Example 2 Sending a Fins Command Using Cmnd | Omron CJ1W-DRM21

Using FINS Message Communications		Section 6-3
Example 2: Sending a FINS Command Using CMND
CS/CJ-series	CMND	CS/CJ-series
DeviceNet Unit No. 0		DeviceNet Unit
		DeviceNet Unit
CPU		CPU
Unit		Unit
		Unit ad-
		dress: 00
Node 05	Network 01	Node 06
	Network 01

MEMORY AREA READ command

Operation

•The PC with DeviceNet Unit 1 with node address 5 reads the data from the 5 words D01000 to D01004 from the PC with DeviceNet Unit 2 with node address 06.

•The MEMORY AREA READ command (01 01) is used to read variable data.

•Command data is written starting from D01000 in the PC with De- viceNet Unit 1 with node address 5 and the response data is written starting from D02000.

•The completion code is stored in D00006 when execution of SEND has been completed.

Command Details

The following command is used: [CMND S

D

C]

S = D01000: First command word at local node

Settings (Hex)

D01000 = 0101: Command Code

D01001 = 8203: Command parameters

D01002 = E800: Command parameters

D01003 = 0005: Command parameters

D = D02000: First response word at local node

C = D00000: First control word

Settings (Hex).

D00000 = 0008: Number of command bytes

D00001 = 000E: Number of response bytes

D00002 = 0001: Destination network address

D00003 = 0600: Destination node address (06)

Destination unit address (00 = CPU Unit)

D00004 = 0000: Response, communications port 0, no retries

D00005 = 0064: Response monitoring time

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Image 167

Omron CJ1W-DRM21, CS1W-DRM21 operation manual Example 2 Sending a Fins Command Using Cmnd

Contents

Revised July Page To the user Moderate injury, or property damageWord and is abbreviated Wd in documentation in this sense Thing else  Omron Trademarks and Copyrights Table of Contents Remote I/O Slave Communications 121 About this Manual Manual Products Contents Cat. No WS02-CXPC1-EV Precautions Intended Audience General PrecautionsSafety Precautions Operating Environment Precautions Operating Environment Precautions Application Precautions Application Precautions Conformance to EC Directives Conformance to EC DirectivesApplicable Directives Concepts Xvii Section Section Overview of DeviceNet VME Master Boards Overall System ConfigurationMaster Features DeviceNet Master Units and DeviceNet Units Remote Adapters Configurator FeaturesSlave Features Terminals Environment-resistant Terminals Multiple I/O TERMINALs Temperature Input TerminalsC200H I/O Link Units RS-232C Units C200HX/HG/HE Master Model Without Configurator With ConfiguratorApplicable Units and DeviceNet Functions Remote I/O Master CIO, DM, EM, AR, LR, T/C Remote I/O Slave only Units Mounted in a PCC200HX/HG/HE CQM1H CQM1-DRT21 CS1W-DRM21 CIO, WR, DM, EM, HR Master model Model Capacity Message CommunicationsCommunications Instructions Master Unit model Send Receive Types of Slave Communications Software Switches and Communications StatusMasters Name Appearance Points Model number Remarks DRT1-TS04P DRT1-HD16SDRT1-ND16S DRT1-TS04T DRT1-ID08CL-1 DRT1-ID04CLDRT1-ID04CL-1 DRT1-ID08CL Tion Number Supply Input Output Voltage Multiple I/O Terminal Units GT1-TS04P GT1-AD08MXGT1-DA04MX GT1-TS04T DeviceNet Configurator DeviceNet Unit Features User-set allocations Without the ConfiguratorExplicit Message Communications Fins Message Communications Through a Serial Line Configurator ConnectionTions. The maximum I/O for the slave function is 100 words Slave PCs Ver .1 or Later CX-ProgrammerProgramming Monitoring of DeviceNet Refer to 4-1 Master Remote I/O Communications for details 500 m Various ConnectionMethods Maximum Network Length DeviceNet Unit SpecificationsGeneral Specifications Functional and Performance Specifications Figurator Specifications OUT Section Remote I/O Allocation method Fixed allo CVM1/CV Cations parameter settings, etc CS1W-DRM21 Comparison between CS1W-DRM21 and CJ1W-DRM21 C200HW-DRM21-V1 Comparison with Previous ModelsCS/CJ-series PC Comparison with Previous Models Using the Configurator 300 words total for Eeprom Models Outline of the ConfiguratorModel Contents Personal Computer Configurator Specifications With no allocation area duplication Hardware Preparations for Communications Basic Operating ProceduresNetwork Installation Procedure Communications Creating Routing TablesSysmac Link Unit, Controller Link Unit, and Ethernet Unit Tions to be used, as shown in the table below Fixed Allocations Procedures Prior to Starting CommunicationsUsing the Master Function User-set Allocations Using Allocated DM Area Words User-set Allocations Using the Configurator Using Slave Function Section Section Situation Action List of Usage Methods by Purpose List of Usage Methods by Purpose Nomenclature and Installation Nomenclature and Functions IndicatorsNomenclature and Functions OFF Status Indicators MS and NSIndi Color Status Meaning likely errors Status Display Seven-Segment DisplaySeven-segment Digits Following table shows the functions of the 7-segment digits Unit No. Switch Switch SettingsDot Indicators Following table shows the functions of the dot indicators Baud Rate DIP Switch Continue/Stop Remote I/O Communications Installing the DeviceNet UnitSystem Configuration Precautions Connectors CS-series MountingCS-series, up to 16 Units can be mounted to the CS1W-BC CJ-series Handling PrecautionsCarefully align the connectors to mount the DeviceNet Unit Remove the label after wiring External Dimensions Allocated CIO and DM Words Overview of Word Allocations Unit number Allocated words Allocated CIO Area WordsAllocated DM Area Words Allocated CIO Area Words Software Switches 1 Word n OFF→ Mas Scan Unit Ter List Oper Func Sta Ating Tion Tus ModeUnit status area 2 word n+11 Master Status 1 word n+12 Word n n = CIO 1,500 + 25 x unit number List Oper Func Sta Ating Tion Tus Mas A C2 error will be displayed on Mode Alloca Tions Word n+1 n = CIO 1,500 + 25 x unit number Software Switches 2 Word n+1Slave Unit Func Oper Tion Ating Mode Reserved By system Slave Unit Func Oper Tion Ating Mode User Allocates the following words to the slave Pro Scan Slave Unit List Func Oper Sta Tion Ating Tus Mode Disconnect/Connect Switches Words n+6 to n+9 Master COS Send Switches Words n+2 to n+5 Bit Name Status Controlled Unit operation Word n+10 n = CIO 1,500 + 25 x unit number Unit Status 1 Word n+10 Word n+11 n = CIO 1,500 + 25 x unit number Unit Status 2 Word n+11 Itored from I/O Data Communications Flag word n+12 bit Word n+12 n = CIO 1,500 + 25 x unit number Master Status 1 Word n+12 Code Details Master Status 2 Word n+13Master I/O Allocation Status Word n+14 n = CIO 1,500 + 25 x unit number Slave Status 1 Word n+14 Tions Flag for Ter OUT 2/IN Master Node Addresses List EnabledSlave Status 2 Word n+15 Registered Slave Table Words n+16 to n+19 ON/OFF 13 C200H Master Replacement Master Status 1 Word n+24Normal Slave Table Words n+20 to n+23 Word n+24 n = CIO 1,500 + 25 x unit number Unit Structure Allocated DM Area Words Communications Cycle Time Setup Table Master User Allocations Setup Table Code Name Word range Enabled before you set these valuesAreas and Word Ranges Code Description Details Allocation Size Setup TableSetting Results Setting Example Slave User Allocations Setup Table Word Ranges Communications Cycle Time Reference TableMaster User-set Allocations Reference Table Slave User-set Allocations Reference Table Slave Detailed Status Figuration Slave with the scan list disabled Error Flags COS Remote I/O Master Communications Master Communications Master Remote I/O CommunicationsAllocations Allocations Table Using the Master UserFixed Allocations User-set Allocations Section Slave alloca Fixed allo Remote I/O Master Specifications Pattern One Master Unit Multiple Master Units connected Precautions on the Number of Master UnitsNumbers of Master Units when DeviceNet Units are used Fixed Allocations for Remote I/O Procedure for Using Remote I/O MasterUser-set Remote I/O Allocations Using DM Area Settings User-set Remote I/O Allocations Using the Configurator Scan List Scan List Contents Shown below Scan List Enabled and Scan List DisabledThrough the allocated DM Through the Configurator Creating the Scan List Backing Up the Scan List Use a Software Switch to select the allocation areaFixed Allocations Allocated Words Select Fixed ProcedurePlace the CPU Unit in Program mode Turn on Master Enable Switch Fixed Allocations Area 104 Node address Outputs Inputs Product Changing System ComponentsFixed Allocations Example Turn on the Scan List Enable SwitchResulting Slave Allocation User-set Allocations Methods User-set Allocations 108 Setting the Allocation Size Setup Table Procedure Turn on the Master Enable SwitchSetting the Master User Allocations Table First word for the Allocation Size Setup Table Turn on the Slave User Allocations Switch Master User Allocations Table Multiple masters cannot share the same slaveChanging System Components Resulting Slave Allocations Allocation Size Setup TableTurning on the Master User Allocations Switch 113 Same node address cannot be allocated more than once Procedure Step Example of User-set Allocations Using the Configurator Stopping Remote I/O Communications Starting and Stopping Remote I/O CommunicationsExample of Ladder Programming for Remote I/O Communications Starting Remote I/O Communications Example of Ladder Programming for Remote I/O Communications Condition Error Details Results Indicators Segment Display Errors that May Occur in Remote I/O CommunicationsFollowing errors may occur during remote I/O communications Condition Error Details Results Indicators Remote I/O Slave Communications Slave Communications Slave Remote I/O CommunicationsAllocation Methods Procedures for Using Remote I/O Slave Communications Remote I/O and Slave Communications Specifications 124 Turn on the Slave Stop SlaveSelect a Fixed Allocation Area Fixed Allocation Area Slave User Allocations Table Connection TypesStop Slave Communications Set the Slave User Allocations Table Areas and Word Ranges for the OUT 1/IN 1 Areas Turn on the Slave User Allocations Switch word n+1, bitTurn on the Slave Enable Switch Slave areas Block Setting throughConfiguration Specified connection OUT 1 area 2 area Type Connection Types and Allocated I/O Areas Message Communications Fins messages Explicit messages OverviewOutline of Message Communications OverviewSection Nodes masters and/or slaves that support Fins messages Type of Fins message Data send/receive Fins commandsFins Message Communications Overall Structure Master Unit To send Any Fins CommandUnit Series DeviceNet Instructions Receiving Fins Message Communications Explicit Message CommunicationsSending Fins Message Communications Sages Message Communications Specifications Message Communications Error Indications Message Communications Errors Message Monitoring Timer Fins Communications Fins Commands and ResponsesIndicators Response Codes Sending/Receiving Fins Command/ResponsesCommand Codes Are required follow the command code Units Supporting Fins Communications Fins Command ListsCommands Addressed to CS/CJ-series CPU Units Function Name Command Code Clock Read Clock Write Function Name CommandError Clear Error LOG Read Error LOG Clear Forced SET/RESET Forced SET/RESET Cancel Command to Send Explicit DeviceNet Messages Using Fins Message CommunicationsSetting Node Addresses Commands Addressed to DeviceNet Units Example Routing TablesRelay network table, as described below Local Network Tables Lowed on the way to the final network Procedure for Creating the Routing TableTable is created Relay Network Tables DeviceNet networks Data Send/Receive InstructionsDescription Control Data Indicates a Unit as shown in the following table Unit Setting Response beginning at word D Sending Fins CommandsOperating mode, and perform other functions at other nodes Using SEND090, RECV098, and CMND490 Communications Flag Operation Type Name Address Content Word BitCommunications Flags Send/Receive Data Areas Following tableCommunications Instructions Completion Codes Timing of Reading Responses Operation Example 1 Sending Data Using SendCommand Details Programming Examples Bset Program Example Example 2 Sending a Fins Command Using Cmnd Example Program Connecting Networks for Fins Communications Sending Explicit Messages Sending Explicit Messages Normal Response Fins Command Explicit Message Send 28Command Block Response Block Error Responses Sending Explicit Messages Using CMND490 162 Vendor code is read from a Slave Omron vendor code 002F Hex Example Sending Explicit Messages Using CMND490Following command is used Cmnd S D C Response Receiving Explicit Messages ITOR, RUN List of PLC Object ServicesPLC Objects provide the following services Status Read/Write for CPU Units Memory Read/Write for CPU Units Service Class ID Instance ID Request Contents Code Data Hexadecimal CPU Information Read Service Code 0E HexCommand Block Attribute ID Hex Contents Attribute value size CPU Unit Write Service Code 10 Hex Fffe Error code Data cleared Hex 171 Operation Status CPU Unit Status Read Service Code 40 HexClass ID command Always 002F Hex 173 Byte Data Read Service Code 1C Hex Data will be read to the high word Areas for the PC you are usingHexadecimal as shown in the following table To read the data is specified in hexadecimal as shown below Data from is specified in hexadecimal as shown below Word Data Read Service Code 1D HexSpecified in hexadecimal as shown in the following table Mal Byte Data Write Service Code 1E HexYou are using Instance ID Hex CPU Unit memory area Word range For write Word Data Write Service Code 1F HexData areas for the PC you are using Data is written is specified in hexadecimal as shown below Other Functions Connecting to the CX-Programmer via the DeviceNet Monitoring Timer Setting the Message Monitoring Timer of the DeviceNet UnitUse the Configurator to set the message monitoring timer Setting the Message 184 Response when Using the CX-Programmer via the DeviceNet Memory Card Backup Functions Outline of Functions Backing Up Unit Setup FilesRestoring Unit Setup Files File Names Saving Files from Configurator to Memory Card Communications Timing Communications Cycle Time Remote I/O Communications CharacteristicsCommunications Cycle Time and Refresh Time Communications Time/Slave Slaves with More Than 8 Bytes of Input or Out put 2 I/O Response TimeRefresh Time Maximum I/O Response Time Time PC Cycle Time Communications Cycle Minimum I/O Response Time More than One Master in Network Tions start up Case Slave’s indicator statusSystem Startup Time Master Function Message Communications Only No Remote I/O Communications Message CommunicationsMessage Communications Time Slave Function Request from One Client Byte Data Read Calculating the Maximum Message Response Time 198 Troubleshooting and Maintenance Indicator status Network/Unit status Comments Segment Troubleshooting with the DeviceNet Unit IndicatorsDetermining Operating Status from the Indicators Error cate Indicators Gory Log Segment Hex Troubleshooting Errors Occurring in the DeviceNet Unit Master Errors Use slaves with input and output areas of 200 bytes max Segment MS indicator NS indicator Error log HexSet the slaves’ node addresses again Inspect the slave and then create the scan list again 205 Check the following Unit Status Error Software Switch Setting ErrorsCPU Unit Status Error Network Power Error Network ErrorsIncorrect Setting Multiple Switches on 0342 Transmission Timeout ErrorNode Address Duplication Error Master’s node address is also set on another node Bus Off condition was detected Memory Access ErrorsMessage Monitoring Timer List Logic Error Likely Cause Bus Off Detected 211 Memory Access Error Reset the master scan list Unit Number duplication CPU Unit Exchange ErrorsCPU Unit Faulty H2 Table Not Registered CPU Unit Faulty H6CPU Unit Memory Faulty CPU Unit Faulty Hb Refresh Error Routing Table Logic ErrorThere is an error in the contents of the routing table Inspect the CPU Unit’s operating environment Likely Cause CPU Unit Watchdog Timer ErrorAn error occurred in the CPU Unit Output OFF Bit A50015 was turned on in the CPU Unit Slave ErrorsCPU Unit Fatal Error Output OFF Error Replace the CPU Unit Special Unit Error Error Log FunctionsError Log Table Unit Errors Unit, the time stamp will contain all zeroes Error Codes and Detail CodesMonitored and the data cannot be saved Time Information 220 221 Error Probable cause TroubleshootingCPU Unit’s ERR/ALM Indicator Lit or Flashing Remote I/O Communications Disabled Use the following table to troubleshoot I/O Link problems 3 I/O Link Problems Use the following table to troubleshoot scan list problems Communications Error Operation SettingsTinuing/stopping communications for errors Inspection Maintenance and ReplacementCleaning Replacing Faulty Units Creating a New Network File Word address Bit Software SwitchesUnit No. Set on rotary switches on front panel 0 to Allocation Differences from C200H DeviceNet Master Units C200HX Unit Unit Mas Status AreasMaster Status Area DeviceNet Unit DRM21 status C200HX Unit Unit Mas Word Series Appendix a CJ1W Communications Cycle Time Present ValueRegistered Slave Table CS1W CS/CJ Series C200HS Replacing Ladder Programs from C200HW-DRM21-V1Normal Slave Table Bit CS/CJ Series Instructions C200HW-DRM21-V1 This Unit CS1W Remarks Message Communications in Ladder ProgramsReplace the addresses as shown in the following table Area type C200HW-DRM21-V1 This Unit CS1W Remarks DeviceNet Connections Connection Characteristics Allocation method Contents Connections Using AllocationsSetting Connection Type User-set allocations Using Configurator Connection Path Fixed Allocation or User-set Allocations Using DMConnection path settings cannot be made Master COS Send Switch 239 There are no responses for this command ResetResets restarts the DeviceNet Unit Resets the DeviceNet Unit Reads the internal status of the DeviceNet Unit Baud rateSpace Echoback Test Test Data Command, Response Reads the error history saved in the DeviceNet Unit Read Error History Error History Clear Appendix C Appendix D Outline of Functions Backing Up Unit Setup FilesRestoring Unit Setup Files File Names Saving Files from Configurator to Memory Card Multi-vendor Applications Connecting another Company’s Slaves to an Omron MasterConnecting an Omron Slave to another Company’s Configurator Identity Object 01 Hex ID content Get read Set write ValueMaster Unit Device Profile Object Mounting MAC ID Appendix EDeviceNet Object 03 Hex Connection Object 05 Hex Section Information Max. No. of instances ID content Get Set Value Read Write Number of output bytes used by Slave 256 ACK Format Transport class trigger PC Object 2F HexCommunications type Instance type TIM/CNT DeviceNet service Parameter option PC area Refresh area type Refresh address Explicit Message Send When the explicit message execution failed or timed outCommand Command code Appendix F Index Index 265 266 Cat. No. W380-E1-2 Revision History