Trajexia

Trajexia Stand-alone Motion Controller Datablad

Stand-alone advanced motion controller over EtherCAT

The stand-alone Trajexia controller TJ2-MC64 together with an EtherCAT master TJ2-ECT provides a significant improvement in machine performance and accuracy allowing you to run your machines faster. Controlling all 64 axes with a minimum system cycle time and with the use of 64 bit integers,Trajexia TJ2 ensures the fastest operation at the highest accuracy.

Perfect motion control of up to 64 axes
Supports position, speed and torque control
Multi-tasking controller capable 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 distributed I/O 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

Specifications & ordering info

Ordering information

Trajexia motion controller

Name	Order code
Trajexia motion controller Unit, up to 64 axes. (Trajexia end cover unit TJ1-TER is included)	TJ2-MC64
Trajexia motion controller unit, up to 16 axes. (Trajexia end cover unit TJ1-TER is included)	TJ1-MC16
Trajexia motion controller unit, up to 4 axes. (Trajexia end cover unit TJ1-TER is included)	TJ1-MC04
Power supply for Trajexia system, 100 to 240 VAC	CJ1W-PA202
Power supply for Trajexia system, 24 VDC	CJ1W-PD022

Trajexia - axes control modules

Name	Order code
Trajexia EtherCAT master unit (up to 64 servo drives)1	TJ2-ECT64
Trajexia EtherCAT master unit (up to 16 servo drives)	TJ2-ECT16
Trajexia EtherCAT master unit (up to 4 servo drives)	TJ2-ECT04
Trajexia MECHATROLINK-II master unit (up to 16 stations)2	TJ1-ML16
Trajexia MECHATROLINK-II master unit (up to 4 stations)2	TJ1-ML04
Trajexia flexible axis unit (for 2 stations)	TJ1-FL02

Trajexia - communication modules

Name	Order code
Trajexia DeviceNet slave unit	TJ1-DRT
Trajexia PROFIBUS-DP slave unit	TJ1-PRT
Trajexia CANopen unit	TJ1-CORT

EtherCAT - related devices

Servo system and frequency inverters

Name		Order code
Accurax G5 servo drive EtherCAT built-in		R88D-KN ___ -ECT
MX2 inverter with EtherCAT option board	Frequency inverter	3G3MX2-A_
	EtherCAT option board


		3G3AX-MX2-ECT

Note: Refer to servo systems and frequency inverter sections for detailed specs and ordering information

SmartSlice IOs system

Function	Specification	Order code
SmartSlice Interface unit	SmartSlice EtherCAT inteface unit	GRT1-ECT
End plate, one unit required per bus interface		GRT1-END
4 NPN inputs	24 VDC, 6 mA, 3-wire connection	GRT1-ID4
4 PNP inputs	24 VDC, 6 mA, 3-wire connection	GRT1-ID4-1
8 NPN inputs	24 VDC, 4 mA, 1-wire connection + 4xG	GRT1-ID8
8 PNP inputs	24 VDC, 4 mA, 1-wire connection + 4xV	GRT1-ID8-1
4 AC inputs	110 VAC, 2-wire connection	GRT1-IA4-1
4 AC inputs	230 VAC, 2-wire connection	GRT1-IA4-2
4 NPN outputs	24 VDC, 500 mA, 2-wire connection	GRT1-OD4
4 PNP outputs	24 VDC, 500 mA, 2-wire connection	GRT1-OD4-1
4 PNP outputs with short-circuit protection	24 VDC, 500 mA, 3-wire connection	GRT1-OD4G-1
4 PNP outputs with short-circuit protection	24 VDC, 2 A, 2-wire connection	GRT1-OD4G-3
8 NPN outputs	24 VDC, 500 mA, 1-wire connection + 4xV	GRT1-OD8
8 PNP outputs	24 VDC, 500 mA, 1-wire connection + 4xG	GRT1-OD8-1
8 PNP outputs with short-circuit protection	24 VDC, 500 mA, 1-wire connection + 4xG	GRT1-OD8G-1
2 relay outputs	240 VAC, 2 A, normally-open contacts	GRT1-ROS2
2 analog inputs, current/voltage	±10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, 0 to 20 mA, 4 to 20 mA	GRT1-AD2
2 analog outputs, voltage	±10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V	GRT1-DA2V
2 analog outputs, current	0 to 20 mA, 4 to 20 mA	GRT1-DA2C
2 Pt100 inputs	Pt100, 2-wire or 3-wire connection	GRT1-TS2P
2 Pt1000 inputs	Pt1000, 2-wire or 3-wire connection	GRT1-TS2K
2 Thermocouple inputs	Types B, E, J , K, N, R, S, T, U, W, PL2, with cold junction compensation	GRT1-TS2T

Note: Refer to Automation systems catalogue for detailed specs and accesories information

GX-Series I/O Blocks

Name		Order code
16 NPN inputs	24 VDC, 6 mA, 1-wire connection, expandable	GX-ID1611




16 PNP inputs	24 VDC, 6 mA, 1-wire connection, expandable	GX-ID1621
16 NPN outputs	24 VDC, 500 mA, 1-wire connection, expandable	GX-OD1611
16 PNP outputs	24 VDC, 500 mA, 1-wire connection, expandable	GX-OD1621
8 inputs and 8 outputs, NPN	24 VDC, 6 mA input, 500 mA output, 1-wire connection	GX-MD1611
8 inputs and 8 outputs, PNP	24 VDC, 6 mA input, 500 mA output, 1-wire connection	GX-MD1621
16 NPN inputs	24 VDC, 6 mA, 3-wire connection	GX-ID1612
16 PNP inputs	24 VDC, 6 mA, 3-wire connection	GX-ID1622
16 NPN outputs	24 VDC, 500 mA, 3-wire connection	GX-OD1612
16 PNP outputs	24 VDC, 500 mA, 3-wire connection	GX-OD1622
8 inputs and 8 outputs, NPN	24 VDC, 6 mA input, 500 mA output, 3-wire connection	GX-MD1612
8 inputs and 8 outputs, PNP	24 VDC, 6 mA input, 500 mA output, 3-wire connection	GX-MD1622
16 relay outputs	250 VAC, 2 A,1-wire connection, expandable	GX-OC1601
4 analog inputs, current/voltage	±10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, 4 to 20 mA	GX-AD0471
2 analog outputs, current/voltage	±10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, 4 to 20 mA	GX-DA0271
2 encoder open collector inputs	500 kHz Open collector input	GX-EC0211
2 encoder line-driver inputs	4 MHz Line driver input	GX-EC0241

Note: The GX-Series I/O blocks are only supported by the T2-MC64 motion controller and with official firmware release above 2.0132.

Vision system

Name	Specification	Order code
Vision system with EtherCAT interface	NPN	FZM1-350-ECT
Vision system with EtherCAT interface	PNP	FZM1-355-ECT
Smart camera with EtherCAT interface	NPN/Color camera	FQ-MS120-ECT
	NPN/Monocrome camera	FQ-MS120-M-ECT
	PNP/Color camera	FQ-MS125-ECT
	PNP/Monocrome camera	FQ-MS125-M-ECT

Note: The vision systems are only supported by the T2-MC64 motion controller and with official firmware release above 2.0132.

MECHATROLINK-II - related devices

Servo system and frequency inverters

Name		Order code
Accurax G5 servo drive ML-II built-in		R88D-KN ___ -ML2
G-Series servo drive ML-II built-in		R88D-GN __ H-ML2



MX2 inverter with MECHATROLINK-II option board	Frequency inverter	3G3MX2-A_
MX2 inverter with MECHATROLINK-II option board	ML2 option board	3G3AX-MX2-MRT

Note: Refer to servo systems and frequency inverter sections for detailed specs and ordering information

SmartSlice IOs system

Function	Specification	Order code
SmartSlice Interface unit	SmartSlice MECHATROLINK-II inteface unit	GRT1-ML23
End plate, one unit required per bus interface		GRT1-END
4 NPN inputs	24 VDC, 6 mA, 3-wire connection	GRT1-ID4
4 PNP inputs	24 VDC, 6 mA, 3-wire connection	GRT1-ID4-1
8 NPN inputs	24 VDC, 4 mA, 1-wire connection + 4xG	GRT1-ID8
8 PNP inputs	24 VDC, 4 mA, 1-wire connection + 4xV	GRT1-ID8-1
4 AC inputs	110 VAC, 2-wire connection	GRT1-IA4-1
4 AC inputs	230 VAC, 2-wire connection	GRT1-IA4-2
4 NPN outputs	24 VDC, 500 mA, 2-wire connection	GRT1-OD4
4 PNP outputs	24 VDC, 500 mA, 2-wire connection	GRT1-OD4-1
4 PNP outputs with short-circuit protection	24 VDC, 500 mA, 3-wire connection	GRT1-OD4G-1
4 PNP outputs with short-circuit protection	24 VDC, 2 A, 2-wire connection	GRT1-OD4G-3
8 NPN outputs	24 VDC, 500 mA, 1-wire connection + 4xV	GRT1-OD8
8 PNP outputs	24 VDC, 500 mA, 1-wire connection + 4xG	GRT1-OD8-1
8 PNP outputs with short-circuit protection	24 VDC, 500 mA, 1-wire connection + 4xG	GRT1-OD8G-1
2 relay outputs	240 VAC, 2 A, normally-open contacts	GRT1-ROS2
2 analog inputs, current/voltage	±10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, 0 to 20 mA, 4 to 20 mA	GRT1-AD2
2 analog outputs, voltage	±10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V	GRT1-DA2V
2 analog outputs, current	0 to 20 mA, 4 to 20 mA	GRT1-DA2C
2 Pt100 inputs	Pt100, 2-wire or 3-wire connection	GRT1-TS2P
2 Pt1000 inputs	Pt1000, 2-wire or 3-wire connection	GRT1-TS2K
2 Thermocouple inputs	Types B, E, J , K, N, R, S, T, U, W, PL2, with cold junction compensation	GRT1-TS2T

Note: Refer to Automation systems catalogue for detailed specs and accesories information

MECHATROLINK-II cables

Name	Remarks	Order code
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

Computer software

Specifications	Order code
CX-Motion Pro V1.3.3 or higher	CX-One
Trajexia Studio4 V1.3.3 or higher	TJ1-Studio

1. The number of servo drives is currently limited to 32 when using TJ2-MC64 motion controller with firmware 2.0132.

2. The TJ1-ML04 and TJ1-ML16 supported by the TJ2-MC64 motion controller are V2 (Version 2) and lot number equal or above Lot. No.091019 (YYMMDD).

3. The GRT1-ML2 supports the GRT1-IA4-1, GRT1-IA4-2, GRT1-OD4G-3, GRT1-TS2P, GRT1-TS2K and GRT1-TS2T slice units only in combination with TJ2-MC64 motion controller. They are not supported in combination with TJ1-MC16/04.

4. When the Trajexia Studio software is included in CX-One, then it is called CX-Motion Pro.

1. The number of servo drives is currently limited to 32 when using TJ2-MC64 motion controller with firmware 2.0132.

2. The TJ1-ML04 and TJ1-ML16 supported by the TJ2-MC64 motion controller are V2 (Version 2) and lot number equal or above Lot. No.091019 (YYMMDD).

4. When the Trajexia Studio software is included in CX-One, then it is called CX-Motion Pro.

Software

Trajexia Studio

The Trajexia Studio tool offers an easy and intuitive software environment, helping to program and debug your applications using advanced tools to help you to save time. The software support existing devices, the new PLC version and future developments.

Downloads

Broschyrer

Trajexia Broschyr

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TJ1-DRT_EDS DeviceNet EDS-fil

enZIP 3 KB

TJ1-PRT PROFIBUS GSD OC_09E4 PROFIBUS GSD-fil

enZIP 2 KB

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Datablad

Trajexia Stand-alone Motion Controller Datablad

svPDF 700 KB

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Manualer

Trajexia TJ1-MC16 Programmeringsmanual

enPDF 6 MB

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Trajexia TJ1-MC16 Referensmanual

enPDF 5 MB

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Trajexia TJ1-MC16 Kom-Igång Guide

enPDF 5 MB

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Trajexia TJ2-MC64 Referensmanual

enPDF 20 MB

Trajexia TJ2-MC64 Programmeringsmanual

enPDF 20 MB

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Stand-alone advanced motion controller over EtherCAT

Ordering information

Trajexia motion controller

Trajexia - axes control modules

Trajexia - communication modules

EtherCAT - related devices

Servo system and frequency inverters

SmartSlice IOs system

GX-Series I/O Blocks

Vision system

MECHATROLINK-II - related devices

Servo system and frequency inverters

SmartSlice IOs system

MECHATROLINK-II cables

Computer software

Broschyrer

Filer för enhetsbeskrivning

Datablad

Manualer