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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

COM

X10

ADR

ACSERVO DRIVER

G- Series

Servo drive

G-Series

Servo motors

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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

I/O

MLK

Enc.

UNIT

No.

RUN

ERC

ERH

WDOG

OPEN

BATTERY

MCH72

48.75

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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