Sending Explicit Messages, Example | Omron CJ1W-DRM21, CS1W-DRM21

Controller Link Unit

Sending Explicit Messages

Section 6-4

Up to 3 levels of networks, including DeviceNet, are possible.

Controller Link Unit

CS/CJ-series DeviceNet Unit

CS/CJ-series CPU Unit

	Remote I/O communications
Controller Link	DeviceNet	CS/CJ-series DeviceNet Unit
		CS/CJ-series DeviceNet Unit

DeviceNetCS/CJ-series

DeviceNet Unit

When connecting networks, routing tables must be registered for the PC CPU

Units on all networks.

When connecting two or more communication units (including the DeviceNet Unit) to a CS/CJ-series CPU Unit, the DeviceNet Unit must be registered in the CS/CJ-series PC CPU Unit routing table (for the local network table only). Commands cannot be executed if the DeviceNet Unit is not registered.

6-4 Sending Explicit Messages

CS/CJ-series DeviceNet Units can send explicit messages. FINS command headers are attached to explicit messages and sent. Explicit messages can be sent to the following destinations.

•Masters or slaves made by other manufacturers

•Other PCs with a CS/CJ-series DeviceNet Unit.

•PCs (Slaves) with C200H I/O Link Units (See note).

Note Only reading and writing I/O memory is possible for PCs with C200H I/O Link Units. Status reading/writing is not possible.

Example

CS/CJ-series DeviceNet Unit

CS/CJ-series CPU Unit

Explicit messages can be sent FINS header

Explicit message

DeviceNet

Other manufacturer master or slave or

CS/CJ-series DeviceNet Unit

C200H I/O Link Unit

C200HX/HG/HE or

CS/CJ-series

CPU Unit (Slave)

Note: Only I/O memory read/write possible

158

Image 169

Omron CJ1W-DRM21, CS1W-DRM21 operation manual Sending Explicit Messages, Example

Contents

Revised July Page Word and is abbreviated Wd in documentation in this sense Moderate injury, or property damageThing else To the user  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 Safety Precautions General PrecautionsIntended Audience Operating Environment Precautions Operating Environment Precautions Application Precautions Application Precautions Applicable Directives Conformance to EC DirectivesConcepts Conformance to EC Directives Xvii Section Section Overview of DeviceNet Master Features DeviceNet Master Units and DeviceNet Units Overall System ConfigurationVME Master Boards Slave Features Terminals Configurator FeaturesEnvironment-resistant Terminals Remote Adapters C200H I/O Link Units Temperature Input TerminalsRS-232C Units Multiple I/O TERMINALs Applicable Units and DeviceNet Functions Master Model Without Configurator With ConfiguratorRemote I/O Master C200HX/HG/HE C200HX/HG/HE CQM1H CQM1-DRT21 Remote I/O Slave only Units Mounted in a PCCS1W-DRM21 CIO, WR, DM, EM, HR CIO, DM, EM, AR, LR, T/C Communications Instructions Message CommunicationsMaster Unit model Send Receive Master model Model Capacity Masters Communications Software Switches and Communications StatusTypes of Slave Name Appearance Points Model number Remarks DRT1-ND16S DRT1-HD16SDRT1-TS04T DRT1-TS04P DRT1-ID04CL-1 DRT1-ID04CLDRT1-ID08CL DRT1-ID08CL-1 Tion Number Supply Input Output Voltage Multiple I/O Terminal Units GT1-DA04MX GT1-AD08MXGT1-TS04T GT1-TS04P DeviceNet Configurator DeviceNet Unit Features Explicit Message Communications Without the ConfiguratorFins Message Communications User-set allocations Tions. The maximum I/O for the slave function is 100 words Configurator ConnectionThrough a Serial Line Programming CX-ProgrammerMonitoring of DeviceNet Slave PCs Ver .1 or Later Refer to 4-1 Master Remote I/O Communications for details Methods Various ConnectionMaximum Network Length 500 m General Specifications SpecificationsFunctional and Performance Specifications DeviceNet Unit 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 CS/CJ-series PC Comparison with Previous ModelsC200HW-DRM21-V1 Comparison with Previous Models Using the Configurator 300 words total for Eeprom Model Contents Personal Computer Outline of the ConfiguratorModels Configurator Specifications With no allocation area duplication Network Installation Procedure Basic Operating ProceduresHardware Preparations for Communications Sysmac Link Unit, Controller Link Unit, and Ethernet Unit Creating Routing TablesTions to be used, as shown in the table below Communications Using the Master Function Procedures Prior to Starting CommunicationsUser-set Allocations Using Allocated DM Area Words Fixed Allocations 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 Indi Color Status Meaning likely errors Status Indicators MS and NSOFF Seven-segment Digits Seven-Segment DisplayFollowing table shows the functions of the 7-segment digits Status Display Dot Indicators Switch SettingsFollowing table shows the functions of the dot indicators Unit No. Switch Baud Rate DIP Switch System Configuration Precautions Installing the DeviceNet UnitConnectors Continue/Stop Remote I/O Communications CS-series, up to 16 Units can be mounted to the CS1W-BC MountingCS-series Carefully align the connectors to mount the DeviceNet Unit Handling PrecautionsCJ-series Remove the label after wiring External Dimensions Allocated CIO and DM Words Overview of Word Allocations Allocated DM Area Words Allocated CIO Area WordsUnit number Allocated words Allocated CIO Area Words Software Switches 1 Word n Unit status area 2 word n+11 Master Status 1 word n+12 Mas Scan Unit Ter List Oper Func Sta Ating Tion Tus ModeWord n n = CIO 1,500 + 25 x unit number OFF→ List Oper Func Sta Ating Tion Tus Mas A C2 error will be displayed on Mode Alloca Tions Slave Unit Func Oper Tion Ating Mode Reserved By system Software Switches 2 Word n+1Word n+1 n = CIO 1,500 + 25 x unit number 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 Master I/O Allocation Status Master Status 2 Word n+13Code Details Word n+14 n = CIO 1,500 + 25 x unit number Slave Status 1 Word n+14 Tions Flag for Ter OUT 2/IN Slave Status 2 Word n+15 List EnabledRegistered Slave Table Words n+16 to n+19 Master Node Addresses Normal Slave Table Words n+20 to n+23 13 C200H Master Replacement Master Status 1 Word n+24Word n+24 n = CIO 1,500 + 25 x unit number ON/OFF Unit Structure Allocated DM Area Words Communications Cycle Time Setup Table Master User Allocations Setup Table Areas and Word Ranges Enabled before you set these valuesCode Name Word range Setting Results Allocation Size Setup TableCode Description Details Setting Example Slave User Allocations Setup Table Word Master User-set Allocations Reference Table Communications Cycle Time Reference TableRanges Slave User-set Allocations Reference Table Slave Detailed Status Figuration Slave with the scan list disabled Error Flags COS Remote I/O Master Communications Allocations Master Remote I/O CommunicationsMaster Communications Fixed Allocations Using the Master UserUser-set Allocations Allocations Table Section Slave alloca Fixed allo Remote I/O Master Specifications Numbers of Master Units when DeviceNet Units are used Precautions on the Number of Master UnitsPattern One Master Unit Multiple Master Units connected User-set Remote I/O Allocations Using DM Area Settings Procedure for Using Remote I/O MasterFixed Allocations for Remote I/O User-set Remote I/O Allocations Using the Configurator Scan List Scan List Contents Through the allocated DM Through the Configurator Scan List Enabled and Scan List DisabledCreating the Scan List Shown below Fixed Allocations Use a Software Switch to select the allocation areaAllocated Words Backing Up the Scan List Place the CPU Unit in Program mode Turn on ProcedureMaster Enable Switch Select Fixed Fixed Allocations Area 104 Fixed Allocations Example Changing System ComponentsNode address Outputs Inputs Product Resulting Slave Allocation Enable SwitchTurn on the Scan List User-set Allocations Methods User-set Allocations 108 Setting the Master User Allocations Table Procedure Turn on the Master Enable SwitchFirst word for the Allocation Size Setup Table Setting the Allocation Size Setup Table Turn on the Slave User Allocations Switch Changing System Components Multiple masters cannot share the same slaveMaster User Allocations Table Turning on the Master User Allocations Switch Allocation Size Setup TableResulting Slave Allocations 113 Same node address cannot be allocated more than once Procedure Step Example of User-set Allocations Using the Configurator Example of Ladder Programming for Remote I/O Communications Starting and Stopping Remote I/O CommunicationsStarting Remote I/O Communications Stopping Remote I/O Communications Example of Ladder Programming for Remote I/O Communications Following errors may occur during remote I/O communications Errors that May Occur in Remote I/O CommunicationsCondition Error Details Results Indicators Segment Display Condition Error Details Results Indicators Remote I/O Slave Communications Allocation Methods Slave Remote I/O CommunicationsSlave Communications Procedures for Using Remote I/O Slave Communications Remote I/O and Slave Communications Specifications 124 Select a Fixed Stop SlaveAllocation Area Turn on the Slave Fixed Allocation Area Stop Slave Communications Connection TypesSet the Slave User Allocations Table Slave User Allocations Table Turn on the Slave Enable Switch Turn on the Slave User Allocations Switch word n+1, bitAreas and Word Ranges for the OUT 1/IN 1 Areas Slave areas Configuration Setting throughBlock Specified connection OUT 1 area 2 area Type Connection Types and Allocated I/O Areas Message Communications Outline of Message Communications OverviewOverviewSection Fins messages Explicit messages Fins Message Communications Type of Fins message Data send/receive Fins commandsOverall Structure Nodes masters and/or slaves that support Fins messages Unit Series Any Fins CommandDeviceNet Instructions Master Unit To send Sending Fins Message Communications Explicit Message CommunicationsReceiving Fins Message Communications Sages Message Communications Specifications Message Communications Error Indications Message Communications Errors Message Monitoring Timer Indicators Fins Commands and ResponsesFins Communications Command Codes Sending/Receiving Fins Command/ResponsesAre required follow the command code Response Codes Commands Addressed to CS/CJ-series CPU Units Fins Command ListsFunction Name Command Code Units Supporting Fins Communications Error Clear Error LOG Read Error LOG Clear Function Name CommandForced SET/RESET Forced SET/RESET Cancel Clock Read Clock Write Setting Node Addresses Using Fins Message CommunicationsCommands Addressed to DeviceNet Units Command to Send Explicit DeviceNet Messages Relay network table, as described below Routing TablesLocal Network Tables Example Table is created Procedure for Creating the Routing TableRelay Network Tables Lowed on the way to the final network Description Data Send/Receive InstructionsControl Data DeviceNet networks Indicates a Unit as shown in the following table Unit Setting Operating mode, and perform other functions at other nodes Sending Fins CommandsResponse beginning at word D Using SEND090, RECV098, and CMND490 Communications Flags Type Name Address Content Word BitCommunications Flag Operation Communications Instructions Completion Codes Following tableTiming of Reading Responses Send/Receive Data Areas Command Details Example 1 Sending Data Using SendProgramming Examples Operation Bset Program Example Example 2 Sending a Fins Command Using Cmnd Example Program Connecting Networks for Fins Communications Sending Explicit Messages Sending Explicit Messages Command Block Response Block Fins Command Explicit Message Send 28Error Responses Normal Response Sending Explicit Messages Using CMND490 162 Following command is used Cmnd S D C Example Sending Explicit Messages Using CMND490Vendor code is read from a Slave Omron vendor code 002F Hex Response Receiving Explicit Messages PLC Objects provide the following services List of PLC Object ServicesStatus Read/Write for CPU Units ITOR, RUN Memory Read/Write for CPU Units Service Class ID Instance ID Request Contents Code Data Command Block CPU Information Read Service Code 0E HexAttribute ID Hex Contents Attribute value size Hexadecimal CPU Unit Write Service Code 10 Hex Fffe Error code Data cleared Hex 171 Class ID command Always 002F Hex CPU Unit Status Read Service Code 40 HexOperation Status 173 Byte Data Read Service Code 1C Hex Hexadecimal as shown in the following table Areas for the PC you are usingTo read the data is specified in hexadecimal as shown below Data will be read to the high word Specified in hexadecimal as shown in the following table Word Data Read Service Code 1D HexData from is specified in hexadecimal as shown below You are using Byte Data Write Service Code 1E HexMal Data areas for the PC you are using Word Data Write Service Code 1F HexInstance ID Hex CPU Unit memory area Word range For write Data is written is specified in hexadecimal as shown below Other Functions Connecting to the CX-Programmer via the DeviceNet Use the Configurator to set the message monitoring timer Setting the Message Monitoring Timer of the DeviceNet UnitSetting the Message Monitoring Timer 184 Response when Using the CX-Programmer via the DeviceNet Memory Card Backup Functions Restoring Unit Setup Files Backing Up Unit Setup FilesOutline of Functions File Names Saving Files from Configurator to Memory Card Communications Timing Communications Cycle Time and Refresh Time Remote I/O Communications CharacteristicsCommunications Cycle Time Communications Time/Slave Refresh Time 2 I/O Response TimeMaximum I/O Response Time Slaves with More Than 8 Bytes of Input or Out put Time PC Cycle Time Communications Cycle Minimum I/O Response Time More than One Master in Network System Startup Time Case Slave’s indicator statusMaster Function Tions start up Message Communications Time Message CommunicationsSlave Function Message Communications Only No Remote I/O Communications Request from One Client Byte Data Read Calculating the Maximum Message Response Time 198 Troubleshooting and Maintenance Determining Operating Status from the Indicators Troubleshooting with the DeviceNet Unit IndicatorsIndicator status Network/Unit status Comments Segment Error cate Indicators Gory Log Segment Hex Troubleshooting Errors Occurring in the DeviceNet Unit Master Errors Set the slaves’ node addresses again Segment MS indicator NS indicator Error log HexUse slaves with input and output areas of 200 bytes max Inspect the slave and then create the scan list again 205 Check the following CPU Unit Status Error Software Switch Setting ErrorsUnit Status Error Incorrect Setting Network ErrorsMultiple Switches on Network Power Error Node Address Duplication Error Transmission Timeout ErrorMaster’s node address is also set on another node 0342 Message Monitoring Timer List Logic Error Likely Cause Memory Access ErrorsBus Off Detected Bus Off condition was detected 211 Memory Access Error Reset the master scan list CPU Unit Faulty H2 CPU Unit Exchange ErrorsUnit Number duplication CPU Unit Memory Faulty CPU Unit Faulty H6CPU Unit Faulty Hb Table Not Registered There is an error in the contents of the routing table Routing Table Logic ErrorRefresh Error An error occurred in the CPU Unit Likely Cause CPU Unit Watchdog Timer ErrorInspect the CPU Unit’s operating environment CPU Unit Fatal Error Output OFF Error Slave ErrorsReplace the CPU Unit Output OFF Bit A50015 was turned on in the CPU Unit Error Log Table Error Log FunctionsUnit Errors Special Unit Error Monitored and the data cannot be saved Error Codes and Detail CodesTime Information Unit, the time stamp will contain all zeroes 220 221 CPU Unit’s ERR/ALM Indicator Lit or Flashing TroubleshootingRemote I/O Communications Disabled Error Probable cause Use the following table to troubleshoot I/O Link problems 3 I/O Link Problems Tinuing/stopping communications for errors Communications Error Operation SettingsUse the following table to troubleshoot scan list problems Cleaning Maintenance and ReplacementInspection Replacing Faulty Units Creating a New Network File Unit No. Set on rotary switches on front panel 0 to Software SwitchesAllocation Differences from C200H DeviceNet Master Units Word address Bit Master Status Area Status AreasDeviceNet Unit DRM21 status C200HX Unit Unit Mas C200HX Unit Unit Mas Word Series Appendix a Registered Slave Table Communications Cycle Time Present ValueCS1W CJ1W Normal Slave Table Replacing Ladder Programs from C200HW-DRM21-V1Bit CS/CJ Series CS/CJ Series C200HS Replace the addresses as shown in the following table Message Communications in Ladder ProgramsArea type C200HW-DRM21-V1 This Unit CS1W Remarks Instructions C200HW-DRM21-V1 This Unit CS1W Remarks DeviceNet Connections Connection Characteristics Setting Connection Type Connections Using AllocationsUser-set allocations Using Configurator Allocation method Contents Connection path settings cannot be made Fixed Allocation or User-set Allocations Using DMConnection Path Master COS Send Switch 239 Resets restarts the DeviceNet Unit ResetResets the DeviceNet Unit There are no responses for this command Space Baud rateReads the internal status of the DeviceNet Unit 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 Restoring Unit Setup Files Backing Up Unit Setup FilesOutline of Functions File Names Saving Files from Configurator to Memory Card Connecting an Omron Slave to another Company’s Configurator Connecting another Company’s Slaves to an Omron MasterMulti-vendor Applications Master Unit Device Profile ID content Get read Set write ValueObject Mounting Identity Object 01 Hex DeviceNet Object 03 Hex Appendix EConnection Object 05 Hex MAC ID Section Information Max. No. of instances ID content Get Set Value Read Write Number of output bytes used by Slave 256 ACK Communications type Instance type PC Object 2F HexFormat Transport class trigger TIM/CNT DeviceNet service Parameter option PC area Refresh area type Refresh address Command Command code When the explicit message execution failed or timed outExplicit Message Send Appendix F Index Index 265 266 Cat. No. W380-E1-2 Revision History