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System philosophy

HARDWARE REFERENCE MANUAL

40

Revision 5.0

Virtual axis ATYPE=0

fig. 28

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.

•

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

MECHATROLINK-II position ATYPE=40

fig. 29

With

SERVO = ON

, the position loop is closed in the Servo Drive. Gain

settings in the TJ2-MC__ have no effect. The position reference is sent to
the Servo Drive.

Profile generator

=

MEASURED

POSITION

DEMAND

POSITION

Profile generator

M

E

TJ2-MC__

TJ1-ML__

TJ2-ECT__

TJ2-KS02

SERVO

+

_

SERVO = OFF

SERVO = OFF

Trajexia
Position Loop is
deactivated
(Gains are not
used!)

Position

command

Demanded

position

Measured

position

Position loop

Following

error

Speed

command

Position Loop

Speed Loop

Torque Loop

Note

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

The MECHATROLINK-II position

ATYPE = 40

is the recom-

mended setting to obtain a higher performance of the servo motor.

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Summary of Contents for 3G3AX-MX2-MRT

Page 1: ...dustrial omron com tr United Kingdom Tel 44 0 870 752 08 61 www industrial omron co uk 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 industrial omron eu Authorised Distributor Note Although we do strive for perfection Omron Europe BV and or its subsidiary and affiliated companies do not warrant or make any representations regarding...

Page 2: ...xia 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 i WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Caution Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or prope...

Page 3: ...rives JUNMA series Servo Drive manual TOEP C71080603 01 OY Describes the installation and operation of JUNMA Servo Drives V7 Inverter TOEP C71060605 02 OY Describes the installation and operation of V7 Inverters F7Z Inverter TOE S616 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 ...

Page 4: ... Units User s manual W488 E1 Describes the installation and operation of the GX series EtherCAT Slave Units FZM1 Series User s manual Q178 E1 Describes information on settings and specifications of the FZM1 Vision Sen sor FZM1 EtherCAT Communication manual Q179 E1 Describes the communication with the FZM1 Vision Sensor through EtherCAT FQ M User s Manual Z314 E1 Provides information regarding func...

Page 5: ...ion 8 2 2 Motion control concepts 9 2 3 Servo system principles 21 2 4 Trajexia system architecture 24 2 5 Cycle time 25 2 6 Program control and multi tasking using BASIC programs only 34 2 7 Motion sequence and axes 36 2 8 Motion buffers 51 2 9 Mechanical system 53 3 Hardware reference 54 3 1 Introduction 54 3 2 All units 58 3 3 Power Supply Unit PSU 69 3 4 TJ2 MC__ 72 3 5 TJ1 ML__ 84 3 6 GRT1 ML...

Page 6: ...r terminal blocks while power is being supplied Doing so may result in electric shock 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...

Page 7: ...sh 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 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 Caution Do not operate the Unit in any of the following locations Doing...

Page 8: ...it 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 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 betwee...

Page 9: ... Units CPU Units or any other Units Assembling the Units Setting dipswitches or rotary switches Connecting or wiring the cables Connecting or disconnecting the connectors 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 lab...

Page 10: ...ight result in a malfunction or damage 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 t...

Page 11: ...ways ensure that devices operating at voltages of 50 to 1 000 VAC or 75 to 1 500 VDC meet the required safety standards 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...

Page 12: ...mply 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 Reinforced insulation or double insulation must be used for the DC power supplies used for the communications and I O power supplies ...

Page 13: ... configuration of the physical axes The available settings are 0 25ms 0 5ms 1ms or 2ms Cycle time Is the time needed to execute one complete cycle of operations in the TJ2 MC__ The cycle time is divided in 4 time slices of equal time length called CPU slots The cycle time is 1ms if SERVO_PERIOD 0 25ms 0 5ms or 1ms and 2ms if the SERVO_PERIOD 2ms AXIS TYPE AXIS TYPE MOTION SEQUENCE Position Loop Se...

Page 14: ...signed to process 27 to 42 Process 25 and 26 are for internal housekeeping of the PLC engine 2 2 Motion control concepts The TJ2 MC__ offers these 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...

Page 15: ... system can be determined using the DEFPOS command This command re defines the current position to zero or any other value fig 2 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 pos...

Page 16: ...tain axis is determined by the axis parameters Some relevant parameters are i Defining moves fig 4 The speed profile in this figure shows a simple MOVE operation Axis A is the time axis B is the 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 sp...

Page 17: ...seconds Again Axis A is the time axis B is the speed fig 6 Move calculations The following equations are used to calculate the total time for the motion of the axes The moved distance for the MOVE command is D The demand speed is V The acceleration rate is a The deceleration rate is d 0 10 1 2 3 4 5 6 A B ACCEL 5 DECEL 10 SPEED 10 MOVE 40 0 10 1 2 3 4 5 6 A B ACCEL 10 DECEL 5 SPEED 10 MOVE 40 ...

Page 18: ...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 Acceleration time Acceleration distance Deceler...

Page 19: ...nterpolated 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 giv...

Page 20: ...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 fig 9 Additional to the standard move profiles the TJ2 MC__ also provides a way to define a position profile for the axis to move The...

Page 21: ... move Adding axes Electronic gearbox fig 10 The TJ2 MC__ 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 i A B 2 1 1 1 1 2 Axes Ratio CONNECT command 0 1 1 1 CO...

Page 22: ...f 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 fig 12 The MOVELINK command provides a way to link a specified move to a master axis The move is divided into an acceleration deceleration and constant speed part and they are specified in master link distances This can be particularly usefu...

Page 23: ...ce changing the offset between two axes linked by an electronic gearbox The TJ2 MC__ 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 A B A B A B BASE 0 ADDAX 2 FORWARD MOVE 100 AXIS 2 MOVE 60 AXIS 2 ...

Page 24: ...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 MC__ 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 MC__ captures the position...

Page 25: ...d 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 Jogging Jogging moves the axes at a constant speed forward or reverse by manual operation of the digital i...

Page 26: ... of the servo system as used in the TJ2 MC__ 1 The TJ2 MC__ 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 measu...

Page 27: ... 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 Kp creates an output Op that is proportional to the Following Error E Op Kp 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 gai...

Page 28: ...N Speed feed forward gain The speed feedforward gain Kvff produces an output Ovff that is proportional to the change in demand position Pd and minimizes the Following Error at high speed Ovff Kvff ÄPd 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...

Page 29: ...he programs are written in a language similar to BASIC and control the application of the axes and modules 22 Programs can be executed in parallel The programs can be set to run at system power up started and stopped from other programs and executed from Trajexia Studio CX Motion Pro Programs execute commands to move the axes control inputs and outputs and make communication via BASIC commands 2 4...

Page 30: ...ask The values are exchanged from the configured global variables in a transparent way When the Trajexia is a communications 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 devic...

Page 31: ...ity BASIC programs are running in parallel to the PLC CPU slot 1 executes the Low and High priority BASIC programs alternately Example 2 Executing one High and two Low priority BASIC programs in parallel to the PLC CPU slot 1 Running High and low priority BASIC programs alternately CPU slot 2 PLC CPU slot 4 High priority BASIC program executed Cycle time 2 ms 500 μs 1 2 3 4 CPU slot Operation CPU ...

Page 32: ...ERIOD system parameter There are 3 types of MECHATROLINK II devices that are supported by the TJ2 MC__ units Servo Drives The TJ2 MC__ considers Servo Drives as axes Inverters By default Inverters are not considered as axes although this can be changed by command I O units and slice bus couplers The TJ2 MC__ does not consider I O units analog and digital counter and pulse and SmartSlice bus couple...

Page 33: ...2 MC__ considers Servo Drives as axes Maximum number restricted by the SERVO_PERIOD and EtherCAT master type Devices without feedback Inverters The TJ2 MC__ considers EtherCAT Inverters as axes but the maximum number is not restricted by the EtherCAT master type Maximum number restricted by the SERVO_PERIOD I O units The TJ2 MC__ does not consider I O units as axes SERVO_PERIOD TJ2 MC641 1 Total n...

Page 34: ...xes For maximum number of virtual axes see TJ2 MC64 TJ2 ECT04 TJ2 ECT16 TJ2 ECT643 3 Maximum number of axes depend on the firmware version 0 25 ms4 4 The EtherCAT units do not yet support 0 25 ms 16 axes 3 axes N A N A N A 0 5 ms 32 axes 3 axes 4 axes 10 axes 10 axes 1 0 ms 64 axes 3 axes 4 axes 16 axes 26 axes 2 0 ms 64 axes 3 axes 4 axes 16 axes 47 axes ...

Page 35: ...ervo Drive SERVO_PERIOD 1ms TJ2 MC__ Supports 0 25ms SERVO_PERIOD with 3 axes TJ1 ML04 Supports 0 5ms SERVO_PERIOD with 3 devices G Series supports 1ms SERVO_PERIOD This is the limiting factor Address 43 Axis 2 Axis 3 Axis 4 Address 44 Address 45 Terminator Servo Driver X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 ...

Page 36: ...xis 14 Axis 7 Axis 15 Address 4A Address 4B Address 4C Address 4D Address 4E Address 4F Address 50 Terminator Servo Drive Address 41 Address 42 Address 43 Address 44 Address 45 Address 46 Address 47 Address 48 Terminator X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3...

Page 37: ...MECHATROLINK II servo axes and 4 TJ1 FL02 axes TJ1 ML16 supports 1 0ms SERVO_PERIOD with 5 devices TJ1 FL02 supports 0 5ms SERVO_PERIOD 2 axes each module Sigma II supports 1 0ms SERVO_PERIOD Address 41 Address 42 Address 43 Address 44 Address 45 Address 46 Address 47 Address 48 Address 61 Address 21 Address 62 Address 63 I O Memory Allocations 0 31 32 95 96 159 160 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8...

Page 38: ...J2 ECT04 3x Accurax G5 Servo Drive SERVO_PERIOD 0 5ms TJ2 MC__ 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 Address 01 Axis 0 Axis 1 Axis 2 Address 02 Address 03 Servo Driver ADR x10 x1 ADR x10 x1 ADR x10 x1 ...

Page 39: ...l window is used to write direct BASIC commands to the TJ2 MC__ independent to other programs These commands are executed after you press the Enter button 2 6 3 Multi tasking fig 24 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 run in which slot are defined in the table below Slot 1 Sl...

Page 40: ...cuted 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 priority process now runs twice every cycle and therefore runs 6 times faster than the low priority processes In the lower example there are no high priority p...

Page 41: ...xes 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 Transfer any moves from BASIC process buffers to motion buffers see section 2 8 2 Read d...

Page 42: ...th 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 Manu...

Page 43: ...rque Position loop in the Trajexia TJ2 MC__ sends torque reference to the Servo Drive via MECHATROLINK II 43 External Drive connected to a TJ1 FL02 Stepper output Pulse and direction outputs Position loop is in the Drive TJ1 FL02 sends pulses and receives no feed back 44 Servo axis Default Encoder Analogue servo Position loop is in the TJ2 MC__ The TJ1 FL02 sends speed refer ence and receives posi...

Page 44: ...oop in the Servo Drive TJ2 MC__ sends torque reference to the Servo Drive via EtherCAT 68 EtherCAT Invert ers connected to a TJ2 ECT__ EtherCAT CoE VL Open loop velocity control of Inverters con nected through EtherCAT according Velocity mode of CiA402 69 EtherCAT encod ers connected to a TJ2 ECT__ EtherCAT encoder Feedback from encoder connected to Ether CAT 80 Servo Drives connected to a TJ2 KS0...

Page 45: ...ain settings in the TJ2 MC__ have no effect The position reference is sent to the Servo Drive Profile generator MEASURED POSITION DEMAND POSITION Profile generator M E TJ2 MC__ TJ1 ML__ TJ2 ECT__ TJ2 KS02 SERVO _ SERVO OFF SERVO OFF Trajexia Position Loop is deactivated Gains are not used Position command Demanded position Measured position Position loop Following error Speed command Position Loop...

Page 46: ...que loop is closed in the TJ2 MC__ 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 SERVO _ M E SERVO OFF SERVO OFF TJ2 MC__ Position loop Demanded position Measured position Profile generator Following error Speed command Speed command Speed Loop Torq...

Page 47: ... analogue speed reference output and incremental encoder feedback input The position loop is closed in the TJ2 MC__ which sends the resulting speed reference to the axis fig 33 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 Following Error Demanded Position Measured Position Speed ...

Page 48: ...esulting 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 Absolute EnDat encoder ATYPE 47 With SERVO ON this is an axis with analogue speed reference output and absolute EnDat encoder feedback The position loop is closed in the TJ2 MC__ and t...

Page 49: ... to be controlled on the MECHATROLINK II bus as servo axes From the controller point of view Inverter axes are handled the same as servo axes in MECHATROLINK II Speed Mode ATYPE 41 Unlike the other axis types this Inverter axis must be defined programmatically with function 8 of the command INVERTER_COMMAND The Speed command to the Inverter and the feedback from the encoder is refreshed in the Inv...

Page 50: ...its s This is the recommended setting Profile generator M E TJ2 MC__ TJ1 ML__ TJ2 ECT__ TJ2 KS02 SERVO _ SERVO OFF SERVO OFF Trajexia Position Loop is deactivated Gains are not used Position command Demanded position Measured position Position loop Following error Speed command Position Loop Speed Loop Torque Loop Note Although MPOS and FE are updated the real value is the value in the Servo Drive...

Page 51: ... 39 With SERVO OFF the speed reference is sent via S_REF command SERVO _ M E SERVO OFF SERVO OFF Position loop Demanded position Measured position Profile generator Following error TJ2 MC__ Torque Loop Torque command Torque command TJ1 ML__ TJ2 ECT__ TJ2 KS02 Note To monitor the torque in the Servo Drive in DRIVE_MONITOR set DRIVE_CONTROL 4 Note Make sure object 3317h Speed Limit Selection is set ...

Page 52: ...rive Profile generator M E TJ2 MC__ TJ1 ML__ TJ2 ECT__ TJ2 KS02 SERVO _ SERVO OFF SERVO OFF Trajexia Position Loop is deactivated Gains are not used Position command Demanded position Measured position Position loop Following error Speed command Position Loop Speed Loop Torque Loop Note Although MPOS and FE are updated the real value is the value in the Servo Drive The real Following Error can be ...

Page 53: ...SERVO ON the torque loop is closed in the TJ2 MC__ 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 The units of the torque reference is 0 1 so 1000 is equal to 100 rated torque SERVO _ M E SERVO OFF SERVO OFF TJ2 MC__ Position loop Demanded position Measured position Profile generator Following error ...

Page 54: ...e than closing the posi tion loop in the Servo Drive 42 OFF Torque MECHATROLINK II Recommended mode for torque control with MECHATROLINK II axes Set the torque with T_REF 42 ON Position via torque MECHATROLINK II The position loop is closed in Trajexia The out put of the position loop is sent as the torque ref erence to the Servo Drive 44 46 47 48 OFF Speed Flexible Axis Recommended mode for speed...

Page 55: ... put of the position loop is sent as the torque ref erence to the Servo Drive 68 OFF Velocity EtherCAT Inverter controlled on the EtherCAT bus as an axis Set the speed with S_REF 69 OFF Position EtherCAT Position reference from an encoder connected to the EtherCAT network 80 OFF Position Accurax G5 The position loop is closed in the Servo Drive No new motion command is allowed 80 ON Position Accur...

Page 56: ...WARE REFERENCE MANUAL 51 Revision 5 0 82 ON Position via torque Accurax G5 The position loop is closed in Trajexia The out put of the position loop is sent as the torque ref erence to the Servo Drive ATYPE SERVO Mode Comment ...

Page 57: ...n 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 loa...

Page 58: ... 3 MOVE 200 BASIC PROGRAM MOVE 500 MOVE 1000 DATUM 3 MOVE 200 NTYPE IDLE MTYPE MOVE 200 BUFFER MOVE 500 MOVE 1000 DATUM 3 MOVE 200 BASIC PROGRAM MOVE 500 MOVE 1000 DATUM 3 MOVE 200 MOVE 200 NTYPE DATUM 3 MTYPE MOVE 1000 BUFFER MOVE 500 MOVE 1000 BASIC PROGRAM MOVE 500 MOVE 1000 DATUM 3 MOVE 200 MOVE 200 NTYPE DATUM 3 MTYPE MOVE 1000 BUFFER MOVE 500 MOVE 1000 1 All buffers are empty and a movement ...

Page 59: ... 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 ...

Page 60: ...ming intuitive and easy You can select from a wide choice of best in class rotary linear and direct drive Servo systems as well as Inverters The system is scalable up to 64 axes Inverters or I O modules The TJ2 MC__ also contains an IEC 61131 3 compliant soft PLC capable of controlling I O and performing motion 3 1 1 Trajexia High Lights The main high lights of the trajexia system are as follows D...

Page 61: ...nd 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 p...

Page 62: ...rs are available to fit your needs in compactness performance and reliability 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 mach...

Page 63: ... 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...

Page 64: ...ers 0 6 can be arranged in any order The TJ2 MC__ autodetects all units A Trajexia system with a TJ2 MC__ can include 0 to 4 TJ1 ML__ units MECHATROLINK II Master Unit 0 to 1 TJ2 ECT__ units EtherCAT Master Unit 0 to 7 TJ1 FL02 units 0 to 7 TJ2 KS02 units 0 or 1 TJ1 PRT PROFIBUS DP Slave Unit or TJ1 DRT units DeviceNet Slave Unit 1 0 or 1 TJ1 CORT units CANopen Master Unit 1 Unit number 0 1 2 3 4 ...

Page 65: ... fig 4 The figure is an example of a simple configuration A Power supply B TJ2 MC__ C TJ1 ML__ D G Series Servo Drive E G Series Servo motor F TJ1 TER 0 1 2 3 4 5 6 7 CN3 CN1 TER M ON OFF WIR E 2 4 CN2 MC 16 OMRON MOT ION CON TROLLER RUN 8F CN1 ML16 F C B A E D ...

Page 66: ...nits 3 To disconnect the TJ2 MC__ 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 MC__ fig 6 5 Push the clips A on top and bottom of all the units to the front 0 1 2 3 4 5 6 7 CN3 CN1 TERM ON OFF WIR E 2 4 CN2 MC 16 OMRON MOTION CON TROLLER A 0 1 2 3 4 5 6 7 CN3 CN1 TERM ON OFF WIRE 2 4 CN2 MC16 OMRON MOTION CONTROLLER A ...

Page 67: ...6 Attach the TJ2 MC__ C to the Power Supply Unit B fig 8 7 Push the clips A on top and bottom to the rear 0 1 2 3 4 5 6 7 CN3 CN1 TERM ON OFF WIRE 2 4 CN2 MC16 OMRON MOTION CONTROLLER C B 0 1 2 3 4 5 6 7 CN3 CN1 TERM ON OFF WIRE 2 4 CN2 MC 16 OMRON MOTION CONTROLLER A ...

Page 68: ... 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 0 1 2 3 4 5 6 7 CN3 CN1 TER M ON OFF WIR E 2 4 CN2 MC 16 OMRON MOTION CON TROLLER RUN 8F CN1 ML16 A 0 1 2 3 4 5 6 7 CN3 CN1 TER M ON OFF WIR E 2 4 CN...

Page 69: ...xia units in one of these positions Upside down With the top side forward With the bottom forward Vertically 0 1 2 3 4 5 6 7 CN3 CN1 TERM ON OFF WIRE 2 4 CN2 MC16 OMRON MOTION CONTROLLER RUN 8F CN1 ML16 0 1 2 3 4 5 6 7 CN3 CN1 TERM ON OFF WIRE 2 4 CN2 MC16 OMRON MOTION CONTROLLER RUN 8F CN1 ML16 ...

Page 70: ...fication 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 s2...

Page 71: ...nce HARDWARE REFERENCE MANUAL 65 Revision 5 0 3 2 3 Unit dimensions The dimensions for the units of the Trajexia system are as follows Trajexia machine controller fig 13 All measurements are in mm 62 65 71 70 3 90 94 ...

Page 72: ...Hardware reference HARDWARE REFERENCE MANUAL 66 Revision 5 0 Trajexia units fig 14 All measurements are in mm 31 39 9 70 3 90 94 ...

Page 73: ...stallation 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 MC__ TJ1 FL02 TJ2 ECT__ and TJ2 KS02 units do these steps 62 65 29 7 31 45 90 94 PA202 70 30 81 60 to 89 0 mm 90 94 ...

Page 74: ...onductor size i Item Specification Wire types 0 14 1 0 mm2 Solid stranded or stranded with ferrule Crimp ferrules according to DIN46228 1 Crimp ferrules wit plastic collar according to DIN46228 4 With recommended tool Weidmüller PZ6 Insertion tool 2 5 mm flat bladed screwdriver Recommended ferrule types Weidmüller AEH H0 14 12 AEH H0 25 12 AEH H0 34 12 Stripping length 7 mm without ferrules tolera...

Page 75: ...0V INPUT L2 N NC NC A B C D E F G 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 contact1 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 N...

Page 76: ...e of 1 2 N m Loose screws can result in short circuit mal function or fire Power Supply Unit Input voltage Maximum current consumption Output power 5 V group 24 V group CJ1W PA202 110 240 VAC 2 8 A 0 4 A 14 W CJ1W PA205R 110 240 VAC 5 0 A 0 8 A 25 W CJ1W PD025 24 VDC 5 0 A 0 8 A 25 W Caution The amount of current and power that can be supplied to the sys tem is limited by the capacity of the Power...

Page 77: ...Hardware reference HARDWARE REFERENCE MANUAL 71 Revision 5 0 3 3 4 PSU box contents Safety sheet Power Supply Unit Protection label attached to the top surface of the unit ...

Page 78: ... with the BASIC programming language to control the expansion units and the Servo motors attached to the expansion units Refer to the Programming Manual fig 19 The TJ2 MC__ has these visible parts i A B C D E F G H Part Description A LED display B I O LEDs 0 7 C Battery D Ethernet connector E TERM ON OFF switch F WIRE 2 4 switch G Serial connector H 28 pin I O connector ...

Page 79: ...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 MC__ and to a PC RUN When the TJ2 MC__ operates a Servo Drive OFF When the TJ2 MC__ 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 Manu...

Page 80: ...ion If you connect the PC directly to the TJ2 MC__ and not via a hub or any other network device the PC must have a fixed IP address The TJ2 MC__ 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 precauti...

Page 81: ...M ON OFF switch depends on the communication standard of the serial connection and the position of the TJ2 MC__ in the network i 9 8 7 6 5 4 3 2 1 Pin 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 0 V Communication standard Position of the TJ2 MC__ Setting of the TERM ON OFF switch RS422 or RS485 First...

Page 82: ...the communication standard for the RS422 485 serial connection To use one of the communication standards do this i A B C D E F G H 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 ...

Page 83: ...7 20 22 24 26 28 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 supp...

Page 84: ...activity of the input in 13 pin16 of the 28 pin I O connector LED label n 0 n 1 n 2 n 3 n 41 1 Outputs 0 to 7 are not physical outputs n 5 n 6 n 7 0 IN 0 IN 8 IN 16 IN 24 OUT 0 OUT 8 OUT 16 OUT 24 1 IN 1 IN 9 IN 17 IN 25 OUT 1 OUT 9 OUT 17 OUT 25 2 IN 2 IN 10 IN 18 IN 26 OUT 2 OUT 10 OUT 18 OUT 26 3 IN 3 IN 11 IN 19 IN 27 OUT 3 OUT 11 OUT 19 OUT 27 4 IN 4 IN 12 IN 20 IN 28 OUT 4 OUT 12 OUT 20 OUT ...

Page 85: ...ation details the digital output O8 to O15 specifications i The timings are dependant upon the servo period of the TJ2 MC__ and include physical delays in the output circuit TJ 1 MC 16 3 0V Input 0V common for Input circuits External power supply 24V 1 Input 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 TJ 1 MC 16...

Page 86: ... 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 MC__ has not been on set the unit to on for at least five minutes before you replace the ba...

Page 87: ...sking Up to 22 BASIC programs Up to 16 PLC tasks Up to 22 BASIC programs 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 RAM and Flash ROM memory backup Battery backup Saving program data on the PC Trajexia Studio software manage...

Page 88: ...nnector Baud rate 1200 2400 4800 9600 19200 and 38400 bps Transmission format databit length 7 or 8 bit Transmission format stop bit 1 or 2 bit Transmission format parity bit Even odd none Transmission mode RS232C Point to point 1 1 RS422 485 Point to multipoint 1 N Transmission protocol Host link master protocol Host link slave protocol ModbusRTU slave protocol ASCII general purpose Galvanic isol...

Page 89: ...ways contain a TJ1 TER as the last unit 3 4 7 TJ2 MC__ box contents Safety sheet TJ2 MC__ battery included Protection label attached to the top surface of the TJ2 MC__ TJ1 TER attached to the TJ2 MC__ Parts for a serial connector 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 Uni...

Page 90: ...ML__ and its devices form a serial network The first unit in the network is the TJ1 ML__ One TJ1 ML16 can control 16 devices One TJ1 ML04 can control 4 devices 3 5 2 LEDs description i RUN BF ML16 CN1 A B Part Description A LED indicators B CN1 MECHATROLINK II bus connector Label Status Description run off Start up test failed Unit not operational Operation stopped Fatal error on Start up test suc...

Page 91: ...TJ1 ML__ connection fig 30 The MECHATROLINK II bus connector A fits a MECHATROLINK II connector Use this connector to connect the TJ1 ML__ to a MECHATROLINK II network The MECHATROLINK II network must always be closed by the MECHATROLINK II terminator RUN 8F ML16 CN1 A ...

Page 92: ...xample connections fig 31 Example 1 1 x TJ2 MC64 1 x TJ1 ML__ 3 x G Series Servo Drive 1 x MECHATROLINK II terminator Address 43 Axis 2 Axis 3 Axis 4 Address 44 Address 45 Terminator Servo Driver X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 ...

Page 93: ...ess 4D Address 4E Address 4F Address 50 Terminator Servo Drive Address 41 Address 42 Address 43 Address 44 Address 45 Address 46 Address 47 Address 48 Terminator X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8 9 0 1 2 3 4 5 X1 6 7 8...

Page 94: ...1 x G Series Servo Drive 1 x Inverter 3 x I O units 1 x MECHATROLINK II terminator Address 41 Axis 0 Address 21 Address 61 Address 62 Address 63 I O Memory Allocations I O UNITS I O Addresses are numbered 6x valid range 60 to 6F I O Address selected on DIP Switches INVERTERS All Inverter Addresses are numbered 2x valid range 20 to 2F Terminator 0 31 32 95 96 159 160 223 224 X1 6 7 8 9 0 1 2 3 4 5 ...

Page 95: ...proximate weight 75 g Number of controlled devices 4 16 Controlled devices G Series and Accurax G5 Servo Drives Sigma II Sigma V and Junma ML Servo Drives I Os V7 F7 and G7 Inverters V1000 and A1000 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 Transmi...

Page 96: ...2 channels JEPMC AN2910 MECHATROLINK II cables 0 5 meter JEPMC W6003 A5 1 meters JEPMC W6003 01 3 meters JEPMC W6003 03 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 II series Servo Drives firmware version 39 or later JUSP NS115 For Varispeed V7 ...

Page 97: ...OLINK II Servo Drives A MECHATROLINK II Servo Drive is designed to do position control in Trajexia In every MECHATROLINK II cycle the TJ2 MC__ receives the position feedback from the Servo Drive via the TJ1 ML__ The TJ2 MC__ 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 ...

Page 98: ... 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 Protective ground terminals G Display area H Rotary switches I COM MECHATROLINK II communications status LED indicator J CN3 RS 232 communications connector K CN6A CN6B MECHATROLINK II communications connector L ...

Page 99: ... Drives 16 per TJ ML16 First TJ1 ML16 Node address range 1 to 16 AXIS_OFFSET SLOT 0 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 MECHATROLINK II communications status LED indicator COM 7 segment LED 2 digits Analog monitor pins Speed monitor Torque monitor Signal ground SP IM G Rotary switches for setting a node add...

Page 100: ...r Supply All OFF All ON approx 0 6 s Node Address Display nA Node Address approx 0 6 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 Main Power Supply ON and Network Established Servo ON Alarm Issued Alarm Display Warning code 2 s Normal Display approx 4 s Alarm code flashes in decimal...

Page 101: ...3COM General purpose Output 3 Backup Battery Input OUTM1COM General purpose Output1 OUTM1 General purpose Output 1 Pin I O Code Signal name 1 Input 24VIN 12 to 24 VDC Power Supply Input 2 Input STOP Emergency Stop Input 3 Input EXT3 External Latch Signal 3 4 Input EXT2 External Latch Signal 2 5 Input EXT1 External Latch Signal 1 6 Input IN1 External general purpose Input 1 7 Input PCL Forward Torq...

Page 102: ...ector to connect to the next MECHATROLINK II device or to connect a MECHATROLINK II terminator 15 Output ALM Alarm Output 16 Output ALMCOM 29 Output OUTM2 General purpose Output 2 READY 30 Output OUTM2COM 31 Output OUTM3 General purpose Output 3 CLIM 32 Output OUTM3COM 36 Output OUTM1 General purpose Output 1 BKIR 35 Output OUTM1COM Shell FG Pin I O Code Signal name 0 1 2 3 4 5 6 7 8 9 A BCD E MC ...

Page 103: ...nnector The table below shows the pin layout for the CNA power supply connector i Pin Signal Name 1 E5V Encoder power supply 5 V 2 E0V 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 Pin Signal Name 1 L1 Main circuit power supply input 2 L2 3 L3 4 L1C Control circuit power supply input 5 L2C ...

Page 104: ...C commands are related to the MECHATROLINK II G series Servo Drives 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 Pin Signal Name 1 B1 External Regeneration Resistor connection terminals 2 B2 3 B3 4 U Servomotor connection terminals 5 V ...

Page 105: ...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 I COMM MECHATROLINK II communications status LED indicator J Rotary switches K CN6A CN6B MECHATROLINK II communications connector L CN7 USB connector M CN8 Connector for safet...

Page 106: ...occurred in MECHATROLINK II communications 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 If any of ...

Page 107: ...J1 ML16 32 Drives 16 per TJ ML16 First TJ1 ML16 Node address range 1 to 16 AXIS_OFFSET SLOT 0 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 MECHATROLINK II communications status LED indicator COMM Rotary switches for node address setting Connector for Analog Monitor 7 segment LED indicator 2 digit ADR COMM WARNING Wh...

Page 108: ...e The settable range for a node address is between 1 and 31 The node address used over the network is the value obtained by add ing the offset 40h to the rotary switch set value If any value over or under the range is set the Node address setting error Err82 0 occurs ...

Page 109: ...ng resolved Control power on Main power is ON and the network communication is established Main power is OFF and the network communication is not established Servo ON Servo OFF 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...

Page 110: ... Input 8 General purpose Input 4 General purpose Input 5 General purpose Input 6 General purpose Input 7 Signal Ground General purpose Input 1 General purpose Input 3 Pin I O Code Signal name 6 Input 24 VIN 12 to 24 VDC Power Supply Input 5 Input IN1 General purpose Input 1 7 Input IN2 General purpose Input 2 8 Input IN3 General purpose Input 3 9 Input IN4 General purpose Input 4 10 Input IN5 Gene...

Page 111: ...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 0 1 2 3 4 5 6 7 8 9 A BCD E MC Unit L1 L2 Ln Termination resistor Note Cable length between nodes L1 L2 Ln should be 0 5 m or longer Total cable length should be L1 L2...

Page 112: ...Encoder power supply 5 V 2 E0V 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 Pin Signal Name 1 E5V Encoder power supply 5 V 2 E0V 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 EXB Encoder phase B input 8 EXB Encoder phase B i...

Page 113: ...SB Connector The table below shows the pin layout for the CN7 USB connector i 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 Pin Signal Name 1 VBUS USB signal terminal 2 D 3 D 4 Reserved do not connect 5 SENGND Signal ground ...

Page 114: ...ply connector The table below shows the pin layout for the CNA power supply connector i 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 Shell FG Shield ground Pin Signal Name 1 L1 Main circuit power supply input 2 L2 3 L3 4 L1C Control circuit power supply input 5 L2C ...

Page 115: ... commands are related to the MECHATROLINK II Accurax G5 Servo Drives 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 Pin Signal Name 1 B1 External Regeneration Resistor connection terminals 2 B2 3 B3 4 U Servomotor connection terminals 5 V...

Page 116: ...t passes communicated register values from the MECHATROLINK II network to the MX2 Inverter and vice versa The illustration shows the external appearance of the 3G3AX MX2 MRT E Unit A Option board connector B LED indicators RUN ERR RX TX C Warning label D Fieldbus connector E Grounding cable F Housing G Mounting screw Four LED indicators allow easy diagnosis An attached grounding cable is sized to ...

Page 117: ...n characters in the bottom right corner where the 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 Indicator Colour Status Meaning RUN Green OFF No power or not yet ready for operation Flashing Operating in commissioning mode ON Normal operation ERR Red ON Fatal error Flashing Opera...

Page 118: ...en the screw of the option board cover remove the cover and put the cover aside WARNING 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 ...

Page 119: ...ws of the terminal block cover and remove the cover to enable access to the chassis ground terminal screws fig 48 Step 3 Secure the Option Board grounding cable to the MX2 Inverter with a mounting screw 3 phase 200 V 0 1 3 7 kW 3 phase 400 V 0 4 4 0 kW 1 phase 200 V 0 1 2 2 kW 3 phase 200 V 5 5 15 kW 3 phase 400 V 5 5 15 kW ...

Page 120: ...ENCE MANUAL 114 Revision 5 0 fig 49 Step 4 If removed in Step 2 mount the terminal cover again and tighten the screw s fig 50 Step 5 Push the Option Board into the previous location of the option board cover until it clicks into place ...

Page 121: ...vision 5 0 fig 51 Step 6 Press down on the indicated corner of the Option Board housing to ensure proper connection of the Option Board connector fig 52 Step 7 Check that there is no gap between the top edges of the Option Board and the Inverter casing ...

Page 122: ... 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 M5 x 6 3 phase 400 V 11 15 kW Note Illustrations are only provided for one Inverter size The instru...

Page 123: ... 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 Inverter Failure to abide could lead to serious or possibly fata...

Page 124: ...h1 h d4 d3 d d1 Item Dimension Item Dimension Item Dimension h 63 6 mm c 16 3 mm d2 31 3 mm h1 57 9 mm d 52 6 mm d3 44 8 mm w 67 6 mm d11 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 26 4 mm d4 28 4 mm ...

Page 125: ... takes precedence over that of the Option Board 10 to 55 C no icing or condensation Ambient operating humidity 20 to 90 RH Storage temperature 20 to 65 C no icing or condensation Vibration resistance 5 9m s2 0 6G at 10 55Hz Dielectric strength 500 VAC between isolated circuits Conformance to EMC and electrical safety standards EN61800 3 2004 2004 108 EC Second environment Category C3 EN61800 5 1 2...

Page 126: ...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 Step 2 Inverter registers P195 and P196 configure the MECHATROLINK network related parameters Adjust these to configure the frame length and node address Step 3 Change the control method for the RUN command and frequency reference to Optional Boa...

Page 127: ...rmation can be obtained from the trip error code given by the four digit display of the Inverter In the following sections typical LED indicator and four digit Inverter display patterns are provided to assist in troubleshooting To show the status of the indicators the following conventions are used Param Description Setting A001 Frequency Refer ence Selection 1 02 Digital Operator default 04 Optio...

Page 128: ... provided to assist in troubleshooting To show the status of the indicators the following conventions are used OFF Not important Ignore RED Inverter error code GREEN Not important Ignore Flashing Note Do not clear the trip before you are finished troubleshooting an error When you clear the trip the error code is cleared from the four digit display The trip history can however be read back using d0...

Page 129: ...ed Replace the Option Board The Inverter RS input is ON Switch the Inverter RS input OFF The Option Board encountered a fatal error during Operation Check that the Option Board is mounted properly and restart the Option Board If the problem persists replace the Option Board The user program requested a trip by setting the external trip bit of the conventional module oper ation command Check and co...

Page 130: ...ion board Make sure parameters P160 P179 are set to 0 Your Inverter version has not been properly verified with this version of the Option Board The MECHATROLINK node address in the Inverter is invalid or absent Reset the Inverter to factory defaults If the problem persists contact your local OMRON representative for assistance Your Inverter version has not been properly verified with this version...

Page 131: ...aster properly connected Has anything changed on the MECHATROLINK network devices termination connectors etc Are there any short circuits or line interruptions The MECHATROLINK network has not been terminated cor rectly Check if a terminator is present at the end of the network The network error action selected with parameter P045 was executed due to a MECHA TROLINK network error Check and correct...

Page 132: ...NCE MANUAL 126 Revision 5 0 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 ...

Page 133: ...ows the external appearance of the 3G3AX RX2 MRT E Unit A Option board Inverter connector B LED indicators RUN ERR RX TX C Option Board Cable D Fieldbus connector E Grounding cable F Housing G Mounting screw Four LED indicators allow easy diagnosis An attached grounding cable is sized to reach the ground terminals on all RX Inverter models A feature in the housing will retain the mounting screw wh...

Page 134: ...f RX E1F or RX V1 An RX Inverter that supports the 3G3AX RX MRT E Option Board can be recognized from the Inverter type label Indicator Colour Status Meaning RUN Green OFF No power or not yet ready for operation Flashing Operating in commissioning mode ON Normal operation ERR Red ON Fatal error Flashing Operational error OFF No error TX Green ON Sending data OFF Sending of data stopped hardware re...

Page 135: ...tal Operator Display using the 3G3AX CAJOP300 EE cable or straight Ethernet cable Step 1c Set the desired parameters of the RX Inverter with the Digital Operator Display fig 57 Step 2 Remove from the RX Inverter 1 Digital Operator Display 2 Terminal cover 3 Front Cover 4 Operator connector WARNING Always Switch OFF the mains power supply to the Inverter before removing any covers Wait for the time...

Page 136: ...eference HARDWARE REFERENCE MANUAL 130 Revision 5 0 fig 58 Step 3 Cut out the 2 plastic break outs from the Front Cover Make sure no sharp edges remain fig 59 Step 4 Remount the Front Cover and tighten the screws ...

Page 137: ...Option Board onto the interface connector no 5 of the RX Inverter First align the small hole of the Inverter connector no 2 with the guide post no 4 in the Inverter fig 61 Step 6 Then align the larger hole on the Inverter connector no 3 with the threaded hole no 6 in the Inverter Push the Inverter connector into place ...

Page 138: ...ble no 2 to the left with your finger so the Option Board Cable is not pinched between the Option Board and the Inverter Front Cover A 1 2 3 Note Prevent a pinched Option Board Cable as shown in position A Do not pull on the Option Board Cable Do not let the Option Board hang on the Option Board Cable ...

Page 139: ...on Board approximately 1 cm above the down position into the Front cover of the Inverter See drawing 1 on the left Slide the Option Board down See drawing 2 on the left fig 64 Step 9 The snap fits of the Option Board no 5 will be locked by the snap fits in the Front cover no 4 1 4 m c 1 2 4 3 ...

Page 140: ...wo locking pins no 1 of the Option Board Press carefully the top of the Option Board in the Inverter Check the Option Board is being locked by the locking pins no 1 fig 66 Step 11 Insert the screw no 1 into the upper right hole in the Option Board no 2 Tighten the screw into place do not over tighten 1 2 ...

Page 141: ... the chassis ground of the RX Inverter under an already fixed chassis grounding bolt See the bolt with the grounding figure The position of the chassis ground vary from inverter type Illustrations are only provided for one Inverter size The instructions however are generic and may be followed for all Inverter sizes G ...

Page 142: ...erminal cover nearly completely from the plastic rings no 1 Remount the Terminal cover under the Option Board onto the Inverter no 2 Tighten the two screws no 1 fig 69 Step 14 Connect the Digital Operator Display via a 3G3AX CAJOP300 EE cable or via a straight EtherNet cable with the RJ45 connector in the Inverter ...

Page 143: ...ING Provide emergency stop 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 ...

Page 144: ... MECHATROLINK II Connectors No unnecessary strain should be placed on the MECHATROLINK II cable or connector that could be transferred to the Option Board Option Board Dimensions fig 71 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 Item Dimension Item Dimension Item Dimension p 35 ...

Page 145: ...takes precedence over that of the Option Board 10 to 55 C no icing or condensation Ambient operating humidity 20 to 90 RH Storage temperature 20 to 65 C no icing or condensation Vibration resistance 5 9m s2 0 6G at 10 55Hz Dielectric strength 500 VAC between isolated circuits Conformance to EMC and electrical safety standards EN61800 3 2004 2004 108 EC Second environment Category C3 EN61800 5 1 20...

Page 146: ...et 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 Step 2 Inverter registers P195 and P196 configure the MECHATROLINK II network related parameters Adjust these to configure the frame length and node address Param Description Setting C102 Reset mode se...

Page 147: ...ting information For certain errors additional information can be obtained from the trip error code given by the four digit display of the Inverter In the following sections typical LED indicator and four digit Inverter display patterns are provided to assist in troubleshooting To show the status of the indicators the following conventions are used Param Description Setting A001 Frequency Refer en...

Page 148: ...he status of the indicators the following conventions are used Option board or inverter errors During the Initialization process the RUN indicator will remain OFF Once the initialization has been completed correctly the RUN indicator will be ON and the ERR indicator OFF The table below shows the indicator and display patterns caused by Option Board or Inverter Errors OFF Not important Ignore RED I...

Page 149: ...rt an Option Board Refer to 1 1 2 Inverter Support Replace the Inverter The Option Board connector is damaged Replace the Option Board The Inverter encountered a fatal error during Operation Restart the Inverter If the problem per sists replace the Inverter The user program requested a trip by setting the external trip bit of the conventional module oper ation command Check and correct all items i...

Page 150: ...ion board Make sure parameters P160 P179 are set to 0 Your Inverter version has not been properly verified with this version of the Option Board The MECHATROLINK node address in the Inverter is invalid or absent Reset the Inverter to factory defaults If the problem persists contact your local OMRON representative for assistance Your Inverter version has not been properly verified with this version...

Page 151: ... master properly connected Has anything changed on the MECHATROLINK network devices termination connectors etc Are there any short circuits or line interruptions The MECHATROLINK network has not been terminated cor rectly Check if a terminator is present at the end of the network The network error action selected with parameter P045 was executed due to a MECHATROLINK network error Check and correc...

Page 152: ...e information refer to the Trajexia Programming Manual 3 5 13 Yaskawa MECHATROLINK II Inverters You can also connect the following Yaskawa Inverters V7 Inverter with an SI T V7 MECHATROLINK Communications Interface Unit F7 and G7 Inverters with an SI T MECHATROLINK Communications Interface Card V1000 and A1000 Inverters with an SI T3 V MECHATROLINK Option For details please refer to the manuals of...

Page 153: ...ter 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 C D E F A B Terminal LED Label Description A TX1 CN1 communication indicator B TX2 CN2 communication indicator C POWER Power indicator D SW Dipswitch E CN1 CN2 MECHATROLINK II connectors F CN3 Power supply connector L...

Page 154: ...set by the MECHATROLINK II cable length i The total 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 3 2 1 Pin Signal Description 1 FG Frame ground 2 0 V 0 VDC input 3 24 V 24 VDC input 1 15 16 TJ1 ML16 RE...

Page 155: ...artSlice I O Units refer to the GRT1 Series SmartSlice I O Units Operation Manual W455 fig 75 i 1 2 3 4 SW1 SW1 SW2 SW2 CN2 CN2 CN1 CN1 A B A B ON ON V V V V V V V V UNIT UNIT I O I O DC24V DC24V INPUT INPUT REGS NC ADR BACK 1 2 3 4 RUN ALARM ML COM TS UNIT PWR I O PWR OMRON GRT1 ML2 8 7 6 5 4 3 2 1 0 F E D C B A 9 A G H F E B C D Label Description A LED indicators B Unit dipswitches C Unit power ...

Page 156: ...the BACK dipswitch is automatically restored2 2 When dipswitch 1 is set to ON OFF Automatic restore disabled BACK Backup trigger ON to OFF to ON in 3 s3 3 The setting of dipswitch 4 BACK is given in figure 77 Parameter data of all connected Smart Slice I O Units is backed up ON OFF ON 1 s 1 s 1 s The backup operation starts after DIP switch 4 is turned from ON to OFF to ON within 3 seconds Caution...

Page 157: ...failed unit not opera tional 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 MECHA TROLINK II communica tion Green Not lit No MECHATROLINK II communication Lit MECHATROLINK II communication a...

Page 158: ...ith 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 Lit for 2 s Failure occurred while restoring set tings to I O unit or downloading I O unit settings UNIT PWR Green Not Lit No power s...

Page 159: ...L2 loses the MECHATROLINK II communi cation with the master or when the command MECHATROLINK unit 1 is executed the ML COM LED goes off Dipswitch Function Setting Description 1 MECHATROLINK II address range ON 70 hex 7F hex OFF 60 hex 6F hex 2 MECHATROLINK II bus speed OFF 10 Mbps1 1 Trajexia only supports 10 Mbps bus speed Therefore always set dip switch 2 to OFF 3 Frame size OFF 32 bytes2 2 Traj...

Page 160: ...ication dipswitch 1 and the rotary switch as given in the table below i Note The address of the GRT1 ML2 is read only at power on Setting the new address when the power is on has no effect Dipswitch 1 Rotary switch Address Dipswitch 1 Rotary switch Address 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...

Page 161: ...V DC24V INPUT I O A 24 VDC 24 VDC B Label Power supply terminal Description A Unit power supply terminal Power supply to the internal circuits of the GRT1 ML2 and to the internal circuits of the connected SmartSlice I O Units through the SmartSlice bus B External I O power supply terminal Power supply to the external I Os connected to the SmartSlice I O Units Note The unit power supply and the ext...

Page 162: ...VDC Dimensions W H D 58 80 70 mm Weight 130 g Environment Ambient operating tem perature 10 to 55 C no icing or condensation Ambient operating humidity 25 to 85 Relative 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 s2 Shock resistance 150 m s2 Dielectric strength 500 VAC between isolated circuits C...

Page 163: ...martSlice 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 nections Building block style configuration with slide connectors Units connect with Turnback cables Baseblock power supply Voltage 24 VDC Current 4 A max Event messaging Supported MECHATROLINK II Baud rate 10 Mbps MECHATR...

Page 164: ...n GRT1 OD4G 1 4 PNP outputs with short circuit protection from 4 x 2 0 A at 30 C to 4 x 1 0 A at 55 C GRT1 OD4G 3 8 NPN outputs 24 VDC 500 mA 1 wire connection 4xV GRT1 OD8 8 PNP outputs 24 VDC 500 mA 1 wire connection 4xG GRT1 OD8 1 8 PNP outputs with short circuit protection 24 VDC 500 mA 1 wire connection 4xG GRT1 OD8G 1 2 relay outputs 240 VAC 2A normally open contacts GRT1 ROS2 2 analog input...

Page 165: ... units GRT1 PD2 I O power feed unit with electronic overload protection separates power supply between groups of I O units GRT1 PD2G I O power feed and distribution unit separates power supply between groups of I O units 8xV 4xG GRT1 PD8 I O power feed and distribution unit separates power supply between groups of I O units 4xV 8xG GRT1 PD8 1 I O power connection unit 8xV 4xG GRT1 PC8 I O power co...

Page 166: ...in mm fig 80 0 F E D C B A 9 8 7 6 5 4 3 2 1 1 2 3 4 SW1 SW1 SW2 SW2 CN2 CN2 CN1 CN1 A B A B ON ON V V V V V V V V UNI UNIT I O I O DC24V DC24V INPU INPUT REGS NC ADR BACK 1 2 3 4 RUN ALARM TS I O PWR OMRON GRT1 ML2 ML COM UNIT PWR 17 1 36 8 58 2 4 16 2 35 5 83 5 2 9 2 9 54 28 8 26 3 61 2 69 7 1 5 11 9 ...

Page 167: ... 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 screwdriver and pull the unit straight from the DIN rail Connections fig 81 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 click...

Page 168: ...um 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 ...

Page 169: ... 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 S8TS 06024 OMRON It is recommended to use wires with a gauge of 20 AWG to 16 AWG 0 5 to 1 25 mm2 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...

Page 170: ...e 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 SmartSlic...

Page 171: ...ts and the restore operation can be incomplete If the 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 MC__ To avoid this it is ...

Page 172: ...PRT 3 7 1 Introduction fig 84 The TJ1 PRT is an interface between the Trajexia system and a PROFIBUS network The TJ1 PRT has these visible parts i 0 9 87 6 5 4 3 2 1 0 9 87 6 5 4 3 2 1 H B A B D C Part Description A LEDs B and C Node number selectors D PROFIBUS connector ...

Page 173: ...n Protocols in the Programming Manual 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 I O size not configured on Error detected in communic...

Page 174: ...e termination 5 V 10 mA 7 N A N A 8 A line Data signal 9 N A N A Item Specification Power supply 5 VDC supplied by the TJ2 MC__ 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 V0 Communication connector 1 PROFIBUS DP slave connector Transmission speed 9 6 19 2 45 45 93 75 187 5 500 1500 3000...

Page 175: ...PRT unit box contents TJ1 PRT box Safety sheet TJ1 PRT Protection label attached to the top surface of the unit 3 7 7 Applicable BASIC commands The following BASIC commands are applicable for the TJ1 PRT PROFIBUS For more information refer to the Trajexia Programming Manual ...

Page 176: ...atus 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 I O size not configured on Error detected in communication with controller NOK off Baud rate not de...

Page 177: ...o 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 NF off No network error detect...

Page 178: ...L 172 Revision 5 0 3 8 4 TJ1 DRT Connections fig 87 i 1 2 3 4 5 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 ...

Page 179: ...ation refer to the Trajexia Programming Manual Item Specification Power supply 5 VDC supplied by the TJ2 MC__ 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 Transmi...

Page 180: ... Introduction The CANopen Master Unit TJ1 CORT is an interface between the Trajexia system and a CANopen network fig 88 i 0 9 87 6 5 4 3 2 1 0 9 87 6 5 4 3 2 1 V CAN L DRAIN CAN H V CORT NWST BF A B D C Part Description A LED indicators B and C Node number selectors D CANopen port ...

Page 181: ...ler 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 flash1 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 flash2 A remote error or a heartbeat event...

Page 182: ...ode 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 3 9 4 TJ1 CORT connections fig 89 i 1 2 3 4 5 Pin Signal Description 1 V P...

Page 183: ...y the TJ2 MC__ 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 Communication ports 1 CAN port Transmission speed 20 50 125 and 500 Kbps Node numbers 1 to 99 I O size 8 RPDO and 8 TPDO Galvanic isolation Yes Device profile DS302 CANopen mana...

Page 184: ...erence HARDWARE REFERENCE MANUAL 178 Revision 5 0 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 ...

Page 185: ...FSET parameter for that unit When multiple TJ1 FL02 units are connected they are assigned in unit sequence 0 6 Any MECHATROLINK II axes that are assigned using the Drive switches will not change The TJ2 MC__ assigns the next free axis The TJ1 FL02 has these visible parts i WARNING Do not start the system until you check that the axes are present and of the correct type The numbers of the Flexible ...

Page 186: ...3 All run on The TJ2 MC__ recognises the TJ1 FL02 A A EN on Axis enabled flashing Axis error off Axis disabled A 0 on REG 0 AUX OUT 0 Encoder A A 1 on REG 1 Encoder Z1 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 OUT 1 Encoder B B B EN on Axis enabled flashing Axis error off Axis disabled B 0 on REG 0 ...

Page 187: ...pper input Encoder output Stepper output SSI EnDat Tamagawa 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 Do not use Do not use Do not use Do not use 11 B A Step A Step Clock 12 B A Step A Step Clock 13 ...

Page 188: ...ignal Description 1 A Vout 2 B Vout Analog output 3 A 0V 4 B 0V 0V 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 I O 0V Common 18 I O 24 V 24V Power supply In...

Page 189: ...d with the REGIST command Refer to the BASIC Commands in the Programming Manual Note A maximum of 4 inputs on is allowed simultaneously TJ 1 FL02 External power supply 24V Load 2A Fuse 24V output supply 18 13 Out 0 17 0V I O Equivalent circuit To other output circuits Internal circuitry galvanically isolated from system Item Specification Type PNP Maximum voltage 24 VDC 10 Current capacity 100 mA ...

Page 190: ... Vout 0 15V 15V 1 3 0V Isolated 0V Item Specification Output voltage 10 to 10 V Resolution 16 bit Output impedance 100 Ω Load impedance 10 k Ω min Note The analogue output of one flexible axis is always 0V unless both axes in the TJ1 FL02 axis A B are enabled that is WDOG ON AXIS_ENABLE AXIS A 1 AXIS_ENABLE AXIS B 1 TJ1 FL02 WDOG 5 6 WDOG Item Specification Type Solid state relay Current capacity ...

Page 191: ...illustration details the encoder interface i 5V 0V 5V 0V 1 A0 STEP0 A0 STEP0 B0 DIR0 B0 DIR0 Z0 ENA0 Z0 ENA0 TJ1 FL02 2 3 4 6 7 10 5 15 Item Specification Type Phase differential incremental encoder Signal level EIA RS 422 A Standards line Drive Input impedance 48 kΩ min Load impedance 220 Ω min Termination None ...

Page 192: ...les for pins 5 and 6 are two single strand cables Make the connections for the 15 pin connector on the TJ1 FL02 to the PG X2 option board on the F7 Inverter as follows i Encoder Feedback ENC MOTOR TJ1 FL02 pin number F7 Inverter TA1 Signal Description 1 A1 Vout Analog output 3 AC 0V 0V Reference for Vout 5 S1 Wdog Enable relay contacts 6 SP Wdog Enable relay contacts TJ1 FL02 pin number F7 Inverte...

Page 193: ...0 V analogue output in Closed Loop Pulse Train output in Open Loop Encoder position speed feedback Incremental and absolute Absolute encoder standards sup ported SSI 200 kHz Up to 25 bit Gray and binary encoding 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...

Page 194: ...remental 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 Auxiliary I...

Page 195: ...ically as A and A B and B and Z and Z They appear as differential signals on twisted pair wire inputs This makes sure that common mode noise is rejected 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 ...

Page 196: ...hase A A or phase B B Related BASIC commands The following BASIC commands are related to incremental encoders ATYPE ATYPE 44 and ATYPE 45 ENCODER_RATIO For more information refer to the Trajexia Programming Manual Encoder TJ1 FL02 Signal Wire color Pin Signal A Black 1 A A Black red 2 A B White 3 B B White red 4 B Z Orange 6 Z Z Orange red 7 Z 0 V COM Blue 5 GND 5 VDC Brown 10 5V 0 1 2 3 4 5 6 7 A...

Page 197: ... is programmable You set this number with the BASIC command ENCODER_BITS n fig 102 When you have initialized the TJ1 FL02 with the ENCODER_BITS command the TJ1 FL02 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 μs The resulting maximum cable l...

Page 198: ...ion refer to the Trajexia Programming Manual Encoder signal Axis A Axis B DATA 6 8 DATA 7 9 CLOCK 1 11 CLOCK 2 12 GND 5 15 5 15 Note The TJ1 FL02 does not have a termination inside In case of long distances or disturbed communication add an external termina tion to the TJ1 FL02 24 VDC Power Supply 24 V 0 V 6 7 1 2 5 2 TJ1 FL02 10 3 11 1 8 Encoder TJ1 FL02 Pin Signal Wire color Pin Signal 2 DATA Wh...

Page 199: ...i fig 104 The table below and the figure give an example of how to connect the Heidenhain ROC 425 2048 5XS08 C4 encoder to the TJ1 FL02 i Encoder signal Axis A Axis B DATA 6 8 DATA 7 9 CLOCK 1 11 CLOCK 2 12 GND 5 15 5 15 Note 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 5 VDC Power Supply 5 V 0 V 6 ...

Page 200: ...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 μs cycle The data returned is available to BASIC and you can use it to drive a servo motor fig 105 In the figure A is the encoder side and B is the receiving side The connections for Tamagawa are i kΩ 1 kΩ ...

Page 201: ...r fig 107 The TJ1 FL02 can generate pulses to drive an external stepper motor amplifier You can use single step half step and micro stepping Drives with this interface Applicable signals Enable Step Direction Related BASIC commands The following BASIC commands are related to stepper outputs ATYPE ATYPE 43 INVERT_STEP For more information refer to the Trajexia Programming Manual 6 7 5 SD TJ1 FL02 S...

Page 202: ...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 μs to 3 5 μs We refer to the REGIST command in the Trajexia Programming Manual for more information on using the registration inputs 3 10 10 Hardware PSWITCH The TJ1 FL02 has 2 outputs that you can use as hardware position switche...

Page 203: ...herCAT devices can be fig 108 Servo Drives Inverters I Os The TJ2 ECT__ has these visible parts i 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 TJ2 ECT64 can control up to 64 Servo axes ECT04 RUN ERR L A 0 1 2 3 CN1 CN2 A B C Note Only specifi...

Page 204: ...tion 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 0 3 off Assigned input off on Assigned input on ...

Page 205: ...or is used to connect the EtherCAT twisted pair cable ECT04 RUN ERR L A 0 1 2 3 CN1 CN2 A B C Pin Signal name Abbreviation Signal direction 1 Transmission data TD Output 2 Transmission data TD Output 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 ...

Page 206: ...ional 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 1 3 5 7 9 11 2 4 6 8 10 12 Pin Connection Pin Connection 1 Registration input 0 2 Registration...

Page 207: ... purpose inputs The inputs are available in the IN array starting after the TJ2 MC__ build in IO The following table and illustration details the digital input specifications i TJ2 ECT__ Reg 0 1 0V I O 0V common for Input circuits External power supply 24V 9 Item Specification Type PNP Maximum voltage 24 VDC 10 Input current 8 mA at 24 VDC on voltage 18 5 VDC min off voltage 5 0 VDC max ...

Page 208: ... Daisy chain line or drop line Communications media STP 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 MX2 ECT GRT1 ECT SmartSlice Communication Unit GX series Slave Units FZM1 and FQ M Vision Sensors Support for additional devices depend on the firm ware of the T...

Page 209: ... 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 R_REGIST To configure the registration inputs of the EtherCAT master For more information refer to the Trajexia Programming Manual ...

Page 210: ...ower 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 I 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 Co...

Page 211: ...tional 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 layer Flickering In operation after establishing link L A OUT Green OFF Link...

Page 212: ...d 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 AXIS_OFFSET SLOT 0 0 Assigned axis numbers 0 to 6 CN5 ADR x10 x1 Rotary switches for node address setting Status indicators RUN ERR L A IN L A OUT Note The node address set on the rotary switches is read only once when the control power supply is turned...

Page 213: ...eriod set in the Power ON Address Display Duration Setting 3701 hex Node Address Display 1 will flash when a Safety Input Error Error No 30 0 occurs does not flash on the display Warning occurs Warning cleared Servo ON Servo OFF Dot on right lights Dot on right lights Error occurs Error cleared Warning code for 2 s Normal code for approx 4 s Error Display 1 Normal Display LED Display Selection 370...

Page 214: ... Input 8 General purpose Input 4 General purpose Input 5 General purpose Input 6 General purpose Input 7 Signal Ground General purpose Input 1 General purpose Input 3 Pin I O Code Signal name 6 Input 24 VIN 12 to 24 VDC Power Supply Input 5 Input IN1 General purpose Input 1 7 Input IN2 General purpose Input 2 8 Input IN3 General purpose Input 3 9 Input IN4 General purpose Input 4 10 Input IN5 Gene...

Page 215: ...nect 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 L1 L2 Ln Note 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 ...

Page 216: ...Encoder power supply 5 V 2 E0V 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 Pin Signal Name 1 E5V Encoder power supply 5 V 2 E0V 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 EXB Encoder phase B input 8 EXB Encoder phase B i...

Page 217: ... layout for the CN8 safety connector i 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 Pin Signal Name 1 VBUS USB signal terminal 2 D 3 D 4 Reserved do not connect 5 SENGND Signal ground Pin Signal Name 1 Reserved do not connect 2 Reserved do not connect 3 SF1 Safet...

Page 218: ...ly connector i CNB Servo motor connector The table below shows the pin layout for the CNB servo motor connector i Pin Signal Name 1 L1 Main circuit power supply input 2 L2 3 L3 4 L1C Control circuit power supply input 5 L2C Pin Signal Name 1 B1 External Regeneration Resistor connection terminals 2 B2 3 B3 4 U Servomotor connection terminals 5 V 6 W ...

Page 219: ...he following BASIC commands are related to the EtherCAT Accurax G5 Servo Drives 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 ...

Page 220: ... with 2 tier terminal block 16 inputs NPN GX ID1611 16 inputs PNP GX ID1621 16 outputs NPN GX OD1611 16 outputs PNP GX OD1621 Relay 16 outputs GX OC1601 8 inputs and 8 outputs NPN GX MD1611 8 inputs and 8 outputs PNP GX MD1621 Models with 3 tier terminal block 16 inputs NPN GX ID1612 16 inputs PNP GX ID1622 16 outputs NPN GX OD1612 16 outputs PNP GX OD1622 8 inputs and 8 outputs NPN GX MD1612 8 in...

Page 221: ...ID1618 16 inputs PNP GX ID1628 16 outputs NPN GX OD1618 16 outputs PNP GX OD1628 8 inputs and 8 outputs NPN GX MD1618 8 inputs and 8 outputs PNP GX MD1628 32 inputs NPN GX ID3218 32 inputs PNP GX ID3228 32 outputs NPN GX OD3218 32 outputs PNP GX OD3228 16 inputs and 16 outputs NPN GX MD3218 16 inputs and 16 outputs PNP GX MD3228 ...

Page 222: ...ts GX DA0271 Type Appearance I O points Model Models with screw terminal blocks 2 inputs 5 V and 24 V voltage input GX EC0211 2 inputs Line driver input GX EC0241 Type Appearance I O points Model Models with 2 tier terminal block 8 inputs NPN XWT ID08 8 inputs PNP XWT ID08 1 8 outputs NPN XWT OD08 8 outputs PNP XWT OD08 1 16 inputs NPN XWT ID16 16 inputs PNP XWT ID16 1 16 outputs NPN XWT OD16 16 o...

Page 223: ...ss of the slave units do these steps 1 Turn off the Unit power supply of the slave units 2 To set 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 3 Turn the power on Setting the node address 10 Setting the node address 1 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 Note The address of the slave units is read onl...

Page 224: ... 1 AXIS_OFFSET Axis No 2 Node Address 1 AXIS_OFFSET 1 This offset AXIS_OFFSET needs to be specified per TJ2 ECT__ Please note that the node addresses per TJ2 ECT__ need to be unique and the resulting axis numbers must be unique in the system Example TJ2 MC__ TJ2 ECT16 GX EC0241 Node address 02 AXIS_OFFSET SLOT 0 0 Assigned node addresses 2 and 3 Assigned axis numbers 1 and 2 Note An Encoder Input ...

Page 225: ...e related to the GX series EtherCAT Slave Units ATYPE AXIS REGIST For more information refer to the Trajexia Programming Manual Bit Function EtherCAT encoder 1 0 Primary registration occurs for 00 Latch A 2 Set this bit to use primary registration event 3 Not used 5 4 Secondary registration occurs for 00 Latch B 6 Set this bit to use secondary registration event 7 Not used 9 8 Windowing function c...

Page 226: ...R LED Lights when an error occurs 4 USB connectors Connected to a trackball mouse and or USB memory 5 Ethernet connector Connects the Ethernet communication cable 6 Monitor connector Connects the monitor 7 Connector for RS 232C 422 Connects to an external device such as a PC and a PLC 8 I O connector Connects to an external device such as a sync sensor and a PLC 9 Camera connectors Connects a came...

Page 227: ...ision Sensor by mapping the Command Response and Output areas in VR memory The VR locations to be used need to be configured after initializing the EtherCAT network by using a function of the ETHERCAT command 12 4 5 10 10 6 11 Type System command Syntax ETHERCAT function unit_number address VR_start_RxPDO VR_length_RxPDO VR_start_TxPDO VR_length_TxPDO Description Command to control and access the ...

Page 228: ...e object per VR default 0 VR_start_TxPDO The starting address in VR memory of the controller where the data from the device TxPDO is mapped default 0 VR_length_TxPDO The number of VR locations to allocate data from the device TxPDO one object per VR default 0 Example The following example maps the FZM1 address 1001 Command area to VR locations 100 to 104 and the Response and Output area to VR loca...

Page 229: ...a 1 DINT 32 bits Data 2 DINT 32 bits Data 7 DINT 32 bits Data 8 DINT 32 bits Area VR location start VR location end Command VR_start_RxPDO VR_start_RxPDO 4 Response VR_start_TxPDO VR_start_TxPDO 3 Output VR_start_TxPDO 4 VR_start_TxPDO 11 Example The following example maps the FZM1 address 1001 Command area to VR locations 100 to 104 and the Response and Output area to VR locations 200 to 211 ETHE...

Page 230: ...Please refer to the FZM1 EtherCAT Communication manual Q179 E1 to configure the Fieldbus Data Output Please set the output format of the data to Fixed point Integer portion of the value 1 000 times the data decimal number is output Function Command code Start continuous measurement 00101020 End continuous measurement 00101030 Clear measurement value 00102010 Save to unit 00103010 Restart 0010F010 ...

Page 231: ...mming Manual Example The following example sends the Switch scene command to the FZM1 VR 101 00301000 Command VR 102 3 Scene number SET_BIT 0 100 Execute command bit 0 of VR 100 WAIT UNTIL READ_BIT 0 200 ON Wait for FLG bit to be set CLEAR_BIT 0 100 WAIT UNTIL READ_BIT 0 200 OFF Wait for FLG bit to be cleared If successful VR 202 Response code contains 0 When the command failed VR 202 contains 1 ...

Page 232: ... installed to a SYSDRIVE MX2 series multi function compact inverter it provides support for 100 Mbps EtherCAT For detailed information about installation and operation please refer to the 3G3AX MX2 ECT user s manual I574 E1 FG cable Status indicator L A IN L A OUT RUN ERR Rotary switches for node address setting 10 1 Communications connector IN OUT ...

Page 233: ... in physical 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 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 Synch...

Page 234: ...e node address per TJ2 ECT__ needs to be unique Example TJ2 MC__ TJ2 ECT16 3 MX2 Inverters Node address setting 01 04 and 07 AXIS_OFFSET SLOT 0 4 Assigned axis numbers 4 7 and 10 Node address setting 1 Node address setting 10 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 no...

Page 235: ...e causes the Option Board to reset when a trip condition is cleared Use the Inverter keypad to set C102 to 3 Step 2 Change the control method for the RUN command and frequency reference to Optional Board Note When node address are assigned automatically rotary switch set to 00 make sure the resulting axis numbers do not conflict with axes already assigned to other drives This will result in a conf...

Page 236: ... following BASIC commands are related to the MX2 Inverter with EtherCAT option 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 Note When restarting the MX2 Inverter wait for the Inverter power indi cator to go out before switching on again ...

Page 237: ...ructions Node address assignment fig 124 The node address is assigned to the Junction slave automatically starting from 2000 Because of the internal structure of the GX JC06 it will get assigned 2 node addresses first node address for the 3 ports on the left second node address for the 3 ports on the right The master or previous slave must always be connected to the IN port top or top left connect...

Page 238: ...or computers 3 Lighting connector This connector is used to connect to external lighting a Strobe Controller 4 EtherCAT input connector This connector is used to connect to EtherCAT compatible devices 5 EtherCAT output connector This connector is used to connect to EtherCAT compatible devices 6 Node address setting switches These switches are used to set the node address as an EtherCAT communicati...

Page 239: ...O Mapping The TJ2 MC__ will communicate to the FQ M Vision Sensor by mapping the Command Response and Output areas in VR memory The VR locations to be used need to be configured after initializing the EtherCAT network by using a function of the ETHERCAT command 10 Measurement process operation indicators OR this indicator lights orange when the OR output signal turns ON ETN this indicator lights o...

Page 240: ...he slave is attached address Configured address of the EtherCAT slave VR_start_RxPDO The starting address in VR memory of the controller where the data to the device RxPDO is mapped default 0 VR_length_RxPDO The number of VR locations to allocate data to the device RxPDO one object per VR default 0 VR_start_TxPDO The starting address in VR memory of the controller where the data from the device Tx...

Page 241: ...TRIG EXE Command UDINT 32 bits Parameter 1 DINT 32 bits Parameter 2 DINT 32 bits Parameter 3 DINT 32 bits Item 31 17 16 15 14 5 4 3 2 1 0 Control Reserved GATE ERR Reserved RUN OR READY BUSY FLG Command UDINT 32 bits Response code UDINT 32 bits Response data DINT 32 bits Extended region DINT 32 bits Item 31 0 Data 1 DINT 32 bits Data 2 DINT 32 bits Data 7 DINT 32 bits Data 8 DINT 32 bits Area VR l...

Page 242: ...e FQ M can be read from VR 200 To read the ERR flag use READ_BIT 15 200 Note Please refer to the FQ M User s manual Z314 E1 to configure the Fieldbus Data Output Function Command code Start continuous measurement 00101020 End continuous measurement 00101030 Clear measurement values 00102010 Clear Data Output Buffer 00102020 Reset Encoder Counter 00102030 Save Data in Sensor 00103010 Re register Mo...

Page 243: ... BASIC commands are related to the FQ M ETHERCAT For more information refer to the Trajexia Programming Manual Example The following example sends the Switch scene command to the FQ M VR 101 00301000 Command VR 102 3 Scene number SET_BIT 0 100 Execute command bit 0 of VR 100 WAIT UNTIL READ_BIT 0 200 ON Wait for FLG bit to be set CLEAR_BIT 0 100 WAIT UNTIL READ_BIT 0 200 OFF Wait for FLG bit to be...

Page 244: ...artSlice 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 fig 127 i A E H F G I B C D J Label Description A LED indicators B Unit dipswitches C Unit power supply terminals D I O power supply terminals E Node address switches F EtherCAT connector IN port G Link activity LED IN port H Shielding termina...

Page 245: ...ith the BACK dipswitch is automatically restored2 2 When dipswitch 1 is set to ON OFF Automatic restore disabled BACK Backup trigger ON to OFF to ON in 3 s3 3 The setting of dipswitch 4 BACK is given in figure 125 Parameter data of all connected Smart Slice I O Units is backed up ON OFF ON 1 s 1 s 1 s The backup operation starts after DIP switch 4 is turned from ON to OFF to ON within 3 seconds Ca...

Page 246: ...t has occurred Single flash Unit has changed its state autono 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 IN port Green OFF Link not established in physical layer ON Link established in physical layer Flickering In operation after establishing ...

Page 247: ...ith 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 Lit for 2 s Failure occurred while restoring set tings to I O unit or downloading I O unit settings UNIT PWR Green Not Lit No power s...

Page 248: ...tting To set the EtherCAT node address of the GRT1 ECT do these steps 1 Turn off the Unit power supply of the GRT1 ECT 2 To set 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 3 Turn the power on Note The address of the GRT1 ECT is read only at power on Setting the new address when the power is on has no ef...

Page 249: ...nd 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 mm2 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 Ln L1 L2 Note Always turn OFF the power supply to the Machi...

Page 250: ...o the internal circuits of the connected SmartSlice I O Units through the SmartSlice bus B External I O power supply terminal Power supply to the external I Os connected to the SmartSlice I O Units Note The unit power supply is isolated from the external I O power sup ply Please use 2 separate power supplies to keep this isolation Note The unit power supply and the external I O power supply are no...

Page 251: ... VDC Dimensions W H D 58 80 70 mm Weight 130 g Environment Ambient operating tem perature 10 to 55 C no icing or condensation Ambient operating humidity 25 to 85 Relative 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 s2 Shock resistance 150 m s2 Dielectric strength 500 VAC between isolated circuits ...

Page 252: ...ble Length 1 m max up to 2 cables can be connected SmartSlice I O Unit con nections Building block style configuration with slide connectors Units connect with Turnback cables Baseblock power supply Voltage 24 VDC Current 4 A max Event messaging Supported EtherCAT Communications proto col EtherCAT Baud rate 100 Mbps Physical layer 100Base TX Communications con trol functions Auto Negotiation Only ...

Page 253: ...PNP outputs with short circuit protection from 4 x 2 0 A at 30 C to 4 x 1 0 A at 55 C GRT1 OD4G 3 8 NPN outputs 24 VDC 500 mA 1 wire connection 4xV GRT1 OD8 8 PNP outputs 24 VDC 500 mA 1 wire connection 4xG GRT1 OD8 1 8 PNP outputs with short circuit protection 24 VDC 500 mA 1 wire connection 4xG GRT1 OD8G 1 2 relay outputs 240 VAC 2A normally open contacts GRT1 ROS2 2 analog inputs current voltag...

Page 254: ... units GRT1 PD2 I O power feed unit with electronic overload protection separates power supply between groups of I O units GRT1 PD2G I O power feed and distribution unit separates power supply between groups of I O units 8xV 4xG GRT1 PD8 I O power feed and distribution unit separates power supply between groups of I O units 4xV 8xG GRT1 PD8 1 I O power connection unit 8xV 4xG GRT1 PC8 I O power co...

Page 255: ...off the power of the Trajexia system the SmartSlice I O Units and the external I Os Make sure that the power supplies of the GRT1 ECT the SmartSlice I O Units and the external I Os are correctly connected Provide separate conduits or ducts for the I O lines to prevent noise from high tension lines or power lines It is possible to connect up to 64 SmartSlice I O Units to 1 GRT1 ECT 13 8 36 8 16 2 3...

Page 256: ...nits 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 po...

Page 257: ...ual 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 It is also possible to provide a separate external I O power supply at a Left Turnback...

Page 258: ...pply 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 S8TS 06024 OMRON It is recommended to use wires with a gauge of 20 AWG to 16 AWG 0 5 to 1 25 mm2 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 pi...

Page 259: ...ade 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 un...

Page 260: ...ies 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 ECT 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 If a un...

Page 261: ... 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 3 12 5 Related BASIC commands The following BASIC commands are related to the GRT1 ECT module ETHERCAT CO_READ CO_WRITE IO_STATUS IO_STATUSMASK For more information refer to the Trajexia Programming Manual ...

Page 262: ...l or stepper and absolute SSI and EnDat encoders and can also generate pulses phase differential and stepper Furthermore the unit is equipped with two 24V registration inputs which can be used to register positions for the encoder interface both with incremental and absolute encoders The TJ2 KS02 has these visible parts i KS02 RUN A EN B EN C EN REG 0 REG 1 CN1 CN2 CN3 CN4 A B E C D Part Descripti...

Page 263: ...ion stopped Fatal error on Start up test successful Normal operation A EN on Axis enabled flashing Axis error off Axis disabled B EN on Axis enabled flashing Axis error off Axis disabled C EN on Axis enabled flashing Axis error off Axis disabled REG 0 off Registration input 0 off on Registration input 0 on REG 1 off Registration input 1 off on Registration input 1 on ...

Page 264: ...2 KS02 connections CN1 CN2 Accurax G5 A P connectors These connectors are used to connect to one or two Accurax G5 A P Servo Drives to the TJ2 KS02 Disconnection fig 138 To disconnect push the lock on the connector towards the TJ2 KS02 or Servo Drive and pull out the cable ...

Page 265: ...ns The following table and illustration details the digital input specifications i Input response time registration without noise filter 0 5μs maximum with noise filter 3 5μs maximum 1 3 2 4 Pin Signal Pin Signal Description 1 REG 0 2 REG 1 24V registration inputs 3 0V 4 0V 0V Reference for inputs TJ2 KS02 REG 0 1 0V 0V common for Input circuits External power supply 24V 3 Item Specification Type ...

Page 266: ... pin connector depend on the type of interface selected fig 141 i 9 8 7 6 5 4 3 2 1 Pin Encoder input Encoder output Stepper input Stepper out put SSI EnDat 1 NC 2 A Step Clock 3 A Step Clock 4 B Dir 5 B Dir 6 5V power supply output 7 Z Enable Z Enable Data 8 Z Enable Z Enable Data 9 0V power supply Shell ...

Page 267: ...owing table and illustration details the encoder interface i 5V 0V 5V 0V 2 A STEP A STEP B DIR B DIR Z ENA Z ENA TJ2 KS02 3 4 5 7 8 6 9 Item Specification Type Phase differential incremental encoder Signal level EIA RS 422 A Standards line Drive Input impedance 48 kΩ min Load impedance 220 Ω min Termination None ...

Page 268: ... Enable the serial interface of the Servo Drive by setting the following parameters Pn628 set to 1 Pn629 set to 5000 advised value These changes can be made using the front panel or with CX Drive C Make sure the parameters are written to EEPROM and power cycle the Servo Drive D Make sure the servo period of the TJ2 MC__ controller is set to 500us This can be done using Trajexia Studio E Connect th...

Page 269: ...mA Maximum Number of axes 3 Control method Position speed and torque Pulse Train output in Open Loop Encoder position speed feedback Incremental and absolute Absolute encoder standards supported SSI EnDat SSI specification Maximum supported number of bits 25 Gray and binary encoding Multiples of 2 n Clock frequency 200 kHz EnDAT specification Compatible with version 2 1 and 2 2 Maximum supported n...

Page 270: ...registration inputs Item Specification Symbol 0V L 1 5V 2 SYNC 3 SYNC 4 STX 5 STX 6 SRX Cable 4 x 2 x AWG24 Orange White Orange Green White Green Blue White Blue Brown White Brown 1 0V Symbol 2 3 4 5 6 5V SYNC SYNC STX STX SRX 7 Connector model Industrial Mini I O Connector D SHAPE2 2040008 1 TE Connectivity Connector model Industrial Mini I O Connector D SHAPE2 2040008 1 TE Connectivity 7 SRX 8 F...

Page 271: ...e axis numbers for the up to 3 axes will be assigned automatically according the following rules Upper G5 interface CN1 AXIS_OFFSET Lower G5 interface CN2 AXIS_OFFSET 1 Encoder interface CN4 AXIS_OFFSET 2 In case no Servo drive is attached or the Servo Drive is not powered then the axis will be a virtual axis ATYPE 0 When a Servo Drive is attached or powered on after startup of the TJ2 MC__ the co...

Page 272: ...se ratio of the TJ2 MC__ 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 counterclockwise rotation E The signals A B and Z appear physically as A and A B and B and Z and Z They appear as differential signals on twisted pair wire inputs T...

Page 273: ...S02 produces one encoder edge for phase A A or phase B B Related BASIC commands The following BASIC commands are related to incremental encoders ATYPE ATYPE 44 and ATYPE 45 ENCODER_RATIO For more information refer to the Trajexia Programming Manual 2 3 4 5 7 8 9 6 A TJ2 KS02 A B B Z Z 0 V COM 5 VDC Encoder TJ2 KS02 Signal Wire color Pin Signal A Black 2 A A Black red 3 A B White 4 B B White red 5 ...

Page 274: ... is programmable You set this number with the BASIC command ENCODER_BITS n fig 147 When you have initialized the TJ2 KS02 with the ENCODER_BITS command the TJ2 KS02 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 μs The resulting maximum cable l...

Page 275: ...CLOCK 2 CLOCK 3 5V 6 0V 9 Note The TJ2 KS02 does not have a termination inside In case of long distances or disturbed communication add an external termina tion to the TJ2 KS02 24 VDC Power Supply 24 V 0 V 7 8 2 3 9 2 TJ2 KS02 10 3 11 1 8 Encoder TJ2 KS02 Pin Signal Wire color Pin Signal 2 DATA White 7 DATA 10 DATA Brown 8 DATA 3 CLOCK Yellow 2 CLOCK 11 CLOCK Lilac 3 CLOCK 1 GND Blue 9 GND 8 Us Re...

Page 276: ...oders EnDat absolute encoders respond on a dedicated Clock and Data 1 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 μs cycle The connections for EnDat are i Encoder signal Pin DATA 7 DATA 8 CLOCK 2 CLOCK 3 5V 6 0V 9 Note The TJ2 KS02 does not...

Page 277: ...ands The following BASIC commands are related to EnDat absolute encoders ATYPE ATYPE 47 ENCODER_BITS ENCODER_CONTROL ENCODER_READ ENCODER_TURNS ENCODER_WRITE For more information refer to the Trajexia Programming Manual 7 8 2 3 6 9 3 TJ2 KS02 4 7 6 1 2 Encoder TJ2 KS02 Pin Signal Wire color Pin Signal 3 DATA Grey 7 DATA 4 DATA Pink 8 DATA 7 CLOCK Violet 2 CLOCK 6 CLOCK Yellow 3 CLOCK 2 0 V White 9...

Page 278: ...plifier You can use single step half step and micro stepping Drives with this interface Applicable signals Enable Step Direction Related BASIC commands The following BASIC commands are related to stepper outputs ATYPE ATYPE 43 and ATYPE 60 INVERT_STEP For more information refer to the Trajexia Programming Manual ENABLE STEP WDOG ON MOVE 4 MOVE 4 DIRECTION ...

Page 279: ...es 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 μs to 3 5 μs We refer to the REGIST command in the Trajexia Programming Manual for more information on using the re...

Page 280: ...Analog monitor check pins B L1 L2 L3 Main circuit power terminals C L1C L2C Control circuit power terminals D CHARGE Charge lamp E B1 B2 B3 External Regeneration Resistor connection terminals F U V W Servomotor connection terminals G Protective ground terminals H Display I Operation area J CN7 USB connector K CN3 Expansion connector L CN8 Connector for safety function devices M CN1 Control I O con...

Page 281: ...phase Z output Analog ground 2 Analog ground 1 Encoder phase Z output General purpose input 3 2 Forward torque limit input torque command input 2 Forward pulse direction signal or 90 phase difference signal phase B 24 V open collector input for command pulse 24 V open collector input for command pulse Reverse pulses feed pulses or 90º phase difference signal phase A Forward pulse direction signal ...

Page 282: ...r the external encoder connector i Pin Signal Name 1 E5V Encoder power supply 5 V 2 E0V 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 Pin Signal Name 1 E5V Encoder power supply 5 V 2 E0V 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 ...

Page 283: ... layout for the CN8 safety connector i 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 Pin Signal Name 1 VBUS USB signal terminal 2 D 3 D 4 Reserved do not connect 5 SENGND Signal ground Pin Signal Name 1 Reserved do not connect 2 Reserved do not connect 3 SF1 Safet...

Page 284: ...ly connector i CNB Servo motor connector The table below shows the pin layout for the CNB servo motor connector i Pin Signal Name 1 L1 Main circuit power supply input 2 L2 3 L3 4 L1C Control circuit power supply input 5 L2C Pin Signal Name 1 B1 External Regeneration Resistor connection terminals 2 B2 3 B3 4 U Servomotor connection terminals 5 V 6 W ...

Page 285: ...neration output function The following functions are not allowed to assign to the multi function inputs SI1 to SI10 In case these functions are allocated alarm 33 2 or 33 3 will occur When the operation command RUN latch input 1 EXT1 or latch input 2 EXT2 are allocated they need to be allocated to all control modes Otherwise Alarm 33 8 EXT input function allocation error will occur Signal name Sym...

Page 286: ...tional functions can be allocated to the multi function inputs SI1 to SI10 Pn number Parameter name Description Default setting Unit Setting range Power supply OFF to ON 628 Special function selection Set to 1 to enable the option unit interface 0 0 or 1 Yes 629 Option unit timeout Time to wait for response from the option unit 100 ms 100 10000 Yes Signal name Symbol Set value Input terminal that ...

Page 287: ...current 50 mADC ZCOM Z 19 25 12 40 41 SO5 SO6 SO5 6COM Pn number Parameter name Description Default setting Unit Setting range Power supply OFFto ON 414 Output Signal Selection 5 Set the output signal 5 function allocation 460551 0 to 00FFFFFFh Yes 415 Output Signal Selection 6 Set the output signal 6 function allocation 394758 0 to 00FFFFFFh Yes Signal name Symbol Set value Output terminal that c...

Page 288: ... abnormal termination Not available Check the power supply condition of the servo drive Replace the servo drive or TJ2 KS02 Alarm number Error detection function Detection details and probable cause Countermeasure Attribute Main Sub History Can be cleared Immediate stop 27 1 Absolute encoder clear error protection A reset of the multi rotation data of the absolute encoder has been executed over US...

Page 289: ...rror protection Communication error occurred 4 consecutive times Check if the communication cable is still con nected to both the Servo Drive and the TJ2 KS02 Check the routing of the communication cable and the FG wiring Mount ferrite cores on the communication cable Replace the servo drive or TJ2 KS02 84 0 Serial bus timeout error protection SYNC signal is disconnected for 2 ms Check if the comm...

Page 290: ... position information was unsuc cessful under full closed control in the absolute mode Check if the power supply voltage of encoder is 5VDC 5 4 75 to 5 25V Take special care when the encoder cable is long Separate motor cables from external scale con nection cables if they are tied together Connect a shielded wire to FG Refer to the exter nal scale connection diagram Check the parameter set value ...

Page 291: ... 104 Torque Command Filter Time Constant 2 105 Position Loop Gain 2 2 106 Speed Loop Gain 2 2 107 Speed Loop Integration Time Constant 2 2 108 Speed Feedback Filter Time Constant 2 2 109 Torque Command Filter Time Constant 2 2 110 Speed Feedforward Amount 2 111 Speed Feedforward Command Filter 2 112 Torque Feedforward Amount 2 113 Torque Feedforward Command Filter 2 114 GAIN SWITCHING INPUT OPERAT...

Page 292: ... Position Lock Level Setting 2 Pn number Parameter name Size 317 Torque Command Speed Limit Selection 2 318 Torque Command Direction Selection 2 319 Torque Command Scale 2 320 Analog Torque Command Rotation Direction Switching 2 321 Speed Limit Value Setting 2 322 Reverse Direction Speed Limit Value Setting 2 323 External Feedback Pulse Type Selection 2 324 External Feedback Pulse Dividing Numerat...

Page 293: ...4 Drive Prohibition Input Selection 2 505 Stop Selection for Drive Prohibition Input 2 506 Stop Selection with Servo OFF 2 Pn number Parameter name Size 507 Stop Selection with Main Power Supply OFF 2 508 Undervoltage Alarm Selection 2 509 Momentary Hold Time 2 510 Stop Selection for Alarm Detection 2 511 Immediate Stop Torque 2 512 Overload Detection Level Setting 2 513 Overspeed Detection Level ...

Page 294: ...etting 2 620 External Encoder Phase Z Expansion Setting 2 621 Serial Absolute External Encoder Phase Z Setting 4 622 Phase AB Regeneration Method Selection for External Encoder of Phase AB Output Type 2 623 Disturbance Torque Compensation Gain 2 624 Disturbance Observer Filter Setting 2 627 Warning Latch Hold Time Selection 2 628 Special function selection 2 629 Option unit timeout 2 631 Realtime ...

Page 295: ...The following BASIC commands are related to the Accurax G5 A P Servo Drives ATYPE AXIS AXIS_ENABLE AXISSTATUS DRIVE_ALARM DRIVE_CLEAR DRIVE_CONTROL DRIVE_MONITOR DRIVE_INPUTS DRIVE_OUTPUTS DRIVE_READ DRIVE_STATUS DRIVE_WRITE For more information refer to the Trajexia Programming Manual ...

Page 296: ...ront cover of the manual i Revision code Date Revised content 01 February 2010 First version 02 January 2011 TJ2 ECT__ EtherCAT master added GRT1 ECT EtherCAT SmartSlice coupler added 03 July 2011 GX series and FZM1 ECT added 04 February 2012 GX JC03 and JC06 added FQ M series Vision Sensors added RX MRT added 05 June 2012 TJ2 MC02 and TJ2 KS02 added ...

Page 297: ...dustrial omron com tr United Kingdom Tel 44 0 870 752 08 61 www industrial omron co uk 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 industrial omron eu Authorised Distributor Note Although we do strive for perfection Omron Europe BV and or its subsidiary and affiliated companies do not warrant or make any representations regarding...

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