2
Motion Control
Specifications
Trajexia General Specifications
Trajexia Motion Control Units
Trajexia MECHATROLINK-II Master Units
Item
Details
Model
TJ1-
@
Ambient operating temperature
0 to 55
q
C
Ambient operating humidity
10 to 90%RH
Ambient storage temperature
-20 to 70
q
C
Ambient storage humidity
90% max. (with no condensation)
Atmosphere
No corrosive gases
Vibration resistance
10 to 57 Hz: (0.075 mm amplitude)
57 to 100 Hz Acceleration: 9,8 m/s
2
, in X, Y and Z directions for 80 minutes.
Shock resistance
143 m/s
2
, 3 times each X, Y and Z directions.
Insulation resistance
20 MOhm
Dielectric strength
500 Volt
Protective structure
IP20
International standards
CE, EN 61131-2, cULus, Lloyds (cULus approval pending for TJ1-MC04 and TJ1-ML04) RoHS compliant
Item
Details
Model
TJ1-MC16
TJ1-MC04
Number of axes
16
4 (+1 using TJ1-FL02 unit)
Number of inverters and I/O modules
8 maximum (Inverters in speed or torque mode)
Number of MECHATROLINK-II master units
Up to 4 MECHATROLINK-II master units (see below TJ1-ML16/ML04) can be connected
Cycle time
Selectable 0.5 ms, 1 ms or 2 ms
Programming language
BASIC-like Motion language
Multi-tasking
Up to 14 tasks running simultaneously
Built-in Digital I/O
16 Inputs and 8 Outputs, for general purpose
Measurement units
User definable
Available memory for user programs
500KB
Data storage capacity
Up to 2 MB flash data storage
Saving program data, motion controller
SRAM with battery backup and Flash-ROM
Saving program data, personal computer
Trajexia Motion Perfect software manages a backup on the hard disk of the personal computer.
Communication ports
1 Ethernet port and 2 serial ports
Firmware update
Via Trajexia software tool
Ethernet port
Electrical characteristics
Conform to IEEE 802.3 (100BaseT)
Connector
RJ45 Ethernet connector
Serial port
Electrical characteristics
Conform 1 port to RS232C and 1 port to RS485/RS422A (selectable by switch)
Connector
SUB-D9 connector (Counterpart included in the package)
Synchronization
Start-stop synchronization (asynchronous)
Baud rate
1200 / 2400 / 4800 / 9600 / 19200 / 38400 bps
Transmission format
Databit Length 7 or 8 bit
Stop Bit
1 or 2 bit
Parity Bit
Even/Odd/None
Transmission mode
Point-to-multipoint (1:N)
Transmission protocol
RS-232C (1:1) Host Link master protocol,
Host Link slave protocol,
ASCII general-purpose
RS-422A (1:N) Host Link master protocol,
Host Link slave protocol,
ASCII general-purpose
RS-485 (1:N)
ASCII general-purpose
Galvanic isolation
RS422A port
Communication buffers
254 bytes
Flow control
None
Terminator
Yes, selectable by switch
Cable length
15 m for RS232 and 500 meter for RS422/485
Item
Specifications
Model
TJ1-ML16
TJ1-ML04
Controlled devices with MECHATROLINK-II interface Junma MLII, Sigma-2 and Sigma-3 Servo drives, SmartSlice IOs, other I/O units and V7, F7 and
G7 Frequency inverters
Electrical characteristics
Conforms to MECHATROLINK standard
Communication ports
1 MECHATROLINK-II master
Transmission speed
10Mbps
Communication cycle
0.5 ms, 1ms or 2ms
Stations slave types
Axes or Servo drives
Frequency inverters
I/O Modules
Number of stations per master / Cycle time
Max.16 Stations / 2ms
Max.4 Stations / 2ms
Max.8 Stations / 1ms
Max.4 Stations / 1ms
Max.4 Stations / 0.5 ms (Only Sigma-3 drives)
Max.4 Stations / 0.5 ms (Only Sigma-3 drives )
Transmission distance
Max.50 meters without using repeater
11
Motion Control
