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CJ1W-CORT21 User Defined CAN unit Operation Manual

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1. Memory areas Section 4 3 Every output message buffer has its corresponding bit the send trigger Both PLC and unit can be actors on a bit Action Function PLC bitset In mode SM1 output messages are sent by triggering a bit in trigger send area table after the next Unit Cyclic refresh the unit will send the corresponding message In other modes no function PLC bit Unspecified functionality the corresponding message may sent or reset not Unit bit set Unspecified functionality the unit shall not set bits in this area Unit bit In mode SM1 output messages are sent by triggering a bit in trigger reset send area table the unit indicates that the corresponding message has been sent by clearing the send bit in the send area table In other modes the unit shall not reset the bit 4 3 2 Receive Flags Area word S The location S of the receive flags word is configured via FINS command 2902 This memory area contains input words The length of the area is deter mined via the number of configured input message buffers If the number of configured input message buffer is B the length is fie B 15 16 The receive flag area table has the following layout 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 word S 1 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 l l l l l l l l l l l l l l l l l word S L 16 L 16 L 16 L 16 L 16 L 16 L
2. J1939 uses the 29 bit identifier defined within the CAN protocol shown in figure above The SOF SRR IDE and RTR bits will be ignored in the following description The first 3 bits are used for determining message priority during the arbitration process A value of 000 has the highest priority Higher priority messages would typically be used for high speed control messages An exam ple of this is the torque control message from the transmission to the engine A lower priority would be used for data which is not time critical An example of this vehicle road speed The priority field should be programma ble for each DC value so that network tuning can be performed by an OEM if necessary The next bit of the identifier is reserved The bit should be set to O for transmitted messages This default will permit future use of the bit for other purposes as defined by the SAE committee The next set of 9 bits in the identifier is the Data Content DC field The DC field identifies what data is con tained within the message The first bit is used as a page selector The later 8 bits PDU Format provide a page of 256 different values Page 0 is intended to contain all the messages which are presently being defined Page 1 is intended to provide additional expansion capacity for the future Data Content values are described in J1939 71 The next 8 bits of the identifier are PDU specific dependent on the message format If the data conten
3. End Code Description Condition no response Unit state ST1 or ST2 0000 Normal completion Unit state ST5 and all parame ters in range 1001 Command length exceeds maxi mum command length 1002 The command length is insuffi cient for the smallest command 110Ch Parameter error Unit state ST5 and one or more parameters not in range 2201 Not executable in current mode Unit state ST3 or ST4 220F The specified service is being Unit state ST5 and send mode executed changed and the message is being sent Note On response code 0000 the unit sends a message with an extended identifier length with the provided identifier data length and data Depending on the provided endian flag On all response codes different from 0000 the unit will not transmit the user defined CAN message Command message specification Function FINS command 2907 Identifier 11 bit e g 000A for identifier 10 Data length in bytes e g 0003 first 3 bytes will be sent Data byte 0 Data byte 1 Data byte 2 Data byte 3 Data byte 4 Data byte 5 Data byte 6 Data byte 7 Big or little endian e g 0000 for big endian a IS example uses big endian note that for little endian the data bytes in word n 3 to word n 6 are swapped All the 8 data bytes word n 3 until word n 6 are always part of the FINS message the actual data length of the CAN message word n 2 can be less than this 08 T
4. 3 5 Message frames 3 5 1 Message frame formats Identifier The CAN protocol supports two message frame formats the only essential difference being in the length of the identifier ID In the standard format the length of the ID is 11 bits and in the extended format the length is 29 bits The message frame for transmitting messages on the bus comprises seven main fields Arbitration field Control Data Field CRC Field Ack End of Int Bus idle Field Field Frame S Ril jr O 11bit IDENTIFIER T D o DLC 0 8 bytes 15 bit CRC F RJE Arbitration field A message in the standard format begins with the start bit Start Of Frame this is followed by the arbitration field which contains the identifier and the RTR Remote Transmission Request bit which indicates whether it is 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 a bit reserved for future extensions and in the last 4 bits a count of the data bytes in the data field The number of bytes in the data field is indicated by the Data Length Code DLC the data length code is 4 bits wide Number Data Length Code of data DLe3 pLc2 Dict bytes 0 d d d d d dominant 1 d d d r r recessive 2 d d d r 3 d d r d 4 d r r r 5
5. Setting the memory area for send recv buffer and send recv trigger FINS message 2902 Send area st D10000 10 buffer of 5 word Max 3200 words Send trigger st CIO 4000 max 40 word Recv area st D11000 10 buffer of 5 word max 3200 words Recv trigger st CIO 4100 max 40 word Setting FINS message CMND S DO CMND R D30 CMND C D20 Wwo0 00 1503 02 BPRG il L4 096 Exec_buff CAN_com 1 er map _OK 000001 MOV 021 2902 FINS_2902 000007 F MOV 021 2 Send_Mem_area 1 MOV 021 amp 10000 Send_Mem_st_adr MOV 021 1 Sendtrigger_Mem_area MOV 021 amp 4000 Sendtrigger_Mem_st_adr MOV 021 amp 10 No_send_buffer MOV 021 2 Recv_Mem_area MOV 021 amp 11000 Recv_Mem_st_adr MOV 021 1 Recv_flag_mem_area MOV 021 amp 4100 Recv_flag_Mem_st_adr MOV 021 amp 10 No_recv_buffer MOV 021 amp 22 No_command_byte BEND 801 100 Programming examples Appendix B 000000 000021 000001 000023 f 000000 000032 000001 000034 F 000000 000044 000001 000046 F Program Name Setting_para_send_1 bit Section Name Setting_para_send_1 bit Setting buffer 0 to method of trigger and an ID 0001 wo 01 l fri send_11bi t BPRG 096 MOV MOV MOV MOV 021 2903 FINS_2903_send11bit 021 amp 0 Send_buffer_no_11bit 021 1 Send_ID_no_11bit 021 1 Method_11bit MOV 021 0 Send_cycle_11bit MOV 021 0
6. DM Area words allocated for the CPU Bus Unit 100 words Unit allocation for one Unit Reserved currently not used Other I O memory Input Output buffers flag areas configured with FINS com mands Supported connections communications e Message buffers and FINS message communications All conform to CAN communications standards Message communica tions FINS message configuration Configuration of Input and Output buffers with a maximum of 640 for each type Configuration of send and receive flags area there can be only one of each type Configuration of baudrate and sample point FINS message communications FINS commands to send receive directly a CAN message Other func tions Error history in the User Defined CAN Unit Supported The history can be accessed using a FINS com mand Setting section Rotary switches Unit No hexadecimal x 1 Front panel DIP switch Baud rate digital x 3 Display section Two LED indicators One green indicator to indicate the Unit is powered and one red indictor to indicate an error status Two digit 7 segment display Displays CAN communication sta tus or error code 2 dot LED indicators in 2 digit 7 segment display communica tion status left dot indicates FINS configuration send from CPU to unit right dot indicates communication is configured and enabled Front connector One communications connector
7. Error handling Startup sequence 80 The User Defined CAN Unit uses several error detection and error handling mechanisms User Defined CAN is based on the serial bus protocol of CAN The data link layer of the CAN protocol combines 5 error detection mechanisms CRC check frame check Ack check bit check bit stuffing check This combina tion results in a Hamming distance of 6 This means that at least 6 bits in the message frame must have been disturbed to possibly remain undetected The overall residual error probability is extremely low and this makes CAN based protocols very reliable and suitable for harsh environments The User Defined CAN Unit also has some manufacturer specific status indi cation mechanisms CIO word n 3 indicates the current state of the User Defined CAN Unit Visual status indication of the User Defined CAN Unit Some errors are logged in the error log these errors can even be read after a restart This chapter will give a detailed description of these higher layer error han dling and status mechanisms Flow diagrams to get a better understanding of how the error handling and status mechanisms are related and this chapter concludes with some flow diagrams that describe the basic functionality of the Unit In the following diagram the startup sequence is shown including the status of all indicators of the unit Indicators Power on or Reset Z C Start y S Contgurea Sectio
8. Several documents have undergone revision after the initial publication in 1998 The specifications have been added to parts taken off and clarified The set of specifications available from SAE www sae org includes e J1939 Recommended Practice for a Serial Control and Communications Vehicle Network e J1939 01 Recommended Practice for Control And Communications Network for On Highway Equipment e J1939 11 Physical Layer 250k bits s Twisted Shielded Pair e J1939 13 Off Board Diagnostic Connector e J1939 15 Reduced Physical Layer 250K bits sec Un Shielded Twisted Pair UTP e J1939 21 Data Link Layer e J1939 31 Network Layer e J1939 71 Vehicle Application Layer e J1939 73 Application Layer Diagnostics e J1939 75 Application Layer Generator Sets and Industrial e J1939 81 Network Management The naming of the layers is not always compliant to the OSI reference model and to CiA s recommend termi nology The J1939 21 and J1939 31 define partly an application layer and the J1939 71 and J1939 73 specify an application profile As a result of the standardization modern trucks have their diesel engines retarders gearboxes and other equipment communicating with each other using this protocol Messages in J1939 Most messages on J1939 are intended to be broadcasts This means that the data is transmitted on the net work without directing them to a specific destination This permits any device to use the data without requiring ad
9. 3 n 8 and n 9 for status information Word n 3 n CIO 1 500 25 x unit number Name Status Controlled Unit operation by Enabled CAN communications disabled i e unit state Commu lt gt ST5 communicating nication CAN communications enabled i e unit state ST5 communicating CAN New configured CAN message received message since last cyclic refresh received No new configured CAN message received since last cyclic refresh Send All messages to be sent fit in the send queue overflow Send queue overflow some messages will be delayed Receive Receive queue overflow some received overflow messages have been discarded All messages received were handled Network Network power OK Power Error ER10 active Power fail when commu failure nicating Bus off Bus off event did not happen since last event event EV3 enable communications Bus off event EV5 bus off has been gener ated Error in No new errors in error log since error log 1 Startup 2 Last service of FINS command 2102 3 Last service of FINS command 2103 New errors in error log since 1 Startup 2 Last service of FINS command 2102 3 Last service of FINS command 2103 91 Using status information Section 7 5 Word n 8 n CIO 1 500 25 x unit number Con Unit operation trolled by Number of messages that are delayed see send overflow n 3 bit 6 Range 0 15
10. The memory areas are configured from within the PLC program using FINS command 2902 The configuration steps in the following list should be done after every power on of the unit to insure correct operation 1 Setting memory area buffer allocations FINS 2902 2 Setting parameters for sending messages with 11 bit identifier or 29 bit identifier 3 Setting parameters for receiving messages with 11 bit identifier or 29 bit identifier 4 Enable CAN CIO word 0 bit 4 Steps 2 and 3 are optional and their order given above is not mandatory Send Trigger Area word R The location R of the send trigger words is configured via FINS command 2902 See Setting the memory areas on page 54 The words in this memory area are inputs as well as outputs The length of the area is determined via the number of configured output message buffers If the number of configured output message buffers is A the length L is L A 15 16 The result is rounded down to whole numbers remaining triggers will be ignored The trigger send area table has the following layout 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 word R 1 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 l l l l l l l l l l l l l l l l l word R L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1
11. and the refresh times of all units connected to its backplane s The size of the PLC program is application specific Apart from optimizing the PLC program the program execution time can only be decreased by using a faster CPU unit The total I O refresh time depends on the number and 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 User Defined CAN Unit depends on the size of the receive flags area the size of the send trigger area on the number of input buffers and on the number of output buffers that have been defined All these PLC areas are defined with FINS command 2902 Refer to section 4 for details about mapping data area s on PLC memory locations and refer to sec tion 5 for FINS commands to configure the User Defined CAN Unit receive and send CAN messages 6 1 1 1 Output message evaluation time Output message evaluation time SM1 Triggered mode 70 The output message evaluation time is the time between completion if the I O refresh of the unit and the moment an output message is set ready for send ing The duration of this period is highly user dependent and can introduce a significant delay before the message is actually sent The message evaluation time depends on the length and structure of the PLC program and the send mode used for the User Defined CAN Unit It is advised to review the timing as the performance of the complete system or
12. e Locations subject to temperatures or humidities outside the range speci fied in the specifications e Locations subject to condensation as the result of severe changes in tem perature e Locations subject to corrosive or flammable gases e Locations subject to dust especially iron dust or salt e Locations subject to exposure to water oil or chemicals e Locations subject to shock or vibration Provide proper shielding when installing in the following locations e Locations subject to static electricity or other sources of noise xiii Application Precautions 5 e Locations subject to strong electromagnetic fields e Locations subject to possible exposure to radiation e Locations near to power supply lines Caution The operating environment of the User Defined CAN Unit can have a large effect on the longevity and reliability of the system Unsuitable operating envi ronments can lead to malfunction failure and other unforeseeable problems with the system Ensure that the operating environment is within the specified conditions at installation time and remains that way during the life of the sys tem Follow all installation instructions and precautions provided in the opera tion manuals 5 Application Precautions Observe the following precautions when using the User Defined CAN Unit N WARNING Failure to abide by the following precautions could lead to serious or possibly fatal injury Always heed these precauti
13. e g engine temperature which change relatively slowly recessive 1 dominant Bus line 1 loses 3 loses The priority at which a message is transmitted compared with another less urgent message is specified by the identifier of the message concerned The priorities are laid down during system design in the form of corresponding binary values and cannot be changed dynamically The identifier with the low est binary number has the highest priority 26 Principle of non destructive bitwise arbitration Section 3 4 Bitwise arbitration When ever the bus is free any unit may start to transmit a message Bus access conflicts are resolved by bitwise arbitration on the identifiers involved by each unit observing the bus level bit for bit In accordance with the wired and mechanism by which the dominant state logical 0 overwrites the recessive state logical 1 the competition for bus allocation is lost by all those units with recessive transmission and dominant observation During arbitration every transmitter compares the level of the bit transmitted with the level that is motored on the bus If these levels are equal the unit may con tinue to send All losers levels are not equal automatically become receiv ers of the message with the highest priority and do not re attempt transmission until the bus is available again 3 4 2 Efficiency of bus allocation Bus allocation Bus allocation on a fixed time schedule Bus
14. messages i e in descending order Buffer 0 is configured with the identi fier of the most frequent received message The least frequent message should be received in the buffer with the highest number 3 If the total number of input buffers is high and the unit will receive messag es that are not configured especially if they are very frequent configure these message just like they should be received by the unit Use the same logic from the previous guideline This sub section describes the performance of the physical layer of CAN and the performance of the CAN interface of the User Defined CAN Unit The fol lowing figure depicts the transmission of CAN messages on the bus message n message n 1 message n 2 t b b t4 ts t gt ft ty t4 Message delay time t tp Message intermission Every message has a certain message delay time which is mainly deter mined by the size of the data field in the message CAN s bit stuff mechanism after every 5 consecutive equal value bits a bit of the opposite polarity is added can increase the message delay time by a maximum of 15 The fol lowing formulas give the minimum and maximum message delay time Number of bits in message Message delay time s AA Bit rate bit s s 44 8 number of data bytes F s it rate bit s Message delay timemin 73 Overall performance Section 6 2 trunc 47 8 9 6 number of
15. or 33 extended format bit periods for any bus access period Unlike the message wise arbitration employed by the CSMA CD method this non destructive method of conflict resolution ensures that no bus capacity is used without transmitting useful information Even in situations where the bus is overloaded the linkage of the bus access priority to the content of the message proves to be a beneficial 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 importance to the overall system as determined by the message priority The available transmission capacity is utilized effi ciently for the transmission of useful data since gaps in bus allocation are kept very small The collapse of the whole transmission system due to over load as can occur with the CSMA CD protocol is not possible with CAN Thus CAN permits implementation of fast traffic dependent bus access which is non destructive because of bitwise arbitration based on the message priority employed Non destructive bus access can be further classified into e centralized bus access control e decentralized bus access control depending on whether the control mechanisms are present in the system only once centralized or more than once decentralized A communication sys tem with a designated unit inter alia for centralized bus access control must
16. 5 4 Restriction 3 Big or little endian format see 4 3 4 CAN Input Message Buffers The last FINS command 2905 or 2906 sent to the unit determines whether 11 bit or 29 bit identifiers are used for all input message buffers If the last com mand is 2905 11 bit identifiers will be used If the last command is 2906 29 bit identifiers will be used Command message specification Word Function FINS command 2906 Buffer number e g 0002 for buffer 2 MSB part identifier 29 bit e g 0000 for identifier 2 MSB LSB LSB part identifier 29 bit e g 0002 for identifier 2 MSB LSB Big or little endian e g 0000 for big endian 5 4 6 Setting parameters for direct transmitting 11 bit ID message FINS command 2907 Command Block Response Block Note The instruction is used to transmit a user defined CAN message This function is only for advanced users that have knowledge of the message structure of the higher layer protocol The User Defined CAN Unit will not check the valid ity of the CAN message w Y Y ki Commandldentifier Data Data Big or code 11 bit length 8 Bytes little in bytes endian Setting Minimum value Maximum value Identifier 11 bit Data length in bytes Data Big or little endian Big or little endian 0000h Big endian 0001 Little endian Command End Code Code 63 Fins Commands and Responses Section 5 4
17. BCD messages Word n 9 n CIO 1 500 25 x unit number Name Status Con Unit operation trolled by Number Number of input messages Range 0 15 of mes BCD saged to be pro cessed 92 Maintenance and Replacement Section 7 6 7 6 Maintenance and Replacement 7 6 1 Cleaning Z Caution 7 6 2 Inspection Inspection Equipment Inspection Procedure This section describes the routine cleaning and inspection recommended as regular maintenance as well as the Unit replacement procedure required if the User Defined CAN Unit fails Clean the User Defined CAN Units regularly as described below in order to keep the network in its optimal operating condition e Wipe the Unit daily with a dry soft cloth e When a spot can t be removed with a dry cloth dampen the cloth with a neutral cleanser 2 solution wring out the cloth and wipe the Unit e A smudge may remain on the Unit from gum vinyl or tape that was left on for a long time Remove the smudge when cleaning Never use volatile solvents such as paint thinner benzene or chemical wipes These substances could damage the surface of the Unit Be sure to inspect the system periodically to keep it in its optimal operating condition In general inspect the system once every 6 to 12 months but inspect more frequently if the system is used with high temperature or humid ity or under dirty dusty conditions Prepare the following eq
18. Data byte 3 Word U 1 5 3 Data byte 4 Data byte 5 Data byte 5 Data byte 4 Word U 1 5 4 Data byte 7 2 l a Data byte 6 Data byte 7 Data byte 8 Word U B 1 5 Data length number of bytes Data length number of bytes Word U B 1 5 1 Data byte 0 Data byte 1 o Data byte 1 Data byte 0 Word U B 1 5 2 Data byte 2 Data byte 3 F Data byte 3 Data byte 2 Word U B 1 5 3 Data byte 4 Data byte 5 3 Data byte 5 Data byte 4 Word U B 1 5 4 Data byte 6 Data byte 7 Data byte 8 Given the number of configured input message buffers as B the area has the layout specified below The layout depends on the configuration supplied via 44 Memory areas Section 4 3 FINS commands 2905 or 2906 By selecting little of big endian format adjust when FINS command is executed a byte swap is performed 45 SECTION 5 FINS Commands and Responses This section describes message communications using FINS commands sent from the ladder program in the CPU Unit of the PLC sent from the PC or any other communication unit able to send FINS commands S E OW erVIOW ii iann ee ee et SS ceed See Be Se eae 48 5 2 FINS Communications 0 0 0 0 eee eee 48 5 2 1 Sending Receiving FINS Command Responses 49 5 2 2 Units Supporting FINS Communications 50 5 2 3 FINS Command Lists 0 0 00 eee eee eee ee 50 5 3 Using FINS Message C
19. I O table Make sure the Cyclic refresh is enabled Restart the Unit If problem persists contact distrib uter Indicators Section 7 2 7 2 3 7 2 4 Two 7 segment display Indicator two 7 segment display Two dot indicators Status All off Condition No power or in ST1 or ST2 Possible remedy Make sure that the unit is wired and mounted correctly switch the power on or wait for unit to initialize Configure the User Defined CAN Unit with FINS commands Displays FF State is ST3 or ST4 If unit is not configured then config ure the unit with FINS command 2902 When unit already has a con figuration enable communication by setting ClO n 04 This enabling is confirmed when CIO n 3 02 is set Dis plays 00 State is ST5 CAN messages can be sent and received Blinks 01 CAN Bus power fail Restore power on the CAN bus Blinks 02 CAN Bus off Check the CAN network Displays H1 ST1 PC21 Startup error Create I O table or change the unit number Displays EC ST1 error PC21 Startup Create I O table or change the unit number Blinks EC ER2 Create I O table change the unit number Two dot indicators Left dot Condition ST5 Unit is configured and communication is enabled or dis abled state is ST4 or Possible remedy Enable communication by set ting ClO n 04 This is confirmed when ClO n 3
20. Identifier number 3 Send mode See CAN on page 15 4 Send cycle time if the send mode is 2 5 Big or little endian format see 4 3 3 CAN Output Message Buffers Command message specification Word Function FINS command 2903 Buffer number e g 0002 for buffer 2 Identifier 11 bit e g 000Ay for identifier 10 Method of sending e g 0002 for send mode on cycle Send cycle e g 0064 for send cycle 100 msec Big or little endian e g 0000 for big endian If the method of sending is cyclic the Send cycle parameter may not be set to 0000 The unit will respond with an error message The unit of the Send cycle is in milliseconds 5 4 3 Setting parameters for sending 29 bit ID message FINS command 2904 Per send buffer three parameters need to be set the 29 bit identifier the method of sending SM1 triggered SM2 on change or SM3 cyclic and the use of little or big endian 58 Fins Commands and Responses Section 5 4 Command Block yY yY Y Y Command Buffer Identifier Method Send Big or Code number 29 bit of sending Cycle little endian Setting Minimum value Maximum value Buffer number 0000 027F Identifier 29 bit 00000000 1FFF FFFF Method of sending 0001 0004 Send cycle 0000 FFFF Big or little endian 0000 0001 Note Method of sending 0001 Message will be send on triggering the corresponding
21. Indicates information of particular interest for efficient and convenient opera tion of the product Reference Indicates supplementary information on related topics that may be of interest to the user 1 2 3 Indicates various lists such as procedures checklists etc Trademarks and Copyrights CAN Protocol is developed by Robert Bosch GmbH and protected by patents SAE is the trademark of The Society of Automotive Engineers CiA is the trademark of CAN in Automation CiA CiA is the international users and manufacturers organization that develops and supports CAN based higher layer protocols Other product names and company names in this manual are trademarks or registered trademarks of their respective companies OMRON 2004 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the
22. Note For bus lengths greater than 1 km a bridge or repeater device is recom mended Overview of CAN bus Section 1 1 Cable length The maximum cable length values depend on the transmission speed and are based on a DeviceNet cable The length can be increased by the use of repeaters However it is not recommended to use more than three repeaters in series in a CAN network Bit time The User Defined CAN Unit supports bit rates in the range of 10 kBit s up to 1000 kBit s Every unit in a CAN network has its own clock generator usually a quartz oscillator The frequency of this oscillator determines the bit rate of the unit and therefore the reciprocal of the bit rate the bit time The timing parameter of the bit time i e the sample point can be configured individually for each CAN unit creating a common bit rate even though the CAN units oscillator periods fosc may be different The nominal bit rate is the number of bits per second transmitted in the absence of resynchronisation by an ideal transmitter The nominal bit time is the reciprocal of the nominal bitrate nominal bittime 1 nominal bit rate The frequencies of these oscillators are not absolutely stable small variations are caused by changes in temperature or voltage and by deteriorating compo nents As long as the variations remain inside a specific oscillator tolerance range the CAN nodes are able to compensate for the different bit rates by re synchronizing to t
23. ST5 Note On response code 0000 the unit will set a bit rate and a sample point Not all bit rates and all sample points in the valid range are available Force usage of DIP switches Setting the bit rate and sample point to zero instructs the unit to use the DIP switch settings The zero values causes the unit to revert to the DIP switches any other values will result in an override of the DIP switch settings with the FINS command values 67 SECTION 6 Operation This section describes the overall specifications and the communication performance of the User Defined CAN Unit 6 1 Performance 6 1 1 PLC cycle time 6 1 1 1 Output message evaluation time 00 6 1 1 2 Input message process time CAN Interface Overall performance 6 1 2 6 2 1 6 2 2 6 2 3 I O response time Transmission of CAN messages 0 000000 c eee eee Reception of CAN messages 70 70 70 72 73 74 74 76 77 69 Performance 6 1 Performance Section 6 1 The overall performance of the User Defined CAN Unit depends on the perfor mance of the host PLC interface and on the performance of the CAN inter face In the next two sub sections these two factors will be described first After that the overall performance is described 6 1 1 PLC cycle time PLC cycle time I O refresh time The host PLC s cycle time mainly depends on the size of the PLC program
24. Send_Endian_11bit MOV 021 amp 12 No_command_byte BEND 801 Program Name Setting_para_send_29bit Section Name Setting_para_send_29bit Setting buffer 0 to method of trigger and an ID 00000002 for 29 bit CAN W0 05 ia send_29bi t BPRG 096 MOV 021 MOV 021 MOVv 021 021 2904 FINS_2904_send29bit MOV 021 amp 0 Send_buffer_no_29bit 2 Send_ID_no_29bit_low 0 Send_ID_no_29bit_high 1 Method_29bit 0 Send_cycle_29bit MOV 021 0 Send_Endian_29bit MOV 021 amp 14 No_command_byte BEND 801 MOV 021 MOV 021 Program Name Setting_para_recv_11bit Section Name Setting_para_recv_11bit Setting buffer 0 to to receive ID 0003 W0 02 BPRG 1 ove U recv_11bit 3 MOV 021 2905 FINS_2905_recv11bit MOV 021 amp 0 Recv_buffer_no_11bit MOV 021 3 Recv_ID_no_11bit MOV 021 0 Recv_Endian_1 1bit MOV 021 amp 8 No_command_byte BEND 801 101 Programming examples 000000 000053 000001 000055 000000 000063 000001 000065 000000 000070 000001 000072 T 102 Program Name Setting_para_recv_29bit Section Name Setting_para_recv_29bit Appendix B Setting buffer 0 to receive ID 18FEEEOO for 29 bit CAN recv_29bit BPRG 096 MOV 021 MOV 021 MOV 021 2906 FINS_2906_recv29bit amp 0 Recv_buff
25. Unit 0 0 0 cece nea 1 2 1 User Defined CAN Unit Features 0 0 00 0 020 ee 1 2 2 User Defined CAN UNIE errr eee on AA Ea ERE A eee 1 3 Basic Operating Procedure nunnurnar eee eee eee eee t31 OVERVICW file catents aaa EE BA sharon ty weg OE cede ECE EN 1 3 2 Preparations for Communications 0 000 10 OOADNDADAADHFWNDNY WY Overview of CAN bus Section 1 1 1 1 Overview of CAN bus 1 1 1 Introduction CAN Application areas Serial bus License of CAN The Controller Area Network CAN is a serial bus system especially suited for networking intelligent devices as well as sensors and actuators within a system or sub system CAN networks can be used as an embedded communication system for micro controllers as well as an open communication system for intelligent devices The CAN serial bus system originally developed for use in automobiles is increasingly being used in industrial field bus systems the similarities are remarkable In both cases some of the major requirements are low cost the ability to function in a difficult electrical environment a high degree of real time capability and ease of use Some users for example in the field of medi cal engineering opted for CAN because they have to meet particularly strin gent safety requirements Similar problems are faced by manufacturers of other equipment with very high safety or reliability requirements e g robots
26. and Status Up to 25 words of control and status words are exchanged between the User Defined CAN Unit and a dedicated CIO memory area of which the location is related to the unit number Control bits allow the PLC program to switch the CAN communication of the Unit between enabled and disabled communica tion over the CAN bus is only active in the enabled mode During the disabled mode no communication will take place from the Unit to the CAN network or vice versa The remaining ClO words provide status and diagnostics information on the Unit itself the CAN network and the state of messages DM Area A total of 100 DM words is allocated for every User Defined CAN Unit placed in the PLC System These allocated DM words are all reserved for future use and currently not used That is no data is exchanged between an allocated DM area and the User Defined CAN Unit As these words are reserved it is not recommended to use these areas in the PLC program FINS Messages The User Defined CAN Unit supports Factory Intelligent Network Services FINS message exchange with the CPU of the PLC System four types of services are supported configuration transmission error log and identifica tion services Configuration Required for normal operation of CAN network is an external 24V power sup ply connected to the Unit using the front connector Before the User Defined CAN Unit is able to operate in a CAN network the baudrate and sample point must be co
27. command 2902 before executing this command Note For further information see Setting parameters for receiving 29 bit ID mes sage on page 62 7 4 6 FINS command 2907 direct transmit of an 11 bit ID CAN message no respon se Description Condition Unit state ST1 or ST2 Possible remedy Restart the PLC make sure that the unit is mounted and wired correctly 0000 Normal comple tion Unit state ST5 and all parameters in range Everything is OK Command is executed 1001 Command length exceeds maxi mum command length Too many parameters sent in the command Correct the command and re send The command length is insuffi cient for the smallest com mand Too few parameters sent in the command Correct the command and re send Parameter error Unit state ST5 and one or more parameters not in range Correct the parameters Not executable in current mode Unit state ST3 or ST4 Nothing configured please per form FINS command 2902 before executing this command and enable communications by setting CIO n 04 ON confirmed with CIO n 3 02 ON Note The specified ser vice is being exe cuted message on page 63 Unit state ST5 and CAN message currently being sent Send the message less frequent For further information see Setting parameters for direct transmitting 11 bit ID 89 Error responses from FINS commands Sec
28. d r d d 6 d r r d 7 d r r r 8 r Data field The data field ranges from 0 to 8 bytes in length and is followed by the CRC field which is used as a frame security check for detecting bit errors CRC Field The CRC field contains the CRC sequence followed by a delimiter this CTC delimiter is a single recessive bit The frame check sequence is derived from a cyclic redundancy code best suited for frames with bit counts less then 127 bits BCH code In order to carry out the CRC calculation the polynomial to be divided is defined as the polynomial the coefficients of which are given by the destuffed bit stream consisting of Start Of Frame SOF arbitration field control field data field and for the 15 lowest coefficients by 0 This polynomial is divided the coefficients are calculated modulo 2 by the generator polyno mial X15 4 X144 X10 4 X8 4X7 X4 X 1 The remainder of this polynomial division is the CRC sequence transmitted over the bus Ack Field The ACK field comprises the ACK slot 1 bit and the ACK delimiter 1 reces sive bit The bit in the ACK slot is sent as a recessive bit and is overwritten as 29 Messageframes Section 3 5 a dominant bit by those receivers which have at this time received the data correctly positive acknowledgement Correct messages are acknowledged by the receivers regardless of the result of the acceptance test Intermission The end of the message is indicated by End Of Frame Intermiss
29. electrical engineer or the equivalent e Personnel in charge of installing Factory Automation FA systems e Personnel in charge of designing FA systems e Personnel in charge of managing FA systems and facilities General Precautions N WARNING The user must operate the product according to the performance specifica tions described in the operation manuals Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems railroad systems aviation systems vehicles combustion systems medical equipment amuse ment machines safety equipment and other systems machines and equip ment that may have a serious influence on lives and property if used improperly consult your OMRON representative Make sure that the ratings and performance characteristics of the product are sufficient for the systems machines and equipment and be sure to provide the systems machines and equipment with double safety mechanisms This manual provides information for programming and operating OMRON User Defined CAN Unit Be sure to read this manual before attempting to use the unit and keep this manual close at hand for reference during operation It is extremely important that the unit is used for its specified purpose and under the specified conditions especially in applications that can directly or indirectly affect human life You must consult your OMRON representative before us
30. flag in the send trigger area 0002 Message will be send on cyclic time Time is set in milli seconds 0004 Message will be send on change of data Big or little endian 0000 Big endian 0001 Little endian Response Block te Command End Code Code End Code Description Condition no response Unit state ST1 or ST2 0000 Normal completion Unit state ST4 orST5 and all parameters in range 1001 Command length exceeds maxi mum command length 1002 The command length is insuffi cient for the smallest command 1103 Address range designation error Unit state ST4 or ST5 and buffer number gt number of output buff ers configured with command 2902 Mutual relation error Unit state ST4 or ST5 and send mode 2 and send cycle 0 Parameter error Unit state ST4 or ST5 and one or more parameters not in range 59 Fins Commands and Responses Section 5 4 End Code Condition Not executable in current mode Unit state ST3 The specified service is being Unit state ST5 and send mode executed changed and the message is being sent Note On response code 0000 the unit configures the input message buffer identi fied with buffer number with the following properties 1 Extended identifier length 29 bit 2 Identifier number 3 Send mode See CAN on page 15 4 Send cycle time if the send mode is 2 5 Big or little endian format see 4 3 3 CAN Output Mess
31. in external wiring Insufficient safety measures against short circuits may result in burning Double check all the wiring and switch settings before turning ON the power supply e Check the user program for proper execution before actually running it on the unit Not checking the program may result in an unexpected opera tion Confirm that no adverse effect will occur in the system before attempting any of the following Not doing so may result in an unexpected operation e Changing the operating mode of the PLC e Force setting force resetting any bit in memory e Changing the present value of any word or any set value in memory e After replacing units resume operation only after transferring to the new CPU Unit and or Special I O Units the contents of the DM Area HR Area and other data required for resuming operation Not doing so may result in an unexpected operation e When transporting or storing the product cover the PCB s with electrically conductive materials to prevent LSI s and IC s from being damaged by static electricity and also keep the product within the specified storage temperature range e When transporting the unit use special packing boxes and protect it from being exposed to excessive vibration or impacts during transportation e Do not attempt to disassemble repair or modify any units XV Conformance to EC Directives 6 6 6 1 6 2 6 3 xvi Conformance to EC Directives Applicable
32. message on page 64 7 4 8 FINS command 2909 setting the CAN bit rate and sample point 90 no respon se Description Condition Unit state ST1 or ST2 Possible remedy Restart the PLC make sure that the unit is mounted and wired correctly 0000 Normal comple tion Unit state ST3 orST4 and all parameters in range Everything is OK Command is executed 1001 Command length exceeds maximum com mand length Too many parameters sent in the command Correct the command and re send Using status information Section 7 5 Error Description Condition Possible remedy code The command Too few parameters sent in the length is insuffi command cient for the Correct the command and re smallest com send mand Parameter error Unit state ST4 or Correct the parameters See ST5 and one or Setting the CAN bit rate and more parameters sample point on page 66 not in range Not executable Unit state ST5 This FINS command can only be in current mode executed if communication is dis abled by clearing ClO 0 04 and this disabling is confirmed when CIO 3 2 is false Note For further information see Setting the CAN bit rate and sample point on page 66 7 5 Using status information The Unit status can be read by analyzing the ClO words In the next table there is an overview of all information which can be analyzed The Unit uses only CIO word n
33. messages will not be send In send mode SM2 a change in the message content determines that the out put message will be sent In state ST5 the Unit will evaluate the message content In all other states message contents changes are ignored messages will not be send 15 Nomenclature and Functions Section 2 1 Cyclic Receiving CAN messages Bus off 16 In send mode SM3 time determines that an output message is sent In state ST5 the Unit checks whether the configured cycle time for the output mes sage has elapsed As soon as it elapses the message is sent In all other states are the time intervals not monitored no messages are sent It is allowed and possible to combine any of the three send modes mentioned above even all three modes can be active at the same time The User Defined CAN Unit will process any CAN message it receives the basic processing is to retrieve the message identifier from the message and compare it with the identifiers defined for the Unit In total there are four differ ent scenarios whenever a message is processed Condition The integrity check for the message fails the check is done by the CAN controller directly or the firmware Unit processing The User Defined CAN Unit sends an error frame on the CAN bus The message is rejected by the CAN con troller and or the firmware no notification is send to the application layer The integrity check for the message is succes
34. n 10 n 24 Memory areas i iced oe kee ee bed Gee ee be eee 4 3 1 Send Trigger Area co 0 ee eee 4 3 2 Receive Flags Area 2 2 eee eee 4 3 3 CAN Output Message Buffers 00 000 4 3 4 CAN Input Message Buffers 00 rrr 36 37 37 37 39 39 40 41 41 41 41 42 42 43 43 44 35 Overview of Word Allocations Section 4 1 4 1 Overview of Word Allocations The words shown in the following diagram are allocated according to the unit number setting For each CPU Bus Unit there are 25 words allocated in the CIO Area and 100 words allocated in the DM Area First word allocated in the CIO Area n CIO 1 500 25 x unit number First word allocated in the DM Area m DM30 000 100 x unit number CPU Unit User Defined CAN Unit j CPU Bus Unit Unit number 0 CIO Are Local memory Software switches cloisoip d Unit 0 I O refresh status Unit 1 Unit 15 Clo 1899 _ _ ___ O CPU Bus Unit Allocated DM Area words D30000 D30001 Unit 0 100 wds D30099 D30100 ___ D30101 Unit 1 D30199 D31500 S PO Unit 15 D3i599 _ ss i C C zY 36 CIO Area Words Section 4 2 4 1 1 ClO Area Words Control flags and User Defined CAN Unit status are allocated in the CIO Area according to the unit number as shown below Control Flags are bits used as commands from the PLC CPU to the Use
35. oO CMND for Setting the Recv 29 bit function CMND 490 H Ja L J ih 1 I recv_29bit Logical_p ort0_read y W0 03 A202 00 Ja CMND for send CAN message 11 bit D80 FINS_29 06_recv2 Qbit D30 ICMND_r lesponse D20 No_com mand_by te CMND 490 H ih f 1 tf Send_CA_Logical_p N_11bit_ ort0_read without_b y uffer W0 04 A202 00 Ja CMND for send CAN message 29 bit D90 FINS_29 07_Send _CAN_1 bit D30 CMND_r lesponse D20 No_com mand_by te CMND a90 H ih f o Send _CA Logical_p N_29bit_ ort0_read without_b y uffer D100 FINS_29 08_Send CAN_2 Qbit D30 CMND_r lesponse D20 No_com mand_by te 103 Programming examples Appendix B Program Name Exec_of_CMND Section Name Exec_of_CMND CF113 BPRG 000000 000077 b 096 _On 8 Always ON Flag 000001 MOV 021 amp 4 No_byte_receive 000079 MOV 021 0 Net J MOV 021 10 Node_Unit MOV 021 0 Logical_Port_Retry MOV 021 0 Timeout BEND 801 000002 000085 W0 00 A202 00 CMND ja H 490 U Exec_buff Logical_p DO er_map ort0_read FINS 29 y 02 D30 ICMND_r lesponse D20 No_com mand_by te Program Name END Section Name END END 000000 Ti 000107 104 Abbreviation A C CAN CIO CPU CRC DM EC EM EOF EV
36. on of the unit one needs to configure memory areas and message parameterization The software configuration steps PLC program that must be done after every power on of the unit to insure correct operation are 1 Setting memory area buffer allocations FINS 2902 2 Setting parameters for sending messages with 11 bit identifier or 29 bit identifier 3 Setting parameters for receiving messages with 11 bit identifier or 29 bit identifier 4 Enable CAN CIO word 0 bit 4 Note Steps 2 and 3 are optional and their order given above is not mandatory 5 4 1 Setting the memory areas FINS command 2902 With this FINS command the send buffer send trigger receive buffer and receive flag locations and the number of send and receive messages are set One send or receive buffer occupies 5 words of PLC memory being the Data Length Code DLC and the 8 bytes of data One send trigger or receive flag occupies one bit of PLC memory The number of words occupied by all trig gers or flags equals the number of send or receive messages divided by 16 rounded up Trailing padding bits are ignored Note This command can be used only if communication has been disabled by clearing CIO n 04 and this disabling is confirmed by the unit by a cleared ClO n 3 02 Command Block Y Y r Y ki Y Y Y Y y Memory Start Memory Start Number Memory Start Memory Start Number Area Address Area Address of Send Area Address Area Address of Receive
37. provide a strategy to take effect in the event of a failure of the master unit This concept has the disadvantage that the strategy for failure management is difficult and costly to implement and also that the takeover of the central unit by a redundant unit can be very time consuming For these reasons and to circumvent the problem of the reliability of the master unit and thus of the whole communication system the CAN protocol implements decentralized bus control All major communication mechanisms including bus access con trol are implemented several times in the system because this is the only way to fulfill the high requirements for the availability of the communication system In summary it can be said that CAN implements a traffic dependent bus allo cation system that permits by means of a non destructive bus access with decentralized bus access control a high useful data rate at the lowest possi ble bus data rate in terms of the bus busy rate for all units The efficiency of the bus arbitration procedure is increased by the fact that the bus is utilized only by those units with pending transmission requests These requests are handled in the order of the importance of the messages for the system as a whole This proves especially advantageous in overload situations Since bus access is prioritized on the basis of the messages it is possible to guarantee low individual latency times in real time systems Messageframes Section 3 5
38. the concept of Message Filtering any number of nodes can receive and simultaneously act upon the same message e Data consistency within a CAN network it is guaranteed that a message is simultaneously accepted either by all nodes or by no node Thus data consistency of a system is achieved by the concepts of multicast and by error handling Message transfer The application messages transmitted and received by the User Defined CAN Unit are so called Data Frames There are two different formats for a data frame the two formats differ in the length of the message identifier This identifier is a field in the frame and part of the so called arbitration field see the schematic picture of a data frame above Data frames having identifiers with a size of 11 bits are denoted Standard Frames The other format has User Defined CAN Unit Section 1 2 frames containing a 29 bit identifier these frames are denoted Extended Frames The maximum length of the data e g temperature rpm transmitted in one message is 8 bytes The length of data in a message can be 8 bytes or less even if the data length is less then 8 the frame has always 8 data bytes Identifier length e Standard format the identifier s length is 11 bits and corresponds to the Base Id in the Extended format The indentifier is interpreted as an integer value in the hexadecimal range 0x0000 0x07FF e Extended format in contrast to the Standard format the identifier in this form
39. the small est command Too few parameters sent in the command Correct the command and re send Address range designation error Unit state ST4 or ST5 and buffer number gt number of output buffers configured with command 2902 Number of output buffers exceeds the number of output buffers configured by FINS com mand 2902 Increase the number of output buffers with FINS command 2902 or select a output buffer smaller than de maximum of out put buffers configured by FINS command 2902 Mutual relation error Unit state ST4 or ST5 and send mode 2 and send cycle 0 Set the send cycle different from zero or change the send mode Parameter error Unit state ST4 or ST5 and one or more parameters not in range Correct the parameters See Setting parameters for sending 29 bit ID message on page 58 Not executable in current mode Unit state ST3 Nothing configured please per form FINS command 2902 before executing this command Note The specified ser vice is being exe cuted on page 58 Unit state ST5 and send mode changed and CAN message currently being sent Disable communications recon figure the buffer and enable com munnications For further information see Setting parameters for sending 29 bit ID message 87 Error responses from FINS commands Section 7 4 7 4 4 FINS command 2905 Configure 11 bit ID input message buffer n
40. the time information cannot be read from the CPU Unit the time stamp will contain all zeroes The User Defined CAN Unit s time stamps will not be correct or consistent unless the time has been set correctly in the CPU Unit Moreover if the bat tery is replaced in a CS CJ series CPU Unit the time must be set again the next time that power is turned ON 7 3 2 Error Codes and Detail Codes 84 Detail code Record First Second Stored in byte byte EEPROM CPU Unit watchdog timer error 00 00 CPU Unit service monitoring error Monitoring time The servicing time from the CPU ms Unit is not fixed PC21 Bus error 00 Error responses from FINS commands Section 7 4 ae ID Error Detail code oak code i stored in Hex ae reve q EEPROM 0601 ER4 CPU Bus Unit Error Undefined Con Yes tents 0602 ER5 Error log read error 014 06 Yes 0602 ER6 Error log write error 02 06 No 0602 ER7 Network parameter read error 01 02 Yes 0602 ER8 Network parameter write error 02 02 No 0201 ERQ Network parameter file lost 00 00 No 0340 ER10 Network power fail 00 02 Yes Note The error information is not written to EEPROM when a memory error occurs in the error log area EEPROM 7 4 Error responses from FINS commands In this chapter all error responses of the useful FINS commands of the User Defined CAN Unit w
41. unit e Transmit error counter e Receive error counter For respectively a transmit error and a receive error the corresponding counter increases normally the receive counter is increased by one for every error the transmit error counter is normally increased by eight See the CAN bus specification for a detailed description of increasing the error counters and the exceptions in increasing the counters A CAN unit is error passive when the transmit error counter equals or exceeds 128 or when the receive error counter equals or exceeds 128 A CAN unit is bus off when the transmit error counter is greater than or equal to 256 Error reset In bus off mode the CAN unit has its communication disabled the ladder logic in the CPU of the PLC system can enable the communication using a FINS command Enabling the communication will reset both the receive and transmit counter 3 5 3 Data reliability of the CAN protocol Reliability The introduction of safety related systems in automobiles brought with it high requirements for the reliability of data transmission The objective is fre quently formulated as not permitting any dangerous situations for the driver to occur as a result of data exchange throughout the whole life of a vehicle 31 Message frames Section 3 5 Residual error Undetectable errors This goal is achieved if the reliability of the data is sufficiently high or the residual error probability is suf
42. 0 25 x unit number Name Status Con Unit operation trolled by Number Number of input messages Range 0 15 of mes BCD saged to be pro cessed 4 2 7 Reserved words for the system Words n 10 n 24 Word n 10 n 24 n CIO 1 500 25 x unit number Status Con Unit operation trolled by 00 Reserved Reserved by the system 15 by system 41 Memory areas Section 4 3 4 3 Memory areas Memory areas Power on 4 3 1 42 Note In the next paragraphs four memory areas and their relationships are described the four memory areas are e send triggers area Every bit in this area can be a trigger to send a CAN message located in the output buffers area The bit is only a send trigger if a corresponding output buffer is defined for the bit the send mode SM1 is part of the total send mode for the output buffer and the bit has a rising flank e receive flags area These area has flags indicating that a CAN message is received in the input buffer corresponding to the receive bit e output buffers area In this area one or more output buffers are present every output buffer can have one and only one CAN message content for sending e input buffers area The area consists of one or more input buffers every input buffer can have the content of one and only one received CAN message Every time after power on of the unit the user needs to configure these mem ory areas
43. 02 is ON or communi cation is enabled CAN mes sage can be sent and received tialization error Unit state is ST2 Ini Make sure that the unit is wired and mounted correctly switch the power on or wait for unit to initialize Configure the unit with FINS command 2902 Unit state is ST1 ST2 or ST3 unit has a startup error or is not yet configured Make sure that the unit is wired and mounted correctly switch the power on or wait for unit to initialize Configure the unit with FINS command 2902 Right dot Unit state is ST5 Communication is enabled ST3 or ST4 Communication is disabled or unit is in state ST1 ST2 or Enable communication by set ting ClO n 04 This is confirmed when ClO n 3 02 is ON Make sure that the unit is wired and mounted correctly switch the power on or wait for until the unit has initialized Configure the unit with FINS command 2902 83 Error Log Functions Section 7 3 7 3 Error Log Functions Errors detected by the User Defined CAN Unit are stored in the error log along with the date and time of their occurrence The error log can be read cleared and monitored using FINS commands 7 3 1 Error Log Table Error Log Table Error Log Storage Area Reading and Clearing the Error Log Time Information Each time an error occurs one error record is recorded in the User Defined CAN Unit s RAM error log table The table can record up to 15
44. 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 16 L 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Every input message buffer has its corresponding bit The bit value means ON An input message with the configured message identifier of this input message buffer has been received since last Unit Cyclic refresh OFF No input message with the configured message identifier of this input message buffer has been received since last cyclic refresh or the message has been discarded due to receive queue overflow CIO n 3 bit 07 is ON If any of these bits is set CIO n 3 bit 03 is ON if all these bits are reset CIO n 3 bit 03 is OFF 4 3 3 CAN Output Message Buffers The location T of the CAN output message buffers is configured via FINS command 2902 This memory area contains output words Given the number of configured output message buffers as A the area has the layout specified below The layout depends on the configuration supplied via the FINS commands 2903 or 2904 By selecting little of big endian format adjust when FINS command is executed a byte swap is performed 43 Memory areas Section 4 3 Big endian Little endian Word T Data length number of bytes Data length number of bytes Word T 1 Data byte 0 Data byte 1 Data byte 1 Data byte 0 Word T 2 Data byte 2 Data byte 3 F Data
45. 17 18 dot indicators See also seven segment display E EMC Directives xvi ERR 17 Error ACK errors 30 Cyclic Redundancy Check 30 Detection 30 Frame check 30 Error flag 30 Error frame 16 EVI 14 EV2 14 EV3 14 EV4 14 EV5 14 Events 14 Extended format 32 107 108 F Factory Automation xii Features and Specifications Manual 1 FINS 7 8 48 50 2902 54 2903 57 2904 58 2905 60 2906 62 2907 63 2908 64 2909 66 Command Codes 49 Response Codes 49 FINS Commands and Responses Manual 47 G H General Precautions Manual xii VO allocations 8 I O functions 33 I O refresh time 70 I O response time 74 IDE bit 33 Identifier 6 29 Indicators 12 17 Input buffer 14 44 Installation 9 Intermediate buffer 33 Intermission 30 ISO 11898 25 L M LED 12 License of CAN 2 LLC 5 LLC sublayer 25 Low voltage directive xvi MAC sublayer 24 Manual About ix Allocated CIO and DM Words 35 Application Precautions xiv CAN Operation 23 Conformance to EC Directives xvi Index Features and Specifications 1 FINS Commands and Responses 47 General Precautions xii Nomenclature and Installation 11 Operating Environment Precautions xiii Operation 69 Precautions xi Safety Precautions xii Troubleshooting and Maintenance 79 Message delay time 73 Message frame formats 29 Messages 5 Mounting 21 N network 6 54 Nomenclature a
46. 6 Configure 29 bit ID input message buffer 88 no respon se Description Condition Unit state ST1 or ST2 Possible remedy Restart the PLC make sure that the unit is mounted and wired correctly 0000 Normal completion Unit state ST4 orST5 and all parameters in range Everything is OK Command is executed Command length exceeds maximum command length Too many parameters sent in the command Correct the command and re send The command length is insuffi cient for the small est command Too few parameters sent in the command Correct the command and re send Error responses from FINS commands Section 7 4 Error code Description Address range designation error Condition Unit state ST4 or ST5 and buffer number gt number of input buffers con figured with com mand 2902 Possible remedy Number of input buffers exceeds the number of input buffers con figured by FINS command 2902 Increase the number of input buffers with FINS command 2902 or select a input buffer smaller than de maximum of input buffers configured by FINS command 2902 Parameter error Unit state ST4 or ST5 and one or more parameters not in range Correct the parameters See Setting parameters for receiv ing 29 bit ID message on page 62 Not executable in current mode Unit state ST3 Nothing configured please per form FINS
47. C mem ory read write and operation control without extensive programming in the user program in the PLC FINS communications use an independent system of addresses that does not rely on the addresses used in the CAN network This enables communications not only with nodes on the CAN network but also with devices and PLC s connected via other FA networks such as the SYSMAC NET and SYSMAC LINK Networks Refer to SYSMAC CS CJ Series Communication Commands Reference Man ual W342 for details on FINS commands Section 5 2 FINS Communications 5 2 1 Sending Receiving FINS Command Responses 2 bytes Finsheacer O OO O O o ___ wo Automatically Command Text Can Unit generated code and attached FINS commands are sent using the CMND 490 instruction for CJ series PLCs Send receive FINS commands and responses and the data formats used are illustrated in the following diagram Unless otherwise specified data is presented in hexadecimal notation 1 byte 1 byte For CJ series PLC 540 bytes max User defined T CJ series CPU Unit Response 2 bytes 2 bytes 538 bytes max Firs heater OlOlofo ofe __ Automatically Command Response Text generated code and attached Command Codes Response Codes code Command codes are represented by a 2 byte hexadecimal code FINS com mands always begin with a 2 byte command code and any parameters that are required follo
48. Destructive bus allocation With methods of this type the bus is allocated to one and only one unit either immediately or within a specified time following a single bus access by one or more units This ensures that each bus access by one or more units leads to an unambiguous bus allocation Examples of non destructive bus access are token slot token passing round robin bitwise arbitration Simultaneous bus access by more than one unit causes all transmission attempts to be aborted and therefore there is no successful bus allocation More than one bus access may be necessary in order to allocate the bus at all the number of attempts before bus allocation is successful being a purely statistical quantity Examples of destructive bus access are CSMA CD Ethernet 27 Principle of non destructive bitwise arbitration Section 3 4 Unambiguous bus allocation Bus access control 28 In order to process all transmission requests of a CAN network while comply ing with latency constraints at as low a data transfer rate as possible the CAN protocol must implement a bus allocation method that guarantees that there is always unambiguous bus allocation even when there are simultaneous bus accesses from different units The method of bitwise arbitration using the identifier of the messages to be transmitted uniquely resolves any collision between a number of units wanting to transmit and it does this at the latest within 13 standard format
49. Directives Concepts e EMC Directive e Low voltage directive OMRON units complying with EC Directives also conform to related product standards making them easier to incorporate in other units or machines The actual products have been checked for conformity to product standards Whether the products conform to the standards in the system used by the customer however must be checked by the customer Product related performance of OMRON units complying with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel in which OMRON devices are installed The cus tomer must therefore perform final checks to confirm that units and the over all system conforms to product standards A Declaration of Conformity for the unit can be requested at your OMRON representative Conformance to EC Directives 1 2 3 1 2 3 CAN units should be installed as follows for the complete configuration to meet the EC directives 1 CAN units are designed for installation inside control panels All units must be installed within control panels 2 Use reinforced insulation or double insulation for the DC power supplies used for the communications power supply internal circuit power supply and the I O power supplies 3 CAN products meet the generic emission standard However as EMC per formance can vary in the final installation additional measures may be re quired to meet the s
50. Geel ee ein E O Dense a eae aes 2 1 4 Status Indicators 1 0 eee eee nee 2 1 5 Seven Segment Display 0 00 0 eee eee eee 2 1 6 Switch Settings 0 000 eee eee be ete eee eee Installing the User Defined CAN Unit 0 0 00 00008 2 2 1 System Configuration Precautions 0 0 2 2 2 External Dimensions 0 0 e eee eee eee eee 2 2 3 MUNNS yee oie EE whe Ugur Caden Pee EP eee ets 2 2 4 Handling Precautions 00 e eee eee SECTION 2 Nomenclature and Installation 12 12 12 15 17 17 19 21 21 21 21 22 11 Nomenclature and Functions Section 2 1 2 1 Nomenclature and Functions 2 1 1 Nomenclature and Functions CJ1W CORT21 Indicators CORT21 orun ae Unit No switch This switch sets the unit number of the User Defined CAN Unit as a one digit hexadecimal value These switches are reserved for future use DIP switch The pins have the following functions Pins 1 2 and 3 Baud rate settings Pin 4 reserved for future use Communications connector Connect the Network communications cable to this connector The communications power for this Unit is also supplied through this connector A parallel connector with screws XW4B 05C1 H1 D is provided for node connection Indicators The User Defined CAN Units are equipped with the following indi
51. IO area can be calculated as follows from the unit number setting First word n CIO 1 500 25 x unit number The CIO area words contain control and status flags the next chapters explain in detail these control and status flags 37 CIO Area Words 38 Section 4 2 Word Bit 15 Bit 00 Direction n Communication enable Outputs n 1 Reserved output wordi User Defined CAN unit n 2 Reserved output word 2 n 3 Status communication n 4 Always zero input word1 Always zero input word 2 n 5 y p Inputs n 6 Always zero input word 3 User Defined CAN Unit n 7 Always zero input word 4 n 8 Number of delayed send messages n 9 Number of delayed receive messages n 10 n 11 n 12 n 13 n 14 n 15 n 16 n 17 n 18 n 19 n 20 n 21 n 22 n 23 n 24 Reserved CIO Area Words Section 4 2 4 2 1 Communication enable Word n The User Defined CAN Unit s control bits are located in the first CIO word allocated via the unit number setting Word n n CIO 1 500 25 x unit number Name Status Con Unit operation trolled by Reserved for the system Enable In state ST5 communicating CAN f 1 generate event EV4 disable communica communi tions tion SANCTS 2 reset CIO n 3 bit 6 3 reset all send triggers in other states no action In state ST1 initializing ST3 not configured generate error ER9 Network parameter file lost in state ST5 communicating no
52. Messages Messages e A Xm Command Send Send Receive Receive Code Buffers Trigger Buffers Trigger 54 Fins Commands and Responses Section 5 4 Response Block Setting Minimum value Maximum value Memory Area of send buffers Start address of send buffer Memory Area of send trigger Start address of send trigger Number of send messages Memory Area of receive buffers Start address of receive buffer Memory Area of receive trigger Start address of receive trigger Number of receive messages a Actual maximum value depends on the used P memory area see the next table The minimum and maximum values for the memory area settings in the table above depend on the memory area In the following table the relation between the numerical values and the type of the memory area is given every type of memory area has it own set of minimum and maximum address values Memory Area Description Maximum address CIO area DM area Work area Holding area EM bank 0 EM bank 1 EM bank 2 EM bank 3 EM bank 4 EM bank 5 EM bank 6 EM bank 7 EM bank 8 EM bank 9 EM bank A EM bank B EM bank C Note Other memory area settings will result in a error Code Code 55 Fins Commands and Responses Section 5 4 End Code Description Condition 0000 Normal completion Unit state ST3 or ST4 and all parameters are in range 1001 Com
53. OFF Unit state is ST1 ST2 or ST3 U up error or is not yet configured BLINK Unit state is ST2 Blink 02 ation is enabled or disabled state is ST4 or ST5 nit has a start Right dot Communication ON Communication is enabled ST5 enabled disabled OFF Communication is disabled if lef left is dot is lit t dot is lit oth erwise Unit is in state ST1 ST2 or ST3 Normal start up During a normal start up the indicators will show the following information Action Indicator Power OFF RUN State STO ERR 7 Segment Left dot Right dot Power ON RUN State ST3 ERR 7 Segment Left dot Right dot Areas configured FINS 2902 RUN State ST4 ERR 7 Segment Left dot Right dot Buffer s configured RUN FINS 2903 2906 ERR State ST4 7 Segment Left dot Right dot 18 Nomenclature and Functions Section 2 1 Action Indicator State Communication enabled RUN State ST5 ERR 7 Segment Left dot Right dot Communication disabled RUN State ST4 ERR 7 Segment Left dot Right dot 2 1 6 Switch Settings Unit No Switch Rotary switches DIP Switch BR2 ON 345 P JNS Note Baud rate The unit number is used to identify individual CPU Bus Units when more than one CPU Bus Unit is mounted to the same PLC The unit numb
54. Response Block 62 Note Note Per receive buffer parameters need to be set like the 29 bit identifier the use of little or big endian This unit is not capable of receiving both 11 bit and 29 bit identifier messages It will receive messages of the last configured identifier type only A Command Buffer Identifier Big or Code number 29 bit little endian Setting Minimum value Maximum value Buffer number 0000 027F Identifier 29 bit 00000000 1FFFFFFF Big or little endian 0000 0001 Big or little endian 0000 Big endian 0001 Little endian Command End Code Code End Code Description Condition no response Unit state ST1 or ST2 0000 Normal completion Unit state ST4 orST5 and all parameters in range 1001 Command length exceeds maxi mum command length 1002 The command length is insuffi cient for the smallest command 1103 Address range designation error Unit state ST4 or ST5 and buffer number gt number of input buff ers configured with command 2902 110Ch Parameter error Unit state ST4 or ST5 and one or more parameters not in range 2201 Not executable in current mode Unit state ST3 On response code 0000 the unit configures the input message buffer identi fied with buffer number with the following properties 1 Extended identifier length see restrictions below 2 Identifier number Fins Commands and Responses Section
55. SMAC WS02 CXP Provides information on how to use the W414 E1 Operation Manual CX Programmer CX Programmer programming soft ware which supports CS1 CJ1 series PLC s CX Server CX Server Provides information on how to use the W391 E2 Run Time User Manual CX Server communication driver soft ware which supports CS1 CJ1 series PLC s ix Manual Products Contents Cat No CS CJ series Ethernet Units SYSMAC CS CuU series Describes the installation and opera W343 E1 Operation Manual CS1W ETNO1 ETN11 tion of the CS1W ETNO1 10Base 5 CJ1W ETN11 Ethernet Units CS1W ETN11 10Base T and CJ1W ETN11 Ethernet Units CS CJ series Serial Communi SYSMAC CS CJ series Describes the use of Serial Communi W336 E1 cations Boards and Serial CS1W SCB21 41 CS1W cations Units and Boards to perform Communications Units CU21 CJ1W CSU41 serial communications with external Operation Manual devices C200 CS1 series CANopen SYSMAC C200 CS1 series Describes the Installation and Opera W904 E2 Slave Unit Operation Manual C200HW CORT21 V1 tion of the C200HW CORT21 V1 CANopen Slave Unit Z N WARNING Failure to read and understand the information provided in this manual may result in per sonal injury or death damage to t
56. State x for the User Defined CAN Unit ST1 Initialising ST2 Start up error ST3 Not configured ST4 Configured ST5 Communicating Shielded Twisted Pair Unshielded Twisted Pair Numbers 29 bit identifier 32 A About Manual ix Ack Field 29 Acknowledge 16 Addressing scheme 25 Allocated CIO and DM Words Manual 35 Application areas 2 Application Precautions Manual xiv Arbitration field 29 Basic Operating Procedure 9 Bit level errors 30 Bitwise arbitration 27 Bosch Robert Bosch FmbH vi Bus access 27 Bus access control 28 Bus allocation 27 28 C Cable length 4 CAN 2 Cable length 4 Configuration 7 Connector 20 Controller Area Network 24 Data frame 5 Identifier 6 LLC 5 Messages 5 network 6 54 Reliability 31 Residual error 32 Serial bus 3 Transmission speed 3 Troubleshooting 7 CAN Operation Manual 23 CIO 14 16 CIO Area 8 37 CJ1W CORT21 6 CJ1W CORT21 ix 12 Index CMND 51 52 Command Codes 49 Communication enable 39 Communications flag 52 Configuration 7 21 Conformance to EC Directives Manual xvi Connector 20 Control Field 29 Controller Area Network 2 24 CPU xiii xv 7 19 CRC Field 29 Cycle time 70 Cyclic refresh 14 D Data exchange 25 Data field 29 Data frame 5 Declaration of Confirmity xvi Destructive bus allocation 27 Dimensions 21 DIP switch 19 DM Area 7 8 37 Dot indicators
57. User Defined CAN unit OPERATION MANUAL CS1W CORT21 User Defined CAN Unit Operation Manual Produced January 2009 CS1W CORT21 vs CJU1W CORT21 The CAN functionality of CS1W CORT21 is identical to that of CJ1W CORT21 To operate the Unit refer to attached Operation Manual WO3E and where applicable substitute CJ by CS Mechanical differences between CS and CJ Units should be taken into account in the following sections of Operation Manual WO3E 2 1 1 Nomenclature and Functions cORT21 cS Indicators Unit No switch Communication connector 2 1 6 Switch Settings Rotary switch to set the Unit Number aa Dipswitches to set the baudrate Be aware that the orientation of the dipswitches is rotated 180 degrees compared to those on the CJ1W CORT21 The ON position is to the left 2 2 2 External Dimensions 13 7 101 130 Dimensions are in millimeters 2 2 3 Mounting 1 Mount the Unit to the Backplane by hooking the top of the Unit into the slot on the Backplane and rotating the I O Unit downwards Make sure that the connector on the back of the Unit is properly inserted into the connector in the Backplane 2 Use a Phillips head screwdriver to tighten the screw on the bottom of Unit The screwdriver must be held at a slight angle so be sure to leave enough space below each Rack To remove a Unit use a Phillips head screwdriver to loosen the screw at the bottom of the Unit ro
58. Yes Yes Can bus b ad a Yes y ST5 Yes Communicating a C a bus off Disable CAN communication Can bus power fails States Cyclic Description refresh FINS Initializing The Unit executes start up tests and initializes the PLC backplane bus communications Start up error A start up error was detected during start up tests or during the initialization of the PLC backplane communication bus Not configured The Unit started without start up errors but is not yet configured using FINS commands Configured The Unit has received the memory locations and a number of output and input message buffers Communicating CAN messages can be sent and received if CAN network is powered 13 Nomenclature and Functions Section 2 1 Events Unit Cyclic refresh 14 areas Configure memory Description The memory areas for message buffers send triggers and receive flags have been successfully configured through FINS commands Configure one CAN message One of the output message buffers or input message buffers has been successfully configured through FINS commands cations Enable communi CAN messaging has been successfully enabled with CIO bits cations Disable communi CAN messaging has been disabled with CIO bits Bus off CAN messaging has been transitioned to the bus off state e g a b
59. action in state ST4 configured 1 generate event EV3 enable communica tions 2 reset CIO n 3 bit 7 3 reset CIO n 3 bit 10 4 reset all receive flags Reserved for the system 4 2 2 Reserved output word Words n 1 n 2 Word n 1 n 2 n CIO 1 500 25 x unit number Status Con Unit operation trolled by 00 Reserved 15 forthe system 39 CIO Area Words Section 4 2 4 2 3 Status communication Word n 3 This word give the status of the CAN bus and the User Defined CAN Unit Also it is possible to enable the communication Word n 3 n CIO 1 500 25 x unit number Name Status Reserved for the system Con trolled by Unit operation Always zero Enabled Commu CAN communications disabled i e unit state lt gt ST5 communicating nication CAN communications enabled i e unit state ST5 communicating CAN message New configured CAN message received since last Unit Cyclic refresh received No new configured CAN message received since last Unit Cyclic refresh Reserved for the system Always zero Send All messages to be sent fit in the send queue queue overflow Send queue overflow some messages will be delayed Receive All messages received were handled queue overflow Receive queue overflow some received mes sages have been discarded Reserved fo
60. age Buffers Command message specification Word Function word n FINS command 2904 wordn 1 Buffer number e g 0000 for buffer 0 wordn 2 MSB part identifier 29 bit e g 0000 for identifier 2 MSB LSB wordn 3 LSB part identifier 29 bit e g 0002 for identifier 2 MSB LSB word n 4 Method of sending e g 0001 for send mode on trigger wordn 5 Send cycle not relevant for send mode on trigger wordn 6 Big or little endian e g 0000 for big endian If the method of sending is cyclic the Send cycle parameter may not be set to 0000 The unit will respond with an error message The unit of the Send cycle is in milliseconds 5 4 4 Setting parameters for receiving 11 bit ID message FINS command 2905 Command Block 60 Per receive buffer parameters need to be set like the 11 bit identifier the use of little or big endian This unit is not capable of receiving both 11 bit and 29 bit identifier messages It will receive messages of the last configured identifier type only Y Y Y Y Command Buffer Identifier Big or Code number 11 bit little endian Setting Minimum value Maximum value Buffer number Identifier 11 bit Big or little endian Fins Commands and Responses Section 5 4 Note Big or little endian 0000 Big endian 0001 Little endian Response Block Command End Code Code End Code Description Condition no response Unit st
61. allocation on the basis of need CAN bus allocation Bus access Non destructive bus access Destructive bus allocation The efficiency of the bus allocation system is determined mainly by the possi ble applications for a serial bus system In order to judge as simply as possi bly which bus systems are suitable for which applications the literature includes a method of classifying bus allocation procedures Generally we dis tinguish between the following classes e Bus allocation on a fixed time schedule e Bus allocation on the basis of need Bus allocation done on a fixed time schedule is made sequentially to each participant for a maximum duration regardless of whether this participant needs the bus at this moment or not Examples of this type of bus allocation are token slot or token passing Allocation on the basis of need is defined as the bus is allocated to one par ticipant on the basis of outstanding transmission requests i e the allocation system only considers participants wishing to transmit Examples of this type of bus allocation are CSMA CSMA CD flying master round robin or bitwise arbitration For CAN bus allocation is negotiated purely among the messages waiting to be transmitted This means that the procedure specified by CAN is classified as allocation on the basis of need Another means of assessing the efficiency of bus arbitration systems is the bus access method e Non destructive bus access e
62. application is directly related to this timing The evaluation time depends on the send mode used and as different send modes can be combined the total evaluation time is more or less the sum of the individual send mode evaluation times The evaluation time in on trigger mode differs with the state of the trigger the trigger can be OFF or ON Only when the trigger is ON that is when the rising edge of the trigger is detected the message in the output buffer is sent Every time the trigger is SET and the message is sent the evaluation time is 10 usec The evaluation time is 9 usec every time the trigger is OFF The total number of output buffers is configured with FINS command 2902 FINS command 2903 and 2904 are used to associate a buffer with an identi fier a buffer with an identifier associated is called a configured buffer The evaluation time for buffers that are not configured is 4 3 usec Example 1 e Number of output buffers 2 e Number of configured output buffers 1 Every time the trigger of the configured message is ON the evaluation time of all output buffers being 2 will be 10 0 4 3 14 3 usec Performance SM2 On change mode Section 6 1 The evaluation time is 9 0 4 3 13 3 usec for the configured output buffer in case the trigger is OFF Example 2 e Number of output buffers 640 e Number of configured output buffers 1 Every time the trigger configured message is ON the evaluation time of all
63. at consists of 29 bits The format comprises two sections Base Id and Extended Id The Base Id consists of 11 bits and is the identifier for the Standard format The Extended Id consists of 18 bits with the Base Id this is 29 bits The indentifier is interpreted as an integer value in the hexadecimal range 0x00000000 0x1 FFFFFFF 1 1 2 3 OSI Layer 7 Higher layer protocol Examples of the higher layer protocol in OSI layer 7 are DeviceNet and J1939 a set of standards concerning the design and use of devices that transmit and receive electronic signals and control information For the User Defined CAN Unit the higher layer protocol is implemented in the program of the CPU in the PLC system Received CAN messages are stored in PLC memory areas the CAN messages to transmit are formatted in the PLC program and temporary stored in PLC memory areas The location and size of these memory area s are defined with FINS commands Separate FINS commands can be used for direct transmission of CAN messages 1 1 3 Setting up a CAN Network In order to operate a CAN network each unit in the network needs to be con figured This process of network and unit configuration involves e setting up the physical network topology i e installing User Defined CAN Units in the PLC system installing any other CAN unit in the network wir ing the network e setting up the bus parameters which define the baud rate and the bus timing parameter sample point C
64. ate ST1 or ST2 0000 Normal completion Unit state ST4 orST5 and all parameters in range 1001 Command length exceeds maxi mum command length 1002 The command length is insuffi cient for the smallest command 1103 Address range designation error Unit state ST4 or ST5 and buffer number gt number of input buff ers configured with command 2902 Parameter error Unit state ST4 or ST5 and one or more parameters not in range Not executable in current mode Unit state ST3 Note On response code 0000 the unit configures the input message buffer identi fied with buffer number with the following properties 1 Extended identifier length see restrictions below 2 Identifier number 3 Big or little endian format see 4 3 4 CAN Input Message Buffers Restriction The last FINS command 2905 or 2906 sent to the unit determines whether 11 bit or 29 bit identifiers are used for all input message buffers If the last com mand is 2905 11 bit identifiers will be used If the last command is 2906 29 bit identifiers will be used Command message specification Word Function FINS command 2905 Buffer number e g 0002 for buffer 2 Identifier 11 bit e g 0002 for identifier 2 Big or little endian e g 0000 for big endian 61 Fins Commands and Responses Section 5 4 5 4 5 Setting parameters for receiving 29 bit ID message FINS command 2906 Command Block
65. bles the communica tion normally this is initiated in the PLC program In the bus off state the Unit will 1 SetClon lt 3 bit 10 2 Fire event EV5 i e disable communications 3 Switch on the ERR LED Nomenclature and Functions Section 2 1 2 1 4 Status Indicators The status indicators on the front panel of the User Defined CAN Unit are labelled RUN and ERR The RUN and ERR LED indicates the status of the node itself and or the status of the network The RUN and ERR indicators can be green or red and they can be turned OFF or ON The following table lists the different states and colours of the indicators with their meaning Status Condition Normal operating status the Unit state is ST3 ST4 of ST5 1 Anon recoverable fatal error has occurred 2 Unit state is ST2 start up error occurred Power is not being supplied or the Unit is in state ST1 or ST2 A fatal communication error has occurred Network commu nications are not possible One or more of the following errors active Hardware error at startup Unit in ST2 No CAN configuration CAN network power fail bit 9 of CIO word n 3 is on Unit is Bus off bit 10 of CIO word n 3 is on Fatal error in Unit CPU Watchdog Time out PC21 bus error Cyclic refresh time out I O table error The Unit has no active error diagnostic functions do not detect any error condition 1 2 3 4 5 6 7 8 so 2 1 5 S
66. byte 3 Data byte 2 Word T 3 Data byte 4 Data byte 5 7 Data byte 5 Data byte 4 Word T 4 Data byte 6 Data byte 7 Data byte 7 Data byte 8 Word T 1 5 Data length number of bytes Data length number of bytes Word T 1 5 1 Data byte 0 Data byte 1 Data byte 1 Data byte 0 Word T 1 5 2 Data byte 2 Data byte 3 F Data byte 2 Word T 1 5 3 Data byte 4 Data byte 5 T Data byte 5 Data byte 4 Word T 1 5 4 Data byte 6 Data byte 7 Data byte 7 Data byte 8 l l l l gt Word T A 1 5 Data length number of bytes Data length number of bytes Word T A 1 5 1 Data byte 0 Data byte 1 5 Data byte 1 Data byte 0 Word T A 1 5 2 Data byte 2 Data byte 3 2 Data byte 3 Data byte 2 Word T A 1 5 3 Data byte 4 Data byte 5 Data byte 5 Data byte 4 Word T A 1 5 4 Data byte 6 Data byte 7 Data byte 7 Data byte 8 4 3 4 CAN Input Message Buffers The location U of the CAN input message buffers is configured via FINS com mand 2902 This memory area contains input words Big endian Little endian Word U Data length number of bytes Word U 1 Data byte 0 Data byte 1 Word U 2 Data byte 2 Data byte 3 Word U 3 Data byte 4 Data byte 5 Word U 4 Data byte 7 Data byte 8 Word U 1 5 Data length number of bytes Data length number of bytes Word U 1 5 1 Data byte 0 Data byte 1 Data byte 1 Data byte 0 Word U 1 5 2 Data byte 2 Data byte 3 Data byte 2
67. cators that indicate the operating status of the node itself and the overall network Two digit 7 segment display RUN E a gt 1 Status indicators ERR E LT 3 Dot indicators 1 2 3 1 Two status indicators two color green or red LED 2 A two digit 7 segment display 3 Two dot indicators located on the lower right of each 7 segment display NI lt 2 1 2 Unit states The User Defined CAN Unit has several states these states are visualized in the figure below Events will force the Unit to switch to a different state these events can be user initialized or caused by system behaviour or error condi tions detected in the system The different states are defined and described in the first table below in 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 occurred the states are refreshed during every Unit Cyclic refresh Changed state information is reflected as changed bits in the CIO area the location of the CIO area is set with the unit number 12 Nomenclature and Functions Section 2 1 Power on or Reset ie N o l y Start ST1 Initialise hardware and software ST2 Fatal Error ST3 No Not Configured onfigured gos __ Cc Yes Yy ST4 Unit configured 4 Enable CAN communication v
68. communications data CAN H and CAN L network power supply CAN_V ground CAN_GND and shielded Use the XW4B 05C1 H1 D connector provided to connect the communications cable Note Use the XW4B 05C4 T D connector sold separately for multi drop connections Network power supply voltage 11 to 25 VDC supplied from the communications connector Influence on CPU Unit cycle time 0 3 ms 0 0064 ms x the number of buffers allocated Current consumption Network power supply 18 mA at 24 VDC supplied from the communications connector Internal circuit power supply 290 mA max at 5 VDC supplied from the Power Supply Unit External dimensions 31 x 90 x 65 mm W x H x D Weight 118 g including the connector provided Standard accessories One XW4B 05C1 H1 D connector to connect to a node from a T branch Tap Basic Operating Procedure sss Section 1 3 1 3 Basic Operating Procedure 1 3 1 Overview The following diagram provides an overview of the installation procedures For experienced installation engineers this may provide sufficient informa tion For others cross references are made to various sections of this manual where more explicit information is given When reading this manual online the flow chart entries provide links to the sections containing detailed informa tion Mount the User Defined CAN Unit on the 1 PLC Select a unique identity number 0 F 2 for the unit
69. d Lists Commands Addressed to User defined CAN Units CONFIGURE MEMORY AREAS Command code CONFIGURE 11 BIT ID OUTPUT MESSAGE BUFFER CONFIGURE 29 BIT ID OUTPUT MESSAGE BUFFER CONFIGURE 11 BIT ID INPUT MESSAGE BUFFER CONFIGURE 29 BIT ID INPUT MESSAGE BUFFER SETTING THE CAN BIT RATE AND SAMPLE POINT DIRECT TRANSMIT OF AN 11 BIT ID CAN MESSAGE DIRECT TRANSMIT OF AN 29 BIT ID CAN MESSAGE General Service Message Command ERROR LOG READ Code Refer to SYSMAC CS CJ Series ERROR LOG CLEAR Communication Commands Ref CONTROLLER DATA READ erence Manual W342 for details on FINS commands READ FIRMWARE VERSION 5 3 Using FINS Message Communications FINS commands are sent from a CPU to the Unit by using the instruction CMND 490 in the PLC program 50 Using FINS Message Communications Section 5 3 5 3 1 Sending FINS Commands DELIVER COMMAND CMND 490 Description CMND 490 can be used in the user program of the CS CJ series CPU Unit to send FINS commands to read write I O memory read status data change the operating mode and perform other functions at other nodes CMND 490 transmits the command beginning at word S to the designated Unit at the destination node address in the designated network and receives the response beginning at word D Ladder Symbol Local node source Destination node 490 cmnD S D c Command Operands Variatio
70. d notification recovery management Medium Access Control MAC Data encapsulation and decapsulation frame coding stuffing medium access management error detection error signalling acknowledgement serialization deseriliazation Physical Layer Layer 1 bit encoding decoding bit timing synchronization The Physical Layer defines how signals are actually transmitted and is this layer are bit timing bit encoding and synchronization handled The MAC sublayer is the kernel of the CAN protocol messages received from the LLC sub layer are processed and messages from the physical layer are Physical CAN connection Section 3 2 send to the MAC sublayer In the MAC sublayer the message framing arbitra tion acknowledgement error detection and signalling are handled LLC sublayer The LLC sublayer does the following processing on messages received trans mitted from to the MAC sublayer message filtering It also deals with overload notification and recovery management 3 2 Physical CAN connection ISO 11898 The data rates up to 1 Mbit s necessitate a sufficiently steep pulse slope which can be implemented only by using power elements A number of physi cal connections are basically possible However the users and manufacturers group CAN in Automation recommends the use of driver circuits in accor dance with ISO 11898 Integrated driver chips in accordance with ISO 11898 are available from several companies The interna
71. data bytes Bit rate bit s Message delay time max s Maximum number of data bytes 8 6 2 Overall performance This section describes the performance of the User Defined CAN Unit in com bination with the host PLC First the bus response time is described This is the time between an input being set or reset on an Input Node and an output being set or reset on an Output Node all under the condition that the Input Node and Output Node are linked to the User Defined CAN Unit After that the maximum transmission reception rate of user defined CAN messages is described 6 2 1 I O response time Minimum vs maximum 74 The figures below show the minimum and maximum I O response time In the bottom figure the processing of received messages is finished just after a PLC I O refresh and the received application data cannot be transferred to the PLC until the next I O refresh The other factors that can influence the I O response time are for both cases identical and are explained below PLC ial pasa Ez CORT21 CAN Bus Input message Output message ivo iuen te 2 the gt 2 tae gt turr do tw minimum I O response time Hour The Message Delay time The message delay time is described in section 6 1 2 CAN Interface The Unit Processing time for Transmitted Received messages The unit processing time for received messages depends on the message rate o
72. ditional request messages This also permits future software revisions to easily accommodate new devices address assignments When a message must be directed to a particular device a specific destination address can be included within the identifier of the message An example of this is the transmission commanding a specific torque value from the engine vs a specific torque value from a retarder Requiring a destination must be considered when the message is first defined and published by the SAE committee because the destination address message for mat PDU1 is slightly different from the broadcast message format PDU2 PDU stands for Protocol Data Unit i e Message Format 95 J1939 Protocol for Trucks and Busses Appendix A CAN EXTENDED FRAME sS IDENTIFIER s L IDENTIFIER EXTENSION R FORMAT o 11 BITS R D 18 BITS T F R E R J1939 FRAME FORMAT sS PRIORITY R D PDU FORMAT PF 6 BITS s 1 PF PDU SPECIFIC PS SOURCE ADDRESS R o P MSB R D CONT DEST ADDRESS GROUP EXT OR T F RIE PROPRIETARY R 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 J1939 FRAME BIT POSITION 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 CAN 29 BIT ID POSITION 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
73. e DIP switches on the front of the User Defined CAN Unit are used to set the baud rate and implicitly the sample point The baudrate is set with switches 1 2 and 3 switch number 4 is spare and currently not used The settings of the DIP switch pins for the baudrate are shown in the following table All pins are set to OFF at the factory 19 Nomenclature and Functions Section 2 1 DIP switch Baud rate Sample point 2 kbit s 10 80 20 80 50 80 125 80 250 80 500 80 reserved reserved Setting the switch 1 Always turn OFF the PLC before changing the DIP switch settings 2 Set the same baud rate on all of the nodes in the network Any unit with a baud rate different from the other unit s s baud rate won t be able to par ticipate in communications and may cause a communications error be tween units that have been set properly 2 1 7 CAN Bus connector The CAN bus connector is a 5 pin open style connector This CAN connector is located on the front side of the Unit and is a male connector with five pins female male 1 5 2 3 4 A 5 GETIT A Color stickers that match communication cable colors are attached to the communications connectors Match the colors when connecting communica tion cables to the connectors the colors can be found in the next table Description CAN_GND Ground CAN_L Communications line dominant low CAN_SHLD Shield optional CAN_H Communication
74. e arbitration 0 0 00 cee eee ee eee 26 325 Message frames xc arier iai cd a pda aN eas hee Reece peo 29 3 6 Implementations of the CAN protocol 0 0 eee cee eee 33 SECTION 4 Allocated CIO and DM Words eeeeee02 35 4 1 Overview of Word Allocations 0 00 0000 ccc cece ee eee eee eee 36 4 2 CTO Area Words i x3 scpccss hb Pose a Sede Sete ek Ss bebe sR tec dhe ee Beach ar a Maye adc eb 37 4 3 Memoty areas ifs iach p a sep ees ly ee he ds eG ee et bt 42 SECTION 5 FINS Commands and Responses eeeee00 47 S MOVERVICW S52 ei 8 oie Eke whet EE Rea a ies Bede a ee 48 5 2 FINS Commumications eiri enee A eee ee nee bebe eee tee buen teas eegeaees 48 5 3 Using FINS Message Communications 0 00 e eee eee cee eee 50 vii viii TABLE OF CONTENTS 5 4 Fins Commands and Responses 00 enaren arrenar 54 SECTION 6 Operation ad neiae i datas a a 09 6 1 Performances esensina e naaa PE a A E S E BIRR E a Whale ae A 70 6 2 Overall performants sser rrera a E E E E E E ee ee 74 SECTION 7 Troubleshooting and Maintenance 79 7 1 Troubleshooting the User Defined CAN Unit 0 00 0 0 eee eee eee 80 M22 NOGICAORS esd plies acces Glee Cates ea Saclay deel Tis bial piesa Se ae he he BEEN wi Wake heed Ns 81 7 3 Error Log Functions isses eeen eile et ody Re eo bbe Mader Haw oe ar A 84 7 4 Error responses from FINS com
75. e pre defined bit rates e If the User wants to set another bit rate the bit rate can be set via the FINS command Setting the CAN bit rate and sample point FINS com mand 2909 This feature is only for experienced CAN users If the values for these FINS settings are within the ranges specified in the table below the bit rate is set according these settings If a wrong setting is made the bit rate is set to the bit rate selected with the DIP switches at the front of the Unit If the command is correct the Unit will return in the response the bit rate and sample point which are in use Command Block 7 Command Bit rate Sample code bits per second point in Minimum value Maximum value Bit rate 00000000 001312D0 1 25Mbit Sample point 0000 0064 Response Block Apart from the standard command length checks the following response codes Response End Bit rate Sample code code bits per second point in Condition Unit state ST1 or ST2 End Code Description 66 Fins Commands and Responses Section 5 4 End Code Description Normal completion Condition Unit state ST3 or ST4 and all parameters in range Command length exceeds maxi mum command length The command length is insuffi cient for the smallest command Parameter error Unit state ST3 or ST4 and one or more parameters not in range Not executable in current Unit state Unit state
76. e total number of messages transmitted is 9 x 101 The statistical number of undetected transmission errors during the operating life is thus in the order of less than 10 Or to put it another way with an operating time of eight hours per day on 365 days per year and an error rate of 0 7 s one undetected error occurs every thousand years statistical average 3 5 4 Extended format CAN message 29 bit identifier Extended format 32 The Society of Automotive Engineers SAE Truck and Bus subcommittee standardized signals and messages as well as data transmission protocols for various data rates It became apparent that standardization of this kind is eas ier to implement when a longer identification field is available To support these efforts the CAN protocol was extended by the introduction of a 29 bit identifier This identifier is made up of the existing 11 bit identifier base ID and an 18 bit extension ID extension Thus the CAN protocol allows the use of two message formats StandardCAN Version 2 0A and ExtendedCAN Version 2 0B As the two formats have to coexist on one bus it is laid down which message has higher priority on the bus in the case of bus access collisions with differing formats and the same base identifier The message in standard always has priority over the message in extended for mat CAN controllers which support the messages in extended format can also send and receive messages in standard
77. e will be send on triggering the corresponding flag in the send trigger area Message will be send cyclic The cycle time is set in milliseconds Message will be send on change of data Big endian Little endian Value is in milliseconds Only valid in case the send mode is on trigger or on change For all other situations zero is a configuration error Command End Code Code 57 Fins Commands and Responses End Code no response Description Section 5 4 Condition Unit state ST1 or ST2 0000 Normal completion Unit state ST4 orST5 and all parameters in range 1001 Command length exceeds maxi mum command length 1002 The command length is insuffi cient for the smallest command 1103 Address range designation error Unit state ST4 or ST5 and buffer number gt number of output buff ers configured with command 2902 Mutual relation error Unit state ST4 or ST5 and send mode 2 and send cycle 0 Parameter error Unit state ST4 or ST5 and one or more parameters not in range Not executable in current mode Unit state ST3 The specified service is being executed Unit state ST5 and send mode changed and the message is being sent Note On response code 0000 the unit configures the output message buffer identi fied with buffer number with the following properties 1 Extended identifier length 11 bit 2
78. eing returned for repair attach a sheet of paper detailing the problem and return the Unit to your OMRON dealer e If there is a faulty contact try wiping the contact with a clean lint free cloth dampened with alcohol To prevent electric shock when replacing a Unit be sure to stop communica tions in the network and turn OFF the power supplies to all of the nodes mas ter and slaves before removing the faulty Unit Appendix A J1939 Protocol for Trucks and Busses CAE PA Society of Automotive Engineers International The Society of Automotive Engineers has more than 84 000 members engineers business executives edu cators and students from more than 97 countries who share information and exchange ideas for advancing the engineering of mobility systems SAE J1939 Standards Collection The Society of Automotive Engineers SAE Truck and Bus Control and Communications Subcommittee has developed a family of standards concerning the design and use of devices that transmit electronic signals and control information among vehicle components SAE J1939 and its companion documents have quickly become the accepted industry standard and the Controller Area Network CAN of choice for off highway machines in applications such as construction material handling and forestry machines The SAE J1939 Standards Collection is based on the Controller Area Network CAN data link layer ISO 11898 1 using the extended frame format 29 bit identifiers
79. er must be unique for each CPU Bus Unit Selecting a non unique number for a CPU Bus Unit will prevent the PLC System from starting correctly Use this switch to set the unit number of the User Defined CAN Unit as a CPU Bus Unit The unit number setting determines the CIO and DM area words allocated to the Unit as software switches and the status area Always turn OFF the power to the PLC CPU before changing the unit number setting The Unit only reads the Unit number setting during the initialisation following a power up but not following a software reset Setting method One digit hexadecimal Setting range 0O to F 1 The unit number is set to 0 at the factory 2 Any unit number from 0 to F can be set as long as it hasn t been set on another CPU Bus Unit connected to the same PLC 3 Use a small flat blade screwdriver to turn the rotary switches be careful not to damage the switch 4 Always turn OFF the PLC before changing the unit number setting 5 Ifthe unit number is the same as one set on another CPU Bus Unit con nected to the same PLC a duplicate number error will occur in the PLC and it won t be possible to start up the CAN network 6 Ifthe unit number is being set for the first time or changed then an I O table may be created for the PLC 7 The two 8 states rotary switch are reserved for future use The two rotary switches on the front below the unit no switch are not used and reserved for future use Th
80. er_no_29bit EE00 Recv_ID_no_29bit_low 18FE Recv_ID_no_29bit_high MOV 021 0 Recv_Endian_29bit MOV 021 amp 10 No_command_byte BEND 801 MOV 021 Program Name Send_CAN_message_11bit Section Name Send_CAN_message_11bit Send a 11 bit Can message without using buffer You have to put ID D91 DLC D92 and message data D93 to D96 directly into the Datamemory W0 03 BPRG Ja H 096 Send_CA 4 N_11bit_ without_b uffer MOV 021 2907 FINS_2907_Send_CAN_1 1bit MOV 021 0 Send_CAN_endian_1 1bit MOV 021 amp 16 No_command_byte BEND 801 Program Name Send_CAN_message_29bit Section Name Send_CAN_message_29bit Send a 29 bit Can message without using buffer You have to put ID D101 and D102 DLC D103 and message data D104 to D107 directly into the Datamemory W0 04 BPRG N 096 Send_CA 5 N_29bit_ without_b uffer MOV 021 2908 FINS_2908_Send_CAN_29bit MOV 021 0 Send_CAN_endian_29bit MOV 021 amp 18 No_command_byte BEND 801 Programming examples Appendix B 000005 000094 000006 000097 000007 000100 000008 000103 CMND for Setting the Recv 11 bit function Wwo 02 A202 00 CMND 490 Ja 1h f 1 recv_11bit Logical_p ort0_read y W0 06 A202 00 D70 FINS_29 05_recv1 1bit D30 ICMND_r lesponse D20 No_com mand_by
81. erminal screws unit mounting screws and cable connector screws are tightened to the torque specified Xiv Application Precautions 5 in the relevant manuals Incorrect tightening torque may result in malfunc tion Leave the label attached to the unit when wiring Removing the label may result in malfunction if foreign matter enters the unit Remove the label after the completion of wiring to ensure proper heat dis sipation Leaving the label attached may result in malfunction e Always use the power supply voltage specified in this manual e Double check all the wiring and connection of terminal blocks and con nectors before mounting the units Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Observe the following precautions when wiring the communications cable e Separate the communications cables from the power lines or high ten sion lines e Do not bend the communications cables e Do not pull on the communications cables e Do not place heavy objects on top of the communications cables e Be sure to wire communications cable inside ducts e Use appropriate communications cables e Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied in places where the power supply is unstable An incorrect power supply may result in malfunction Install external breakers and take other safety measures against short cir cuits
82. even Segment Display In addition to the RUN and ERR indicators User Defined CAN Units have a 2 digit 7 segment display that normally indicates the enabled or disabled status of the communication When an error occurs the display will display a flash ing error code There are dot indicators in the lower right corner of each digit The left dot of these two indicators shows whether or not the Unit is configured with FINS commands that is ST4 or ST5 The right dot indicator shows whether the communication is enabled or disabled the dot is lit when the communication is enabled that is ST5 Normal 00 indicating enabled Error FF communication disabled blink 01 network power fail H0 L L Indicates whether the communication is enabled lit or disabled Indicates whether the unit is configured ST4 or ST5 17 Nomenclature and Functions Seven segment Digits The following table shows the functions of the 7 segment digits Status Display e Unit not mounted in PLC rack e ST1 or ST2 Section 2 1 Not lit e Unit not configured ST3 e CAN communications are disabled ST4 Lit FF CAN communications are enabled ST5 Lit 00 CAN network power failure Blink 01 CAN bus off Dot Indicators The following table shows the functions of the dot indicators Indicator Content Display Left dot Unit operational ON Unit is configured and communic
83. f all the units connected to the user Defined CAN Unit that is the rate of received messages by the unit If the message rate is higher than the unit is capable of processing see sec tion 6 1 2 CAN Interface the messages will queue up causing a delay in pro cessing Receive queue overflow occurs when messages are received and the queue is already full Overall performance PLC Section 6 2 CORT21 CAN Bus Input message Output message lg dur lt te gt tae gt toe X lt tae gt dur dw tin maximum I O response time tour T ty Input Message tupp Unit Processing time for Received messages tour Output Message typt Unit Processing time for Transmitted messages typ Message Delay time tpg Program Execution time tae I O Refresh time The unit processing time of messages to be transmitted depends on the num ber of send triggers and the send mode of each output buffer If many send triggers change at or near the same time or if many output buffers are changed at the same time or have the same time triggering the transmission of output buffers will queue up causing a delay in transmission If the rate at which the output buffers change state requires a higher transmission rate than the unit is capable of see section 6 1 2 CAN Interface a transmit queue overflow occurs Transmit queue overflow errors can be solved by reducing the rate at which t
84. ficiently low In the context of bus systems data reliability is understood as the capability to identify data corrupted by trans mission faults The residual error probability is a statistical measure of the impairment of data reliability It specifies the probability that data will be cor rupted and that this corruption will remain undetected The residual error probability should be so small that on average no corrupted data will go unde tected throughout the whole life of a system Calculation of the residual error probability requires that e the errors which occur are classified and e that the whole transmission path is described by a model This calculation of the residual error probability of CAN results in a maximum bit error probability which is approximately 0 02 in the order of 10713 0 02 10 19 The residual error probability of CAN is determined as a function of e the bit error probability for message lengths of 80 to 90 bits e for system configurations of for instance five or ten nodes e and with an error rate of 1 1000 an error in one message in every thou sand Based on the residual error probability it is possible to calculate the maximum number of undetectable errors for a given CAN network For example if a CAN network operates at a data rate of 1 Mbit s at an aver age bus capacity utilization of 50 percent for a total operating life of 4000 hours and with an average message length of 80 bits then th
85. format When CAN controllers which only cover the standard format Version 2 0A are used on one network then only messages in standard format can be transmitted on the entire network Messages in extended format would be misunderstood However there are Implementations of the CAN protocol Section 3 6 CAN controllers which only support standard format but recognize messages in extended format and ignore them Version 2 0B passive Arbitration field Control Data Field CRC Field Ack End of Int Bus idle Field Field Frame S S I Rir r O 11 bit R D 18 bit T f 0 DLC 0 8bytes 15 bit CRC F IDENTIFIER R E IDENTIFIER R RTR bit IDE bit The distinction between standard format and extended format is made using the IDE bit Identifier Extension Bit which is transmitted as dominant in the case of a frame in standard format For frames in extended format it is reces sive The RTR bit is transmitted dominant or recessive depending on whether data are being transmitted or whether a specific message is being requested from a unit In place of the RTR bit in standard format the SRR substitute remote request bit is transmitted for frames with extended ID The SRR bit is always transmitted as recessive to ensure that in the case of arbitration the standard frame always has priority bus allocation over an extended frame when both messages have the same base identifier Un
86. he baudrate switches on the front or directly using a FINS command FINS command 2909 1 1 2 2 OSI Layer 2 Datalink layer The CAN bus access protocol is implemented by OSI layer 2 This protocol also includes data security and the handling of the transmission protocols and messages The datalink layer is layer 2 of the ISO OSI reference model and Overview of CAN bus Section 1 1 is built with two sub layers on top of each other the Logical Link Control LLC sublayer and the Medium Access Control MAC sublayer MAC The Medium Access Control MAC specifies the procedures which determine when a device is permitted to transmit data Information from transmitters to receivers is passed in data frames The MAC sublayer represents the kernel of the CAN protocol It presents messages received from the LLC sublayer and accepts messages to be transmitted to the LLC sublayer The MAC sub layer is responsible for Message Framing Arbitration Acknowledgement Error Detection and Signalling LLC The LLC sublayer is concerned with Message Filtering Overload Notification and Recovery Management For a detailed description of the MAC and LLC sublayer refer to Bosch CAN Specification Version 2 0 Arbitration field Control Data Field CRC Field Ack End of Int Bus idle Field Field Frame S Ril ir O 11 bit IDENTIFIER T D 0 DLC 0 8 bytes 15 bit CRC F R E Data frame The data frame is compo
87. he bit stream According to the CAN specification the nomi nal bit time is divided into four segments The Synchronization Segment the Propagation Time Segment the Phase Buffer Segment 1 and the Phase Buffer Segment 2 Each segment consists of a specific programmable num ber of time quanta The length of the time quantum tq which is the basic time unit of the bit time is defined by the CAN controllers system clock fsys and the Baud Rate Prescaler BRP tq BRP fsys Typical system clocks are fsys fosc or fsys fosc 2 The Synchronization Segment Sync_Segq is that part of the bit time where edges of the CAN bus level are expected to occur the distance between an edge that occurs outside of Sync_Seg and the Sync_Seg is called the phase error of that edge A signal edge is expected to lie in this segment and is used to synchronize the bus input to the system clock The Propagation Time Segment Prop_Seg is intended to compensate for the physical delay times within the CAN network The Phase Buffer Segments Phase_Seg1 and Phase_Seg2 surround the Sample point Nominal bit time Sample point Sample point The sample point is the point of time at which the bus level is read and inter preted as the value of that respective bit Its location is at the end of Phase_Seg1 The sample point is set as a percentage of the total bit time 0 100 It can be set indirectly or directly for the User Defined CAN Unit It is set indirectly with t
88. he length of the FINS command must always equal 8 words 5 4 7 Setting parameters for direct transmitting 29 bit ID message FINS command 2908 The instruction is used to transmit a user defined CAN message This function is only for advanced users that have knowledge of the message structure of the higher layer protocol The User Defined CAN Unit will not check the valid ity of the CAN message a ttt Tt Command Block Y w yY Y Y Command Identifier Data Data Big or code 29 bit length 8 Bytes little in bytes endian 64 Fins Commands and Responses Section 5 4 Response Block Note Setting Identifier 29 bit Minimum value Maximum value 00000000 1FFFFFFF Data length in bytes 0000 0008 Data 00p FF Big or little endian Big or little endian 0000 0001 no response 0000 0001 Big endian Little endian I i y Command End Code Code Condition Unit state ST1 or ST2 Description 0000 Normal completion Unit state ST5 and all parame ters in range 1001 Command length exceeds maxi mum command length 1002 The command length is insuffi cient for the smallest command 110Ch Parameter error Unit state ST5 and one or more parameters not in range 2201 Not executable in current mode Unit state ST3 or ST4 220Fh The specified service is being executed Unit state ST5 and send m
89. he output buffers change state and therefore requests for transmission are generated Receive queue overflow errors can be solved by decreasing the PLC cycle time or by reducing the rate at which the other units transmit messages In case of high bus loads over 50 additional delays can be caused by high priority low identifier messages which delay the transmission of lower priority messages The I O Refresh time Refer to section 6 1 1 PLC cycle time for the I O refresh time of the User Defined CAN Unit The Program Execution time The Program Execution time depends on the number and type of PLC instruc tions in the ladder program Refer to the PLC Operation Manual for the execu tion times of the PLC instructions 75 Overall performance Section 6 2 6 2 2 Transmission of CAN messages Direct transmitting Transmitting with send mode 76 The following figure shows the sequence of direct transmitting a CAN mes sage using FINS command 2907 or 2908 PLC CMND CJ1W CORT21 Bus i Output node l tupc The transmission time of a user defined CAN message tar The I O Refresh time tpg The Program Execution time Refer to the PLC Operation manual for the execution time of a CMND PLC instruction After the content of the CMND is transferred to the User Defined CAN Unit the unit immediately relays the contained message to the CAN transmi
90. he product or product failure Please read each section in its entirety and be sure you understand the information provided in the section and related sections before attempting any of the procedures or operations given PRECAUTIONS This section provides general precautions for using the CJI1W CORT21 User Defined CAN Unit Programmable Logical Controllers and related devices The information contained in this section is important for the safe and reliable operation of the User Defined CAN Unit and Programmable Logical Controller PLC You must read this section and understand the information contained before attempting to set up or operate a User Defined CAN Unit as part of a PLC 1 Intended Audience srei tona Bee Bw bee Bathe Sake Bal hey acl as xii 2 General Precautions orses criceti p i E e eee e n eens xii 3 Safety Preca tl onsiz ga 35 kop bes Ma aa Rs Sia E Gate So ear Aiea ees xii 4 Operating Environment Precautions 0 0 00 eee eee xiii 5 Application Precautions 0 0 0 eee cee eee xiv 6 Conformance to EC Directives 1 0 0 cece eee eae XVi 6 1 Applicable Directives os cerco cere cer cerei eee ee eee xvi 6 2 Concepts a fee N E e A EN OE Date Sad ok OE bcs XVi 6 3 Conformance to EC Directives 0 0 0 c cece eee xvi xi Intended Audience 1 2 3 xii Intended Audience This manual is intended for the following personnel who must also have a knowledge of electrical systems an
91. ill be discussed 7 4 1 no respon se Description FINS command 2902 Configure memory area Condition Unit state ST1 or ST2 Possible remedy Restart the PLC make sure that the unit is mounted and wired correctly 0000 Normal completion Unit state ST3 or ST4 and all param eters are in range Everything is OK Command is executed 1001 Command length exceeds maxi mum command length Too many parameters sent in the command Correct the command and re send 1002 The command length is insuffi cient for the small est command Too few parameters sent in the command Correct the command and re send 1101 No area type Unit state ST3 or ST4 and the mem ory area is not available Filled in memory area type is not valid please fill in a correct memory area type 0001 0004 or 0008 0014 See Setting the memory areas on page 54 Address range exceeded Unit state ST3 or ST4 and the end address of an area is not in range Correct the memory area size Mutual relation error Unit state ST3 or ST4 and the mem ory areas overlap Memory area overlap fill in a free memory area See ClO Area Words on page 37 for minimum memory size 85 Error responses from FINS commands Section 7 4 Error code Description Parameter error Condition Unit state ST3 or ST4 and one or more parameter
92. ing it in a system in the above mentioned applications Safety Precautions N WARNING Z N WARNING Never attempt to disassemble a unit or touch the inside of a unit while power is being supplied Doing so may result in serious electrical shock or electrocu tion Provide safety measures in external circuits i e not in the Programmable Logical Controller CPU Unit including associated units referred to as PLC in order to ensure safety in the system if an abnormality occurs due to mal function of the PLC or another external factor affecting the PLC operation Not doing so may result in serious accidents e Emergency stop circuits interlock circuits limit circuits and similar safety measures must be provided in external control circuits e The PLC will turn OFF all outputs when its self diagnosis function detects any error or when a severe failure alarm FALS instruction is executed As a countermeasure for such errors external safety measures must be provided to ensure safety in the system Operating Environment Precautions 4 4 Z N WARNING Z Caution Z Caution Z Caution e The PLC outputs may remain ON or OFF due to deposition or burning of the output relays or destruction of the output transistors As a counter measure for such problems external safety measures must be provided to ensure safety in the system When the 24 VDC output service power supply to the PLC is overloaded or short circuited the vol
93. ing of bus signals each node which transmits also observes the bus level and thus detects differences between the bit sent and the bit received This permits reliable detection of all global errors and errors local to the trans mitter 2 Bit stuffing The coding of the individual bits is tested at bit level The bit representation used by CAN is NRZ non return to zero coding which guarantees max imum efficiency in bit coding The synchronization edges are generated by means of bit stuffing i e after five consecutive equal bits the sender in serts into the bit stream a stuff bit with the complementary value which is removed by the receivers The code check is limited to checking adher ence to the stuffing rule Error flag If one or more errors are discovered by at least one unit any unit using the above mechanisms the current transmission is aborted by sending an Error Flag This prevents other units accepting the message and thus ensures the consistency of data throughout the network Re transmission After transmission of an erroneous message has been aborted the sender automatically re attempts transmission automatic repeat request There may again be competition for bus allocation As a rule retransmission will begin 30 Message frames Section 3 5 within 23 bit periods after error detection in special cases the system recov ery time is 31 bit periods However effective and efficient the method described may be in
94. ion is the minimum number of bit periods separating consecutive messages If there is no following bus access by any unit the bus remains idle bus idle 3 5 2 Detecting and signalling errors Error detection Unlike other bus systems the CAN protocol does not use acknowledgement messages but instead signals any errors that occur For error detection the CAN protocol implements three mechanisms at the message level 1 Cyclic Redundancy Check CRC The CRC safeguards the information in the frame by adding redundant check bits at the transmission end At the receiver end these bits are re computed and tested against the received bits If they do not agree there has been a CRC error 2 Frame check This mechanism verifies the structure of the transmitted frame by checking the bit fields against the fixed format and the frame size Errors detected by frame checks are designated format errors 3 ACK errors As mentioned above frames received are acknowledged by all recipients through positive acknowledgement If no acknowledgement is received by the transmitter of the message ACK error this may mean that there is a transmission error which has been detected only by the recipients that the ACK field has been corrupted or that there are no receivers Bit level errors The CAN protocol also implements two mechanisms for error detection at the bit level 1 Monitoring The ability of the transmitter to detect errors is based on the monitor
95. ive Flags that are added to the configuration The Transmit Flags are not cleared Command message specification Word Function FINS command 2902 Memory area e g 0002 for DM area Start address e g 0000 for start address DM 0 Memory area e g 0003 for W area Start address e g 0000 for start address W 0 Number of buffers e g 000A for 10 buffers Memory area e g 0002 for DM area Start address e g 0064 for start address DM 100 56 Fins Commands and Responses Word wordn 8 Section 5 4 Function Memory area e g 0003 for W area wordn 9 Start address e g 0001 for start address W 1 word n 10 Number of buffers e g 0005 for 5 buffers 5 4 2 Setting parameters for sending 11 bit ID message FINS command 2903 Per send buffer three parameters need to be set the 29 bit identifier the method of sending SM1 triggered SM2 on change or SM3 cyclic and the use of little or big endian Command Block Y Command Buffer Identifier Method Code Setting Buffer number Big or little endian Y Send number 11 bit of sending Cycle Minimum value Maximum value Identifier 11 bit Method of sending Send cycle msec Big or little endian Note Method of sending 0001 0002 0004 Big or little endian 0000 0001 Send cycle gt 0 0 Response Block Messag
96. l after the completion of wiring to ensure proper heat dis sipation Leaving the label attached may result in malfunction Remove the label after wiring 22 SECTION 3 CAN Operation This section describes how to send and receive messages with the User Defined CAN Unit It will discuss what needs to be configured for the unit and how CAN messages are processed and will explain the principles of CAN communication 3 1 Introduction s esc be ee ete ee ee TE ee betes 24 3 2 Physical CAN connection 0 0 0 cece eee eee 25 3 3 Principles of data exchange 0 0 0 0 eee cee eee ee 25 3 4 Principle of non destructive bitwise arbitration 00 26 3 4 1 Non destructive bitwise arbitration 00 26 3 4 2 Efficiency of bus allocation 00 00 00000 27 3 5 Message frames rpasis 5 4 8 aa ow ee a A a VEES eng 2 29 3 5 1 Message frame formats 0 0 00 c eee eee eee eee 29 3 5 2 Detecting and signalling errors 000 0 0000 30 3 5 3 Data reliability of the CAN protocol 00 31 3 5 4 Extended format CAN message 000000005 32 3 6 Implementations of the CAN protocol 0000000008 33 OVERVIEW 5 55 ish Seah Oa gard a ded Ba ode deed Baebes 33 CAN controller with intermediate buffer 33 CAN controller with object storage 0 000000 33 CAN slave co
97. l is developed by Robert Bosch GmbH and protected by pat ents 1 1 2 CAN Communication Protocol OSI reference model ISO 7498 In general the CAN communication protocol is based on the Open System Interconnection OSI reference model in accordance with the international standard ISO 7498 see the following illustration The model defines 7 layers of communication functions two of which layers 1 and 2 are used in CAN e Layer 1 the Physical Layer of this model defines the physical transmis sion characteristics e Layer 2 the Data Link Layer of this model defines the bus access proto col This protocol also includes data security and the handling of trans mission protocols and telegrams Overview of CAN bus Section 1 1 User Interface Layer 7 Application Layer Higher Layer Protocol 6 Presentation Layer 5 Session Layer NOT DEFINED 6 5 4 Transport Layer 3 Network Layer 2 1 2 Data Link Layer CAN communication protocol 1 Physical Layer CAN bus ISO 11898 OSI Layer 1 and 2 CAN uses layers 1 and 2 Layers 3 to 7 are not defined for CAN the applica tion layer OSI layer 7 defines the interface functions for specific application areas The User Defined CAN Unit has a user defined application layer the PLC program configures the Unit processes received messages collects data to transmit and triggers the Unit to send messages This streamlined architecture ensures fast and efficient da
98. lag in the CPU Unit A20200 to A2020007 corresponding to ports 0 to 7 Execution Port Unit state condition Enabled Flag tm mA ome j 1 Unit state condition depends on the FINS command e g FINS command 2907 can be sent only if the unit is in ST5 Enabled Communication flag CIO n 3 02 is ON Address Content Bit Port 0 Execution not possi Enabled 76543210 ble executing Flag 1 Execution possible not executing Port 5 gt Port 4 w Port 3 N Port 2 Port 1 Port 0 0 Normal completion 1 Error oO Port 7 Port6 Port Error Flag ol Port 7 Port 6 Port 5 Port 4 Port 3 Port 2 Port 1 Port 0 Communications Flag Operation 52 e The Port Enabled Flag turns OFF when instructions are being sent or received from when the instruction is issued until the response is received and turns ON when the execution has been completed whether normally or with an error e The Port Error Flag maintains its status until the next send or receive is executed e The Port Error Flag turns OFF when the next communications instruction is executed regardless of whether the previous execution ended with an error I I I I I I Instruction i instruction i i Instruction i Communications 1 executeg 2 executed 3 executed instruction Execution Error Flag Completion code Previous 00 Normal 04 Busy 00 Normal code end end Communications Instructions Completion Codes The s
99. lay 0 0 0 e eee eee eee 7 2 4 Two dot indicators 0 0 0 ee eee Error Log Functions cerceta van See a ee Sek ae Oa aE Oa 7 3 1 Error Log Tables 2 sete ii ti a Deed ed 7 3 2 Error Codes and Detail Codes urrune Error responses from FINS commands 00 00 0002 eee 7 4 1 FINS command 2902 Configure memory area 7 4 2 FINS command 2903 Configure 11 bit ID output message buffer 7 4 3 FINS command 2904 Configure 29 bit ID output message buffer 7 4 4 FINS command 2905 Configure 11 bit ID input message buffer 7 4 5 FINS command 2906 Configure 29 bit ID input message buffer 7 4 6 FINS command 2907 direct transmit of an 11 bit ID CAN message 7 4 7 FINS command 2908 direct transmit of an 29 bit ID CAN message 7 4 8 FINS command 2909 setting the CAN bit rate and sample point Using status information 0 00 0 c eee cee eee eee Maintenance and Replacement 20 0c eee ee eee eee eens 7 6 1 7 6 2 7 6 3 Cleaning 23 4 4 2 bot aah lial wav be edi waa Rade de kas TNS P CtiONs ene ee asia whe Fea as We oe MURR S eas HERTS ae Replacing Faulty Units 00 0 0 0 00 c ee eee eee 80 81 82 82 83 83 84 84 84 85 85 86 87 88 88 89 90 90 91 93 93 93 94 79 Troubleshooting the User Defined CAN Unit Section 7 1 7 1 Troubleshooting the User Defined CAN Unit Status words LEDs 7 segment display Error log
100. le 1 e Number of output buffers 2 e Number of configured output buffers 1 Every time the configured message is sent cyclic time elapsed the evalua tion time of all output buffers being 2 will be 11 6 4 3 15 9 usec The evaluation time is 10 0 4 3 14 3 usec in case the configured output buffer is not sent Example 2 e Number of output buffers 640 e Number of configured output buffers 1 Every time the configured message is sent cyclic time elapsed the evalua tion time of all output buffers being 640 will be 11 6 4 3 639 2 76 msec The following guidelines apply to optimizing the evaluation time for the cyclic send mode e Set the number of output buffers with FINS command 2902 to the same amount as the number of configured output buffers that is the total num ber of buffers configured with FINS command 2903 or 2904 e Sending messages cyclically instead of on change is more than 4 times faster The following conclusions apply to the evaluation times and the different send modes e Sending messages in the triggered mode is the fastest way to send mes sages it is faster then evaluation in the on change mode and cyclic mode e Sending messages cyclically instead of on change is more than 4 times faster 6 1 1 2 Input message process time 72 The input message process time is the time between reception of a message and the processing of that message i e data is ready to be refreshed The proces
101. lifts and transportation systems CAN is a serial bus system with multi master capabilities that is all CAN nodes are able to transmit data and several CAN nodes can request the bus simultaneously The serial bus system with real time capabilities is the subject of the ISO 11898 international standard and covers the lowest two layers of the ISO OSI reference model In CAN networks there is no addressing of sub scribers or stations in the conventional sense but instead prioritized mes sages are transmitted A transmitter sends a message to all CAN nodes broadcasting Each node decides on the basis of the identifier received whether it should process the message or not The identifier also determines the priority that the message enjoys in competition for bus access The relative simplicity of the CAN proto col means that very little cost and effort need to be expended on personal training the CAN chips interfaces make applications programming relatively simple Introductory courses function libraries starter kits host interfaces IO modules and tools are available from a variety of vendors permitting low cost implementation of CAN networks Low cost controller chips implementing the CAN data link layer protocol in silicon and permitting simple connection to micro controllers have been available since 1989 Today there are more than 50 CAN protocol controller chips from more than 15 manufacturers announced and available The CAN protoco
102. like the standard format in the extended format the IDE bit is followed by the 18 bit ID extension the RTR bit and a reserved bit r1 All the following fields are identical with standard format Conformity between the two formats is ensured by the fact that the CAN controllers which support the extended format can also communicate in standard format 3 6 Implementations of the CAN protocol Overview CAN controller with intermediate buffer CAN controller with object storage CAN slave controllers for 1 0 functions Communication is identical for all implementations of the CAN protocol There are differences however with regard to the extent to which the implementa tion takes over message transmission from the micro controllers which follow it in the circuit CAN controllers with intermediate buffer formerly called basicCAN chips have implemented as hardware the logic necessary to create and verify the bitstream according to the protocol However the administration of messages to be sent and received acceptance filtering in particular is carried out only to a limited extent by the CAN controller CAN objects consist mainly of three components identifier data length code and the actual useful data CAN controllers with object storage formerly called FullCAN function like CAN controllers with intermediate buffers Addi tional they administer a certain number of objects Where there are several simultaneous requests to trans
103. mand length exceeds maximum command length 1002 The command length is insufficient for the smallest command no response Unit state ST1 or ST2 1101 No area type Unit state ST3 or ST4 and the memory area is not avail able 1104 Address range over Unit state ST3 or ST4 and the end address of an area is not in range 1109 Mutual relation error Unit state ST3 or ST4 and the memory areas overlap 110C Parameter error Unit state ST3 or ST4 and one or more parameters are not in range 2201 Not executable in current mode Unit state ST5 Note On response code 0000 event EV1 is generated The unit configures e Location T in 4 3 3 CAN Output Message Buffers using the provided memory area and start address of Output Buffers e Location R in 4 3 1 Send Trigger Area using the provided memory area and start address of Send Triggers e Number A in 4 3 1 Send Trigger Area and 4 3 3 CAN Output Message Buffers with the number of output buffers e Location U in 4 3 3 CAN Output Message Buffers using the provided memory area and start address of Input Buffers e Location S in 4 3 2 Receive Flags Area using the provided memory area and start address of Receive Flags e Number B in 4 3 2 Receive Flags Area and 4 3 4 CAN Input Message Buffers with the number of input buffers On response code 0000 the unit will set to zero e The CAN Input Message buffers that are added to the configuration e The Rece
104. mands 0 0 c eee eee ee eee 85 7 5 Using status information 0 0 0 0 cee cee eect eee 91 7 6 Maintenance and Replacement 0 0 00 eee eee 93 Abbreviations ssssssscsssssesesesessosesese o 105 MVCN edama aa a a aaa aa LOT Revision History ssssesscccesssoseessssee ITI About this Manual This manual describes the installation and operation of CJ1W CORT21 User Defined CAN Unit for SYSMAC CJ series PLC s and includes the sections described below Please read this manual carefully so that you understand the information provided before installing or using the CJ1W CORT21 User Defined CAN Unit Start with the precautions in the following section They describe the operating environment and application safety measures which must be observed prior to and when using the CJ1W CORT21 User Defined CAN unit The sections of this manual are as follows Section 1 provides an overview of CAN bus including features specification and system configuration of the User Defined CAN Unit Section 2 describes the nomenclature and installation of the User Defined CAN Unit Section 3 describes how CAN communication functions and the way layer 7 protocols use CAN com munication Section 4 describes the words allocated to the User Defined CAN Unit in the CIO Area and DM Area These words both enable controlling the User Defined CAN Unit and accessing Unit and bus status Section 5 describes message c
105. mit objects over the bus the CAN controllers determine for example which object is to be transmitted first They also carry out acceptance filtering for incoming objects The micro controller following the CAN controller has to administer only a few bits e g transmission request As well as CAN controllers which support all functions of the CAN protocol there are also CAN implementations possible which do not require a following micro controller These CAN implementations are called SLIO Serial Link 1 O acting as CAN slave units and having to be administered by a CAN master unit 33 SECTION 4 Allocated CIO and DM Words This section describes the words allocated to the User Defined CAN Unit in the CIO Area and DM Area However DM words are not used by the User Defined CAN unit 4 1 4 2 4 3 Overview of Word Allocations annaua nannan anaa 4 1 CIO Area Words rs cenere si e eae a EN ER ENE Ra 4 1 2 Allocated DM Area Words n on annuun naana CIO Area Words ee araa a nb ob beled ad Aa E a 4 2 1 Communication enable Word n onana nannaa naaa nnen 4 2 2 Reserved output word Words n 1 n 2 0 0 2 2 eee 4 2 3 Status communication Word n 3 0 0000 cece eee 4 2 4 Always zero input words Words n 4 n 5 n 6 n 7 4 2 5 Number of delayed send messages Word n 8 4 2 6 Number of received messages waiting to be processed Word n 9 4 2 7 Reserved words for the system Words
106. n O POWER SYSMAC CJ1G CPU44 Proaramane compat oat oo v u er AC100 240 S L2 N GEA afena A AEH Tieng N o RUN n ourpur J o Ac240v c Dc2av f AIO 2 DA 2 21 Installing the User Defined CAN Unit Section 2 2 2 Move the yellow sliders on the top and bottom of the Unit until they click into position to lock Lock omron SYSMAC OG cpuag fh Release u AC100 240V INPUT z E F a gt DA An Ri AEn o ere d eS g DC24V Tt og o PORT Note If the sliders are not securely locked the User Defined CAN Unit functions may not operate sufficiently To dismount the Unit move the sliders to the Release direction 2 2 4 Handling Precautions e Always turn OFF the power supply to the PLC before mounting or dis mounting a Unit or connecting or disconnecting cables e Provide separate conduits or ducts for the I O lines to prevent noise from high tension lines or power lines e Leave the label attached to the Unit when wiring Removing the label may result in malfunction if foreign matter enters the Unit e Remove the labe
107. n 7 2 x RUN LED OFF sm ERR LED OFF Initialise hardware 7 Segment display OFF and software Right dot inicator OFF Left dot indicator OFF RUN LED RED St ERR LED RED Startup error YD EEr 7 Segment display OFF Right dot inicator OFF Left dot indicator BLINK qe N Y RUN LED ST3 N ERR LED Not 7 Segment display Configured Right dot inicator Left dot indicator wes _ RUN LED Disable CAN communication Left dot indicator Y y RUN LED GREEN sa ERR LED OFF y Pue ursi 7 Segment display FF ERRA Right dot inicator OFF Left dot indicator ON N Enable CAN communication Pit Can bus power Y tis y N RUN LED St ERRLED 5 Y 7 Segment display Communicating Right dot inicator CAN bus off Gi GREEN ERR LED ON 7 Segment display 02 Blinking Right dot inicator OFF Left dot indicator ON RUN LED GREEN ERR LED ON 7 Segment display 01 Blinking Right dot inicator ON Left dot indicator ON 7 2 Indicators The User Defined CAN Unit has several indicators on front Two 7 segment displays with dots and two error leds see picture below L Two digit 7 segment display RUN 1 Status indicators ERR ZN LJ 3 Dot indicators 81 Indicators Section 7 2 7 2 1 Run Led 7 2 2 Err Led 82 R
108. nd Installation Manual 11 Non destructive bus access 27 Number of delayed send messages 41 O P Object storage 33 OMRON Copyright notice vi Operating Environment Precautions Manual xiii Operation Manual 69 OSI Reference Model 24 OSI reference model ISO 11898 3 ISO 7498 2 Layer 1 Physical Layer 2 Layer 2 Data Link Layer 2 Output buffer 14 43 Performance 70 74 Physical Layer 24 PLC cycle time 70 Precautions Manual xi Priority 26 Program execution time 75 programming See also instructions See also ladder programs R Receive Flags 14 Receive Flags Area 43 Index Receiving CAN messages 16 U Reception of CAN messages 77 Reliability 31 Unit General specifications 7 Residual error 32 states 12 Response Codes 49 Unit addressing 25 Unit Cyclic refresh 14 User Defined CAN Unit 6 Re transmission 30 Rotary switches 19 RTR bit 33 RUN 17 V W S Word allocations 36 SAE The Society of Automotive Engineers vi Safety Precautions Manual xii SEND 52 Send mode 15 Send Trigger Area 42 Send Triggers 14 Sending CAN messages 15 Sending messages 25 Serial bus 2 3 Seven segment Digits 18 Seven Segment Display 17 SM1 15 43 SM2 15 SM3 15 ST1 13 ST2 13 ST3 13 ST4 13 STS 13 Start up 18 States 12 Status communication 40 Status Indicators 17 Switch 19 Switch settings 19 T timing communications 69 Tra
109. nd in case a bit in the receive flags area is associated with the received iden tifier this bit is set The message content is placed in the corresponding input buffer FINS commands are used to define a receive flag area to associate an identifier with an input buffer and a receive flag CAN Output Message Buffers configurable The message content to send every output buffer can only have one message CAN Input Mes sage Buffers configurable The content of the received messages every input buffer can have only one message at a time New incoming messages will overwrite the previous content of the input buffer Nomenclature and Functions Section 2 1 FINS services 2 1 3 CAN CAN functionality Sending CAN messages Triggered On change The User Defined CAN Unit supports the types of FINS services listed in the following table FINS Service Type Description Configuration Services Services to e Configure the configurable memory locations number of input messages and number of output messages e Set the identifiers and way of sending the output mes sages e Set the identifiers of the input messages to handle e Set the bit rate of the CAN physical layer Transmission Services Services to send a specific output message Error Log Services Services to read and clear the error log Identification Services Services to identify the Unit and its firmware version The Use
110. nfigured either using the selector switches on the front of the Unit or FINS command 2909 Troubleshooting The User Defined CAN Unit is provided with a variety of troubleshooting func Functions tions for prompt recovery in case of errors e Extensive self diagnostic function at startup e Communication exchange flags indicating if message buffers are ex changed with the bus device s e Status and error flags indicating the status of the Unit and the CAN net work e Error log for recording error history data 1 2 2 User Defined CAN Unit Model Applicable PLC Types of communications Model number General Specifications General specifications of the User Defined CAN Unit conform to the general specifications for the SYSMAC CJ series CPU Units Functional and Performance Specifications Oooo e O o o O CHW CORT2I User Defined CAN Unit Section 1 2 Item Applicable PLC Specification CJ Series Unit classification CPU Bus Unit Applicable unit numbers Oto F Mounting position CPU Rack or Expansion Rack No of Units that can be mounted 16 Units max No of Units that can be connected per CAN network Unlimited Words allo CIO Area words allocated for the CPU cated inthe Bus Unit CPU Unit 25 words Unit allocation for one Unit CPU Unit to User Defined CAN Unit 10 words for the software switches and status words the remaining 15 words are reserved for future use
111. nly be can be connected to the CAN networks CJ series CPU Unit Controller Link Unit CJ series User Defined CAN Unit Controller Link Unit Controller Link CAN Network E CAN unit CAN unit CAN unit When connecting networks routing tables must be registered for the PLC CPU Units on all networks When connecting two or more communication units to a CJ series CPU Unit the Link Unit must be registered in the CJ series PLC CPU Unit routing table for the local network table only Commands cannot be executed if the Link Unit is not registered 53 Fins Commands and Responses Section 5 4 5 4 Fins Commands and Responses Configuration steps In order to operate a CAN network each unit in the network needs to be con figured either with hardware settings and or software PLC program configu ration The total process of network and unit configuration involves e setting up the physical network topology e setting up the bus parameters which define the baud rate and the bus timing parameter sample point e defining the configuration data i e defining the process data which will be exchanged between the User Defined CAN Unit and other nodes on the CAN network e defining the parameterization data for the User Defined CAN Unit which defines the filtering of message identifiers the configuration of message buffers in the PLC system setting up the parameterization of the User Defined CAN Unit Every time after power
112. ns t S 1 command word D 13 response word T CMND 490 C 1 control word Bits 00 to 07 Number of command bytes to send 0 to 542 i e 0000p to 021E For sending a FINS message this value is the total length of the message Number of response bytes to receive 0 to 542 i e 0000 to 021E Destination network address Set to 0 0 to 127 i e 00 to 7Fp O local network Destination unit FINS address Destination node address Bits 00 to 03 Bits 08 to 10 No of retries 0 to 15 Transmission port number i e 0h to Fh 0h to 7h Bits 04 to 07 Bit 11 to 14 Set to 0 Set to 0 Bit 15 ON No response OFF Response returned Response monitoring time 0001 to FFFF 0 1 to 6553 5 seconds Note 1 Indicates a Unit as shown in the following table Setting CPU Bus Unit 10 to 1Fp Unit numbers 0 to 15 FE The local Unit Values of 00 to FF indicate nodes 0 to 255 Designates the length of time in 0 1 s units that the PLC retries transmis sion when bit 15 of C 3 is OFF and no response is received The default value is 0000 which indicates 2 seconds If baud rate is slow and the response monitoring time is short an error may occur See Appendix B for an example how to use CMND 490 51 Using FINS Message Communications Section 5 3 5 3 2 Using CMND 490 Communications Flags CMND 490 instructions normally use an AND of the Port Enabled F
113. nsmission of CAN messages 76 Transmission speed 3 Troubleshooting 7 troubleshooting 79 Troubleshooting and Maintenance Manual 79 109 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No WO3E EN 02 Revision code The following table outlines the changes made to the manual during each revision Revision Code Dae Revised Content 01 August 6 2004 Initial version 02 November 2 2004 Bugs fixed 111 Revision History 112
114. ntrollers for I O functions 0 0 33 23 Introduction Section 3 1 3 1 Controller Area Network Introduction Physical Layer MAC sublayer 24 The Controller Area Network CAN is a serial communications protocol which efficiently supports distributed real time control with a very high level of secu rity Its domain of application ranges from high speed networks to low cost multiplex wiring In automotive electronics engine control units sensors anti skid systems etc are connected using CAN with bitrates up to 1 Mbit s At the same time it is cost effective to build into vehicle body electronics e g lamp clusters elec tric windows etc to replace the wiring harness otherwise required CAN has the following properties prioritization of messages guarantee of latency times configuration flexibility multicast reception with time synchronization system wide data consistency multi master error detection and signalling Oo NOAA PWN automatic retransmission of corrupted messages as soon as the bus is idle again 9 distinction between temporary errors and permanent failures of nodes 10 autonomous switching off of defect nodes To achieve design transparency and implementation flexibility CAN has been subdivided into different layers according to the ISO OSI Reference Model Layer 7 Application Layer Layer 3 6 Data Link Layer Logical Link Control LLC Acceptance filtering overloa
115. o respon se Description Condition Unit state ST1 or ST2 Possible remedy Restart the PLC make sure that the unit is mounted and wired correctly 0000 Normal comple tion Unit state ST4 orST5 and all parameters in range Everything is OK Command is executed Command length exceeds maxi mum command length Too many parameters sent in the command Correct the command and re send The command length is insuffi cient for the small est command Too few parameters sent in the command Correct the command and re send Address range designation error Unit state ST4 or ST5 and buffer number gt number of input buffers con figured with com mand 2902 Number of input buffers exceeds the number of input buffers con figured by FINS command 2902 Increase the number of input buffers with FINS command 2902 or select a input buffer smaller than de maximum of input buffers configured by FINS command 2902 Parameter error Unit state ST4 or ST5 and one or more parameters not in range Correct the parameters See Setting parameters for receiv ing 11 bit ID message on page 60 Not executable in current mode Unit state ST3 Nothing configured please per form FINS command 2902 before executing this command Note For further information see Setting parameters for receiving 11 bit ID mes sage on page 60 7 4 5 FINS command 290
116. ode changed and the message is being sent Note On response code 0000 the unit sends a message with an extended identifier length with the provided identifier data length and data Depending on the provided endian flag On all response codes different from 0000 the unit will not transmit the user defined CAN message Command message specification Word Function FINS command 2908 MSB part identifier 29 bit e g 0000 for identifier 10 MSB LSB LSB part identifier 29 bit e g 000A for identifier 10 MSB LSB Data length in bytes e g 0003 first 3 bytes will be sent Data byte 0 Data byte 1 Data byte 2 Data byte 3 65 Fins Commands and Responses Section 5 4 Word Function Data byte 4 Data byte 5 Data byte 6 Data byte 7 Big or little endian e g 0000 for big endian FINS command 2908 a IS example uses big endian note that for litte endian the data bytes in word n 4 to word n 7 are swapped All the 8 data bytes word n 3 until word n 6 are always part of the FINS message the actual data length of the CAN message word n 2 can be less than this 08 The length of the FINS command must always equal 9 words 5 4 8 Setting the CAN bit rate and sample point FINS command 2909 The bit rate can be set in 2 ways e The 8 bits rates recommended by CANopen can be selected with the DIP switches on the front of the Unit This gives the user som
117. ommunication using FINS commands and their responses Section 6 describes the operation of the User Defined CAN Unit Section 7 describes error processing periodic maintenance and troubleshooting procedures needed to keep the User Defined CAN Unit operating properly We recommend reading through the error processing procedures before operation so that operating errors can be identified and corrected more quickly The Appendices contain information supplementary to the information in the main body of the man ual They are referred to in the various sections as required The following manuals provide information on several OMRON products Manual Products Contents CJ series SYSMAC Cu series Describes the installation and opera W393 E1 Programmable controllers CJ1G CPU tion of the CJ series PLCs operation Manual CS CuJ series SYSMAC CS Cu series Describes the ladder diagram pro W394 E1 Programmable Controllers CS1G H CPULIL E CJ1G gramming instructions supported by Programming Manual CPU CS CJ series PLCs CS CJ series SYSMAC CS CuJ series Describes the ladder diagram pro W340 E1 Programmable Controllers CS1G H CPULILI E CJ1G gramming instructions supported by Instructions Reference Manual CPU CS series and CJ series PLCs CS CJ Series Communication SYSMAC CS1G H CPULIL E Describes the C series Host Link and W342 E1 Commands Reference Manual CPU Units FINS communications commands used with CS CJ series PLCs CX Programmer SY
118. ommunications 0 00000 50 5 3 1 Sending FINS Commands 0 00 00 0 00005 51 5 3 2 Using CMND 490 02 2 0 cee ees 52 5 3 3 Connecting Networks for FINS Communications 53 5 4 Fins Commands and Responses 0 0 00 eee eee eee 54 5 4 1 Setting the memory areas 0 0 0 0 eee eee 54 5 4 2 Setting parameters for sending 11 bit ID message 57 5 4 3 Setting parameters for sending 29 bit ID message 58 5 4 4 Setting parameters for receiving 11 bit ID message 60 5 4 5 Setting parameters for receiving 29 bit ID message 62 5 4 6 Setting parameters for direct transmitting 11 bit ID message 63 5 4 7 Setting parameters for direct transmitting 29 bit ID message 64 5 4 8 Setting the CAN bit rate and sample point 66 47 Overview 5 1 Overview 5 2 48 Section 5 1 FINS communications enable messages to be sent between nodes on a FA network when required by system conditions The messages can be sent between PLC s between an OMRON PLC and a master made by another company or between slaves They can be used to send receive data read time data error histories and other data or control operation e g by force setting resetting bits FINS Communications The FINS communication protocol was developed by OMRON for use with factory automation control devices FINS communications enable PL
119. onfiguration for the User Defined CAN Unit is done either with the baudrate switches in the front panel or with FINS commands e defining the configuration data i e defining the process data which will be exchanged between the User Defined CAN Unit and other nodes on the CAN network e defining the parameterization data for the User Defined CAN Unit which defines the filtering of message identifiers the configuration of message buffers in the PLC system e setting up the parameterization of the User Defined CAN Unit with FINS commands issued from the program in the PLC system 1 2 User Defined CAN Unit 1 2 1 User Defined CAN Unit Features User Defined CAN Unit The User Defined CAN Unit CU1W CORT21 is a CPU Bus Unit which can be installed on a CJ1 PLC System The User Defined CAN Unit will interface between the Central Processor Unit CPU of the PLC system and the CAN bus The User Defined CAN Unit is connected to the CPU of the PLC system through the backplane bus of the CJ1 system this backplane bus is also noted as the PC21 bus The physical connection is made via a CJ1 main rack User Defined CAN Unit Section 1 2 or a CJ1 expansion rack The User Defined CAN Unit is connected to the CAN bus with a 5 pin open style connector CPU Bus Unit A total of up to 16 CPU Bus Units can be mounted on the CPU Rack or an Expansion Rack The total of 16 must include all User Defined CAN Units and all other CPU Bus Units Unit Control
120. ons e Always connect to a class 3 ground 100 Q or less when installing the units Z Caution Failure to abide by the following precautions could lead to faulty operation of the unit or the system or could damage the unit or the PLC Always heed these precautions e Install double safety mechanisms to ensure safety against incorrect sig nals that may be produced by broken signal lines or momentary power interruptions e When adding a new device to the network make sure that the baud rate is the same as other nodes e When adding a new CAN unit to the bus make sure that the User Defined CAN Unit is powered down to prevent unexpected results when starting up the new node e Use specified communications cables e Do not extend connection distances beyond the ranges given in the spec ifications e Always turn OFF the power supply to the PLC CAN units and Communi cations units before attempting any of the following e Mounting or dismounting the User Defined CAN Unit to CAN or the PLC bus Power Supply Units I O Units CPU Units or any other units e Assembling a unit e Setting DIP switches or rotary switches e Connecting or wiring the cables e Connecting or disconnecting connectors e Be sure that the terminal blocks connectors memory units expansion cables and other items with locking devices are properly locked into place Improper locking may result in malfunction e Be sure that all the mounting screws t
121. output buffers being 640 will be 10 0 4 3 639 2 76 msec The following guideline applies to optimizing the evaluation time for the trig gered send mode e Set the number of output buffers with FINS command 2902 to the same amount as the number of configured output buffers that is the total number of buffers configured with FINS command 2903 or 2904 For the On change mode the evaluation time differs for output buffers depending on whether they contain information changes or not In the case that data in the buffer has changed since the last evaluation the evaluation time is 52 usec If the output buffer has not changed the evaluation time depends on the length of data in all the output buffers and is in the range 15 4 47 0 usec The given times are for messages using the big endian format using little endian format will increase the evaluation time with approximately 13 The total number of output buffers is configured with FINS command 2902 FINS command 2903 and 2904 are used to associate a buffer with an identi fier a buffer with an identifier associated is called a configured buffer The evaluation time for buffers that are not configured is 4 3 usec Example 1 e Number of output buffers 2 e Number of configured output buffers 1 Every time the configured message is changed the evaluation time of all out put buffers being 2 will be 52 0 4 3 56 3 usec The evaluation time is 47 0 4 3 51 3 usec fo
122. r which is 39 27hex But actu ally any address could do The destination address is to engine 1 which has the preferred address 0 So the identifier will look like this Priority DP PDU Format PDU Specific Source Address oc 00 00 27 And the data will look like this Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Speed Speed 00 high low 00 FF FF FF FF byte byte Typically in J1939 all 8 data bytes of a CAN message are send though they are not defined There value should be then FFrex 97 Appendix B Programming examples This example program shows how to configure the input and output buffers for the User Defined CAN Unit using FINS commands The ladder logic shown in this appendix is ordered according to the PLC program lay out as given in the figure below E a User_Define_CAN_communication 00 52 Symbols Enable_cAn p Setting_buffer_allocation Setting_para_send_1 1bit 8 Setting_para_send_29bit ees Setting_para_recy_11bit 8 Setting_para_recy_29bit p Send_CAN_message_1 1bit E Send_CAN_message_29bit amp Exec_of_CMND END 99 Programming examples Appendix B 000000 Program Name Enable_CAN 000000 Section Name Enable_CAN Enable can Communication CF113 W1 00 1500 04 P_On Enable Can_Enable Always ON Flag 000000 Program Name Setting_buffer_allocation 000004 Section Name Setting_buffer_allocation
123. r Defined CAN Unit supports two functions for messages sending and receiving Every message in CAN communication has an identifier the options for these message identifiers are e Identifier is individually configurable the size is 29 bit or 11 bit for each output message buffer e Configurable identifier for every input message buffer All messages use either 11 bit or 29 bit length identifiers FINS commands are used to define the CAN messages for the User Defined CAN Unit These FINS commands define which messages can be send by the Unit the mode of sending and the times for which messages are send Each output message buffer can have one of the three modes SM1 SM2 or SM3 And an output message must have the correct length being less or equal to 8 Mode Name Description Triggered Sending an output message is triggered via a bit in the PLC memory This bit is located in the Send Triggers area On change Sending an output message is triggered as soon as the Unit detects that the message contents have changed or the message length has changed An incorrect message length gt 8 is not considered a change Sending an output message is triggered as soon as a speci fied time has elapsed In send mode SM1 a rising edge in the Send Triggers area determines that an output message will be sent In state ST5 the Unit will evaluate the trigger In all other states a rising edge in the Send Triggers area is ignored
124. r Defined CAN Unit to enable exe cuting unit functions Unit Allocated words number fo CIO 1500 to CIO 1524 CIO 1525 to CIO 1549 CIO 1550 to CIO 1574 CIO 1575 to CIO 1599 CIO 1600 to CIO 1624 CIO 1625 to ClO 1649 CIO 1650 to ClO 1674 CIO 1675 to CIO 1699 CIO 1700 to ClO 1724 CIO 1725 to CIO 1749 CIO 1750 to ClO 1774 CIO 1775 to ClO 1799 CIO 1800 to CIO 1824 CIO 1825 to CIO 1849 CIO 1850 to CIO 1874 CIO 1875 to CIO 1899 INIo A oO N The unit number can be set by rotating the rotary switch at the front side of the User Defined CAN Unit It defines the special CPU unit number on the PLC bus the unit number is in the range 0x0 OxF 4 1 2 Allocated DM Area Words The DM area words that are allocated for the User Defined CAN Unit are not used i e no data is exchanged between an allocated DM area and the unit However the allocated area is reserved for use in a future extension of the unit Therefore using this area for user data is not recommended 4 2 ClO Area Words For each CPU Bus unit the CS CJ series PLC allocates up to 25 words in the CIO area Data for one unit is stored in this block of 25 words the start address of the this block has an offset from the absolute start address CIO 1500 This offset is defined with the unit number the unit number is set with the rotary switches on the front of the User Defined CAN Unit The first word of the block in the C
125. r output buffers that are not changed since the last evaluation the length of the configured output buffer is assumed to be 8 characters Example 2 e Number of output buffers 640 e Number of configured output buffers 1 Every time the configured message is changed the evaluation time of all out put buffers being 640 will be 52 0 4 3 639 2 8 msec The following guidelines apply to optimizing the evaluation time for the on change send mode e Set the number of output buffers with FINS command 2902 to the same amount as the number of configured output buffers that is the total num ber of buffers configured with FINS command 2903 or 2904 71 Performance SM3 Cyclic mode Conclusions Section 6 1 e Use the big endian format in FINS commands 2903 and 2904 whenever possible the little endian format will increase the evaluation time In cyclic send mode the evaluation time differs for output buffers that should be sent and for which the cyclic time has not yet elapsed Output buffers with elapsed cyclic time have an evaluation time of 11 6 usec The evaluation time will be 10 usec as long as the cyclic time is not reached The total number of output buffers is configured with FINS command 2902 FINS command 2903 and 2904 are used to associate a buffer with an identi fier a buffer with an identifier associated is called a configured buffer The evaluation time for buffers that are not configured is 4 3 usec Examp
126. r the system Always zero Network Network power OK Power failure Error ER10 active Power fail when communi cating Bus off event Bus off event did not happen since last event EV3 enable communications Bus off event EV5 bus off has been gener ated Reserved for the system Always zero Error in error log No new errors in error log since 1 Startup 2 Last service of FINS command 2102 3 Last service of FINS command 2103 40 New errors in error log since 1 Startup 2 Last service of FINS command 2102 3 Last service of FINS command 2103 CIO Area Words Section 4 2 4 2 4 Always zero input words Words n 4 n 5 n 6 n 7 Word n 4 n 5 n 6 n 7 n CIO 1 500 25 x unit number Status Con Unit operation trolled by 00 Reserved Always zero 15 forthe system 4 2 5 Number of delayed send messages Word n 8 When bit 06 in CIO word n 3 is true this word will show the number of delayed send messages Word n 8 n CIO 1 500 25 x unit number Name Status Con Unit operation trolled by Number Number of messages that are delayed see of impetrated n 3 bit 6 Range 0 15 BCD delayed messages 4 2 6 Number of received messages waiting to be processed Word n 9 When bit 07 in CIO word n 3 is true this word will show the number of received messages waiting to be processed Word n 9 n CIO 1 50
127. records If another error occurs when the table is full the oldest record will be erased to make room for the new error record The error log table records the following information e Error code e Detail code e Time of occurrence The CPU Unit s time is used for the time stamp When an error is detected information on the error and the time stamp are stored in the Unit s internal RAM as an error log record Serious errors are recorded in EEPROM as well as RAM The error log records in EEPROM are retained even when the Unit s power is turned OFF or the Unit is restarted The error log records in EEPROM are copied to RAM when the User Defined CAN Unit is powered up When the error log is read with a FINS command only the error log records in RAM are read When the error log is cleared with a FINS command the error log records in RAM and EEPROM are erased The error log table can be read or cleared by sending a FINS command to the User Defined CAN Unit Use the User Defined CAN Unit s unit address as the FINS command s destination unit address The unit address is the unit num ber 10 Hex FINS command 2102 is used to read the error history issuing FINS command 2103 will clear the error log Refer to the SYSMAC CS CJ Series Communica tion Commands Reference Manual W342 for details on using these FINS commands The CPU Units time information is used for the time stamps in the User Defined CAN Unit s error log records If
128. rs configured by FINS command 2902 Mutual relation error Unit state ST4 or ST5 and send mode 2 and send cycle 0 Set the send cycle different from zero or change the send mode Parameter error Unit state ST4 or ST5 and one or more parameters not in range Correct the parameters See Setting parameters for sending 11 bit ID message on page 57 Not executable in current mode Unit state ST3 Nothing configured please per form FINS command 2902 before executing this command The specified ser vice is being exe cuted Unit state ST5 and send mode changed and CAN message currently being sent Disable communications recon figure the buffer and enable com munnications Error responses from FINS commands Section 7 4 Note For further information see Setting parameters for sending 11 bit ID message on page 57 7 4 3 FINS command 2904 Configure 29 bit ID output message buffer no respon se Description Condition Unit state ST1 or ST2 Possible remedy Restart the PLC make sure that the unit is mounted and wired correctly 0000 Normal completion Unit state ST4 orST5 and all parameters in range Everything is OK Command is executed 1001 Command length exceeds maximum command length Too many parameters sent in the command Correct the command and re send 1002 The command length is insuffi cient for
129. s are not in range Possible remedy Correct the parameters the number of send and receive message may not exceed a number of 0280 Not executable in current mode Unit state ST5 This FINS command can only be executed if communication is dis abled by clearing ClO 0 04 and this disabling is confirmed when CIO 3 2 is false Note For further information see Setting the memory areas on page 54 7 4 2 FINS command 2903 Configure 11 bit ID output message buffer 86 no respon se Description Condition Unit state ST1 or ST2 Possible remedy Restart the PLC make sure that the unit is mounted and wired correctly 0000 Normal completion Unit state ST4 orST5 and all parameters in range Everything is OK Command is executed Command length exceeds maximum command length Too many parameters sent in the command Correct the command and re send The command length is insuffi cient for the small est command Too few parameters sent in the command Correct the command and re send Address range designation error Unit state ST4 or ST5 and buffer number gt num ber of output buff ers configured with command 2902 Number of output buffers exceeds the number of output buffers configured by FINS com mand 2902 Increase the number of output buffers with FINS command 2902 or select a output buffer smaller than de maximum of out put buffe
130. s line dominant high CAN_V External positive power supply 24V for powering the transceiver and optocouplers Note Before connecting communications cables turn OFF the PLC power supply and the communications power supply 20 Installing the User Defined CAN Unit Section 2 2 2 2 Installing the User Defined CAN Unit 2 2 1 System Configuration Precautions e I O words are allocated to CPU Bus Units according to the unit number setting on the switch located on the front panel of the Unit not according to unit slot numbers Refer to 4 1 Overview of Word Allocations e In the CJ series up to 16 units can be mounted to the CPU main rack or expansion rack but no more than 10 units on either 2 2 2 External Dimensions CJ1W CORT21 This diagram in this paragraph shows the dimensions of the User Defined CAN Unit Refer to the CJ series CPU Unit Operation Manual W393 for the dimensions of the Unit when it is mounted to the PLC bus All dimensions are in mm 2 2 3 Mounting CJ series PLC 1 Carefully align the connectors to mount the User Defined CAN Unit Connectors P PAZOSR a omro
131. s time is highly user dependant and can significantly slow down the process of receiving CAN messages in worst case messages will be lost and missed due to insufficient buffer capacity Performance Process time received message 6 1 2 CAN Interface Message delay time Section 6 1 It is strongly advised to configure the input and output buffers for CAN mes sages according to good practice as this configuration directly influences the performance of the application The process time of a received message is 65 usec only in the case that the message identifier is the one corresponding with input buffer 0 The User Defined CAN Unit compares the received identifier with the configured identi fier for bufferO next with buffer1 next with buffer 2 etc The comparing stops if a match between the received and configured identifier is found Therefore the process time will be 2 55 msec if the received identifier matches with the configured identifier for buffer 639 If the received identifier is not found and a total of 640 input buffers is defined the process time of the message will be 2 50 msec The following guidelines apply to optimizing the process time 1 Set the number of input buffers with FINS command 2902 to the same amount as the number of configured input buffers that is the total number of buffers configured with FINS command 2905 or 2906 2 Configure the order of input buffers according to the frequency of received
132. sed of an Arbitration field Control field Data field CRC field ACK field The frame begins with a Start of frame SOF and ends with an End of frame EOF space The data field may be from 0 to 8 bytes The frame check sequence is derived from a Cyclic Redundancy Code CRC the coefficients are generated modulo 2 X15 X14 X10 X8 X7 X4 X3 1 CAN implements five error detection mechanisms 3 at the message level and 2 at the bit level Also incorporates error flags At the message level Cyclic Redundancy Checks CRC Frame Checks Acknowl edgment Error Checks At the bit level Bit Monitoring Bit Stuffing Messages Information on the bus is sent in fixed format messages of different but limited length Whenever the bus is free any connected unit may start to transmit a new message In CAN systems a CAN node does not make use of any infor mation about the system configuration e g station addresses This has sev eral important consequences e System flexibility nodes can be added to the CAN network without requir ing any change in the software or hardware of any node and application layer e 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 of the data so that all nodes in the network are able to decide by Message Filtering whether the data is to be acted upon by then or not e Multicast as a consequence of
133. sful the User Defined CAN Unit is not able to process the message due to overload conditions The User Defined CAN Unit sends an acknowledge on the CAN bus ignores the message and in the next cyclic refresh of the CPU bit 7 in ClO word n 3 is set The integrity check for the message is successful and the User Defined CAN Unit is able to process the message but no input message buffer is configured for the received identifier The User Defined CAN Unit sends an acknowledge on the CAN bus and ignores the message The integrity check for the message is successful the User Defined CAN Unit is able to process the message and an input message buffer is configured for the received indentifier The User Defined CAN Unit sends an acknowledge on the CAN bus and pro cesses the message with the following actions in next Unit Cyclic refresh 1 Set bit 3 in ClO word n 3 2 The message content is copied to the first input message buffer that is con figured for the received identifier Set the receive flag of the first input message buffer that is configured for the received identifier Back to back messaging sending or receiving messages with a high rate is not explicitly supported nor implemented In case the User Defined CAN Unit detects an abnormal rate of errors on the bus the Unit will go in bus off This means that all CAN communication is disabled the Unit will try to go online after the user ena
134. ssion interface The actual transmission delay of the message depends on the bus load and the message priority identifier Refer to section 6 1 2 CAN Interface 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 minimum time between the execution of the CMND instruction in the PLC program and the message being transmitted on the bus is 0 5 ms Depending on the configuration FINS command 2902 this time can be sufficient longer up to a maximum of 20 msec Sending messages with SM1 SM2 or SM3 differs from direct sending CAN messages there is no delay between the start of program execution and passing the message to the User Defined CAN Unit PLC SM1 SM2 SM3 CJ1W CORT21 Bus E Output node j i j pte te tee te tee r r tupe The transmission time of a user defined CAN message tar The I O Refresh time tpg The Program Execution time Overall performance Section 6 2 6 2 3 Reception of CAN messages In order to receive CAN messages an CMND instruction FINS command must be executed to configure the unit regarding e which PLC memory locations to copy the received messages to e which messages to receive the identifier defined for an input buffer This only needs to be done once at start up Immediately after the execution of the CMND ins
135. t value is between 0 and 239 this field contains a destination address PDU1 If the data content field is between 240 and 255 this field contains an extended data content PDU2 This provides a larger set of values to identify different broadcast data The last 8 bits of the identifier contain the address of the device transmitting the message For a given network every address must be unique 256 available This means that two different devices ECUS cannot use the same address 96 J1939 Protocol for Trucks and Busses Appendix A Engine speed example Now we want to control the engine speed of a diesel engine In specification J1939 71 we can find that we need for this the Parameter Group Number Torque Speed Control 1 TSC1 The TORQUE SPEED CONTROL 1 TSC1 has the following parameters Transmission repetition rate when active 10 ms to the engine 50 ms to the retarder Data length 8 bytes Data page 0 PDU format 0 PDU specific Destination address Default priority 3 Parameter group number 0 00000016 Byte 1 Control bits Bit 8 7 Not defined 6 5 Override control mode priority 4 3 Requested speed control conditions 2 1 Override control modes 2 3 Requested speed Speed limit 4 Requested torque Torque limit 5 8 Not defined With this information we can compose the identifier to send with and where the requested speed should go in the data field We use as source address the preferred address for a Management Compute
136. ta transmission The application functions which are available to the user as well as the system and device behaviour of the various CAN device types are specified in the higher layer protocol 1 1 2 1 OSI Layer 1 Transmission Medium ISO 11898 defines the physical layer The CAN bus is a balanced differen tial 2 wire interface running over either a Shielded Twisted Pair STP Un shielded Twisted Pair UTP or ribbon cable The bit encoding used is Non Return to Zero NRZ encoding with bit stuffing for data communication on a differential two wire bus The use of NRZ encoding ensures compact mes sages with a minimum number of transitions and high resilience to external disturbance Serial bus A number of different data rates are defined with 1Mbps Bits per second being the top end and 10kbps the minimum rate Cable length depends on the data rate used The maximum line length is 5 km and the minimum is 25 meters at 1Mbps Termination resistors are used at each end of the cable The worst case transmission time of an 8 byte frame with an 11 bit identifier is 134 bit times that s 134 microseconds at the maximum baud rate of 1Mbits sec Transmission Speed Transmission speeds between 10 kbit s and 1000 kbit s can be selected as shown in the table below One unique transmission speed must be selected for all devices on the bus when the system is commissioned Baud rate kbit s Distance segment m
137. tage may drop and result in the outputs being turned OFF As a countermeasure for such problems external safety measures must be provided to ensure safety in the system The CPU Unit refreshes I O even when the program is stopped i e even in PROGRAM mode Confirm safety thoroughly in advance before changing the status of any part of memory allocated to I O Units Special I O Units or CPU Bus Units Any changes to the data allocated to any Unit may result in unex pected operation of the loads connected to the unit Any of the following oper ation may result in changes to memory status e Transferring I O memory data to the CPU Unit from a Programming Device e Changing present values in memory from a Programming Device e Force setting resetting bits from a Programming Device e Transferring I O memory files from a Memory Card or EM file memory to the CPU Unit e Transferring I O memory from a host computer or from another PC ona network Execute online edit only after confirming that no adverse effects will be caused by extending the cycle time Otherwise the input signals may not be readable Confirm safety at the destination node before transferring a program to another node or changing contents of the I O memory area Doing either of these without confirming safety may result in injury Operating Environment Precautions Do not operate the unit in any of the following locations e Locations subject to direct sunlight
138. tandards It should therefore be verified that the overall machine or device also meets the relevant standards The following examples show means of reducing noise 1 Noise from the communications cable can be reduced by installing a ferrite core on the communications cable within 10 cm from the User Defined CAN Unit Ferrite Core Data Line Filter 0443 164151 manufactured by Fair Rite Products Co Ltd Impedance specifications 25 MHZ 156 Q 100 MHZ 2500 j 30 mm i 13 mm 29 mm Conformance to EC Directives 6 2 Wire the control panel with as thick and short electric lines as possible and ground to 100 Q min 3 Keep communications cables as short as possible and ground to 100 Q min xvii SECTION 1 Features and Specifications This section provides an introductory overview of CAN bus its functions and how to setup and configure a network It also addresses the User Defined CAN Unit its configuration features and specifications 1 1 Overview of CAN bus 1 0 0 0 eee eee enn en eens Mele Introductions k acc evista leis Ai cae Si ha Sites Cat ae ca 1 1 2 CAN Communication Protocol 0 0 00 e eee eee 1 1 2 1 OSI Layer 1 Transmission Medium 1 1 2 2 OSI Layer 2 Datalink layer 000 1 1 2 3 OSI Layer 7 Higher layer protocol 0 1 1 3 Setting up a CAN Network 0 00 0 00 00000 1 2 User Defined CAN
139. tate the Unit upward and remove it The screw at the bottom of the Unit must be tightened with a torque of 0 4 Nm User Defined CAN unit OPERATION MANUAL CJ1W CORT21 User Defined CAN unit Operation Manual Produced November 4 2004 Notice OMRON products are manufactured for use by a trained operator and only for the purposes described in this manual The following conventions are used to classify and explain the precautions in this manual Always heed the information provided with them A DANGER Indicates information that if not heeded is likely to result in serious injury or loss of life N WARNING Indicates information that if not heeded could possibly result in serious injury or loss of life Z Caution Indicates information that if not heeded could possibly result in minor or relatively serious injury damage to the product or faulty operation OMRON Product References All OMRON products are capitalized in this manual The first letter of the word Unit is also capitalized when it refers to an OMRON product regardless of whether it appears in the proper name of the prod uct The abbreviation Ch appears in some displays and on some OMRON products It often means word and is abbreviated as Wd in the documentation The abbreviation PLC means Programmable Logic Controller Visual Aids The following headings appear in the left column of the manual to help you locate different types of information Note
140. tatus at the completion of the execution of network communications instructions is shown at the words indicated in the following table as FINS completion codes During execution of the instructions the status will be 00 or Using FINS Message Communications Section 5 3 0000 and this will be reflected at the end of the execution of the network communications instruction Port 0 to 7 A203 to A210 contain the completion codes for the Completion Codes results of communications instruction execution for ports A203 to A210 0 to 7 respectively Note For the CS Cu series the completion codes are stored as 2 bytes of data 1 word upon completion of the execution of SEND 090 RECV 098 and CMND 490 These codes are the same as the re sponse codes for FINS commands The first byte of the completion code is placed in bits 08 to 15 and the second byte is placed in bits 00 to 07 Timing of Reading Responses Responses should be read on the rising edge upward differentiation of the Port Enabled Flag as shown in the following diagram Port Enabled Flag tH Processing to read response J 5 3 3 Connecting Networks for FINS Communications CJ series User Defined CAN Units can NOT perform FINS communications between networks For FINS communication over networks the PLC system should be configured with other FA networks such as Controller Link or SYS MAC LINK and the OA network Ethernet User Defined CAN Units can o
141. the event of a defective unit it might lead to all messages including correct ones being aborted thus blocking the bus system if no measures for self monitoring were taken The CAN protocol therefore provides a mechanism for distinguishing sporadic errors from permanent errors and localizing unit failures fault con finement 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 where the rest of the CAN network is not negatively affected This may go as far as the unit switching itself off to prevent messages erroneously recognized as incorrect from being aborted Bus off With respect to fault confinement a CAN unit is in one of three states the number of the state increases with the severity of the error 1 error active 2 error passive 3 bus off An error active unit can normally take part in bus communication and sends an Active Error Flag when an error has been detected An error passive unit must not send an Active Error Flag It takes part in bus communication but when an error has been detected only a Passive Error Flag is sent Also after a transmission an error passive unit will wait before initiating a further transmission A bus off unit is not allowed to have any influence on the bus E g output drivers switched off Error counters For fault confinement two counters are implemented in every CAN
142. tion 7 4 7 4 7 FINS command 2908 direct transmit of an 29 bit ID CAN message Note no respon se Description Condition Unit state ST1 or ST2 Possible remedy Restart the PLC make sure that the unit is mounted and wired correctly 0000 Normal comple tion Unit state ST5 and all parameters in range Everything is OK Command is executed 1001 Command length exceeds maxi mum command length Too many parameters sent in the command Correct the command and re send 1002 The command length is insuffi cient for the smallest com mand Too few parameters sent in the command Correct the command and re send Parameter error Unit state ST5 and one or more parameters not in range Correct the parameters Not executable in current mode Unit state ST3 or ST4 Nothing configured please per form FINS command 2902 before executing this command and enable communications by setting CIO n 04 ON confirmed with CIO n 3 02 ON 220Fh The specified ser vice is being exe cuted Unit state ST5 and CAN message currently being sent Send the message less frequent Error code Description Condition Possible remedy no respon se Unit state ST1 or ST2 Restart the PLC make sure that the unit is mounted and wired correctly For further information see Setting parameters for direct transmitting 29 bit ID
143. tional users and manufac turers group CiA also specifies several mechanical connections cable and connectors Microcontroller CAN Controller TXO__TX1 RXO__RX1 TxD RxD Ref Vec CAN Transceiver CANL CAN_H CAN Bus Lines if a Bus Termination 100 nF Bus Termination CAN_L 3 3 Principles of data exchange Unit addressing When data are transmitted by CAN no units are addressed but instead the content of the message e g rom or engine temperature is designated by an identifier that is unique throughout the network The identifier defines not only the content but also the priority of the message This is important for bus allo cation when several units are competing for bus access Sending messages If the CPU of a given unit wishes to send a message to one or more units it passes the data to be transmitted and their identifiers to the assigned CAN chip This is all the CPU has to do To initiate data exchange The message is constructed and transmitted by the CAN chip As soon as the CAN chip receives the bus allocation all other units on the CAN network become receiv ers of this message Each unit in the CAN network having received the mes sage correctly performs an acceptance test to determine whether the data received are relevant for that unit If the data are of significance for the unit concerned they are processed otherwise they are ignored Addressing scheme A high degree of system and config
144. truction s FINS command s the unit is ready to receive messages The User Defined CAN Unit can store up to 15 received messages in its inter nal buffer the receive queue These messages in the receive queue are fil tered according to the configuration of the input buffers and transferred to the PLC It may take several PLC cycles to filter and transfer a CAN message to the PLC The performance of the unit depends strongly on the number of input and output buffers If a lot of input and or output buffers are used the unit needs time to process all them Try to limit the number of input and or output buffers Also the PLC cycle time influences the performance If the PLC cycle time is long the receive queue in the unit may overflow Try to limit the PLC cycle time 77 SECTION 7 Troubleshooting and Maintenance This section describes error processing troubleshooting procedures and periodic maintenance operations needed to keep the CAN network operating properly We recommend reading through the error processing procedures before operation so that operating errors can be identified and corrected more quickly 7 1 7 2 7 3 7 4 7 5 7 6 Troubleshooting the User Defined CAN Unit 00 TindiC ators 2 seis et enced le Gi ed Ses a eS laa Se eat a aan he eh as TPL R nler aes eek otis rere he Eee Ee Cee Se ae E T22 Tr ed sot nee see sly tse does te pie Se ee eh dd oS Aaa ose 7 2 3 Two 7 segment disp
145. uipment before inspecting the system Required equipment Have a standard and Phillips head screwdriver multimeter alcohol and a clean cloth Equipment required occasionally Depending on the system conditions a synchroscope oscilloscope ther mometer or hygrometer to measure humidity might be needed Check the items in the following table and correct any items that are below standard Standard 0 C to 55 C 10 to 90 Equipment Thermometer Hygrometer Environmental conditions Ambient and cabinet temperature Ambient and cabinet humidity with no condensation or icing Dust dirt accumulation None No looseness No looseness Installation Are the Units installed securely Are the communications connec tors fully inserted Are the external wiring screws tight Are the connecting cables undamaged No looseness No damage 93 Maintenance and Replacement Section 7 6 7 6 3 Replacing Faulty Units Precautions Note 94 Replace a faulty User Defined CAN Unit as soon as possible Refer to the DeviceNet Slaves Operation Manual W347 or the MULTIPLE I O TERMI NALs Operation Manual W348 for details on replacing slaves We recom mend having spare Units available to restore network operation as quickly as possible Observe the following precautions when replacing a faulty Unit e After replacement make sure that there are no errors with the new Unit e When a Unit is b
146. un indicator Status Condition No power or in ST1 or ST2 Possible remedy Make sure that the unit is wired and mounted correctly switch the power on or wait for until unit as initialized State is ST3 ST4 or ST5 Configure the unit with FINS com mand 2902 or enable communica tion by setting CIO n 04 Enabled communication is con firmed when CIO n 3 02 is ON or the unit is waiting for CAN mes sages No power or in ST1 or ST2 Make sure that the unit is wired and mounted correctly switch the power on or wait for until unit as initialized ST1 PC21 Startup error or ST2 Hardware error Create I O table or change the unit number If problem persists contact distrib uter Fatal error in Unit Restart Unit If problem persists contact distrib uter Err indicator Condition No error active Possible remedy The unit has no active error and diagnostic functions do not detect any error condition One of more of the follow ing errors are active e Hardware error e No CAN configuration e CAN network power fail Unit is Bus off Fatal error in Unit CPU Watchdog Time out PC21 bus error Cyclic refresh time out I O table error Make sure that the unit is wired and mounted correctly switch the power on or wait until the unit as initialized Configure the Unit Correct the CAN network restore the power on the network Create the PLC
147. uration 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 hardware or software modifications to the existing units provided that the new units are purely receivers Because the data transmission protocol does not require physical destination 25 Principle of non destructive bitwise arbitration Section 3 4 addresses for the individual components it supports the concept of modular electronics and also permits multiple reception broadcast multicast and the synchronization of distributed processes measurements needed as informa tion by several controllers can be transmitted via the network in such a way that it is unnecessary for each controller to have its own sensor Interfacing between layari User Interface parts and other PLC proram 3 4 Principle of non destructive bitwise arbitration 3 4 1 Non destructive bitwise arbitration For the data to be processed in real time they must be transmitted rapidly This not only requires a physical data transfer path with up to 1 Mbit s but also calls for rapid bus allocation when several units wish to send messages simul taneously Priority In real time processing the urgency of messages to be exchanged over the network can differ greatly a rapidly changing dimension e g engine load has to be transmitted more frequently and therefore with less delays than other dimensions
148. us error occurred The User Defined CAN Unit performs a cyclic refresh for five memory areas in the CPU of the PLC system into which it is mounted In one of these memory ares control and status flags are present the state information is included in these flags The Unit determines independently when to cyclic refresh it s data Several PLC Cyclic refreshes may occur between two Unit Cyclic refreshes This means that rising falling edges and or data changes must be handled with care During an Unit Cyclic refresh data is transferred between the PLC and the Unit This data is NOT processed immediately after the Unit Cyclic refresh Several Unit Cyclic refreshes may occur between the processing of the data This means that rising falling edges and or data changes must be handled with care Control and Sta tus Flags Location clon n 1500 25 unit number Description Flags to control the Unit behavior and flags to show the status of the Unit Send Triggers configurable Triggers to send CAN messages on demand Bits in the send trigger area will send a mes sage if the bit value has a rising edge and the bit is associated with an output buffer FINS commands are used to define a send trigger area to associate an identifier with an output buffer and a send trigger Receive Flags configurable Flags indicating which messages have been received A received message is identified by its identifier a
149. use of the information contained in this publication TABLE OF CONTENTS About this Manual 4 6 6 60 sires ta veevesawesexdwsevew X PRECAUTIONS s ss4ecscsunwestaiesienGesstAwesss Xl 1 Intended Audience 2 0 hi ca Sa ei eee ee PA Oe CE aR ed ee xii 2 General PrecautiOns eack stones sack oe water a bee een whee Rae EPS OER See aa hee ek xii 3 Safety Preca tiotS meceni ee ee Sel E E Ce A RE ORA A e Bead xii 4 Operating Environment Precautions 0 0 e cece ec eee xiii 5 Application Precautions 0 2 0 0 rrur ereere xiv 6 Conformance to EC Directives 0 0 unuanur aeaaee xvi SECTION 1 Features and Specifications essesssesesssoes 1 l1 Overview of CAN BUS epora ieoa aa a a Bea a a aid a E a a er 2 1 2 User Defined CAN Unit cee criioriociarii iaria entre netee tebe rene beenbeenes 6 1 3 Basic Operating Procedure 2 0 a i s cee eee 9 SECTION 2 Nomenclature and Installation Il 2 1 Nomenclature and Functions 0 00 ccc ccc ccc eee eee eee eee eens 12 2 2 Installing the User Defined CAN Unit 0 cee eee 21 SECTION 3 CAN Operations nics eect ieee estas eee 23 3 1 Tntroducthon a fae Sek ee beak es ete he i Ld ai do thas Bud 24 322 Physical CAN connection sic 9 vec gee eee ee hye Sah Gee Le BE ee eee aed oa ae oe 25 3 3 Principles of data exchange eeren E ER cee eee eee ees 25 3 4 Principle of non destructive bitwis
150. w the command code Response codes are represented by a 2 byte hexadecimal code that indicates the results of command execution The first byte provides the main response code MRC which 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 Refer to SYSMAC CS CJ Series Communication Commands Reference Manual W342 for further details on response codes including sub response codes SRC Main code Main code 00 Normal completion 20 Read not possible 01 Local node error 21 Write not possible 02 Destination node error 22 Not executable in current mode 03 Communications controller error 23 No such device 49 Section 5 3 Using FINS Message Communications Main code 04 Unsupported setting error service not supported Main code 24 Start stop not possible 05 Routing error 25 Unit error 10 Command format error 26 Command error 11 Parameter error 30 Access right error 40 Abort 5 2 2 Units Supporting FINS Communications The parameters used for FINS commands depend on the Unit that is process ing the command For command details See Fins Commands and Responses on page 54 Refer to SYSMAC CS CJ Series Communication Commands Reference Man ual W342 for information on commands and responses addressed to CS CU series CPU Units 5 2 3 FINS Comman
151. with the rotary switch on the front of the unit Connect the User Defined CAN Unit to 3 the CAN network 4 Switch on the power supply for the PLC and create a PLC I O table in CX Programmer See CX Programmer User Manual Reference No W361 Create a PLC ladder program that configures 5 the User Defined CAN Unit using FINS com mands The User Defined CAN Unit starts com municating as soon as the ladder pro gram is started and communication is enabled Basic Operating Procedure Section 1 3 1 3 2 Preparations for Communications 1 2 3 1 a fF woh 10 Wire the network to connect the User Defined CAN Unit to the CAN net work Mount the User Defined CAN Unit on the PLC system e Treat the Unit as a CPU Bus Unit It can be mounted to a CPU Rack or Expansion Rack e Number of Units 16 Max Set the Unit No UNIT No for the User Defined CAN Unit Connect and turn ON the power supply to the PLC Connect and turn ON the 24 V power supply to the User Defined CAN Unit Create and download the PLC program to configure the User Defined CAN Unit with FINS messages This section describes the nomenclature and installation of the User Defined CAN Unit 2 1 2 2 Nomenclature and Functions 00 cece eee eee eee 2 1 1 Nomenclature and Functions 0 0 0 ce eee eee eee 2 1 27 Wit States ccs s eae eee begat oleds pew dae Ree RE Ae aes Dele3 CAN ss io Peete sakes Gok Meee
152. x FA FINS HLP 1 0 IDE ISO LLC LSI Abbreviations Description Controller Area Network Control Input and Output area in CPU of PLC system Central Processor Unit in PLC system Cyclic Redundancy Check Data Memory in CPU of PLC system Electromagnetic Compatibility Extended Memory End Of Frame Event x for the User Defined CAN Unit EV1 Memory areas configured EV2 at least one CAN message configured EV3 Enable communications EV4 Disable communications EV5 Bus off Factory Automation Factory Intelligent Network System Higher Layer Protocol Input and Output Integrated Circuit CAN Protocol bit definition Identifier Extension Bit International Organization for Standardization Logical Link Control OSI layer Large Scale Integration 105 Abbreviation MAC N NRZ O OSI P Q PC PCB PDU PLC RTR SEA SMx SOF SOF SRR STx STP UTP 106 Abbreviations Description Medium Access Control OSI layer Non Return to Zero Open System Interconnection Personal Computer Printed Circuit Board Protocol Data Unit Programmable Logic Controller CAN Protocol bit definition Remote Transmission Request Society of Automotive Engineers Send Mode x used send mode for CAN messages SM1 Triggered SM2 On change SM3 Cyclic CAN Protocol bit definition Start Of Frame Start Of Frame CAN Protocol bit definition Substitute Remote Request

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