Omron trajexia CJ1W-MCH72 Kurzanleitung
31Motion control unit
Motion controllers
CJ1W-MCH72 - MECHATROLINK-II
Motion control unit
Advanced multi-axes motion controller unit
over MECHATROLINK-II motion bus
• Control of up to 30 physical axes
•Selectable cycle time from 0.5 ms to 4 ms
• Control of servos and inverters over a single motion
network
• Supports position, speed and torque control
• Advanced motion control such as CAM control,
registration control, interpolation and axes synchro-
nization via simple motion commands
• Serial port for external encoder
•Embedded digital I/Os
• I/O data exchange with the PLC CPU
System configuration
Personal computer software:
CX-One (CX-Motion Pro)
TrajexiaStudio
NS-series
HMI
Terminator
Accurax G5 series
Servo motors
Accurax G5 series
Servo drive
Input
Motion control unit
CJ1W-MCH72
Digital I/Os
Encoder input/output
Fast registration
inputs, home and
limitsswitches...
Ethernet/serial
CJ1-series
MECHATROLINK-II
G
IM
SP
COM
X10
3
2
1
0
ADR
ACSERVO DRIVER
X1
6
7
8
9
0
1
2
3
4
5
G- Series
Servo drive
G-Series
Servo motors
Y203-EN2-04+MotionDrives+Cat.book Seite 31 Freitag, 21. Mai 2010 11:01 11
32 Motion controllers
General specifications
Trajexia Motion Control Unit
Specifications
Item Details
Model CJ1W-MCH72
Ambient operating temperature 0 to 55°C
Storage temperature -20°to 70°C
Ambient operating humidity 10% to 90% RH
Storage humidity 90% max. (without condensation)
Atmosphere No corrosive gases
Vibration resistance 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
Shock resistance 143 m/s² , 3 times each X, Y, Z directions
Insulation resistance 20 MOhm
Dielectric strength 500 V
Protective structure IP20
International standards CE, IEC61131-2, IEC61000-6-2, IEC61000-6-4
cULus: UL508C (Industrial Control Equipment)
Lloyds; RoHS compliant
Weight 180 g
Item Details
Classification CJ-series CPU bus unit
Applicable PLCs CJ-series
Number of axes 30 (31 total with vitual axis)
Number of inverters 8 maximum (Inverters in speed or torque mode)
Cycle time Selectable 0.5 ms, 1 ms , 2 ms or 4 ms
Programming language BASIC-like motion language
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 500 KB
Data storage capacity Up to 2 MB flash data storage
Saving program data, motion controller unit SRAM with battery backup and Flash-ROM
Saving program data, personal computer Via CX-Motion Pro/Trajexia Studio software
Firmware update
Encoder interface Control method Line driver AB output, Stepper pulse output
Encoder protocols Abs SSI 200 kHZ, Abs EnDat 1 MHz and Incremental Line driver AB
Encoder Input max frecuency 6 MHz
Encoder/Pulse output max frecuency 2 MHz
MECHATROLINK-II
master port Controlled devices Accurax G5 and G-Series servo drives
Electrical characteristics Conforms to MECHATROLINK standard
Transmission speed 10 Mbps
Stations Slave types Servo drives and frequency inverters
Transmision distance Max. 50 meters without using repeater
Data exchange 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.
Y203-EN2-04+MotionDrives+Cat.book Seite 32 Freitag, 21. Mai 2010 11:01 11
Motion control unit 33
Motion controllers
CJ1W-MCH72 - Trajexia motion control unit
JEPMC-REP2000 - MECHATROLINK-II repeater
CJ1W-MCH72 - Trajexia motion control unit
JEPMC-REP2000 - MECHATROLINK-II repeater
Nomenclature
Dimensions
I/O status
LEDs
Unit status
LEDs
Battery
compartment
9 pin Encoders
connector
MECHATROLINK-II
Port
Unit No setting
Digital I/O
connector
Switch settings
for future use
MECHATROLINK-II
port
MECHATROLINK-II
port
24 V power
Power ON LED
CN1 transmitting LED
CN2 transmitting LED
Name plate
Y203-EN2-04+MotionDrives+Cat.book Seite 33 Freitag, 21. Mai 2010 11:01 11
34 Motion controllers
Motion controller
MECHATROLINK-II - related devices
Servo system
Note: Refer to servo systems section for detailed specs and ordering information
MECHATROLINK-II cables
Computer software
Ordering information
Name Model
Trajexia motion control unit - MECHATROLINK-II CJ1W-MCH72
Name Model
Accurax G5 servo drive ML-II built-in R88D-KN@@@-ML2
G-Series servo drive ML-II built-in R88D-GN@@H-ML2
Name Remarks Model
MECHATROLINK-II cables 0.5 meter JEPMC-W6003-A5
1 meter JEPMC-W6003-01
3 meters JEPMC-W6003-03
5 meters JEPMC-W6003-05
10 meters JEPMC-W6003-10
20 meters JEPMC-W6003-20
30 meters JEPMC-W6003-30
MECHATROLINK-II terminator Terminating resistor JEPMC-W6022
MECHATROLINK-II repeater Network repeater JEPMC-REP2000
Specifications Model
CX-Motion Pro V1.2 or higher CX-One
Trajexia Studio*1 V1.2 or higher
*1. When the Trajexia Studio software is included in CX-One, then it is called CX-Motion Pro.
TJ1-Studio
4
7
6
5
2
0
3
I/O
MLK
Enc.
UNIT
No.
1
RUN
ERC
ERH
BF
WDOG
OPEN
BATTERY
MCH72
mm
48.75
90
65
71
98
In the interest of product improvement, specifications are subject to change without notice.
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-02A
Y203-EN2-04+MotionDrives+Cat.book Seite 34 Freitag, 21. Mai 2010 11:01 11
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