Omron C200HW-CORT21-V1, Operation Manual

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Flow diagrams
Section 6-6
95
Start
Data PLC --> Unit
(Input Application
Objects)
I/O Refresh
Data Unit --> PLC
(Output
Application
Objects)
RPDO data
received from CAN
bus?
RPDO transmission type
asynchronous or synchronous
and configured SYNC object
received?
Y Y
Control words --> Unit
(IR n ~ IR n+2)
N
N
Status words --> PLC
(IR n+3 ~ IR n+7)
Rising edge IR n.00 after a
preceding falling edge?
Transmit Emergency
message 'Error Reset'
Falling edge IR n.00?
Transmit device specific
Emergency message (if Unit
is not in stopped state)
Unit goes to Pre-
Operational state
N
Y
Goto CANopen
not active state
Rising edge IR n.02 and
IR n.00 = 1?
N
NMT command 'Enter_Pre-
operational_state' is
transmitted and Unit goes
into Pre-Operational state
Y
Rising edge IR n.01 and
IR n.00 = 1?
N
Y
End
N
RUN LED = ON
ERR LED = OFF
7-Segment display = Display value FFh, Dots OFF
IR n+3 = X000 0000 0000 X000
Transmission / reception of user defined CAN messages possible
Start
Message handling
CAN(open)
Abnormal rate of errors
on the bus?
Unit goes Bus Off Y
RUN LED = ON
ERR LED = OFF
7-Segment display = Display value 04h Blinking, Dots OFF
IR n+3 = X000 0100 0000 X000
No CAN(open) communication
Solution:Check network and if all OK toggle IR n.03
Network power failure ?
Unit remains in
the same state
N
Y
RUN LED = ON
ERR LED = OFF
7-Segment display = Display value 02h Blinking, Dots OFF
IR n+3 = X000 0010 0000 X000
No CAN(open) communication
Solution:Check if 24 V DC is connected between pin 1 and 5 of the bus connector
End
N
Configured heartbeat not
received within Heartbeat time
or no RTR within Node Life
Time?
Heartbeat / Life
guarding error
RUN LED = ON
ERR LED = OFF
7-Segment display = Display value 03h Blinking, Dots OFF
IR n+3 = X000 1000 0000 X000
Solution:Solve malfunctioning of the heartbeat producing node or the NMT master sending the RTRs
Y
N
NMT command
'Start_Remote_Node' is
transmitted and Unit goes
into Operational state
Unit Bus Off? Y
Initialise CAN
(go online again)
Y
N