Any MECHATROLINK II axes that are assigned using the Drive switches will not change The TJ2 MC64 assigns the next free axis The TJ1 FLO2 has these visible parts Part Description A LEDs B 15 pin connector C 18 pin connector HARDWARE REFERENCE MANUAL 149 O Z UOY Hardware reference 3 10 2 LED description The function of the LEDs is defined by the BASIC command AXIS_DISPLAY For more information refer to the Programming Manual Axis Label Status AXIS DISPLAY parameter 0 1 2 3 All run on The TJ2 MC64 recognises the TJ1 FL02 A AEN Axis enabled flashing Axis error off Axis disabled AO on REG 0 AUX OUT 0 Encoder A 1 on REG 1 EncoderZ OUT 1 Encoder B B BEN on Axis enabled flashing Axis error off Axis disabled BO on REG 0 AUX OUT 0 Encoder A B 1 on 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 trajexia 150 O Z UOY 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 trajexia fig 74 4 N IN 2 00000 QQ
100. er and the feedback from the encoder is ML II Speed gt gt Speed Loop command refreshed in the Inverter every 5 ms This is a DPRAM limitation This means hib ia PES that the use of the Inverter is similar to the use of a Servo Drive but the wu performance is lower HARDWARE REFERENCE MANUAL DPRAM REFRESH EVERY 5ms e 44 O Z System philosophy EtherCAT Cyclic Synchronous Position CSP ATYPE 65 With SERVO ON the position loop is closed in the Servo Drive Gain settings in the TJ2 MC64 have no effect The position reference is sent to the Servo Drive Note EH Although MPOS and FE are updated the real value is the value in the Servo Drive The real Following Error can be monitored by the DRIVE MONITOR parameter by setting DRIVE CONTROL 5 Note H The EtherCAT position ATYPE 65 is the recommended setting to obtain a higher performance of the servo motor EtherCAT Cyclic Synchronous Speed CSV ATYPE 66 With SERVO ON the speed loop is closed in the TJ2 MC64 Speed reference is sent to the Servo Drive This setting is not recommended since there is one cycle delay in the loop DPOS n is compared with MPOS n 1 With SERVO OFF the speed reference is sent via S REF command 0x40000000 means maximum speed of the servomotor This is the recommended setting HARDWARE REFERENCE MANUAL fig 36 TJ2 ECT __ SERVO OFF SERVO OFF EtherCA
101. er d des quee eed dep e de qe E eq dad quee pnt ds 20 24 Trajexia system architecture 2 2 cee etd dees dv plns QUE pd ROC RU GNU ROS A o t oder in 23 2 5 Cycle tme eror dig RR pubbl s Ra cio wb ur ie 24 2 6 Program control and multi tasking using BASIC programs eee eae 33 27 Motion sequence aXes 2 2 02 iss hm 35 2 8 Motion DUITerS n OR Can Malin ZR c PAE AE ad ee Pe RR doen e A RR oy Bo RIRs RO ho BU dere M ae RR 48 2 9 E TehrpekiciEETT 50 3 Hardware references oodd exorare era a acne as and UD te bns fers ROO Re cav Uta ANDE S aration ins 51 3 1 Introd ctlOon eese E ERO RORIS ERU RP A Pe RA RE E E RN DEEP I PRIMER aS 51 SAMEDI PL 55 3 3 Powersupply Unit PSU i uei eue RR pada RU ae ORE Ne Eales Gg ew KU Ea xd Pea RE UU re em ME NEN XA E RIDES 66 3 4 TJ2 MCO4 incen ERE aa ed quide disini AE duit b uode ied dee d Gin d delete ts toda dies d 68 3 5 TEM sue ee IRR GR REACHES ERR Y EP AWA d acad ema ax eR WE dac a mad aqaa P dade er adis 80 3 6 GRITEML2 2 5 wand vaca y
102. erating 25 to 85 Relative humidity humidity Storage temperature 20 to 65 no icing or condensation Vibration resistance 10 to 57 Hz 0 7 mm amplitude 57 to 150 Hz acceleration 49 m s Shock resistance 150 m s Dielectric strength 500 VAC between isolated circuits 5 Conformance to EMC EN61131 2 2003 and electrical safety c standards gt Enclosure rating IP20 Number of connectable 64 Units max SmartSlice I O Units Connected directly to the GRT1 ECT or via Turnback exten sion units Baud rate 3 Mbps Communication signal RS485 level Communication dis SmartSlice I O Units 64 Units coupled about 2 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 8 Baseblock power supply Voltage 24 VDC Current 4 A max Event messaging Supported HARDWARE REFERENCE MANUAL trajexia 197 O Z UOY Hardware reference Item Specification Communications proto EtherCAT col Baud rate 100 Mbps Physical layer 100Base TX Communications con trol functions nications Auto Negotiation Only for 100Base TX full duplex commu Topology Daisy chain line or drop line Communications media STP Category 5 EtherCAT Maximum cable length 100 m max between
103. etting after the turning ON the power supply Note H The node address rotary switches can be set to between 00 and 99 The node address used over the network is determined by the value set on the rotary switches If the node address is not between 00 and 99 a Node Address Setting Error Error 88 0 will occur HARDWARE REFERENCE MANUAL Rotary switches for node address setting 177 O Z Hardware reference 7 segment LED The 7 segment display is on the front panel When the power is turned ON it shows the node address that is set by the rotary switches Then the display changes according to the setting of the LED Display Selection 3700 hex An error code is displayed if an error occurs A warning code is displayed if a warning occurs HARDWARE REFERENCE MANUAL trajexia fig 97 rol power ON Fully OFF 4 amp om om Fully ON x Node Address Display i nA node address approx 0 6 s Rotary switch setting upper digit x10 0 lower digit x1 3 It lasts for the period set in the Power ON Address Display Duration Setting 3701 hex Normal Display LED Display Selection 3700 hex set to 0 1 Main power supply Main power supply turned ON and EtherCAT 4 interrupted and EtherCAT communications communications not established established v m Dot on right lights
104. evices connect the power supply wires to the power supply terminals of the GRT1 ML2 If the wire ends have pin terminals just insert the pin terminals in the power supply terminals To remove the wires press the release button above the terminal hole with a precision screwDrive and pull out the wire It is recommended to use a SELV Safety Extra Low Voltage power supply with over current protection A SELV power supply has redundant or increased insulation between the I O an output voltage of 30 V rms and a 42 4 V peak or maximum of 60 VDC Recommended power supplies are S82K 01524 OMRON e S8TS 06024 OMRON 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 HARDWARE REFERENCE MANUAL fig 65 GRT1 PD_ 1 I O Power Supply Unit GRT1 TBR Right Turnback Unit vo Turnback cable Power supply 24 VDC GRT1 TBL Left Turnback Unit fig 66 Precision screwdriver Sur 077 Release button 134 O Z Hardware reference trajexia Caution A The GRT1 ML2 is a unit that is part of a network If the GRT1 ML2 is damaged it effects the whole network Make sure that a dam aged GRT1 ML2 is repaired immediately To replace the unit follow these rules
105. file generator fig 28 MEASURED DEMAND POSITION POSITION trajexia 39 O Z System philosophy MECHATROLINK II position ATYPE 40 With SERVO ON the position loop is closed in the Servo Drive Gain settings in the TJ2 MC64 have no effect The position reference is sent to the Servo Drive Note EH Although MPOS and FE are updated the real value is the value in the Servo Drive The real Following Error can be monitored by the DRIVE MONITOR parameter by setting DRIVE CONTROL 2 Note H The MECHATROLINK II position ATYPE 40 is the recom mended setting to obtain a higher performance of the servo motor MECHATROLINK II speed ATYPE 41 With SERVO ON the speed loop is closed in the TJ2 MC64 Speed reference is sent to the Servo Drive This setting is not recommended since there is one cycle delay in the loop DPOS n is compared with MPOS n 1 With SERVO OFF the speed reference is sent via S_REF command 0x40000000 means maximum speed of the servomotor This is the recommended setting HARDWARE REFERENCE MANUAL SERVO OFF SERVO OFF ML II Profile generator Trajexia Position Loop is tL Demanded used position position Position loop toot deactivated S z di Measured af 1 1 Following Speed Loop Torque Loop command fig 30 e
106. following BASIC commands are related to the MECHATROLINK II GRT1 ML2 module MECHATROLINK For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 136 O Z uoisihes Hardware reference 3 7 3 7 1 TJ1 PRT Introduction The TJ1 PRT is an interface between the Trajexia system and a PROFIBUS network The TJ1 PRT has these visible parts Part Description A LEDs B and C Node number selectors D PROFIBUS connector 3 7 2 LEDs description Label Status Description run off Start up test failed Unit not operational Operation stopped Fatal error on Start up test successful Normal operation ERC off Normal operation flashing Start up error on Fatal error in program Error occurred while Reading or Writing error log ERH off Normal operation flashing l O size not configured on Error detected in communication with controller HARDWARE REFERENCE MANUAL trajexia 137 O Z UOY Hardware reference Label Status Description COM off No PROFIBUS data exchange communication on I O data exchange on PROFIBUS is active BF off No PROFIBUS bus communication errors flashing Parameter values sent by the PROFIBUS master unit are invalid I O data exchange is not possible on No PROFIBUS communication is detected by the unit 3 7 3 Node number selectors You can use the node number selecto
107. g 32 TJ1 FLO2 DRIVE Position loop SERVO OFF i it Profile generator Demanded Following Position SERVO OFF gt iu PA Speed Command Measured Position 2 di Encoder Signal With SERVO OFF the position of the external incremental encoder is read The analogue output can be set with BASIC commands only and can be used for general purposes fig 33 TJ1 FLO2 Measured Position HARDWARE REFERENCE MANUAL 42 O Z UOY System philosophy Encoder output ATYPE 45 The position profile is generated and the output from the system is an fig 34 incremental encoder pulse This is useful to control a motor via pulses or as a position reference for another motion controller TJ1 FL02 Profile generator JNO AXIS 1 Demanded ATYPE 45 position Absolute Tamagawa encoder ATYPE 46 With SERVO ON this is an axis with analogue speed reference output and absolute Tamagawa encoder feedback The position loop is closed in the TJ2 MC64 and the resulting speed reference is sent to the axis With SERVO OFF the position of the external absolute Tamagawa encoder is read The analogue output can be set with BASIC commands only and can be used for general purposes See fig 35 for reference Absolute EnDat encoder ATYPE 47 With SERVO ON this is an axis with analogue speed
108. gram is set to run the program is executed Processes 0 to 19 are low priority 20 and 21 are high priority 2 6 2 Processes The Terminal Window of Trajexia Studio has its own process process 22 This terminal window is used to write direct BASIC commands to the TJ2 MC64 independent to other programs These commands are executed after you press the Enter button 2 6 3 Multi tasking Each cycle time is divided into 4 time slots User processes run in 3 slots 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 CPU slot Operation CPU slot 1 Execute whichever comes first in the list Low priority BASIC Program or A High priority BASIC Program or PLC CPU slot 2 Execute whichever comes first in the list PLC or High priority BASIC Program or Low priority BASIC Program CPU slot 3 System processes HARDWARE REFERENCE MANUAL fig 24 Set sits siota Cycle time 3 34 O Z UOY System philosophy trajexia CPU slot Operation CPU slot 4 Execute whichever comes first in the list A High priority BASIC Program or PLC or 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
109. hese visible parts Part Description A LED indicators B CN1 EtherCAT connector C CN2 Registration connector Together the TJ2 ECT and its devices form a serial network The first unit in the network is the TJ2 ECT One TJ2 ECT04 can control up to 4 Servo axes One TJ2 ECT16 can control up to 16 Servo axes One J2 ECT64 can control up to 64 Servo axes HARDWARE REFERENCE MANUAL 168 O Z UOY Hardware reference 3 11 2 LEDs description Label Status Description RUN off Start up test failed Unit not operational Operation stopped Fatal error on Start up test successful Normal operation ERR off Normal operation blinking EtherCAT network error on Unit failure L A off No link on Link blinking Link and activity Reserved 1 3 off Assigned input off on Assigned input on HARDWARE REFERENCE MANUAL trajexia 169 O Z Hardware reference 3 11 3 TJ2 ECT__ connections To communicate with the EtherCAT network a RJ45 8 pin modular connector is provided A 12 pin connector is supplied to perform registration on EtherCAT axes EtherCAT Communications Connector This connector is used to connect the EtherCAT twisted pair cable A Pin Signal name Abbreviation Signal direction 1 Transmission data TD Output 2 Transmission data TD Outp
110. ion and the lower the performance you can reach 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 2 9 2 Rigidity If a machine is more rigid and less elastic you can set higher gains without vibration and you can reach higher dynamic and lower Following Error 2 9 3 Resonant frequency A mechanical system has at least one resonant frequency If you excite your mechanical system to the resonant frequency it starts oscillating For motion systems it is best to have mechanical systems with a very high resonant frequency that is with low inertia and high rigidity The resonant frequency of the mechanical system is the limit for the gain settings HARDWARE REFERENCE MANUAL 51 O Z uoisi es Hardware reference trajexia 3 Hardware reference 3 1 Introduction Trajexia is OMRON s motion platform that offers you the performance and the ease of use of a dedicated motion system CJ series PLC CX one TEM TRE seri Trajexia Studi Trajexia is a stand alone modular system that allows maximum flexibility and peu uie scalability At the heart of Trajexia lies the TJ2 multi tasking machine Master Master ee controller Powered by a 64 bit processor it can do motion tasks such as e Ethernet nac CANopen cam e gearbox registration control and interpolation all via simple motion comman
111. ions Item Specification Type PNP Maximum voltage 24 VDC 10 Current capacity 100 mA each output 800 mA for a group of 8 Max Voltage 24 VDC 10 Protection Over current Over temperature and 2A fuse on Common The timings are dependant upon the MC64 s servo period and include physical delays in the output circuit Maximum response times of 250 us on and 350 us off for servo periods of 0 5 ms or 1 0 ms or 500 us on and 600 us 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 HARDWARE REFERENCE MANUAL gt 2 o 3 o Ez o T E Iso lated from the system trajexia fig 26 TJ 1 MC 16 2A Fuse 28 24V output supply O External power suppl Equivalent pad circuit To other output circuits 76 O Z Hardware reference 3 4 4 Battery The backup battery provides power to the RAM where global variables are stored and real Time Clock when the power supply is off You must replace it every five years 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 unit to on for at least five minutes before you replace the battery else the capacitor that gives backup power to th
112. ished in physical layer QUAO O O ON Link established in physical layer NORA ERR OUT RU N ERR Flickering In operation after establishing link L A OUT Green OFF Link not established in physical layer ON Link established in physical layer Flickering In operation after establishing link HARDWARE REFERENCE MANUAL 185 O Z UOY Hardware reference Name Colour Status Description RUN Green OFF Init state Blinking Pre Operational state Single flash Safe Operational state ON Operational state ERR Red OFF No error Blinking Communications setting error Single flash Synchronization error or communica tions data error Double flash Application WDT timeout Flickering Boot error ON PDI WDT timeout Node Address settings Set the address selector of the 3G3AX MX2 ECT to the required node address by using the X1 right and X10 left rotary switches The setting range for the node address setting rotary switch is 00 to 99 When the rotary switches are set to 00 the node address will be assigned automatically depending on the position in the network starting from 01 The axis assigned depends on the node address setting and the AXIS OFFSET parameter using the following rule Axis No Node Address 1 AXIS OFFSET This offset AXIS OFFSET needs to be specified per TJ2 ECT Please note that the node address per TJ2 ECT___ needs to be unique Example TJ2 MC64 T
113. layer Flickering In operation after establishing link L A OUT Green OFF Link not established in physical layer ON Link established in physical layer Flickering In operation after establishing link HARDWARE REFERENCE MANUAL trajexia 176 O Z Hardware reference Node Address settings Set the address selector of the Accurax G5 Servo Drive to the required node address by using the X1 right and X10 left rotary switches The setting range for the node address setting rotary switch is 00 to 99 deum aM When the rotary switches are set to 00 the node address will be assigned ERR automatically depending on the position in the network starting from 01 1 L A IN The axis assigned depends on the node address setting and the L A OUT AXIS OFFSET parameter using the following rule Axis No Node Address 1 AXIS OFFSET This offset AXIS OFFSET needs to be specified per TJ2 ECT Please note that the node address per TJ2 ECT___ needs to be unique Example TJ2 MC64 TJ2 ECT16 6 Drives Node address range 01 to 07 e AXIS OFFSET SLOT 0 0 Assigned axis numbers 0 to 6 Note FH The node address set on the rotary switches is read only once when the control power supply is turned ON Any changes made to the rotary switches after the power is turned ON are ignored Such changes are enabled only after the power supply is turned ON again Do not change the rotary switch s
114. ment precautions Caution Do not operate the Unit in any of the following locations Doing so may result in malfunction electric shock or burning Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Caution Take appropriate and sufficient countermeasures when installing systems in the following locations Inappropriate and insufficient measures may result in malfunction Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies HARDWARE REFERENCE MANUAL O Z UOY Safety warnings and precautions A 1 5 gt gt Caution The operating environment of the TJ2 System can have a large effect on the longevity and reliability of the system Improper operating environments can lead to malfunction failure and other unforeseeable problems with the TJ2 System Make sure that the operating environment is within the specified conditions at installation and remains within the specified
115. ms TJ1 ML16 supports 2 0ms SERVO_PERIOD with 12 devices This is the limiting factor G Series Servo Drive supports 1 0ms SERVO_PERIOD SI T supports 1ms MECHATROLINK II I Os support 1 0ms Example 4 1x TJ2 MC64 1x TJ1 ML16 e 2x TJ1 FLO2 e 1x TJ1 PRT does not influence in the SERVO PERIOD 5x G Series Servo Drive e SERVO_PERIOD 1 0ms TJ2 MC64 supports 0 5ms SERVO_PERIOD with 9 axes 5 MECHATROLINK II servo axes and 4 TJ1 FLO2 axes TJ1 ML 16 supports 1 0ms SERVO PERIOD with 5 devices TJ1 FL02 supports 0 5ms SERVO PERIOD 2 axes each module Sigma ll supports 1 0ms SERVO PERIOD HARDWARE REFERENCE MANUAL cr rajexia It Address fig 21 Address 44 SUE V 9 xt 32 O Z System philosophy Example 5 e 1x TJ2 MC64 1x TJ2 ECT04 Accurax G5 Servo Drive SERVO_PERIOD 0 5ms TJ2 MC64 Supports 0 25ms SERVO_PERIOD with 3 axes TJ2 ECT04 Supports 0 5ms SERVO_PERIOD with 3 devices Accurax G5 supports 0 5ms SERVO PERIOD HARDWARE REFERENCE MANUAL Address fig 23 Address Address Servo Driver 33 O Z UOY System philosophy 2 6 Program control and multi tasking using BASIC programs only The Trajexia system has programs processes and multi tasking control 2 6 1 Program control The Trajexia system can control 22 processes that are written as BASIC programs When the pro
116. must be provided to ensure safety in the system O Z uoisines Safety warnings and precautions A A A A A WARNING The TJ2 will turn off the WDOG when its self diagnosis function detects any error As a countermeasure for such errors external safety measures must be provided to ensure safety in the system WARNING Provide safety measures in external circuits i e not in the Tra jexia Motion Controller referred to as TJ2 in order to ensure safety in the system if an abnormality occurs due to malfunction of the TJ2 or another external factor affecting the TJ2 operation Not doing so may result in serious accidents WARNING Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in malfunction fire or electric shock Caution Confirm safety at the destination unit before transferring a program to another unit or editing the memory Doing either of these without confirming safety may result in injury Caution User programs written to the Motion Control Unit will not be auto matically backed up in the TJ2 flash memory flash memory func tion Caution Pay careful attention to the polarity when wiring the DC power supply A wrong connection may cause malfunction of the system 1 4 Caution Tighten the screws on the terminal block of the Power Supply Unit to the torque specified in this manual Loose screws may result in burning or malfunction Operating environ
117. n a dedicated 2 5 MHz RS485 serial interface when their position is requested by the controller When you set the encoder to the relevant encoder mode the axis transmits an information request to the encoder on a fixed 250 us cycle The data returned is available to BASIC and you can use it to drive a servo motor HARDWARE REFERENCE MANUAL 164 O Z UOY Hardware reference In the figure A is the encoder side and B is the receiving side The connections for Tamagawa are Encoder signal Axis A Axis B SD 6 8 ISD 7 9 GND 5 15 5 15 Note i 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 Tamagawa TS5667N420 encoder to the TJ1 FLO02 Encoder TJ1 FL02 Signal Wire color Pin Signal SD Blue 6 SD SD Blue Black 7 SD GND Black 5 GND Vcc Red Use an external power supply Related BASIC commands The following BASIC commands are related to Tamagawa absolute encoders ATYPE ATYPE 46 ENCODER ID ENCODER STATUS ENCODER TURNS For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL ADM485 A B TJ1 FLO2 5 VDC Power Supply TJ1 FLO2 165 O Z UOY Hardware reference 3 10 8 Stepper The 1 02 can generate pulses to d
118. n on the indicated corner of the Option Board housing to ensure proper connection of the Option Board connector Check that there is no gap between the top edges of the Option Board and the Inverter casing Step 6 Step 7 Revision 2 0 112 HARDWARE REFERENCE MANUAL O Z uoisinaH Hardware reference Step 8 Secure the Option Board in place with the mounting screw do not overtighten Step 9 Select the right warning language from the warning label sheet and replace the English warning if appropriate Note Refer to section 2 1 3 in the MX2 user s manual Cat No 1570 for operations related to assembly and disassembly of the MX2 A _ Inverter Note Some Inverter models do not include a screw for the grounding cable Please supply the recommended screw lock washer and washer to attach the grounding cable Inverter models Grounding Cable Attachment Screw 3 phase 200 V 5 5 7 5 kW M4 x 6 3 phase 400 V 5 5 7 5 kW 3 phase 200 V 11 15 kW M5x6 3 phase 400 V 11 15 kW H Note Illustrations are only provided for one Inverter size The instruc tions however are generic and may be followed for all Inverter sizes Make use of the MX2 A Inverter manual WARNING Never operate the Inverter with the terminal block cover or backing plate removed HARDWARE REFERENCE MANUAL 113 O Z UOY Hardware reference gt gt gt gt WARNING Provide emergency sto
119. nal Operation stopped Fatal error on Start up test successful Normal operation ERC off Normal operation flashing Start up error on Fatal error in program Error occurred while Reading or Writing error log HARDWARE REFERENCE MANUAL fig 71 e 07 oo 828532 285 E sj L A gt UJ trajexia 145 O Z UOS noy Hardware reference Label Status Description ERH off Normal operation flashing I O size not configured on Error detected in communication with controller NWST off Start up error or fatal error detected single flash TJ1 CORT in stopped state flashing TJ1 CORT in pre operational state on TJ1 CORT in operational state BF off No network error detected single flash Warning limit reached At least one of the error counters of the CAN controller has reached or exceeded the warning level too many errors double flash A remote error or a heartbeat event has occurred flashing Invalid configuration on A duplicate node address has been detected or the unit is in Bus OFF state 1 Single flash one 200ms pulse followed by 1 second off 2 Double flash two 200ms pulses followed by 1 second off 3 LED flashing frequency 2 5 Hz 3 9 3 Node number selectors You can use the node number selectors to assign a node number to the TJ1 CORT This node
120. nce The figure is an example of a simple configuration Power supply TJ2 MC64 TJ1 ML G Series Servo Drive G Series Servo motor TJ1 TER mmoog HARDWARE REFERENCE MANUAL trajexia 57 O Z Hardware reference 1 Remove all the units from the packaging Make sure all units are complete 2 Do not remove the protection labels from the units 3 To disconnect the TJ2 MC64 and the TJ1 TER push the clips A on top and bottom of the TJ1 TER to the front 4 Disconnect the TJ1 TER from the TJ2 MC64 5 Push the clips A on top and bottom of all the units to the front HARDWARE REFERENCE MANUAL trajexia 58 O Z Hardware reference 6 Attach the TJ2 MC64 C to the Power Supply Unit B 7 Push the clips on top and bottom to the rear HARDWARE REFERENCE MANUAL 59 O Z Hardware reference 8 Repeat the previous two steps for all other units 9 Make sure the last unit is the TJ1 TER 10 Pull down all the clips D on all units 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 12 Push all the clips D up on all units 13 After you complete the wiring of the units remove the protection labels from the units HARDWARE REFERENCE MANUAL fig 10 60 O Z uoisi aH
121. necting or disconnecting the connectors HARDWARE REFERENCE MANUAL Caution Be sure that all mounting screws terminal screws and cable con nector screws are tightened to the torque specified in this manual Incorrect tightening torque may result in malfunction Caution Leave the dust protective label attached to the Unit when wiring Removing the dust protective label may result in malfunction Caution Remove the dust protective label after the completion of wiring to ensure proper heat dissipation Leaving the dust protective label attached may result in malfunction Caution Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Connection of bare stranded wires may result in burning Caution Double check all the wiring before turning on the power supply Incorrect wiring may result in burning Caution Wire correctly Incorrect wiring may result in burning Caution Mount the Unit only after checking the terminal block completely O Z UOY gt gt gt gt gt gt Caution Be sure that the terminal blocks expansion cables and other items with locking devices are properly locked into place Improper locking may result in malfunction Caution Confirm that no adverse effect will occur in the system before changing the operating mode of the system Not doing so may result in an unexpected operation Caution Resume operation only after transferring to the new
122. ng operation Setting C102 to another value causes the Option Board to reset when a trip condition is cleared Use the Inverter keypad to set C102 to 3 Param Description Setting C102 Reset mode selection Recommended to set to 3 Reset mode selection resets trip only not Option Board Step 2 Change the control method for the RUN command and frequency reference to Optional Board Param Description Setting A001 Frequency Refer 02 Digital Operator default ence Selection 1 04 Option board A002 RUN Command 02 Digital Operator default Selection 1 04 Option board Step 3 Restart the MX2 A_ Inverter for the changes to take effect Note When restarting the MX2 A_ Inverter wait for the Inverter power indicator to go out before switching on again HARDWARE REFERENCE MANUAL 188 O Z UOY Hardware reference Related BASIC commands The following BASIC commands are related to the MX2 Inverter with EtherCAT option e ATYPE AXIS AXIS_ENABLE S_REF AXISSTATUS DRIVE_ALARM DRIVE_CLEAR DRIVE_READ DRIVE_STATUS DRIVE_WRITE For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 189 O Z Hardware reference 3 13 GRT1 ECT 3 13 1 Introduction The GRT1 ECT SmartSlice Communication Unit controls data exchange between a TJ2 MC64 Machine Controller Unit via a connected TJ2 ECT EtherCAT Master Unit and Smart
123. nodes Supported SmartSlice I O Units The GRT1 ECT supports the following SmartSlice I O Units Function Specification Model 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 4 6 GRT1 ID8 8 PNP inputs 24 VDC 4 mA 1 wire connection 4xV GRT1 ID8 1 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 24 VDC 500 mA 3 wire connection GRT1 OD4G 1 circuit protection 4 PNP outputs with short from 4 x 2 0 A at 30 C to 4 x 1 0 A at 55 GRT1 OD4G 3 circuit protection 8 NPN outputs 24 VDC 500 mA 1 wire connection GRT1 OD8 4xV 8 PNP outputs 24 VDC 500 mA 1 wire connection GRT1 OD8 1 4xG 8 PNP outputs with short 24 VDC 500 mA 1 wire connection GRT1 OD8G 1 circuit protection 4xG HARDWARE REFERENCE MANUAL trajexia 198 O Z UOY Input Unit T E B N L U W or PL2 Function Specification Model 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 mA 2 analog outputs voltage 10 V 0 10 V 0 5 V 1 5 V GRT1 DA2V 2 analog outputs current 0 20 mA 4 20 mA GRT1 DA2C Four point AC Input Unit 100 to 120 VAC 50
124. number identifies the TJ1 CORT in the CANopen network 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 The CANopen node number can range from 0 to 127 But the TJ1 CORT only supports node numbers from 1 to 99 The default node number 0 is invalid Therefore the default node number must be changed before the TJ1 CORT is used HARDWARE REFERENCE MANUAL trajexia 146 O Z UOY Hardware reference 3 9 4 TJ1 CORT connections Pin Signal Description 1 V Power supply input negative voltage 2 L Communication line low 3 DRAIN Shield 4 CAN H Communication line high 5 V 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 sumption 15 mA at 24 VDC Power dissipation 0 6 W Approximate weight 100 g Electrical characteris tics Conforms to ISO 11898 1 HARDWARE REFERENCE MANUAL fig 72 trajexia 147 O Z UOY Hardware reference Item Specification Communication ports 1
125. o Drive 3 The Servo Drive controls the rotational speed of the servo motor corresponding to the speed reference The rotational speed is proportional to the speed reference 4 The rotary encoder generates the feedback pulses for both the speed feedback within the Servo Drive speed loop and the position feedback within the TJ2 MC64 position loop The labels in the figure are TJ2 MC64 Servo system Demand position Position control Speed reference moomg HARDWARE REFERENCE MANUAL fig 15 21 O Z UOY System philosophy Speed control Motor Encoder Measured speed Measured position ecrgom 2 3 3 Position loop algorithm in the CPU The servo system controls the motor by continuously adjusting the speed reference to the Servo Drive The speed reference is calculated by the motion control algorithm of the TJ2 MC64 which is explained in this section The motion control algorithm uses the demand position A the measured position D and the Following Error B to determine the speed reference The Following Error is the difference between the demanded and measured position 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 C is the output signal Proportional gain The proportional gain K c
126. o the TJ1 ML e ATYPE e MECHATROLINK AXIS OFFSET For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL trajexia 87 O Z UOY Hardware reference 3 5 7 MECHATROLINK II Servo Drives A MECHATROLINK II Servo Drive is designed to do position control in Trajexia In every MECHATROLINK II cycle the TJ2 MC64 receives the position feedback from the Servo Drive via the TJ1 ML The TJ2 MC64 sends either the target position speed or torque to the receiver depending on the axis type 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 HARDWARE REFERENCE MANUAL 88 O Z UOY 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 A SP IM G Analog monitor check pins B L1 L2 L3 Main circuit power terminals C L1C L2C Control circuit power terminals D B1 B2 B3 External Regeneration Resistor connection terminals E U V W Servomotor connection terminals F CN2 Protective ground terminals G Display area H Rotary switches MECHATROLINK
127. ollar according to DIN46228 4 With recommended tool Weidm ller PZ6 Insertion tool 2 5 mm flat bladed screwDrive Recommended Weidm ller AEH H0 14 12 AEH H0 25 12 AEH H0 34 12 Stripping length 7 mm without ferrules tolerance 1 mm 0 mm 10 mm with ferrules tolerance 1 mm 0 mm Conductor size Item Specification Clamping range 0 08 1 0 mm Wires without ferrule 0 5 1 0 mm Wires with ferrule AEH 14 12 0 13 mm AEH 25 12 0 25 mm AEH 34 12 0 34 mm HARDWARE REFERENCE MANUAL trajexia fig 17 66 O Z UOY Harwarerferene 3 3 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 e CJ1W PA202 e CJ1W PA205R e CJ1W PD025 3 3 2 PSU Connections Each Power Supply Unit has six terminals fig 18 Item CJ1W PA202 CJ1W PA205R CJ1W PD025 A 110 240 VAC input 110 240 VAC input 24 VDC input B 110 240 VAC input 110 240 VAC input 0 V input C Line earth Line earth Line earth D Earth Earth Earth E N C Wdog relay contact N C F N C Wdog relay contact N C 1 Terminals E and F for the CJ1W PA205R are relay contacts that close when Wdog is enabled Refer to the BASIC Commands in the Program ming manual
128. on value it produces a value for MPOS and a position error that is used to close the control loop The connections for SSI are HARDWARE REFERENCE MANUAL fig 85 CLELFLFLITLELELFLE D XEXOCXDOCXEA TUUS uuu G G 161 O Z UOY Hardware reference Encoder signal Axis A Axis B DATA 6 8 DATA 7 9 CLOCK 1 11 CLOCK 2 12 GND 5 15 5 15 Note H The TJ1 FLO2 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 Stegmann ATM 60 A encoder to the TJ1 FLO02 Encoder TJ1 FL02 Pin Signal Wire color Pin Signal 2 DATA White 6 DATA 10 DATA Brown 7 DATA 3 CLOCK Yellow 1 CLOCK 11 CLOCK Lilac 2 CLOCK 1 GND Blue 5 GND 8 Us Red See footnote 1 1 Use an external power supply Related BASIC commands The following BASIC commands are related to SSI absolute encoders ATYPE ATYPE 48 ENCODER BITS For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL fig 86 TJ1 FLO2 24 VDC Power Supply 162 O Z UOY Hardware reference EnDat You can configure the TJ1 FL02 to interface directly to EnDat absolute encoders EnDat absolute encoders respond on a dedicated Clock and Data 1 MHz RS485 serial interface when their posi
129. onitor output 2 3 GND Analog monitor ground 4 Reserved do not connect 5 Reserved do not connect 6 Reserved do not connect CN7 USB Connector The table below shows the pin layout for the CN7 USB connector Pin Signal Name 1 VBUS 2 D USB signal terminal 3 D 4 Reserved do not connect 5 SENGND Signal ground CN8 Safety connector The table below shows the pin layout for the CN8 safety connector Pin Signal Name 1 Reserved do not connect 2 Reserved do not connect 3 SF1 Safety input 1 4 SF1 5 SF2 Safety input 2 6 SF2 7 EDM EDM output 8 EDM HARDWARE REFERENCE MANUAL trajexia 182 O Z UOY Hardware reference Pin Signal Name Shell FG Shield ground CNA Power supply connector The table below shows the pin layout for the CNA power supply connector Pin Signal Name 1 L1 Main circuit 2 L2 power supply input 3 L3 4 L1C Control circuit 5 L2C power supply input CNB Servo motor connector The table below shows the pin layout for the CNB servo motor connector Pin Signal Name 1 B1 External Regeneration Resistor 2 B2 connection terminals 3 B3 4 U Servomotor 5 V connection 6 W terminals 7 8 Frame ground Related BASIC commands The following BASIC commands are
130. ontents Safety sheet e Power Supply Unit Protection label attached to the top surface of the unit 3 4 TJ2 MC64 3 4 4 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 The TJ2 MC64 has these visible parts V o Description LED display I O LEDs 0 7 Battery Ethernet connector TERM ON OFF switch WIRE 2 4 switch Serial connector WD gt 28 pin I O connector HARDWARE REFERENCE MANUAL fig 19 O f00 0000 69 O Z Hardware reference 3 4 2 LED Display The LED display shows the following information Information When IP address and sub net mask Shows 3 times when you connect the Trajexia system to the power supply IP address Shows 4 times when you connect an Ethernet cable to the Ethernet connector of the TJ2 MC64 and to a PC RUN When the TJ2 MC64 operates a Servo Drive OFF When the TJ2 MC64 does not operate a Servo Drive ERR code When an error occurs in the Trajexia system The code is the error code Refer to troubleshooting chapter in the Programming Manual HARDWARE REFERENCE MANUAL fig 20 un Cz d nu un un Lo
131. orced insulation or double insulation must be used for the DC power supplies used for the communications and I O power supplies HARDWARE REFERENCE MANUAL O Z UOY System philosophy PA j e X ia 2 System philosophy 2 1 Introduction The system philosophy is centred around the relationship between e System architecture e Cycle timeDrive x _ MSEC e Program control and multi tasking Program Butter e Motion sequence and axes Motion buffers 4 TJ1 ML_ TJ2 ECT TJ2 MC64 MOTION SEQUENCE A clear understanding of the relationship between these concepts is necessary to obtain the best results for the Trajexia system PLC TASKS BASIC PROGRAMS All other Process 0 S 2 1 4 Glossary Process 1 Servo Drive Drives Process 2 m N jos p Motion sequence Process 21 Speed E B T orque The Motion Sequence is responsible for controlling the position of the axes Loop Servo period TJ1 FLO2 Defines the frequency at which the Motion Sequence is executed The servo period must be set according to the configuration of the physical axes The available settings are 0 25ms 0 5ms 1ms or 2ms Speed Loop emt IT J4 PRT DRT CORT Torque Loop Cycle time Is the time needed to execute one complet
132. otal number of MECHATROLINK II devices is set by the TJ1 ML The TJ1 ML04 can have up to 4 MECHATROLINK II devices The TJ1 ML16 can have up to 16 MECHATROLINK II devices Terminate the last MECHATROLINK II device with a MECHATROLINK II terminator A HARDWARE REFERENCE MANUAL fig 56 fig 57 REP2000 120 O Z Hardware reference 3 6 XGRT1 ML2 3 6 1 Introduction The GRT1 ML2 SmartSlice Communication Unit controls data exchange between a 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 Label Description LED indicators Unit dipswitches Unit power supply terminals I O power supply terminals MECHATROLINK II connectors Shielding terminal Rotary switch m oj o Communication dipswitches Unit dipswitches Dipswitch Function Setting Description REGS Create enable ON Registered table is enabled registration table SFF Registered table is disabled OFF to ON Register I O unit table ON to OFF Clear registered I O unit table NC N A OFF Not used always set to OFF fig 58 2MRON GRT1 ML2
133. ow how safe By preventing access to the programs in the controller Trajexia guarantees complete protection and confidentiality for your valuable know how 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 l Os in the controller to enable you to tailor Trajexia to your machine design MECHATROLINK II Master The MECHATROLINK II master performs control of up to 64 Servo Drives Inverters or I Os while allowing complete transparency across the whole system MECHATROLINK II offers the communication speed and time accuracy essential to guarantee perfect motion control of Servo Drives The motion cycle time is selectable between 0 5 ms 1 ms or 2 ms EtherCAT Master EtherCAT is an open high speed industrial network system that conforms to Ethernet IEEE802 3 Each node achieves a short cycle time by transmitting Ethernet frames at high speed A mechanism that allows sharing clock information enables high precision synchronization control with low communications jitter The EtherCAT master performs control of up to 64 Servo Drives Inverters or I Os while allowing complete transparency across the whole system The motion cycle time is selectable between 0 25 ms 0 5 ms 1 ms or 2 ms TJ1 FL02 Flexible Axis Unit The TJ1 FLO2 allows full control of two actuators via an analogue output or pulse train The module su
134. p circuits interlock circuits limit circuits and similar safety measures in external circuits NOT in the Option Board This ensures safety in the system if an abnormality occurs due to malfunction of the Option Board or another external factor affecting the Option Board operation Not doing so may result in serious accidents WARNING Always connect the grounding cable to one of the ground termi nals of the MX2 A_ Inverter Failure to abide could lead to serious or possibly fatal injury Caution Never touch the heat sink during or just after operation it can be very hot Caution Be sure that the Option Board is mounted correctly Improper mounting may result in malfunction Caution Be sure that all cable connector screws are tightened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Installation Environment Clearance Please adhere to the requirements of section 2 3 2 in the MX2 user s manual on Installation Environment clearance In addition to this provide sufficient clearance to allow connection and removal of the MECHATROLINK II Connectors No unnecessary strain should be placed on the MECHATROLINK II cable or connector that could be transferred to the Option Board HARDWARE REFERENCE MANUAL 114 O Z UOY e e Hardware reference trajexia 299 Option Board Dimensions fig 54 Item Dimension Item Dimension Item Dimension h 63 6 mm C 16 3 mm d2 31
135. ped from other programs and executed from Trajexia Studio CX Motion Pro Programs execute commands to move the axes control inputs and outputs and make communication via BASIC commands 2 4 2 Motion sequence The motion sequence controls the position of all 64 axes with the actions as follows e Reading the Motion buffer e Reading the current Measured Position MPOS e Calculating the next Demanded Position DPOS e Executing the Position loop if it is done in the CPU e Sending the Axis reference Error handling HARDWARE REFERENCE MANUAL O Z System philosophy 2 4 3 Motion buffers Motion buffers are the link between the BASIC commands and the Axis control loop When a BASIC motion command is executed the command is stored in one of the buffers During the next motion sequence the profile generator executes the movement according to the information in the buffer 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 2 4 4 Communication A set of BASIC communication commands are used to configure the communications When the Trajexia is a communication slave as in the PROFIBUS communication it is only necessary to configure the communication in an initial task The values are exchanged from the configured global variables in a transparent way When the Trajexia is a communication
136. port added V2 0083 7 EtherCAT support added V2 0132 7 Verify the firmware and FPGA versions of the TJ2 MC64 Connect the TJ2 MC64 to Trajexia Studio software Refer to the Programming Manual HARDWARE REFERENCE MANUAL V O Z UOY Contents trajexia 1 Safety warnings and precautions ee ee epee ae eee CAE Seek weds ae eee dee 1 1 4 Intended audience 0 6 nee rs 1 1 2 General precautions x dre eek ree pn a dee Roe ee aa Aa tog yy BE Sas asi x DER ed WE iG oe ace WORE wee 1 T3 Salety PreCAUllONS LLL 1 1 4 Operating environment hr ns 2 TS Application precautions ivre RR RP SR RU eese box RR eR EG RR RR ADR RR Op e Se Ba oa a de ARE 3 1 6 2 2 Sb ae a ea DE pais oe bad Dees Pa Dea evened phe TT 6 1 7 Conformance to EC Directives Conformance eee eee 6 2 System philosGpony 2 sees oe TO be TURPE PROPER EE sd qi E S ERR KCN CE ESSE Peed ded a a ees heer dee ee ees 7 2 1 Introduction os oos Fema ke Wie ee oa a deis tama o diu dalle dad ce V bee d eat vob a ee ae 7 2 2 Motion control Concepts eee RR UR RR AURA E EGER ghee OEE PROSE Wu Ra rae e apa KA ARE EE ee ae ed BUE RR aa A ERES ace es 8 2 9 Servo system principles epe RP UR AER er res eae e Red pes
137. pports the main absolute encoder protocols allowing the connection of an external encoder to the system Drives and Inverters A wide choice of rotary linear and direct drive Servo systems as well as Inverters are available to fit your needs in compactness performance and reliability HARDWARE REFERENCE MANUAL 53 O Z UOY Hardware reference Remote I Os The I Os on the MECHATROLINK II and EtherCAT network provide for system expansion while keeping the devices under one motion bus PROFIBUS DP The PROFIBUS DP slave allows connectivity to the PROFIBUS network in your machine 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 HARDWARE REFERENCE MANUAL 54 O Z Hardware reference 3 1 2 Trajexia Studio and CX Motion Pro One software Trajexia s intuitive and easy programming tool based on the Motion BASIC instruction set includes dedicated commands for linking axes e cams e gearboxes etc Multi tasking provides flexibility in application design The motion commands are buffered so the BASIC programs are executed while motion movements are executed One connection The parameters and functions inside the Drives on the MECHATROLI
138. rdware reference 3 47 TJ2 MC64 box contents e Safety sheet TJ2 MC64 battery included Protection label attached to the top surface of the TJ2 MC64 TJ1 TER attached to the TJ2 MC64 Parts for a serial connector e Parts for an I O connector Two metal DIN rail clips to prevent the Trajexia system from sliding off the rail White clip to replace the yellow clip of the Power Supply Unit 35 TJ4 ML 3 5 1 Introduction The TJ1 ML__ controls MECHATROLINK II devices in a cyclic and deterministic way MECHATROLINK II slaves can be e Servo Drives Inverters e The TJ1 ML q has these visible parts Part Description A LED indicators B 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 e One TJ1 ML16 can control 16 devices One 1 04 can control 4 devices HARDWARE REFERENCE MANUAL 81 O Z UOY Hardware reference 3 5 2 LEDs description Label Status Description run off Start up test failed Unit not operational Operation stopped Fatal error on Start up test successful Normal operation BF off Normal operation on A fault in the MECHATROLINK II bus Reserved 3 5 3 TJ1 ML connection The MECHATROLINK II bus connector A fits MECHATROLINK II connector Use this connector to connect the TJ1 ML toa MECHATROLINK II
139. reates an output O that is proportional to the Following Error E All practical systems use proportional gain For many just using this gain parameter alone is sufficient The proportional gain axis parameter is called P GAIN Integral gain The integral gain creates an output that is proportional to the sum of the Following Errors that have occurred during the system operation Oj OE Integral gain can cause overshoot and so is usually used only on systems working at constant speed or with slow accelerations The integral gain axis parameter is called I GAIN Derivative gain The derivative gain Kg produces an output Og that is proportional to the change in the Following Error E and speeds up the response to changes in error while maintaining the same relative stability HARDWARE REFERENCE MANUAL fig 16 22 O Z UOY System philosophy trajexia Og AE Derivative gain may create a smoother response High values may lead to oscillation The derivative gain axis parameter is called D_GAIN e Output speed gain The output speed gain Koy produces an output O that is proportional to the change in the measured position Pm and increases system damping Koy The output speed gain be useful for smoothing motions but will generate high Following Errors The output speed gain axis parameter is called OV GAIN Speed feed forward gain The speed feedforward gain K produces an ou
140. reference output and absolute EnDat encoder feedback The position loop is closed in the TJ2 MC64 and the resulting speed reference is sent to the axis With SERVO OFF the position of the external absolute EnDat encoder is read The analogue output can be set with BASIC commands only and can be used for general purposes See fig 35 for reference HARDWARE REFERENCE MANUAL 43 O Z UOY System philosophy Absolute SSI encoder ATYPE 48 With SERVO ON this is an axis with analogue speed reference output and absolute SSI encoder feedback The position loop is closed in the TJ2 MC64 and the resulting speed reference is sent to the axis With SERVO OFF the position of the external absolute SSI encoder is read The analogue output can be set with BASIC commands only and can be used for general purposes See fig 35 for reference MECHATROLINK Inverter axis ATYPE 49 This type allows Inverters with built in encoder interface to be controlled on the MECHATROLINK II bus as servo axes From the controller point of view Inverter axes are handled the same as fig 35 INVERTER servo axes in MECHATROLINK II Speed Mode 41 Unlike the other axis types this Inverter axis must be defined programmatically with function 8 of the command INVERTER COMMAND SERVO OFF Position loop SERVO OFF 1 Pi N d 1 5 1 Profile generator f bus T Demanded Following Speed A The Speed command to the Invert
141. related to the EtherCAT Accurax G5 Servo Drives e ATYPE AXIS e AXIS ENABLE e AXISSTATUS DRIVE ALARM HARDWARE REFERENCE MANUAL 183 O Z UOY Hardware reference DRIVE_CLEAR DRIVE_CONTROL DRIVE_INPUTS DRIVE_MONITOR DRIVE_READ DRIVE_RESET DRIVE_STATUS DRIVE_WRITE For more information refer to the Trajexia Programming Manual HARDWARE REFERENCE MANUAL 184 O Z UOY Hardware reference tra j exi a 3 12 2 The EtherCAT Communication Unit is an interface unit When installed to a fig 100 SYSDRIVE MX2 series multi function compact inverter it provides support Status indicator Rotary switches 10 TOU MOPS net L A IN L A OUT for node address RUN ERR setting x 10 x 1 For detailed information about installation and operation please refer to the 3G3AX MX2 ECT user s manual 1574 E1 2 O thereat IN OUT RUN ERR SOSAA WIAZ EU T AN WARNING nxor sectis Read manual before installing A e Wait 10 minutes for capacitor discharge after disconnecting nower sunnlv IN OUT Communications connector OUT FG cable EtherCAT Communications Status Indicators The table below shows the LED indication status and the corresponding fig 101 conditions of the communications Name Colour Status Description C L A C O O L A IN Green OFF Link not establ
142. res press the release button above the terminal hole with a precision screwDrive and pull out the wire It is recommended to use a SELV Safety Extra Low Voltage power supply with over current protection A SELV power supply has redundant or increased insulation between the I O an output voltage of 30 V rms and a 42 4 V peak or maximum of 60 VDC Recommended power supplies are S82K 01524 OMRON e S8TS 06024 OMRON 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 HARDWARE REFERENCE MANUAL fig 111 GRT1 PD_ 1 I O Power Supply Unit GRT1 TBR Right Turnback Unit vo vo vo vo on oun 00 Turnback cable Power supply 24 VDC GRT1 TBL Left Turnback Unit fig 112 Precision screwdriver 4 5 Release button W 203 O Z UOY Hardware reference Replace Caution A The GRT1 ECT is a unit that is part of a network If the GRT1 ECT is damaged it effects the whole network Make sure that a dam aged GRT1 ECT is repaired immediately To replace the unit follow these rules Turn off the power before replacing the unit This includes the power to all master and slave units in the network Make sure that the new unit is not damaged If a poor connection is the pro
143. rive an external stepper motor amplifier You can use single step half step and micro stepping Drives with this interface Applicable signals Enable Step e Direction Related BASIC commands The following BASIC commands are related to stepper outputs ATYPE ATYPE 43 NVERT STEP For more information refer to the Trajexia Programming Manual 3 10 9 Registration The 1 02 can capture the position of an axis in a register when 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 You can use this position to correct possible errors between the actual position and the desired position You set up the print registration with the REGIST command The position is captured in hardware and therefore there is no software overhead This eliminates the need to deal with timing issues Because the registration inputs are very fast they are susceptible to noise in combination with slow rising and falling edges To counter this problem you can use a digital noise filter Use of the noise filter increases the response time from 0 5 us to 3 5 us We refer to the REGIST command in the Trajexia Programming Manual for more information on using the registration inputs HARDWARE REFERENCE MANUAL DIRECTION WDOG ON MOVE 4 MOVE 4 166 O Z UOY Hardware referenc
144. rnal parts while power is being supplied Doing so may result in electrical shock WARNING Do not touch any of the terminals or terminal blocks while power is being supplied Doing so may result in electric shock HARDWARE REFERENCE MANUAL gt gt gt gt gt WARNING Never short circuit the positive and negative terminals of the bat teries charge the batteries disassemble them deform them by applying pressure or throw them into a fire The batteries may explode combust or leak liquid WARNING Fail safe measures must be taken by the customer to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary power interruptions or other causes Not doing so may result in serious accidents WARNING Emergency stop circuits interlock circuits limit circuits and similar safety measures must be provided by the customer as external cir cuits i e not in the Trajexia motion controller Not doing so may result in serious accidents WARNING When the 24 VDC output I O power supply to the TJ2 is over loaded or short circuited the voltage may drop and result in the outputs being turned off As a countermeasure for such problems external safety measures must be provided to ensure safety in the system WARNING The TJ2 outputs will go off due to overload of the output transistors protection As a countermeasure for such problems external safety measures
145. rnal safety measures must be provided to ensure the safety of the system Caution The TJ2 will start operating in RUN mode when the power is turned on and if a BASIC program is set to Auto Run mode Caution Always check the Status Words of each GRT1 ML2 and GRT1 ECT SmartSlice coupler Not doing so can lead to missing or incorrect I O data HARDWARE REFERENCE MANUAL O Z UOY Safety warnings and precautions Caution Always check the status of the connected MECHATROLINK II devices in a BASIC program Not doing so may result in an unexpected operation Caution The TJ1 CORT unit is developed to exchange I O data between the Trajexia system and a CANopen network The TJ1 CORT is not able to exchange motion commands Using the TJ1 CORT to exchange motion commands may result in unexpected operation Caution Although the TJ2 MC in most cases is backwards compatible with TJ1 MC applications written for TJ1 MC__ must be tested carefully when running on TJ2 MC Not doing so may result in unexpected operation Caution When using multiple TJ1 ML___ units do not swap the MECHA TROLINK cables This can result in different axis allocation This can result in serious injury and or significant damage gt gt P gt gt Unit assembly precautions Caution A nstall the unit properly Improper installation of the unit may result in malfunction HARDWARE REFERENCE MANUAL Caution A Be sure to mount the TJ1 TER
146. ronic Gearing control allows you to create a direct gearbox link or a linked move between two axes The MC Unit supports the following operations Electronic gearbox Linked CAM Linked move Adding axes HARDWARE REFERENCE MANUAL 50 50 50 15 O Z UOY System philosophy Electronic gearbox The TJ2 MC64 is able to have a gearbox link from one axis to another as if 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 In the figure A is the Master axis and B is the CONNECT axis Axes Ratio CONNECT command 1 1 CONNECT 1 0 AXIS 1 2 1 CONNECT 0 5 0 AXIS 1 1 2 CONNECT 2 0 AXIS 1 HARDWARE REFERENCE MANUAL fig 10 16 O Z uoisi aH System philosophy Linked CAM control Next to the standard CAM profiling tool the TJ2 MC64 also provides a tool to link the CAM profile to another axis The command to create the link is called 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 In the figure A is the Master axis 0 position and B is the CAMBOX Axis 1 position Linked move The MOVELINK command provides a way to link a specified move to a master axis The move is divided into an acceleration deceleration
147. rs to assign a node number to the TJ1 PRT This node number identifies the TJ1 PRT in the PROFIBUS network 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 HARDWARE REFERENCE MANUAL trajexia 138 O Z uoisi es Hardware reference 3 7 4 TJ1 PRT Connections Pin Signal Description 1 Shield Connected to the metal shell 2 N A N A 3 B line Data signal 4 RTS Direction control signal for repeaters 5 DGND Data 0 Volts 6 VP Power output for the termination 5 V 10 mA 7 N A N A 8 A line Data signal 9 N A N A 3 7 5 TJ1 PRT Specifications Item Specification Power supply 5 VDC supplied by the TJ2 MC64 Power consumption 0 8 W Current consumption 150 mA at 5 VDC Approximate weight 100 g Electrical characteristics Conforms to PROFIBUS DP standard EN50170 DP VO 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 Galvanic isolation Yes HARDWARE REFERENCE MANUAL 0
148. s master the BASIC communication commands are used to write and read 2 4 5 Peripherals All inputs and outputs are used with the set of parameters IN OP AIN AOUT The inputs and outputs are automatically detected and mapped in Trajexia Inverters are considered a peripheral device and have a set of BASIC commands to control them Various MECHATROLINK II input and output modules can be connected to a TJ1 ML__ unit 2 5 Cycle time All processes in the Trajexia system are based on the cycle time The cycle time is divided into four CPU slots e 250us time intervals for a SERVO PERIOD of 0 25 0 5 and 1 0ms 500 time intervals for a SERVO PERIOD of 2 0ms The processes that can be carried out in each time interval depends on the SERVO PERIOD that is set HARDWARE REFERENCE MANUAL fig 17 Cycle time 1ms 25 O Z uoisihes System philosophy The operations executed in each CPU slot are CPU slot Operation CPU slot 1 Execute whichever comes first in the list Low priority BASIC Program or High priority BASIC Program or PLC CPU slot 2 Execute whichever comes first in the list PLC or High priority BASIC Program or Low priority BASIC Program CPU slot 3 System processes CPU slot 4 Execute whichever comes first in the list A High priority BASIC Program or PLC or Low priority BASIC Program In each of the three CPU slots 1 2 and 4 the type
149. s mounted LED indicators The LED indicators on the front indicate the operational mode and status of the Option Board and the network Indicator Colour Status Meaning RUN Green OFF No power or not yet ready for operation Flashing Operating in commissioning mode ON Normal operation HARDWARE REFERENCE MANUAL 107 O Z UOY Hardware reference Indicator Colour Status Meaning ERR Red ON Fatal error Flashing Operational error OFF No error TX Green ON Sending data OFF Sending of data stopped hardware reset RX Green ON Searching for receiving carrier OFF No receiving carrier found hardware reset HARDWARE REFERENCE MANUAL trajexia 108 O Z uoisi aH Hardware reference 3 5 12 Inverter Support An MX2 A Inverter that supports the 3G3AX MX2 MRT E Option Board can be recognised from the Inverter type label Please check that your Inverter type label displays revision characters in the bottom right corner where the OOOO is displayed in this illustration If these characters are absent your Inverter does not support the 3G3AX MX2 MRT E so please contact your local OMRON representative Option Board Mounting WARNING A Always Switch OFF the mains power supply to the Inverter before removing any covers Wait for the time specified on the Inverter front cover for the capacitors to discharge Not doing so may result in electrical shock Step 1
150. se types of positioning control operations 1 Point to Point PTP control 2 Continuous Path CP control 3 Electronic Gearing EG control This section introduces some of the commands and parameters used in the BASIC programming of the motion control application Coordinate system Positioning operations performed by the TJ2 MC64 are based on an axis coordinate system The TJ2 MC64 converts the position data from either the connected Servo Drive or the connected encoder into an internal absolute coordinate system HARDWARE REFERENCE MANUAL O Z UOY System philosophy The engineering unit that specifies the distances of travelling can be freely defined for each axis separately The conversion is performed through the use of the unit conversion factor which is defined by the UNITS axis parameter The origin point of the coordinate system can be determined using the DEFPOS command This command re defines the current position to zero or any other value A move is defined in either absolute or relative terms An absolute 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 position The figure shows an example of relative command MOVE and absolute command MOVEABS linear moves MOVE 30 2 2 1 control In point to point positioning each axis is moved independently of th
151. seT Ethernet supported protocols TELNET FINS server and client ModbusTCP slave EtherNet IP slave Ethernet connector RJ45 Serial connectors 1 and 2 Item Specification Electrical characteristics PORT1 RS232C non isolated 2 RS485 RS422A isolated Connector SUB D9 connector Baud rate 1200 2400 4800 9600 19200 and 38400 bps HARDWARE REFERENCE MANUAL trajexia 78 O Z UOY 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 R8422 485 Point to multipoint 1 N Transmission protocol Host link master protocol Hostlink slave protocol ModbusRTU slave protocol ASCII general purpose Galvanic isolation RS422 485 connector only Communication buffers 254 bytes Flow control None Terminator Yes selected by switch Maximum cable length e RS232C 15 m R8422 485 100 m HARDWARE REFERENCE MANUAL trajexia 79 O Z UOY Hardware reference 3 4 6 TJ1 TER The TJ1 TER makes sure that the internal data bus of the Trajexia system functions correctly A Trajexia system must always contain a TJ1 TER as the last unit HARDWARE REFERENCE MANUAL fig 28 80 O Z uoisi e Ha
152. sophy 2 7 4 Profile generator The profile generator is the algorithm that calculates the demanded position for each axis The calculation is made every motion sequence The profile is generated according to the motion instructions from the BASIC programs 2 7 2 Position loop 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 27 3 Axis sequence 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 For more information on the BASE command and the definition of the axis sequence in an axis array refer to the Trajexia Programming Manual chapter 3 BASIC commands f SERVO OFF for one axis the motion commands for that axis are ignored Ifthe Following Error FE in one axis exceeds the parameter value FELIMIT the next action occurs WDOG is set to OFF and all axes stop SERVO for the axis that causes the error goes to OFF The current move is cancelled and removed from the buffer HARDWARE REFERENCE MANUAL Basic Program Profile generator Demand Position 37 System philosophy trajexia
153. surements are in mm HARDWARE REFERENCE MANUAL fig 13 63 O Z UOY Hardware reference Trajexia units All measurements are in mm HARDWARE REFERENCE MANUAL 64 O Z UOY Hardware reference Trajexia system All measurements are in mm The installation depth of the Trajexia system is up to 90 mm depending on the modules that are mounted Allow sufficient depth in the control cabinet 3 2 4 Wire the I O connectors To wire the I O connectors of the TJ2 MC64 and the TJ1 FL02 units do these steps HARDWARE REFERENCE MANUAL fig 15 mE ot 00000 raj oo r1 L1 Y 70 30 81 60 to 89 0 mm 65 O Z UOY Hardware reference ferrules Strip the wires To make it easier to insert the wires twist them If necessary crimp the plain top ferrules or the collared bottom Insert the screwDrive into the inner square hole Push firmly Insert the wire into the outer circular hole Remove the screwDrive Make sure that there are no loose strands Wiring specifications ferrule types Item Specification Wire types 0 14 1 0 mm Solid stranded or stranded with ferrule Crimp ferrules according to DIN46228 1 Crimp ferrules wit plastic c
154. t and contaminates HARDWARE REFERENCE MANUAL 71 O Z UOY Hardware reference Serial connector The serial connector allows for three communication standards e RS232 e RS422 e RS485 Communication Connection 1 RS422 RS485 Tx 2 RS232 Tx 3 RS232 Rx 4 N C N C 5 N C N C 6 RS422 RS485 Rx 7 RS422 RS485 Tx 8 RS422 RS485 Rx 9 RS232 OV 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 Communication Position of the TJ2 MC64 Setting of the TERM ON OFF standard switch RS422 or RS485 First or last Left on RS422 RS485 Not the first and not the last Right off HARDWARE REFERENCE MANUAL 72 O Z Hardware reference WIRE 2 4 Switch The WIRE 2 4 switch sets the communication standard for the RS422 485 serial connection 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 C D E F G H 73 O Z uoisihe Hardware reference 28 Pin I O
155. t messaging Supported Baud rate 10 Mbps MECHATROLINK II x Z Data length 17 byte and 32 byte data transmission lt gt Supported SmartSlice I O Units The GRT1 ML2 in combination with the Trajexia system supports these SmartSlice I O Units Function Specification Model 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 4 6 GRT1 ID8 8 PNP inputs 24 VDC 4 mA 1 wire connection 4xV GRT1 ID8 1 4 NPN outputs 24 VDC 500 mA 2 wire connection GRT1 OD4 HARDWARE REFERENCE MANUAL trajexia 129 O Z UOY Hardware reference Function Specification Model 4 PNP outputs 24 VDC 500 mA 2 wire connection GRT1 OD4 1 4 PNP outputs with short 24 VDC 500 mA 3 wire connection GRT1 OD4G 1 circuit protection 4 PNP outputs with short from 4 x 2 0 A at 30 C to 4 x 1 0 A at 55 GRT1 OD4G 3 circuit protection 8 NPN outputs 24 VDC 500 mA 1 wire connection GRT1 OD8 4xV 8 PNP outputs 24 VDC 500 mA 1 wire connection GRT1 OD8 1 4xG 8 PNP outputs with short 24 VDC 500 mA 1 wire connection GRT1 OD8G 1 circuit protection 4xG 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 mA 2 analog outputs voltage
156. t power is on 2 When dipswitch 1 is set to ON 3 The setting of dipswitch 4 BACK is given in figure 105 Caution A The Backup and Restore functionality is available in the GRT1 ECT However the backed up and restored parameters cannot be accessed via EtherCAT communication H It is recommended to do a registration of the SmartSlice I O Units see the Trajexia Programming Manual It is recommended to set dipswitches 1 and 3 to on and dipswitch 4 to off after this registration The factory setting of all dipswitches is OFF HARDWARE REFERENCE MANUAL The backup operation starts after DIP switch 4 is turned from ON to OFF to ON within 3 seconds trajexia 191 O Z UOY Hardware reference LED indicators LED Description Color Status Meaning RUN Unit status Green OFF Init state Blinking Pre Operational state Single Safe Operational state flash ON Operational state ERR Unit error Red OFF No error Double An application watchdog timeout has flash occurred Single Unit has changed its state autono flash mously due to local error Error indicator bit is set to 1 in AL status register Blinking General configuration error ON A critical communication or application error has occurred L A IN Link activity Green OFF Link not established in physical layer IN port ON Link established in physical layer Flickering In operation after establishing link
157. ter ATYPE At start up the Trajexia system automatically detects the configuration of the axes The default value for the parameter ATYPE for MECHATROLINK II axes is 40 MECHATROLINK II position The default value for the parameter ATYPE for EtherCAT Servo axes is 65 CSP or Cyclic Synchronous Position mode The default value for the parameter ATYPE for EtherCAT Inverter axes is 68 VL or Velosity mode The default value for the parameter ATYPE for the TJ1 FL02 axes is 44 Servo axis with an incremental encoder All non allocated axes are set as a virtual axis The value for the parameter ATYPE is 0 Every axis has the general structure as shown in fig 26 The motion sequence which will be executed at the beginning of each servo period will contain the following elements 1 Oo o N Transfer any moves from BASIC process buffers to motion buffers see section 2 8 Read digital inputs Load moves See note Calculate speed profile See note Calculate axis positions See note Execute position servo For axis 0 this also includes the Servo Drive communications See note Update outputs Note H Each of these items will be performed for each axis in turn before moving on to the next item HARDWARE REFERENCE MANUAL Profile generator Demanded position fig 26 Measured position Speed loop Torque loop 36 O Z uoisi aH System philo
158. then be executed in that slot Processes of the same type will be executed alternately 2 6 4 Multi tasking examples In the example 1 there are two high priority processes 20 and 21 and 3 fig 25 low priority processes 0 1 and 2 The first slot will execute low priority processes first in the list The second and fourth slots will execute the high priority processes In this example the high priority processes are executed every cycle The low priority processes are executed once every 3 cycles Therefore the high priority processes run 3 times faster than the low priority processes In the middle example there is only one high priority process 21 The high 2 21 sys 20 1 21 55 20 0 121 55 20 2 21 5 20 priority process now runs twice every cycle and theerfore runs 6 times faster than the low priority processes In the lower example there are no high priority processes Therefore all slots can be used for the low priority processes All 3 processes get in average the same number of slots per cycle and therefore run with the same speed 2 BEN EN 1 svs 0 DENEN 21 5 2 1ms 1ms 1ms 1ms 1ms 1ms 1ms 1ms HARDWARE REFERENCE MANUAL 35 O Z System philosophy 2 Motion sequence and axes Motion sequence is the part of the TJ2 MC64 that controls the axes The actual way that the motion sequence operates depends on the axis type The axis type can be set and read by the parame
159. tion is requested by the controller When you set the encoder to the relevant encoder mode the axis transmits an information request to the encoder on a fixed 250 us cycle The connections for EnDat are Encoder signal Axis A Axis B DATA 6 8 DATA 7 9 CLOCK 1 11 CLOCK 2 12 GND 5 15 5 15 Note H The TJ1 FLO02 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 Heidenhain ROC 425 2048 5XS08 C4 encoder to the TJ1 FLO02 Encoder TJ1 FL02 Pin Signal Wire color Pin Signal 3 DATA Grey 6 DATA 4 DATA Pink 7 DATA 7 CLOCK Violet 1 CLOCK 6 CLOCK Yellow 2 CLOCK 5 GND White Green 5 GND HARDWARE REFERENCE MANUAL 5 VDC Power Supply 163 O Z UOY Hardware reference Encoder TJ1 FL02 Pin Signal Wire color Pin Signal 2 OV White See footnote 1 Up Blue 1 Use an external power supply Related BASIC commands The following BASIC commands are related to EnDat absolute encoders ATYPE 47 ENCODER BITS ENCODER CONTROL ENCODER READ ENCODER TURNS ENCODER WRITE For more information refer to the Trajexia Programming Manual Tamagawa The TJ1 FLO2 can interface directly to Tamagawa SmartAbs absolute encoders Tamagawa encoders respond o
160. to set up a procedure whereby the TJ2 MC64 goes through a sequence and searches for the origin based on digital inputs and or Z marker from the encoder signal Print registration The TJ2 MC64 can capture the position of an axis in a register when an event occurs 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 The print registration is set up by using the REGIST command The position is captured in hardware and therefore there is no software overhead and no interrupt service routines eliminating the need to deal with the associated timing issues HARDWARE REFERENCE MANUAL 19 O Z UOY System philosophy Merging moves If the MERGE axis parameter is set to 1 a movement is always followed by a subsequent movement without stopping The figures show the transitions of two moves with MERGE value 0 and value 1 In the figure A is the time axis and B is the speed axis Forced speed moves Motion commands like MOVE use the axis SPEED parameter when being executed The force speed motion commands like MOVESP use the FORCE SPEED speed paramater which is stored in the motion buffer together with the move command This allows for controlling the speed per motion command
161. tput 2 Common 3 Output ALM Alarm output 4 Output ALMCOM 1 Output OUTM1 General purpose 2 Output OUTM1COM Output 1 25 Output OUTM2 General purpose 26 Output OUTM2COM Output 2 14 BAT Backup 15 57 BATGND Battery Input 16 GND Signal ground 17 to 24 Input Spare inputs Do not connect anything to these inputs Shell FG HARDWARE REFERENCE MANUAL 101 O Z Hardware reference tra j exia MECHATROLINK II connectors CN6A amp CN6B Connect the Accurax G5 Servo Drive to the MECHATROLINK II network fig 43 using the CN6A and CN6B connectors Use one of the MECHATROLINK II connectors to connect to the previous MECHATROLINK II device or the TJ1 ML Use the other MECHATROLINK II connector to connect to the next MECHATROLINK II device or to connect a MECHATROLINK II terminator Note H Cable length between nodes L1 L2 Ln should be 0 5 m or longer Total cable length should be L1 L2 Ln 50 max ia U Termination resistor cRHSBSH cRE 269 OG
162. tput O that is proportional to the change in demand position Py and minimizes the Following Error at high speed Over 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 The default settings are given in the table along with the resulting profiles Fractional values are allowed for gain settings Gain Default value Proportional gain 0 1 Integral gain 0 0 Derivative gain 0 0 Output speed gain 0 0 Speed feedforward gain 0 0 2 3 4 Position loop algorithm in the Servo Drive Refer to the Servo Drive manual for details HARDWARE REFERENCE MANUAL 23 O Z uoisi aH System philosophy 2 4 Trajexia system architecture The system architecture of the Trajexia is dependant upon these concepts Program control e Motion Sequence Motion buffers Communication Peripherals These concepts depend upon the value set in the SERVO PERIOD parameter The relationship between the value of SERVO PERIOD and the different concepts of the system architecture are describes as follows 2 41 Program control 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 stop
163. tting rotary switch is 1 to 31 The actual station address used on the network will be the sum of the rotary switch setting and the offset value of 40h 7 segment LED A maximum of 31 different node addresses can be set To support more indicator 2 digit Drives an offset can be added to map duplicated noded addresses to unique axis numbers This offset AXIS_OFFSET needs to be specified per TJ1 ML Please note that the node address per TJ1 ML__ needs to be unique Connector for Analog Monitor Example TJ2 MC64 2 x TJ1 ML16 32 Drives 16 per TJ ML 16 First TJ1 ML 16 Node address range 1 to 16 AXIS OFFSET SLOT 0 2 0 Assigned axis numbers 0 to 15 Second TJ1 ML 16 Node address range 1 to 16 AXIS OFFSET SLOT 1 16 Assigned axis numbers 16 to 31 WARNING A When using multiple TJ1 ML___ units do not swap the MECHA TROLINK cables This can result in different axis allocation This can result in serious injury and or significant damage Note H The node address set by the rotary switch is read only once when the control power is turned on Any changes made by the rotary switches after the power on are not reflected to the Controller Such changes become effective only after the subsequent power on following to a power off Do not change the rotary switch setting after the power on HARDWARE REFERENCE MANUAL MECHATROLINK II communications status LED indicator COMM Rotary switches for node a
164. ure that the address is unique in the MECHATROLINK II network If two or more units have the same MECHATROLINK II address they cannot be initialized properly 3 Turn the power on Note To make the MECHATROLINK II address of the unit valid do one of these steps Restart the TJ2 MC64 Execute the command MECHATROLINK unit 0 Power supply connector The GRT1 ML2 has 2 24 VDC power supply terminals supply terminal SmartSlice I O Units Label Power supply terminal Description A Unit power supply Power supply to the internal circuits of the GRT1 ML2 terminal and to the internal circuits of the connected SmartSlice 1 O Units through the SmartSlice bus B External I O power Power supply to the external I Os connected to the 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 fig 62 127 O Z Hardware reference 1 3 6 2 Specifications The unit power supply is siolated from the external I O power sup ply Please use 2 separate power supplies to keep this isolation Item Specification Unit type SmartSlice GRT1 series Model GRT1 ML2 Installation position On a DIN r
165. ust 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 Make the connections for the 18 pin connector on the TJ1 FLO2 to the terminal board on the F7 Inverter as follows TJ1 FL02 F7 Inverter Signal Description pin number TA1 1 A1 Vout Analog output 3 AC OV OV Reference for Vout 5 51 Wdog Enable relay contacts HARDWARE REFERENCE MANUAL 155 O Z Hardware reference TJ1 FL02 F7 Inverter Signal Description pin number TA1 6 SP Wdog Enable relay contacts 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 FLO2 to the PG X2 option board on the F7 Inverter as follows TJ1 FL02 F7 Inverter Signal Description pin number TA2 1 1 Pulse monitor input phase 2 2 A Pulse monitor input phase A 3 3 B Pulse monitor input phase B 4 4 B Pulse monitor input phase B 5 7 GND Isolated controller circuit GND Note H The cables are twisted pair A A and B B and shielded with the shield connected to the shell of the TJ1 FLO2 15 pin connector 3 10 4 TJ1 FL02 specifications Item Specification Power supply 5 VDC and 24 VDC supplied by the T
166. ut 3 Reception data RD Input 4 Not used 5 Not used 6 Reception data RD Input 7 Not used 8 Not used Hood Shield WARNING Always connect the EtherCAT master port to the IN port of the first slave Not doing so can result in unreliable communication and changes to address and axes assignment of EtherCAT slaves HARDWARE REFERENCE MANUAL fig 92 4 EtherCAT 7 1 pee sse 170 O Z UOY Hardware reference m aum WARNING Do not swap connections between the IN and OUT port of Ether CAT slaves This can result in changes of address and axes assignment of EtherCAT slaves WARNING Do not connect or disconnect EtherCAT slaves while the system is operational Doing so can result in unreliable communication Note Do not connect the EtherCAT network to any other Ethernet net work for example of office use Doing so can result in unreliable communication Note Do not use Ethernet Switches in the EtherCAT network Doing so can result in unreliable communication 12 pin connector The 12 pin connector is a Weidmuller connector designation B2L 3 5 12 LH Pin Connection Pin Connection 1 Registration input 0 2 Registration input 1 3 Registration input 2 4 Registration input 3 5 Registration input 4 6 Registration input 5 7 Registration input 6 8 Registration input 7 9 OV common
167. utput ALM Alarm output 4 Output ALMCOM 1 Output OUTM1 General purpose 2 Output OUTM1COM Output 1 25 Output OUTM2 General purpose 26 Output OUTM2COM Output 2 14 BAT Backup 15 57 BATGND Battery Input 16 GND Signal ground 17 to 24 Input Spare inputs Do not connect anything to these inputs Shell FG HARDWARE REFERENCE MANUAL 179 O Z Hardware reference tra j exi e EtherCAT connectors ECAT IN amp OUT Connect the EtherCAT master to the ECAT IN connector on the first Servo fig 99 Drive Connect the ECAT OUT connector on the first Servo Drive to the ECAT IN connector on the next Servo Drive Do not connect the ECAT OUT connector on the last Servo Drive Note H Always turn OFF the power supply to the Machine Control Unit and Servo Drives before connecting or disconnecting the EtherCAT Communications Cables The cable between two nodes L1 L2 Ln must be 100 m or less M qn qn 0000 00000 0000 00000 OOO00 id a a a2 re JIOGGOBO 066660 D00000 D00000 215 1000660

Motion & Drives - Motion Controllers

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Motion &amp; Drives - Motion Controllers

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Motion & Drives - Motion Controllers