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User Defined CAN Unit

1. CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 2 9 2 Nomenclature and Installation 2 2 5 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 conditions 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 occurrs The states are refreshed during every Unit Cyclic refresh Changed state information is reflected as changes in device variables for CJ series Units Power on or Reset Sn ST1 Initialise hardware and software ST3 Not Configured Memory Area Configured Yes Y ST4 ST2 Fatal Error y A Yes Unit configured j Enable CAN communication Yes Yes 2 10 Can bus power fails Can bus powered Yes y Communicating Disable CAN communication T ST5 t CJ series User Defined CAN Unit Operation Man
2. End Codes 29 08 Command End Code Code End Code hex Description Condition Correction No response Unit state ST1 or ST2 Restart the CPU make sure that the unit is mounted and wired correctly 00001 Normal completion Unit state ST5 and all Command is executed and parameters are in range operation is normal 1001 Command length exceeds Too many parameters sent in maximum command length the command Correct the command and re send 1002 The command length is Too few parameters sent in insufficient for the smallest the command command Correct the command and re send 110C Parameter error Unit state ST5 and one or Correct the parameters more parameters are not in range 2201 Not executable in current Unit state ST3 or ST4 Nothing configured please mode perform message command 2902 before executing this command and enable com munications by setting _EnblCANComm ON con firmed with EnblComm ON 220F The specified service is Unit state ST5 and send Send the message less fre being executed mode changed and the mes quently sage is being sent Note 1 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 EN Additional Information On all response codes different from 0000 the unit will not transmit the user defined CAN message All of the 8 data b
3. ssssssssseeeee 4 7 Reliable 5 ottenendo 1 17 Residual Error 2 iiie ere reine eiecit 1 17 Re transmission sess 1 16 RTROBiE eich ieee eU EIER AT EE 1 18 RUN Indicator eite etes 2 3 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Index S Send Queue Overflow ssssee 6 12 Send Trigger Area 5 eee terere 4 7 Send Triggers aniier eU fedet 3 3 Sending Messages see 1 11 Serial BS inei hc Ea erac EE Eo 1 5 1 7 Seven Segment Indicator 2 3 SMI Mode 1 dte eee ente doleo ied 1 3 SM2 Mode recie iter e eene deae 1 3 SMS MOG nettes tpe to tore tba tete sacre ava Leon 1 3 STI State ec reete edens 2 11 ST2 State ei Dee dra det eaa 2 11 STS State eee der ined E 2 11 S T4 State ro ie apre tote pp eo cia pee uet 2 11 ST5 State e Re oe eae ep 2 11 Startup Sequence sneen 1 n ene etel ie nette 6 2 SATUS ES 3 2 3 5 Status Indicators visiski ieies 2 2 Sysmac Studio feces iride aaen 1 23 T Transmission Speed ssseeee 1 7 Triggered ertet cre et etes 1 3 Triggered Mode ype dehet ens 5 2 U Unambiguous Bus Allocation sess 1 13 Undetectable Errors se 1 17 Unit Addressing eem 1 11 Unit Configuration icit t cn toe 3 6 Unit Control and Status sse 1 2 Unit No Switchi
4. the command CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Communications Timing p This section describes the overall specifications and the communication performance of the User Defined CAN Unit 5 1 Performance Ell Vika ook c xx ER EE ERE A 5 2 5 1 1 VO Refresh lime eser an tee can ebb eyes oo ew ae Red 5 2 5 1 2 Output Message Evaluation Time lille 5 2 5 1 3 Input Message Processing Time 00 00 e eee es 5 4 51 4 CAN Interface os csse eg eem Re ER thm ee rer ER pes eee payee 5 5 5 1 5 I O Response Time sues els oem deem See bare de y Rhen 5 5 5 1 6 Transmission of CAN Messages 0 0c eee eee es 5 8 5 1 7 Reception of CAN Messages isses 5 9 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 5 1 5 Communications Timing 5 1 Performance 5 1 1 The overall performance of the User Defined CAN Unit depends on the performance of the host CPU interface and the performance of the CAN interface In the next two sub sections these factors will be described l O Refresh Time 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 Refer to Section 3 Data Exchange with the CPU Unit and Section 4 Message Communications for more in
5. 6 12 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 Troubleshooting and Maintenance Effects User program Tells what will hap Operation Provides special information on the pen to execution of operation that results from the error the user pro gram 4 System defined Variable Data type Name variables Lists the variable names data types and meanings for system defined variables that provide direct error notification that are directly affected by the error or that contain settings that cause the error Cause and cor Assumed cause Correction Prevention recuon Lists the possible causes corrections and preventive measures for the error Attached This is the attached information that is displayed by the Sysmac Studio or an NS series PT information Precautions Provides precautions restrictions and supplemental information Remarks 1 One of the following 2 3 4 Major fault Major fault level Partial fault Partial fault level Minor fault Minor fault level Observation Information One of the following Automatic recovery Normal status is restored automatically when the cause of the error is removed Error reset Normal status is restored when the error is reset after the cause of the error is removed Cycle the power supply Normal status is restored when the power supply to the Controller is turned OFF and then back ON after the ca
6. End Codes 29 07 Command End Code Code End Code hex Description Condition Correction No response Unit state ST1 or ST2 Restart the CPU make sure that the unit is mounted and wired correctly 00001 Normal completion Unit state ST5 and all Command is executed and parameters are in range operation is normal 1001 Command length exceeds Too many parameters sent in maximum command length the command Correct the command and re send 1002 The command length is Too few parameters sent in insufficient for the smallest the command command Correct the command and re send 4 18 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications End Code hex Description Condition Correction 110C Parameter error Unit state ST5 and one or Correct the parameters more parameters are not in range 2201 Not executable in current Unit state ST3 or ST4 Nothing configured Perform mode message command 2902 before executing this com mand and enable communi cations by setting EnbICANComm ON con firmed with EnblComm ON 220F The specified service is Unit state ST5 and send Sent the message less fre being executed mode changed and the mes quently sage is being sent Note 1 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
7. em Name Date Type EE SEND CMD SendCmd BOOL SDNET_ADR InOption _sRESPONSE ARRAYI0 22 OF B ePORT ARRAY 0 255 OF NONE OutBusy OutError OutErrorlD WORD 1620 OutErrorlDEx li External Variables The following External Variables are used in the user program example Narre Data Type Constant Comment is gStartFlag gtrroriD girrodDEx girrarNo ErrarNo gArrfINSresp ARRAY 0 255 OF Port isAvailable 800l A 4 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Appendices i ST Program The following ST Program example configures the User Defined CAN Unit based on the provided details gStartFlag TRUE AND Port _isAvai lal TRUE THEN for ntl WC INTeO TO rt BY ULINT I Do 1 3 4 5 6 798 IF Cnt 1 THEN 8 B evwewsParameler Seleeers 9 DutDone FALSE 10 n InExecute TRUE 12 13 14 InDNetAdr NetNo 0 InDNetAdr WodeNo 0 Cort21 unit number 0 15 InDNetAdr UnitNo BYTERI6fIO 16 7 In pt ion isNonResp FALSE 18 In ption TimeOut 200 19 In pt ion Retry 0 20 Setti ing aor areas FINS 2902 21 InQndDat ths 816228 22 items TERI 6802 23 fer ud 100 CIO 104 24 MAEA BYTERTGNOD 25 InGndDat 3 BYTES16801 2 InGmdDat 4 BYTES16800 27 InGndDat 5 BYTERI6864 8 Send Ici eter w100 gt
8. 2 Two digit 7 segment display RUN Ji amp C 3 em fro indicators A J J ERR 9 V 3 o E Ls Dot indicators e Status Indicators Run and ERR 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 ON of OFF The following table lists the different states and colors of the indicators with their meaning See 2 2 5 Unit States for more information on Unit States CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 2 Nomenclature and Installation Indicator Color Status Condition RUN Green ON Normal operating status The Unit state is ST3 ST4 or ST5 Red ON A non recoverable fatal error has occurred Unit state is ST2 and a start up error has occurred OFF Power is not supplied or the Unit is in state ST1 or ST2 ERR Red ON A fatal communication error has occurred Network communications are not possible One or more of the following errors active e Hardware error at startup Unit in ST2 e No CAN configuration CAN network power fail NetPwrErr Unitis Bus off BusoffErr Fatal error in Unit CPU Watchdog Time out CPU communication bus error Cyclic refresh time out O table error OFF The Unit has no active error diagnostic func tion
9. DLC 0 8 bytes 15 bit CRC 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 Data Length Code Number of Data Bytes DLC3 DLC2 DLC1 DLCO 0 Dominant Dominant Dominant Dominant 1 Dominant Dominant Dominant Recessive 2 Dominant Dominant Dominant Recessive 3 Dominant Dominant Recessive Dominant 4 Dominant Recessive Recessive Recessive 5 Dominant Recessive Dominant Dominant 6 Dominant Recessive Recessive Dominant 7 Dominant Recessive Recessive Recessive 8 Recessive Dominant Dominant Dominant 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 1 14 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration e
10. The following table defines the numerical values for CPU memory area types The address range for each memory area type is also provided Z06Z seeuy Alowey einByuoD L Z v Memory Area Numerical Value hex Memory Area Type Maximum Address hex 0001 CIO area 17FF 0002 DM area 7FFF 0003 Work area 01FF 0004 Holding area 05FF 0008 EM bank 0 TFFF 0009 EM bank 1 TFFF 000A EM bank 2 TFFF 000B EM bank 3 TFFF 000C EM bank 4 TFFF 000D EM bank 5 TFFF 000E EM bank 6 TFFF 000F EM bank 7 TFFF 0010 EM bank 8 TFFF 0011 EM bank 9 TFFF 0012 EM bank A TFFF 0013 EM bank B TFFF 0014 EM bank C TFFF CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 5 4 Message Communications 4 6 Note 1 Using the maximum address send receive buffers will result in an error because the buffers consume 5 words each Therefore use the following equation to determine the maximum allowable memory area for a start address buffer Maximum Buffer Start Address Maximum Address Number of Send Receive Messages x 5 fi Response Block Issuing a Configure Memory Area command will result in the following response End Codes 29 02 Command Code End Code End Code hex Description Condition Correction No response Unit state ST1 or ST2 Restart the CPU make sure that the unit is mounted and wired correctly 0000
11. E D o o Ww a E q O o 5 c G D E E D O Y Create the Unit settings by using the Edit Special Unit Settings Step 2 Create Initialization Data of Create the User program s to send message communications to the Unit configure the Unit see section 4 When the program is transferred items set here will be reflected in the device variable for CJ series Unit Step 3 Set up the User Defined CAN Set the hardware switch on the front panel Unit s Unit number UNIT No Set the same unit number as in the Unit Configuration settings Operation settings for baud rate communication errors DIP switch Step 4 Set up Remote Devices Initial settings for Remote Devices Baud rate etc Set by referring to the Manual for Devices Step 5 Mount and wire to the Rack Wire the remote devices Step 6 Turn ONthe power to the Reflect the settings for the switches on the front panel of the Unit Controller Switch ON the power in the sequence Communications power slave power controller power or switch all three ON at the same time Hardware setting and Rack assembly Transfer user programs Unit Configuration and Setup and variable Step 7 Transfer the user programs P prog information Step 8 Main operation c 9 x o o v c x o c E E x D o x CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1
12. EnblComm is ON or the unit is waiting for CAN messages Red OFF No power or in ST1 or ST2 Make sure that the unit is wired and mounted correctly switch the power on or wait for the until unit to be initialized Flashing ST1 PC21 startup error or ST2 hardware Verify proper unit number setting error If problem persists contact an Omron rep resentative ON Fatal error in unit Restart Unit If problem persists contact and Omron representative 6 4 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 2 2 ERR LED Indicator Unit Status No error active 6 Troubleshooting and Maintenance Comments The unit has no active error and diagnostic functions do not detect any error condition Indicator Status Color Status Red OFF ON One of more of the following errors are Make sure that the unit is wired and active Hardware error No CAN configuration mounted correctly switch the power on or wait until the unit is initialized Configure the Unit CAN network power fail Unit is Bus off Correct the CAN network restore the Fatal error in Unit CPU Watchdog Time out PC21 bus error Cyclic refresh time out e O table error 6 2 3 Two 7 segment Display Color Red power on the network e Create the CPU I O table Make sure the Cyclic refresh is enabled Restart the Unit If problem persists contact a local Omron
13. Nominal bit time a point e Sample Point The sample point is the point of time at which the bus level is read and interpreted 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 the baud rate switches on the front of the Unit or directly using a message com mand 2909 i 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 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 per mitted to transmit data Information from transmitters to receivers are 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 sublayer is responsible for Message Framing Arbitration Acknowledgement Error Detection and Signalling e LLC The LLC sublayer is concerned with Message Filtering Overload Notification and Recovery Man agem
14. Section Section 1 Features and System Configuration Description This section provides an introduction to the User Defined CAN Units and their fea tures It also describes the operating procedure and the specifications of the User Defined CAN Units Section 2 Nomenclature and Installation This section describes the nomenclature functionality and installation of the User Defined CAN Unit Section 3 This section describes the data exchange between the CPU Unit and User Defined Data Exchange with the CPU Unit CAN Unit and the definitions of the device variables for CJ series Unit Section 4 This section describes the message communications of the User Defined CAN Unit Message Communications Section 5 Communications Timing This section describes the communications timing of the User Defined CAN Unit and the performances of the remote I O communications and message communications Section 6 Troubleshooting and Maintenance This section describes the troubleshooting procedure event logs and maintenance procedure for the User Defined CAN Unit Appendices CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Introduction Manual Structure Page Structure The following page structure is used in this manual 4 Installation and Wiring Level 1 heading Level 2 heading Level 2 heading 4 3 Mounting Units r Level 3 heading Gives the curr
15. dee tede esee eec RU 3 6 Device Variable siisii dne ei oaa 3 8 Device variable for CJ series Unit 3 2 3 5 DIP SWIECI eerte eom et ER aii 2 6 DM Area anii i i ene ai reru A 2 Dot Indicator sinasin e a aaas 2 4 E ERR Indicator senectt 2 3 Error Counters 5 5 edle eed 1 16 Error Detection iones tinet necezeee red 1 15 Error Flag oo ien n tto en nd 1 16 Error Frame eee tede 1 4 Error Log Storage Area sss 6 7 EVI Event ode edente tardo ae 2 11 EV2 EVehl inerte n eR 2 11 EV3 Event nnne eee ere ee ebrei eds 2 11 EV4 Event edipi 2 11 EV5 EV hl 5 steer idet Deve eis eter eeu 2 11 Event Code eit oe esi etes 6 12 Event l vel 4 iii eiia iecit 6 12 Event name eite RT bei 6 12 Events 1 edes decies edee edes ide ideiei inais 2 11 Extended Format sesseseseeeeeenennenen 1 18 F FINS message communications sss 1 21 Frame Check cccssescssscececeeeseeseeeetssssessssseranseenes 1 15 l VO Bus check error 6 10 O Map t nee cel dei lee ade 3 6 l O POrt 2 ho eet eei otii 3 5 OND OME RE P 3 2 3 5 VO setting check error ss 6 10 IDEAB ities chest ee hot D rm n ee 1 18 Identifier nnt hue 1 14 Identifier Length enint 1 10 INGICALORS cere erede t n T E 2 2 Intermediate Buffer sssessseeeeenenee 1 19 IntermlssioLi 2 inde lA A 1 15 ISONI 4 iuit pace RA nidis
16. 29 TnOndDat 6 BYTE 16200 q 30 InOndDat 7 BYTESI6803 N 31 InQndDat 8 BYTERT6800 S 32 InOmdDat 9 BYTERIGEOA o 33 1 Boosey e Send a 34 InCndDat 1 0 BYTEST6R00 v ie InGmdDat 11 BYTES16 01 Fa 5 e 37 Receive Buffer EO 0 EO 4 8 38 InOndDat 12 BYTE 16 00 3 39 InQndDat 13 lt BYTE 16 06 40 InQndDat 14 BYTESI6800 m 41 InOndDat 15 BYTE 16 00 D 42 Receive trigger W110 3 43 InGmdDat 16 BYTERI6800 o 44 InGndDat 17 BYTES16 03 L3 45 InQndDat 18 BYTES16 00 46 InGndDat 19 BYTFZIGSGE 47 1 Poeti Received 48 we YTE 16800 gt 49 Inondbat 21 BYTE GSO 1 SendingF TRUE E 1 i ag 52 END IF 53 54 SEND CMD 55 Execute i nExecute gt 56 DeatNetAdr InDNetAdr EN 57 CommPor t m 58 OndDat nOmdDat 0 command array assigment 59 OndSize 22 configure command size in bytes g 80 RespDet OutResDat 0 response array assigment 61 Oot ion InOption o 62 gt QutDone o 63 e 3 QutBus y Z 64 Error 7 QutError o 65 Error I0 gt QutError 1D P 66 n gt QutError IDEx 5 67 68 eNp For g 70 2 IF OutError TRUE THEN D 71 g rrorlD OutErrorID o 72 Error lDEx QutErrorlDEx amp 73 eo Tr a 74 a 155m IF QutDone TRUE THEN 3 16 IF OutBusy TRUE THEN n gkrrorlD OutError 1D S 78 ELSIF QutError TRUE THEN oO 79 gkrrorlD OutError 1D zb 80 Error IDEx OutError lDEx D 81 ELS
17. Using motion control Using EtherCAT Using CJ series Units Programming error processing Testing operation and debugging Using motion control Using EtherCAT Using EtherNet IP Troubleshooting and managing errors in an NJ series Controller A qa 2 Use the relevant manuals for references according to any error that occurs A 4 Mai ntenance Using EtherCAT Using EtherNet IP Using CJ series Units CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Introduction Manual Configuration i NJ series CPU Unit Hardware User s Manual Cat No W500 Section Section 1 Introduction Description This section provides an introduction to the NJ series Controllers and their features and gives the NJ series Controller specifications Section 2 System Configuration This section describes the system configuration used for NJ series Controllers Section 3 Configuration Units This section describes the parts and functions of the configuration devices in the NJ series Controller configuration including the CPU Unit and Configuration Units Section 4 Installation and Wiring This section describes where and how to install the CPU Unit and Configuration Units and how to wire them Section 5 Troubleshooting This section describes the event codes error confirm
18. 1 2 7 Detecting and Signaling 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 Cyclic Redundancy Check CRC The CRC safeguards the information in the frame by adding redundant check bits at the transmis sion 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 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 ACK Errors As mentioned above frames received are acknowledged by all recipients through positive acknowl edgement 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 Monitoring The ability of the transmitter to detect errors is based on the monitoring 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 p
19. 1 5 1 10 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 L License Of CAIN it nnper te ape tte eec 1 5 EEG Sublayer eire e ii 1 8 M MAINTENANCE oci eorpore pi piane pie Eats 6 16 Medium Access Control MAC scese 1 8 Message Communications ssssssse 1 2 4 2 Message Transfer 2 c s ccececeecseteeeteeceeeneebesesntesebeeesees 1 9 MESSAGES M 1 9 Monitoring cece eiie tenet ie a eoe de ean 1 15 N Network Power Error esee 6 12 Normal Start up 1 eerte tee eee Ree 2 4 Number of Delayed Messages cenere 3 5 Number of Delayed Receive Messages 3 2 Number of Delayed Send Messages 3 2 O Object Storage eene 1 19 On Change esce t ee Deere utt eate ku i exu de 1 3 On Change Mode ss een 5 3 OSI Layer 1 Transmission Medium 1 6 OSI Layer 2 Datalink Layer ecen 1 8 OSI Layer 7 Higher Layer Protocol 1 10 OSI Reference Model ISO 7498 sess 1 6 P Performance erotici tenuere Ree nice 5 2 Power OFF retention see 1 20 PAON e 1 11 R Reading and Clearing the Error Log 6 7 Receive Buffer Area sse 4 9 Receive Flags erre rere 3 3 Receive Trigger Area
20. 2 2 Status Communication s siise ceitean ia ene a Ee eh 3 9 3 2 3 Number of Delayed Messages nnannnan nnana 3 12 3 2 4 Number of Received Messages Waiting to be Processed 3 12 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 3 1 3 Data Exchange with the CPU Unit 3 1 Data Exchange with the CPU Unit Data exchange between this Unit and the CPU Units uses the I O port and memory for CJ series Unit allocated to the User Defined CAN Unit 3 1 1 Data Flow The CPU Units and CJ series User Defined CAN Units exchange data as shown in the table and chart below Data exchange type Access methods from AT specification the user program destination Data exchange timing Unit data type Device variable for I O port During I O refresh Communication Enable CJ series Unit Status Number of Delayed Send Mes sages Number of Delayed Receive Messages User defined variable Memory used for CJ series Unit During I O refresh Send Buffers Send Triggers Receive Buffers Receive Triggers At I O refresh after instruc tion execution Direct Transmit of 11 bit ID CAN Message Direct Transmit of 29 bit ID CAN Message ij Unit Cyclic Refresh The User Defined CAN Unit performs a cyclic refresh for five memory areas of the CPU In one of these memory areas control and status flags are present and the state information is included in these flags During a U
21. 3 15 9 microseconds The evaluation time is 10 0 4 3 14 3 microseconds in case the configured output buffer is not sent Example 2 Number of output buffers 640 Number of configured output buffers 1 Every time the configured message is sent cyclic time elapsed the evaluation time of all output buffers being 640 will be 11 6 4 3 639 2 76 milliseconds H Precautions for Correct Use The following guidelines apply to optimizing the evaluation time for the Cyclic Mode Set the number of output buffers with message command 2902 to the same amount as the number of configured output buffers that is the total number of buffers configured with mes sage command 2903 or 2904 Input Message Processing Time 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 process time is user dependant and can significantly slow the process of receiving CAN messages If processing time become excessive messages will be lost and missed due to insufficient buffer capacity It is strongly advised to configure the input and output buffers for CAN messages according to good practice as this configuration directly influences the performance of the application Processing Time The process time of a received message is 65 microseconds only in the case that the message identifier is the one corresponding with input buffer 0 T
22. 8 Mode Name Description SM1 Triggered Sending an output message is triggered with a bit in the CPU memory This bit is located in the Send Triggers area see 4 2 Unit Configuration and Control SM2 On Change Sending an output message is triggered as soon as the Unit detects that the message contents have changed or the mes sage length has changed an incorrect message length gt 8 is not considered a change SM3 Cyclic Sending an output message is triggered as soon as a specified time has elapsed e Triggered 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 and messages will not be sent On Change In send mode SM2 a change in the message content determines that the output message will be sent In state ST5 the Unit will evaluate the message content In all other states message contents changes are ignored and messages will not be sent Cyclic In send mode SM3 time determines when an output message is sent In state ST5 the Unit checks whether the configured cycle time for the output message has elapsed As soon as it elapses the message is sent In all other states the time intervals not monitored and no messages are sent ES Additional Information It is allowed and possible to combine any of the three send modes mentioned abov
23. Control MAC Data encapsulation and decapsulation Frame coding stuffing Medium access management Error detection Error signalling Acknowledgement Serialization deseriliazation 1 Physical Layer Bit encoding decoding Bit timing e Synchronization ii OSI Layer 1 Transmission Medium ISO 11898 defines the physical layer The CAN bus is a balanced differential 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 dif ferential two wire bus The use of NRZ encoding ensures compact messages with a minimum number of transitions and high resistance to external disturbance CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration Serial Bus A number of different data rates are defined from 1Mbps to 10kbps Cable length depends on the data rate used The maximum line length is 5 km and the minimum is 25 meters at 1Mbps Termina tion 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 134 microseconds at the maximum baud rate of 1Mbps sng NVO JO elAJeAQ 2 1 Transmission Speed Transmission speeds between 10 kbps and 1000 kbps can be selected as shown in the table below One unique
24. Frames The maximum length of the data transmitted in one message is 8 bytes The length of data in a message can be 8 bytes or less If the data length is less then 8 the frame always has 8 data bytes CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 9 1 Features and System Configuration Identifier Length Standard format The identifier s length is 11 bits and corresponds to the Base Id in the Extended format The indenti fier is interpreted as an integer value in the hexadecimal range 0x0000 0x07FF Extended format In contrast to the Standard format the identifier in this format consists of 29 bits The format com prises two sections Base Id and Extended Id The Base Id consists of 11 bits and is the identifier for the Standard format The Extended ld consists of 18 bits and with the Base Id this is 29 bits The indentifier is interpreted as an integer value in the hexadecimal range 0x00000000 Ox1FFFFFFF il OSI Layer 7 Higher Layer Protocol Examples of the higher layer protocol in OSI layer 7 are DeviceNet and J1939 a set of standards con cerning the design and use of devices that transmit and receive electronic signals and control informa tion For the User Defined CAN Unit the higher layer protocol is implemented in the user program of the controller Received CAN messages are stored in controller memory areas The CAN messages to transmit are formatted in the user program and tempor
25. Manual for NJ series CPU Unit W517 1 5 sng NVO JO elAJeAQ 2 1 1 Features and System Configuration 1 2 1 CAN Communication Protocol 1 6 In general the CAN communication protocol is based on the Open System Interconnection OSI refer ence model in accordance with the international standard ISO 7498 see the following illustration OSI Reference Model ISO 7498 The model defines 7 layers of communication functions two of which layers 1 and 2 are used in CAN CAN uses layers 1 and 2 Layers 3 to 7 are not defined for CAN The application layer OSI layer 7 defines the interface functions for specific application areas The User Defined CAN Unit has a user defined application layer The user program configures the Unit processes received messages collects data to transmit and triggers the Unit to send messages This streamlined archi tecture ensures fast and efficient data transmission The application functions which are available to the user as well as the system and device behavior of the various CAN device types are specified in the higher layer protocol To achieve design transparency and implementation flexibility CAN has been subdivided into differ ent layers according to the ISO OSI Reference Model shown below Layer Description 7 Application Layer 3 to6 Not Defined 2 Data Link Layer Logical Link Control LLC Acceptance filtering Overload notification Recovery Management Medium Access
26. Operation Manual for NJ series CPU Unit W517 25 26 E SD Memory Cards Insert the SD Memory Card all the way Do not turn OFF the power supply to the Controller during SD Memory Card access The files may be corrupted If there is a corrupted file in the SD Memory Card the file is automatically deleted by the restoration function when the power supply is turned ON CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Regulations and Standards Conformance to EC Directives I Applicable Directives EMC Directives Low Voltage Directive i Concepts e EMC Directive OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine The actual products have been checked for conformity to EMC standards Whether the products conform to the standards in the system used by the customer however must be checked by the customer EMC related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel on which the OMRON devices are installed The customer must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN 61131 2 and EN
27. Received Messages Waiting to be Processed When the RcvOver variable is TRUE ProcMsgNo will provide the number of messages that are awaiting processing in BCD format For details on the RcvOver variable see 3 2 2 Status Communi cation Name of device variable for CJ series Unit ProcMsgNo Type WORD R W Area Number of Messages to be pro cessed BCD Function Number of Messages to be processed BCD Data range 0 to 15 Default 0 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Message Communications BSS This section describes message communications sent from the user program in the CPU Unit 4 1 Overview iilo RAW pile sek E ok oes Me fW E eee a etka see 4 2 4 1 1 Outline of Message Communications elles 4 2 4 2 Unit Configuration and Control 0 00 cece eee 4 4 4 2 1 Configure Memory Areas 2902 0 eee 4 4 4 2 2 Configure 11 Bit ID Output Message Buffer 2903 0 4 10 4 2 3 Configure 29 Bit ID Output Message Buffer 2904 4 12 4 2 4 Configure 11 Bit ID Input Message Buffer 2905 4 14 4 2 5 Configure 29 Bit ID Input Message Buffer 2906 4 16 4 2 6 Direct Transmit of an 11 bit ID CAN Message 2907 4 17 4 2 7 Direct Transmit of an 29 bit ID CAN Message 2908 4 19 4 2 8 Setting the CAN Bit Rate and S
28. The following guidelines apply to optimizing the evaluation time for the On Change Mode Set the number of output buffers with message command 2902 to the same amount as the number of configured output buffers that is the total number of buffers configured with mes sage command 2903 or 2904 Use the big endian format in message commands 2903 and 2904 whenever possible because the little endian format will increase the evaluation time CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 5 3 92ueuuoJled L G aul uonenjeA3 eBesse y indino Z G 5 Communications Timing 5 1 3 5 4 fl SM3 Cyclic Mode In Cyclic 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 micro seconds The evaluation time will be 10 microseconds as long as the cyclic time is not reached The total number of output buffers is configured with message command 2902 2903 and 2904 are used to associate a buffer with an identifier A buffer with an identifier associated is called a configured buffer The evaluation time for buffers that are not configured is 4 3 microseconds Example 1 Number of output buffers 2 Number of configured output buffers 1 Every time the configured message is sent cyclic time elapsed the evaluation time of all output buffers being 2 will be 11 6 4
29. When adding a new node to the network make sure that the baud rate is the same as other nodes Use specified communications cables Do not extend connection distances beyond the ranges given in the specifications CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 23 Precautions for Correct Use 24 i Storage Mounting and Wiring Do not operate or store the Controller in the following locations Operation may stop or malfunctions may occur Locations subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Take appropriate and sufficient countermeasures when installing the Controller in the following loca tions Locations subject to strong high frequency noise Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power lines Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static build up Install the Controller away from sources of
30. also the priority of the message This is impor tant for bus allocation when several units are competing for bus access e 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 The CPU only has 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 receivers of this message Each unit in the CAN network having received the message correctly performs an acceptance test to determine whether the data received is 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 configuration flexibility is achieved as a result of the content oriented addressing scheme It is very easy to add units to the existing CAN network without making any 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 addresses for the individual components it supports the concept of modular electronics and also permits multi ple reception broadcast multicast and the synchronization of distributed processes Measure ments needed as information by several controllers can be transmitted
31. and the performance of the CAN interface of the User Defined CAN Unit The following figure depicts the transmission of CAN messages on the bus message n message n 1 message n 2 ty tp t t4 ts t gt t ty t Message delay time t t Message intermission Message Delay Time Every message has a certain message delay time which is mainly determined by the size of the data field in the message The CAN bit stuff mechanism after every 5 consecutive equal value bits a bit of the opposite polarity is added can increase the message delay time by a maximum of 15 The following formulas give the minimum and maximum message delay time Message Delay Time seconds number of bits in message bit rate bit s Message Delay Timemin Seconds 44 8 x number of data bytes bit rate bit s Message Delay Timemax seconds trunc 47 8 9 6 x number of data bytes bit rate bits s Note The maximum number of data bytes 8 5 1 5 I O Response Time The I O response time CAN Bus response time 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 The figures below show the minimum and maximum I O response time In the bottom figure the pro cessing of received messages is finished immediately after a CPU I O refresh Th
32. buffers are present Every input buffer can have only one CAN mes sage content for receiving The location U of the CAN receive message buffers is configured with the command code 2902 This memory area contains input words Given the number of configured receive message buffers as B the area has the layout specified below The layout depends on the configuration supplied via the command codes 2905 or 2906 By selecting little of big endian format adjust when the com mand is executed a byte swap is performed see section 4 2 4 Configure 11 Bit ID Input Message Buffer 2905 and 4 2 5 Configure 29 Bit ID Input Message Buffer 2906 for more details zoez seeuy oway einByuoD L Z v CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 9 4 Message Communications Word U Word U 1 Word U 2 Word U 3 Word U 4 Word U 1 5 Word U 1 5 1 Word U 1 5 2 Word U 1 5 3 Word U 1 5 4 l Word U B 1 5 Data length number of bytes Word U B 1 5 1 Word U B 1 5 2 Word U B 1 5 3 Word U B 1 5 4 Big endian Little endian Data byte 0 Data byte 1 Data byte 2 Data byte 6 Data byte 3 Data byte 4 Data byte 5 Data byte 7 wayng Data length number of bytes Data length number of bytes Data byte 1 Data byte 0 Data byte 3 Da
33. by triggering a bit in trigger 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 The location R of the send trigger words is configured with the command code 2902 The length of the area is determined via the number of configured send message buffers If the number of config ured send message buffers is A the length L is Z06Z seeuy Alowey einByuoD Z Y _ A 15 16 The result is rounded down to the nearest whole number and remaining trigger bits will be ignored L The send trigger area table has the following layout Word Bit R 15 14 13 12 11 10 09 08 07 06 05 04 30 02 01 00 R 1 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 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 09 08 07 06 05 04 03 02 01 00 Receive Trigger Area This area has flags indicating that a CAN message is received in the receive buffer corresponding to the receive bit Every input message buffer has its corresponding bit The bit value means ON An input message with the configured message identifier of this input message buffer has been received since last Unit Cyclic refresh OFF No input message with the configure
34. eee ee eim es 2 6 User progra M 2 4 22 oie eerte terrere eei 3 5 User defined Variable see 3 5 User defined variable 1 24 3 2 3 5 Index 3 Index Index 4 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517
35. event logs in an NJ series CPU Unit Refer to the NJ series Troubleshooting Manual Cat No W503 for details on Controller errors confirmation methods and corrections Check current Controller events and the event log of past events F o Sysmac Studio NJ series CPU Unit Ganre on nits ES A PLC Function Motion Control EtherCAT Master EtherNet IP oO Event source 4 f y Errors in Module Function Module Function Module Function Module Special Units 3 r o aq o pus Create User defined Error instruction Event logs SetAlarm MM E User defined Information instruction Setlnfo NS series PT Backup battery EtherCAT slave Check current Controller events and the event log of past events s8071u8 3 OU jo M Q G 9 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 11 6 Troubleshooting and Maintenance 6 5 2 Error Table The errors that may occur for this Unit are listed below Event levels are given in the table as follows Maj Major fault level Prt Partial fault level Min Minor fault level Obs Observation Info Information Refer to the NJ series Troubleshooting Manual Cat No W503 for all occur in an NJ series Controller of the event codes that may Event code Event name Meaning A
36. flag J033u05 pue uoneunByuo yun Z Y ES Additional Information On all response codes different from 0000 the unit will not transmit the user defined CAN message All ofthe 8 data bytes are always part of the command message The actual data length of the CAN message data length in bytes can be less than 08 The length of the command must always equal 8 words 4 2 7 Direct Transmit of an 29 bit ID CAN Message 2908 The instruction is used to transmit a user defined CAN message The User Defined CAN Unit will not check the validity of the CAN message i Command Block 8062 eBesse N NYO AI 10 67 ue jo yiusue4 291A 1 2 7 29 08 Command Identifier Data Data 8 Bytes Big or Code 29 bit Length Little in Bytes Endian The following table defines the minimum and maximum values for each item in the command block with setting details Setting Minimum Value Hex Maximum Value Hex Setting Details Identifier 29 bit 00000000 1FFF FFFF Identifier value Data Length in Bytes 0000 0008 Data Length Data 00 FF Data Big or Little Endian 0000 0001 e 0000 Big Endian e 0001 Little Endian CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 19 4 Message Communications fi Response Block Issuing a Direct Transmit of an 29 bit ID CAN Message command will result in the following response
37. following 3 2 Device Variable for CJ series Unit In the explanations from here on the device name automatically created is used as the device variable name for CJ series Unit for example EnblCANComm For details on the memory for CJ series Unit refer to NJ series CPU Unit Software User s Manual Cat No W501 3 6 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 3 Data Exchange with the CPU Unit i How to Create User defined Variables Use the Sysmac Studio to register user defined variables to the variable table Use user defined vari ables to specify the AT specification of the memory used for CJ series Unit to which buffer and trigger areas are allocated Generally array variables are created Below is an example of allocation to user defined variables See A 2 User Program Example for more information e Configuration of the User Defined CAN unit using the message command 2902 e 1 send buffer 1 receive buffer One send or receive buffer occupies 5 words of CPU memory Data Length Code DLC and the 8 bytes of data One send trigger or receive flag occupies one bit of CPU memory The number of words occupied by all triggers or flags equals the number of send or receive messages divided by 16 rounded up Trailing padding bits are ignored see section 4 2 1 Configure Memory Areas 2902 for more infor mation HUN ndo eu yM eBueuoxa eed oN In this case buffer and trigger da
38. free cloth dampened with alcohol Precautions for Safe Use To prevent electric shock when replacing a Unit be sure to stop communications in the network and turn OFF the power supplies to all of the nodes master and slaves before removing the faulty Unit CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 jueuie2e des pue ao ueuojule w 9 9 sun Ajne4 Bupejd y 9 9 6 Troubleshooting and Maintenance 6 18 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Appendices A 1 Differences in Available Functions Depending on the CPU Unit NJ CJ series to be Connected 0c cece cece eee eee A 2 A 1 1 Differences in Available Functions lisse A 2 A 1 2 Differences in Accessing from User Program 20 00000 A 2 A 2 User Program Example eseeeeee n n nnn A 4 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 A 1 Appendices A 1 Differences in Available Functions Depending on the CPU Unit NJ CJ series to be Connected A 1 1 Differences in Available Functions Some functions available to the CJ series may be unavailable when you operate this Unit with the NJ series Note This manual describes the information you must know when using CJ1W CORT21 by connect ing it to NJ series CPU Unit You can use FINS message communications with NJ series but not all areas of the NJ series CPU Unit
39. heat and ensure proper ventilation Not doing so may result in malfunction in operation stopping or in burning An I O bus check error will occur and the Controller will stop if an I O Connecting Cable s connector is disconnected from the Rack Be sure that the connectors are secure Do not allow foreign matter to enter the openings in the Unit Doing so may result in Unit burning electric shock or failure Do not allow wire clippings shavings or other foreign material to enter any Unit Otherwise Unit burning failure or malfunction may occur Cover the Units or take other suitable countermeasures especially during wiring work For EtherCAT and EtherNet IP use the connection methods and cables that are specified in the NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 and the NJ series CPU Unit Built in EtherNet IP Port User s Manual Cat No W506 Otherwise communications may be faulty Use the rated power supply voltage for the Power Supply Units 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 Make sure that the current capacity of the wire is sufficient Otherwise excessive heat may be gener ated When cross wiring terminals the total current for all the terminals will flow in the wire When wiring cross overs make sure that the current capacity of each of the wires is not exceeded Do not touch
40. message length of 80 bits then the total number of messages transmitted is 9 x 1010 The statistical number of undetected transmission errors during the operating life is thus in the order of less than 10 2 Or 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 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 17 1 Features and System Configuration 1 2 9 Extended Format CAN Message e 29 bit Identifier The Society of Automotive Engineers SAE Truck and Bus sub committee standardized signals and messages as well as data transmission protocols for various data rates It became apparent that standardization of this kind is easier 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 exten sion Thus the CAN protocol allows the use of two message formats StandardCAN Version 2 0A and ExtendedCAN Version 2 0B As the two formats must coexist on one bus it is determined which message has higher priority on the bus in the case of bus access collisions with differing for mats and the same base identifier The message in standard format always has priority over the message in extended forma
41. of the Unit until they click into position to lock Slide latches bdcuntil they lock The latches will clic when they loc Precautions for Safe Use If the sliders are not securely locked the User Defined CAN Unit functions may not operate suf ficiently To dismount the Unit move the sliders to the Release direction 2 8 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 2 Nomenclature and Installation 2 2 3 Handing Precautions Always turn OFF the Controller before you mount or dismount a Unit or connect or disconnect cables Provide separate conduits or ducts for the I O lines to prevent noise from high tension lines or power lines Prevent wire clippings cutting chips or other materials from getting inside the Unit They could cause scorching failure and malfunction Pay particular attention to this during installation and take mea sures such as covering with a cover f the Unit was shipped from the factory with the dust protection label on top of the unit be sure to remove that label before switching ON the power The label prevents heat dissipation and could cause a malfunction HUN Nv2 peuyeg 1esp eu Burfejsul Z Z Remove the label after wiring suonneoesjg BuipueH e z z 2 2 4
42. on the Basis of Need Allocation on the basis of need is defined as the bus is allocated to one participant 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 CAN Bus Allocation 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 fl Bus Access Another means of assessing the efficiency of bus arbitration systems is the bus access method Non destructive bus access Destructive bus allocation CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration Non destructive Bus Access 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 sng NVO JO elAJeAQ 2 1 Destructive Bus Allocation 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
43. or 29 bit identifiers are used for all input message buffers If the last command is 2905 11 bit identifiers will be used If the last command is 2906 29 bit identifiers will be used 4 2 5 Configure 29 Bit ID Input Message Buffer 2906 Each Input Receive Buffer requires the following settings that are configured using the command code 2906 the 29 bit identifier the use of little endian or big endian fi Command Block 29 06 Command Buffer Identifier Big or Code Number 29 bit Little Endian The following table defines the minimum and maximum values for each item in the command block with setting details Setting Minimum Value Hex Maximum Value Hex Setting Details Buffer Number 0000 027F Defines which buffer to configure 0 to 639 Identifier 29 bit 00000000 1FFF FFFF Identifier value Big or Little Endian 0000 0001 0000 Big Endian 0001 Little Endian i Response Block Issuing a Configure 29 Bit ID Input Receive Message Buffer command will result in the following response End Codes 29 06 Command End Code Code CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications End Code hex Description Condition Correction No response Unit state ST1 or ST2 Restart the CPU make sure that the unit is mounted and wired correctly 00001 N
44. reliability is understood as the capability to iden tify data corrupted by transmission faults The residual error probability is a statistical measure of the impairment of data reliability It specifies the probability that data will be corrupted and that this cor ruption will remain undetected The residual error probability should be so small that on average no corrupted data will go undetected throughout the whole life of a system Residual Error J090j04d NYO 94 Jo Ajliqeijes eed 8 Z 4 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 10 13 0 02 10 13 The residual error probability of CAN is determined as a function of the bit error probability for message lengths of 80 to 90 bits for system configurations of for instance five or ten nodes and with an error rate of 1 1000 an error in one message in every thousand Based on the residual error probability it is possible to calculate the maximum number of undetect able errors for a given CAN network Undetectable Errors For example if a CAN network operates at a data rate of 1 Mbps s at an average bus capacity utili zation of 50 percent for a total operating life of 4000 hours and with an average
45. representative Two 7 segment Display Status Unit Status Comments All Off No power or in ST1 or ST2 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 message com mands Displays State is ST3 or STA If unit is not configured then configure the unit with mes FF sage command 2902 When unit already has a configura tion enable communication by turning ON EnbICANComm This enabling is confirmed when EnblComm is set Displays State is ST5 CAN messages can be sent and received 00 Flashes CAN Bus power fail Restore power on the CAN bus 01 Flashes CAN Bus off Check the CAN network 02 Displays ST1 PC21 Startup error Create I O table or change the unit number H1 Displays ST1 PC21 Startup error Create I O table or change the unit number EC Flashes ER2 Create l O table change the unit number EC CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 5 sJ0je2ipu HUN NYO peuyjeg 4esp eu ym Bunoouse qnoJ Z 9 Jojeotpu Q3 1483 c c9 6 Troubleshooting and Maintenance 6 2 4 Two Dot Indicators Indicator Left Dot Right Dot 6 6 Color Red Status ON Unit Status Unit is configured and communi cation is enabled or disabled state is ST4 or ST5 Comments Enable communication by turning ON EnbICANComm This is c
46. transmission speed must be selected for all devices on the bus when the system is commissioned P Oo Z Baud rate kbps Distance segment meters O o 3 10 5000 3 2 20 2500 g 50 1000 S 125 500 3 o 250 250 8 500 100 800 50 1000 25 Note For bus lengths greater than 1 km a bridge or repeater device is recommended 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 recom mended to use more than three repeaters in series in a CAN network e Bit Time The User Defined CAN Unit supports bit rates in the range of 10 kbps up to 1000 kbps Every unit in a CAN network has its own clock generator usually a quartz oscillator The frequency of this oscilla tor determines the bit rate of the unit and therefore the reciprocal of the bit rate also called the bit time The timing parameter of the bit time i e the sample point can be configured individually for each CAN unit creating 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 bit time 1 nominal bit rate The frequencies of these oscillators are not absolutely stable and sma
47. 1 2 Normal completion Unit state ST3 or ST4 and Command is executed and all parameters are in range operation is normal 1001 Command length exceeds Too many parameters sent in maximum command length the command Correct the command and re send 1002 The command length is Too few parameters sent in insufficient for the smallest the command command Correct the command and re send 1101 No area type Unit state ST3 or ST4 and Specified memory area type is the memory area is not avail not valid Specify a correct able memory area type 1104 Address range over Unit state ST3 or ST4 and Correct the memory area the end address of an area is size not in range 1109 Mutual relation error Unit state ST3 or ST4 and Memory area overlap Correct the memory areas overlap the memory area specifica tion 110C Parameter error Unit state ST3 or ST4 and Correct the parameters The one or more parameters are number of send and receive not in range message may not exceed a number of 0280 Hex 2201 Not executable in current Unit state ST5 This message command can mode only be executed if communi cation is disabled by clearing EnbICANComm and this disabling is confirmed when EnblComm is FALSE Note 1 On response code 0000 event EV1 is generated The unit configures The Send Buffers area using the provided memory area and start address The Send Trigger area using the provided memory area and start addr
48. 17 Features and System Configuration 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 config uration features and specifications 1 1 User Defined CAN Unit Features een 1 2 1 2 Overview of CAN Bus cece eee eee 1 5 1 2 1 CAN Communication Protocol assau aaaea 1 6 1 2 2 Physical CAN Connection 000 0 cece cette tte 1 10 1 2 3 Principles of Data Exchange ssssslee es 1 11 1 2 4 Principles of Non Destructive Bitwise Arbitration 000 1 11 1 2 5 Efficiency of Bus Allocation 0 0000 e eects 1 12 1 2 6 Message Frame Formats 0 00200 c cece eee eee 1 14 1 2 7 Detecting and Signaling Errors liliis 1 15 1 2 8 Data Reliability of the CAN Protocol 000 0 eee eeeee 1 17 1 2 9 Extended Format CAN Message 0 00 e cece eee 1 18 1 2 10 Implementations of the CAN Protocol 0002ee ee eee 1 19 1 2 11 Configuring a CAN Network 0 0 0 anaua eee 1 19 1 3 Specifications orn e xm oaa RR HEUS 1 20 1 3 1 User Defined CAN Unit lssseeeeeeee III 1 20 1 4 Basic Operating Procedures 0 cece eee eee eee 1 22 1 4 1 Network Installation Procedure 00 c eee eee tenes 1 22 1 4 2 User Defined CAN Unit Startup Procedure 25 1 23 CJ series User Defin
49. 23 sainpes0ig Buneijedo oiseg p 4 aiNpeddld dnes JUN NYO POUA HSN Z r L 1 Features and System Configuration Allocation of User defined Variables to the Memory Used for CJ series Unit Bits and words are allocated to the memory used for CJ series when you configure the User Defined CAN unit with message commands send buffers specification send triggers specification receive buffers specification receive triggers specification To use this area from the user program you need to create a user defined variable of AT specifica tion User defined variables are created using Sysmac Studio Have the necessary user defined variables created before creating a program For details on operations refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 H Precautions for Correct Use The user is responsible for management of the memory used for NJ series Unit Please take great care to avoid overlapping of reference areas between user defined variables 1 24 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Nomenclature and Installation This section describes the nomenclature and installation of the User Defined CAN Unit 2 1 Nomenclature and Installation slesllllleess 2 2 2 1 1 Nomenclature and Functions 0000 cece eee 2 2 2 1 2 Switch Settings 0 0 0 0 re 2 5 2 2 Installing the User Defined CAN Unit llssleeeseeeeee
50. 2905 Each Input Receive Buffer requires the following settings that are configured using the command code 2905 the 11 bit identifier the use of little endian or big endian fi Command Block 4 14 29 05 Command Buffer Identifier Big or Code Number 11 bit Little Endian CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications The following table defines the minimum and maximum values for each item in the command block with setting details Setting Minimum Value Hex Maximum Value Hex Setting Details Buffer Number 0000 027F Defines which buffer to configure 0 to 639 Identifier 11 bit 0000 O7FF Identifier value Big or Little Endian 0000 0001 0000 Big Endian 0001 Little Endian i Response Block Issuing a Configure 11 Bit ID Input Receive Message Buffer command will result in the following response End Codes 29 05 Command Code End Code End Code hex Description Condition Correction No response Unit state ST1 or ST2 Restart the CPU make sure that the unit is mounted and wired correctly 00001 Normal completion Unit state ST4 or ST5 and Command is executed and all parameters are in range operation is normal 1001 Command length exceeds Too many parameters sent in maximum command length the command Correct the command and r
51. 6 6 6 1 Cleanirig enn 2 1 t IUe ee aa eee ee 6 16 6 6 2 Inspectlofi ceive eee AE Ve eee tee ree er ere et ipe e re ER od 6 16 6 6 3 Replacing Faulty Units 5 ation tite ce enero ceteri getep Dee aaaeei ae iaaiiai 6 17 Appendices A 1 Differences in Available Functions Depending on the CPU Unit NJ CJ series to be Connected enini esee te ie aar ra aea Veen sh eie ete oe cuts Ea eae EKAA e rem E i T Vies SEL DE A 2 A 1 1 Differences in Available Functions ssssssssssssssssseseeeeeneen ener nennen nenne A 2 A 1 2 Differences in Accessing from User Program sse emere A 2 A 2 User Program Example iicc c ccccceecesessscecteegesccrcesedsterctecessctetiedesuecuetessdacceecenesaterchegnestueteegesstteers A 4 Index CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 9 Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BU
52. 61000 6 2 EMI Electromagnetic Interference EN 61131 2 and EN 61000 6 4 Radiated emission 10 m regulations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards The applicable directive is EN 61131 2 Conformance to EC Directives The NJ series Controllers comply with EC Directives To ensure that the machine or device in which the NJ series Controller is used complies with EC Directives the Controller must be installed as fol lows The NJ series Controller must be installed within a control panel You must use reinforced insulation or double insulation for the DC power supplies connected to DC Power Supply Units and l O Units NJ series Controllers that comply with EC Directives also conform to the Common Emission Stan dard EN 61000 6 4 Radiated emission characteristics 10 m regulations may vary depending on the configuration of the control panel used other devices connected to the control panel wir ing and other conditions You must therefore confirm that the overall machine or equipment complies with EC Directives The following examples show means of reducing noise 1 Noise from the communications cable can be reduced by installing a ferrite core on the commu nications cable within 10 cm of the User Defined CAN Unit CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 27 Ferrite Co
53. AN 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 subscribers or stations in the conventional sense but instead prioritized messages 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 protocol means that very little cost and effort need to be expended on personal training the CAN chip s interfaces make application programming relatively simple Introductory courses function libraries starter kits host interfaces I O 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 License of CAN The CAN protocol is developed by Robert Bosch GmbH and protected by patents CJ series User Defined CAN Unit Operation
54. CAN Unit Operation Manual for NJ series CPU Unit W517 5 Communications Timing Maximum I O Response Time cu oOQNMV w UU eo 41115 z CORT21 Bus Input node Output node ANN co 1 dy A te gt ie AN c te gt pu o gt tty on es maximum I O response time ty Input Node ON OFF delay tupr Unit Processing time for Received messages tour Output Node ON OFF delay typr Unit Processing time for Transmitted messages tmp Message Delay time tpg Program Execution time tae l O Refresh time The unit processing time of messages to be transmitted depends on the number 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 trans mission of output buffers will queue 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 5 1 4 CAN Interface a transmit queue overflow occurs Transmit queue overflow errors can be solved by reducing the rate at which the output buffers change state and therefore requests for transmission are generated Receive queue overflow errors can be solved by decreasing the CPU cycle time or by reducing the rate at which the other units transmit messages
55. CJ series I O memory address NJ series device variables for CJ series Unit 7 7 A 2 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Description Status Communication The functions of bits 0 to 15 of a word starting with CIO n 3 correspond to those of bits 0 to 15 of this device variable for CJ series Unit Appendices The device variables for CJ series Units that correspond to bits 0 to 15 of a word starting with ClO n 3 are as follows CJ series I O memory address NJ series device variables for CJ series Unit Word address Bit Variable name Description CIO n 3 0 to 1 Reserved by System 2 EnblComm Enabled Communication 3 MsgRcv CAN Message Received 4to5 Reserved by System 6 SendOver Send Queue Overflow 7 RcvOver Receive Queue Overflow 8 Reserved by System 9 NetPwrErr Network Power Failure 10 BusoffErr Bus Off Event 11 to 14 Reserved by System 15 ErrlnErrLog Error in Error Log CIO n 8 Number of Delayed Messages The device variable for CJ series Unit that corresponds to all bits of a word starting with CIO n 8 is as follows CJ series I O memory address NJ series device variables for CJ series Unit CIO n 8 0 to 15 DelayMsgNo CIO n 9 Number of Messages to be Processed The device variable for CJ series Unit that corresponds to all bits of a word starting with CIO n 9 is as follows Des
56. 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 mod ulo 2 by the generator polynomial e X15 x14 x10 X8 X7 4 X4 X3 1 sng NVO JO elA JeAQ 2 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 recessive bit The bit in the ACK slot is sent as a recessive bit and is overwritten as 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 e Intermission The end of the message is indicated by End Of Frame Intermission 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 SJ0J13 DBuijeuBis pue Bunoejeq 7 7 1
57. ED CAN bus off RUN LED ERR LED 7 Segment display Right dot inicator Left dot indicator RUN LED GREEN ERR LED OFF 7 Segment display 01 Right dot inicator OFF ON Communicating Disable CAN communication GREEN OFF 02 OFF ON CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 7 Segment display Right dot inicator Left dot indicator OFF OFF OFF OFF OFF RED RED OFF OFF OFF GREEN OFF FF OFF OFF GREEN OFF 00 ON ON HUN NVO peuygeg Jesp eu Bunoouse qnoJ 1 1 9 M9IAJ9AQ 9 6 Troubleshooting and Maintenance 6 2 Troubleshooting with the User Defined CAN Unit Indicators The User Defined CAN Unit has several indicators on the front of the Unit Two 7 segment displays with dots and two error LED indicators 2 Two digit 7 segment display 1 lt 7 RUN Pie 4 SS iS 1 Status indicators J I ERR Vee RMg Ls Dot indicators 6 2 1 Run LED Indicator Indicator Status Network Unit Status Comments Color Status Green OFF No power or in ST1 or ST2 state Make sure that the unit is wired and mounted correctly switch the power on or wait for until unit to be initialized ON State is ST3 ST4 or ST5 Configure the unit with message command 2902 or enable communication by turning ON EnbICANComm Enabled communication is confirmed when
58. ER10 Network power fail 00 Hex 02 Hex Yes Note The error information is not written to EEPROM when a memory error occurs in the error log area EEPROM 6 3 3 Status Information 6 8 The Unit status can be read by analyzing the status words In the next table there is an overview of all information which can be analyzed The Unit uses only device variables _StaComm _DelayMsgNo and ProcMsgNo for status information Device Variable _StaComm Word Device Variable Name Status a um Unit Operation MsgRcv Bool CAN Mes OFF Unit New configured CAN message received sage since last cyclic refresh Received ON Unit No new configured CAN message received since last cyclic refresh SendOver Send Over OFF Unit All messages to be sent fit in the send queue Bool flow ON Unit Send queue overflow some messages will be delayed RcvOver Bool Recieve OFF Unit Receive queue overflow some received mes Overflow sages have been discarded ON Unit All messages received were handled NetPwrErr Network OFF Unit Network power OK Bool Power Fai on Unit Error ER10 active Power fail when communi ure cating CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Device Variable Name Bus Off Event BusoffErr Bool 6 Troubleshooting and Maintenance Device Variable _StaComm Word Status OFF Controlled by Unit Unit Operation Bus off event di
59. IF OutErrariD lt gt WORDSI680 THEN o 02 g rraor1D OutError 1D Q 03 gErrorlDEx OutError DEx E 4 ELSE 3 85 FINS response B6 ghrrFINSresp 0 GutResDat 0 87 gArrFINSresp 1 7 OutResDat 1 88 gArrFINSresp OutResPat 2 89 ghrrFINSresp 3 OutResDat 3 90 gStartFlag FALSE 93 InExecute FALSE 94 END IF f END IF 97 mz IF Qondingf lag TRUE 2 QutBusy FALSE THEN 85 g rro OutError ID 99 frrorlDEx OutErrorIDex 100 eno fr 101 102 END IF CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 A 5 Appendices A 6 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Index CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Index 1 Index Index Numerics 11 bit Identifier ient reis 4 3 29 bit Identifier sees 1 18 4 3 A ACK Errors eese edd rege doce ieee 1 15 ACK Field siii sre eti e dex de He ese 1 15 Ackrnowledgge siots Ie eene rni 1 4 Addressing Scheme see 1 11 Application Areas eseeeen m 1 5 Arbitration Fields 22 m ettet ate cedet 1 14 ASSUME cause sssssssssssseeenenert nennen 6 12 AT specification eccentric 3 5 AT specification destination eesseseessss 3 2 B Bit Level Errors cccccccccceeeeseceeceeseneeeeeeeseeeeaeeeeee
60. 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 ES Additional Information The CPU Unit s task period is the sum of the User Program execution time plus the User Defined CAN Unit s refresh time on the CPU Unit CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 5 7 92ueuuoJJed L G eui esuodsey O I S L 5 Communications Timing 5 1 6 Transmission of CAN Messages i Transmitting With Direct Transmit Mode The following figure shows the sequence of direct transmitting a CAN message using message com mand 2907 or 2908 CPU 2907 2908 CORT21 Bus i i i i i Output Node 6 ew tupc The transmission time of a user defined CAN message tor The I O Refresh time tog The Program Execution time After the content of the message command is transferred to the User Defined CAN Unit the unit imme diately relays the contained message to the CAN transmission interface The actual transmission delay of the message depends on the bus load and the message priority identifier Refer to 5 1 4 CAN Inter face for the message delay time on the bus The time required for an output to be set or a value in the Output Node to be changed depends on the characteristics of the Output node The minimum time between the execution of t
61. OMRON Machine Automation Controller CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit CJ1W CORT21 User Defined CAN Unit W517 E2 01 Introduction Introduction Thank you for purchasing a CJ series CJ1W CORT21 User Defined CAN Unit This manual contains information that is necessary to use the CJ series CJ1W CORT21 User Defined CAN Unit for an NJ series CPU Unit Please read this manual and make sure you understand the func tionality and performance of the NJ series CPU Unit before you attempt to use it in a control system Keep this manual in a safe place where it will be available for reference during operation Intended Audience This manual is intended for the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introducing FA systems Personnel in charge of designing FA systems Personnel in charge of installing and maintaining FA systems Personnel in charge of managing FA systems and facilities For programming this manual is intended for personnel who understand the programming language specifications in international standard IEC 61131 3 or Japanese standard JIS B3503 Applicable Products This manual covers the following products CJ series CJ1W CORT21 User Defined CAN Unit CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Introduct ion Releva
62. See section 2 2 5 Unit States for more information Dot Indicator The following table shows the functions of the dot indicators Indicator Function Status Left dot Unit operational ON The Unit is configured and communication is enabled or disabled and in state ST4 or ST5 OFF The Unit has a start up error or is not yet configured and Unit state is ST1 ST2 or ST3 BLINK The Unit state is ST2 Right dot Communication ON Communication is enabled and Unit state is ST5 left enabled disabled dot is lit OFF Communication is disabled if left dot is lit otherwise the Unit is in state ST1 ST2 or ST3 See section 2 2 5 Unit States for more information Normal Start up During a normal start up the indicators will show the following information Action Power OFF RUN Indicator State State is STO ERR 7 Segment Left dot Right dot Power ON State ST3 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 RUN ERR 7 Segment FF Left dot Right dot 2 Nomenclature and Installation N Action Indicator State z Areas configured message command RUN Green 3 2902 ERR a saec ere 7 Segment FF 3 Left dot Red a Right dot Buffer s configured RUN Green z message command 2903 2906 ERR 7 State ST4 7 Segment FF Left dot Red Right dot See section 2 2 5 Unit States for more informati
63. XW4B 05C4 T D connector sold separately for multi drop connec tions Communications power supply voltage Current consumption External dimensions 11 to 25 VDC supplied from the communications connector Communications power supply 18 mA at 24 VDC supplied from the communi cations connector Internal circuit power supply 290 mA max at 5 VDC supplied from the Power Supply Unit 31 x 90 x 65 mm W x Hx D Weight 118 g including the connector provided Standard accessories 1 20 One XWAB 05C1 H1 D connector to connect to a node from a T branch Tap CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration 1 FINS message communications are available with the NJ Series However with these functions not all areas of the NJ series CPU Unit are accessible If these functions need to be used such as to connect to existing equipment please consult with your OMRON representative suoneoyioeds HUN NYO peuyeg ISN L L CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 21 1 Features and System Configuration 1 4 Basic Operating Procedures 1 4 1 Network Installation Procedure Determine a suitable baud rate for the system 1 Determine the node arrangement the wiring configura tion and the cable lengths Q A Restrictions on lenghts of communication lines B Separation from noise s
64. YER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR 10 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of th
65. active indicating a power fail 9 ure while communicating FALSE s Network power is within acceptable range o Default FALSE 3 BusoffErr BOOL R Bus Off Operation specifications Event TRUE z o A bus off event EV5 bus off has been S generated Reset to FALSE when EnbICANComm is switched from FALSE gt TRUE in state ST4 configured FALSE A bus off event did not occur since the last EV3 event enable communications Default FALSE ErrinErrLog BOOL R Error in Operation specifications Error Log TRUE New errors present in error log since Startup Last service of message command 2102 Last service of message command 2103 FALSE No new errors in error log since Startup Last service of message command 2102 Last service of message command 2103 Default FALSE UONCSIUNWWOD snjelsS c c CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 3 11 3 Data Exchange with the CPU Unit 3 2 3 Number of Delayed Messages When the _SendOver variable is TRUE DelayMsgNo will provide the number of delayed messages in BCD format For details on the SendOver variable see 3 2 2 Status Communication Name of device variable for CJ series Unit DelayMsgNo Type WORD Area Number of Delayed Messages BCD Function Number of delayed messages in BCD for mat Data range 0 to 15 Default 0 3 2 4 Number of
66. aintenance uM eV TT TEAT T N E 6 2 6 1 1 Troubleshooting the User Defined CAN Unit sssssssssssseseeeeeeeeeneenne enne 6 2 6 2 Troubleshooting with the User Defined CAN Unit Indicators eee 6 4 6 2 1 Rut EED Indicator teo te Tunt eges et iste Latera tta ee S beaten bead 6 4 6 2 2 ERR LED IndiCator E 6 5 6 2 3 Two 7 segment Display itor reiecit cestedben shoe bedens cagedebens ier dee d e ee ert o dv 6 5 6 2 4 Two Dot Indicators criteri er eroe ir e exei eise eee edge eds cte dec cess 6 6 6 3 Error Log Functions enini educere het tene to eee Aa teen RES Ce EANAN 6 7 6 3 1 Error Log Table re ERE RE dads MEET HEP RERO ERR PER RHRCRERES 6 7 6 3 2 Error Codes and Detail Codes ssssssssssssssssssessesee sten nnne enne trennen entente nenne 6 8 6 3 3 Status Information 2 cri eoe seinen E eee eens Eee Dres HL ede TRE e deter dee rece 6 8 6 4 Troubleshooting sssri iesene nran aeea tbe SENNEN E Eee edere redeo erue RE RE aas 6 10 6 4 1 CPU Unit s ERR ALM Indicator Lit or Flashing seem 6 10 0S Event LOOS ariiraa mE 6 11 6 5 1 Overview of the Event Eogs 5 pi Goiara ana a Ride eh eens 6 11 6 5 2 sedo a eas ease Ge ee li sole ele 6 12 6 5 3 Error Descriptioris edo rtt ter ERE Rame 6 12 6 6 Maintenance and Replacement ccccecceeeeeeeeeeeee cess eee eee eeeeeeaeseaaeeeeeseeeeeeeeeeseeseeeeseeneeeees 6 1
67. ample Point 2909 4 21 4 2 9 Error Log Read 2102 rt Rx CLR eee EUER eis 4 22 4 2 10 Error Log Clear 2103 0 2 0 ses 4 23 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 1 4 Message Communications 4 1 Overview 4 1 1 Message communications enable messages to be sent between nodes on a CAN network when required by system conditions The messages can be sent between CPUs between an OMRON CPU and a User Defined CAN unit or between slaves They can be used to send receive data read time data error histories and other data or control operation e g refreshing with user specified values To operate a CAN network the User Defined CAN Unit must be configured using message communica tions Bus parameters configuration data and defining parameterization data are set with message communications in the user program see 4 2 Unit Configuration and Control for more information Outline of Message Communications Message communications are sent using the SendCmd instruction for NJ series controllers Overall Structure NJ Series CPU Unit Us er Defined CAN Unit SendCmd instruction 2902 2903 2904 2905 2906 2907 2908 2909 2102 2103 0501 Hex FINS Header Command Code Command Data Message function FINS Header Command Code Response Code Response Data CAN Network CAN Message Communications e Messag
68. arily stored in CPU memory areas The location and size of these memory area s are defined with message commands Separate message commands can be used for direct transmission of CAN messages see Section 4 Message Communications for details 1 2 2 Physical CAN Connection e ISO 11898 The data rates up to 1 Mbps necessitate a sufficiently steep pulse slope which can be imple mented only by using power elements A number of physical connections are basically possible However the users and manufacturers group CAN in Automation recommends the use of driver cir cuits in accordance with ISO 11898 Integrated driver chips in accordance with ISO 11898 are avail able from several companies The international users and manufacturers group CiA also specifies several mechanical connections cable and connectors Microcontroller CAN Controller RXO RX1 TXO TX1 TxD RxD Ref Ve CAN Transceiver CANL CAN_H CAN Bus Lines if s Bus Termination 100 nF Bus Termination CANL 1 10 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration 1 2 3 Principles of Data Exchange Unit Addressing When data is transmitted by CAN no units are addressed but instead the content of the message e g rpm or engine temperature is designated by an identifier that is unique throughout the net work The identifier defines not only the content but
69. ary Information The following notation is used in this manual to provide precautions required to ensure safe usage of an NJ series Controller The safety precautions that are provided are extremely important to safety Always read and heed the information provided in all safety precautions The following notation is used Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Qi sons for Safe Use Indicates precautions on what to do and what not to do to ensure safe usage of the product Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 13 Symbols 14 The circle and slash symbol indicates operations that you must not do The specific operation is shown in the circle and explained in text This example indicates prohibiting disassembly The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a general precaution The filled circle symbol indicates operations that you must do T
70. ation in the CPU Unit does not match the actual Unit Configuration Compare using Syn chronize operation and use one of the following procedures Correct the Unit number setting Correct the project Unit Configuration and transfer to the CPU Unit Special Unit access is denied Make sure that the Unit is mounted properly Restart the Unit If operation is not restored even after the Unit is restarted replace the Unit An I O Bus check error occurred Make sure that the Unit is mounted properly Restart the Unit If operation is not restored even after the Unit is restarted replace the Unit Refer to the NJ Series CPU Unit Hardware User s Manual Cat No W500 and NJ Series CPU Unit Software User s Manual Cat No W501 for more details on these errors 6 10 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 Troubleshooting and Maintenance 6 5 Event Logs 6 5 1 Overview of the Event Logs You use the same methods to manage all of the events that occur on the NJ series Controller The events include errors and information You can use the Sysmac Studio or an NS series PT to confirm current Controller events and the logs of events that have occurred These logs are called event logs Controller errors that occur for this Unit are also reported as events in the NJ series CPU Unit Refer to the NJ series CPU Unit Software User s Manual Cat No W501 for details on the
71. ation methods and corrections for errors that can occur Section 6 Inspection and Maintenance Appendices This section describes the contents of periodic inspections the service life of the Bat tery and Power Supply Units and replacement methods for the Battery and Power Supply Units The appendices provide the specifications of the Basic I O Units Unit dimensions load short circuit protection detection line disconnection detection and measures for EMC Directives NJ series CPU Unit Software User s Manual Cat No W501 Nu series CPU Unit Software User s Manual Cat No W501 Section Description Section 1 This section provides an introduction to the NJ series Controllers and their features Introduction and gives the NJ series Controller specifications Section 2 This section describes the variables and control systems of the CPU Unit and CPU CPU Unit Operation Unit status Section 3 This section describes how to use I O ports how to create the slave configuration I O Ports Slave Configuration and Unit Configuration and unit configuration and how to assign functions Section 4 Controller Setup This section describes the initial settings of the function modules Section 5 Designing Tasks Section 6 Programming This section describes the task system and types of tasks This section describes programming including the programming languages and the variables and instructions tha
72. can be accessible If you need to use these functions such as to connect to existing equipment please consult with your OMRON representative A 1 2 Differences in Accessing from User Program When this Unit is operated with an NJ series device a user program accesses various functions pro vided by the User Defined CAN Unit through device variables for CJ series Unit that specifies AT spec ification for the memory used for CJ series Unit The device variables for CJ series Unit in the NJ series CPU Unit s memory for CJ series Unit that cor respond to the addresses and bit positions in the CJ series CPU Unit s I O memory are listed below First word in Special I O Unit CIO Area n CIO 1 500 Unit number x 25 Unit number 0 to 15 First word in Special I O Unit DM Area m D30 000 Unit number x 100 Unit number 0 to 15 Bl CPU Bus Unit Words Allocated in CIO Area CIO n Enable CAN Communications The device variable for CJ series Unit that corresponds to all bits of a word starting with CIO n is as follows CJ series I O memory address NJ series device variables for CJ series Unit T CIO n 3 Status Communication The device variable for CJ series Unit that corresponds to all bits of a word starting with CIO n 3 is as follows Description Enable CAN Communications The functions of bit 4 of a word starting with CIO n correspond to that of bit 4 of this device variable for CJ series Unit
73. ce Variables for CJ series Unit P 3 6 1 0 Port An I O port is a logical interface for data exchange by a CPU Unit with a User Defined CAN Unit or other Configuration Unit An I O port has a unique pre defined name for each unit model and function An I O port is automatically created by preparing the Unit Configuration with Sysmac Studio For details on the I O ports defined for User Defined CAN Unit refer to 3 2 Device Variable for CJ series Unit Communication Enable Execution instruction for the CAN communication enable function from the CPU Unit to the User Defined CAN Unit e Status User Defined CAN Unit communication status information Number of Delayed Messages Message delay information for sent and received messages i User defined Variable Bits and words are allocated to the memory used for CJ series when you configure the User Defined CAN unit with message commands e send buffers specification send triggers specification receive buffers specification receive triggers specification To use this area from the user program you need to create a user defined variable of AT specification 3 1 2 Accessing From the User Program From the user program various types of information are exchanged using AT specified device variables for CJ series Unit that are allocated to the I O ports and AT specified user defined variables that are allocated to slave allocation areas CJ series User Def
74. cription Number of Delayed Messages Corresponding to the word CIO n 8 of this device variable for CJ series Unit CJ series I O memory address NJ series device variables for CJ series Unit CIO n 9 0 to 15 ProcMsgNo Description Number of Messages to be Processed Corresponding to the work CIO n 9 of this device variable for CJ series Unit CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 A 3 po32euuo eq 0 seues f9 frN HUN nd2 eui uo Buipuedegq suonouny ej qejieAy ui soouoJojJlg L V uJeJ604g asn wouy Buisseooy ui seoueJeJlld Z L v Appendices A 2 User Program Example The following example uses the message command 2902 Configure Memory Areas to configure the User Defined CAN Unit for correct operation This user program example is created with the Structured Text language using the Sysmac Studio ST Editor See the Sysmac Studio Operation Manual Cat No W504 for more details about program creation using the ST Editor The example is created based on the following configuration requirements specific application require ments may vary e Send buffer location of CIO 100 to 104 Send trigger location of W100 e Receive buffer location of EO 0 to EO 4 Receive flag location of W110 Number of send messages of 1 Number of receive messages of 1 i Internal Variables The following Internal Variables are used in the user program example
75. d into vehicle body electron ics e g lamp clusters electric 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 automatic retransmission of corrupted messages as soon as the bus is idle again distinction between temporary errors and permanent failures of nodes autonomous switching off of defect nodes Application Areas 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 was originally developed for use in automobiles and is increasingly implemented in industrial field bus systems because 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 medical engineering opted for CAN because they have to meet particularly stringent safety requirements Similar problems are faced by manufacturers of other equipment with very high safety or reliability requirements e g robots lifts and transportation systems Serial bus CAN is a serial bus system with multi master capabilities All C
76. d 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 RcvOver is ON CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 7 4 Message Communications If any of these bits is set MsgRcv is ON If all these bits are reset MsgRcv is OFF The location S of the receive trigger word is configured with the command code 2902 This memory area contains input words The length of the area is determined by the number of configured receive message buffers If the number of configured receive message buffers is B the length is _ B 15 EAR WE The result is rounded down to the nearest whole number and remaining receive bits will be ignored The receive trigger area table has the following layout Word Bit 15 14 13 12 11 10 09 08 07 06 05 04 30 02 01 00 S 1 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 S 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 13 412 11 10 09 08 07 06 05 04 03 402 01 00 Send Buffer Area In this area one or more send buffers are present Every output buffer can have only one CAN mes sage content for sending The location T of the CAN send message buffer is configured with the command code 2902 Th
77. d not happen since last event EV3 enable communications ON Unit Bus off event EV5 bus off has been gener ated Error in Error Log ErrlnErrLog Bool Device Variable Number of Delayed Messages DelayMsgNo Word Device Variable Name ProcMsgNo Number of Word Messages to be Pro cessed CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 OFF Unit No new errors in error log since Startup Last service of message command 2102 Last service of message command 2103 ON Unit New errors in error log since Startup Last service of message command 2102 Last service of message command 2103 Device Variable _DelayMsgNo Word Controlled by Unit Operation Number of messages that are delayed see BCD Coded Unit send overflow device variable _SendOver Range 0 to15 BCD Device Variable _ProcMsgNo Word Status BCD Coded Controlled by Unit Unit Operation Number of input messages see receive over flow device variable RcvOver Range 0 to 15 BCD suonounJ 507 10413 9 uogeuuoju Snes e 9 6 Troubleshooting and Maintenance 6 4 Troubleshooting 6 4 1 CPU Unit s ERR ALM Indicator Lit or Flashing Error An I O setting check error occurred Probable cause Make sure that the Unit is mounted properly The CPU Bus Unit model registered in the Unit Configur
78. dress range destination Unit state ST4 or ST5 and Number of output buffers error buffer number is greater than exceeds the number of out or equal to the number of out put buffers configured by put buffers configured with message command 2902 command 2902 Increase the number of output buffers with message com mand 2902 or select an out put buffer smaller than the maximum of output buffers configured by message com mand 2902 1109 Mutual relation error Unit state ST4 or ST5 and Set the send cycle different send mode 2 and send from zero or change the send cycle 0 mode 110C Parameter error Unit state ST4 or ST5 and Correct the parameters one or more parameters are not in range 2201 Not executable in current Unit state ST3 Nothing configured Perform mode message command 2902 before executing this com mand 220F The specified service is Unit state ST5 and send Disable communications being executed mode changed and the mes sage is being sent reconfigure the buffer and enable communications Note 1 On response code 0000 the unit configures the output message buffer identified with buffer number with the following properties Extended identifier length 29 bit e Identifier number e Send mode see Sending CAN Messages in Section 1 e Send cycle time if the send mode is 2 Big or little endian format see Send Buffer Area on page 8 4 2 4 Configure 11 Bit ID Input Message Buffer
79. duct specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions 12 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Safety Precautions Definition of Precaution
80. e send 1002 The command length is Too few parameters sent in insufficient for the smallest the command command Correct the command and re send 1103 Address range destination Unit state ST4 or ST5 and Number of input buffers error buffer number is greater than exceeds the number of input or equal to the number of buffers configured by mes input buffers configured with sage command 2902 command 2902 Increase the number of input buffers with message com mand 2902 or select a input buffer smaller than the maxi mum of input buffers config ured by message command 2902 110C Parameter error Unit state ST4 or ST5 and Correct the parameters one or more parameters are not in range 2201 Not executable in current Unit state ST3 Nothing configured please mode CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 perform message command 2902 before executing this command 4 15 J033u05 pue uoneunByuo yun Z Y c062 Jeyng eDessey 1ndu qj U_g L eunByuoD p Z p 4 Message Communications Note 1 On response code 0000 the unit configures the input receive message buffer identified with buffer number with the following properties Extended identifier length see additional information below Identifier number e Big or little endian format see Send Buffer Area on page 8 EN Additional Information The last command 2905 or 2906 sent to the unit determines whether 11 bit
81. e CAN Protocol sssssesessssssseeenenenrnnn nennen enne nnne inis nsns 1 19 1 2 11 Configuring a CAN Network ssssssssssssssseseseeeeeee ennt eh ntes sns inne ness inne nnne d ener nennt 1 19 1 3 Specifications E P 1 20 1 3 1 User Defined CAN Unit iini teense sees cene cue re Ua ie ec de oue ede das ee dede dendi 1 20 1 4 Basic Operating Procedures eeeeeeeeeeeeeeeeeeeeenennnnn nennen nnn nn nenne nni nnne nnn nnn 1 22 1 4 1 Network Installation Procedure 0 ccccceceeeceeneceeceeeeeeceeeeeecaeceeeeeecaeeeeeesecaaeeeesesnsaeeeeessesaeaeess 1 22 1 4 2 User Defined CAN Unit Startup Procedure sse 1 23 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 7 Section 2 Nomenclature and Installation 2 1 Nomenclature and Installation eese nnne nnne nennen 2 2 2 1 1 Nomenclature and FUNCHOMS 3 5 i eee erfreuen e i bled idee bugie 2 2 2 1 2 Witch Settings v 24 51 itl Se eA ie ugs 2 5 2 2 Installing the User Defined CAN Unit 0 ccccccceeseeeeeeeeeeeeeeeeeeeeeseeeeseeeeseeeesseaeseeseeseaneeeeseeanes 2 8 2 2 1 System Configuration Precautions essseseeeeeenn enne nemen 2 8 2 2 2 MOUINLING ccs Un ee ttes tete Mo os opo en totae esca ito ee ibo SS MEI C Poir Mice eod 2 8 2 2 3 Handing Precautions 2r e depre i eo ee p ne ae 2 9 2 2 4 External DIMENSIONS orte sont ent
82. e L Command Codes Command codes are represented by a 2 byte hexadecimal code Commands always begin with a 2 byte command code and any parameters that are required follow the command code More informa tion about command codes and parameters can be found in the following pages Command Code Name Type Page 2902 Configure Memory Areas User Defined 4 2903 Configure 11 Bit ID Output Message Buffer CAN Unit 10 2904 Configure 29 Bit ID Output Message Buffer 12 2905 Configure 11 Bit ID Input Message Buffer 14 2906 Configure 29 Bit ID Input Message Buffer 16 2907 Direct Transmit of an 11 Bit ID Can Message 17 2908 Direct Transmit of a 29 Bit ID Can Message 19 2909 Setting the CAN Bit Rate and Sample Point 21 2102 Error Log Read General Service 22 2103 Error Log Clear 23 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications ES Additional Information The User Defined CAN Unit supports sending and recieving functions for messages Every mes sage in CAN communication has an identifier The configurable options for these message iden tifiers are 29 bit or 11 bit size for each input and output message buffer See sections below for more information e Response Codes Response codes are represented by a 2 byte hexadecimal code that indicates the results of com mand execution The first byte provides the main response code MRC
83. e Units A ground of 100 Q or less must be installed when shorting the GR and LG terminals on the Power Supply Unit fl Wiring Follow the instructions in this manual to correctly perform wiring Double check all wiring and switch settings before turning ON the power supply Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Do not pull on the cables or bend the cables beyond their natural limit Do not place heavy objects on top of the cables or other wiring lines Doing so may break the cables Mount terminal blocks and connectors only after checking the mounting location carefully Be sure that the terminal blocks expansion cables and other items with locking devices are properly locked into place Always remove any dustproof labels that are on the top of the Units when they are shipped before you turn ON the power supply If the labels are not removed heat will accumulate and malfunctions may occur Before you connect a computer to the CPU Unit disconnect the power supply plug of the computer from the AC outlet Also if the computer has an FG terminal make the connections so that the FG terminal has the same electrical potential as the FG GR terminal on the Power Supply Unit A differ ence in electric potential between the computer and Controller may cause failure or malfunction If the external power supply to an Output Unit or slave has polarity connect it with the correct polarity If
84. e and all three modes can be active at the same time 7 Recieving CAN Messages 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 different scenarios whenever a message is processed CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 3 1 Features and System Configuration Condition The integrity check for the message fails The check is done by the CAN Unit 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 controller and or the firmware no notification is sent to the application layer The integrity check for the message is success ful The User Defined CAN Unit is not able to process the message due to overload condi tions The User Defined CAN Unit sends an acknowledge on the CAN bus ignores the message and in the next cyclic refresh of the CPU the receive queue overflow device variable RcvOver is turned ON The integrity check for the message is success ful and the User Defined CAN Unit 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 messa
85. e bus timing parameter sample point 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 Defining the parameterization data for the User Defined CAN Unit which defines the filtering of mes sage identifiers and the configuration of message buffers in the CPU system For parameterization of the User Defined CAN Unit memory areas and message parameterization need to be configured upon power up The software configuration steps user program that must be done after every power on of the unit to insure correct operation are 1 Setting memory area buffer allocations with command code 2902 2 Setting parameters for sending messages with 11 bit identifier or 29 bit identifier 3 Setting parameters for receiving messages with 11 bit identifier or 29 bit identifier 4 Enable CAN communications device variable EnbICANComm Configure Memory Areas 2902 With this command code the following items are configured send buffer location send trigger location receive buffer location receive flag location number of send and receive messages One send or receive buffer occupies 5 words of CPU memory Data Length Code DLC and the 8 bytes of data One send trigger or receive flag occupies one bit of CPU memory The number of words occupied by all triggers or flags equals the number of send or receive messages divid
86. e following information is provided on a Con ware User s Manual and set up an NJ series troller built with an NJ501 CPU Unit CPU Unit Mainly software CPU Unit operation information is provided CPU Unit features Initial settings Programming based on IEC 61131 3 lan guage specifications Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 Sysmac Studio Version 1 W504 SYSMAC Learning about the operat Describes the operating procedures of the Operation Manual se2001 ing procedures and func Sysmac Studio tions of the Sysmac Studio CJ series User Defined W517 CJ1W CORT21 Learning about the func The functions and operating procedures when CAN Units Operation Manual for NJ series CPU Unit This docu ment tions and operating proce dures when the CJ series User Defined CAN Unit is used in an NJ series sys tem configuration the CJ series User Defined CAN Unit is used in an NJ series system configuration are described CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 31 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Cat No W517 E1 01 pe Revision code Revision code Date Revised content 01 April 2012 Original production 32 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W5
87. e products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Disclaimers CHANGE IN SPECIFICATIONS Pro
88. e received application data cannot be transferred to the CPU until the next I O refresh The other factors that can influence the minimum and maximum I O response times are explained below CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 5 5 o2ueuuoJled L G NVO t L G 5 Communications Timing Minimum I O Response Time OU A oo CORT21 Bus Input node Output node toon te m te RATE ee ny 3 PEE SEE ie e minimum I O response time ty Input Node ON OFF delay tupg Unit Processing time for Received messages tour Output Node ON OFF delay typgr Unit Processing time for Transmitted messages tmp Message Delay time tpg Program Execution time tgp I O Refresh time e Message Delay Time The message delay time is described in section 5 1 4 CAN Interface Unit Processing Time for Transmitted Received Messages The unit processing time for received messages depends on the message rate of all the units con nected to the user Defined CAN Unit the rate of received messages by the unit If the message rate is higher than the unit is capable of processing see 5 1 4 CAN Interface the messages will queue causing a delay in processing If messages are received when the queue is full queue overflow occurs see section 6 Troubleshooting and Maintenance 5 6 CJ series User Defined
89. ed CAN Unit Operation Manual for NJ series CPU Unit W517 1 1 1 Features and System Configuration 1 1 User Defined CAN Unit Features 1 2 The User Defined CAN Unit CJ1W CORT21 is a CPU Bus Unit which can be installed on an NJ series Controller The User Defined CAN Unit will interface between the CPU of the NJ series controller and the CAN bus The User Defined CAN Unit is connected to the CPU of the NJ series through the bus of the controller The User Defined CAN Unit is connected to the CAN bus with a 5 pin open style connec tor 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 and Status Up to 25 words of control and status information are exchanged between the User Defined CAN Unit and the CPU Unit Control bits allow the User program to switch the CAN communication of the Unit between enabled and disabled mode Status words provide status and diagnostics information of the Unit the CAN network and the state of messages e Message Communications The User Defined CAN Unit supports message communications exchange with the CPU Four types of services are supported Configuration Configure specific memory locations number of input messages and number of output messages Setthe identifiers and method of sending the output messages e Set the identifiers of the inp
90. ed by 16 rounded up Trailing padding bits are ignored Note This command can be used only if communication has been disabled by turning OFF device variable _EnbICANComm and this disabling is confirmed by the unit by an OFF state of device variable EnblComm ES Additional Information See section A 2 User Program Example for more information about the Configure Memory Area 2902 message command CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications I Command Block 29 02 Command Memory Start Memory Start Number Memory Start Memory Start Number of Code Area Address Area Address of Send Area Address Area Address Receive Messages Messages Send Buffers Send Trigger Receive Buffers Receive Trigger The following table defines the minimum and maximum values for each item in the command block 101 u09 pue uoneunByuo yun Z Setting Minimum Value Hex Maximum Value Hex Memory area of send buffers 0001 0014 Start address of send buffer 0000 7FFF Memory area of send trigger 0001 0014 Start address of send trigger 0000 7FFF Number of send messages 0000 0280 Memory area of receive buffers 0001 0014 Start address of receive buffer 0000 7FFF Memory area of receive trigger 0001 0014 Start address of receive trigger 0000 7FFF Number of receive messages 0000 0280
91. ed when EnblComm is OFF 5 Note 1 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 EN Additional Information Setting the bit rate and sample point to zero instructs the unit to use the DIP switch settings The zero values cause the unit to revert to the DIP switch setting Any other values will result in an override of the DIP switch settings with the commanded values 4 2 9 Error Log Read 2102 The ERROR LOG READ command reads a specified number of error records from the error log i Command Block 21 02 Command Beginning Number code record of records number The following table defines the minimum and maximum values for each item in the command block with setting details Setting Minimum Value Hex Maximum Value Hex Setting Details Beginning Record Num 0000 0050 The first record to read ber Number of Records 0000 0050 The number of records to read 4 22 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications ji Response Block Issuing an Error Log Read command will result in the following response End Codes 21 02 10 bytes each 5 qu c Command EndCode Maximum Number Number Error log records 9 code Number of st
92. eees 1 15 Bit Stuffing nece eee eee 1 16 BiU Time aiibi etica id de oi ect 1 7 Bitwise Arbitration ssssssssssenee 1 12 Bus ACCOSS iiie tarte Re E aede ne coh boe tek tat 1 12 Bus Access Control sess 1 13 Bus Allocationy aie 2523 deeper ode ied ieteest 1 12 Bus Off aed ette ieaie ei 1 16 Bus Off Event 5 4 ertet c e porc esce 6 12 Bus Off State ones cea eee rine 2 11 C Cable Length 2 neret 1 7 CAN Input Message Buffers cecene 3 3 CAN Output Message Buffers eccere 3 3 CAN Slave Controllers sssssseess 1 19 CIO Area uns ese eae ieu A 2 Codes sos cigs Rie Red Ie E Ue 4 3 Command Codes 2 sse 4 2 Communication Enable eese 3 2 3 5 Communications Configuration sess 1 2 Control and Status Flags esee 3 3 Control Field iii eec deett ient 1 14 CPU rici ep tette REPRE TERES 1 2 CPU Unit watchdog timer error ecse 6 8 CRG Field 4 cited 1 15 CycllC 1 iie ete eee ERE eddie A 1 3 Cyclic Mode een eren be 5 4 Cyclic Redundancy Check CRC ssssss 1 15 Cyclic Refresh n atre per RET 3 2 Index 2 D Data Exchange with the CPU Unit sssse 3 2 Data Field 5 5 ee e ege eed edi 1 14 Data Frame ceisceseedeeiieete credens Peee tee 1 9 Destructive Bus Allocation esuesesessses 1 13 Device name
93. eing damaged by static electricity and to prevent malfunctions The Bat tery can be replaced without turning OFF the power supply To do so always touch a grounded piece of metal to discharge static electricity from your body before you start the procedure After you replace the Battery connect the Sysmac Studio and clear the Low Battery Voltage error Make sure that the required data including the user program configurations settings variables and memory used for CJ series Units is transferred to a CPU Unit that was replaced and to externally connected devices before restarting operation Be sure to include the routing tables network parameters and other CPU Bus Unit data which are stored in the CPU Unit Disposal Dispose of the product and Batteries according to local ordinances as they apply 1 C BEB thik The following information must be displayed for all products that contain primary lithium batteries with a perchlorate content of 6 ppb or higher when shipped to or transported through the State of Califor nia USA Perchlorate Material special handling may apply See www dtsc ca gov hazardouswaste perchlorate The CPU Unit contains a primary lithium battery with a perchlorate content of 6 ppb or higher Place the above information on the individual boxes and shipping boxes when shipping finished products that contain a CPU Unit to the State of California USA Using the User Defined CAN Units
94. ements for the availability of the communication system In summary it can be said that CAN implements a traffic dependent bus allocation system that per mits by means of a non destructive bus access with decentralized bus access control a high useful data rate at the lowest possible bus data rate in terms of the bus busy rate for all units The effi ciency of the bus arbitration procedure is increased by the fact that the bus is utilized only by those units with pending transmission requests CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 13 Features and System Configuration 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 1 2 6 Message Frame Formats e 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 Field Field End of Frame Int Bus idle moo R 11 bit IDENTIFIER T R mo o
95. ent 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 Field Field End of Frame Int Bus idle 11 bit IDENTIFIER 10M 4 mo o DLC 0 8 bytes 15 bit CRC CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration e Data Frame The data frame is composed of an Arbitration field Control field Data field CRC field and an 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 Redun dancy 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 sng NVO JO elIAJeAQ 2 1 At the message level Cyclic Redundancy Checks CRC Frame Checks Acknowledgment Error Checks At the bit level Bit Monitoring Bit Stuffing e 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 information about the system configuration e g station addr
96. ent Level 3 heading 4 3 1 Connecting Controller Components headings The Units that make up an NJ series Controller can be connected simply by pressing the Units together and locking the sliders by moving them toward the back of the Units The End Cover is connected in the same way to the Unit on the far right side of the Controller A step in a procedure 1 Join the Units so that the connectors fit exactly Indicates a procedure Mo neon 00K holes 5 7 Page tab 2 The yellow sliders at the top and bottom of each Unit lock the Units together Move the sliders Gives the number toward the back of the Units as shown below until they click into place of the main section Move the sliders toward the back until they lock into place Siueuoduio9 Jel onuoo BuRoeUUOD E t Special information n Precautions for Correct Use Se The sliders on the tops and bottoms of the Powe r Supply Unit CPU Unit I O Units Special I O Icons indicate Units and CPU Bus Units must be completely locked until they click into place after connecting the adjacent Unit connectors precautions additional information or reference information e5 M a n u al n am e NJ series CPU Unit Hardware User s Manual W500 This illustration is provided only as a sample It may not literally appear in this manual Special Information Special information in this manual is classified as follows Precautions for Safe Use Precautions on what to do and what n
97. ermits reliable detection of all global errors and errors local to the transmitter CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 15 1 Features and System Configuration 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 maximum efficiency in bit coding The synchroniza tion edges are generated by means of bit stuffing i e after five consecutive equal bits the sender inserts into the bit stream a stuff bit with the complementary value which is removed by the receiv ers The code check is limited to checking adherence 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 alloca tion As a rule retransmission will begin within 23 bit periods after error detection in special cases the system recovery time is 31 bit periods However effective and efficient the method described may be in the event of a defective unit it might lead to all messages including co
98. ers involved by each unit observing the bus level bit for bit In accor dance 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 continue to send All losers levels are not equal automatically become receivers of the message with the highest priority and do not re attempt transmission until the bus is available again 1 2 5 Efficiency of Bus Allocation n Bus Allocation The efficiency of the bus allocation system is determined mainly by the possible applications for a serial bus system In order to judge as simply as possibly which bus systems are suitable for which applica tions the literature includes a method of classifying bus allocation procedures Generally we distinguish between the following classes Bus allocation on a fixed time schedule Bus allocation on the basis of need e Bus Allocation on a Fixed Time Schedule Bus allocation done on a fixed time schedule is made sequentially to each participant for a maxi mum 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 e Bus Allocation
99. ery is exhausted the CPU Unit detects a Battery backup Memory Check Error If that error is detected variables with a Retain attribute are set to their initial values and the Holding DM and EM Areas in memory used for CJ series Units are cleared to all zeros Perform thorough verifications and provide sufficient measures to ensure that the devices perform safe operation for the initial values of the variables with Retain attributes and the resulting operation il Debugging Forced refreshing ignores the results of user program execution and refreshes I O with the specified values If forced refreshing is used for inputs for which I O refreshing is not supported the inputs will first take the specified values but they will then be overwritten by the user program This operation differs from the force set reset functionality of the CJ series PLCs CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 You cannot upload or download information for forced refreshing with the Sysmac Studio After downloading data that contains forced refreshing change to RUN mode and then use the Sysmac Studio to perform the operation for forced refreshing Depending on the difference in the forced status the control system may operate unexpectedly Do not specify the same address for the AT specification for more than one variable Doing so would allow the same entity to be accessed with different variable names which would make the u
100. es that were in any state other than Operational state due to a Con troller error with an event level of partial fault or higher in which outputs are disabled will go to Oper ational state and the outputs will be enabled Before you reset all errors confirm that no Controller errors with an event level of partial fault have occurred for the EtherCAT Master Function Module Always confirm safety at the connected equipment before you reset Controller errors for a CJ series Special Unit When a Controller error is reset the Unit where the Controller error with an event level of observation or higher will be restarted Before you reset all errors confirm that no Controller errors with an event level of observation or higher have occurred for the CJ series Special Unit Observation level events do not appear on the Controller Error Tab Page so it is possible that you may restart the CJ series Special Unit without intending to do so You can check the status of the CJB UnitErrSta 0 0 to CJB UnitErrSta 3 9 error status variables on a Watch Tab Page to see if an observation level Controller error has occurred il Battery Backup The user program and initial values for the variables are stored in non volatile memory in the CPU Unit The present values of variables with the Retain attribute and the values of the Holding DM and EM Areas in the memory used for CJ series Units are backed up by a Battery If the Battery is not connected or the Batt
101. ess The quantity of Send Message Buffers The Receive Buffers area using the provided memory area and start address The Receive Trigger area using the provided memory area and start address The quantity of Receive Message Buffers CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications 2 On response code 0000 the unit will set to zero The Receive Message buffers that are added to the configuration The Receive Trigger bits that are added to the configuration the Send Trigger bits are not cleared Send Trigger Area Every bit in this area can be a trigger to send a CAN message located in the send buffer area The bit is only a send trigger if a corresponding send buffer is defined for the bit e the send mode SM1 is part of the total send mode for the send buffer the bit has a rising edge transition OFF to ON The words in this memory area are controlled by both the CPU and or the Unit 101 u09 pue uoneunByuo yun Z Y Controlled By Action Function CPU Bit Set 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 Bit Reset Unspecified functionality the corresponding message may send or not send User Defined Bit Set The unit shall not set bits in this area CAN Unit Bit Reset In mode SM1 output messages are sent
102. ess data which will be exchanged between the User Defined CAN Unit and other nodes on the CAN network Defining the parameterization data for the User Defined CAN Unit which establishes the filtering of message identifiers and the configuration of message buffers in the Controller Parameterization of the User Defined CAN Unit with message commands issued from the User pro gram in the Controller CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 19 sng NVO JO MAIAJBAO 2 1 J090j04d NYO 9uj JO suonejueujie du OL Z 1 Features and System Configuration 1 3 Specifications 1 3 1 General Specifications User Defined CAN Unit General specifications of the CJ series User Defined CAN Unit conform to those of the NJ series CPU Units Functional and Performance Specifications Item Specification User Defined CAN Unit model CJ1W CORT21 Applicable Controller NJ 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 Words allo I O port without power OFF retention cated in the Access via the device variables for CJ memory series Unit used for CJ series I O port with power OFF retention Unit Access via the device variables for CJ series Unit 25 words Unit CPU Unit to User Definied CAN Unit 10 words for the software switches a
103. esses This has several important consequences J000 01Jq uoneoiunuuo NYO L Z L System Flexibility Nodes can be added to the CAN network without requiring any change in the software or hardware of any node and application layer Message Routing The content of a message is named by an Identifier The Identifier does not indicate the destination of the message but describes the meaning 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 Multicast As a consequence of the concept of Message Filtering any number of nodes can receive and simul taneously act upon the same message 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 e Message Transfer The application messages transmitted and received by the User Defined CAN Unit are 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 arbitration field see the sche matic picture of a data frame above Data frames that have identifiers with a size of 11 bits are denoted Standard Frames The other format has frames containing a 29 bit identifierr These frames are referred to as Extended
104. ete ED recle erede cie Ee a aeieeiaii neatins 2 9 2 2 5 BhSSCICM 2 10 Section 3 Data Exchange with the CPU Unit 3 1 Data Exchange with the CPU Unit eeeseseeeeeneeeeeenennnnnnnnenn nennen nnne nnn nennen 3 2 3 1 1 pude 3 2 3 1 2 Accessing From the User Program iain dete deeeb dne dp ce deed tet epee rne pobre nne 3 5 3 2 Device Variable for CJ series Unit eeeeeeseeeeeeeennneneeneenen nennen nennen nennen nnn nnns 3 8 3 2 1 Enable CAN Communications essem nennen ennemi nennen 3 8 3 2 2 Status COMMUNICATION 2 entendre rne iecore te eee dede dte ed vete catre dede eai 3 9 3 2 3 Number of Delayed Messages 2 2 hi prete Hen trit ie eno dee tetro aine ede 3 12 3 2 4 Number of Received Messages Waiting to be Processed sss 3 12 Section 4 Message Communications 2 oD L a ATEAN PH 4 2 4 1 1 Outline of Message COMMUNICATIONS ssssseeeeeneen eene eren 4 2 4 2 Unit Configuration and Control eeeseeeeeeeeeeeenenen nennen nnne nnn nennen nennen 4 4 4 2 1 Configure Memory Areas 2902 sssssssssesseee eene nennen nnnm neret nene nennen 4 4 4 2 2 Configure 11 Bit ID Output Message Buffer 2903 sss 4 10 4 2 3 Configure 29 Bit ID Output Message Buffer 2904 sssssssm n 4 12 4 2 4 Config
105. eter or hygrometer to measure humidity might be needed 6 16 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 Troubleshooting and Maintenance i Inspection Procedure Check the items in the following table and correct any items that are below standard Item Standard Equipment Environmental con Ambient and cabinet temperature 0 C to 55 C Thermometer ditions Ambient and cabinet humidity 10 to 90 Hygrometer with no con densation or icing Dust dirt accumulation None Check visually Installation Are the Units installed securely No looseness Phillips head screwdriver Are the communications connectors fully inserted No looseness Phillips head screwdriver Are the external wiring screws tight No looseness Phillips head screwdriver Are the connecting cables undamaged 6 6 3 Replacing Faulty Units No damage Check visually Replace a faulty User Defined CAN Unit as soon as possible We recommend having spare Units avail able to restore network operation as quickly as possible H Precautions for Correct Use Observe the following precautions when replacing a faulty Unit After replacement make sure that there are no errors with the new Unit When a Unit is being returned for repair attach a sheet of paper detailing the problem and return the Unit to your OMRON dealer f there is a faulty contact try wiping the contact with a clean lint
106. ether they contain information changes or not In the case that data in the buffer has changed since the last evalu ation the evaluation time is 52 microseconds 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 of 15 4 47 0 microseconds 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 message command 2902 Message command 2903 and 2904 are used to associate a buffer with an identifier A buffer with an identifier associated is called a configured buffer The evaluation time for buffers that are not configured is 4 3 microseconds Example 1 Number of output buffers 2 Number of configured output buffers 1 Every time the configured message is changed the evaluation time of all output buffers being 2 will be 52 0 4 3 56 3 microseconds The evaluation time is 47 0 4 3 51 3 microseconds for 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 Number of output buffers 640 Number of configured output buffers 1 Every time the configured message is changed the evaluation time of all output buffers being 640 will be 52 0 4 3 639 2 8 milliseconds H Precautions for Correct Use
107. formation 5 1 2 Output Message Evaluation Time 5 2 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 sending The duration of this period is 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 user 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 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 the sum of the individual send mode evalua tion times H Precautions for Correct Use e Sending messages in the Triggered mode is the fastest way to send messages It is faster than evaluation in the On Change mode and Cyclic mode e Sending messages in Cyclic mode is more than 4 times faster than when in On Change mode Bi SM1 Triggered Mode The evaluation time in Trigger mode differs with the state of the trigger the trigger can be OFF or ON When the rising edge of the trigger is detected the message in the output buffer is sent Every time the trigger is detected and the message is sent the evaluation time is 10 microseconds The evaluation time is 9 microseconds every time the trigger is OFF The total number of o
108. g Details Buffer Number 0000 027F Defines which buffer to configure 0 to 639 Identifier 11 bit 0000 O7FF Identifier value Method of Sending 0001 0004 0001 Message will be sent when the corre sponding bit in the send trigger area changes from OFF to ON 0002 Message will be sent on a cyclic period based on the Send Cycle value in millisec onds 0003 Invalid setting 0004 Message will be sent on change of data Send Cycle milliseconds 0000 FFFF 0000 Setting when Method of Sending is 0001 or 0004 0001 to FFFF Send Cycle in milliseconds when Method of Send ing is 0002 Big or Little Endian 0000 0001 0000 Big Endian 0001 Little Endian i Response Block Issuing a Configure 11 Bit ID Output Send Message Buffer command will result in the following response End Codes 29 03 Command End Code Code End Code hex Description Condition Correction No response Unit state ST1 or ST2 Restart the CPU and make sure that the unit is mounted and wired correctly 00001 Normal completion Unit state ST4 or ST5 and Command is executed and all parameters are in range operation is normal 1001 Command length exceeds Too many parameters sent in maximum command length the command Correct the command and re send 1002 The command length is Too few parameters sent in insufficient for the s
109. ge is success ful The User Defined CAN Unit is able to pro cess the message and an input message buffer is configured for the received identifier H Precautions for Correct Use The User Defined CAN Unit sends an acknowledge on the CAN bus and processes the message with the following actions in next Unit Cyclic refresh Device variable MsgRcv is turned ON The message content is copied to the first input message buffer that is configured for the received identifier e Set the receive flag of the first input message buffer that is configured for the received identifier see 4 2 Unit Configu ration and Control Successive messaging sending or receiving messages with a high rate is not explicitly sup ported nor implemented CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 2 1 Features and System Configuration Overview of CAN Bus The Controller Area Network CAN is a serial communications protocol which efficiently supports dis tributed real time control with a very high level of security Its domain of application ranges from high speed networks to low cost multiplex wiring It is especially suited for networking intelligent devices as well as sensors and actuators within a system or sub system In automotive electronics engine control units sensors anti skid systems etc are connected using CAN with bitrates up to 1 Mbps At the same time it is cost effective to buil
110. he User Defined CAN Unit compares the received identifier with the configured identifier 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 milliseconds if the received identifier matches with the configured iden tifier 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 microseconds The following guidelines apply to optimizing the process time CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 5 Communications Timing Set the number of input buffers with message command 2902 to the same amount as the number of configured input buffers that is the total number of buffers configured with message command 2905 or 2906 Configure the order of input buffers according to the frequency of received messages i e in descending order Buffer 0 is configured with the identifier of the most frequent received message The least frequent message should be received in the buffer with the highest number If the total number of input buffers is high and the unit will receive messages that are not config ured especially if they are very frequent configure these message using same logic from the previous guideline 5 1 4 CAN Interface This section describes the performance of the physical layer of CAN
111. he message command in the user program and the mes sage being transmitted on the bus is 0 5 milliseconds Depending on the configuration message com mand 2902 this time can be sufficient longer and up to a maximum of 20 milliseconds CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 5 Communications Timing i Transmitting With Send Mode 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 CPU SM1 SM2 SM3 CORT21 Bus Outputnode f 1 f f q luc i t i t i Q LE i 3 2 tupc The transmission time of a user defined CAN message Q tar The I O Refresh time tog The Program Execution time 5 1 7 Reception of CAN Messages The User Defined CAN Unit can store up to 15 received messages in its internal buffer the receive queue These messages in the receive queue are filtered according to the configuration of the input buffers and transferred to the CPU It may take several CPU cycles to filter and transfer a CAN mes sage to the CPU The performance of the unit depends on the number of input and output buffers If several input and or output buffers are used the unit will require more time for processing Limiting the number of input and or output buffers can increase performance The CPU cycle
112. he specific operation is shown in the circle and explained in text This example shows a general precaution for something that you must do CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 A WARNING During Power Supply Do not touch any of the terminals or terminal blocks while the power is being supplied Doing so may result in electric shock Do not attempt to take any Unit apart In particular high voltage parts are present in the Power Supply Unit while power is supplied or immediately after power is turned OFF Touching any of these parts may result in electric shock There are sharp parts inside the Unit that may cause injury e Fail safe Measures Provide safety measures in external circuits to ensure safety in the system if an abnormality occurs due to malfunction of the CPU Unit other Units or slaves or due to other external factors affecting operation Not doing so may result in serious accidents due to incorrect operation Emergency stop circuits interlock circuits limit circuits and similar safety measures must be provided in external control circuits The Controller outputs may remain ON or OFF due to deposition or burning of the output relays or destruction of the output transistors As a countermea sure for such problems external safety measures must be provided to ensure safe operation of the system The CPU Unit will turn OFF all outputs from Basic Output Units in the fo
113. his is performed to read and enable the set tings Confirm that the system will not be adversely affected by resetting nodes before you transfer the settings If EtherNet IP tag data links cyclic communications are used with a repeating hub the communica tions load on the network will increase This will increase collisions and may prevent stable communi cations Do not use repeating hubs on networks where tag data links are used Use an Ethernet switch instead i EtherCAT Communications Make sure that the communications distance number of nodes connected and method of connec tion for EtherCAT are within specifications Do not connect EtherCAT communications to EtherNet IP a standard in house LAN or other net works An overload may cause the network to fail or malfunction Malfunctions or unexpected operation may occur for some combinations of EtherCAT revisions of the master and slaves If you disable the revision check in the network settings use the Sysmac Studio to check the slave revision settings in the master and the actual slave revisions and then make sure that functionality is compatible in the slave manuals or other references You can check the actual slave revisions from the Sysmac Studio or on slave nameplates After you transfer the user program the CPU Unit is restarted Communications with the EtherCAT slaves are cut off for up to 45 seconds During that period the slave outputs behave according to the slave
114. ied with buffer number with the following properties Extended identifier length 11 bit Identifier number Send mode see Sending CAN Messages in Section 1 Send cycle time if the send mode is 2 Big or little endian format see Send Buffer Area on page 8 4 2 3 Configure 29 Bit ID Output Message Buffer 2904 Each Output Send Buffer requires the following settings that are configured using the command code 2904 the 29 bit identifier the method of sending SM1 triggered SM2 on change or SM3 cyclic the send cycle the use of little endian or big endian il Command Block 4 12 29 04 Command Buffer Identifier Method of Send Big or Code Number 29 bit Sending Cycle Little Endian CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications The following table defines the minimum and maximum values for each item in the command block with setting details Setting Minimum Value Hex Maximum Value Hex Setting Details Buffer Number 0000 027F Defines which buffer to configure 0 to 639 Identifier 29 bit 00000000 1FFF FFFF Identifier value Method of Sending 0001 0004 0001 Message will be sent when the corre sponding bit in the send trigger area changes from OFF to ON 0002 Message will be sent on a cyclic period based on the Send Cycle value in m
115. ike CAN controllers with intermediate buffers Additional they administer a certain number of objects Where there are sev eral simultaneous requests to transmit 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 CAN Slave Controllers for I O Functions 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 implementa tions are called SLIO Serial Link I O acting as CAN slave units and having to be administered by a CAN master unit 1 2 11 Configuring a CAN Network In order to operate a CAN network each unit in the network needs to be configured This process of network and unit configuration involves the following procedures Installing the physical network topology i e installing User Defined CAN Units in the Controller sys tem installing any other CAN unit in the network and wiring the network Configuring the bus parameters which define the baud rate and the bus timing parameter sample point Configuration for the User Defined CAN Unit is done either with the baud rate switches in the front panel or with message commands Defining the configuration data i e defining the proc
116. illisec onds 0003 Invalid setting 0004 Message will be sent on change of data Send Cycle milliseconds 0000 FFFF 0000 Setting when Method of Sending is 0001 or 0004 0001 to FFFF Send Cycle in milliseconds when Method of Send ing is 0002 Big or Little Endian 0000 0001 0000 Big Endian 0001 Little Endian I Response Block Issuing a Configure 29 Bit ID Output Send Message Buffer command will result in the following response End Codes 29 04 Command Code End Code End Code hex Description Condition Correction No response Unit state ST1 or ST2 Restart the CPU make sure that the unit is mounted and wired correctly 00001 Normal completion Unit state ST4 or ST5 and Command is executed and all parameters are in range operation is normal 1001 Command length exceeds Too many parameters sent in maximum command length CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 the command Correct the command and re send 4 13 J033u05 pue uoneunByuo yun Z voez JeyNg eDessey 1ndino AI 49 67 eunByuog Z Y 4 Message Communications End Code hex Description Condition Correction 1002 The command length is Too few parameters sent in insufficient for the smallest the command command Correct the command and re send 1103 Ad
117. ined CAN Unit Operation Manual for NJ series CPU Unit W517 3 Data Exchange with the CPU Unit 3 2 2 Status Communication Use one of the following device variables for CJ series Unit to monitor Status Communication from the user program WORD type device variable for CJ series Unit holding all switch functions contained in Status Com munication BOOL type device variable for CJ series Unit separating functions per each switch contained in Sta tus Communication Name of device variable for CJ series Unit StaComm WORD R Status Bit 00 Reserved by System Communi Bit 01 Reserved by System cation Bit 02 Enabled Communication Bit 03 CAN Message Received Bit 04 Reserved by System Bit 05 Reserved by System Bit 06 Send Queue Overflow Bit 07 Receive Queue Overflow Bit 08 Reserved by System Bit 09 Network Power Failure Bit 10 Bus Off Event Bit 11 Reserved by system Bit 12 Reserved by system Bit 13 Reserved by system Bit 14 Reserved by system Bit 15 Error in Error Log Default 16 0000 yun s n s f9 104 e qeiueA 20143A Z Type R W Area Function UONCSIUNWWOD snjelsS c c CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 3 9 3 Data Exchange with the CPU Unit 3 10 The following device variables for CJ series Unit are used to reference individual information Name of device variables for CJ series Unit EnblComm Type BOOL Area Enab
118. ined CAN Unit Operation Manual for NJ series CPU Unit W517 3 5 HUN ndo 94 uum eBueuoxa eyed uj amp J604g 1es 1 24 uioJ4 Buisseooy Z L 3 Data Exchange with the CPU Unit From the user program the following is used to exchange various types of information Data type I O port memory used for CJ series Unit Access method Communication Enable Status Number Operation Data Device variables of Delayed Messages for CJ series Unit Memory Areas Send triggers area Any area of CIO DM WR HR and EM User defined vari Receive flags area ables Output buffers area Input buffers area fi How to Create Device Variables for CJ series Unit Use I O Map in Sysmac Studio to allocate device variables for CJ series Unit to an I O port Specify variable names using one of the methods shown below 1 Select and allocate existing variables 2 Input a new variable name 3 Automatically create with Create Device Variable The following shows the structure of a variable name created automatically with method 3 EnblICANComm This is an I O port name The name indicates unit functions statuses and parameters This is the device name when this unit is registered in the Unit Configuration By default a device name is assigned from J01 in the order of registration in the Unit Configuration This identifies the individual unit For details on device variables for CJ series Unit refer to the
119. input POT negative drive prohibit input NOT and home proximity input DEC of the Servo Drive are used by the MC Function Module as the positive limit input negative limit input and home proximity input Make sure that the signal widths for all of these input signals are longer than the control period of the MC Function Module If the input signal widths are shorter than the control period the MC Function Module may not be able to detect the input signals resulting in incorrect operation li Battery Replacement The Battery may leak rupture heat or ignite Never short circuit charge disassemble heat or incinerate the Battery or subject it to strong shock Dispose of any Battery that has been dropped on the floor or otherwise subjected to excessive shock Batteries that have been subjected to shock may leak if they are used UL standards require that only an experienced engineer replace the Battery Make sure that an expe rienced engineer is in charge of Battery replacement Apply power for at least five minutes before changing the Battery Install a new Battery within five minutes at 25 C of turning OFF the power supply If power is not supplied for at least 5 minutes the saved data may be lost CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 i Unit Replacement We recommend replacing the Battery with the power turned OFF to prevent the CPU Unit s sensitive internal components from b
120. irm the operation that will occur when there is interference in communi cations or a major fault level error and implement safety measures Correctly set all of the EtherCAT slaves The NJ series Controller continues normal operation for a certain period of time when a momentary power interruption occurs This means that the NJ series Controller may receive incorrect signals from external devices that are also affected by the power interruption Accordingly take suitable actions such as external fail safe measures and interlock conditions to monitor the power supply voltage of the external device as required You must take fail safe measures to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary power interruptions or other causes Not doing so may result in serious acci dents due to incorrect operation Voltage and Current Inputs Make sure that the voltages and currents that are input to the Units and slaves are within the specified ranges Inputting voltages or currents that are outside of the specified ranges may cause accidents or fire Downloading Always confirm safety at the destination before you transfer a user program configuration data setup data device variables or values in memory used for CJ series Units from the Sysmac Studio The devices or machines may perform unexpected operation regardless of the operating mode of the CPU Unit E CJ se
121. is memory area contains output words Given the number of configured send message buffers as A the area has the layout specified below The layout depends on the configuration supplied via the command codes 2903 or 2904 By selecting little or big endian format adjusted when the command is executed a byte swap is performed see section 4 2 2 Configure 11 Bit ID Output Message Buf fer 2903 and 4 2 3 Configure 29 Bit ID Output Message Buffer 2904 for more details CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications Big endian Little endian Word T Data length number of bytes Data length number of bytes Word T 4 1 Data byte 0 Data byte 1 5 Word T 2 Data byte 2 Data byte 3 Word T 43 Data byte 4 Data byte 5 5 Word T 4 Data byte 6 Data byte 7 S Word T 1 5 Data length number of bytes 9 Word T 1 5 42 Data byte 2 Data byte 3 S Word T 1 5 3 Data byte 4 Data byte 5 T 3 Word T 1 5 4 Data byte 7 Data byte 8 l Ee a ee ee A Word T A 1 5 Data length number of bytes even Data length number of bytes Word T A 1 5 1 Data byte 0 T Data byte 1 Word T A 1 5 2 Data byte 2 Data byte 3 Word T A 1 5 3 Data byte 4 E Data byte 5 Word T A 1 5 4 Data byte 6 Data byte 7 Data byte 7 Data byte 8 Receive Buffer Area In this area one or more receive
122. led Communi cation Function lt Operation specifications gt TRUE CAN communications enabled and unit state is ST5 communicating FALSE CAN communications disabled and unit state is not ST5 communicating Default FALSE MsgRcv BOOL CAN Mes sage Received lt Operation specifications gt TRUE No new configured CAN message received since last Unit Cyclic refresh FALSE New configured CAN message received since last Unit Cyclic refresh Default FALSE SendOver BOOL Send Queue Overflow lt Operation specifications gt TRUE Send queue overflow occurred Over flowed messages will be delayed Reset to FALSE when EnbICANComm is switched from TRUE gt FALSE in state ST5 communicating FALSE The send queue has accepted all mes sages to be sent Default FALSE RcvOver BOOL Receive Queue Overflow Operation specifications TRUE Receive queue overflow occurred Some messages have been discarded Reset to FALSE when EnbICANComm is switched from FALSE gt TRUE in state STA configured FALSE All messages received were processed Default FALSE CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 3 Data Exchange with the CPU Unit Name of device variables for CJ series Unit Type R W Area Function NetPwrErr BOOL R Network Operation specifications D Power Fail TRUE g ure ee E S Error ER10
123. ll variations are caused by changes in temperature or voltage and by deteriorating components 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 resynchronizing to the bit stream According to the CAN specification the nom inal 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 number of time quanta The length of the time quantum tg which is the basic time unit of the bit time is defined by the CAN controller s system clock fsys and the Baud Rate Prescaler BRP tq BRP fsys Typical system clocks are fsys fosc or fsys fose 2 The Synchro nization Segment Sync Seg is that part of the bit time where edges of the CAN bus level are CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 7 1 Features and System Configuration 1 8 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
124. llow ing cases If an error occurs in the power supply If the power supply connection becomes faulty f a CPU watchdog timer error or CPU reset occurs If a major fault level Controller error occurs While the CPU Unit is on standby until RUN mode is entered after the power is turned ON External safety measures must be provided to ensure safe operation of the System even if the outputs turn OFF If external power supplies for slaves or other devices are overloaded or short circuited the voltage will drop outputs will turn OFF and the system may be unable to read inputs Provide external safety measures in controls with monitoring of external power supply voltage as required so that the sys tem operates safely in such a case CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 15 A WARNING fi Fail safe Measures Unintended outputs may occur when an error occurs in variable memory or in memory used for CJ series Units As a countermeasure for such prob lems external safety measures must be provided to ensure safe operation of the system Provide measures in the communications system and user program to ensure safety in the overall system even if errors or malfunctions occur in data link communications or remote I O communications If there is interference in remote I O communications or if a major fault level error occurs output status will depend on the products that are used Conf
125. mallest command CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 the command Correct the command and re send 4 11 J033u05 pue uoneunByuo yun Z Y 062 Jeyng eDessey 1ndino AI 4g L enByuod Z Z p 4 Message Communications End Code hex Description Condition Correction 1103 No area type Unit state ST3 or ST4 and the memory area is not avail able Number of output buffers exceeds the number of out put buffers configured by message command 2902 Increase the number of output buffers with message com mand 2902 or select an out put buffer smaller than de maximum of output buffers configured by message com mand 2902 1109 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 110C Parameter error Unit state ST4 or ST5 and one or more parameters are not in range Correct the parameters 2201 Not executable in current mode Unit state ST3 Nothing configured Perform message command 2902 before executing this com mand 220F The specified service is being executed Unit state ST5 and send mode changed and the mes sage is being sent Disable communications reconfigure the buffer and enable communications Note 1 On response code 0000 the unit configures the output message buffer identif
126. nd 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 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration e Error Reset In bus off mode the CAN unit has its communication disabled The user program in the CPU can enable the communication using a message command Enabling the communication will reset both the receive and transmit counter sng NYI JO elAJeAQ 2 1 1 2 8 Data Reliability of the CAN Protocol e Reliability The introduction of safety related systems in automobiles brought with it high requirements for the reliability of data transmission The objective is frequently formulated as not permitting any danger ous situations for the driver to occur as a result of data exchange throughout the whole life of a vehi cle This goal is achieved if the reliability of the data is sufficiently high or the residual error probability is sufficiently low In the context of bus systems data
127. nd sta tus words The remaining 15 words are reserved for future use 100 words Unit Reserved for future use Supported connections communications Message buffers and message communications FINS 1 All conform to CAN communications standards Message Message communications for configura communi tion cations Configuration of Input and Output buffers with a maximum of 640 for each type Configuration of send and receive flags area limit of one of each type Configuration of baud rate and sample point Message communications Other functions Message communications to send receive a CAN message directly Error history can be accessed using a message command Setting section Rotary switches for Unit No hexadecimal x 1 Front panel DIP switch for Baud rate Display section Two indicators 2 colors One green to indicate the Unit is powered One red to indicate and error status Two 7 segment displays Displays CAN communication status and error code Two dot indicators within the 7 segment display Left dot indicates communica tion status configuration set from message communications Right dot indicates communication is configured and enabled Front connector One communications connector communications data CAN H and CAN L net work power supply CAN V ground CAN GND and shielded Use the XW4B 05C1 H1 D connector provided to connect the communications cable Use the
128. nit Use the adjustment on the tester to grad ually increase and decrease the voltage Apply the voltage between the Power Supply Unit s L1 or L2 terminal and the GR terminal when test ing insulation and dielectric strength You do not have to disconnect the LG and GR terminals to per form these tests Do not supply AC power from an inverter or other device with a square wave output Internal temper ature rise may result in smoking or burning Always input a sinusoidal wave with the frequency that is given in the NJ series CPU Unit Hardware User s Manual Cat No W500 Install external breakers and take other safety measures against short circuiting in external wiring i Turning ON the Power Supply It takes up to approximately 10 to 20 s to enter RUN mode after the power is turned ON During that time outputs will be OFF or will be the values specified in the Unit or slave settings and external communications cannot be performed Use the RUN output on the Power Supply Unit for example to implement fail safe circuits so that external devices do not operate incorrectly Configure the external circuits so that the power supply to the control system turns ON only after the power supply to the Controller has turned ON If the power supply to the Controller is turned ON after the control power supply temporary errors may result in incorrect control system signals because the output terminals on Output Units may momentarily turn ON when
129. nit Cyclic refresh data is transferred between the CPU and the Unit The Unit determines independently when to cyclically refresh its data This data is not processed immediately after the Unit Cyclically refreshes Several CPU Cyclic refreshes may occur between two Unit Cyclic refreshes This means that rising falling edges and or data changes must be handled with care 3 2 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Loca 3 Data Exchange with the CPU Unit Item tion Variable Description Control and EnbICANC Flags to control the Unit behavior and to show the status of the Unit Status Flags omm StaComm Send Triggers Configurable Triggers to send CAN messages on demand Bits in the send trigger area Receive Flags CAN Output Message Buf fers CAN Input Message Buf fers will send a message if the bit value has a rising edge and the bit is asso ciated with an output buffer Command messages are used to define a send trigger area to associate an identifier with an output buffer and a send trigger Flags indicating which messages have been received A received mes sage is identified by its identifier and in case a bit in the receive flags area is associated with the received identifier this bit is set The message con tent is placed in the corresponding input buffer Message commands are used to define a receive flag area to associate an identifier with an input buffe
130. nnee 2 8 2 2 1 System Configuration Precautions lille 2 8 2 2 2 MOWING eec eaa etes e api oett teretes tic traer staan d rectius 2 8 2 2 3 Handing Precautions iien a e aee eee eet ph eR fark Rb ps 2 9 2 2 4 External Dimensions 0000 cece ne 2 9 2 2 5 Unit Slates 2 ris yes Rete EAE e pe A MR by e Soe 2 10 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 2 1 2 Nomenclature and Installation 2 1 Nomenclature and Installation 2 1 1 Nomenclature and Functions 2 2 J CJ1W CORT21 Indicators 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 Hi Indicators The User Defined CAN Units are equipped with the following indicators that indicate the operating sta tus of the node itself and the overall network 1 Two status indicators two color green or red indicators 2 A two digit 7 segment display 3 Two dot indicators
131. nt Manuals There are three manuals that provide basic information on the NJ series CPU Units the NJ series CPU Unit Hardware User s Manual the NJ series CPU Unit Software User s Manual and the NJ series Instructions Reference Manual Most operations are performed from the Sysmac Studio Automation Software Refer to the Sysmac Stu dio Version 1 Operation Manual Cat No W504 for information on the Sysmac Studio Other manuals are necessary for specific system configurations and applications Read all of the manuals that are relevant to your system configuration and application to make the most of the NJ series CPU Unit Basic information NJ series User s Manuals NJ series CPU Unit Hardware User s Manual NJ series CPU Unit Software User s Manual NJ series Instructions Reference Manual NJ series CPU Unit Motion Control User s Manual NJ series CPU Unit Built in EtherCAT Port User s Manual NJ series Motion Control Instructions Reference Manual NJ series CPU Unit Built in EtherNet IP Port User s Manual NJ series Troubleshooting Manual CJ series Special Unit Operation Manuals for NJ series CPU Unit Introduction to NJ series Controllers Set ting devices and hardware Using motion control Using EtherCAT Using EtherNet IP Using CJ series Units Sof ware settings Using motion control Using EtherCAT Using EtherNet IP gramming
132. o ska RRRa nnmnnn 24 Regulations and Standards iere ee rne orm rete ie orien ee eren Ene rR UE rues 27 UIT 18 1019 tV RC T PD ERR ietin 29 Related Manual mec E 31 Revision PUISLOMY ee cS 32 Section 1 Features and System Configuration 1 1 User Defined CAN Unit Features ccccesseeeeee cence ee eeeeeeeeeeeeeaeeeeceeeeeeeeeseseesseeeaneaeeeseeeeeeeens 1 2 1 2 Overview of CAN BUS eet th etre eorr sb tet ec eee ERO Pr eoe Exe ioo poc Cras e Reges Seaan te ene 1 5 1 2 1 CAN Communication Protocol 0 cccccccceeceeeceeeeeeeeeceeeeeecaeceeeeeeeaaeeeeeeseseeaeeeesesecaeeeseeseeneeeeeeeeea 1 6 1 2 2 Physical CAN Connection 5 1 eite etie de edetociredeqeet ote ode dede coit pe di eevee 1 10 1 2 3 Principles of Data Exchange eterne tee ipe Erit drea eee ede e dee Boe rp deor 1 11 1 2 4 Principles of Non Destructive Bitwise Arbitration ssssssssseeeeeen 1 11 1 2 5 Efficiency of Bus Allocation ssesssssssssssessssseseeesen eene enn ten nnne n entente deiina tenere 1 12 1 2 6 Message Frame Formats asierea eei eaa aa enne nennt aae e ie aeaiia ad nne 1 14 1 2 7 Detecting and Signaling Errors sismis a aE Ea kE Ee daka aaraa 1 15 1 2 8 Data Reliability of the CAN Protocol ssssesssssssssnssssrrnrsssrrnsnssrrrnnsttnnnrnssttnnnnttnnnnnsstnnn neten nnt 1 17 1 2 9 Extended Format CAN Message seen eee nn nennen nennen nnne nns 1 18 1 2 10 Implementations of th
133. oduc tion Information The Production Information Dialog Box is displayed F3 Production Information led senal number ON i Node9 RS8D KNOLL ECT Rev 2 1 OMRON Corporation OX0O000000 The following items are displayed Node address Type information Serial number f the model number cannot be determined such as when there is no ESI file the vendor ID product code and revision number are displayed 30 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Related Manuals The following manuals are related to the NJ series Controllers Use these manuals for reference Manual name Cat No Model numbers Application Description NJ series CPU Unit W500 NJ501 0001 Learning the basic specifi An introduction to the entire NJ series system is Hardware User s Manual cations of the NJ series provided along with the following information on CPU Units including intro a Controller built with an NJ501 CPU Unit ductory information e Features and system configuration designing installation and maintenance Mainly hard Introduction ware information is pro Part names and functions vided General specifications Installation and wiring Maintenance and inspection Use this manual together with the NJ series CPU Unit Software User s Manual Cat No W501 NJ series CPU Unit Soft W501 NJ501 0001 Learning how to program Th
134. oint 0000 0064 See 1 2 1 CAN Commu nication Protocol Response Block Issuing a Setting the CAN Bit Rate and Sample Point command will result in the following response End Codes apart from the standard command length checks 6062 1utod ejdues pue ejex ig NYO eui Hues 8 z v 29 09 Command End Bit Rate Sample Code Code bits per second point in End Code hex Description Condition Correction No response Unit state ST1 or ST2 Restart the CPU and make sure that the unit is mounted and wired correctly 00001 Normal completion Unit state ST3 or ST4 and Command is executed and all parameters are in range operation is normal 1001 Command length exceeds Too many parameters sent in maximum command length the command Correct the command and re send CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 21 4 Message Communications End Code hex Description Condition Correction 1002 The command length is Too few parameters sent in insufficient for the smallest the command command Correct the command and re send 110C Parameter error Unit state ST3 or ST4 and Correct the parameters one or more parameters are not in range 2201 Not executable in current Unit state ST5 This message command can state only be executed if communi cation is disabled by turning OFF EnbICANComm and confirm
135. ommunica CAN messaging has been successfully enabled with device tions variables for CJ series Units EVA Disable communica CAN messaging has been disabled with device variables for tions CJ series Units EV5 Bus off CAN messaging has been transitioned to the bus off state e g a bus error occurred i Bus Off State 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 and the Unit will try to go online after the user enables the communication normally this is initiated in the user program In the bus off state the Unit will Turn ON the BusoffErr Activate event EV5 i e disable communications Turn ON the ERR LED indicator CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 2 11 2 Nomenclature and Installation CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Data Exchange with the CPU Unit This section provides information on exchangin data between the User Defined CAN Unit and NJ series CPU Units 3 1 Data Exchange with the CPU Unit 0c eee eee eee 3 2 3 1 1 Data Flow seuthbeshesyuutuceqetiQuckreg bua ae eee ede 3 2 3 1 2 Accessing From the User Program 0 00 0 eee ee eee 3 5 3 2 Device Variable for CJ series Unit llllleesssss 3 8 3 2 1 Enable CAN Communications 00 00000 cece lees 3 8 3
136. on 2 1 2 Switch Settings i Unit No Switch sbuges YAMS Z L Z Use the Unit No Switch to set the unit number for units as a CPU Special Unit Set a unique unit num ber for each CPU set Special Unit installed in the CPU Rack and Expansion Rack with the unit numbers in the unit configuration Turn OFF the Controller before changing the unit number setting Setting method One digit hexadecimal Setting range 0 to F Note The unit number is set to 0 at the factory You can set any unit number from 0 to F as long as it has not been set on another CPU Bus Unit con nected to the same CPU Unit Precautions for Safe Use e Use a small flat blade screwdriver to turn the rotary switches be careful not to damage the switch Always turn OFF the Controller before changing the unit number setting EN Additional Information e f the unit number is the same as one set on another CPU Bus Unit connected to the same CPU Unit a major fault level controller error Duplicate Unit Number will occur and it will not be possible to start up the CAN network After correcting the unit number setting cycle the power to the Controller CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 2 5 2 Nomenclature and Installation i Rotary Switches The two 10 position rotary switches below the Unit No are reserved for future use fl DIP Switch The DIP switches on the front of the User Defined CAN Unit are used to set
137. 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 Unambiguous Bus Allocation In order to process all transmission requests of a CAN network while complying with latency con straints 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 want ing to transmit and it does this at the latest within 13 standard format 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 with out transmitting useful information uoneooly sng Jo ouaa G z L 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 sys
138. onfirmed when EnblComm is ON or communication is enabled CAN message can be sent and received Flash Unit state is ST2 Initialization Make sure that the unit is wired and ing error mounted correctly switch the power on or wait for unit to initialize Configure the unit with message command 2902 OFF Unit state is ST1 ST2 or ST3 unit Make sure that the unit is wired and has a startup error or is not yet mounted correctly switch the power on or configured wait for unit to initialize Configure the unit with message command 2902 ON Unit state is ST5 Communication is enabled OFF Communication is disabled or Enable communication by turning ON unit is in state ST1 ST2 or ST3 or ST4 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 EnbICANComm This is confirmed when EnblComm 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 message command 2902 6 Troubleshooting and Maintenance 6 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 message commands 6 3 1 Error Log Table 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 records If ano
139. ored of records 3 of stored records e records Ri 23 a End Code hex Description Condition Correction o 0000 Normal Completion a 1001 Command length exceeds Too many parameters sent in B maximum command length the command Correct the command and re send 1002 The command length is Too few parameters sent in insufficient for the smallest the command s command Correct the command and re 2 send m 1103 Beginning Record Number Requested beginning record Correct the beginning record 9 is Out of Range number is invalid number and resend 8 110C The Number of Read There is an error in one of the Check the command data and Q Records is 0 parameter settings correct the parameters D 8 e 2 4 2 10 Error Log Clear 2103 The Error Log Clear command clears the number of records stored in the User Defined CAN Unit Error Log Command Block 21 03 Command code CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 23 4 Message Communications fi Response Block Issuing an Error Log Clear command will result in the following response End Codes 21 03 Command code End code End Code hex Description Condition Correction 0000 Normal Completion 250F Memory Writing Error Error Log was not cleared normally 260B Cannot Clear Error Log The error cause still exists Correct the error and re issue 4 24
140. ormal completion Unit state ST4 or ST5 and Command is executed and all parameters are in range operation is normal 1001 Command length exceeds Too many parameters sent in maximum command the command length Correct the command and re send 1002 The command length is Too few parameters sent in insufficient for the smallest the command command Correct the command and re send 1103 Address range destination Unit state ST4 or ST5 and Number of input buffers error buffer number is greater than exceeds the number of input or equal to the number of buffers configured by mes input buffers configured with sage command 2902 command 2902 Increase the number of input buffers with message com mand 2902 or select a input buffer smaller than the maxi mum of input buffers config ured by message command 2902 110C Parameter error Unit state ST4 or ST5 and Correct the parameters one or more parameters are not in range 2201 Not executable in current Unit state ST3 Nothing configured please mode perform message command 2902 before executing this command Note 1 On response code 0000 the unit configures the input receive message buffer identified with buffer number with the following properties e Extended identifier length see additional information below Identifier number Big or little endian format see Send Buffer Area on page 8 ES Additional Information The last command 2905 or 2906 sen
141. ormation Precautions None Remarks Event name Send Queue Overflow Event code 84C20000 hex Meaning The send queue was overflowed Source PLC function module Source details CJ series Unit Detection During CAN com timing munications Error attributes Level Observation Recovery All messages to Log category System be sent fit in the send queue Effects User program Continues Operation Some messages will be discarded System defined Variable Data type Name variables None E Em Cause and Assumed cause Correction Prevention correction If the processing capacity of the unit Reduce the communications load Consider the communications load exceeds the message rate mes and the rate the output buffers sages are discarded when the send change state queue is full overflowed The send queue was full already when sending the message Attached None information Precautions None Remarks 6 14 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 Troubleshooting and Maintenance Event name Receive Queue Overflow Event code 84C30000 hex Meaning The receive queue was overflowed Source PLC function module Source details CJ series Unit Detection During CAN com timing munications Error attributes Level Observation Recovery All messages Log category System received were handled Effects User program Continues Operation Some messages will be di
142. ose g 043 S 9 6 Troubleshooting and Maintenance 6 6 Maintenance and Replacement This section describes the routine cleaning and inspection recommended as regular maintenance as well as the Unit replacement procedure 6 6 1 Cleaning Clean the User Defined CAN Units regularly as described below in order to keep the network in its opti mal operating condition Wipe the Unit daily with a dry soft cloth When a spot can t be removed with a dry cloth dampen the cloth with a neutral cleanser 2 solu tion 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 H Precautions for Correct Use Never use volatile solvents such as paint thinner benzene or chemical wipes These sub stances could damage the surface of the Unit 6 6 2 Inspection 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 humidity or under dirty dusty conditions fi Inspection Equipment Prepare the following equipment before inspecting the system e 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 thermom
143. ot to do to ensure safe usage of the product La Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance cansa Information Additional information to read as required This information is provided to increase understanding or make operation easier Note References are provided to more detailed or related information CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Introduction Sections in this Manual Features and System Configuration Nomenclature and Installation Data Exchange with the CPU Unit Message Communications Communications Timing Troubleshooting and Maintenance Appendices 6 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 CONTENTS NRE OCI CUO a e 1 Rel V anit Manuals iiini Gate eara aet at ehia maaya iE Enana aaant a aaea 2 Manual ConfiguralilOl eei ed se eae eee ead ete nnnm nna 3 Martial SFU C U Cm 5 Sections in this Manu udl eor ciue cereo Ln hrs Ecc HR eS e enn o Eua n dan xt pr RR nennen nnana 6 Mel uico ppc 7 Read and Understand this Manual cceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeneeeaes 10 Safety Precautions TEL c 13 Precautions for Safe Use niece cocos era tue xata ea open p cEEE nactus Oe exca YER ER REGE eee 18 Precautions Tor Correct Use 2 1 coner onere rere Drr enr er err enirn aaa na ana
144. ources No Do 1 and 2 above meet the nec CAN specifications 3 Yes Determine the method for how to provide a communications power supply v 4 Arrange for the required devices Delivery of devices Y 5 Installation 1 22 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration 1 4 2 User Defined CAN Unit Startup Procedure The basic operating procedures for the User Defined CAN Unit are described here Use Sysmac Studio to create programs and to configure the Unit For details on operations of Sysmac Studio refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 Create and register global variables and each POU Register variables including variables for accessing the slave area and for message communications data Create algorithm of each POU and register local variables of each POU Register the Unit in the Unit Configuration on the CPU Expansion Racks screen in Configuration and Setup At this time set both the device name and the unit number of the unit to be registered Allocate device variables for CJ series Unit to I O port Allocate on the I O Map View window You can use one of the following three methods to allocate 1 Select and allocate existing variables 2 Input a new variable name 3 Automatically create with Device variable creation Step 1 Create POU and global variables Create unit configuration o D
145. power supply is turned ON to the Controller Actual Operation Check the user program data and parameter settings for proper execution before you use them for actual operation Turning OFF the Power Supply Never turn OFF the power supply to the Controller when the BUSY indicator is flashing While the BUSY indicator is lit the user program and settings in the CPU Unit are being backed up in the built in non volatile memory This data will not be backed up correctly if the power supply is turned OFF Also a major fault level Controller error will occur the next time you start operation and operation will stop Do not turn OFF the power supply or remove the SD Memory Card while SD Memory Card access is in progress i e while the SD BUSY indicator flashes Data may become corrupted and the Control ler will not operate correctly if it uses corrupted data To remove the SD Memory Card from the CPU Unit while the power supply is ON press the SD Memory Card power supply switch and wait for the SD BUSY indicator to turn OFF before you remove the SD Memory Card Do not disconnect the cable or turn OFF the power supply to the Controller when downloading data or the user program from Support Software Always turn OFF the power supply to the Controller before you attempt any of the following Mounting or removing I O Units or the CPU Unit Assembling the Units Setting DIP switches or rotary switches Connecting cables or
146. protocols very reliable and suitable for harsh environments The User Defined CAN Unit also has manufacturer specific status indication mechanisms Bl Status Device Variable StaComm indicates the current state of the User Defined CAN Unit communications i LED Indicators 7 segment Display Visual status indication of the User Defined CAN Unit fi Error Log Some errors are logged in the error log These errors can be read after a restart fi Startup Sequence In the following diagram the startup sequence is shown including the status of all indicators of the unit CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Power on or AMA Can bus power fails Left dot indicator Start v ST 6 Troubleshooting and Maintenance RUN LED ERR LED 7 Segment display Initialise hardware and software Wrong CPU unit ST3 Not ST2 Fatal Error Right dot inicator Left dot indicator RUN LED ERR LED 7 Segment display Right dot inicator Left dot indicator RUN LED ERR LED 7 Segment display Configured Configure memory area Right dot inicator Left dot indicator RUN LED ERR LED N v ST4 Unit configured N Enable CAN communication Y Y ST5 7 Segment display Right dot inicator Left dot indicator RUN LED ERR L
147. r and a receive flag The message content to send Every output buffer can only have one message The content of the received messages Every input buffer can have only one message at a time New incoming messages will overwrite the previ ous content of the input buffer CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 HUN ndo 94 YM eBueuoxa eyed Moly eed L L 3 Data Exchange with the CPU Unit CPU Unit User program I O port Communication Enable Communication Enable Status No of Delayed Status No of Delayed Messages J Messages Device variable A for CJ series AT specification Unit Memory used for CJ series Unit Memory areas such as DRIED TUP P GO and DM ee cenned AT specification Variables for CJ series Unit User Defined CAN Unit Communication Enable Status Number of Delayed Messages Send Buffers Send Triggers Receive Buffers Receive Triggers CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 3 Data Exchange with the CPU Unit i Device Variable for CJ series Unit Device variables for CJ series Units are variables for which AT is specified for the I O port explained below The user program uses device variables for CJ series Unit to access the Configuration Unit such as the User Defined CAN Unit For allocation of the device variables for CJ series Unit to the I O port refer How to Create Devi
148. r log with message commands ES Additional Information The CPU Unit s time information is used for the time stamps in the User Defined CAN Unit s error log records If the time information cannot be read from the CPU Unit the time stamp will contain all zeros Moreover if the battery is replaced in an NJ series controller the time of the CPU Unit s built in clock must be set again the next time that power is turned ON If the built in clock time is not set the correct time information will not be recorded If this error log is read from the CPU Unit the time information will not be consistent CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 7 suonounJ 807 10413 9 jqer 5071043 9 6 Troubleshooting and Maintenance 6 3 2 Error Codes and Detail Codes Error ID Error Detail code Record code First byte Second byte stored in Hex EEPROM CPU Unit watchdog timer error 00 Hex 0002 ER2 CPU Unit service monitoring error Monitoring time ms Yes Servicing from the CPU Unit is not performed at fixed intervals 000E ER3 PC21 Bus Error 00 Hex 00 Hex Yes 0601 ER5 CPU Bus Unit Error Undefined Contents Yes 0602 ER5 Error Log Read Error 01 Hex 06 Hex Yes ER6 Error log write error 02 Hex 06 Hex No ER7 Network parameter read error 01 Hex 02 Hex Yes ER8 Network parameter write error 02 Hex 02 Hex No 0201 ER8 Network parameter file lost 00 Hex 00 Hex No 0340
149. re Data Line Filter 0443 164151 manufactured by Fair Rite Products Co Ltd Impedance specifications 25 MHZ 156 Q 100 MHZ 2500 30 mm e o Contact 18 mm 29 mm ie LI Nisshin Electric Co Ltd 2 Wire the control panel with as thick and short electric lines as possible and ground to 100 O min 3 Keep communication cables as short as possible and ground to 100 Q min Trademarks 28 Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Windows Windows 98 Windows XP Windows Vista and Windows 7 are registered trademarks of Microsoft Corporation in the USA and other countries EtherCAT is a registered trademark of Beckhoff Automation GmbH for their patented technology The SD logo is a trademark of SD 3C LLC gt xP 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 company names and product names in this document are the trademarks or registered trade marks of their respective companies CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Unit Versions Unit Versions A unit version has been introd
150. ries User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 A Caution Application Do not touch any Unit when power is being supplied or immediately after the power supply is turned OFF Doing so may result in burn injury Wiring Be sure that all terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals The loose screws may result in fire or malfunction Online Editing Execute online editing only after confirming that no adverse effects will be caused by deviations in the timing of I O If you perform online editing the task execution time may exceed the task period I O may not be refreshed with external devices input signals may not be read and output timing may change CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 17 Precautions for Safe Use 18 ij Disassembly and Dropping Do not attempt to disassemble repair or modify any Units Doing so may result in malfunction or fire Do not drop any Unit or subject it to abnormal vibration or shock Doing so may result in Unit malfunc tion or burning i Mounting The sliders on the tops and bottoms of the Power Supply Unit CPU Unit I O Units Special I O Unit and CPU Bus Units must be completely locked until they click into place after connecting the adja cent Unit connectors li Installation Always connect to a ground of 100 Q or less when installing th
151. rmation soei eye ai e aa a a Ea SEE E EEE E 6 8 6 4 Troubleshooting 000 cece eee RII eee eee 6 10 6 4 1 CPU Unit s ERR ALM Indicator Lit or Flashing 00 6 10 6 5 Event Logs uz dd OS eee CA ER ERRE OAREN NRS 6 11 6 5 1 Overview of the Event Logs 00000 cece eee eee eee 6 11 6 5 2 Error Table lt oso noe Sarda este eee de see he 6 12 6 5 3 Error Desctiptioris ux ter eed ty eee ey se Fee RE E Dd 6 12 6 6 Maintenance and Replacement ullllleeseeesrs 6 16 6 6 1 Cleaning oer le pe yehelessreresvebquene 4vestabemva epa tue 6 16 6 6 2 Inspection c nse sine Ie Keg see UI ER DEAE ns col ate nce meen Trece ei tee Ree A 6 16 6 6 3 Replacing Faulty UnItS o a ens aa aia eee 6 17 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 1 6 Troubleshooting and Maintenance 6 1 Overview 6 1 1 Troubleshooting the User Defined CAN Unit 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 combination results in a Hamming distance of 6 This means that at least 6 bits in the mes sage frame must have been disturbed to possibly remain undetected The overall residual error proba bility is extremely low and this makes CAN based
152. rrect ones being aborted thus blocking the bus system if no mea sures for self monitoring were taken The CAN protocol therefore provides a mechanism for distin guishing sporadic errors from permanent errors and localizing unit failures fault confinement This is done by statistical assessment of unit error situations with the aim of recognizing a unit s own defects and possibly entering an operating mode where the rest of the CAN network is not nega tively 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 error active error passive 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 unit Transmit error counter Receive error counter For respectively a transmit error a
153. s Communication DelayMsgNo WORD R Number of Delayed Messages ProcMsgNo WORD R Number of Messages to be Processed The function of each device variable for CJ series Unit is explained below described with variable names automatically created on the I O Map View window 3 2 1 Enable CAN Communications Use the following BOOL type device variable for CJ series Units to enable CAN communications from the user program The variable executes some functions when changed to TRUE or changed to FALSE and has an effect on variables RcvOver BusoffErr and SenaOver variables For details on these switches refer to 3 2 2 Status Communication Once a function is set by changing a switch it is not saved if the power is turned OFF and ON again and will return to the OFF state Name of device variable for CJ series Unit EnbICANComm 3 8 Type R W BOOL RW Area Function Enable CAN Operation specifications Communications EA SE TRUE n state ST1 initializing or ST3 not configured generate error ERQ net work parameter file lost n state ST4 configured 1 Generate event EV3 enable commu nications 2 Reset RcvOver 3 Reset BusoffErr 4 Reset all receive flags TRUE gt FALSE In state ST5 communicating 1 Generate event EV4 disable commu nications 2 Reset _SendOver 3 Reset all send triggers n all other states there is no action CJ series User Def
154. s do not detect any error condition Seven Segment Indicator In addition to the RUN and ERR indicators User Defined CAN Units have a 2 digit 7 segment dis play that normally indicates the enabled or disabled status of the communication When an error occurs the seven segment indicators will display a flashing 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 message commands ST4 or ST5 The right dot indicator shows whether the communication is enabled or disabled the dot is lit when the communi cation is enabled ST5 Normal 00 indicating enabled Error FF communication disabled blink 01 network power fail Lio rumes MM ia ceci T Indicates whether the communication is enabled lit or disabled Indicates whether the unit is configured ST4 or ST5 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 2 3 uonej ejsu pue aJnje puauJON L Z suonoun J pue eJnje ousUON L L Z 2 Nomenclature and Installation Seven Segment Digits Status Display Unit not mounted in CPU Rack Not Lit Initializing State ST1 Start up error State ST2 Unit not configured State ST3 Lit FF CAN communications are disabled State ST4 CAN communications are enabled State ST5 Lit 00 CAN network power failure Blink 01 CAN bus off Blink 02
155. scarded System defined Variable Data type Name variables None Cause and Assumed cause Correction Prevention correction If the message rate exceeds the Reduce the communications load Consider the communications load processing capacity of the unit mes the rate the other devices transmit sages are discarded when the receive messages and the CPU cycle time queue is full overflowed The receive queue was full already when receiving the message Attached None information Precautions None Remarks Event name Bus Off Event Event code 84C40000 hex Meaning Bus off event EV5 bus off has occurred Source PLC function module Source details CJ series Unit Detection During CAN com timing munications Error attributes Level Minor Fault Recovery Disable and Log category System enable the com munication EV3 with the EnbICANCom m device vari able Effects User program Continues Operation None System defined Variable Data type Name variables None es Cause and Assumed cause Correction Prevention correction A bus off condition was detected Check the following Implement the preventative measures Matching device baud rates for each error Proper cable lengths Broken or loose cables Installation of terminators at both ends of the lines Excessive noise Attached None information Precautions None Remarks CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 15 S507 1uo 3 6 9 suondu
156. se the setting of the task period i Motion Control Use the system defined variable in the user program to confirm that EtherCAT communications are established before you attempt to execute motion control instructions Motion control instructions are not executed normally if EtherCAT communications are not established Use the system defined variables to monitor for errors in communications with the slaves that are controlled by the motion control function module Motion control instructions are not executed nor mally if an error occur in slave communications Before you start an MC Test Run make sure that the operation parameters are set correctly Do not download motion control settings during an MC Test Run i EtherCAT Communications Do not disconnect the EtherCAT slave cables during operation The outputs will become unstable Set the Servo Drives to stop operation if an error occurs in EtherCAT communications between the Controller and a Servo Drive i Battery Replacement Be sure to install a replacement Battery within two years of the production date shown on the Battery label Turn ON the power after replacing the Battery for a CPU Unit that has been unused for a long time Leaving the CPU Unit unused again without turning ON the power even once after the Battery is replaced may result in a shorter Battery life When you replace the Battery use the CJ1W BATO1 Battery Set CJ series User Defined CAN Unit
157. ser program more difficult to understand and possibly cause programming mistakes General Communications When you use data link communications check the error information given in the status flags to make sure that no error has occurred in the source device Write the user program to use the received data only if there is no error If there is an error in the source device the data for the data link may contain incorrect values Unexpected operation may result if inappropriate data link tables are set Even if appropriate data link tables have been set confirm that the controlled system will not be adversely affected before you transfer the data link tables The data links start automatically after the data link tables are trans ferred All CPU Bus Units are restarted when routing tables are transferred from Support Software to the CPU Unit Restarting these Units is required to read and enable the new routing tables Confirm that the system will not be adversely affected by restarting before you transfer the routing tables Tag data links will stop between related nodes while tag data link parameters are transferred during Controller operation Confirm that the system will not be adversely affected before you transfer the tag data link parameters i EtherNet IP Communications All related EtherNet IP nodes are reset when you transfer settings for the built in EtherNet IP port including IP addresses and tag data links settings T
158. settings Before you transfer the user program confirm that the system will not be adversely affected f the Fail soft Operation parameter is set to stop operation process data communications will stop for all slaves when an EtherCAT communications error is detected in a slave For this reason if Servo Drives are connected the Servos for all axes will be turned OFF Make sure that the Fail soft Operation parameter setting results in safe operation when a device error occurs CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 21 EtherCAT communications are not always established immediately after the power supply is turned ON Use the system defined variables in the user program to confirm that communications are estab lished before attempting control operations If frames sent to EtherCAT slaves are lost due to noise or other causes slave I O data is not commu nicated and the intended operation is sometimes not achieved If noise countermeasures are required use the EC nDatalnvalid Input Data Disable system defined variable as an interlock condition in the user program Refer to the NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 for details The slave outputs behave according to the slave settings Refer to the manuals for the slaves for details When an EtherCAT slave is disconnected communications will stop and control of the outputs will be lost not only for the disconnec
159. ssumed cause zd Reference Maj Prt Min Obs Info 04C60000 hex Network CAN network power Communications power is not Y page 6 14 Power Error is insufficient being supplied sufficiently from the network 84C20000 hex Send Queue The send queue f the message rate exceeds Y page 6 14 Overflow was overflowed the processing capacity of the unit a delay occurs The send queue was full already when sending the mes sage 84C3000 hex Receive The received queue If the message rate exceeds Y page 6 15 Queue Over was overflowed the processing capacity of the flow unit a delay occurs The receive queue was full already when receiving the message 84C40000 hex Bus Off Bus off event EV5 A buss off condition was Y page 6 15 Event bus off has detected occurred 6 5 3 Error Descriptions This section describes the information that is given for individual errors fi Controller Error Descriptions The items that are used to describe individual errors events are described in the following copy of an error table Event name Gives the name of the error Event code Gives the code of the error Meaning Gives a short description of the error Source Gives the source of the error Source details Gives details on Detection the source of the timing error Error attributes Level Tells the level of Recovery Gives the recov Log category influence on con ery method 2 trol 1
160. t Extended Format CAN controllers which support the messages in extended format can also send and receive mes sages in standard 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 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 I Rir jr O 11 bit R D 18 bit T f O DLC 0 8 bytes 15 bit CRC F IDENTIFIER R E IDENTIFIER R 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 recessive RTR Bit 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 for mat 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 ex
161. t are used in programming Section 7 Simulation Transferring Projects to the Physical CPU Unit and Opera tion This section describes simulation of Controller operation and how to use the results of simulation Section 8 This section describes CPU Unit status CPU Unit Status Section 9 This section describes the functionality provided by the CPU Unit CPU Unit Functions Section 10 This section describes how to go online with the CPU Unit and how to connect to Communications Setup other devices Section 11 This section describes the procedures that are used to actually operate an NJ series Example of Actual Application Pro cedures Section 12 Troubleshooting Appendices CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Controller This section describes the event codes error confirmation methods and corrections for errors that can occur The appendices provide the CPU Unit specifications task execution times system defined variable lists data attribute lists CJ series Unit memory information CJ series Unit memory allocation methods and data type conversion information Introduction i Sysmac Studio Version 1 Operation Manual Cat No W504 Section Section 1 Introduction Description This section provides an overview and lists the specifications of the Sysmac Studio and describes its features and components Section 2 Installation and Uninstalla
162. t to the unit determines whether 11 bit or 29 bit identifiers are used for all input message buffers If the last command is 2905 11 bit identifiers will be used If the last command is 2906 29 bit identifiers will be used 4 2 6 Direct Transmit of an 11 bit ID CAN Message 2907 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 validity of the CAN message CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 17 101 u09 pue uoneunByuo yun Z Y 4062 eBesse N NvO AI q ue jo Wwusues 12eJlQ 9 7 7 4 Message Communications fi Command Block 29 07 Command Identifier Data Data 8 Bytes Big or Code 11 bit Length Little in Bytes Endian The following table defines the minimum and maximum values for each item in the command block with setting details Setting Minimum Value Hex Maximum Value Hex Setting Details Identifier 11 bit 0000 O7FF Identifier value Data Length in Bytes 0000 0008 Data Length Data 00 FF Data Big or Little Endian 0000 0001 0000 Big Endian 0001 Little Endian fi Response Block Issuing a Direct Transmit of an 11 bit ID CAN Message command will result in the following response
163. ta are allocated as follows teet VO data W0000 to W0004 Send Buffer starting word W100 Send Trigger starting word EM Bank 0 000000 to 000004 Receve Buffer starting word W110 Receive Trigger starting word Allocate the I O data to the user defined variables as shown in the example below uj amp J604g Jes 1 24 uioJ4 Buisseooy z L Retain Constant E D Network Py IE SencBuffer ARRAY O 4 OF WORD wwo ri F1 Do ret pusish Send Tngger ARRAY 0 15 OF 800t 100 00 n F1 Dono pusish ARRAY 0 4 OF WORD EET m m CDoretcatitsh ARRAY O 15 OF BOOK ri F1 Dono cublich ECC CIT TAN This example uses the following data types ARRAY JOF WORD ARRAY OF BOOL BOOL Use this data type or multiple data types to create user defined variables according to the user pro gram EN Additional Information For details on memory used for CJ series Unit variable allocation and user defined variable registration refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 3 7 3 Data Exchange with the CPU Unit 3 2 Device Variable for CJ series Unit When you operate and reference software switches and statuses use the following device variables for CJ series Unit allocated to the I O port of this Unit uu ES Aroa EnbICANComm BOOL RW Enable CAN Communications StaComm WORD R Statu
164. ta byte 2 Data byte 5 Data byte 4 Data byte 6 Data byte 7 Data byte 7 Data byte 8 Data length number of bytes Data length number of bytes Data byte 0 Data byte 1 5 Data byte 1 Data byte 0 Data byte 2 Data byte 3 Data byte 3 Data byte 2 Data byte 4 Data byte 5 X Data byte 5 Data byte 4 Data byte 6 Data byte 7 Data byte 7 Data byte 8 Data length number of bytes Data byte 1 Data byte 0 Data byte 3 Data byte 5 Data byte 7 Data byte 2 Data byte 4 Data byte 8 EN Additional Information See section 3 1 2 Accessing From the User Program for more detail regarding Send and Receive Buffer areas 4 2 2 Configure 11 Bit ID Output Message Buffer 2903 Each Output Send Buffer requires the following settings that are configured using the command code 2903 e the 11 bit identifier the method of sending SM1 triggered SM2 on change or SM3 cyclic e the send cycle e the use of little endian or big endian Command Block 29 03 Command The following table defines the minimum and maximum values for each item in the command block with setting details 4 10 Buffer Code CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Number Identifier 11 bit Method of Sending Send Big or Cycle Little Endian 4 Message Communications Setting Minimum Value Hex Maximum Value Hex Settin
165. ted slave but for all slaves connected after it Confirm that the system will not be adversely affected before you disconnect a slave If you disconnect the cable from an EtherCAT slave to disconnect it from the network any current communications frames may be lost If frames are lost slave I O data is not communicated and the intended operation is sometimes not achieved Perform the following processing for a slave that needs to be replaced Program the EC nDatalnvalid Input Data Disable system defined variable as an interlock con dition Set the Impermissible Number of Continuous Timeouts setting in the EtherCAT master to at least 2 Refer to the NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 for details fi Motion Control Confirm the axis number carefully before you perform an MC Test Run The motor is stopped if communications are interrupted between the Sysmac Studio and the CPU Unit during an MC Test Run Connect the communications cable between the computer and CPU Unit securely and confirm that the system will not be adversely affected before you perform an MC Test Run Always execute the Save Cam Table instruction if you change any of the cam data from the user pro gram in the CPU Unit or from the Sysmac Studio If the cam data is not saved the previous condition will be restored when the power is turned ON again possibly causing unexpected machine opera tion The positive drive prohibit
166. tem as determined by the message priority The available transmission capacity is utilized efficiently for the transmission of useful data since gaps in bus allocation are kept very small The collapse of the whole transmis sion system due to overload 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 Bus Access Control Non destructive bus access can be further classified into two types depending on whether the con trol mechanisms are present in the system only once centralized or more than once decentral ized centralized bus access control decentralized bus access control A communication system with a designated unit must 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 manage ment 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 control are implemented several times in the system because this is the only way to fulfill the high requir
167. tended frame when both messages have the same base identifier IDE Bit Unlike 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 communi cate in standard format CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration 1 2 10 Implementations of the CAN Protocol i Overview Communication is identical for all implementations of the CAN protocol There are differences how ever with regard to the extent to which the implementation takes over message transmission from the micro controllers which follow it in the circuit CAN Controller with Intermediate Buffer 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 Controller with Object Storage CAN objects consist mainly of three components identifier data length code and the useful data CAN controllers with object storage formerly called FullCAN function l
168. the baud rate and implicitly the sample point The baud rate is set with switches 1 2 and 3 Switch number 4 is reserved for future use ON The settings of the DIP switch pins for the baud rate are shown in the following table All pins are set to OFF at the factory Pin 1 Pin 2 Pin 3 Baud rate Sample point 96 OFF OFF OFF 10 80 ON OFF OFF 20 80 OFF ON OFF 50 80 ON ON OFF 125 80 OFF OFF ON 250 80 ON OFF ON 500 80 OFF ON ON reserved reserved ON ON ON 1000 70 Note Sample point is reduced due to the clock frequency Precautions for Safe Use Always turn OFF the Controller before changing the DIP switch settings H Precautions for Correct Use Set the same baud rate on all of the nodes in the network Any unit with a baud rate different from the other units baud rate won t be able to participate in communications and may cause a communications error between units that have been set properly 2 6 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 2 Nomenclature and Installation I 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 uone ejsu pue ainyejoOUSWON L Z male 1 2 3 4 5 eel 1 i e eee Nee Nar Newel Color stickers that match communication cable colors are a
169. the polarity is reversed current may flow in the reverse direction and damage the connected devices regardless of the operation of the Controller i Power Supply Design Do not exceed the rated supply capacity of the Power Supply Units in the NJ series Controller The rated supply capacities are given in the NJ series CPU Unit Hardware User s Manual Cat No W500 If the capacity is exceeded operation may stop malfunctions may occur or data may not be backed up normally for power interruptions Use NJ series Power Supply Units for both the NJ series CPU Rack and Expansion Racks Operation is not possible if a CJ series Power Supply Unit is used with an NJ series CPU Unit or an NJ series Power Supply Unit is used with a CJ series CPU Unit CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Do not apply voltages or connect loads to the Output Units or slaves in excess of the maximum rat ings Surge current occurs when the power supply is turned ON When selecting fuses or breakers for external circuits consider the above precaution and allow sufficient margin in shut off performance Refer to the relevant manuals for surge current specifications Refer to the NJ series CPU Unit Hard ware User s Manual Cat No W500 for surge current specifications If the full dielectric strength voltage is applied or turned OFF using the switch on the tester the gener ated impulse voltage may damage the Power Supply U
170. the terminals on the Power Supply Unit immediately after turning OFF the power supply Residual voltage may cause electrical shock If you use reed switches for the input contacts for AC Input Units use switches with a current capac ity of 1 A or greater If the capacity of the reed switches is too low surge current may fuse the contacts CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Jj Error Processing In applications that use the results of instructions that read the error status consider the affect on the system when errors are detected and program error processing accordingly For example even the detection of a minor error such as Battery replacement during operation can affect the system depending on how the user program is written I Unit Replacement If you replace a CPU Bus Unit or Special I O Unit refer to operation manual for the Unit for informa tion on the data required for individual Units and redo the necessary settings The absolute encoder home offset is backed up with a Battery in the CPU Unit When you change the combination of the CPU Unit and Servomotor e g when you add or replace a Servomotor define home again To restore the information without changing the CPU Unit Servomotor combination remove the absolute encoder home offset from the data to restore Task Settings f a Task Period Exceeded error occurs shorten the programs to fit in the task period or increa
171. ther 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 Error code Detail code Time of occurrence The CPU Unit s time is used for the time stamp Error Log Storage Area When an error is detected information on the error and the time stamp are stored in the Unit s inter nal 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 message command only the error log records in RAM are read When the error log is cleared with a message command the error log records in RAM and EEPROM are erased Refer to 6 3 2 Error Codes and Detail Codes for a table listing the error codes e Reading and Clearing the Error Log The error log table can be read or cleared by sending a message command to the User Defined CAN Unit Use the User Defined CAN Unit s unit address as the message command s destination unit address The unit address is the unit number 10 Hex Message command 2102 is used to read the error history Issuing the message command 2103 will clear the error log Refer to 4 2 Unit Configuration and Control for details on reading and clearing the erro
172. time also influences the performance If the CPU cycle time is long the receive queue in the unit may overflow Refer to the NJ series CPU Unit Software User s Manual Cat No W501 for more info sobessoy NYO Jo uondeoeM 7 L G CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 5 9 5 Communications Timing 5 10 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Troubleshooting and Maintenance zr Xr This section describes error processing periodic maintenance operations and trouble shooting procedures needed to keep the User Defined CAN Unit operating properly It is recommended to read through the error processing procedures before operation so that operating errors can be identified and corrected quickly 6 1 Overviow 2 E etl A icu Se a ea ae wea 6 2 6 1 1 Troubleshooting the User Defined CAN Unit 6 2 6 2 Troubleshooting with the User Defined CAN Unit Indicators 6 4 6 2 1 Run LED Indicator scel nile ve bids pends ead padi Y peres 6 4 0 2 2 ERR EEB Indicator i is tease sada Bee ae eu Re da gts 6 5 6 2 3 Two 7 segment Display 0 ete e 6 5 6 2 4 Two DotIndicators i sa sisrate E a e E E EENE a 6 6 6 3 Error Log Functions 0 0 00 cece eee RR m nn 6 7 6 3 1 Error Log Table a 225 24 sta bi Pa kaye a a a Sabbai debtor Pie cag 6 7 6 3 2 Error Codes and Detail Codes 1 0 cece ae 6 8 6 3 3 Status Info
173. tion This section describes how to install and uninstall the Sysmac Studio Section 3 System Design This section describes the basic concepts for designing an NJ series System with the Sysmac Studio and the basic operating procedures Section 4 Programming This section describes how to create programs with the Sysmac Studio Section 5 Online Connections to a Controller This section describes how to go online with a Controller Section 6 This section describes how to debug the programs online on the Controller or debug Debugging it offline with the Simulator Section 7 This section describes Sysmac Studio functions other than system design functions Other Functions Section 8 Reusing Programming This section describes how to reuse the programs that you create with the Sysmac Studio Section 9 Support Software Provided with the Sysmac Studio This section describes the Support Software that is provided with the Sysmac Studio Section 10 Troubleshooting This section describes the error messages that are displayed when you check a pro gram on the Sysmac Studio and how to correct those errors Appendices The appendices describe the following Driver Installation for Direct USB Cable Connection Specifying One of Multiple Ethernet Interface Cards Online Help Simulation Instructions CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit Cat No W517 This Manual
174. ttached to the communications connectors Match the colors when connecting communication cables to the connectors the colors can be found in the next table sbuges YAMS Z L Z Pin 1 Signal Color Description 1 CAN GND Black Power line negative voltage 2 CAN L Blue Communications line low 3 CAN SHLD Shield 4 CAN_H White Communications line high 5 CAN_V Red Power line positive voltage Precautions for Safe Use Before connecting communications cables turn OFF the Controller power supply all slave power supplies and the communications power supply H Precautions for Correct Use CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Required for normal operation of CAN network is an external 24V power supply connected to the Unit using the front connector 2 Nomenclature and Installation 2 2 Installing the User Defined CAN Unit 2 2 1 System Configuration Precautions You can mount up to 16 Units on the CPU Rack or an Expansion Rack per CPU but no more than 10 Units on one Rack 2 2 2 Mounting 1 Carefully align the connectors to mount the User Defined CAN Unit Hooks Openings for hooks Connector z x ren I COR en RE CA 0 o Ii TS a SS 2 Move the yellow sliders on the top and bottom
175. tup in the Multiview Explorer Or right click CPU Expansion Racks under Configurations and Setup and select Edit from the menu The Unit Editor is displayed for the Controller Configurations and Setup layer CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 29 2 Right click any open space in the Unit Editor and select Production Information The Production Information Dialog Box is displayed Fl Production information fk Model information Lot number NS01 1500 Lar 31810 Hardware version DFDOD Software version 31 Production information SYSTEM 1 00 00 22519 BOOT 20110627 IOPFP B 3 0 IOPFW 0 73 Runbme 155 Rack 0 Shot 1 Uni 0 CHW V680C12 Ver 1 2 Unit revision 1 POH revision 100 Software revision 12 0 Output fie Simple Display Detailed Display In this example Ver 1 0 is displayed next to the unit model The following items are displayed CPU Unit CJ series Units Unit model Unit model Unit version Unit version Lot number Lot number Rack number slot number and unit number EtherCAT Slaves 1 Double click EtherCAT under Configurations and Setup in the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit from the menu The EtherCAT Configuration Tab Page is displayed for the Controller Configurations and Setup layer 2 Right click the master in the EtherCAT Configurations Editing Pane and select Display Pr
176. ual for NJ series CPU Unit W517 2 Nomenclature and Installation N N 5 EA 2 Ej State Name Cyclic refresh of message Description z command s e ST1 Initializing No The Unit executes start up tests and ini tializes the CPU bus communications 9 ST2 Start up error No A start up error was detected during start 3 up tests or during the intialization of the CPU communication bus 2 ST3 Not configured Yes The Unit started without start up errors but S is not yet configured using message com It mands ST4 Configured Yes The Unit has received the memory loca tions and a number of output and input message buffers ST5 Communicating Yes CAN messages can be sent and received D if the network is powered c gt Events e o Events will force the Unit to switch to a different state These events can be user initialized caused by system behavior or error conditions detected in the system Changed state information is reflected as changes in device variables for CJ series Units In normal operating mode the Unit is initialized and no start up errors occur Event Name Description EV1 Configure memory The memory areas for message buffers send triggers and areas receive flags have been successfully configured through mes sage commands EV2 Configure one CAN One of the output message buffers or input message buffers message has been successfully configured through message com mands EV3 Enable c
177. uced to manage CPU Units in the NJ Series according to differences in functionality accompanying Unit upgrades Notation of Unit Versions on Products The unit version is given on the ID information label of the products for which unit versions are man aged as shown below CPU Unit Example for NJ series NJ501 001 lt ID information label Unit model Unit version NJ501 1500 Veril Lot No t DDMYY Lot number and serial number MAC address The following information is provided on the ID information label Item Description Unit version Gives the unit version of the Unit Lot number and Gives the lot number and serial number of the Unit serial number DDMYY Lot number L For use by OMRON xxxx Serial number M gives the month 1 to 9 January to September X October Y November Z December MAC address Gives the MAC address of the built in port on the Unit i Confirming Unit Versions with Sysmac Studio You can use the Unit Production Information on the Sysmac Studio to check the unit version of the CPU Unit CJ series Special I O Units CJ series CPU Bus Units and EtherCAT slaves The unit versions of CJ series Basic I O Units cannot be checked from the Sysmac Studio CPU Unit and CJ series Units 1 Double click CPU Expansion Racks under Configurations and Se
178. ure 11 Bit ID Input Message Buffer 2905 ssssseeem enn 4 14 4 2 5 Configure 29 Bit ID Input Message Buffer 2906 sssssssem ee 4 16 4 2 6 Direct Transmit of an 11 bit ID CAN Message 2907 sssse eme 4 17 4 2 7 Direct Transmit of an 29 bit ID CAN Message 2908 sss 4 19 4 2 8 Setting the CAN Bit Rate and Sample Point 2909 sse 4 21 4 2 9 Error Log Read 2102 22 s iieri ae ae eee 4 22 4 2 10 Error Log Clear 2103 i a r ae a a a a ra a rar aaa Laaer iae eeta 4 23 Section 5 Communications Timing 5 1 Performance 3 onere certi ee retta ARAA Anana ASNO cra sean Duane Rau ran S Saana aaas 5 2 5 1 1 I C Refresh TINE ctt tatto tute iere xD niteat beis 5 2 5 1 2 Output Message Evaluation Time cccccecccceeeeeeeceeeeseeeeeeeeeeceeaeeeeseaaeaeeeeseseeaeeeesecneaeeeeenenaees 5 2 5 1 3 Input Message Processing Time sssssssseneneen eene nennen nennen nnnm nennen 5 4 5 1 4 CAN Interfa cE 5 5 5 1 5 I O Response Time ex s eee e er eere e ire epe ee ett 5 5 5 1 6 Transmission of CAN Messages sssssseee eene nennen nene nennen ener en nennen nnns 5 8 5 1 7 Reception of CAN MessagSs eise iddeeemde eden nere ded eene de dnte deed iaaiiai iia darii ieaiaia 5 9 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 Section 6 Troubleshooting and M
179. use of the error is removed Controller reset Normal status is restored when the Controller is reset after the cause of the error is removed Depends on cause The recovery method depends on the cause of the error One of the following System System event log Access Access event log One of the following Continues Execution of the user program will continue Stops Execution of the user program stops Starts Execution of the user program starts CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 6 13 S507 1uo 3 G 9 suond WOS98q 4044 G 9 6 Troubleshooting and Maintenance fi Error Descriptions Event name Network Power Error Event code 04C60000 hex Meaning CAN network power is insufficient Source PLC function module Source details CJ series Unit Detection During CAN com timing munications Error attributes Level Minor Fault Recovery Cycle the power Log category System supply Effects User program Continues Operation CAN communications are stopped System defined Variable Data type Name variables None im o Cause and Assumed cause Correction Prevention Comecon Communications power is not being Check the wiring of the network Check that the network power and the supplied sufficiently power and the network cable and cor network cable are wired correctly rect the mistake Attached None inf
180. ut messages Setthe bit rate of the CAN physical layer Transmission Services to send a specific output message Error Log Services to read and clear the error log Identification Services Services to identify the Unit and its firmware version Communications Configuration Before the User Defined CAN Unit is able to operate in a CAN network the baud rate and sample point must be configured either using the selector switches on the front of the Unit or message com munications Troubleshooting Functions The User Defined CAN Unit is provided with a variety of troubleshooting functions for prompt recov ery if errors occur Extensive self diagnostic function at startup Communication exchange flags indicating if message buffers are ex changed with the bus device s Status and error flags indicating the status of the Unit and the CAN network Error log for recording error history data CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 Features and System Configuration c 8 B g I Sending CAN Messages E a Message commands are used to define the CAN messages for the User Defined CAN Unit These g 9 commands define which messages can be send by the Unit the mode of sending and the timing for gz when messages are sent Each output message buffer can have one of the three modes SM1 SM20r 3 SM3 An output message must have the correct length being less than or equal to
181. utput buffers is configured with the message command 2902 Message command 2903 and 2904 are used to associate a buffer with an identifier A buffer with an identifier associated is called a configured buffer The evaluation time for buffers that are not configured is 4 3 microseconds The following examples are provided for calculation of the evaluation time Example 1 Number of output buffers 2 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 microseconds The evaluation time is 9 0 4 3 13 3 microseconds for the configured output buffer in case the trigger is OFF CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 5 Communications Timing Example 2 Number of output buffers 640 Number of configured output buffers 1 Every time the trigger configured message is ON the evaluation time of all output buffers being 640 will be 10 0 4 3 639 2 76 milliseconds H Precautions for Correct Use To optimize the evaluation time for the triggered send mode set the number of output buffers with message command 2902 to the same amount as the number of configured output buffers the total number of buffers configured with message command 2903 or 2904 i SM2 On Change Mode When using On Change mode the evaluation time differs for output buffers depending on wh
182. via the network in such a way that it is unnecessary for each controller to have its own sensor 1 2 4 Principles of 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 Mbps but also calls for rapid bus allocation when several units wish to send messages simultaneously 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 e g engine temperature which change relatively slowly recessive dominant Bus line 1 loses 3 loses CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 1 11 sng NVO JO elIAJeAQ 2 1 eBueuox3 geq jo sajdiould Z 1 Features and System Configuration The priority at which a message is transmitted compared with another less urgent message is spec ified by the identifier of the message concerned The priorities are defined during system design in the form of corresponding binary values and cannot be changed dynamically The identifier with the lowest binary number has the highest priority Bitwise Arbitration If the bus is free any unit may start to transmit a message Bus access conflicts are resolved by bit wise arbitration on the identifi
183. 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 More information about response codes and sub response codes can be found in the following pages M M Y ES Additional Information Refer to the SYSMAC CS CJ Series Communication Commands Reference Manual Cat No W342 for further details on response codes including sub response codes SRC I Response Code Name EN MRC g 00 Normal Completion E 01 Local Node Error 2 02 Destination Node Error 9 03 Communications Controller Error Es 04 Unsupported Setting Error Service Not Supported 3 05 Routing Error 3 10 Command Format Error g 11 Parameter Error g 20 Read Not Possible 21 Write Not Possible 22 Not Executable In Current Mode 23 No Such Device 24 Start Stop Not Possible 25 Unit Error 26 Command Error 30 Access Right Error 40 Abort CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 3 4 Message Communications 4 2 Unit Configuration and Control 4 2 1 4 4 In order to operate a CAN network each unit in the network needs to be configured with software user program configuration The total process of network and unit configuration involves e Setting up the physical network topology Setting up the bus parameters which define the baud rate and th
184. wiring the system Connecting or disconnecting the connectors CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 19 The Power Supply Unit may continue to supply power to the rest of the Controller for a few seconds after the power supply turns OFF The PWR indicator is lit during this time Confirm that the PWR indicator is not lit before you perform any of the above fl Operation Confirm that no adverse effect will occur in the system before you attempt any of the following Changing the operating mode of the CPU Unit including changing the setting of the Operating Mode at Startup Changing the user program or settings Changing set values or present values Forced refreshing Always sufficiently check the safety at the connected devices before you change the settings of an EtherCAT slave or Special Unit If two different function modules are used together such as when you use CJ series Basic Output Units and EtherCAT slave outputs take suitable measures in the user program and external controls to ensure that safety is maintained in the controlled system if one of the function modules stops The relevant outputs will stop if a partial fault level error occurs in one of the function modules Always confirm safety at the connected equipment before you reset Controller errors with an event level of partial fault or higher for the EtherCAT Master Function Module When the error is reset all slav
185. ytes are always part of the command message The actual data length of the CAN message data length in bytes can be less than 08 The length of the command must always equal 8 words 4 20 CJ series User Defined CAN Unit Operation Manual for NJ series CPU Unit W517 4 Message Communications 4 2 8 Setting the CAN Bit Rate and Sample Point 2909 The bit rate can be set in 2 ways The 8 bit rates recommended by CANopen can be selected with the DIP switches on the front of the Unit This gives the user some pre defined bit rates e If the User wants to set another bit rate the bit rate can be set via the message command Setting the CAN bit rate and sample point 2909 If the values for these 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 a response of the specified bit rate and sample point which are in use ji Command Block 101 u09 pue uoneunByuo UN Z Y 29 09 Command Bit Rate Sample Code bits per second point in The following table defines the minimum and maximum values for each item in the command block with setting details Setting Minimum Value Hex Maximum Value Hex Setting Details Bit Rate 0000 0000 0012 12D0 1 25 Mbit sec Bit rate Sample P

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