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4

Message communication, IOWR / IORD

This section describes the message communication. The PLC program instructions IOWR and IORD are used
to transfer the messages to and from the Unit.

4-1 Message communication ........................................................................................................................................40
4-2 IOWR / IORD ........................................................................................................................................................40
4-3 Error log .................................................................................................................................................................41
4-4 Reading the error log..............................................................................................................................................43
4-5 Transmitting a user defined CAN message ............................................................................................................43
4-6 Receiving a user defined CAN message ................................................................................................................44

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Summary of Contents for C200HW-CORT21

Page 1: ...C200HW CORT21 CAN Unit OPERATION MANUAL Cat No W904 E2 1...

Page 2: ......

Page 3: ......

Page 4: ......

Page 5: ...C200HW CORT21 CAN Unit Operation Manual Produced July 2000...

Page 6: ...iv...

Page 7: ...d Wd in documentation in this sense The abbreviation PLC means Programmable Controller and is not used as an abbreviation for anything else Visual Aids The following headings appear in the left column...

Page 8: ...vi...

Page 9: ...4 2 2 Mounting the C200HW CORT21 27 2 3 Network cabling 27 3 PLC INTERFACE 29 3 1 Unit Settings 30 3 2 Control and Status area 32 3 3 LEDs 7 Segment Display 37 4 MESSAGE COMMUNICATION IOWR IORD 39 4 1...

Page 10: ...viii...

Page 11: ...ance of the Unit Section 2 describes the installation of the C200HW CORT21 Section 3 describes the interface with the user via the PLC system Section 4 describes the message communication Section 5 de...

Page 12: ...x...

Page 13: ...is important for the safe and reliable application of the CAN Units You must read this section and understand the information contained before attempting to set up or operate a CAN Unit and PLC syste...

Page 14: ...des information for installing and operating OMRON CAN Units Be sure to read this manual before operation and keep this manual close at hand for reference during operation It is extremely important th...

Page 15: ...specified in the operation manuals Other power supplies and voltages may damage the Units Take measures to stabilise the power supply to conform to the rated supply if it is not stable Provide circuit...

Page 16: ...common emission standard EN50081 2 When C200HW CORT21 products are built into equipment however the measure necessary to ensure that the standard is met will vary with the overall configuration of the...

Page 17: ...the communication performance of the Unit 1 1 Overall Specifications 16 1 2 Dimensions 17 1 3 Performance 18 1 3 1 PLC cycle time 18 1 3 2 CAN Interface 18 1 3 3 Overall performance 20 1 3 3 1 Transm...

Page 18: ...environmental standards EN50081 2 EN61131 2 Switch Settings Special I O Unit number 0 F by rotary switch Network baud rate 10 kbit s 1000 kbit s by 3 DIP switches User interface Indicators Unit statu...

Page 19: ...1 2 Dimensions Dimensions The following figure shows the dimensions of the Unit Refer to the PLC s Installation Guide for the dimensions of the Unit when it is mounted to the Backplane of the host PLC...

Page 20: ...the C200HW CORT21 depends on the number of user defined CAN messages that have been received since the last I O refresh Refer to section 4 6 for details about receiving user defined CAN messages Calc...

Page 21: ...er second The CAN interface of the C200HW CORT21 is not able to transmit or receive this amount of messages per second Max transmit rate Max receive rate Max transmit message rate C200HW CORT21 2000 m...

Page 22: ...200HW CORT21 the Unit immediately transfers the message to the CAN transmission interface The actual transmission of the message depends on the bus load The priority identifier value of the message de...

Page 23: ...essage s need to be transferred to another PLC memory area After the IOWR instruction the Unit is ready to receive messages The C200HW CORT21 is able to store 15 messages and the buffer is transferred...

Page 24: ...Performance Section 1 3 22...

Page 25: ...e installation of the C200HW CORT21 2 1 Physical layout of the Unit 24 2 1 1 LEDs 24 2 1 2 7 segment display 24 2 1 3 Rotary Switch 25 2 1 4 Baud rate switches 25 2 1 5 BUS Connector 26 2 2 Mounting t...

Page 26: ...200HW CORT21 V1 CAN module with CANopen functionality 2 1 1 LEDs Unit status The C200HW CORT21 has 2 indicator LEDs These LEDs give the status indication of the Unit in general Refer to section 3 3 fo...

Page 27: ...t will not be possible to start up the network communication Note Always turn OFF the power to the PLC before changing the Unit number setting The Unit only reads the Unit number setting during the in...

Page 28: ...is a 5 pin male open style connector The pins are numbered 1 to 5 starting from the top The label besides the connector indicates the colour of the individual wire in the cable that has to be connect...

Page 29: ...be mounted in any slot in the backplane of a CPU Rack or Expansion I O Rack as long as its Unit number is not the same as the Unit number of another Special I O Unit within the system The maximum numb...

Page 30: ...resistance m m 70 Specific line delay ns m 5 Value Terminator Parameter Minimum Nominal Maximum Resistance 118 120 130 Cable length The maximum length of the cable depends on the transmission speed se...

Page 31: ...ser via the PLC system This includes Unit settings to configure the Unit plus the control and status areas 3 1 Unit Settings 30 3 1 1 Baud Rate Configuration 30 3 2 Control and Status area 32 3 2 1 Co...

Page 32: ...nit settings area are only transferred to the Unit during initialisation i e at power on and at Special I O Unit restart The Unit is said to operate in Default Mode when the values of all Unit setting...

Page 33: ...hin a bit time before the sample point m 19 0001 0007 TSEG2 value TSEG2 is the time segment within a bit time after the sample point 8 000 Baud rate BRP 1 x 3 TSEG1 TSEG2 kbit s Recommended TSEG2 SJW...

Page 34: ...Reserved for CORT21 V1 PLC C200HW CORT21 n 2 Reserved for CORT21 V1 n 3 Status word n 4 Reserved for CORT21 V1 n 5 Reserved for CORT21 V1 C200HW CORT21 PLC n 6 Reserved for CORT21 V1 n 7 Reserved for...

Page 35: ...recovery when the Unit has gone Bus Off due to an abnormal rate of errors on the bus IR n 3 10 is set Toggling this bit might not recover the Unit from Bus Off when the cause is not solved 0 No action...

Page 36: ...CORT21 V1 Reserved for CORT21 V1 Reserved for CORT21 V1 Network power failure Bus Off Reserved for CORT21 V1 Reserved for CORT21 V1 Wrong CPU unit Application error New error s in error log 15 14 13 1...

Page 37: ...00HW CORT21 detects an abnormal rate of errors on the bus the Unit will go bus off This means that all CAN communication is stopped The Unit will try to go online again after toggling IR n 03 Start Bu...

Page 38: ...d due to IOWR IORD message communication If new errors have occurred since the last read action to the error log IR n 3 15 is set 0 No new error s in the error log since the last read action to the er...

Page 39: ...of the Unit indicators LEDs LED Colour State Description OFF Fatal error or no power supply via backplane Blinking Initialising the hardware software RUN Green ON The Unit is initialised and no fatal...

Page 40: ...LEDs 7 Segment Display Section 3 3 38...

Page 41: ...on The PLC program instructions IOWR and IORD are used to transfer the messages to and from the Unit 4 1 Message communication 40 4 2 IOWR IORD 40 4 3 Error log 41 4 4 Reading the error log 43 4 5 Tra...

Page 42: ...ic protocol The next sections will first describe the general use of the IOWR IORD instructions and the error log After that the other two message communication functions of the C200HW CORT21 are expl...

Page 43: ...tion the PLC EQ flag is set when the syntax of the instruction the control code and the message length are valid Note The EQ flag does not indicate whether the contents of the message is correct or no...

Page 44: ...or log 0363 Message length is out of range or does not relate to the specified data length in the IOWR message structure Transmitting a user defined CAN message 0364 Message length is out of range Rec...

Page 45: ...ie within the range 1 26 If a length greater than 26 is specified the Unit will respond with a negative acknowledge and the error code 0360 is stored in the error log 4 5 Transmitting a user defined C...

Page 46: ...nts DM0400 0000 DM0401 0002 DM0402 0201 4 6 Receiving a user defined CAN message Control code 0004 The C200HW CORT21 enables to receive an arbitrary CAN message with a combination of the IOWR instruct...

Page 47: ...nge 010Ah to 0114h Set the minimum identifier to the first odd identifier in the range and the maximum identifier to the maximum value and the identifier mask to match the first bit word n 010B word n...

Page 48: ...00h 07FFh word n 2 Data length range 0000 0008 word n 3 Data byte 2 Data byte 1 word n 4 Data byte 4 Data byte 3 word n 5 Data byte 6 Data byte 5 word n 6 Data byte 8 Data byte 7 word n 7 Identifier m...

Page 49: ...the count changes every 2 ms The identifier of the message is 280h Another node transmits its 8 bit input value every 4 ms with identifier 282h A third node transmits its 16 bit clock value every 200...

Page 50: ...80 DM0620 0004 DM0621 1002 DM0622 000F DM0623 0000 DM0624 0000 DM0625 0280 DM0626 0004 DM0627 1001 DM0628 000F DM0629 0000 DM0630 0000 DM0631 0282 DM0632 0001 DM0633 00AA DM0634 0000 DM0635 0000 DM063...

Page 51: ...escribes the troubleshooting procedures and maintenance operations needed to keep the CAN network operating properly 5 1 Error Indicators 50 5 2 Troubleshooting 50 5 3 Maintenance 52 5 3 1 Cleaning 52...

Page 52: ...rect it if necessary After correcting it perform the I O Table Create operation An I O Unit Over error occurred The MACHINE No rotary switch setting is incorrect Make sure that the setting does not ex...

Page 53: ...by the control code EQ flag is not set The contents of the message is invalid Read the error log to find out the cause Check if the control code equals to 0003 or 0004 Check the message length Check t...

Page 54: ...4 is set Restart the Unit If this does not help replace the Unit 7 segment display value is Blinking The 7 segment display indicates the cause Refer to section 3 3 for a list with error codes Try to s...

Page 55: ...defective Unit might have an affect on the entire network communication so a defective Unit must be repaired or replaced quickly It is recommended to have spare Units available to restore network oper...

Page 56: ...Maintenance Section 5 3 54...

Page 57: ...the CS1 PLC series Function instead of C200H addresses CS1 will use addresses MACHINE No 0 to 9 IR100 IR199 Control Status area MACHINE No A to F IR400 IR459 CIO2000 CIO2159 Unit settings DM1000 DM259...

Page 58: ...56...

Page 59: ...catalog number on the front cover of the manual Cat No W904 E2 1 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous versi...

Page 60: ......

Page 61: ...Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 5681 300 Fax 31 0 23 5681 388...

Page 62: ...Authorized Distributor Cat No W904 E2 1 Note Specifications subject to change without notice Printed in the Netherlands...

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