TRAJEXIA-PLC

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Tr a j e x i a i n c o m p a c t f o r m a t
Fr e e d o m t o d e s i g n
Trajexia motion controller integrated with your PLC
Trajexia, the family of advanced motion controllers that put you in control, now has a compact and integrated version. Meet Trajexia-PLC, the motion controller that has all the flexibility and modularity of Omron PLCs, plus the outstanding motion-control features of the Trajexia platform.
If you want to add advanced motion control into your control system, Trajexia-PLC will help you to meet the most demanding requirements whilst minimizing space, saving on wiring, optimizing design and allowing easy integration with your HMI.
In fact, its just what you asked for and with all the familiarity and performance you require!

Ethernet

MECHATRO

LINK-II

Up to 30 a
Advanced control in one compact solution
Trajexia-PLC was specifically created with your application in mind. By focussing on compactness and simplicity, it will help you to create the next generation of market-leading machines quicker than ever. The Trajexia motion controller and the PLC exchange info mation r Integration of your application could not be made easier. Besides a built-in MECHATROLINK-II port providing precise control of up to 30 axes, it takes advantage of the wide range of CJ1 interface through shared memory areas, helping you to simplify programming and data access, making your machine design quicker and easier. board options to communicate to other Fieldbus systems such as Ethernet, Profibus or DeviceNet, and naturally you have the widest choice of best-in-class servos and inverters.
Deliver higher performance in less space.
Saving vital rack space in your machines and time spent on wiring is only part of the overall package. Because in addition to major space-saving and economic benefits, the new Trajexia for PLC is a solution that offers all the familiar and outstanding features of Trajexia Standalone, and with the same look and feel. You dont have to invest time in re-learning to get started.

.made possible with

Data exchange is performed via the PLC bus, simplifying design, saving space and enabling easy integration with other devices.

Control of 30 axes

Coordinated over fast MECHATROLINK-II motion bus with selectable cycle time from 0.5 ms to 4 ms.

Encoder interface

Allows connection of an external encoder to the system. Supports incremental, absolute encoder and pulse train output as well.

Digital I/Os

The motion controller has embedded and configurable I/Os.
MECHATROLINK-II master port

Drives

Full connectivity to the same range of servo drives and inverters as other Trajexia controllers.
Advanced programming tools
The CJ1-MCH72 motion CPU uses the same advanced programming language as the Trajexia standalone CPUs and the new monitoring and debugging tool, Trajexia Studio.

Actual size

Controls up to 30 servos or inverters.
Intuitive and easy to use programming tools
New Trajexia Studio tool offers an easy and intuitive software environment, helping to program and debug your applications using advanced tools.

Improved user graphical interface Multi device support Drag & drop functionality Offline programming and advanced download Program compare tool Axis configuration wizard Advance editor features
LEDs: CPU and I/O status Battery

Mechatrolink-II port

Encoder I/O Digital I/Os
CJ1W-MCH72 - MECHATROLINK-II

Motion control unit

PLC Advanced Motion Controller Using MECHATROLINK-II Motion Bus
30 physical axis 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 and inverters over a single motion network Built-in Digital I/Os and master Encoder.

System configuration

NS-series HMI Ethernet/serial

CX-One Trajexia Studio

CJ1-series
Motion control unit CJ1W-MCH72
Digital I/Os Encoder Input/Output
MECHATROLINK-II Sigma-II series Servo Drive Frequency inverter
30 axes max. Total lenght: 50 m
Terminator Fast registration input, home
Sigma-II series Servo Motors
JUSP-NS115 MECHATROLINK-II unit M
Sigma-II series Linear Motors

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Motion control unit 1

Specifications

General Specifications
Item Model Ambient operating temperature Ambient operating humidity Storage temperature Atmosphere Vibration resistance Shock resistance Insulation resistance Dielectric strength Protective structure International standards Details CJ1W-MCHto 55 C 90%RH (without condensation) -20 to 70 C 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 143 m/s , 3 times each X, Y, Z directions 20 MOhm 500 V IP20 CE:IEC61131-2, IEC61000-6-2, IEC61000-6-4 cULus: UL508C (Industrial Control Equipment) Lloyds; RoHS compliant

Motion Control Unit

Item Number of axes Number of inverters Cycle time Programming language Details 30 (31 total with vitual axis) 8 maximum (Inverters in speed or torque mode) Selectable 0.5 ms, 1 ms , 2 ms or 4 ms BASIC-like Motion language. Same function range as Trajexia TJ1-MC16 Note: MCH72 Trajexia uses and advanced instruction set; MCH 71 BASIC applications have to be redesigned to be used in the new controller. Multi-tasking Up to 14 tasks running simultaneously Built-in Digital I/O 16 inputs, 2 with registration functionality. 8 outputs, 1 with hardware position switch functionality 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 Via Trajexia Studio Software Firmware update Via Trajexia software tool Encoder I/O Position/ Speed Feedback Incremental and Absolute encoder Absolute encoder standard Supports SSI 200kHZ, EnDat 1MHz Encoder Input max frecuency 6 MHz Encoder /Pulse output max frecuency 2 MHz MECHATROLINK-II Controlled devices Junma ML-II, Sigma-II and Sigma III servo drives and V7, F7 and G7 frequency inverters master port Electrical characteristics Conforms to MECHATROLINK standard 10Mbps Transmission speed Stations Slave types Axes or servodrives and frequency inverters Max. 50 meters without using repeater Transmision distance Data Echange with PLC CJ1W-MCH72 exchanges data with memory areas in the PLC. Mapping for cyclic data exchange in the PLC CPU to memory areas in the motion unit can be freely configured.

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MECHATROLINK-II, Servo drive interface unit (JUSP-NS115)
Item Type Applicable servo drive Installation Method Basic Power supply method specifications Power consumption MECHATROLINK -II Baud rate/transmission cycle communications Command format Operation specification Reference input Details JUSP-NS115 SGDH-@@@E models (version 38 or later) Mounted on the SGDH servo drive side: CN10. Supplied from the servo drive control power supply. 2W 10 Mbps / 1 ms or more. MECHATROLINK-II communications Positioning using MECHATROLINK-I/II communications. MECHATROLINK-I/II communications Commands: position, speed, torque, parameter read/write, monitor output Linear first/second-step, asymmetric, exponential, S-curve Position control with fully closed feedback is possible. 5 V differential line-driver output (complies with EIA standard RS-422A) A quad B line-driver 1 Mpps To be prepared by customer. Forward/reverse run prohibited, zero point return deceleration LS External latch signals 1, 2, 3 Forward/reverse torque control Position data latching is possible using phase C, and external signals 1, 2, 3 Parameters damage, parameter setting errors, communications errors, WDT errors, fully closed encoder detecting disconnection A: alarm, R: MECHATROLINK-I/II communicating
Position control functions
Acceleration/deceleration method Fully closed control Fully closed Encoder pulse output in the system specifications servo drive Fully closed encoder pulse signal Maximum receivable frequency for servo drive Power supply for fully closed encoder Input signals in the Signal allocation changes servo drive possible Internal functions Position data latch function Protection LED indicators

Nomenclature

CJ1W-MCH72 - Trajexia Motion Control Unit
Unit status LEDs Battery compartment
I/O status LEDs Unit No setting MECHATROLINK-II Port
Digital I/O connector 9 pin Encoders connector
JUSP-NS115 - MECHATROLINK-II Interface Unit
Rotary switch (SW1) Used to set the MECHATROLINK-II station address

LED(A)

Alarm status

LED(R)

MECHATROLINK-II communication status

DIP switch (SW2)

Used to for MECHATROLINK-II communications setting
MECHATROLINK-II communications CN6A and CN6B connectors:
Connects to the MECHATROLINK-II system
CN4 fully closed encoder signal connector
Used for fully closed signal connection

Ground wire

Connected to ground mark on the servo drive

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Dimensions

RUN ERC ERH WDOG BF 6 7

BATTERY

UNIT No.

48.75mm

JUSP-NS115 - MECHATROLINK-II Interface

Units: mm

Approx. weight: 0.2 kg 24 100

S W 1 A R S W 2 C N 6 A

CN6A CN6B
FG terminal M4 Connector to SERVOPACK

C N 6 B

Name plate

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Installation

MECHATROLINK-II Interface connections
Servo drive Type SGDH (For SERVOPACK connection, see sigma-II chapter) CN 4 /S S SH S S SH CN 6B CN 1 Backup battery*1 2.8 to 4.5 V + + +24 V Zero point return Deceleration LS*2 with /DEC ON Forward run prohibit*2 with P-OT OFF Reverse run prohibit*2 with N-OT OFF External latch 1*2 with /EXT1 ON External latch 2*2 with /EXT2 ON External latch 3*2 with /EXT3 ON /DEC P-OT N-OT /EXT 1 /EXT 2 /EXT Connector shell FG P represents twisted-pair wires. represents shield. Connect shield to connector shell. 32 /COIN+ /COIN/BK+ /BK/S-RDY+ /S-RDYALM+ ALMPositioning completed*2 (ON when positioning is completed) BK output*2 (ON when brake is released) Servo ready output*2 (ON when ready) Servo alarm output (OFF with an alarm) Photocoupler output Maximum operating voltage 30 VDC Maximum output current 50 mADC BAT (+) P BAT (-) +24 VIN 3.3 k AL 01 AL 02 AL 03 SG Alarm code output Maximum operating voltage 30 VDC Maximum output current 20 mADC

External power supply

To other MECHATROLINK-II station 120
MECHATROLINK I/F unit type JUSP-NS115
PG0V PA /PA PB /PB PC /PC

1, 2, 15

Fully-closed encoder for speed/position detection
For the terminal station, connect a terminator (JEPMC-W6022)
*1 Connect when using an absolute encoder and when the battery is not connected to CN8. *2 Set the signal assignment with the user constants.

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Ordering information

Motion controller
Name MECHATROLINK-II Trajexia motion control unit Model CJ1W-MCH72
MECHATROLINK-II - related devices
Name MECHATROLINK-II cables Remarks 0.5 meter 1 meter 3 meters 5 meters 10 meters 20 meters 30 meters MECHATROLINK-II terminator Terminating resistor MECHATROLINK-II interface units For Sigma-II series servo drives. (Firmware version 38 or later) For Varispeed V7 inverter (for inverter version support contact your OMRON sales office) For Varispeed F7, G7 inverter (for inverter version support contact your OMRON sales office) MECHATROLINK-II repeater When 17 or more axes are connected to the MECHATROLINK-II the repeater is required Model JEPMC-W6003-A5 JEPMC-W6003-01 JEPMC-W6003-03 JEPMC-W6003-05 JEPMC-W6003-10 JEPMC-W6003-20 JEPMC-W6003-30 JEPMC-W6022 JUSP-NS115 SI-T/V7 SI-T JEPMC-REP2000

Servo system

Note: Refer to servo systems section for detailed information

Frequency inverters

Note: Refer to frequency inverters section for detailed information

Computer software

Specifications Trajexia Studio V1.0 or higher (Available with CX-One license) Model CX-One
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. I54E-EN-01 In the interest of product improvement, specifications are subject to change without notice.

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KPP_Trajexia_PLC_EN_INT01
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.