CJ1W-MC472

Y203-EN2-05+MotionDrives+Cat.book Seite 37 Freitag, 10. Juni 2011 4:05 16 Motion controllers Trajexia-PLC CJ1W-MC472/ MCH72 - MECHATROLINK-II Trajexia motion control unit PLC-based motion controller unit over MECHATROLINK-II motion bus • Models with 4 or 30 MECHATROLINK-II 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 synchronization via simple motion commands • Serial port for master encoder axis • Embedded digital I/Os • I/O data exchange with the PLC CPU System configuration NS-series HMI Personal computer software: CX-One (CX-Motion Pro) Trajexia Studio Ethernet/serial CJ1-series Digital I/Os Encoder input/output Motion control unit CJ1W-MC472 - 4 axes CJ1W-MCH72 - 30 axes MECHATROLINK-II Accurax G5 series Servo drive Up to 30 axes G- Series Servo drive AC SERVO DRIVER 9 01 2 3 5 6 2 3 7 8 ADR X10 4 01 X1 COM SP IM G Terminator Input Fast registration inputs, home and limits switches... Accurax G5 series Servo motors Trajexia motion control unit G-Series Servo motors 37 Y203-EN2-05+MotionDrives+Cat.book Seite 38 Freitag, 10. Juni 2011 4:05 16 Specifications General specifications Item Model Ambient operating temperature Storage temperature Ambient operating humidity Storage humidity Atmosphere Vibration resistance Shock resistance Insulation resistance Dielectric strength Protective structure International standards Weight Details CJ1W-MC@72 0 to 55C -20 to 70C 10% to 90% RH 90% max. (without condensation) 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/s² , 3 times each X, Y, Z directions 20 MOhm 500 V IP20 CE: IEC61131-2, IEC61000-6-2, IEC61000-6-4 cULus: UL508 (Industrial Control Equipment) Lloyds; RoHS compliant 180 g Trajexia Motion Control Unit Item Model Classification Applicable PLCs Axes MECHATROLINK nodes Total number of axes MECHATROLINK-II axes Master encoder axis Virtual axis Total number of nodes Servo Drive Inverter 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 unit Saving program data, personal computer Firmware update Encoder interface Control method Encoder protocols Encoder Input max frecuency Encoder/Pulse output max frecuency MECHATROLINK-II Controlled devices master port Electrical characteristics Transmission speed Stations Slave types Number of MECHATROLINK nodes/ Cycle time Details CJ1W-MCH72 CJ1W-MC472 CJ-series CPU bus unit CJ-series 32 4 maximum*2 30 maximum*1 1 maximum 32 maximum 30 12 30 maximum 4 maximum 8 maximum 8 maximum Selectable 0.5 ms, 1 ms , 2 ms or 4 ms BASIC-like motion language Up to 14 tasks running simultaneously 16 inputs, 2 with registration functionality. 8 outputs, 1 with hardware position switch functionality User definable 500 KB Up to 2 MB flash data storage SRAM with battery backup and Flash-ROM Via CX-Motion Pro/Trajexia Studio software Line driver AB output, Stepper pulse input/output Abs SSI 200 kHZ, Abs EnDat 1 MHz and Incremental Line driver AB 6 MHz 2 MHz Accurax G5 and G-Series servo drives, MX2 inverters Conforms to MECHATROLINK standard 10 Mbps Servo drives and frequency inverters Max. 30 nodes/ 4 ms Max. 12 nodes/ 4 ms Max. 16 nodes/ 2 ms Max. 12 nodes/ 2 ms Max. 8 nodes/ 1ms Max. 8 nodes/ 1ms Number of inverters in position mode/ Max. 8 nodes/ 4 ms Max. 4 nodes/ 4 ms Cycle time Max. 8 nodes/ 2 ms Max. 4 nodes/ 2 ms Max. 8 nodes/ 1ms Max. 4 nodes/ 1ms 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. Notes: *1 It includes a maximum of 8 inverters in position mode. *2 It includes inverters in position mode. 38 Motion controllers Y203-EN2-05+MotionDrives+Cat.book Seite 39 Freitag, 10. Juni 2011 4:05 16 Motion controllers Nomenclature CJ1W-MC@72 - Trajexia motion control unit Unit status LEDs I/O status LEDs Battery compartment Unit No setting MECHATROLINK-II Port Digital I/O connector 9 pin Encoders connector JEPMC-REP2000 - MECHATROLINK-II repeater Power ON LED Switch settings for future use CN1 transmitting LED MECHATROLINK-II port CN2 transmitting LED MECHATROLINK-II port 24 V power Dimensions CJ1W-MC@72 - Trajexia motion control unit MCH72 0 1 2 3 4 5 6 7 RUN ERC ERH WDOG BF UNIT No. OPEN 98 MLK 90 BATTERY I/O Enc. 65 71 48.75mm Trajexia motion control unit 39 Y203-EN2-05+MotionDrives+Cat.book Seite 40 Freitag, 10. Juni 2011 4:05 16 JEPMC-REP2000 - MECHATROLINK-II repeater Name plate Ordering information Motion controller Name Trajexia motion control unit, up to 30 MECHATROLINK-II axes Trajexia motion control unit, up to 4 MECHATROLINK-II axes Model CJ1W-MCH72 CJ1W-MC472 MECHATROLINK-II - related devices Servo system Name Accurax G5 servo drive ML-II built-in G-Series servo drive ML-II built-in MX2 inverter with MECHATROLINK-II option board Frequency inverter ML2 option board Model R88D-KN@@@-ML2 R88D-GN@@H-ML2 3G3MX2-A@ 3G3AX-MX2-MRT Note: Refer to servo systems and frequency inverter sections for detailed specs and ordering information 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 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 Computer software Specifications CX-Motion Pro V1.3.3 or higher Trajexia Studio*1 V1.3.3 or higher Model CX-One TJ1-Studio *1. When the Trajexia Studio software is included in CX-One, then it is called CX-Motion Pro. 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-03 40 In the interest of product improvement, specifications are subject to change without notice. Motion controllers