Omron CJ Series Instruction Manual

CJ Series
General-purpose Serial
Connection Guide
(RS-485 Modbus Communication)
P659-E1-01
ORIENTAL MOTOR CO., LTD.
Brushless Motor and Driver Package
BLE Series FLEX
RS-485 communication type

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Table of Contents
1. Related Manuals........................................................................................ 1
2. Terms and Definitions............................................................................... 2
3. Precautions................................................................................................ 3
4. Overview .................................................................................................... 4
5. Applicable Devices and Device Configuration ....................................... 5
5.1. Applicable Devices............................................................................. 5
5.2. Device Configuration.......................................................................... 6
6. Serial Communications Settings ............................................................. 8
6.1. Parameters ........................................................................................ 8
6.2. Cable Wiring ...................................................................................... 9
7. Serial Communications Connection Procedure ................................... 10
7.1. Work Flow........................................................................................ 10
7.2. Oriental Motor Driver Setup ..............................................................11
7.3. PLC Setup........................................................................................ 17
7.4. Serial Communication Status Check................................................ 31
8. Initialization method................................................................................ 37
8.1. Initializing PLC................................................................................. 37
8.2. Initializing Oriental Motor Driver....................................................... 38
9. Program.................................................................................................... 39
9.1. Overview.......................................................................................... 39
9.2. Destination Device Command.......................................................... 44
9.3. Error Detection Processing.............................................................. 46
9.4. Memory Maps .................................................................................. 47
9.5. Ladder program ............................................................................... 50
9.6. Timing Chart..................................................................................... 56
9.7. Error processing............................................................................... 57
10. Revision History .................................................................................. 59

1
．
Related Manuals
1
1. Related Manuals
To ensure system safety, make sure to always read and follow the information provided in all
Safety Precautions and Precautions for Safe Use in the manuals for each device which is
used in the system.
The table below lists the manuals provided by ORIENTAL MOTOR CO., LTD. (hereinafter
referred to as Oriental Motor) and OMRON Corporation (hereinafter referred to as OMRON),
which pertain to this document.
Manufacturer Cat. No. Model Manual name
OMRON W472 CJ2M-CPU[][]
CJ2H-CPU6[]
CJ2H-CPU6[]-EIP
CJ-series
CJ2 CPU Unit
Hardware USER'S MANUAL
OMRON W473 CJ2M-CPU[][]
CJ2H-CPU6[]
CJ2H-CPU6[]-EIP
CJ-series
CJ2 CPU Unit
Software USER'S MANUAL
OMRON W336 CJ1W-SCU[]1-V1
CJ1W-SCU[]2 CJ Series Serial Communications Units
OPERATION MANUAL
OMRON W474 CJ2[]-CPU[][] CJ Series
Programmable Controllers
INSTRUCTIONS REFERENCE MANUAL
OMRON W342 CJ2[]-CPU[][] CJ Series
Communications Commands
REFERENCE MANUAL
OMRON W446 CXONE-AL[][]C-V4
/ AL[][]D-V4 CX-Programmer OPERATION MANUAL
Oriental Motor HM-5140 BLE Series Brushless Motor and Driver Package
BLE Series FLEX RS-485 communication
type USER MANUAL
Oriental Motor HM-40107 - Data setting software MEXE02
INSTALLATION MANUAL
Oriental Motor HM-60131 - Data setting software MEXE02
OPERATING MANUAL

2
．
Terms and Definitions
2
2. Terms and Definitions
Term Explanation and Definition
Serial Gateway
mode This is a function of PLC that performs serial communications by automatically converting a message (command data) to a specified
protocol (either CompoWay/F, Modbus-RTU, or Modbus-ASCII)
depending on a type of message.

3
．
Precautions
3
3. Precautions
(1) Understand the specifications of devices which are used in the system. Allow some
margin for ratings and performance. Provide safety measures, such as installing a safety
circuit, in order to ensure safety and minimize the risk of abnormal occurrence.
(2) To ensure system safety, make sure to always read and follow the information provided in
all Safety Precautions and Precautions for Safe Use in the manuals for each device
which is used in the system.
(3) The user is encouraged to confirm the standards and regulations that the system must
conform to.
(4) It is prohibited to copy, to reproduce, and to distribute a part or the whole of this
document without the permission of OMRON Corporation.
(5) The information contained in this document is current as of June 2016. It is subject to
change for improvement without notice.
The following notations are used in this document.
Indicates a potentially hazardous situation which, if not avoided,
may result in minor or moderate injury or property damage.
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Symbol
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in the text.
This example indicates a general precaution.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in the text.
This example shows a general precaution for something that you must do.

4
．
Overview
4
4. Overview
This document describes the procedures for connecting Oriental Motor Brushless Motor and
Driver Package BLE Series FLEX RS-485 communication type (hereinafter referred to as
Driver) to CJ-series Programmable Controller + Serial Communications Unit (hereinafter
referred to as PLC) using serial communications and for checking their connections.
Refer to Section 6. Serial Communications Settings and Section 7. Serial Communications
Connection Procedure to understand setting methods and key points to send / receive
messages using the serial communications.
The ladder program in a prepared CX-Programmer project file is used to check the serial
connection by sending or receiving the messages of reading ''Direct I/O and electromagnetic
brake status'' to/from Driver.
■Send/receive messages of reading ''Direct I/O and electromagnetic brake status''
PLC
Serial communications
(RS-485)
Driver
Sending the command data Executing the command
Receiving the response data
and storing in memory
Returning the response data
Prepare the CX-programmer project file with a latest version beforehand.
To obtain the project file, contact your OMRON representative.
Name File name Version
CX-Programmer project file
(extension: cxp) P659_CJ_Mod485_Oriental_BLE_EV100.cxp Ver.1.00
This document aims to explain wiring methods and communications settings
necessary to connect corresponding devices and to provide setting procedures.
The program used in this document is designed to check if the connections are
properly established, and is not designed to be constantly used at a site.
Therefore, functionalities and performances are not sufficiently taken into
consideration.
When you construct an actual system, please use the wiring methods,
communications settings and setting procedures described in this document as
a reference and design a new program according to your application needs.
Command data
Response data

5
．
Applicable Devices and Device Configuration
5
5. Applicable Devices and Device Configuration
5.1. Applicable Devices
The applicable devices are as follows:
Manufacturer Name Model
OMRON
CJ2 CPU Unit
CJ2[]-CPU[][]
OMRON
Serial Communications Unit
CJ1W-SCU[]1-V1
CJ1W-SCU[]2
Oriental Motor
Brushless Motor and Driver Package
(with the driver, motor, and gearhead)
BLE[][][][]R[][]-[]
Precautions for Correct Use
In this document, the devices with models and versions listed in 5.2. Device Configuration are
used as examples of applicable devices to describe the procedures for connecting the
devices and checking their connections.
You cannot use devices with versions lower than the versions listed in 5.2.
To use the above devices with models not listed in 5.2. or versions higher than those listed in
5.2., check the differences in the specifications by referring to the manuals before operating
the devices.
Additional Information
This document describes the procedures for establishing the network connections.
It does not provide information on operation, installation, wiring method, device functionality,
or device operation, which is not related to the connection procedures.
Refer to the manuals or contact the device manufacturer.
Additional Information
For the information on the driver, motor, and gearhead, contact the device manufacturer.

5
．
Applicable Devices and Device Configuration
6
5.2. Device Configuration
The hardware components to reproduce the connection procedures in this document are as
follows:
Manufacturer Name Model Version
OMRON
Serial Communications Unit
CJ1W-SCU42
Ver.2.0
OMRON
CJ2 CPU Unit
CJ2M-CPU12
Ver.2.0
OMRON
Power Supply Unit
CJ1W-PA202
OMRON
CX-One
CXONE-AL[][]C-V4
/AL[][]D-V4
Ver.4.[][]
OMRON
CX-Programmer
(Included in CX-One)
Ver.9.61
OMRON
CX-Programmer project file
(ladder program)
P659_CJ_Mod485_Orient
al_BLE_EV100.cxp
Ver.1.00
-
Personal computer
(OS: Windows 7)
-
-
USB cable
(USB 2.0 type B connector)
-
-
Serial cable (RS-485)
-
Oriental Motor
Communication cable for the data
setting software
CC05IF-USB
Oriental Motor
Driver
BLED3AM-R
Oriental Motor
Motor
BLEM23-A
Oriental Motor
Data setting software MEXE02
-
Ver.3.31
-
24 VDC power supply (for Driver)
-
Precautions for Correct Use
Prepare the project file with a latest version beforehand.
To obtain the project file, contact your OMRON representative.
Precautions for Correct Use
Update CX-Programmer to the version specified in this Clause 5.2. or to a higher version.
If you use a version higher than the one specified, the procedures and related screenshots
described in Section 7. and subsequent sections may not be applicable. In that case, use the
equivalent procedures described in this document by referring the CX-Programmer
OPERATION MANUAL (Cat. No. W446).
Serial cable
(RS-485)
CJ2M-CPU12
＋
CJ1W-SCU42
Personal computer
(CX-One and
MEXE02 installed,
OS: Windows 7
）
USB cable
24 VDC power supply
BLED3AM
-
R
BLEM23-A
CC05IF-USB

5
．
Applicable Devices and Device Configuration
7
Precautions for Correct Use
Turn ON the terminating resistance switch on Serial Communications Unit and connect
terminating resistance of between 100 and 125Ω (1/2W) to the terminals of Driver at either
end of the RS-422A/485 transmission path.
Enable the built-in terminating resistor of Driver that has a resistance of 120Ω.
Additional Information
For information on the serial cable (RS-485), refer to 3-4 RS-232C and RS-422A/485 Wiring
of the CJ Series Serial Communications Units OPERATION MANUAL (Cat. No. W336).
Additional Information
For specifications of 24 VDC power supply available for Driver, refer to Brushless Motor and
Driver Package BLE Series FLEX RS-485 communication type USER MANUAL (HM-5140).
Additional Information
The system configuration in this document uses USB for the connection between Personal
computer and PLC. For information on how to install the USB driver, refer to A-5 Installing the
USB Driver in Appendices of the CJ-series CJ2 CPU Unit Hardware USER'S MANUAL (Cat.
No. W472).
Additional Information
The system configuration in this document uses the communication cable (CC05IF-USB) for
the connection between Personal computer and Driver. For information on how to install the
device driver for communication cable, refer to Installation of the Data setting software
MEXE02 INSTALLATION MANUAL (HM-40107).

6
．
Serial Communications Settings
8
6. Serial Communications Settings
This section describes the contents of parameter settings and wiring that are all defined in this
document.
6.1. Parameters
The parameters required for connecting PLC and Driver using the serial communications are
shown below.
Item PLC (Serial Communications Unit) Driver
Unit number 0 -
Address number
(Slave address)
- 1
（SW1: 1）(SW5-No.1: OFF)
Communications
(Connection) port
Port 1 (RS-422/485) RS-485 communication connector (CN7)
or RS-485 communication connector
(CN8)
Termination resistor Yes (TERM: ON) Yes (SW3-No.4: ON)
2-wire or 4-wire 2-wire (WIRE: 2) 2-wire (Fixed)
Serial communications
mode
Serial Gateway -
Data length
(Transmission character)
8 bits 8 bits (Fixed)
Stop bits 1 bit 1 bit (Default)
Parity (Parity bit) Even (Default) Even (Default)
Transmission rate
(Baud rate)
115,200 bps 115,200 bps（SW4: 4）
Communications protocol
selection
- Modbus RTU protocol
(SW5-No.2: ON)
Precautions for Correct Use
This document describes the setting procedures of CJ1W-SCU42 Serial Communications
Unit with the unit number 0 and communications (connection) port 1.
To connect devices under different conditions, change the CIO area and the control word of
CMND instruction used in the program. Refer to Section 9. Program for details.

6
．
Serial Communications Settings
9
6.2. Cable Wiring
Refer to SECTION 3 Installation and Wiring of the CJ Series Serial Communications Units
OPERATION MANUAL (Cat. No. W336) for details on cable wiring.
Check connector configuration and pin assignments before wiring.
■Connector configuration and pin assignments
CJ1W-SCU42 Serial Communications Unit applicable connector: Terminal block
Pin No.
Symbol
Signal name
Input/Output
1(See note 1.) RDA Receive data - Input
2(See Note 1.) RDB Receive data + Input
3(See Note 1.) SDA Send data - Output
4(See Note 1.) SDB Send data + Output
5(See Note 2.) FG Shield -
Note 1: For 2-wire connection, use either pins 1 and 2 or pins 3 and 4.
Note 2: Pin 5 (Shield) is connected to the GR terminal on Power Supply Unit though Serial
Communications Unit. The cable shield can thus be grounded by grounding the GR
terminal of Power Supply Unit.
Oriental Motor BLED3AM-R (CN7/CN8) applicable connector: RJ-45
Pin No. Symbol Description
1 N.C. Not used
2 GND GND
3 TR+ RS-485 communication signal (+)
4 N.C. Not used
5 N.C. Not used
6 TR- RS-485 communication signal (-)
7
N.C.
Not used
8 N.C. Not used
■Cable/Pin assignments
Serial Communications Unit
(CJ1W-SCU42) Driver (BLED3AM-R)
RS-422A/
485
interface
Signal
name Pin No. Pin No. Signal name RS-485 interface
RDA- 1 1 -
RDB+ 2 2 GND
SDA- 3 3 TR+
SDB+ 4 4 -
FG 5 5 -
Terminal block connector 6 TR-
7 -
8 -
RJ-45 connector

7
．
Serial Communications Connection Procedure
10
7. Serial Communications Connection Procedure
This section describes the procedures for connecting PLC to Driver using serial
communications.
The explanations of procedures for setting up PLC and Driver given in this document are
based on the factory default settings.
For the initialization, refer to Section 8. Initialization Method.
7.1. Work Flow
Take the following steps to connect PLC to Driver using serial communications and to send /
receive messages.
7.2. Oriental Motor Driver Setup
Set up Oriental Motor Driver.
↓
7.2.1. Hardware Settings
Set the hardware switches on Driver and connect
the cables.
↓
7.2.2. Parameter Settings
Set the parameters for Driver.
↓
7.3. PLC Setup
Set up PLC.
↓
7.3.1. Hardware Settings
Set the hardware switches on Serial
Communications Unit and connect the cables.
↓
7.3.2. Opening the Project File and
Connecting Online with PLC
Start CX-Programmer, open the project file, and
connect online with PLC.
↓
7.3.3. Creating the I/O Table
Create the I/O table for PLC.
↓
7.3.4. Parameter Settings
Set the parameters for Serial Communications
Unit.
↓
7.3.5. Transferring the Project Data
Transfer the project data to PLC.
↓
7.4. Serial Communication Status
Check
Start the send/receive processing and confirm that
serial communications is performed normally.
↓
7.4.1. Checking the Receive Data
Check that the correct data is written to the I/O
memory of PLC using CX-Programmer.

7
．
Serial Communications Connection Procedure
11
7.2. Oriental Motor Driver Setup
Set up Oriental Motor Driver.
7.2.1. Hardware Settings
Set the hardware switches on Driver and connect the cables.
Precautions for Correct Use
Make sure that the power supply is OFF when you set up.
1
Make sure that Driver is
powered OFF.
*If it is ON, the settings
described in the following steps
and subsequent procedures
may not be applicable.
2
Check the positions of the
hardware switches and the
connectors on Driver by
referring to the figure on the
right.
3
Set No.2 of Function setting
switch2 (SW5) to ON.
*The protocol for RS-485
communication is set as the
Modbus RTU protocol.
SW5
Slave address
Set the switch ON.
(Modbus protocol)

7
．
Serial Communications Connection Procedure
12
4
Set the address number (slave
address) as shown below.
・Set No.1 of Function setting
switch2 (SW5) to OFF.
・Set Address number setting
switch (SW1) to 1.
*The address number (slave
address) is set to 1.
SW5
Slave address
Set the switch ON.
(Modbus protocol)
Set the slave address.
5
Set Transmission rate setting
switch (SW4) to 4.
*The transmission rate (Baud
rate) is set to 115,200 bps.
SW4
Transmission rate
6
Set No.4 of Function setting
switch1 (SW3) to ON.
*The termination resistor (120
Ω) is enabled.
7
Connect a Serial cable (RS-485)
to RS-485 communication
connector (CN7) or to RS-485
communication connector
(CN8).
8
Connect the USB port on
Personal computer to Data edit
connector (CN3) with a
Communication cable for the
data setting software.
9
Connect a cable for Motor to
Motor signal connector (CN4)
and to Motor connector (CN2).
RS-485
communication
connector (CN7/CN8)
Serial cable
(RS-485)
Motor signal
connector (CN4)
Motor
Data edit
connector (CN3)
Motor
connector (CN2)
Personal
computer
Communication cable for
the data setting software
Function setting switch1 (SW3)
No.4:Set the termination resistor

7
．
Serial Communications Connection Procedure
13
10
Connect 24 VDC power supply
to 24 VDC power supply input
terminal (CN5).
11
Connect 100 VAC power supply
to Main power supply input
terminal (TB1).
*For details on the handling of
power supply wiring and
protective earth terminal, refer
to Brushless Motor and Driver
Package BLE Series FLEX
RS-485 communication type
USER MANUAL (HM-5140).
24 VDC power supply
input terminal (CN5)
24 VDC
power supply
GND
24V
Main power supply
input terminal (TB1)
100 VAC
power supply

7
．
Serial Communications Connection Procedure
14
7.2.2. Parameter Settings
Set the parameters for Driver.
The Parameters are set using the data setting software "MEXE02".
Install the software and the device driver for communication cable on Personal computer
beforehand.
Precautions for Correct Use
In this document, the settings are made assuming the 24 VDC power supply and the main
power supply are simultaneously turned ON.
Additional Information
For information on how to install the device driver and so on, refer to Installation of the Data
setting software MEXE02 INSTALLATION MANUAL (HM-40107).
1
Turn ON Driver.
2
Start MEXE02 English Edition.
3
MEXE02 English Edition starts.
4
Select Setting of the
communication from the
Communication Menu.

7
．
Serial Communications Connection Procedure
15
5
The Setting of the
Communication Dialog Box is
displayed.
Check that ORIENTAL
MOTOR/Virtual COM Port is
displayed as the serial port.
Click OK.
*If ORIENTAL MOTOR/Virtual
COM Port is not displayed as
the serial port, open Windows
Device Manager and check
that the device driver is
registered under Ports (COM &
LPT).
If the device driver is not
registered, check the
connection of communication
cable, or re-install the device
driver.
*To open Windows Device
Manager, select Control Panel
from the Windows Start menu
and click Hardware and
Sound - Device Manager.
6
Select Data reading(Product->
PC) from the Communication
Menu.
7
The Information Dialog Box is
displayed. Click OK.

7
．
Serial Communications Connection Procedure
16
8
Operation data is displayed.
Select Communication from
the Move Menu.
9
The edit window for
Communication is displayed.
Check that the following
parameters are set as shown
below.
Communication parity: Even
Communication stop bit: 1 bit
*Use the default settings for
other parameters.
10
Select Exit from the File Menu
to close MEXE02.
11
Turn OFF Driver.
*After PLC is connected to
Driver according to the
procedure given on the
following pages, turn ON the
power supply again.

7
．
Serial Communications Connection Procedure
17
7.3. PLC Setup
Set up PLC.
7.3.1. Hardware Settings
Set the hardware switches on Serial Communications Unit and connect the cables.
Precautions for Correct Use
Make sure that the power supply is OFF when you set up.
1
Make sure that PLC is powered
OFF.
*If it is ON, the settings
described in the following steps
and subsequent procedures
may not be applicable.
2
Check the positions of the
hardware switches and Port 1 by
referring to the figure on the
right.
3
Set Unit number switch to 0.
*The unit number is set to 0 as
the factory default setting.
4
Set Terminating resistance
ON/OFF switch to ON.
(Terminating resistance ON)
5
Set 2-wire or 4-wire switch to 2
(2-wire).
TERM (Terminating resistance ON/OFF switch)
OFF: Terminating resistance OFF
ON: Terminating resistance ON
WIRE (2-wire or 4-wire switch)
2:2-wire;4:4-wire