Omron C200HW-CORT21 User manual

C200HW-CORT21
CAN Unit
OPERATION MANUAL
Cat. No. W904-E2-1

C200HW-CORT21
CAN Unit
Operation Manual
Produced July 2000

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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, 2000
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 SPECIFICATIONS AND PERFORMANCE..................................15
1-1 Overall Specifications............................................................................................................................................16
1-2 Dimensions.............................................................................................................................................................17
1-3 Performance...........................................................................................................................................................18
2 INSTALLATION................................................................................23
2-1 Physical layout of the Unit.....................................................................................................................................24
2-2 Mounting the C200HW-CORT21..........................................................................................................................27
2-3 Network cabling.....................................................................................................................................................27
3 PLC INTERFACE..............................................................................29
3-1 Unit Settings...........................................................................................................................................................30
3-2 Control and Status area ..........................................................................................................................................32
3-3 LEDs, 7-Segment Display......................................................................................................................................37
4 MESSAGE COMMUNICATION, IOWR / IORD.........................39
4-1 Message communication........................................................................................................................................40
4-2 IOWR / IORD........................................................................................................................................................40
4-3 Error log.................................................................................................................................................................41
4-4 Reading the error log..............................................................................................................................................43
4-5 Transmitting a user defined CAN message............................................................................................................43
4-6 Receiving a user defined CAN message ................................................................................................................44
5 TROUBLESHOOTING AND MAINTENANCE...........................49
5-1 Error Indicators......................................................................................................................................................50
5-2 Troubleshooting .....................................................................................................................................................50
5-3 Maintenance...........................................................................................................................................................52
Appendices
Appendix A CS1 PLC series compatibility ..............................................................................................55
Revision History.........................................................................................57

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About this Manual:
This manual describes the installation and operation of the CAN Unit and includes the sections
described below.
Please read this manual carefully and be sure you understand the information provided before
attempting to install and operate the CAN Unit. Be sure to read the precautions provided in the
following section.
Section 1 describes the overall specifications and the communication performance of the Unit.
Section 2 describes the installation of the C200HW-CORT21.
Section 3 describes the interface with the user via the PLC system.
Section 4 describes the message communication.
Section 5 describes the troubleshooting procedures and maintenance operations.
Failure to read and understand the information provided in this manual may result
in personal injury or death, damage to the product, or product failure. Please read
each section in its entirety and be sure you understand the information provided in
the section and related sections before attempting any of the procedures or
operations given.
!
WARNING

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PRECAUTIONS
This section provides general precautions for using the CAN Units, Programmable Controllers, and related devices.
The information contained in this section is important for the safe and reliable application of the CAN Units. You
must read this section and understand the information contained before attempting to set up or operate a CAN
Unit and PLC system.
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

Operating Environment Precautions Section 4
xii
1 Intended Audience
This manual is intended for the following personnel, who must also have
knowledge of electrical systems (an electrical engineer or the equivalent).
•Personnel in charge of installing FA systems.
•Personnel in charge of designing FA systems.
•Personnel in charge of managing FA systems and facilities.
2 General Precautions
The user must operate the product according to the performance
specifications described in the operation manuals.
Before using the product under conditions which are not described in the
manual or applying the product to nuclear control systems, railroad systems,
aviation systems, vehicles, combustion systems, medical equipment,
amusement machines, safety equipment, and other systems, machines, and
equipment that may have a serious influence on lives and property if used
improperly, consult your OMRON representative.
Make sure that the ratings and performance characteristics of the product are
sufficient for the systems, machines, and equipment, and be sure to provide
the systems, machines, and equipment with double safety mechanisms.
This manual provides information for installing and operating OMRON CAN
Units. Be sure to read this manual before operation and keep this manual
close at hand for reference during operation.
It is extremely important that a PLC and all PLC Units be used for the
specified purpose and under the specified conditions, especially in
applications that can directly or indirectly affect human life. You must consult
with your OMRON representative before applying a PLC system to the above
mentioned applications.
3 Safety Precautions
Never attempt to disassemble any Units while power is being supplied. Doing
so may result in serious electrical shock or electrocution.
Never touch any of the terminals while power is being supplied. Doing so
may result in serious electrical shock or electrocution.
4 Operating Environment Precautions
Do not operate the control system in the following places.
•Where the PLC is exposed to direct sunlight.
•Where the ambient temperature is below 0°C or over 55°C.
•Where the PLC may be affected by condensation due to radical
temperature changes.
•Where the ambient humidity is below 10% or over 90%.
•Where there is any corrosive or inflammable gas.
•Where there is excessive dust, saline air, or metal powder.
•Where the PLC is affected by vibration or shock.
•Where any water, oil, or chemical may splash on the PLC.
!
WARNING
!
WARNING
!
WARNING

Application Precautions
Section 5
xiii
The operating environment of the PLC System can have a large effect on the
longevity and reliability of the system. Improper operating environments can
lead to malfunction, failure, and other unforeseeable problems with the PLC
System. Be sure that the operating environment is within the specified
conditions at installation and remains within the specified conditions during
the life of the system.
5 Application Precautions
Observe the following precautions when using the CAN Units or the PLC.
Failure to abide by the following precautions could lead to serious or possibly
fatal injury. Always heed these precautions.
•Always ground the system to 100 Ωor less when installing the system to
protect against electrical shock.
•Always turn OFF the power supply to the PLC before attempting any of the
following. Performing any of the following with the power supply turned ON
may lead to electrical shock:
•Mounting or removing any Units (e.g., I/O Units, CPU Unit, etc.) or
memory cassettes.
•Assembling any devices or racks.
•Connecting or disconnecting any cables or wiring.
Failure to abide by the following precautions could lead to faulty operation of
the PLC or the system or could damage the PLC or PLC Units. Always heed
these precautions.
•Use the Units only with the power supplies and voltages specified in the
operation manuals. Other power supplies and voltages may damage the
Units.
•Take measures to stabilise the power supply to conform to the rated supply
if it is not stable.
•Provide circuit breakers and other safety measures to provide protection
against shorts in external wiring.
•Do not apply voltages exceeding the rated input voltage to Input Units. The
Input Units may be destroyed.
•Do not apply voltages exceeding the maximum switching capacity to
Output Units. The Output Units may be destroyed.
•Always disconnect the LG terminal when performing withstand voltage
tests.
•Install all Units according to instructions in the operation manuals. Improper
installation may cause faulty operation.
•Provide proper shielding when installing in the following locations:
•Locations subject to static electricity or other sources of noise.
•Locations subject to strong electromagnetic fields.
•Locations subject to possible exposure to radiation.
•Locations near power supply lines.
•Be sure to tighten Backplane screws, terminal screws, and cable connector
screws securely.
•Do not attempt to take any Units apart, to repair any Units, or to modify any
Units in any way.
The following precautions are necessary to ensure the general safety of the
system. Always heed these precautions.
•Provide double safety mechanisms to handle incorrect signals that can be
generated by broken signal lines or momentary power interruptions.
•Provide external interlock circuits, limit circuits, and other safety circuits in
!
Caution
!
Caution
!
Caution
!
WARNING

EC Directives Section 6
xiv
addition to any provided within the PLC to ensure safety.
6 EC Directives
1,2,3…
1,2,3…
C200HW-CORT21 Units that meet EC directives must be installed as
follows:
1. C200HW-CORT21 Units are defined for installation inside control panels.
All C200HW-CORT21 Units must be installed within control panels.
2. Use reinforced insulation or double insulation for the DC power supplies
used for the communications power supply, internal circuit power supply,
and the I/O power supplies.
3. C200HW-CORT21 Units that meet EC directives also meet the common
emission standard (EN50081-2). When C200HW-CORT21 products are
built into equipment, however, the measure necessary to ensure that the
standard is met will vary with the overall configuration of the control
panel, the other devices connected tot the control panel, and other
conditions. You must therefore confirm that EC directives are met for the
overall machine or device.
The following examples show means of reducing noise.
1. Noise from the communications cable can be reduced by installing a
ferrite core on the communications cable within 10 cm of the C200HW-
CORT21 Unit.
2. Wire the control panel with a thick and short electric lines as possible and
ground to 100 Ωor less.
3. Keep the communications cables as short as possible and ground to
100 Ωor less.

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1Specifications and Performance
This section describes the overall specifications and the communication performance of the Unit
1-1 Overall Specifications............................................................................................................................................16
1-2 Dimensions.............................................................................................................................................................17
1-3 Performance...........................................................................................................................................................18
1-3-1PLC cycle time................................................................................................................................................18
1-3-2CAN Interface.................................................................................................................................................18
1-3-3Overall performance.......................................................................................................................................20
1-3-3-1 Transmission of user defined CAN messages...........................................................................................................20
1-3-3-2 Reception of user defined CAN messages ................................................................................................................20

Overall Specifications Section 1-1
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1-1 Overall Specifications
Model code C200HW-CORT21
Host PLC system C200HE, C200HG, C200HX, CS1
C200HE
C200HG-CPU3❏-E/CPU4❏-E
C200HX-CPU3❏-E/CPU4❏-E 10
Maximum number of Units
per PLC system.
All others 16
Unit mounting position CPU Rack or Expansion I/O Rack
Unit cannot be mounted to SYSMAC BUS Slave Racks.
Current consumption Internal I/O power supply: 250 mA at 5V DC max. (from PLC)
Network power supply: 45 mA max. (from communications connector)
Network power supply 24 V DC ±10%
Installation
Weight 250 g
Storage temperature -20 to +75°C
Operating temperature 0 to +55°C
Operating humidity 10% to 90% (non-condensing)
Environment
Conformance to EMC- and
environmental standards EN50081-2
EN61131-2
Switch Settings Special I/O Unit number (0 ~ F) by rotary switch
Network baud rate (10 kbit/s ~ 1000 kbit/s) by 3 DIP-switches
User
interface
Indicators Unit status: RUN (green LED), ERR (red LED)
Network status: 2 x 7-segment display
No. of IR words PLC →Unit: 3 words
Unit →PLC: 5 words
No. of DM settings 20 words
Amount of I/O data
per Unit CAN data is transmitted via IOWR PLC instruction and received CAN
messages are transferred during the I/O refresh. Max number of words
transferred during I/O refresh is 91 words.
PLC interface
Message communications Via IOWR / IORD instructions
Bus connector 5-pin male open style connector
Node address N.A.
Baud rate 10, 20, 50, 125, 250, 500, 800, 1000 kbit/s
(note: Refer to section 3-1-1 for the configuration of any arbitrary baud rate via
the DM settings.)
Network
interface
CAN interface ISO 11898, High Speed CAN.

Dimensions Section 1-2
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1-2 Dimensions
Dimensions The following figure shows the dimensions of the Unit. Refer to the PLC’s
Installation Guide for the dimensions of the Unit when it is mounted to the
Backplane of the host PLC. (All dimensions are in mm.)

Performance Section 1-3
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1-3 Performance
The overall performance of C200HW-CORT21 depends on the performance
of the PLC interface and on the performance of the CAN interface. In the
next two sub-sections, these two factors will be described first. After that the
overall performance is described.
1-3-1 PLC cycle time
PLC cycle time The host PLC’s cycle time mainly depends on the size of the PLC program
and the I/O refresh times of all I/O Units on its backplane(s).
The size of the PLC program is application specific. Besides optimising the
PLC program, the program execution time can only be decreased by using a
faster CPU Unit.
I/O Refresh Time The total I/O refresh time depends on the types of Units that are mounted on
the backplane(s). Not all Units refresh the same amount of data.
The I/O refresh time of the C200HW-CORT21 depends on the number of
user defined CAN messages that have been received since the last I/O
refresh. Refer to section 4-6 for details about receiving user defined CAN
messages.
Calculation The I/O refresh time of the C200HW-CORT21 is:
tIORF = 1.0 + 0.11 x nm [ms]
where nm= number of received CAN messages (1 ~ 15)
Refer to the PLC Operation Manual for more detailed calculations of the PLC
cycle time.
1-3-2 CAN Interface This sub-section describes the performance of the physical layer CAN and
the performance of the CAN interface of C200HW-CORT21.
The following figure depicts the transmission of CAN messages on the bus.
Message delay time
Every message has a certain message delay time, that is mainly determined
by the size of the data field in the message. The implemented bit-stuff
mechanism (after every 5 consecutive equal value bits, a bit of the opposite
polarity is added) can lengthen the message delay time up to about 15%.
The following formulas give the minimum and maximum message delay time.