Omron CJ1W-CTS21-E User manual

1
PNSPO!
Model
CJ1W-CTS21-E
Synchronous Serial Interface (SSI) Unit
INSTRUCTION SHEET
(NJ-series Controllers)
Thank you for purchasing an OMRON product. Read this
instruction sheet thoroughly and familiarise yourself with the
functions and characteristics of the product before using it. To
ensure safe and correct use of this Unit, also read the Operation
and Programming Manuals for your NJ-series Controller system.
Keep this instruction sheet for future reference.
OMRON MANUFACTURING OF THE NETHERLANDS B.V.
OMRON Corporation 2012 All Rights Reserved
! DANGER Do not attempt to take the Unit apart and do not
touch any internal parts while the power is being
supplied. Doing either of these may result in
electrical shock, and serious or fatal injury.
! Caution Leave the protective label on top of the Unit as long
as the Unit is not mounted and wired completely, in
order to prevent wire clippings or other materials
from getting inside the Unit. When the mounting
and wiring has been completed, the label must be
removed to allow air circulation and heat radiation.
Nomenclature
Unit status LED indicators
•RUN (green)
•ERC (red)
•ERH (red)
•CH1, CH2 (green)
Machine number rotary switches
Removable Terminal Block
•Connections for SSI-encoders
•Connection for power supply SSI-encoders
Terminal Block latch
•Slide down to remove
•Slide up to lock
Quick Start
1. Set all configuration device variables to 0. The Unit is now
configured as follows: 400kHz clock frequency, 24 bit Gray-
coded and a 40µs monoflop time, for both SSI channels.
2. Set Machine Number.
3. Mount and wire the Unit, the two SSI encoders and the
encoders power supply.
4. Turn power on.
5. Create I/O Table.
6. Both green CH1 and CH2 indicators should now turn on.
7. The encoder data can now be read from operational device
variables *_Ch1_SSIDat and *_Ch2_SSIDat.
Note: If you only want to connect one SSI encoder, the other SSI
channel has to be disabled. See section Configuration Device
Variables for CJ-series Units for further details.
Unit specifications
Unit type CJ1 Special I/O Unit
Applicable PLC models CJ/NJ-series PLCs
Storage temperature -20 to +75 °C
Ambient temperature 0 to +55 °C
Ambient humidity 10 to 90 % (non-condensing)
EMC compliance EN 50081-2, EN 61131-2
Current consumption 300 mA (5VDC via bus connection)
Weight 200 g (typical)
Number of words
allocated
•
20 Operation Words
•
30 Configuration Words
Dimensions
EXT.PS FOR ENCODERS: 5-24 V DC, 0.8 Amax.
CTS21
10
0
x
10x
1
RUN
CH1
CH2
ERC ERH
B1 A1
MACH
MACHMACH
MACH
No
NoNo
No
CJ1W-CTS21-E
SSIDATA+CLK:RS-422Line Driver, 1.5 MHz max.
2-CHANNELSSI UNIT
PNSPO
OMRON MANUFACTURINGOF THENETHERLANDS B.V.
MADEIN THE NETHERLANDS
Lot No. 000000N0000 Batch No. 000000000
31 65
24
90 95
LED Indicators
Name Color State Unit status
RUN green On Normal operation
Off Initialisation error
ERC red On Unit error
(check *_ErrCode1/*_ErrCode2)
Off Unit has no errors
ERH red On NJ CPU Unit error
Off NJ CPU Unit has no errors
Name Color State Counter channel status
CH1,
CH2 green On Channel configured and is communicating without errors
Off Channel is not configured or a
communication error has occurred
Machine Number Switch
Name Function
MACHINE No. Sets the Machine Number (00 – 94).
•Setting Machine Numbers 95-99
will generate an error.
•Make sure each Machine Number
is used only once per NJ CPU.
•The next higher Machine Number
should not be used on any unit, as it
would cause a CIO-data overlap
•Be sure to turn off the power to
the Unit before setting the Machine
Number.
x10
x10
1
0

2
Terminal Block layout
Use the following table to make connections directly to the screw
terminals block:
Item Description
Row B Terminal no. Description Row A
SSI DATA CH1 DATA1 - B1
A1 DATA1 +
SSI Clock CH1 CLOCK1 - B2 A2 CLOCK1 +
SSI Power Supply
OUT CH1 0V_ENC_PS¹ B3 A3 +_ENC_PS
2
N.C. B4 A4 N.C.
SSI DATA CH2 DATA2 - B5 A5 DATA2 +
SSI Clock CH2 CLOCK2 - B6 A6 CLOCK2 +
SSI Power Supply
OUT CH2 0V_ENC_PS¹ B7 A7 +_ENC_PS
2
N.C. B8 A8 N.C.
Encoder Power
Supply Input 0V_ENC_PS¹ B9 A9 +_ENC_PS
2
(
1
)(
2
): All these pins are internally connected.
SSI Communication
Item Specification
CLK lines Non-isolated differential line driver,
RS422 compliant
DATA lines Electrically isolated differential line
receiver, RS422 compliant
Number of data-bits 9 to 31 (default: 24)
Value coding Gray/Binary/Tannenbaum/Raw
(default Gray)
Clock frequency 100kHz to 1.5 MHz (default 400 kHz)
Monoflop time 10µs to 99,990 µs (default: 40 µs)
Sample rate Approx. 2500 Samples/sec with 2
encoders connected
(with default settings)
Default: All DM-settings are 0000
SSI Circuitry
DATA+
DATA-
CLOCK+
CLOCK-
+_ENC_PS
0V_ENC_PS
Shielded Twisted-pair Cable
SSI ENCODER CJ1W-CTS21-E
B3
A3
B2
A2
B1
A1
ENCODER
PS
B9 A9
+
-
RS422
+
-
RS422
Notes:
•Electrical isolation is provided for each data input line.
Electrical isolation is not provided for the outgoing clock lines.
The encoder power supply can be connected to the unit’s
connector.
•The power supply should match the encoder’s specifications.
•Use shielded twisted pair, 2×2×0.25mm
2
(+ optional
2×0.5mm
2
for PS).
•The shield must be connected to the SSI encoder and to the
frame-ground near the PLC-system.
•Recommended maximum cable length by selected clock
frequency: 100 kHz: < 400 m
300 kHz: < 100 m
200 kHz: < 200 m
400 kHz: < 50 m.
Communication Errors
During normal operation, the SSI Unit can detect three kinds of
communication errors (see section Error Processing). At the
occurrence of a communication error on channel 1(2):
•the corresponding error code is set in device variables
*_ErrCode1 and *_ErrCode2
•the corresponding error code is stored inside the SSI Unit
•the Global Error device variable *_GlblErr is turned ON
•the ERC LED indicator is turned ON
•the corresponding CH1(2) LED indicator is turned OFF
This status will remain, even if during the next SSI-communication no
error is detected by the SSI Unit. In this case only the valid SSI data
received device variable *_Ch1(2)_ValidDatRcvSta will be turned ON
indicating that for the current SSI data, no communication error was
detected.
To clear the above error status, the clear all errors device variable
*_ClrAllErr has to be turned ON.
The following table describes the possible statuses of the SSI Unit
after proper initialisation:
ERC
LED /
Global
error bit
CH


LED New
Valid
SSI data
received
bit
Status
Off On On The channel

SSI data can be
used; no error has occurred.
Off On Off No new channel SSI data has
been received since last cyclic
refresh; no error has occurred.
Off Off Off Channel

is not configured for SSI
communication (see Configuration
Device Variables).
On Off On The channel

SSI data can be
used; a communication error has
occurred earlier *.
On Off Off The channel SSI data cannot be
used; a communication error has
occurred *.
On On On The channel

SSI data can be
used; a non-communication error
has occurred *.
On On Off No new channel

SSI data has
been received since last cyclic
refresh; a non-communication error
has occurred *.
* See Error Processing section for countermeasures.
Noise Prevention
The symptoms of picking up noise are random jumps in the SSI data
values read (*_Ch1_SSIDat, *_Ch2_SSIDat). For applications that
expect a continuous change of SSI data values, the user program
can identify noise by detecting an unexpected large change in the
SSI data values or data values outside the expected range.
The best way to prevent noise is by proper wiring the unit as
described in the SSI Circuitry section.
An alternative could be to use an SSI encoder equipped with parity.

3
Configuration Device Variables for CJ-
series Units
Device
Variable Name (Type) Function
General
*_StartUpDe
layCfg
Offset = 07
Additonal
SSI-
communicati
on Start-up
Delay
(UINT)
Additional SSI-communication
start-up delay **:
0 = 2000 ms delay
1 = 1050 ms delay
2 = 500 ms delay
3 = no delay
Valid Range: 0 to 3
Read/Write Access Type
SSI Channel 1 ***
*_Ch1_SSIB
audrateCfg
Offset = 10
(channel 1)
or 20
(channel 2)
SSI
Baudrate
(UINT)
SSI baudrate:
0 = 400 kHz
1 = 100 kHz
2 = 200 kHz
3 = 300 kHz
4 = 400 kHz
5 = 500 kHz
6 = 1 MHz
7 = 1.5 MHz
65535 = No encoder connected
(the rest of settings is not
processed)
Valid Range: 0 to 7 or 65535
Read/Write Access Type
*_Ch1_ValC
odeCfg
Offset = 11
(channel 1)
or 21
(Channel 2)
Value
Coding
(UINT)
Value coding:
0 = Gray code
1 = Binary
2 = Raw SSI data only (settings
for leading/trailing bits, optional
SSI encoder status bits, and parity
are not processed)
Valid Range: 0 to 2
Read/Write Access Type
*_Ch1_Reso
lutionCfg
Offset = 12
(channel 1)
or 22
(channel 2)
Encoder
Resolution
(WORD)
Encoder resolution:
Number of data bits: [9..31] (in
BCD), 0 means value = 24 bits
Valid Range: 16#0000, 0009 to
0031
Read/Write Access Type
*_Ch1_Lead
BitSzCfg
Offset = 13
(channel 1)
or 23
(channel 2)
Leading Bits
(WORD) Leading bits ****: Number of bits preceding encoder
data: [0..31] (in BCD)
Σm+12..13 ≤31
Valid Range: 16#0000 to 0031
Read/Write Access Type
*_Ch1_Trail
BitSzCfg
Offset = 14
(channel 1)
or 24
(channel 2)
Trailing Bits
(WORD) Trailing bits ****: Number of bits following encoder
data: [0..31] (in BCD)
Σm+12..14 ≤31
Valid Range: 16#0000 to 0031
Read/Write Access Type
*_Ch1_SSIS
taBitSzCfg
Offset = 15
(channel 1)
or 25
(channel 2)
SSI Encoder
Status Bits
(WORD)
Optional SSI encoder status bits
(see *_Ch1_SSISta):
Number of bits succeeding trailing
bits: [0..8]
Σm+12..15 ≤31
Valid Range: 16#0000 to 0008
Read/Write Access Type
*_Ch1_Parit
yChkCfg
Offset = 16
(channel 1)
or 26
(channel 2)
Parity Check
(USINT) Parity check: 0 = no parity check
1 = check for even parity
2 = check for odd parity
Parity is calculated over all bits
received.
Valid Range: 0 to 2
Read/Write Access Type
*_Ch1_Mon
oflopTmCfg
Offset = 17
(channel 1)
or 27
(channel 2)
Mono-flop
Time
(WORD)
Mono-flop time: check if the data
line is high after the mono-flop
time has expired.
Set in tens of microseconds
(BCD).
Valid Range: 16#0000 to 9999
Read/Write Access Type
SSI Channel 2 ***
Use *_Ch2
in place of
*_Ch1
--- Same as SSI channel 1
** This delay is additional to the PLC-system start-up time.
*** Refer to the operation manual of the SSI encoder for proper
configuration of the SSI Unit’s channels.
**** Trailing and leading bits are to be used for connecting Tannen-
baum coded SSI-encoders. E.g. for a 24-bit Tannenbaum
encoder with 10 multi-turn and 10 single turn-bits and 1 status
bit, centred around bit 12/13, the leading bits have to be set to
2 and the trailing bits to 2.
Operation Device Variables for CJ-series
Units
Device
Variable Name (Type) Function
General
*_RdNxtErr Read Next
Error (BOOL) Read (next) Error (0
→
1) from
error history.
Read next error at the rising
edge (from the error list in the
SSI Unit). The error code can
be read from *_ErrCode1 and
*_ErrCode2.
Valid Range: 0,1
Read/Write Access Type
*_ClrAllErr Clear All
Errors (BOOL) Clear all Errors (0
→
1) from
error history.
Clear all errors at the rising
edge (from the error list in the
SSI Unit).
Valid Range: 0,1
Read/Write Access Type
*_ErrCode1 Error Code 1
(WORD) Error Code (See Error
Processing section for details)
Valid Range: 16#0000 to
FFFFFFFF
Read Only Access Type
Error Code 2
(WORD)
*_ErrCode2
*_GlblErr Global Error
(BOOL) Global Error Indication. Indicates that one or more
errors have occurred and that
their error code(s) are included
in the error list of the Unit.
Valid Range: 0,1
Read Only Access Type
*_UnitInitSta Unit Initializing
(BOOL) Unit initialising after restart or power-up.
Valid Range: 0,1
Read Only Access Type
SSI Channel 1
*_Ch1_SSIDat SSI Data
(DWORD) Current SSI data. Valid Range: 16#0000 to
FFFFFFFF
Read Only Access Type
*_Ch1_SSISta SSI Encoder
Status (UINT) Optional SSI encoder status
(see *_Ch1_SSIStaBitSzCfg)
Valid Range: 16#00 to FF
Read Only Access Type
*_Ch1_ValidD
atRcvSta Valid SSI Data Received
(BOOL)
Valid SSI data received since
previous I/O-refresh
Valid Range: 0,1
Read Only Access Type
SSI Channel 2
*_Ch2_SSIDat SSI Data
(DWORD) Current SSI data Valid Range: 16#0000 to
FFFFFFFF
Read Only Access Type
*_Ch2_SSISta SSI Encoder
Status (UINT) Optional SSI encoder status
(see *_Ch2_SSIStaBitSzCfg)
Valid Range: 16#00 to FF
Read Only Access Type
*_Ch2_ValidD
atRcvSta Valid SSI Data Received
(BOOL)
Valid SSI data received since
previous I/O-refresh
Valid Range: 0,1
Read Only Access Type

4
Error Processing
At the occurrence of an error:
•the corresponding error code is transferred to device
variables
*_ErrCode1 and *_ErrCode2
•the corresponding error code is stored inside the SSI Unit
•the Global Error device variable *_GlblErr is turned ON
•the ERC LED indicator or ERH LED indicator is turned ON
The following errors codes can be reported in device variables
*_ErrCode1 and *_ErrCode2
*_ErrCode 1 *_ErrCode2 Description
0300 Offset (see
configuration
device
variable table
above)
The setting for the Device
Variable is out of range. Use the
*_ErrCode2 offset to identify the
Device Variable.
0310 Offset (see
configuration
device
variable table
above)
The setting for the Device
Variable has an invalid BCD-
code (The range of a valid BCD-
code for a digit is 0-9. If one or
more digits are within range A –
F, an invalid BCD-code is
specified). Use the *_ErrCode2
offset to identify the Device
Variable.
Countermeasure: Configuration errors can be cleared by correcting
the faulty settings in device variables and transferring the new
configuration data to the Unit. To transfer the configuration data:
•Turn the power of the NJ system ON, or
•Restart the Unit
*_ErrCode 1 *_ErrCode2 Description
0490 CH
No. 00 Parity error in SSI channel CH No.
Countermeasure: Check if the unit is configured to check for the
correct type of parity (even or odd). Check the SSI-encoder.
*_ErrCode 1 *_ErrCode2 Description
0490 CH
No. 01 SSI-encoder channel CH No. not ready
Countermeasure: This error appears in case the data line is low right
before the communication with the encoder connected to channel CH
No. is started. Check the cabling between the unit and the SSI-
encoder. Check the SSI-encoder.
*_ErrCode 1 *_ErrCode2 Description
0490 CH
No. 02 SSI-encoder channel CH No. time- out
Countermeasure: This error appears in case the data line is and
stays low after the mono-flop time has expired on channel CH No.
Check if the unit is configured for the correct encoder settings. Check
the cabling between the unit and the SSI-encoder. Check the SSI-
encoder.
*_ErrCode 1 *_ErrCode2 Description
0002 Time-out in
ms (hex) A cyclic refresh time-out error was generated caused by a PLC system
error or you have chosen to disable
the Cyclic Refresh of the SSI Unit
in the NJ-series CPU Unit. This
error will be cleared as soon as
Cyclic Refresh or IORF will take
place.
000E 0000 An error has occurred on the I/O
Bus causing the SSI Unit to be in
an undefined state.
Countermeasure: Turn ON the power supply again or restart the
system. If the error persists then replace the NJ CPU.
PNSPO!
OMRON EUROPE B.V.
Wegalaan 67-69
NL-2132 JD Hoofddorp
The Netherlands
Phone (+31) 23 - 56 81 300
Fax (+31) 23 - 56 81 388
Internet: www.eu.omron.com
Note: Specification subject to change without notice.
Printed in The Netherlands