• Perfect motion control of up to 64 axes. Scalability
with EtherCAT masters for 4, 16 and 64 axes.
• Supports position, speed and torque control
• Multi-tasking controller capable of running up to
22 tasks simultaneously
• Advanced motion control such as linear, circular,
helical or spherical interpolation, electronic cams
and gearboxes via simple motion commands.
• Control of servos, inverters, vision systems and dis-
tributed I/Os over a single EtherCAT network
• Support for EtherNet/IP communications
• Advanced debugging tools including data trace and
oscilloscope functions
• Open communication: Serial and EtherNet/IP built-
in, PROFIBUS-DP, DeviceNet and CANopen
• Multi-tasking controller capable of running
up to 22 tasks simultaneously
• Open communication: Serial Ethernet
built-in; Profibus-DP, DeviceNet and
CANopen modules available
System configuration
CJ-series PLC
NS-series HMI
Ethernet
Personal computer software:
CX-One (CX-Motion Pro)
Trajexia Studio
PROFIBUS-DP
Master
DeviceNet
Master
Digital I/Os
Host-link
Motion controller
TJ1, TJ2
EtherCAT Network
MECHATROLINK-II Network
CANopen
Devices
Fieldbus
TJ1: ML04/16 (up to 4 units)
TJ2: ECT04/16/64 or ML04/16
(EtherCAT requires TJ2)
Terminator
Accurax G5 series
Servo drive
Input
SmartSlice IOs
Accurax G5
series Servo
motors
Fast registration
inputs, home and
limits switches...
G-Series
Servo motors
Trajexia motion controller
23
Motion controllers
Trajexia stand-alone
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 55°C
10 to 90%RH
-20 to 70C
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, RoHS compliant
Trajexia motion control units
Item
Model
Number of axes
Number of inverters and I/O modules
Details
TJ2-MC64
TJ1-MC16
TJ1-MC04
64
16
4 (+1 using TJ1-FL02 unit)
Up to 64 (Inverters in position, speed 8 maximum (Inverters in position, 8 maximum (Max. 4 Inverters in
or torque mode)
speed or torque mode)
position mode)
1 EtherCAT master is allowed per con- not supported
Motion bus
Number of EtherCAT master units
*1
troller (see below TJ2-ECT64/ECT16/
ECT04 for detailed info)
Number of ML2 master units
Up to 4 MECHATROLINK-II master units per controller (see below TJ1-ML16/ML04 for detailed info)
Cycle time
Selectable 0.25 ms, 0.5 ms, 1 ms or 2 Selectable 0.5 ms, 1 ms or 2 ms
ms
Programming language
BASIC-like motion language
Multi-tasking
Up to 22 tasks running simultaneously 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
8 MB
500 KB
Data storage capacity
Up to 32 MB Flash data storage
Up to 2 MB Flash data storage
Saving program data, motion controller
Flash-ROM
SRAM with battery backup and Flash-ROM
Saving program data, personal computer
Via CX-Motion Pro/Trajexia Studio software
Communication ports
1 Ethernet port and 2 serial ports
Firmware update
Via CX-Motion Pro/Trajexia Studio software
Ethernet port Electrical characteristics
Conform to IEEE 802.3 (100BaseT)
Connector
RJ45 Ethernet connector
Transmission protocol
Modbus TCP slave
TELNET
FINS server and client
EtherNet/IP slave
not supported
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,
Modbus RTU slave
RS-485 (1:N) Host Link master protocol,
RS-422A (1:N) Host Link slave protocol,
ASCII general-purpose,
Modbus RTU slave
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
*1. The EtherCAT master unit cannot be used in combination with a MECHATROLINK master unit when using TJ2-MC64 motion controller unit with firmware 2.0132.
24
Motion Control
Item
Model
Controlled devices with EtherCAT interface
Electrical characteristics
Communications port
Transmission speed
Topology
Communications media
Communication cycle
Stations slave types
*1
Number of axes per master / Cycle time
*2
Transmission distance
Auxiliary I/Os
Specifications
TJ2-ECT64
TJ2-ECT16
TJ2-ECT04
Accurax G5 servo drive, MX2 inverter and SmartSlice IOs
Conform to Ethernet (IEEE 802.3), 100Base Tx
1 EtherCAT communication connector (to connect the EtherCAT twisted-pair cable)
100 Mbps
Daisy chain, line or drop line
STP Category 5
0.5 ms, 1 ms or 2 ms
Servo drives (axis)
Frequency inverters (axis)
I/O modules (devices)
Max.64 axes/2 ms
Max. 16 axes/2 ms
Max. 4 axes/2 ms
Max.32 axes/1 ms
Max. 16 axes/1 ms
Max. 4 axes/1 ms
Max. 16 axes/0.5 ms
Max. 16 axes/0.5 ms
Max. 4 axes/0.5 ms
Up to 100 meters between nodes
8 fast registration inputs
*1. The TJ2-MC64 CPU supports a total of 1024 digital I/O points and 36 analogue I/O points.
*2. The number of axes per master/ cycle time is currently (TJ2-MC64 motion controller with firmware 2.01.32) limited to:
Max. 32 axes @ 2 ms
Max. 16 axes @ 1 ms
Max. 8 axes @ 0.5 ms
Trajexia MECHATROLINK-II master units
Item
Model
Controlled devices with MECHATROLINK-II interface
Electrical characteristics
Communication ports
Transmission speed
Communication cycle
Stations slave types
Specifications
TJ1-ML16
TJ1-ML04
Accurax G5, G-Series, MX2 inverter and SmartSlice IOs
0 to 122 words (16 bit), configurable, for both directions
Yes
Trajexia DeviceNet slave unit
Items
Model
DeviceNet standard
Communication ports
Transmission speed
Node numbers
I/O size
Galvanic isolation
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 (16 bit), 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
*1
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
*1. The TJ1-MC16/04 CPUs support a total of 256 digital I/O points and 36 analogue I/O points. The TJ2-MC64 CPU supports a total of 1024 digital I/O points and 36
analogue I/O points.
Trajexia motion controller
25
Motion controllers
Trajexia EtherCAT master units
Trajexia flexible axis unit
Items
Model
Number of axes
Control methods
(independent per axis)
Encoder
Encoder protocols
Encoder Input maximum frequency
Encoder/pulse output max. frequency
Specifications
TJ1-FL02
2. Every axis has 1 analog output, 1 encoder in/out -software configurable - and several digital I/O
±10 V analogue output + encoder input (closed loop)
Line driver AB output
Stepper pulse output in closed loop or pulse train output in open loop
Abs SSI 200 kHz, Abs EnDat 1 MHz, Abs Tamagawa and Incremental Line driver AB
6 MHz
2 MHz
2 fast registration inputs, 2 definable inputs, 2 enable output, 4 position switch outputs or axes reset
Yes
Auxiliary I/Os
Galvanic isolation
SmartSlice EtherCAT interface unit
Item
Model
Electrical characteristics
Communication cycle
Power supply
Number of connectable Slices
IO mapping
Slice unit configuration
Supported slice units
Specifications
GRT1-ECT
Conform to Ethernet (IEEE 802.3), 100Base-TX
0.25 ms min.
24 VDC
Up to 64 slices with a maximum amount of 128 bytes
*1
Automatic analogue and digital IO mapping into TJ2-MC64 CPU
Not supported
See ordering information section
*1. The TJ2-MC64 CPU supports a total of 1024 digital I/O points and 36 analogue I/O points.
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
24 VDC
Up to 64 slices with a maximum amount of 128 bytes
*1
Automatic analogue and digital IO mapping into TJ1-MC16/04 and TJ2-MC64 CPUs
Not supported
See ordering information section
*1. The TJ1-MC16/04 CPUs support a total of 256 digital I/O points and 36 analogue I/O points.
The TJ2-MC64 CPU supports a total of 1024 digital I/O points and 36 analogue I/O points.
26
Motion Control
Trajexia motion controller unit - TJ2-MC64, TJ1MC-16/04
Trajexia EtherCAT master unit - TJ2-ECT04/16/64
ECT64
LEDs
Battery
compartment
Display
Unit LEDs
Ethernet port
CN1
EtherCAT master port
RS422A/RS485
switches
Digital I/O
connector
RS-232C
and
RS422A/485
serial
ports
CN2
12-pin connector
(Registration inputs)
Trajexia DeviceNet slave unit - TJ1-DRT
Trajexia MECHATROLINK-II master unit - TJ1-ML16/04
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