User manual OMRON TJ1-FL02 REFERENCE MANUAL

[. . . ] I51E-EN-03 Trajexia motion control system TJ1-MC04, TJ1-MC16, TJ1-ML04, TJ1-ML16, TJ1-PRT, TJ1-DRT, TJ1-FL02 hardware reference manual Notice OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Failure to heed precautions can result in injury to people or damage to property. /i Definition of precautionary information DANGER Indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury. WARNING Indicates a potentially hazardous situation, which, if not avoided, could result in death or serious injury. Caution Indicates a potentially hazardous situation, which, if not avoided, may result in minor or moderate injury, or property damage. © OMRON, 2007 Trademarks and Copyrights PROFIBUS is a registered trademark of PROFIBUS International. DeviceNet is a registered trademark of Open DeviceNet Vendor Assoc INC. [. . . ] For Varispeed F7, G7 inverter (For the supported version details of the inverter, contact your OMRON sales office). SI-T Revision 3. 0 HARDWARE REFERENCE MANUAL 84 Hardware reference 3. 5. 5 TJ1-ML__ box contents MECHATROLINK-II Interface Unit box: · Safety sheet. · Protection label attached to the top surface of the unit. 3. 5. 6 MECHATROLINK-II Servo Drivers Sigma-II series fig. 34 A MECHATROLINK-II Servo Driver is designed to do position control in Trajexia. In every MECHATROLINK-II cycle, the TJ1MC__ receives the position feedback from the Servo Driver via the TJ1-ML__. The TJ1-MC__ sends either the target position, speed or torque to the receiver, depending on the axis type. Other functionality of the Servo Driver is available but refreshed at slower rate. When you connect a servo to the Trajexia, the parameter does not change automatically so, depending on the application, you may have to change values. To connect a Sigma-II Servo Driver to a Trajexia system, a JUSPNS115 MECHATROLINK-II interface must be connected to its DPRAM. For details about the Sigma-II connections refer to the manual. Revision 3. 0 HARDWARE REFERENCE MANUAL 85 Hardware reference LED indicators on the NS115 /i LED Alarm Ready Color Red Green Description Lit: an alarm occurred Not lit: no alarm active Lit: communication active Not lit: no communication in progress fig. 35 A B C Address settings (SW1 & SW2) The dipswitches (B) on the NS115 configure the communication settings. C /i Dipswitch 1 2 3 Function Baud rate Data length Address range Setting on on off on 4 Maintenance (Reserved) off Description fig. 36 32-byte data transmission Addresses 40-4F Addresses 50-5F Must always be set to off. on is not used ON Revision 3. 0 OFF HARDWARE REFERENCE MANUAL 1234 10 Mbps 86 Hardware reference Set the address selector (A, fig 35) of the NS115 to n (where n ranges from 0 to F) to assign the following address to the NS115: /i Rotary switch number 1 2 3 4 5 6 7 8 9 A B C D E F 0 Dipswitch Station address 3 off off off off off off off off off off off off off off off on 41 42 43 44 45 46 47 48 49 4A 4B 4C 4D 4E 4F 50 Axis in motion controller fig. 37 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Do not use the addresses 40 and 51-5F. Use only the addresses 41-50. Revision 3. 0 HARDWARE REFERENCE MANUAL 87 Hardware reference MECHATROLINK connectors (CN1A & CN1B) Connect to the MECHATROLINK-II network as in the figure using a suitable MECHATROLINK-II cable. Both connectors are parallelled so you can connect both cables to both connectors. Connect a MECHATROLINK-II terminator resistor in one of the connectors if the Servo Driver is the last device in the network. fig. 38 CN4 Full-closed encoder connector CN4 is for connecting a full-closed encoder, that is, the position is controlled based in one external encoder, and the speed and torque loop based in the motor encoder. This is used when you install the motor in machines where you have to measure directly on the load because either: · There is slip or backlash in the mechanical transmission. The supported encoder is line driver and the pinout is shown in the figure. The table shows the CN4 connector terminal layout and connector specifications. Revision 3. 0 HARDWARE REFERENCE MANUAL 88 Hardware reference /i 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 PG0V PG0V PG0V FC /FC FA /FA FB /FB Signal ground Signal ground Signal ground Phase-C input + Phase-C input Phase-A input + Phase-A input Phase-B input + Phase-B input External power supply fig. 39 NS115 CN4 1, 2, 3 16 17 18 19 14 15 PG0V FA /FA FB /FB FC /FC GND A /A B /B Z /Z External PG Note. Make sure that shielded cable is used and that the shield is connected to the connector shell. [. . . ] 42 Revision 3. 0 HARDWARE REFERENCE MANUAL 161 Differences between Sigma-II and Junma A Differences between Sigma-II and Junma · · These are the differences between Sigma-II and Junma Servo Drivers and motors. Motor · The Sigma-II Servo Driver can control a large range of servo motors. These include rotary, DD and Linear motors with different encoders, IP rates, inertias and other electrical and mechanical characteristics. · The Junma can only control Junma motors with a 13-bit incremental encoder. [. . . ]