Omron CJ1W-CORT21 User Manual Download

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Machine Automation Controller

CJ-series

User Defined CAN Unit

User Defined
CAN Unit

Operation Manual
for NJ-series CPU Unit

W517-E2-01

CJ1W-CORT21

W517-E2-01

User Defined CAN Unit

CJ1W-CORT21

Operation Manual

for NJ-series CPU Unit

Authorized Distributor:

In the interest of product improvement,
specifications are subject to change without notice.

Cat. No. W517-E2-01

0312

© OMRON Corporation 2011 All Rights Reserved.

OMRON Corporation

Industrial Automation Company

OMRON ELECTRONICS LLC
One Commerce Drive Schaumburg,
IL 60173-5302 U.S.A.
Tel: (1) 847-843-7900/Fax: (1) 847-843-7787

Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69-2132 JD Hoofddorp
The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388

Contact: www.ia.omron.com

Tokyo, JAPAN

OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
Alexandra Technopark,
Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711

OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200

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Summary of Contents for CJ1W-CORT21

Page 1: ...OMRON Corporation Industrial Automation Company OMRON ELECTRONICS LLC One Commerce Drive Schaumburg IL 60173 5302 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Weg...

Page 2: ......

Page 3: ...it will be available for reference during operation This manual is intended for the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent Pe...

Page 4: ...ting devices and hardware Using motion control Using EtherCAT Using EtherNet IP Using CJ series Units Software settings Using motion control Using EtherCAT Using EtherNet IP Programming Using motion c...

Page 5: ...eatures and gives the NJ series Controller specifications Section 2 CPU Unit Operation This section describes the variables and control systems of the CPU Unit and CPU Unit status Section 3 I O Ports...

Page 6: ...ubleshooting This section describes the error messages that are displayed when you check a pro gram on the Sysmac Studio and how to correct those errors Appendices The appendices describe the followin...

Page 7: ...locking the sliders by moving them toward the back of the Units The End Cover is connected in the same way to the Unit on the far right side of the Controller 1 Join the Units so that the connectors...

Page 8: ...series CPU Unit W517 Sections in this Manual Troubleshooting and Maintenance Appendices Communications Timing 6 5 Nomenclature and Installation Data Exchange with the CPU Unit Message Communications...

Page 9: ...s 1 2 1 2 Overview of CAN Bus 1 5 1 2 1 CAN Communication Protocol 1 6 1 2 2 Physical CAN Connection 1 10 1 2 3 Principles of Data Exchange 1 11 1 2 4 Principles of Non Destructive Bitwise Arbitration...

Page 10: ...be Processed 3 12 Section 4 Message Communications 4 1 Overview 4 2 4 1 1 Outline of Message Communications 4 2 4 2 Unit Configuration and Control 4 4 4 2 1 Configure Memory Areas 2902 4 4 4 2 2 Confi...

Page 11: ...e 6 7 6 3 2 Error Codes and Detail Codes 6 8 6 3 3 Status Information 6 8 6 4 Troubleshooting 6 10 6 4 1 CPU Unit s ERR ALM Indicator Lit or Flashing 6 10 6 5 Event Logs 6 11 6 5 1 Overview of the Eve...

Page 12: ...LEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LI...

Page 13: ...products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses...

Page 14: ...OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes eve...

Page 15: ...ation is used Definition of Precautionary Information WARNING Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe...

Page 16: ...luding warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock The triangle symbol indicates precautions including warning...

Page 17: ...ures must be provided in external control circuits The Controller outputs may remain ON or OFF due to deposition or burning of the output relays or destruction of the output transistors As a counterme...

Page 18: ...a momentary power interruption occurs This means that the NJ series Controller may receive incorrect signals from external devices that are also affected by the power interruption Accordingly take su...

Page 19: ...l screws and cable connector screws are tightened to the torque specified in the relevant manuals The loose screws may result in fire or malfunction Online Editing Execute online editing only after co...

Page 20: ...locked into place Always remove any dustproof labels that are on the top of the Units when they are shipped before you turn ON the power supply If the labels are not removed heat will accumulate and m...

Page 21: ...ices do not operate incorrectly Configure the external circuits so that the power supply to the control system turns ON only after the power supply to the Controller has turned ON If the power supply...

Page 22: ...lways confirm safety at the connected equipment before you reset Controller errors for a CJ series Special Unit When a Controller error is reset the Unit where the Controller error with an event level...

Page 23: ...when you transfer settings for the built in EtherNet IP port including IP addresses and tag data links settings This is performed to read and enable the set tings Confirm that the system will not be...

Page 24: ...Confirm the axis number carefully before you perform an MC Test Run The motor is stopped if communications are interrupted between the Sysmac Studio and the CPU Unit during an MC Test Run Connect the...

Page 25: ...e the routing tables network parameters and other CPU Bus Unit data which are stored in the CPU Unit Dispose of the product and Batteries according to local ordinances as they apply The following info...

Page 26: ...nnected from the Rack Be sure that the connectors are secure Do not allow foreign matter to enter the openings in the Unit Doing so may result in Unit burning electric shock or failure Do not allow wi...

Page 27: ...m that EtherCAT communications are established before you attempt to execute motion control instructions Motion control instructions are not executed normally if EtherCAT communications are not establ...

Page 28: ...Memory Card all the way Do not turn OFF the power supply to the Controller during SD Memory Card access The files may be corrupted If there is a corrupted file in the SD Memory Card the file is automa...

Page 29: ...ations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards The applicable directive is EN 61131 2 Conforman...

Page 30: ...registered trademark of Beckhoff Automation GmbH for their patented technology The SD logo is a trademark of SD 3C LLC CAN Protocol is developed by Robert Bosch GmbH and protected by patents SAE is t...

Page 31: ...U Unit and CJ series Units 1 Double click CPU Expansion Racks under Configurations and Setup in the Multiview Explorer Or right click CPU Expansion Racks under Configurations and Setup and select Edit...

Page 32: ...ect Edit from the menu The EtherCAT Configuration Tab Page is displayed for the Controller Configurations and Setup layer 2 Right click the master in the EtherCAT Configurations Editing Pane and selec...

Page 33: ...s Manual Cat No W501 NJ series CPU Unit Soft ware User s Manual W501 NJ501 Learning how to program and set up an NJ series CPU Unit Mainly software information is provided The following information i...

Page 34: ...or NJ series CPU Unit W517 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Revision code Date Revised content 01 April 2012...

Page 35: ...ion 1 10 1 2 3 Principles of Data Exchange 1 11 1 2 4 Principles of Non Destructive Bitwise Arbitration 1 11 1 2 5 Efficiency of Bus Allocation 1 12 1 2 6 Message Frame Formats 1 14 1 2 7 Detecting an...

Page 36: ...AN network and the state of messages Message Communications The User Defined CAN Unit supports message communications exchange with the CPU Four types of services are supported Configuration Configure...

Page 37: ...ode SM3 time determines when an output message is sent In state ST5 the Unit checks whether the configured cycle time for the output message has elapsed As soon as it elapses the message is sent In al...

Page 38: ...the message and in the next cyclic refresh of the CPU the receive queue overflow device variable _RcvOver is turned ON The integrity check for the message is success ful and the User Defined CAN Unit...

Page 39: ...n a difficult electrical environment a high degree of real time capability and ease of use Some users for example in the field of medical engineering opted for CAN because they have to meet particular...

Page 40: ...of the various CAN device types are specified in the higher layer protocol To achieve design transparency and implementation flexibility CAN has been subdivided into differ ent layers according to the...

Page 41: ...te of the unit and therefore the reciprocal of the bit rate also called the bit time The timing parameter of the bit time i e the sample point can be configured individually for each CAN unit creating...

Page 42: ...udes data security and the handling of the transmission protocols and messages The datalink layer is layer 2 of the ISO OSI reference model and is built with two sub layers on top of each other the Lo...

Page 43: ...hardware of any node and application layer Message Routing The content of a message is named by an Identifier The Identifier does not indicate the destination of the message but describes the meaning...

Page 44: ...otocol is implemented in the user program of the controller Received CAN messages are stored in controller memory areas The CAN messages to transmit are formatted in the user program and temporarily s...

Page 45: ...e A high degree of system and configuration flexibility is achieved as a result of the content oriented addressing scheme It is very easy to add units to the existing CAN network without making any ha...

Page 46: ...iency of the bus allocation system is determined mainly by the possible applications for a serial bus system In order to judge as simply as possibly which bus systems are suitable for which applica ti...

Page 47: ...l system attribute compared with existing CSMA CD or token protocols In spite of the insufficient bus transport capacity all outstanding transmission requests are processed in order of their importanc...

Page 48: ...a data frame or a request frame without any data bytes remote frame Control Field The control field contains the IDE Identifier Extension bit which indicates either standard format or extended format...

Page 49: ...parating consecutive messages If there is no following bus access by any unit the bus remains idle bus idle Error Detection Unlike other bus systems the CAN protocol does not use acknowledgement messa...

Page 50: ...and localizing unit failures fault confinement This is done by statistical assessment of unit error situations with the aim of recognizing a unit s own defects and possibly entering an operating mode...

Page 51: ...that on average no corrupted data will go undetected throughout the whole life of a system Residual Error Calculation of the residual error probability requires that the errors which occur are classi...

Page 52: ...network messages in extended format would be misunderstood However there are CAN controllers which only support standard format but recognize messages in extended format and ignore them Version 2 0B...

Page 53: ...o controller following the CAN controller has to administer only a few bits e g transmission request CAN Slave Controllers for I O Functions As well as CAN controllers which support all functions of t...

Page 54: ...send and receive flags area limit of one of each type Configuration of baud rate and sample point Message communications Message communications to send receive a CAN message directly Other functions E...

Page 55: ...1 3 Specifications 1 1 3 1 User Defined CAN Unit 1 FINS message communications are available with the NJ Series However with these functions not all areas of the NJ series CPU Unit are accessible If t...

Page 56: ...s 3 4 5 No Determine a suitable baud rate for the system Determine the node arrangement the wiring configura tion and the cable lengths A Restrictions on lenghts of communication lines B Separation fr...

Page 57: ...area and for message communications data Create algorithm of each POU and register local variables of each POU Register the Unit in the Unit Configuration on the CPU Expansion Racks screen in Configu...

Page 58: ...rogram you need to create a user defined variable of AT specifica tion User defined variables are created using Sysmac Studio Have the necessary user defined variables created before creating a progra...

Page 59: ...e User Defined CAN Unit 2 1 Nomenclature and Installation 2 2 2 1 1 Nomenclature and Functions 2 2 2 1 2 Switch Settings 2 5 2 2 Installing the User Defined CAN Unit 2 8 2 2 1 System Configuration Pre...

Page 60: ...table lists the different states and colors of the indicators with their meaning See 2 2 5 Unit States for more information on Unit States 2 1 1 Nomenclature and Functions CJ1W CORT21 Indicators 1 1 2...

Page 61: ...ion is enabled ST5 Indicator Color Status Condition RUN Green ON Normal operating status The Unit state is ST3 ST4 or ST5 Red ON A non recoverable fatal error has occurred Unit state is ST2 and a star...

Page 62: ...nications are disabled State ST4 CAN communications are enabled State ST5 Lit 00 CAN network power failure Blink 01 CAN bus off Blink 02 Indicator Function Status Left dot Unit operational ON The Unit...

Page 63: ...ong as it has not been set on another CPU Bus Unit con nected to the same CPU Unit Precautions for Safe Use Use a small flat blade screwdriver to turn the rotary switches be careful not to damage the...

Page 64: ...set to OFF at the factory Note Sample point is reduced due to the clock frequency Precautions for Safe Use Always turn OFF the Controller before changing the DIP switch settings Precautions for Corre...

Page 65: ...cables to the connectors the colors can be found in the next table Precautions for Safe Use Before connecting communications cables turn OFF the Controller power supply all slave power supplies and th...

Page 66: ...ions for Safe Use If the sliders are not securely locked the User Defined CAN Unit functions may not operate suf ficiently To dismount the Unit move the sliders to the Release direction 2 2 1 System C...

Page 67: ...orching failure and malfunction Pay particular attention to this during installation and take mea sures such as covering with a cover If the Unit was shipped from the factory with the dust protection...

Page 68: ...the second table the events are defined which will force the Unit into a different state In normal operating mode the Unit is initialized and no start up error occurrs The states are refreshed during...

Page 69: ...T1 Initializing No The Unit executes start up tests and ini tializes the CPU bus communications ST2 Start up error No A start up error was detected during start up tests or during the intialization of...

Page 70: ...2 Nomenclature and Installation 2 12 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517...

Page 71: ...and NJ series CPU Units 3 1 Data Exchange with the CPU Unit 3 2 3 1 1 Data Flow 3 2 3 1 2 Accessing From the User Program 3 5 3 2 Device Variable for CJ series Unit 3 8 3 2 1 Enable CAN Communications...

Page 72: ...CPU and the Unit The Unit determines independently when to cyclically refresh its data This data is not processed immediately after the Unit Cyclically refreshes Several CPU Cyclic refreshes may occu...

Page 73: ...a to associate an identifier with an output buffer and a send trigger Receive Flags Flags indicating which messages have been received A received mes sage is identified by its identifier and in case a...

Page 74: ...specification CPUUnit User program User Defined CAN Unit Communication Enable Status Number of Delayed Messages Devicevariable for CJ series Unit Memory used for CJ series Unit Memory areassuch as CIO...

Page 75: ...etails on the I O ports defined for User Defined CAN Unit refer to 3 2 Device Variable for CJ series Unit Communication Enable Execution instruction for the CAN communication enable function from the...

Page 76: ...n the device name automatically created is used as the device variable name for CJ series Unit for example _EnblCANComm For details on the memory for CJ series Unit refer to NJ series CPU Unit Softwar...

Page 77: ...occupies one bit of CPU memory The number of words occupied by all triggers or flags equals the number of send or receive messages divided by 16 rounded up Trailing padding bits are ignored see secti...

Page 78: ...2 2 Status Communication Once a function is set by changing a switch it is not saved if the power is turned OFF and ON again and will return to the OFF state Name of device variable for CJ series Uni...

Page 79: ...Unit separating functions per each switch contained in Sta tus Communication 3 2 2 Status Communication Name of device variable for CJ series Unit Type R W Area Function _StaComm WORD R Status Communi...

Page 80: ...pecifications TRUE No new configured CAN message received since last Unit Cyclic refresh FALSE New configured CAN message received since last Unit Cyclic refresh Default FALSE _SendOver BOOL R Send Qu...

Page 81: ...ations TRUE A bus off event EV5 bus off has been generated Reset to FALSE when _EnblCANComm is switched from FALSE TRUE in state ST4 configured FALSE A bus off event did not occur since the last EV3 e...

Page 82: ...are awaiting processing in BCD format For details on the _RcvOver variable see 3 2 2 Status Communi cation 3 2 3 Number of Delayed Messages Name of device variable for CJ series Unit Type R W Area Fu...

Page 83: ...902 4 4 4 2 2 Configure 11 Bit ID Output Message Buffer 2903 4 10 4 2 3 Configure 29 Bit ID Output Message Buffer 2904 4 12 4 2 4 Configure 11 Bit ID Input Message Buffer 2905 4 14 4 2 5 Configure 29...

Page 84: ...ommand Codes Command codes are represented by a 2 byte hexadecimal code Commands always begin with a 2 byte command code and any parameters that are required follow the command code More informa tion...

Page 85: ...hich classifies the results and the second byte provides the sub response code SRC which provides details on the results The main response codes are listed below More information about response codes...

Page 86: ...e unit to insure correct operation are 1 Setting memory area buffer allocations with command code 2902 2 Setting parameters for sending messages with 11 bit identifier or 29 bit identifier 3 Setting p...

Page 87: ...280 Memory area of receive buffers 0001 0014 Start address of receive buffer 0000 7FFF Memory area of receive trigger 0001 0014 Start address of receive trigger 0000 7FFF Number of receive messages 00...

Page 88: ...ure that the unit is mounted and wired correctly 00001 2 Normal completion Unit state ST3 or ST4 and all parameters are in range Command is executed and operation is normal 1001 Command length exceeds...

Page 89: ...indicating that a CAN message is received in the receive buffer corresponding to the receive bit Every input message buffer has its corresponding bit The bit value means ON An input message with the c...

Page 90: ...e present Every output buffer can have only one CAN mes sage content for sending The location T of the CAN send message buffer is configured with the command code 2902 This memory area contains output...

Page 91: ...Bit ID Input Message Buffer 2906 for more details Data length number of bytes Data byte 0 Data byte 2 Data byte 4 Data byte 6 Data byte 1 Data byte 3 Data byte 5 Data byte 7 Buffer 0 Data byte 0 Data...

Page 92: ...ta byte 0 Data byte 2 Data byte 4 Data byte 6 Data byte 1 Data byte 3 Data byte 5 Data byte 7 Data byte 0 Data byte 2 Data byte 4 Data byte 6 Data byte 1 Data byte 3 Data byte 5 Data byte 7 Data byte...

Page 93: ...in millisec onds 0003 Invalid setting 0004 Message will be sent on change of data Send Cycle milliseconds 0000 FFFF 0000 Setting when Method of Sending is 0001 or 0004 0001 to FFFF Send Cycle in mill...

Page 94: ...out put buffers configured by message command 2902 Increase the number of output buffers with message com mand 2902 or select an out put buffer smaller than de maximum of output buffers configured by...

Page 95: ...nding bit in the send trigger area changes from OFF to ON 0002 Message will be sent on a cyclic period based on the Send Cycle value in millisec onds 0003 Invalid setting 0004 Message will be sent on...

Page 96: ...put buffers configured with command 2902 Number of output buffers exceeds the number of out put buffers configured by message command 2902 Increase the number of output buffers with message com mand 2...

Page 97: ...nit state ST4 or ST5 and all parameters are in range Command is executed and operation is normal 1001 Command length exceeds maximum command length Too many parameters sent in the command Correct the...

Page 98: ...fiers will be used Each Input Receive Buffer requires the following settings that are configured using the command code 2906 the 29 bit identifier the use of little endian or big endian The following...

Page 99: ...ondition Correction No response Unit state ST1 or ST2 Restart the CPU make sure that the unit is mounted and wired correctly 00001 Normal completion Unit state ST4 or ST5 and all parameters are in ran...

Page 100: ...ittle Endian 0000 0001 0000 Big Endian 0001 Little Endian Response Block End Code hex Description Condition Correction No response Unit state ST1 or ST2 Restart the CPU make sure that the unit is moun...

Page 101: ...The following table defines the minimum and maximum values for each item in the command block with setting details 110C Parameter error Unit state ST5 and one or more parameters are not in range Corre...

Page 102: ...esponse Unit state ST1 or ST2 Restart the CPU make sure that the unit is mounted and wired correctly 00001 Normal completion Unit state ST5 and all parameters are in range Command is executed and oper...

Page 103: ...ich are in use The following table defines the minimum and maximum values for each item in the command block with setting details Issuing a Setting the CAN Bit Rate and Sample Point command will resul...

Page 104: ...ines the minimum and maximum values for each item in the command block with setting details 1002 The command length is insufficient for the smallest command Too few parameters sent in the command Corr...

Page 105: ...ength Too many parameters sent in the command Correct the command and re send 1002 The command length is insufficient for the smallest command Too few parameters sent in the command Correct the comman...

Page 106: ...ar command will result in the following response End Codes Response Block End Code hex Description Condition Correction 0000 Normal Completion 250F Memory Writing Error Error Log was not cleared norma...

Page 107: ...the communication performance of the User Defined CAN Unit 5 1 Performance 5 2 5 1 1 I O Refresh Time 5 2 5 1 2 Output Message Evaluation Time 5 2 5 1 3 Input Message Processing Time 5 4 5 1 4 CAN In...

Page 108: ...evaluation time is the sum of the individual send mode evalua tion times Precautions for Correct Use Precautions for Correct Use Sending messages in the Triggered mode is the fastest way to send mess...

Page 109: ...mately 13 The total number of output buffers is configured with message command 2902 Message command 2903 and 2904 are used to associate a buffer with an identifier A buffer with an identifier associa...

Page 110: ...uation time for the Cyclic Mode Set the number of output buffers with message command 2902 to the same amount as the number of configured output buffers that is the total number of buffers configured...

Page 111: ...has a certain message delay time which is mainly determined by the size of the data field in the message The CAN bit stuff mechanism after every 5 consecutive equal value bits a bit of the opposite po...

Page 112: ...If the message rate is higher than the unit is capable of processing see 5 1 4 CAN Interface the messages will queue causing a delay in processing If messages are received when the queue is full queue...

Page 113: ...g the rate at which the output buffers change state and therefore requests for transmission are generated Receive queue overflow errors can be solved by decreasing the CPU cycle time or by reducing th...

Page 114: ...4 CAN Inter face for the message delay time on the bus The time required for an output to be set or a value in the Output Node to be changed depends on the characteristics of the Output node The minim...

Page 115: ...e CPU It may take several CPU cycles to filter and transfer a CAN mes sage to the CPU The performance of the unit depends on the number of input and output buffers If several input and or output buffe...

Page 116: ...5 Communications Timing 5 10 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517...

Page 117: ...N Unit 6 2 6 2 Troubleshooting with the User Defined CAN Unit Indicators 6 4 6 2 1 Run LED Indicator 6 4 6 2 2 ERR LED Indicator 6 5 6 2 3 Two 7 segment Display 6 5 6 2 4 Two Dot Indicators 6 6 6 3 Er...

Page 118: ...been disturbed to possibly remain undetected The overall residual error proba bility is extremely low and this makes CAN based protocols very reliable and suitable for harsh environments The User Def...

Page 119: ...nt display OFF Right dot inicator OFF Left dot indicator OFF RUN LED GREEN ERR LED OFF 7 Segment display FF Right dot inicator OFF Left dot indicator ON RUN LED GREEN ERR LED OFF 7 Segment display 00...

Page 120: ...ait for until unit to be initialized ON State is ST3 ST4 or ST5 Configure the unit with message command 2902 or enable communication by turning ON _EnblCANComm Enabled communication is confirmed when...

Page 121: ...Make sure the Cyclic refresh is enabled Restart the Unit If problem persists contact a local Omron representative 6 2 3 Two 7 segment Display Two 7 segment Display Color Status Unit Status Comments R...

Page 122: ...nted correctly switch the power on or wait for unit to initialize Configure the unit with message command 2902 OFF Unit state is ST1 ST2 or ST3 unit has a startup error or is not yet configured Make s...

Page 123: ...it is powered up When the error log is read with a message command only the error log records in RAM are read When the error log is cleared with a message command the error log records in RAM and EEPR...

Page 124: ...ror Undefined Contents Yes 0602 ER5 Error Log Read Error 01 Hex 06 Hex Yes ER6 Error log write error 02 Hex 06 Hex No ER7 Network parameter read error 01 Hex 02 Hex Yes ER8 Network parameter write err...

Page 125: ...Unit New errors in error log since Startup Last service of message command 2102 Last service of message command 2103 Device Variable _DelayMsgNo Word Device Variable Name Status Controlled by Unit Ope...

Page 126: ...ly The CPU Bus Unit model registered in the Unit Configuration in the CPU Unit does not match the actual Unit Configuration Compare using Syn chronize operation and use one of the following procedures...

Page 127: ...er to the NJ series CPU Unit Software User s Manual Cat No W501 for details on the event logs in an NJ series CPU Unit Refer to the NJ series Troubleshooting Manual Cat No W503 for details on Controll...

Page 128: ...s power is not being supplied sufficiently from the network page 6 14 84C20000 hex Send Queue Overflow The send queue was overflowed If the message rate exceeds the processing capacity of the unit a d...

Page 129: ...y method depends on the cause of the error 3 One of the following System System event log Access Access event log 4 One of the following Continues Execution of the user program will continue Stops Exe...

Page 130: ...that the network power and the network cable are wired correctly Attached information None Precautions Remarks None Event name Send Queue Overflow Event code 84C20000 hex Meaning The send queue was o...

Page 131: ...when receiving the message Reduce the communications load Consider the communications load the rate the other devices transmit messages and the CPU cycle time Attached information None Precautions Rem...

Page 132: ...a long time Remove the smudge when cleaning Precautions for Correct Use Precautions for Correct Use Never use volatile solvents such as paint thinner benzene or chemical wipes These sub stances could...

Page 133: ...MRON dealer If there is a faulty contact try wiping the contact with a clean lint free cloth dampened with alcohol Precautions for Safe Use To prevent electric shock when replacing a Unit be sure to s...

Page 134: ...6 Troubleshooting and Maintenance 6 18 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517...

Page 135: ...series CPU Unit W517 App A 1 Differences in Available Functions Depending on the CPU Unit NJ CJ series to be Connected A 2 A 1 1 Differences in Available Functions A 2 A 1 2 Differences in Accessing...

Page 136: ...ns in the CJ series CPU Unit s I O memory are listed below First word in Special I O Unit CIO Area n CIO 1 500 Unit number 25 Unit number 0 to 15 First word in Special I O Unit DM Area m D30 000 Unit...

Page 137: ...iables for CJ series Unit Word address Bit Variable name Description CIO n 3 0 to 1 Reserved by System 2 _EnblComm Enabled Communication 3 _MsgRcv CAN Message Received 4 to 5 Reserved by System 6 _Sen...

Page 138: ...eration Manual Cat No W504 for more details about program creation using the ST Editor The example is created based on the following configuration requirements specific application require ments may v...

Page 139: ...N Unit Operation Manual for NJ series CPU Unit W517 A 2 User Program Example App A 1 2 Differences in Accessing from User Program The following ST Program example configures the User Defined CAN Unit...

Page 140: ...Appendices A 6 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517...

Page 141: ...Index 1 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 I Index...

Page 142: ...nd Status Flags 3 3 Control Field 1 14 CPU 1 2 CPU Unit watchdog timer error 6 8 CRC Field 1 15 Cyclic 1 3 Cyclic Mode 5 4 Cyclic Redundancy Check CRC 1 15 Cyclic Refresh 3 2 D Data Exchange with the...

Page 143: ...etention 1 20 Priority 1 11 R Reading and Clearing the Error Log 6 7 Receive Buffer Area 4 9 Receive Flags 3 3 Receive Trigger Area 4 7 Reliability 1 17 Residual Error 1 17 Re transmission 1 16 RTR Bi...

Page 144: ...Index 4 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Index...

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