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TRAJEXIA
To t a l Fr e e d o m i n M o t i o n C o n t r o l
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» Fre ed om to commun i cate
You decide
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Free dom to d esign
The advanced motion controller that puts you in control
Trajexia is Omron’s new motion platform that offers you the performance of a dedicated motion system, the ease of use you get from an automation specialist and the peace of mind you get from a global player.
Trajexia puts you in full control to create the best machines today and… tomorrow.
Freedom to communicate
Besides a built-in Ethernet port that provides connectivity meeting today’s and foreseeable future communication standards, Trajexia also includes interfaces to popular field buses such as Profibus-DP and DeviceNet.
Up to 16 axes
MECHATROLINK-II
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Fr e e d o m t o d e s i g n
Freedom to control
Trajexia offers perfect control of up to 16 axes over a MECHATROLINK-II motion bus with independent position, speed or torque control for every axis. And its powerful motion instruction set makes programming intuitive and easy.
Freedom to build
You can select from a wide choice of best-in-class rotary, linear and direct-drive servos as well as inverters.
And the system is scalable from 2 axes up to 16 axes and 8 inverters & I/O modules.
Ethernet
I/0 Units
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Fr e e d o m t o c h o o s e
Perfect motion control
At the heart of Trajexia lies the new TJ1 multi-tasking motion coordinator. Powered by a 32-bit DSP, it’s specifically designed to meet the most demanding motion tasks such as e-cam, e-gearbox and registration control and interpolation… with best performance and all via simple motion commands.
Scalability
Free choice between 4 or 16 axes CPUs. Capable of controlling up to 4 axes, the new MC04 CPU, together with the new 4 axes
MECHATROLINK-II master, bring a compact solution without compromising performance.
Power supply Motion controller
Ethernet
MECHATROLINK-II
Master
Profibus Slave
CANopen unit
DeviceNet Slave Flexible Axis module End cover
Direct connectivity via Ethernet
Trajexia’s Ethernet built-in port provides direct and fast connectivity to PLCs and HMIs while providing full access to the drives over a MECHATROLINK-II motion bus.
Serial Port
A serial port provides direct connectivity with Omron PLCs,
HMIs or any other field device.
Local I/Os
Freely-configurable embedded I/Os in the controller enable you to perfectly tailor Trajexia to your machine design.
MECHATROLINK-II Master
The MECHATROLINK-II master performs perfect control of up to 16 servos, inverters or I/Os while allowing complete transparency across the whole system.
Profibus-DP, DeviceNet and CANopen
Standardised on Profibus, DeviceNet or CANopen?
That’s no problem. Trajexia offers these interfaces on request plus many more possibilities.
Flexible Axis module
The Flexible Axis module allows full control of two actuators via an analogue output or pulse train. The module supports the main absolute encoder protocols allowing the connection of an external encoder to the system.
Drives
A wide choice of best-in-class rotary, linear and direct-drive servos as well as inverters are available to fit your needs in compactness, performance and reliability.
Remote I/Os
The I/Os on the MECHATROLINK-II motion bus provides for system expansion while keeping the devices under one motion bus.
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Fr e e d o m t o c r e a t e
Intuitive and powerful engineering
Trajexia’s intuitive and easy programming tool, based on the Motion Basic instruction set, includes dedicated commands for linking axes, e-cams, e-gearboxes etc. What’s more, multitasking capability provides total freedom in application design.
Design simplicity
Handling from 2 to 16 axes, the system’s scalability provides you with a single application for several versions of your machine.
Keep your know-how safe
Trajexia’s sophisticated encryption method guarantees complete protection and confidentiality for your valuable know-how.
Advanced tools
Trajexia’s advanced debugging tools, including trace and oscilloscope functions, ensure efficient operation and minimum downtime.
Automatic recognition of devices
The servos, inverters and I/Os connected to the
MECHATROLINK-II motion bus are automatically identified and configured, allowing you to set up your system in minutes.
Full access to devices from one connection
The parameters and functions inside the drives on the
MECHATROLINK-II are fully accessible from the Ethernet connection.
Remote access
Trajexia’s smart architecture allows explicit messaging over Ethernet and through MECHATROLINK-II to provide full transparency down to the actuator level, and making remote access possible.
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Fr e e d o m t o p e r f o r m
Film Unwind
Film tension is kept constant for right product forming and sealing.
Product Infeed
Speed controlled conveyor provides product from the upstream process.
Space Adjust
Product rate and space between products is synchronised with the lug chain.
Trajexia offers best-in-class motion devices for producing the best automation solutions for today and tomorrow…
Perfect control of 16 axes
Controlling all 16 axes with a total system cycle time of 1 ms,
Trajexia ensures fastest operation at highest accuracy.
Real multi-tasking
Trajexia is a real multi-tasking controller capable of running up to 14 tasks simultaneously.
Robust and stable motion bus
Specifically designed for motion control, MECHATROLINK-II offers the communication speed and time accuracy essential to guarantee perfect motion control of servos.
Best-in-class servo drives
Offering a wide variety of rotary and linear servomotors,
Omron’s Sigma II servo series is designed with NO compromise on quality, reliability and performance to guarantee best-in-class motion control.
Inverters and servos over the same bus
The inverters connected to the MECHATROLINK-II are driven at the same update cycle time as the servo drives.
Fast registration Input
Real time position registration provides the information to correct and synchronise movements according to printed marks.
Infeed Lug Chain
The product is placed precisely on the forming area. This axis acts as a master and is the reference for all machine movements.
Sealing knife
Electronic CAM ensures film cutting according to printed mark position.
It easily adapts to different product sizes without any mechanical change.
Outfeed conveyor
Inverters can easily be integrated for speed controlled axes.
Longitudinal Seal
Sealing rolls electronically geared to lug chain for film pulling control, registration is used to match the printed area with the product position.
TJ1-
Trajexia Motion Controller
Stand-Alone Advanced Motion Controller
Using MECHATROLINK-II Motion Bus
• 16 axes advanced motion coordination over a robust and fast motion link: MECHATROLINK-II
• Supports position, speed and torque control
• Each axis can run complex interpolated moves, e-cams and e-gearboxes
• Advanced debugging tools including trace and oscilloscope functions
• Hardware registration input for each servo axis
• Control of servos, inverters and I/Os over a single motion network
• Multi-tasking controller capable of running up to
14 tasks simultaneously
• Open communication - Ethernet built-in,
PROFIBUS-DP, DeviceNet and CANopen as options
System Configuration
CJ-series PLC
NS-series
HMI
Ethernet
CX-One
Trajexia tool
PROFIBUS-DP
Master
DeviceNet
Master
CANopen
Devices Digital I/Os
Host-link
Fieldbus
Motion controller
Input
Fast registration input, home
Sigma-II series servomotors
Sigma-II series servodrive
JUSP-NS115
MECHATROLINK-II unit
MECHATROLINK-II
Sigma-II series linear motors
Frequency inverter
SW1 SW2
SmartSlice IOs
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
TJ1@
0 to 55qC
10 to 90%RH
-20 to 70qC
90% max. (with no condensation)
No corrosive gases
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.
143 m/s 2 , 3 times each X, Y and Z directions.
20 MOhm
500 Volt
IP20
CE, EN 61131-2, cULus, Lloyds (cULus approval pending for TJ1-MC04 and TJ1-ML04) RoHS compliant
Trajexia Motion Control Units
Item
Model
Number of axes
Number of inverters and I/O modules
Number of MECHATROLINK-II master units
Cycle time
Programming language
Multi-tasking
Built-in Digital I/O
Measurement units
Available memory for user programs
Data storage capacity
Saving program data, motion controller
Saving program data, personal computer
Communication ports
Firmware update
Ethernet port
Serial port
Electrical characteristics
Connector
Electrical characteristics
Connector
Synchronization
Baud rate
Transmission format
Transmission mode
Transmission protocol
Galvanic isolation
Communication buffers
Flow control
Terminator
Cable length
Details
TJ1-MC16
16
TJ1-MC04
4 (+1 using TJ1-FL02 unit)
8 maximum (Inverters in speed or torque mode)
Up to 4 MECHATROLINK-II master units (see below TJ1-ML16/ML04) can be connected
Selectable 0.5 ms, 1 ms or 2 ms
BASIC-like Motion language
Up to 14 tasks running simultaneously
16 Inputs and 8 Outputs, for general purpose
User definable
500KB
Up to 2 MB flash data storage
SRAM with battery backup and Flash-ROM
Trajexia Motion Perfect software manages a backup on the hard disk of the personal computer.
1 Ethernet port and 2 serial ports
Via Trajexia software tool
Conform to IEEE 802.3 (100BaseT)
RJ45 Ethernet connector
Conform 1 port to RS232C and 1 port to RS485/RS422A (selectable by switch)
SUB-D9 connector (Counterpart included in the package)
Start-stop synchronization (asynchronous)
1200 / 2400 / 4800 / 9600 / 19200 / 38400 bps
Databit Length 7 or 8 bit
Stop Bit 1 or 2 bit
Parity Bit Even/Odd/None
Point-to-multipoint (1:N)
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
RS422A port
254 bytes
None
Yes, selectable by switch
15 m for RS232 and 500 meter for RS422/485
Trajexia MECHATROLINK-II Master Units
Item
Model
Specifications
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
Communication ports
Conforms to MECHATROLINK standard
1 MECHATROLINK-II master
Transmission speed
Communication cycle
Stations slave types
Number of stations per master / Cycle time
Transmission distance
10Mbps
0.5 ms, 1ms or 2ms
Axes or Servo drives
Frequency inverters
I/O Modules
Max.16 Stations / 2ms
Max.8 Stations / 1ms
Max.4 Stations / 0.5 ms (Only Sigma-3 drives)
Max.50 meters without using repeater
Max.4 Stations / 2ms
Max.4 Stations / 1ms
Max.4 Stations / 0.5 ms (Only Sigma-3 drives )
Trajexia PROFIBUS Slave Unit
Items
Model
PROFIBUS standard
Communication ports
Transmission speed
Node numbers
I/O size
Galvanic isolation
Trajexia DeviceNet Slave Unit
Items
Model
PROFIBUS standard
Communication ports
Transmission speed
Node numbers
I/O size
Galvanic isolation
Specifications
TJ1-PRT
Conforms to PROFIBUS-DP standard EN50170 (DP-V0)
1 PROFIBUS-DP Slave
9.6, 19.2, 45.45, 93.75, 187.5, 500, 1500, 3000, 6000 and 12000 kbps
0 to 99
0 to 120 words (16bit), configurable, for both directions
Yes
Specifications
TJ1-DRT
Conforms to DeviceNet standard of CIP edition 1
1 DeviceNet Slave
125, 250 and 500 Kbps, auto-detect
0 to 63
0 to 32 words (16bit), configurable, for both directions
Yes
Trajexia CANopen Unit
Items
Model
Electrical Characteristics
Communication ports
Transmission speed
Implemented CiA Standards
PDO Support
PDO Mapping
CANopen slave configuration
CANopen network states
CANopen slave emergencies
Galvanic isolation
Specifications
TJ1-CORT
Conforms to CAN 2.0 B
1 CANopen
20, 50, 125 and 500 Kbps
DS301, DS302
8 TPDO and 8 RPDO
Each PDO can be mapped into TJ1-MC16/04 VR, Table, Analogue and digital IO.
BASIC commands assign mapping and start address (*)
Any SDO message can be sent using BASIC during start-up and operation
CANopen network can be set to Pre-operational and Operational using BASIC
Available using BASIC command
Yes
Note: (*) TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 Analogue IO points.
Trajexia Flexible Axis Unit
Items
Model
Number of axes
Control method
Encoder Position/speed Feedback
Specifications
TJ1-FL02
2
±10V Analogue Output in closed loop or pulse train output in open loop
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
Galvanic isolation
2 Fast registration Inputs, 2 definable inputs, 2 Enable output, 4 position switch outputs or axes reset
Yes
SmartSlice MECHATROLINK-II Interface Unit
Item
Model
Electrical characteristics
Communication cycle
Power supply
Number of connectable Slices
IO mapping
Slice unit configuration
Supported slice units
Specifications
GRT1-ML2
Conform to MECHATROLINK standard
0.5, 1 or 2 ms
24Vdc
Up to 64 slices with a maximum amount of 128 bytes (*)
Automatic analogue and digital IO mapping into TJ1-MC16/04 CPU
Not supported
See ordering information section
Note: (*) TJ1-MC16/04 CPUs support a total of 256 digital IO points and 36 Analogue IO points.
Nomenclature
Trajexia Motion Controller Unit - TJ1-MC16/04
LEDs
Battery compartment
Display
Ethernet port
RS422A/RS485 switches
Digital I/O connector
RS-232C and
RS422A/485 serial ports
Trajexia MECHATROLINK-II Master Unit - TJ1-ML16/04
ML16
RUN
8F
Unit LEDs
CN1
MECHATROLINK-II master port
Trajexia DeviceNet Slave Unit - TJ1-DRT
1
2
9 8 7
3
4
1
2
9 8 7
3 4
V-
CAN L
DRAIN
CAN H
V+
Unit LEDs
Node selection
DeviceNet slave port
Trajexia CANopen Unit - TJ1-CORT
CORT
Unit LEDs
1
2
9 8 7
3 4
6
1
2
9 8 7
3 4
6
Node selection
V-
CAN L
DRAIN
CAN H
V+
CANopen port
Trajexia PROFIBUS-DP Unit - TJ1-PRT
1
2
9 8 7
3 4
1
2
9 8 7
3 4
B
H
Unit LEDs
PROFIBUS node selection
Trajexia Flex Axis Unit - TJ1-FL02
FL02
Unit LEDs
15 pin connector
(Encoders IN/Out)
PROFIBUS-DP slave port 18 pin connector
(Digital and Analogue IOs)
SmartSlice MECHATROLINK-II Interface Unit - GRT1-ML2
GRT1-ML2
CN2
SW1 SW2
RUN
ALARM
ML COM
TS
UNIT PWR
I/O PWR
MECHATROLINK-II Node selection
Unit LEDs
FG Connector
CN1
A/B
ON
1
2
3
4
REGS
NC
ADR
BACK
UNIT
+V
-V
I/O
+V
-V
DC24V
INPUT
Slice-master Switches
ML Connectors
Unit Power
IO Power
Dimensions
Trajexia Motion Controller - TJ1-MC16/04 Trajexia Modules - TJ1-ML16/04, -PRT, -DRT, -CORT, -FL02
70.3
65
62
71
Trajexia System - CJ1W-PA202 + TJ1-MC16 + One Module + TJ1-TER
65
PA202
31
39.9
70.30
45 62 31 29.7
SmartSlice Communication unit - GRT1-ML2 SmartSlice I/O units - GRT1-_
SmartSlice End unit - GRT1-END
Ordering Information
Power
Supply
Motion controller
Axes control
Communication slave
End cover
(Included into the Motion controller)
Trajexia motion controller
Name
Trajexia Motion Controller Unit, up to 4 axes. (Trajexia end cover unit TJ1-TER is included)
Trajexia Motion Controller Unit, up to 16 axes. (Trajexia end cover unit TJ1-TER is included)
Power Supply for Trajexia system, 100-240V AC
Power Supply for Trajexia system, 24V DC
Model
TJ1-MC04
TJ1-MC16
CJ1W-PA202
CJ1W-PD022
Trajexia Axes control modules
Name
Trajexia MECHATROLINK-II Master Unit (up to 4 stations)
Trajexia MECHATROLINK-II Master Unit (up to 16 stations)
Trajexia Flexible Axis Unit (for 2 Axes)
Trajexia Communication modules
Name
Trajexia DevicNet slave unit
Trajexia PROFIBUS-DP slave unit
Trajexia CANopen unit
MECHATROLINK-II - Related devices
Servo System & Frequency Inverters
Name
MECHATROLINK-II interface unit for
Servos and Inverters
Model
TJ1-ML04
TJ1-ML16
TJ1-FL02
Model
TJ1-DRT
TJ1-PRT
TJ1-CORT
Remarks Model
For Sigma-II series Servo drives. (Firmware version 39 or later) JUSP-NS115
Junma servo drives with MECHATROLINK-II port built-in the drive SJDE@@ANA-OY
For Varispeed V1000 Inverter. Release by 2008
(For Inverter’s version supported contact your Omron sales office)
SI-T3
SI-T/V7 For Varispeed V7 Inverter
(For Inverter’s version supported contact your Omron sales office)
For Varispeed F7, G7 Inverter
(For Inverter’s version supported contact your Omron sales office)
SI-T
Note: Refer to Motion & Drives catalogue for detailed specs and ordering information
SmartSlice IOs system
Function
SmartSlice Interface unit
End plate, one unit required per bus interface
4 NPN inputs
4 PNP inputs
8 NPN inputs
8 PNP inputs
4 NPN outputs
4 PNP outputs
4 PNP outputs with short-circuit protection
8 NPN outputs
8 PNP outputs
8 PNP outputs with short-circuit protection
2 relay outputs
2 analogue inputs, current/voltage
2 analogue outputs, voltage
2 analogue outputs, current
Specification
SmartSlice MECHATROLINK-II inteface unit
24 V DC, 6 mA, 3-wire connection
24 V DC, 6 mA, 3-wire connection
24 V DC, 4 mA, 1-wire connection + 4xG
24 V DC, 4 mA, 1-wire connection + 4xV
24 V DC, 500 mA, 2-wire connection
24 V DC, 500 mA, 2-wire connection
24 V DC, 500 mA, 3-wire connection
24 V DC, 500 mA, 1-wire connection + 4xV
24 V DC, 500 mA, 1-wire connection + 4xG
24 V DC, 500 mA, 1-wire connection + 4xG
240 V AC, 2A, normally-open contacts
±10 V, 0-10 V, 0-5 V, 1-5 V, 0-20 mA, 4-20 mA
± 10 V, 0-10 V, 0-5 V, 1-5 V
0-20 mA, 4-20 mA
Note: Refer to Automation Systems catalogue for detailed specs and accesories information
Model
GRT1-ML2
GRT1-END
GRT1-ID4
GRT1-ID4-1
GRT1-ID8
GRT1-ID8-1
GRT1-OD4
GRT1-OD4-1
GRT1-OD4G-1
GRT1-OD8
GRT1-OD8-1
GRT1-OD8G-1
GRT1-ROS2
GRT1-AD2
GRT1-DA2V
GRT1-DA2C
MECHATROLINK-II Cables
Name
MECHATROLINK-II cables
MECHATROLINK-II terminator
MECHATROLINK-II Repeater
Remarks
0.5 meter
1 meter
3 meters
5 meters
10 meters
20 meters
30 meters
Terminating resistor
Network repeater
Other IO modules
Name Remarks
MLII IO modules 64-point digital input and 64-point didital output (24VDC)
Analogue input: -10V to +10V, 4 channels
Analogue output: -10V to +10V, 2 channels
I/O Cable for JEPMC-IO2310 With connector on the IO2310 side
Computer Software
Specifications
Trajexia Studio v1.0 or higher
Model
JEPMC-W6003-A5
JEPMC-W6003-01
JEPMC-W6003-03
JEPMC-W6003-05
JEPMC-W6003-10
JEPMC-W6003-20
JEPMC-W6003-30
JEPMC-W6022
JEPMC-REP2000
Lenght
-
-
-
0.5
1.0
3.0
Model
JEPMC-IO2310
JEPMC-AN2900
JEPMC-AN2910
JEPMC-W5410-05
JEPMC-W5410-10
JEPMC-W5410-30
Model
TJ1-Studio
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. I53E-EN-02A In the interest of product improvement, specifications are subject to change without notice.
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Trajexia_EN_INT03
Control Systems
• Programmable logic controllers • Human-machine interfaces • Remote I/O
Motion & Drives
• Motion controllers • Servo systems • Inverters
Control Components
• Temperature controllers • Power supplies • Timers • Counters • Programmable relays
• Digital panel indicators • Electromechanical relays • Monitoring products • Solid-state relays
• Limit switches • Pushbutton switches • Low voltage switch gear
Sensing & Safety
• Photoelectric sensors • Inductive sensors • Capacitive & pressure sensors • Cable connectors
• Displacement & width-measuring sensors • Vision systems • Safety networks • Safety sensors
• Safety units/relay units • Safety door/guard lock switches
Although we strive for perfection, Omron Europe BV and/or its subsidiary and affiliated companies do not warrant or make any representations regarding the correctness or completeness of the information described in this document.
We reserve the right to make any changes at any time without prior notice.
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