Omron C200HW-CORT21-V1 User manual

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C200HW-CORT21-V1
CANopen Slave Unit
OPERATION MANUAL
OMRON
Cat. No. W904-E2-2

C200HW-CORT21-V1
CANopen Slave Unit
Operation Manual
Produced June 2001

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Notice:
OMRON products are manufactured for use according to proper procedures by a qualified operator
and only for the purposes described in this manual.
The following conventions are used to indicate and classify precautions in this manual. Always heed
the information provided with them. Failure to heed precautions can result in injury to people or
damage to the product.
Indicates information that, if not heeded, is likely to result in loss of life or serious injury.
Indicates information that, if not heeded, could possibly result in loss of life or serious
injury.
Indicates information that, if not heeded, could result in relatively serious or minor injury,
damage to the product, or faulty operation.
OMRON Product References
All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers
to an OMRON product, regardless of whether or not it appears in the proper name of the product.
The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means
“word” and is abbreviated “Wd” in documentation in this sense.
The abbreviation “PLC” means Programmable Controller and is not used as an abbreviation for
anything else.
Visual Aids
The following headings appear in the left column of the manual to help you locate different types of
information. Note Indicates information of particular interest for efficient and convenient operation
of the product.
1, 2, 3… 1. Indicates lists of one sort or another, such as procedures, checklists, etc.
OMRON, 2001
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any
form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written
permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is
constantly striving to improve its high-quality products, the information contained in this manual is subject to change
without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no
responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the
information contained in this publication.
!Caution
!DANGER!
!WARNING

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TABLE OF CONTENTS
PRECAUTIONS..........................................................................................xi
1 Intended Audience.....................................................................................................................................xii
2 General Precautions...................................................................................................................................xii
3 Safety Precautions.....................................................................................................................................xii
4 Operating Environment Precautions..........................................................................................................xii
5 Application Precautions ...........................................................................................................................xiii
6 EC Directives...........................................................................................................................................xiv
1 ABOUT CANOPEN..............................................................................1
1-1 Introduction..............................................................................................................................................................2
1-2 Device description ...................................................................................................................................................2
1-3 Communication........................................................................................................................................................7
1-4 Configuration files.................................................................................................................................................19
1-5 CANopen conformance .........................................................................................................................................20
2 SPECIFICATIONS AND PERFORMANCE ..................................21
2-1 Overall Specifications............................................................................................................................................22
2-2 Dimensions ............................................................................................................................................................24
2-3 Performance...........................................................................................................................................................25
3 INSTALLATION ................................................................................31
3-1 Physical layout of the Unit.....................................................................................................................................32
3-2 Mounting the C200HW-CORT21-V1 ...................................................................................................................35
3-3 Setting up a network ..............................................................................................................................................36
4 PLC INTERFACE ..............................................................................47
4-1 Input and Output Data............................................................................................................................................48
4-2 I/O Data mapping...................................................................................................................................................49
4-3 Control and Status area..........................................................................................................................................60
5 MESSAGE COMMUNICATION, IOWR / IORD..........................69
5-1 Message communication........................................................................................................................................70
5-2 IOWR / IORD........................................................................................................................................................70
5-3 Error log.................................................................................................................................................................72
5-4 Reading the error log .............................................................................................................................................74
5-5 Writing to the local object dictionary.....................................................................................................................75
5-6 Reading from the local object dictionary...............................................................................................................77
5-7 Transmitting a user defined CAN message............................................................................................................79
5-8 Receiving a user defined CAN message................................................................................................................80
6 ERROR HANDLING AND STATUS...............................................85
6-1 Introduction............................................................................................................................................................86
6-2 Emergency message...............................................................................................................................................87
6-3 Error Register, Predefined Error Field...................................................................................................................90
6-4 Fatal PLC error handling .......................................................................................................................................91
6-5 LEDs, 7-Segment Display .....................................................................................................................................92
6-6 Flow diagrams........................................................................................................................................................93
7 TROUBLESHOOTING AND MAINTENANCE............................97
7-1 Error Indicators......................................................................................................................................................98
7-2 Troubleshooting.....................................................................................................................................................98
7-3 Maintenance.........................................................................................................................................................104