Omron TRAJEXIA-PLC User manual

» You decide

» Trajexia in compact format

» Freedom to design

Total freedom in motion control

TRAJEXIA-PLC

Trajexia motion controller

integrated with your PLC

Trajexia, the family of advanced motion

controllers that put you in control, now has

a compact and integrated version.

Meet Trajexia-PLC, the motion controller that

has all the flexibility and modularity of Omron

PLCs, plus the outstanding motion-control

features of the Trajexia platform.

If you want to add advanced motion control

into your control system, Trajexia-PLC will help

you to meet the most demanding requirements

whilst minimizing space, saving on wiring,

optimizing design and allowing easy

integration with your HMI.

In fact, it’s just what you asked for… and

with all the familiarity and performance

you require!

Trajexia-PLC was specifically created with your application in mind.

By focussing on compactness and simplicity, it will help you

to create the next generation of market-leading machines quicker

than ever.

Integration of your application could not be made easier. Besides

a built-in MECHATROLINK-II port providing precise control of up

to  axes, it takes advantage of the wide range of CJ interface

Advanced control in one compact solution

board options to communicate to other Fieldbus systems such

as Ethernet, Profibus or DeviceNet, and naturally you have the

widest choice of best-in-class servos and inverters.

The Trajexia motion controller and the PLC exchange information

through shared memory areas, helping you to simplify

programming and data access, making your machine design

quicker and easier.

MECHATROLINK-II

Up to  axes

Ethernet

Actual size

Saving vital rack space in your machines and time spent

on wiring is only part of the overall package. Because in

addition to major space-saving and economic benefits, the

new Trajexia for PLC is a solution that offers all the familiar

and outstanding features of Trajexia Standalone, and with

the same look and feel. You don’t have to invest time

in re-learning to get started.

Deliver higher performance

in less space...

...made possible with

Data exchange is performed via the PLC bus, simplifying

design, saving space and enabling easy integration with

other devices.

Control of 30 axes

Coordinated over fast MECHATROLINK-II motion bus with

selectable cycle time from . ms to  ms.

Encoder interface

Allows connection of an external encoder to the system.

Supports incremental, absolute encoder and pulse train

output as well.

Digital I/Os

The motion controller has embedded and configurable I/Os.

MECHATROLINK-II master port

Controls up to  servos or inverters.

Drives

Full connectivity to the same range of servo drives and

inverters as other Trajexia controllers.

Advanced programming tools

The CJ-MCH motion CPU uses the same advanced

programming language as the Trajexia standalone CPUs and

the new monitoring and debugging tool, Trajexia Studio.

Encoder I/O

Intuitive and easy to use programming tools

New Trajexia Studio tool offers an easy and intuitive software environment,

helping to program and debug your applications using advanced tools.

•Improved user graphical interface

•Multi device support

•Drag & drop functionality

•Offline programming and advanced download

•Program compare tool

•Axis configuration wizard

•Advance editor features

Mechatrolink-II port

LEDs: CPU and I/O status

Digital I/Os

Battery

1Motion control unit

CJ1W-MCH72 - MECHATROLINK-II

Motion control unit

PLC Advanced Motion Controller Using

MECHATROLINK-II Motion Bus

• 30 physical axis advanced motion coordination over

a robust and fast motion link: MECHATROLINK-II

• Supports position, speed and torque control

• Each axis can run complex interpolated moves,

e-cams and e-gearboxes

• Advanced debugging tools including trace and

oscilloscope functions

• Hardware registration input for each servo axis

• Control of servos and inverters over a single motion

network

• Built-in Digital I/Os and master Encoder.

System configuration

CX-One

Trajexia Studio

NS-series

HMI

JUSP-NS115

MECHATROLINK-II

unit

Sigma-II series

Linear Motors

30 axes max.

To t al lenght: 50 m

Terminator

Sigma-II series

Servo Motors

Sigma-II series

Servo Drive

Input

Motion control unit

CJ1W-MCH72

Digital I/Os

Encoder Input/Output

Fast registration

input, home

Ethernet/serial

CJ1-series

MECHATROLINK-II

Frequency

inverter

6Motion control unit

2Motion controllers

Specifications

General Specifications

Motion Control Unit

Item Details

Model CJ1W-MCH72

Ambient operating temperature 0 to 55qC

Ambient operating humidity 90%RH (without condensation)

Storage temperature -20º to 70º C

Atmosphere No corrosive gases

Vibration resistance 10 to 57 Hz (0.075 mm amplitude)

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

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

Insulation resistance 20 MOhm

Dielectric strength 500 V

Protective structure IP20

International standards CE:IEC61131-2, IEC61000-6-2, IEC61000-6-4

cULus: UL508C (Industrial Control Equipment)

Lloyds; RoHS compliant

Item Details

Number of axes 30 (31 total with vitual axis)

Number of inverters 8 maximum (Inverters in speed or torque mode)

Cycle time Selectable 0.5 ms, 1 ms , 2 ms or 4 ms

Programming language BASIC-like Motion language. Same function range as Trajexia TJ1-MC16

Note: MCH72 Trajexia uses and advanced instruction set; MCH 71 BASIC applications have to be re-

designed to be used in the new controller.

Multi-tasking Up to 14 tasks running simultaneously

Built-in Digital I/O 16 inputs, 2 with registration functionality. 8 outputs, 1 with hardware position switch functionality

Measurement units User definable

Available memory for user programs 500KB

Data storage capacity Up to 2 MB flash data storage

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

Saving program data, personal computer Via Trajexia Studio Software

Firmware update Via Trajexia software tool

Encoder I/O Position/ Speed Feedback Incremental and Absolute encoder

Absolute encoder standard Supports SSI 200kHZ, EnDat 1MHz

Encoder Input max frecuency 6 MHz

Encoder /Pulse output max frecuency 2 MHz

MECHATROLINK-II

master port

Controlled devices Junma ML-II, Sigma-II and Sigma III servo drives and V7, F7 and G7 frequency inverters

Electrical characteristics Conforms to MECHATROLINK standard

Transmission speed 10Mbps

Stations Slave types Axes or servodrives and frequency inverters

Transmision distance Max. 50 meters without using repeater

Data Echange with PLC CJ1W-MCH72 exchanges data with memory areas in the PLC. Mapping for cyclic data exchange in the

PLC CPU to memory areas in the motion unit can be freely configured.

Motion controllers

Motion control unit 3

MECHATROLINK-II, Servo drive interface unit (JUSP-NS115)

Nomenclature

CJ1W-MCH72 - Trajexia Motion Control Unit

JUSP-NS115 - MECHATROLINK-II Interface Unit

Item Details

Type JUSP-NS115

Applicable servo drive SGDH-@@@E models (version 38 or later)

Installation Method Mounted on the SGDH servo drive side: CN10.

Basic

specifications

Power supply method Supplied from the servo drive control power supply.

Power consumption 2 W

MECHATROLINK -II

communications

Baud rate/transmission cycle 10 Mbps / 1 ms or more. MECHATROLINK-II communications

Command format Operation specification Positioning using MECHATROLINK-I/II communications.

Reference input MECHATROLINK-I/II communications

Commands: position, speed, torque, parameter read/write,

monitor output

Position control

functions

Acceleration/deceleration method Linear first/second-step, asymmetric, exponential, S-curve

Fully closed control Position control with fully closed feedback is possible.

Fully closed

system specifications

Encoder pulse output in the

servo drive

5 V differential line-driver output (complies with EIA standard RS-422A)

Fully closed encoder pulse signal A quad B line-driver

Maximum receivable frequency for

servo drive

1 Mpps

Power supply for fully closed

encoder

To be prepared by customer.

Input signals in the

servo drive

Signal allocation changes

possible

Forward/reverse run prohibited, zero point return deceleration LS

External latch signals 1, 2, 3

Forward/reverse torque control

Internal functions Position data latch function Position data latching is possible using phase C,

and external signals 1, 2, 3

Protection Parameters damage, parameter setting errors, communications errors, WDT

errors, fully closed encoder detecting disconnection

LED indicators A: alarm, R: MECHATROLINK-I/II communicating

NS115

I/O status

LEDs

Unit status

LEDs

Battery

compartment

9 pin Encoders

connector

MECHATROLINK-II

Port

Unit No setting

Digital I/O

connector

NS115

Rotary switch (SW1)

Used to set the MECHATROLINK-II station address

LED(A)

Alarm status

LED(R)

MECHATROLINK-II communication status

DIP switch (SW2)

Used to for MECHATROLINK-II communicationssetting

MECHATROLINK-II communicationsCN6A and CN6B connectors:

Connectsto the MECHATROLINK-II system

CN4 fully closed encoder signal connector

Used for fully closed signal connection

Ground wire

Connected to ground mark on the servo drive

8Motion control unit

4Motion controllers

Dimensions

CJ1W-MCH72 - Trajexia Motion Control Unit

JUSP-NS115 - MECHATROLINK-II Interface

I/O

MLK

Enc.

UNIT

No.

RUN

ERC

ERH

WDOG

OPEN

BATTERY

MCH72

48.75

CN6A

Units: mm Approx. weight: 0.2 kg

NS115

20 128

142 100

Name

plate

CN6B

CN4

FG terminal

Connector

to SERVOPACK

9Motion controllers

Motion control unit 5

Installation

MECHATROLINK-II Interface connections

MECHATROLINK I/F unit

type JUSP-NS115

To other

MECHATROLINK-II station

Backup battery

2.8to 4.5 V

Zero point return

Deceleration LS

with /DEC ON

Forward run prohibit

with P-OT OFF

Reverse run prohibit

with N-OT OFF

External latch 1

with /EXT1 ON

External latch 2

with /EXT2 ON

External latch 3

with /EXT3ON

1 Connect when using an absolute encoder and when the battery isnot connected to CN8.

2 Set the signal assignment with the user constants.

CN 6A

120 ΩS

BAT (+)

BAT (-)

+24 VIN

/DEC

P-OT

N-OT

/EXT 1

/EXT 2

/EXT 3

Connector shell

Connect shield to connector shell.

+24 V

3.3kΩ

/COIN+

AL 03

AL 02

AL 01

Alarm code output

Maximum operating voltage 30 VDC

Maximum output current 20 mADC

/COIN-

/BK+

/BK-

/S-RDY+

/S-RDY-

ALM+

ALM-

CN 6B

CN 1

For the terminal station, connect aterminator

(JEPMC-W6022)

Positioning completed

(ON when positioning iscompleted)

BK output

(ON when brake is

eleased)

Servo ready output

(ON when ready)

Servo alarm output

(OFF with an alarm)

Photocoupler output

Maximum operating voltage 30 VDC

Maximum output current 50 mADC

Servo drive

Type SGDH

(For SERVOPACK connection,

see sigma-II chapter)

CN 4

External

power supply

1, 2, 3

PG0V

/ PA

/PB

/PC

Fully-closed encoder

for speed/position

detection

P representstwisted-pair wires.representsshield.

10 Motion control unit

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