Trajexia MC02 Motion Controller Datasheet

Trajexia MC02 Motion Controller Datasheet
Trajexia stand-alone
2.5 axes motion controller
Stand-alone motion controller for compact
and simple machines
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Perfect motion control of 2 axes
Supports position, speed and torque control
Serial port for master encoder axis
Multi-tasking controller capable of running up to 22
tasks simultaneously
2 fast-registration inputs
Single axis moves and axes interpolation
Electronic cams and gearboxes
Motion basic programming and dedicated motion
commands
Open communication: Serial and EtherNet/IP
built-in, PROFIBUS-DP, DeviceNet and CANopen
options
System configuration
CJ-series PLC
NS HMI
CX-One (CX-Motion Pro) or
Trajexia Studio
Ethernet
To third party controller
Motion controller
External encoder
2 x Fast registration input
2 x Accurax G5
Analogue/Pulse
servo drive
Accurax G5
servo motors
2.5 axes motion controller
1
Specifications
Trajexia general specifications
Item
Model
Ambient operating temperature
Ambient operating humidity
Ambient storage temperature
Ambient storage humidity
Atmosphere
Vibration resistance
Shock resistance
Insulation resistance
Dielectric strength
Protective structure
International standards
Details
TJ@
0 to 55ºC
10 to 90% RH (with no condensation)
-20 to 70ºC (excluding battery)
90% max. (with no condensation)
No corrosive gases
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
147 m/s2, 3 times each X, Y and Z directions
20 M
500 VAC
IP20
CE, EN 61131-2, cULus, Lloyds, RoHS compliant
Trajexia motion controller unit
Item
Model
Power supply
Total power consumption
Current consumption
Weight
Number of real axes
Real time clock
Servo period
Programming language
Multi-tasking
Digital I/O
Measurement units
Available memory for user programs
Data storage capacity
Saving program data
Saving program data on the PC
Communication connectors
Firmware update
Electrical characteristics of the Ethernet interface
Ethernet supported protocols
Details
TJ2-MC02
5 VDC and 24 VDC (supplied by a power supply unit)
3.1 W
620 mA at 5 VDC
230 g
3
Yes
0.25 ms, 0.5 ms, 1 ms or 2 ms
BASIC-like motion language
Up to 22 BASIC programs
16 digital inputs and 8 digital outputs, freely configurable
User-definable
8 MB
Up to 32 MB Flash data storage
• RAM and Flash-ROM memory backup
• Battery backup
Trajexia Studio software manages backups on the hard-disk of the PC
1 Ethernet connection and 2 serial connections
Via Trajexia Studio / CX-Motion Pro software
Conforms to IEEE 802.3 (100BaseT)
TELNET, FINS server and client, Modbus TCP slave and EtherNet/IP slave
G5 interface unit
Item
Model
Power supply
Total power consumption
Current consumption
Weight
Galvanic isolation
Output power supply
Number of axes
Control method
Encoder position/speed feedback
Absolute encoder standards supported
SSI specification
EnDat specification
Servo period
Encoder input maximum frequency
Encoder/pulse output maximum frequency
Maximum cable length
Auxiliary I/Os
2
Details
TJ2-KS02
5 VDC and 24 VDC
1.5 W to 3.7 W (output PS maximum load)
5 VDC: 110 mA
24 VDC: 20 to 110 mA (output PS maximum load)
83 g
Encoder interface and digital interface
5 VDC, 250 mA maximum
3 (2 axes + 1 master encoder axis)
2 axes for Position, Speed and Torque control
1 axis for Pulse Train output in Open Loop
Incremental and absolute
• SSI
• EnDat
• Maximum supported number of bits: 25
• Gray and binary encoding
• Multiples of 2^n
• Clock frequency: 200 kHz
• Compatible with version 2.1 and 2.2
• Maximum supported number of bits: 32
• Clock frequency: 1 MHz
• 0.5 ms when using Accurax G5-A/P Servo Drives
• 0.25 ms, 0.5 ms, 1 ms, 2 ms
Note: 0.25 ms not supported by the absolute encoder interfaces.
6 MHz
2 MHz
• Accurax G5 interface, 3 m
• SSI, 100 m
• EnDat, 40 m
• Encoder/stepper input, 100 m
• Encoder/stepper output, 100 m
Two fast registration inputs
Motion Control
Nomenclature
Trajexia motion controller unit (TJ2-MC02)
G5 interface unit (TJ2-KS02)
KS02
Unit LEDs
RUN
A EN
B EN
C EN
REG 0
REG 1
Display
Battery
compartment
Unit LEDs
CN1
First G5-A/P Servo
Drive connection (CN1)
CN2
RJ45 Ethernet
port
Second G5-A/P Servo
Drive connection (CN2)
CN3
Registration inputs (CN3)
RS422A/RS485
switches
CN4
Digital I/O
connector
Encoder interface (CN4)
RS-232C and
RS422A/485
serial ports
Dimensions
Trajexia system (CJ1W-PA202 + TJ2-MC02 + TJ2-KS02 + TJ1-TER)
65
90
62
45
29.7
94
94
90
G5 interface unit (TJ2-KS02)
90
Trajexia motion controller unit (TJ2-MC02)
31
94
KS02
PA202
70.3
65
70.3
62
71
2.5 axes motion controller
31
39.9
3
Ordering information
Motion
controller unit
A
B
C
G5
interface unit
D
Power supply unit
Communication units
End cover unit
(included with the CPU)
E Interface cable
E Interface cable
F
Accurax G5
Analogue/Pulse
servo drive
Trajexia system
Power supply unit
Symbol
A
Specifications
Power supply unit for Trajexia system (100-240 VAC)
Power supply unit for Trajexia system (24 VDC)
Model
CJ1W-PA202
CJ1W-PD025
Motion controller unit
Symbol
B
Specifications
Trajexia motion controller unit, up to 64 axes (Trajexia end cover unit TJ1-TER is included)
Trajexia motion controller unit, up to 2 axes (Trajexia end cover unit TJ1-TER is included)
Model
TJ2-MC64
TJ2-MC02
G5 interface unit
Symbol
C
Specifications
G5 interface unit
Model
TJ2-KS02
Communication unit
Symbol
D
Specifications
Trajexia DeviceNet slave unit
Trajexia PROFIBUS-DP slave unit
Trajexia CANopen unit
Model
TJ1-DRT
TJ1-PRT
TJ1-CORT
Note 1: The TJ2-MC02 supports a maximum of one TJ1-CORT unit.
Note 2: The TJ2-MC02 supports a maximum of one TJ1-PRT or TJ1-DRT unit. No both at the same time.
Accessories
Symbol
E
Specifications
Interface cable
1m
3m
Model
TJ2-KC01M
TJ2-KC03M
Servo drive related device
Symbol
F
Specifications
Accurax G5 Analogue/Pulse servo drive (100 W-15 kW)
Model
R88D-KT@
Computer software
Specifications
CX-Motion Pro (version 1.4.2 or higher)
Trajexia Studio* (version 1.4.2 or higher)
Model
CX-One
TJ1-Studio
* When the Trajexia Studio software is included in CX-One, then it is called CX-Motion Pro.
ALL DIMENSIONS SHOWN ARE IN MILLIMETERS.
To convert millimeters into inches, multiply by 0.03937. To convert grams into ounces, multiply by 0.03527.
Cat. No. I76E-EN-01A
4
In the interest of product improvement, specifications are subject to change without notice.
Motion Control
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