Motion control unit
3
MECHATROLINK-II, Servo drive interface unit (JUSP-NS115)
Nomenclature
CJ1W-MCH72 - Trajexia Motion Control Unit
JUSP-NS115 - MECHATROLINK-II Interface Unit
Item
Details
Type
JUSP-NS115
Applicable servo drive
SGDH-
@@@
E models (version 38 or later)
Installation Method
Mounted on the SGDH servo drive side: CN10.
Basic
specifications
Power supply method
Supplied from the servo drive control power supply.
Power consumption
2 W
MECHATROLINK -II
communications
Baud rate/transmission cycle
10 Mbps / 1 ms or more. MECHATROLINK-II communications
Command format
Operation specification
Positioning using MECHATROLINK-I/II communications.
Reference input
MECHATROLINK-I/II communications
Commands: position, speed, torque, parameter read/write,
monitor output
Position control
functions
Acceleration/deceleration method
Linear first/second-step, asymmetric, exponential, S-curve
Fully closed control
Position control with fully closed feedback is possible.
Fully closed
system specifications
Encoder pulse output in the
servo drive
5 V differential line-driver output (complies with EIA standard RS-422A)
Fully closed encoder pulse signal
A quad B line-driver
Maximum receivable frequency for
servo drive
1 Mpps
Power supply for fully closed
encoder
To be prepared by customer.
Input signals in the
servo drive
Signal allocation changes
possible
Forward/reverse run prohibited, zero point return deceleration LS
External latch signals 1, 2, 3
Forward/reverse torque control
Internal functions
Position data latch function
Position data latching is possible using phase C,
and external signals 1, 2, 3
Protection
Parameters damage, parameter setting errors, communications errors, WDT
errors, fully closed encoder detecting disconnection
LED indicators
A: alarm, R: MECHATROLINK-I/II communicating
N
S
115
I/O
s
t
a
t
us
LED
s
Unit
s
t
a
t
us
LED
s
B
a
ttery
comp
a
rtment
9 pin Encoder
s
connector
MECHATROLINK-II
Port
Unit No
s
etting
Digit
a
l I/O
connector
N
S
115
Rot
a
ry
s
witch (
S
W1)
U
s
ed to
s
et the MECHATROLINK-II
s
t
a
tion
a
ddre
ss
LED(A)
Al
a
rm
s
t
a
t
us
LED(R)
MECHATROLINK-II comm
u
nic
a
tion
s
t
a
t
us
DIP
s
witch (
S
W2)
U
s
ed to for MECHATROLINK-II comm
u
nic
a
tion
s
s
etting
MECHATROLINK-II comm
u
nic
a
tion
s
CN6A
a
nd CN6B connector
s
:
Connect
s
to the MECHATROLINK-II
s
y
s
tem
CN4 f
u
lly clo
s
ed encoder
s
ign
a
l connector
U
s
ed for f
u
lly clo
s
ed
s
ign
a
l connection
Gro
u
nd wire
Connected to gro
u
nd m
a
rk on the
s
ervo drive
8
Motion control unit
