One Machine Network Machine Automation Solutions SERVO INVERT ER VISION I/O CONTR OLLER One Network... Proven solutions now available with EtherCAT Building on the accepted quality, performance and features of our automation solutions, you can now add the benefits of linking them under one single machine network. Far from compromising the machine throughput, EtherCAT as a Machine network increases the speed and the synchronisation accuracy. Flexible control modes Ethernet based Cyclic synchronous Position (CSP), Velocity (CSV) and No need for dedicated cables. EtherCAT uses Standard Torque (CST) modes in the servo ensure the EtherCAT master has complete control of the multiaxes system Ethernet cable (CAT-5 or above) Up to 100 metres distance between nodes Homing modes and Profile Position mode inside the No need for network switches servo slave, enable the possibility to use it with EtherCAT masters without motion functionality Ethernet optimised for machine control Distributed clock synchronisation EtherCAT is an Ethernet based network optimised for machine control with unrivalled performance With the distributed clock system, all servos in an The diagram below shows the cycle time of several EtherCAT application can be synchronised within a microsecond tolerance Ethernet based networks under the same test conditions 7000 S 6000 5000 4000 0 276 ms 479 ms Profinet I/O Powerlink 1000 Profinet IRT 2000 Sercos III 3000 EtherCAT M S Cycle time ms S 763 ms 2347 ms 6355 ms 40 axes and 2200 I/O Note: Refer to www.ethercat.org for complete test details 2 Controller EtherCAT products CJ2 PLC Trajexia * * * * * * * * * * * * Compatible with CJ1 and CJ2 PLCs Control of 16 servo axes Support for 64 device nodes Circular and linear interpolation Linear and infinite axes management Position registration capture Certified PLC open function blocks Control of 64 servo axes Scalable Motion controller system Electronic cams and gears Linear, circular, helical and spherical interpolation Open communication to PLCs, EtherNet/IP, PROFIBUS, DeviceNet Page 6 Page 8 Servos Accurax G5 * Rotary Motors from 50 W up to 15 kW * High-response frequency of 2 kHz * Safety conforming to ISO13849-1 * High accuracy provided by 20 bit encoder * Advanced tuning algorithms * Linear motor solutions Page 10 Inverters MX2 * * * * * 200% starting torque Torque control in open loop Support for permanent magnet motors Positioning functionality Up to 15 kW Page 12 Vision Xpectia FZM1 * * * * Stable measurements under changing conditions Wide variety of positioning measurement methods Simple auto calibration Flexible camera installation I/O Page 14 GX Series SmartSlice for Trajexia * Simple setup * Easy wiring * High-speed input * Up to 64 I/O units per station * Screwless wiring * Hot-swap with auto-restore Page 16 Page 17 3 ...for Machine Automation Solutions With over 50,000 buying machine builders world-wide - 10,000 in Europe - and 50 years experience in machine automation, we particularly pride ourselves in helping these companies turn their dreams into reality... world class machines. Because when we say it works, IT WORKS! This statement embodies our core values of supporting you with competent and experienced people, quality products that work in conditions far beyond their published specifications and always maintaining our commitment to you the customer. We are successful because we provide SERVO solutions based on our customers needs, INVERT ER whether that solution is used in a fixed form or a highly flexible machine. We believe this is a solid basis to start turning YOUR IDEAS into MACHINES THAT WORK. CJ2 PL C with E therCA T Complete and compact machine controller Logic and motion control integrated in the CJ PLC platform. Control of 16 axes; positioning with linear and circular interpolation * Scalable and modular solution * Simplified programming * Precise motion functionality made simple * One Machine network 4 SERVO INVERT ER VISION VISION I/O I/O Trajexia with EtherCA T Total freedom in motion control Flexible and dedicated motion controller. Control of up to 64 axes with advanced motion functions including registration, cams and gearing * Stand-alone and scalable motion controller * Powerful motion control * Intuitive and powerful engineering * One Machine network 5 CJ2 PLC with EtherCAT Complete and compact machine controller In the minimum of space you can have a complete and powerful position control system when combining the Omron CJ2 PLC, the CJ1W-NC(EtherCAT) unit and the G5 servo drives with EtherCAT built-in. This configuration offers up to 16-axis positioning with linear and circular interpolation, as well as support for 64 I/O, inverter and vision device nodes over the network. Scalable and modular solution * CJ1 and CJ2 family CPUs available * EtherCAT masters for 2, 4, 8 and 16 axes * Wide range of CJ PLC modules One Machine network * Servo * Inverter * Vision system * Distributed I/O CJ2 PL C with E therCA T Simplified programming * Complete machine control from CJ PLC program * PLCopen motion function blocks Precise motion functionality made simple * Position control of up to 16 axes * Circular and linear interpolation * Position registration capture 6 CJ EtherCAT unit features * Position controller supporting up to 16 servo axes * Support for 64 I/O, inverter and vision device nodes * Compact unit compatible with CJ1 and CJ2 PLCs * Circular and linear interpolation * Linear and infinite axes management * Position registration capture * Zone outputs (CAM outputs) * Certified PLCopen motion control function blocks: Part 1 and 2 * Support for servo, inverter, vision system and I/O in a single EtherCAT network Reference list PLC CPU item description CJ2M CPUs CJ2H CPUs (Support for CST and CSV from v1.4) Power supply for CJ PLC system, 100-240 VAC Power supply for CJ PLC system, 24 VDC Item Model CJ2M-CPU_ CJ2H-CPU_ CJ1W-PA20_ CJ1W-PD02_ CJ EtherCAT Master unit description Position controller unit - EtherCAT Master - 4 axes + 64 nodes (Support for CST and CSV from v1.3) Position controller unit - EtherCAT Master - 8 axes + 64 nodes (Support for CST and CSV from v1.3) Position controller unit - EtherCAT Master - 16 axes + 64 nodes (Support for CST and CSV from v1.3) Position controller unit - EtherCAT Master - 2 axes Position controller unit - EtherCAT Master - 4 axes Position controller unit - EtherCAT Master - 8 axes Position controller unit - EtherCAT Master - 16 axes Item Model CJ1W-NC482 CJ1W-NC882 CJ1W-NCF82 CJ1W-NC281 CJ1W-NC481 CJ1W-NC881 CJ1W-NCF81 PLC I/O units description Refer to Industrial Automation Guide on Omron website for details of available CJ1 I/O units Item Model CJ1W-_ 7 Trajexia with EtherCAT Total freedom in motion control 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. It is ideal for highly-demanding packaging, printing and textile machines. As you would expect, a wide choice of best-in-class actuators are available to meet your needs in terms of size, performance and reliability. Powerful motion control One Machine network * Single axis moves and axes interpolation * Servo * Electronic cams and gearboxes * Inverter * Control of SCARA and Delta robots * Vision system * Distributed I/O Trajexia with EtherCA T Intuitive and powerful programming * Motion BASIC programming * Dedicated motion commands Stand-alone and Scalable motion controller * Freedom to choose the machine PLC * Scalability with EtherCAT masters for 4, 16 and 64 axes 8 Trajexia with EtherCAT features * Perfect control of 64 axes * Scalability provided by the 3 versions of EtherCAT masters; 4, 16 and 64 axes * Each axis can be programmed using linear, circular, helical or spherical interpolation, electronic cams and gearboxes. * Control of SCARA and Delta robots * Multi-tasking controller capable of running up to 22 tasks simultaneously * Open communication - Serial and EtherNet/IP built-in, PROFIBUS-DP, DeviceNet and CANopen options * Reuse of engineering code, compatible programming with existing Stand-alone and PLC based Trajexia CPUs * Support for servo, inverter, vision system and I/O in a single EtherCAT network Reference list Trajexia controller items description Trajexia motion controller Unit, up to 64 axes Power supply for Trajexia system, 100-240 VAC Power supply for Trajexia system, 24 VDC Item Model TJ2-MC64 CJ1W-PA202 CJ1W-PD022 EtherCAT master description Trajexia EtherCAT master unit (up to 4 servo drives) Trajexia EtherCAT master unit (up to 16 servo drives) Trajexia EtherCAT master unit (up to 64 servo drives) Item Model TJ2-ECT04 TJ2-ECT16 TJ2-ECT64 Optional units description Trajexia flexible axis unit (for 2 stations) Trajexia DeviceNet slave unit Trajexia PROFIBUS-DP slave unit Trajexia CANopen unit Item Model TJ1-FL02 TJ1-DRT TJ1-PRT TJ1-CORT 9 Accurax G5 servo system At the heart of every great machine Great machines are born from a perfect match between electronics and mechanics. Accurax G5 gives you that extra edge to build more accurate, Up to 50% cabinet size reduction * 40% smaller drive * Extra 10% saving thanks to side by side mounting faster, smaller and safer machines. You will benefit from an almost 25% reduction in motor weight, and gain 50% cabinet space. EtherCAT connectivity * Compliant with CoE -CiA402 Drive Profile* Cyclic synchronous Position, Velocity and Torque modes * Embedded Gear Ratio, Homing and Profile Position mode * Distributed clock to ensure high precision synchronisation Improved rotary motors * Low cogging torque servo motors * High accuracy provided by 20 bit encoder * IP67 for all motors and connectors * Large range of motors from 0.16 Nm up to 96 Nm nominal torque (224 Nm peak) Improved linear motor solutions * Ironless motor type with excellent force-to-weight ratio and no magnetic attraction force * Iron-core motor type with optimum ratio between force and volume * Compact and efficient design * Linear parts and assembled linear systems available * For customised linear systems contact your Omron sales representative G5 Features * Compact size servo drives with EtherCAT connectivity built-in * High-response frequency of 2 kHz * Load vibration suppression * Embedded safety conforming to ISO13849-1 Performance Level D * Advanced tuning algorithms (Anti-vibration function, torque feedforward, disturbance observer) * Wide range of linear and rotary servo motors 10 Rotary motors reference list Rotary servo motor specifications Speed (rpm) Voltage Flange (mm) Rated Torque Capacity 3000 230 V 40x40 0.16 Nm 0.32 Nm 0.64 Nm 1.3 Nm 2.4 Nm 3.18 Nm 4.77 Nm 2.39 Nm 3.18 Nm 4.77 Nm 6.37 Nm 9.55 Nm 12.7 Nm 15.9 Nm 4.77 Nm 7.16 Nm 1.91 Nm 2.86 Nm 4.77 Nm 7.16 Nm 9.55 Nm 14.3 Nm 19.1 Nm 23.9 Nm 47.8 Nm 70.0 Nm 95.5 Nm 8.59 Nm 8.59 Nm 19.1 Nm 28.7 Nm 43.0 Nm 57.3 Nm 50 W 100 W 200 W 400 W 750 W 1 kW 1.5 kW 750 W 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW 1 kW 1.5 kW 400 W 600 W 1 kW 1.5 kW 2 kW 3 kW 4 kW 5 kW 7.5 kW 11 kW 15 kW 900 W 900 W 2 kW 3 kW 4.5 kW 6 kW 60x60 80x80 100x100 400 V 100x100 120x120 130x130 2000 230 V 130x130 400 V 100x100 130x130 176x176 1500 400 V 176x176 220x220 1000 230 V 400 V 130x130 130x130 176x176 Servo drive specifications Motor Model Drive Model W D H R88M-K05030(H/T)-(B)S2 R88M-K10030(H/T)-(B)S2 R88M-K20030(H/T)-(B)S2 R88M-K40030(H/T)-(B)S2 R88M-K75030(H/T)-(B)S2 R88M-K1K030(H/T)-(B)S2 R88M-K1K530(H/T)-(B)S2 R88M-K75030(F/C)-(B)S2 R88M-K1K030(F/C)-(B)S2 R88M-K1K530(F/C)-(B)S2 R88M-K2K030(F/C)-(B)S2 R88M-K3K030(F/C)-(B)S2 R88M-K4K030(F/C)-(B)S2 R88M-K5K030(F/C)-(B)S2 R88M-K1K020(H/T)-(B)S2 R88M-K1K520(H/T)-(B)S2 R88M-K40020(F/C)-(B)S2 R88M-K60020(F/C)-(B)S2 R88M-K1K020(F/C)-(B)S2 R88M-K1K520(F/C)-(B)S2 R88M-K2K020(F/C)-(B)S2 R88M-K3K020(F/C)-(B)S2 R88M-K4K020(F/C)-(B)S2 R88M-K5K020(F/C)-(B)S2 R88M-K7K515C-(B)S2 R88M-K11K015C-(B)S2 R88M-K15K015C-(B)S2 R88M-K90010(H/T)-(B)S2 R88M-K90010(F/C)-(B)S2 R88M-K2K010(F/C)-(B)S2 R88M-K3K010(F/C)-(B)S2 R88M-K4K510C-(B)S2 R88M-K6K010C-(B)S2 R88D-KN01H-ECT R88D-KN01H-ECT R88D-KN02H-ECT R88D-KN04H-ECT R88D-KN08H-ECT R88D-KN15H-ECT R88D-KN15H-ECT R88D-KN10F-ECT R88D-KN15F-ECT R88D-KN15F-ECT R88D-KN20F-ECT R88D-KN30F-ECT R88D-KN50F-ECT R88D-KN50F-ECT R88D-KN10H-ECT R88D-KN15H-ECT R88D-KN06F-ECT R88D-KN06F-ECT R88D-KN10F-ECT R88D-KN15F-ECT R88D-KN20F-ECT R88D-KN30F-ECT R88D-KN50F-ECT R88D-KN50F-ECT R88D-KN75F-ECT R88D-KN150F-ECT R88D-KN150F-ECT R88D-KN15H-ECT R88D-KN15F-ECT R88D-KN30F-ECT R88D-KN50F-ECT R88D-KN50F-ECT R88D-KN75F-ECT 40 132 150 55 65 86 172 92 172 150 94 130 195 213 198 250 86 172 150 92 172 150 94 130 195 213 198 250 233 261 334 271 250 450 86 92 130 172 172 213 150 150 250 233 334 250 Motor model type designation detail H= 230 V and Incremental Encoder T= 230 V and Absolute Encoder F= 400 V and Incremental Encoder C= 400 V and Absolute Encoder B= Motor with Brake (Blank=No brake) Flange dimensions Drive dimensions H D W Linear motors reference list Type Rated Force Peak Force Iron-core 48 N 96 N 160 N 240 N 320 N 608 N 760 N 105 N 210 N 400 N 600 N 800 N 1600 N 2000 N 26.5 N 53 N 80 N 58 N 117 N 175 N 117 N 232 N 348 N 100 N 200 N 300 N 240 N 480 N 720 N 700 N 1400 N 2100 N Ironless Max. Speed (m/s) 230 V 400 V 5 10 4 8 2 4 16 N/A 4.4 N/A 2.4 N/A Linear Coil Model (Without connectors) Drive Model 230 V Drive Model 400 V R88L-EC-FW-0303-ANPC R88L-EC-FW-0306-ANPC R88L-EC-FW-0606-ANPC R88L-EC-FW-0609-ANPC R88L-EC-FW-0612-ANPC R88L-EC-FW-1112-ANPC R88L-EC-FW-1115-ANPC R88D-KN02H-ECT-L R88D-KN04H-ECT-L R88D-KN08H-ECT-L R88D-KN10H-ECT-L R88D-KN15H-ECT-L R88D-KN15H-ECT-L R88D-KN15H-ECT-L R88D-KN06F-ECT-L R88D-KN10F-ECT-L R88D-KN15F-ECT-L R88D-KN20F-ECT-L R88D-KN30F-ECT-L R88D-KN30F-ECT-L R88D-KN30F-ECT-L R88L-EC-GW-0303-ANPS R88L-EC-GW-0306-ANPS R88L-EC-GW-0309-ANPS R88L-EC-GW-0503-ANPS R88L-EC-GW-0506-ANPS R88L-EC-GW-0509-ANPS R88L-EC-GW-0703-ANPS R88L-EC-GW-0706-ANPS R88L-EC-GW-0709-ANPS R88D-KN02H-ECT-L R88D-KN08H-ECT-L R88D-KN10H-ECT-L R88D-KN02H-ECT-L R88D-KN04H-ECT-L R88D-KN08H-ECT-L R88D-KN04H-ECT-L R88D-KN08H-ECT-L R88D-KN10H-ECT-L N/A 11 MX2 Inverter Born to drive machines Thanks to the advanced design and algorithms, the MX2 provides smooth control down to zero speed, plus precise operation for cyclic operations and torque control capability in open loop. The MX2 is fully integrated within the Omron automation solutions. Frequency response vs Torque variation 200% starting torque * Near stand-still operation (0.5 Hz) * Smooth control of high inertia loads Torque (%) (Example with 7.5 kW 4-pole motor) * Control of fast cyclic loads 200 100 0 0.5 3 6 10 20 30 40 50 60 Hz Torque control in open loop * Ideal for low to medium torque control applications * Can replace a flux vector inverter or servo drive in suitable systems EtherCAT connectivity * Compliant with CoE -CiA402 Drive profile* Velocity Mode Quick response to load fluctuation 12 * MX2 provides accurate speed control with less Special motors than 2% error at 1Hz * Permanent magnet motors * Stable control without lowering machine speed * High speed motors up to 1000 Hz MX2 features * Torque control in open loop, ideal for low to medium torque applications * 200% starting torque near stand-still operation (0.5 Hz) * Specialized motor control for PM motor and high speed motors up to 1000 Hz * One parameter auto-tuning just by entering the kW rating of the motor * Simple positioning functionality built-in Reference list Inverter specifications Voltage Single-phase 200 V Three-phase 200 V Variable Torque Constant Torque Drive Model Motor (kW) Output current Motor (kW) Output current 0.2 1.2 A 0.1 1.0 A 3G3MX2-AB001-E EtherCAT Option Unit Model 0.4 1.9 A 0.2 1.6 A 3G3MX2-AB002-E 0.55 3.5 A 0.4 3.0 A 3G3MX2-AB004-E 1.1 6.0 A 0.75 5.0 A 3G3MX2-AB007-E 2.2 9.6 A 1.5 8.0 A 3G3MX2-AB015-E 3.0 12.0 A 2.2 11.0 A 3G3MX2-AB022-E 0.2 1.2 A 0.1 1.0 A 3G3MX2-A2001-E 0.4 1.9 A 0.2 1.6 A 3G3MX2-A2002-E 0.55 3.5 A 0.4 3.0 A 3G3MX2-A2004-E 1.1 6.0 A 0.75 5.0 A 3G3MX2-A2007-E 3G3AX-MX2-ECT W D H 68 141 128 108 202,5 68 141 155 3G3AX-MX2-ECT 145 178 108 2.2 9.6 A 1.5 8.0 A 3G3MX2-A2015-E 3.0 12.0 A 2.2 11.0 A 3G3MX2-A2022-E 5.5 19.6 A 3.7 17.5 A 3G3MX2-A2037-E 7.5 30.0 A 5.5 25.0 A 3G3MX2-A2055-E 11 40.0 A 7.5 33.0 A 3G3MX2-A2075-E 15 56.0 A 11 47.0 A 3G3MX2-A2110-E 180 220 18.5 69.0 A 15 60.0 A 3G3MX2-A2150-E Three-phase 0.75 2.1 A 0.4 1.8 A 3G3MX2-A4004-E 400 V 1.5 4.1 A 0.75 3.4 A 3G3MX2-A4007-E 2.2 5.4 A 1.5 4.8 A 3G3MX2-A4015-E 3.0 6.9 A 2.2 5.5 A 3G3MX2-A4022-E 4.0 8.8 A 3.0 7.2 A 3G3MX2-A4030-E 5.5 11.1 A 4.0 9.2 A 3G3MX2-A4040-E 7.5 17.5 A 5.5 14.8 A 3G3MX2-A4055-E 11 23.0 A 7.5 18.0 A 3G3MX2-A4075-E 15 31.0 A 11 24.0 A 3G3MX2-A4110-E 18.5 38.0 A 15 31.0 A 3G3MX2-A4150-E 128 203 140 187 3G3AX-MX2-ECT 108 260 207 296 350 176 128 203 140 180 187 260 207 296 Drive dimensions H D W 13 Xpectia FZM1 vision system Machine Vision tailored for pick & place The FZM1 Vision System is optimized to detect the position and orientation of any object at high speed and with high accuracy. The FZM1 provides a new generation of image processing technologies and an intuitive user interface optimized for positioning applications. The built-in EtherCAT communications enables reliable and easy networking with motion control increasing the overall machine performance. Stable measurements under changing conditions * Differences of the work piece * Dust and dirt * Changing ambient environment Alignment and quality inspection in one system * Inspection of scratches and defects * Detection of dirty or overlapping objects * Edge and corner breakage inspection Flexible camera installation * Use different fields of vision * Install at any angle 14 Shape based object positioning: * Separation of attached objects * Detection of partially hidden objects * Compensation of rounded or broken edges FZM1 features * Easy and guided setup using the Application Wizard * Simple auto-calibration with the picker * High speed cameras and positioning algorithm * Simultaneous quality inspection * EtherCAT connectivity built-in Reference list Controller description Model Xpectia FZM1 controller with EtherCAT, Two cameras, NPN Output Xpectia FZM1 controller with EtherCAT, Two cameras, PNP Output FZM1-350-ECT FZM1-355-ECT Camera description Model High-speed Monochrome camera, 300000 pixels High-speed Colour camera, 300000 pixels Digital Monochrome camera, 300000 pixels Digital Colour camera, 300000 pixels Digital Monochrome camera, 2 million pixels Digital Colour camera, 2 million pixels FZ-SH FZ-SHC FZ-S FZ-SC FZ-S2M FZ-SC2M 15 GX Series Block I/O High-speed remote I/O terminals An extensive line-up of digital I/O terminals, analogue I/O terminals and encoder input terminal are available for EtherCAT connectivity. The wiring type of the digital I/O terminal can be either screw terminal block or e-CON formats, it's your choice. GX I/O features * Easy installation and wiring, all modules have EtherCAT connectivity built-in * Simple setup, EtherCAT node addresses can be easily set with a simple rotary switch * The allocation area of the remote I/O terminal is automatically decided by simply setting the node address * High-speed input * The digital I/O terminals are equipped with high-speed input functionality, ON/OFF delay of 200 ms max. * Digital input filter prevents malfunction when status is unstable due to chattering or noise. Available input filter values are 0 ms, 0.5 ms, 1 ms (default), 2 ms, 4 ms, 8 ms, 16 ms and 32 ms Reference list 16 Unit description Specification, modules with EtherCAT Model 16 NPN inputs 16 PNP inputs 16 NPN outputs 16 PNP outputs 8 inputs and 8 outputs, NPN 8 inputs and 8 outputs, PNP 16 NPN inputs 16 PNP inputs 16 NPN outputs 16 PNP outputs 8 inputs and 8 outputs, NPN 8 inputs and 8 outputs, PNP 16 relay outputs 4 analogue inputs, current/voltage 2 analogue outputs, current/voltage 2 encoder open collector inputs 2 encoder line-driver inputs 24 VDC, 6 mA, 1-wire connection, expandable 24 VDC, 6 mA, 1-wire connection, expandable 24 VDC, 500 mA, 1-wire connection, expandable 24 VDC, 500 mA, 1-wire connection, expandable 24 VDC, 6 mA input, 500 mA output, 1-wire connection 24 VDC, 6 mA input, 500 mA output, 1-wire connection 24 VDC, 6 mA, 3-wire connection 24 VDC, 6 mA, 3-wire connection 24 VDC, 500 mA, 3-wire connection 24 VDC, 500 mA, 3-wire connection 24 VDC, 6 mA input, 500 mA output, 3-wire connection 24 VDC, 6 mA input, 500 mA output, 3-wire connection 250 VAC, 2 A, 1-wire connection, expandable 10 V, 0-10 V, 0-5 V, 1-5 V, 4-20 mA 10 V, 0-10 V, 0-5 V, 1-5 V, 4-20 mA 500 kHz Open collector input 4 MHz Line driver input GX-ID1611 GX-ID1621 GX-OD1611 GX-OD1621 GX-MD1611 GX-MD1621 GX-ID1612 GX-ID1622 GX-OD1612 GX-OD1622 GX-MD1612 GX-MD1622 GX-OC1601 GX-AD0471 GX-DA0271 GX-EC0211 GX-EC0241 SmartSlice Plug-and-Play I/O for Trajexia SmartSlice I/O units extend Trajexia's I/O capability with digital and analogue I/O units, ranging from basic relay outputs to configurable temperature inputs. All SmartSlice units feature screwless `push-in' I/O wiring, detachable I/O connector, and hot-swap capability. The SmartSlice EtherCAT "coupler" automatically scans the connected I/O units at startup. The Trajexia controller with EtherCAT master will automatically map the detected I/O data to its designated I/O allocations. SmartSlice I/O features * Up to 64 I/O units per station * Automatic I/O assignment * Easy configuration backup * Hot-swap with auto-restore * Optional address setting Reference list Unit description Specification Model SmartSlice EtherCAT coupler End plate 4 NPN inputs 4 PNP inputs 8 NPN inputs 8 PNP inputs 4 AC inputs 4 AC inputs 4 NPN outputs 4 PNP outputs 4 PNP outputs with short-circuit protection 4 PNP outputs with short-circuit protection 8 NPN outputs 8 PNP outputs 8 PNP outputs with short-circuit protection 2 relay outputs 2 analogue inputs, current/voltage 2 analogue outputs, voltage 2 analogue outputs, current 2 Pt100 inputs 2 Pt1000 inputs 2 Thermocouple inputs SmartSlice EtherCAT coupler one unit required per bus interface 24 VDC, 6 mA, 3-wire connection 24 VDC, 6 mA, 3-wire connection 24 VDC, 4 mA, 1-wire connection + 4xG 24 VDC, 4 mA, 1-wire connection + 4xV 110 VAC, 2-wire connection 230 VAC, 2-wire connection 24 VDC, 500 mA, 2-wire connection 24 VDC, 500 mA, 2-wire connection 24 VDC, 500 mA, 3-wire connection 24 VDC, 2 A, 2-wire connection 24 VDC, 500 mA, 1-wire connection + 4xV 24 VDC, 500 mA, 1-wire connection + 4xG 24 VDC, 500 mA, 1-wire connection + 4xG 240 VAC, 2 A, normally-open contacts 10 V, 0-10 V, 0-5 V, 1-5 V, 0-20 mA, 4-20 mA 10 V, 0-10 V, 0-5 V, 1-5 V 0-20 mA, 4-20 mA Pt100, 2-wire or 3-wire connection Pt1000, 2-wire or 3-wire connection Types B, E, J , K, N, R, S, T, U, W, PL2, with cold junction compensation GRT1-ECT GRT1-END GRT1-ID4 GRT1-ID4-1 GRT1-ID8 GRT1-ID8-1 GRT1-IA4-1 GRT1-IA4-2 GRT1-OD4 GRT1-OD4-1 GRT1-OD4G-1 GRT1-OD4G-3 GRT1-OD8 GRT1-OD8-1 GRT1-OD8G-1 GRT1-ROS2 GRT1-AD2 GRT1-DA2V GRT1-DA2C GRT1-TS2P GRT1-TS2K GRT1-TS2T Note: SmartSlice EtherCAT coupler is only supported by Trajexia 17 18 19 OMrOn EurOpE B.V. Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. 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We reserve the right to make any changes at any time without prior notice.