Trajexia Motion Controller
3
Trajexia PROFIBUS Slave Unit
Trajexia DeviceNet Slave Unit
Trajexia CANopen Unit
Note:
(*) TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 Analogue IO points.
Trajexia Flexible Axis Unit
SmartSlice MECHATROLINK-II Interface Unit
Note:
(*) TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 Analogue IO points.
Items
Specifications
Model
TJ1-PRT
PROFIBUS standard
Conforms to PROFIBUS-DP standard EN50170 (DP-V0)
Communication ports
1 PROFIBUS-DP Slave
Transmission speed
9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500, 3000, 6000 and 12000 kbps
Node numbers
0 to 99
I/O size
0 to 120 words (16bit), configurable, for both directions
Galvanic isolation
Yes
Items
Specifications
Model
TJ1-DRT
PROFIBUS standard
Conforms to DeviceNet standard of CIP edition 1
Communication ports
1 DeviceNet Slave
Transmission speed
125, 250 and 500 Kbps, auto-detect
Node numbers
0 to 63
I/O size
0 to 32 words (16bit), configurable, for both directions
Galvanic isolation
Yes
Items
Specifications
Model
TJ1-CORT
Electrical Characteristics
Conforms to CAN 2.0 B
Communication ports
1 CANopen
Transmission speed
20, 50, 125 and 500 Kbps
Implemented CiA Standards
DS301, DS302
PDO Support
8 TPDO and 8 RPDO
PDO Mapping
Each PDO can be mapped into TJ1-MC16/04 VR, Table, Analogue and digital IO.
BASIC commands assign mapping and start address (*)
CANopen slave configuration
Any SDO message can be sent using BASIC during start-up and operation
CANopen network states
CANopen network can be set to Pre-operational and Operational using BASIC
CANopen slave emergencies
Available using BASIC command
Galvanic isolation
Yes
Items
Specifications
Model
TJ1-FL02
Number of axes
2
Control method
±10V Analogue Output in closed loop or pulse train output in open loop
Encoder
Position/speed Feedback
2 Incremental and Absolute encoders
Absolute encoder standards supported SSI 200 kHz, EnDat 1 MHz and Tamagawa
Encoder Input maximum frequency
6 MHz
Encoder/Pulse Output max. frequency
2 MHz
Auxiliary I/Os
2 Fast registration Inputs, 2 definable inputs, 2 Enable output, 4 position switch outputs or axes reset
Galvanic isolation
Yes
Item
Specifications
Model
GRT1-ML2
Electrical characteristics
Conform to MECHATROLINK standard
Communication cycle
0.5, 1 or 2 ms
Power supply
24Vdc
Number of connectable Slices
Up to 64 slices with a maximum amount of 128 bytes (*)
IO mapping
Automatic analogue and digital IO mapping into TJ1-MC16/04 CPU
Slice unit configuration
Not supported
Supported slice units
See ordering information section
12
Trajexia Motion Controller
