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Omron C200HW-CORT21 Operation Manual

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

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Summary of Contents for Omron C200HW-CORT21

  • Page 1 Cat. No. W904-E2-1 C200HW-CORT21 CAN Unit OPERATION MANUAL...
  • Page 5 C200HW-CORT21 CAN Unit Operation Manual Produced July 2000...
  • Page 7 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 9: Table Of Contents

    1-1 Overall Specifications ............................16 1-2 Dimensions................................17 1-3 Performance ................................18 INSTALLATION................23 2-1 Physical layout of the Unit .............................24 2-2 Mounting the C200HW-CORT21 ..........................27 2-3 Network cabling ..............................27 PLC INTERFACE................29 3-1 Unit Settings................................30 3-2 Control and Status area ............................32 3-3 LEDs, 7-Segment Display............................37 MESSAGE COMMUNICATION, IOWR / IORD ......
  • Page 10 viii...
  • Page 11 Section 1 describes the overall specifications and the communication performance 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.

  • Page 13: Precautions

    PRECAUTIONS This section provides general precautions for using the CAN Units, Programmable Controllers, and related devices. The information contained in this section 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 system.

  • Page 14: Intended Audience

    It is extremely important that a PLC and all PLC Units be used for the specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a PLC system to the above mentioned applications. Safety Precautions Never attempt to disassemble any Units while power is being supplied.

  • Page 15: Application Precautions

    Section 5 Application Precautions Caution The operating environment of the PLC System can have a large effect on the longevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the PLC System.

  • Page 16: Ec Directives

    I/O power supplies. 3. C200HW-CORT21 Units that meet EC directives also meet the common emission standard (EN50081-2). When C200HW-CORT21 products are built into equipment, however, the measure necessary to ensure that the...

  • Page 17: Specifications And Performance

    1 Specifications and Performance This section describes the overall specifications and 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 Transmission of user defined CAN messages ......................20 1-3-3-2 Reception of user defined CAN messages ........................

  • Page 18: Overall Specifications

    Overall Specifications Section 1-1 Overall Specifications Model code C200HW-CORT21 Host PLC system C200HE, C200HG, C200HX, CS1 Maximum number of Units C200HE per PLC system. C200HG-CPU3 -E/CPU4 -E C200HX-CPU3 -E/CPU4 -E All others Unit mounting position CPU Rack or Expansion I/O Rack Unit cannot be mounted to SYSMAC BUS Slave Racks.

  • Page 19: Dimensions

    Section 1-2 Dimensions 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. (All dimensions are in mm.)

  • Page 20: Performance

    The total I/O refresh time depends on the types of Units that are mounted on the backplane(s). Not all Units refresh the same amount of data. The I/O refresh time of the C200HW-CORT21 depends on the number of user defined CAN messages that have been received since the last I/O refresh.
  • Page 21 1 data byte is about 18000 Maximum CAN transfer rate messages per 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.

  • Page 22: Overall Performance

    : The Program Execution time Refer to the PLC Operation manual for the execution time of an IOWR PLC instruction. After the IOWR message is transferred to the C200HW-CORT21, the Unit immediately transfers the message to the CAN transmission interface. The actual transmission of the message depends on the bus load.
  • Page 23 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 to the PLC during the I/O refresh.
  • Page 24 Section 1-3 Performance...

  • Page 25: Installation

    2 Installation This section describes the 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 the C200HW-CORT21 ..........................27...

  • Page 26: Physical Layout Of The Unit

    5-pin male open style connector. The rear view shows the Node Address switches reserved for C200HW- CORT21-V1 (CAN module with CANopen functionality) 2-1-1 LEDs The C200HW-CORT21 has 2 indicator LEDs. These LEDs give the status indication of the Unit Unit status in general.

  • Page 27: Rotary Switch

    Special I/O Unit connected to the PLC. If the same Unit number is used for the C200HW-CORT21 and another Special I/O Unit, an I/O Unit Over error will occur in the PLC and it will not be possible to start up the network communication.

  • Page 28: Bus Connector

    Baud rate (kbit/s) 1000 Note The C200HW-CORT21 enables to configure any arbitrary baud rate via the Unit settings. Refer to section 3-1-1 for the definition of these Unit settings. 2-1-5 BUS Connector The fieldbus connector is a 5-pin male open style connector. The pins are numbered 1 to 5 starting from the top.

  • Page 29: Mounting The C200Hw-Cort21

    Units on their respective Instruction Sheets. • The C200HW-CORT21 is a Special I/O Unit. It can 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.
  • Page 30 Network cabling Section 2-3 Termination The bus must be terminated on both ends of the line. The cables, connectors, and termination resistors used in CAN networks must meet the requirements defined in ISO 11898. ISO 11898 The following tables list the electrical characteristics of a CAN cable and of the terminator according ISO 11898.

  • Page 31: Plc Interface

    3 PLC interface This section describes the interface with the user 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 Control words ..............................33 3-2-2 Status words..............................34 3-3 LEDs, 7-Segment Display............................37...

  • Page 32: Unit Settings

    Unit Settings Section 3-1 Unit Settings Unit settings This Special I/O Unit is configurable with settings made in a dedicated DM area. The assigned DM area depends on the Machine number setting: MACHINE No. DM area* DM1000 to DM1019 DM1100 to DM1119 DM1200 to DM1219 DM1300 to DM1319 DM1400 to DM1419...
  • Page 33 Unit Settings Section 3-1 Value Meaning word m+16 0000 ~ 0063 BRP value The Baud Rate Prescaler value determines the length of the time quanta within one bit time. m+17 0000 ~ 0003 SJW value The (Re)Synchronisation Jump Width defines the maximum number of time quanta a bit time may be shortened or lengthened by one resynchronisation.

  • Page 34: Control And Status Area

    Reserved for CORT21-V1 Reserved for CORT21-V1 The data towards the C200HW-CORT21 are named the control words and the data coming from the C200HW-CORT21 are named the status words. Refer to the next two sub-sections for a detailed explanation of these words.

  • Page 35: Control Words

    Control and Status area Section 3-2 3-2-1 Control words The three control words, IR n ~ IR n+2, are shown below. Any bits of the control words which are not assigned to a specific function, can freely be used as work bits. These bits will be ignored by the C200HW- CORT21.

  • Page 36: Status Words

    Control and Status area Section 3-2 3-2-2 Status words The five status words of the C200HW-CORT21 are shown below. 15 14 13 12 11 10 9 IR n+3 Reserved for CORT21-V1 Reserved for CORT21-V1 New User defined CAN message(s) received...
  • Page 37 3-3). IR n+3.10 Bus Off If the C200HW-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 Bus Off recovery’.
  • Page 38 Section 3-2 IR n+3.15 New error(s) in error log The C200HW-CORT21 has an error log for errors that occurred 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.

  • Page 39: Leds, 7-Segment Display

    LEDs, 7-Segment Display Section 3-3 LEDs, 7-Segment Display The Unit has two LEDs and two 7-segment displays to visualise its status. The layout is shown in the picture below. The two LEDs (RUN, ERR) indicate the status of the Unit in general. The 7-segment display is used to indicate the status of CAN.
  • Page 40 LEDs, 7-Segment Display Section 3-3...

  • Page 41: Message Communication, Iowr / Iord

    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...

  • Page 42: Message Communication

    The error log stores the last 25 errors that have occurred due to message communication. These errors can be read with the IORD instruction. Function 2 and 3 enable to interface the C200HW-CORT21 with devices that have implemented a specific protocol.

  • Page 43: Error Log

    Therefore it is important to check the error log during the programming phase. Error log The C200HW-CORT21 records the last 25 errors that have occurred due to the IOWR / IORD message communication. The last occurred error will Max. 25 errors logged always be the first one in the list.
  • Page 44 Section 4-3 Error log Error log New error Previous error Oldest error Possible error codes The following table gives a list of all the possible error codes, the meaning of the error codes and to which function they are applicable. Error code Description Applicable to 0350...

  • Page 45: Reading The Error Log

    0360 is stored in the error log. Transmitting a user defined CAN message Control code #0003 The C200HW-CORT21 enables to transmit an arbitrary CAN message with the IOWR instruction. The frame of a CAN message is shown in the picture below.

  • Page 46: Receiving A User Defined Can Message

    If no other node is connected to the network or the CAN interface of the Unit is in error, the C200HW-CORT21 will not be able to transmit the message. In that case error code 0448 is added to the error log for each message that the Unit is unable to transmit.
  • Page 47 = 010B, word n+1 = 0114, word n+2 = 0001 Note The C200HW-CORT21 ignores bits 11 to 15 of word n ~ word n+2 of the IOWR message structure. Also, the Unit does not check the validity of word n ~ word n+2 e.g.
  • Page 48 Receiving a user defined CAN message Section 4-6 Receive Buffer New message Previous message Oldest message During the I/O refresh, the messages stored since the last I/O refresh are transferred to the PLC and IR n+3.03 is set to indicate that new user defined IR n+3.03 CAN messages have been received.
  • Page 49 16-bit clock value every 200 µ s with identifier 281h. The scan time of the PLC is fixed to 8 ms. The C200HW-CORT21 only wants to receive the 32-bit counter value and the 8-bit input value. The Unit does not want its receive buffer to be filled with the high frequent clock messages.
  • Page 50 Receiving a user defined CAN message Section 4-6 PLC memory address Contents DM0613 0282 DM0614 0001 DM0615 0055 DM0616 0000 DM0617 0000 DM0618 0000 DM0619 0280 DM0620 0004 DM0621 1002 DM0622 000F DM0623 0000 DM0624 0000 DM0625 0280 DM0626 0004 DM0627 1001 DM0628...

  • Page 51: Troubleshooting And Maintenance

    5 Troubleshooting and Maintenance This section describes 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 5-3-2 Inspection................................52 5-3-3 Replacement of Units ............................53...

  • Page 52: Error Indicators

    An I/O Bus error The Unit is not connected properly. Turn the power off, make sure that the Unit is occurred. connected properly and turn the power on again. The Unit is defective. Replace the C200HW-CORT21.
  • Page 53 The PLC’s power is off. Turn the PLC’s power supply on. Blinking. The Unit is defective. Replace the C200HW-CORT21. The RUN LED is The same Unit number has been set on Make sure that the same Unit number is not Blinking.

  • Page 54: Maintenance

    Not all user defined The C200HW-CORT21 is only able to buffer 15 Reduce the PLC scan time or change to a CAN messages are messages. If the receive buffer is not read...

  • Page 55: Replacement Of Units

    The CAN network allows to connect and disconnect nodes while in operation. Note Do not plug or unplug the C200HW-CORT21 on the PLC backplane while the PLC is powered. Doing so may result in damage to the Unit and/or the PLC...
  • Page 56 Maintenance Section 5-3...

  • Page 57: Appendix Acs1 Plc Series Compatibility

    Appendix A CS1 PLC series compatibility The C200HW-CORT21 can also be installed in OMRON CS1 PLC systems, which provide a C200H- compatible I/O bus. However, the internal memory organisation in the CS1 PLC differs from that of the C200H series. The following table shows the relation between the C200H-series memory addresses used throughout this manual, and the corresponding addresses in the CS1 PLC series.

  • Page 59: Revision History

    Revision History A manual revision code appears as a suffix to the 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 version.
  • 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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