Trajexia

Features

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

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_

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).

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.

Software

Trajexia Studio

Trajexia Studio Splash.jpg
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.
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