Manual Ethernet/IP
Contents
1. 19 4 1 4 Total resolution 2122212 20 4 1 5 2 44 4 10000 20 4 1 6 Velocity 21 4 1 7 Device 42 1 2 21 4 1 8 Endless Shaft 21 5 Installation eere 22 5 1 Electrical 22 5 2 Ethernet 22 Version 10 08 Page 3 UME OCD EE POSITAL FRABA CONTENTS 1 Introduction Absolute rotary encoders provide a definite value for every possible position All these values are reflected on one or more code discs The beams of infrared LEDs are sent through code discs and detected by Opto Arrays The output signals are electronically amplified and the resulting value is transferred to the interface The absolute rotary encoder has a maximum reso lution of 65536 steps per revolution 16 Bit The Multi Turn version can detect up to 16384 revolu tions 14 Bit Therefore the largest resulting reso lution is 30 Bit 2 1 073 741 824 steps The stan dard Single Turn version has 13 Bit the standard Multi Turn version 25 Bit Ethernet Frame The integrated Ethernet interface of the absolute rotary encoder supports all necessary the EtherNet IP functions The protocol supports the programming of the following additional functions in several ways2. 39 2 3 TCP IP Interface qq 10 3 Minimum mechanical 40 2 3 1 Status Instance Attribute 01 11 10 4 Environmental Conditions 40 2 3 2 Configuration Instance Attribute O2hex 42 10 5 Mechanical 5 41 2 3 3 Configuration Control Inst Attribute 04nex 12 11 Models Ordering Description 43 2 3 4 Physical Link Object 5 12 12 Accessories and Documentation 44 2 3 5 Interface Configuration 06nex 13 2 3 6 Host 13 2 4 Ethernet Link Object 14 2 4 0 Instance Attributes 14 2 4 1 Interface 15 2 4 2 Common 15 2 4 4 Link Object 16 2 5 Setting parameters with scanner 16 3 Diagnostic eese 4 Programmable Parameters 4 1 Encoder parameters for Position Sensor Object Class 23 19 4 1 1 Direction counting 2 2 2 22222 19 4 1 2 Scaling function control 19 4 1 3 Resolution per revolution
3. plemented maxi im mum value shall be 3 The largest instance number of a created object at this class hier archy level The number of object instances at this class hierarchy level Semantics of Values Interface speed currently Speed in Mbps e g 10 100 See chapter 2 4 1 3 Physical Displayed format XX XX XX Address 6 USINTs XX XX XX 1 The interface is internal to the device i e in the case of 7 Interface Type USINT Type of interface an embedded switch 2 Twisted pair e g 100Base TX 0 No link 8 Interface State USINT Current state of the inter 1 interface is enabled face and is ready to send and re ceive data SHORT S Human readable identifi or 10 Get Interface Label External Port 1 or TRING cation External Port 2 Version 10 08 Page 14 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE 2 4 1 Interface Flags Bit s 2 4 2 4 2 Common Services Service Code OEnex 1 Onex Called Link Status Half Full Duplex Negotiation Status Manual Requires Reset Local Fault Reserved Version 10 08 Setting Hardware USER MANUAL Definition Indicates whether or not the Ethernet 802 3 communications interface is connected to an active network 0 indicates an inactive link 1 indicates an active link The determination of link status is implementation specific In so
4. Set Name Data Type Description Status DWORD Interface status details in chapter 2 3 1 Giotto DWORD Interface capability flags details in chapter 2 3 2 Configuration Control DWORD Interface control flags details in chapter 2 3 3 Physical Link Object STRUCT of Path to physical link object Path size UINT Size of path Path Padded EPATH Logical segments identifying the physical link object Interface Configuration STRUCT of TCP IP network interface configu ration IP Address UDINT The device s IP address Network Mask UDINT The device s network mask Host Name STRING 2 3 1 Status Instance Attribute 01 hex Bit s 0 3 5 31 Called Interface Configuration Status Mcast Pending Reserved Version 10 08 Definition 0 The Interface Configuration attribute has not been configured 1 The Interface Configuration attribute contains valid configuration obtained from BOOTP DHCP or nonvolatile storage 2 The Interface Configuration attribute contains valid configuration obtained from hardware settings e g pushwheel thumbwheel etc 3 15 Reserved for future use Indicates the status of the Interface Configuration attribute Indicates a pending configuration change in the TTL Value and or Mcast Config attributes This bit shall be set when either the TTL Value or Mcast Config attrib ute is set and shall be cleared the next time the device starts Reserved for future use
5. Unregister a device Rockwell Software s EDS Wizard 2 SCANport Drives on EtherNet IP This option wil remove a device that has been registered by an EDS file from E Vendor our database Rockwell Automation Reliance Electric Rockwell Automation Allen Bradley B Change a device s graphic image Rockwell Software Inc This option allows you to replace the graphic image icon file associated with a device H 4 gt MY Graph Spreadsheet Diagnostics Date Description 03 09 2008 14 31 21 RSLogix edits exist in the device or module configuration data To include these edits in the network configuration dick the Edits Enabled checkt Messages Version 10 08 Page 27 UME OCD EE e gt gt gt 00 Rockwell Software s EDS Wizard Registration Blectronic Data Sheet file s will be added to your system for use in Rockwell Software applications Register a single file Register a directory of EDS files Look ir Ider Named E EDS Posital_OCD_Encoer eds i If there is an icon file ico with the same name as the file s you are registering then this image will be associated with the device To perform an installation test on the file s click Next lt Zurick Weter gt _ Abbrechen Rockwell Software s EDS Wizard EDS File Installation Test Results This test evaluates each EDS file
6. 2mm T 1 1 ke o ak 8 S S 8 2 a Y L y U y Y 3 CIIN TTA CONT III i a3 a O gt 13 60 TK 42 4 60 Single 68mm Multi 80mm i x k g 18 zl E 7 8 DERE 9 S 8 27 N Y dj Y Lj Y M3x0 5 6H Y 6 T Y T_T gt lt M4x0 7 6H Y 6 3 PR 80 13 60 TKQ 48 Version 10 08 Page 41 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 10 5 3 Blind Hollow Shaft B 72 63 15 E s 20 _20 Mounting instructions The clamp ring should only be tightened after the shaft of the driving element was inserted into the hollow shaft The diameter of the hollow shaft can be reduced to 12 mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow shaft Version 10 08 Page 42 Single 87mm Multi 28mm A A LES e 27 7 3 Y 1 15 8 Maximum radial and axial misalignment of the drive shaft axial radial static 0 3 mm 0 5 mm dynamic 0 1 mm 0 2 mm UME OC
7. 2009 Synchro S Hollow shaft B 15 mm 15 mm 30 mm Page 39 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 10 3 Minimum mechanical lifetime Flange Lifetime in 10 revolutions with Fa 40N 60N 40N 80N 40 N 110 C10 Clamp flange 10 x 20 247 104 40 10 Synchro flange 10 x 20 262 110 42 S6 Synchro flange 6 x 10 without shaft sealing 822 347 133 S6 Synchro flange 6 x 10 with shaft sealing max 20 N axial 80 N radial 10 4 Environmental Conditions Operating temperature 40 85 C Storage temperature 40 85 Humidity 98 96 without liquid state Protection class EN 60529 Casing side IP 68 Shaft side IP 64 optional with shaft sealing IP68 Version 10 08 Page 40 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 10 5 Mechanical Drawings 10 5 1 Synchro Flange S Synchro flange d mm mm available in 2 versions Version S06 10 Version S10 10 20 _ 68 Multi
8. Address from our web site http www posital eu en products POSITAL AbsoluteEncoders AbsoluteEncoders OCD Industria lEthernet_Ertec_base html 8 2 Problem Replace a rotary encoder in the machine and the controller cannot start the application Additional the Stat LED is flashing with 2 Hz Solution Start the BOOTP DHCP server to set the IP Address See chapter 7 1 9 Glossar Term 10Base T 100Base T Baudrate Big Endian Binary BootP CAT5 CIP DHCP EIP EMC ENIP Ethernet Explicit Messages Fast Ethernet Flash Implicit Messaging IP Address IP Protocol Version 10 08 Explanation Transmission line with 10 Mbit data transmission rate Transmission line with 100 Mbit data transmission rate Transmission rate it display the transmission bits per second Variables will use Byte 0 as Low and last Byte as High Numeric system with value 0 or 1 A UDP network protocol used by a network client to obtain its IP address automatically Terminations for transmission rates up to 100 Mbit Control and Information Protocol Dynamic Host Configuration Protocol is a protocol used by networked devices clients to obtain the parameters necessary for operation in an Internet Protocol network This protocol reduces system administration workload allowing devices to be added to the network with little or no manual configuration EtheNet IP Electromagnetic compatibility there are rules to verifying devices EtherNet IP Etherne
9. FD 00 A8 FF FF FF 00 00 00 00 00 00 00 00 00 00 00 00 00 00 Response Response Size decimal 22 Timestamp 16 45 37 79 alx Ethernet IP Scanner Library is online Version 10 08 Page 16 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 3 Diagnostic LED Color EtherNet IP name Description Active1 Er ic Network Status Indicator 1 Details in table 2 Link1 Active2 m Network Status Indicator 2 Details in table 2 Link2 Stat1 Module Status Indicator Details in table 1 Stat2 EtherNet IP Stat1 Stat2 MIS I Active2 Active Link2 Link1 NPWR Porti N Table 1 Module Status Indicator Stat1 Stat2 LED Summary Requirements Steady Off No power Steady On Device If the device is operating correctly the module status indicator shall Green operational be steady green Standby If the device has not been configured including the IP Address the module status indicator shall be flashing green with 1 Hz Flashing At Green 1 Flashing 3 Green 2 Flashing xt Red Steady On Red zr Flashin Self test While the device is performing its power up testing the Stat1 and Red Green Stat2 LED shall be flashing red green Missing IP If the device does not have an IP Address the module status indi cator shall be flash
10. OCD C Data 8 16820 SINT Total Measuring Range in Measuring units Byte 2 f Module Define DCD C Data S 16800 SINT Total Measuring Range in Measuring units Byte 3 1 0 Configuration J ff Backplane Compactt ogix System 4 gt Tags Edit Tags 5000 t ed full H project saved successfully 2 a Merging topology to EtherNet IP project file C Dokumente und Einstellungen dministrator Desktop Ether Ethernet Merging module at IP address 192 168 0 100 LocalENB 1769132 Ethernet Port LocalENB Merging remaining topology and connections to EtherNet IP project file C DOKUMENTE UND EINSTELLUNGEN A 8 ETHERNET MODULE Merging chassis at address 192 168 0 100 LocalENB CompactBus Local Merging module at IP address 192 168 0 100 slot 0 OCD ENCODER Merging module at IP address 192 168 0 100 slot 3 Local Merging module at IP address 192 168 0 252 OCD Merging connection Standard 5 69 Data Types Complete 0 error s 0 warning s errors Search Resuts Version 10 08 36 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE 8 FAQ USER MANUAL 8 1 Problem IP Address unknown and BOOTP DHCP deactivated Solution e Use a Ethernet sniffer i e http Awww wireshark org or e Download the tool to read out the IP Address based on the MAC
11. in the ZIP file usable only for hollow shaft Type PAM4 PAM5 GS 10 GS 06 SP 15 SP H RR14 RR12 RR11 RR10 RR8 These can be downloaded free of charge from our homepage www posital de We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice Version 10 08 Page 44 UME OCD EE
12. 0 08 Version number 1 4 Author RBA Phone Service For technical support questions and sugges tions for improving our products and documenta tions call our telephone line 49 0 221 96213 0 UME OCD EE POSITAL FRABA 1 Introduction cesses eene nennen 4 44 0 20 04400942 23 1 1 Control and Information Protocol CIP 5 TInstallation eere 23 1 2 Object model sess 5 7 1 Setting IP Address BOOTP DHCP 23 2 Data Transmission eese 6 7 2 Configuration RSLinx ClassicTM 25 2 1 Implicit Messaging I O Connection 6 T7 8RSNetWorxM eere creen 27 2 1 1 I O Assembly Instances 4 TRA EDS Wizard dedic 27 2 1 1 1 Data Attribute Format 7 7 4 Configuration RSLogix 5000 30 2 1 2 Data MS PING ses acerca seca WE oet 37 5 OQ GIOSS ari ideni 37 2 1 3 1 Data Offset 8 2 1 4 Connection Path 9 10 Technical 39 2 2 Explicit 9 10 1 Electrical 39 2 2 2 Position Sensor Objects 10 10 2 Mechanical
13. 1 Onex units er 23 1 Measuring Units per Span 11 Velocity Format Position Sensor 23hex 1 Velocity Format 19 2 1 3 1 Data Offset Byte Offset To Version 10 08 Bit 2 Bit 1 Bit 0 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Direction Counting Toggle Scaling Function Control Measuring units per Revolution low byte Measuring units per Revolution high byte Total Measuring Range in measuring units low byte Total Measuring Range in measuring units high byte Velocity Format low byte Velocity high byte Page 8 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 2 1 4 Connection Path Is made up of a byte stream that defines the application object to which a connection instance applies This path will be created from the configuration tools and are available in the EDS file too This Segment Groups Application Path Segment path will sent during power up to the encoder For some tools it is necessary to use the connection path as parameter Description Assembly object class Instance segment type with Assembly Instance 7 Configuration Assembly Instance 6 Output controller to encoder Assembly Instance 1 Position value 2 2 Explicit Messaging Provide generic multi purpose communication paths between two devices These connections often
14. 68 0 252 OCD ENCODER OCD ENCODER Version 10 08 Page 29 UME OCD EE POSI TAL FRA A ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 7 4 Configuration RSLogix 5000 The RSLogix 5000 Series environment offers an easy to use IEC61131 3 compliant interface symbolic programming with structures arrays and a comprehensive instruction set that serves many types of applications It supports relay ladder structured text function block diagram and sequential function chart editors for you to develop application programs f amp RSLogix 5000 OCD ENCODER 1769 L32E File Edit View Search Logic Communications Tools Window Help In the first step load a configuration or add a new controller and input a name In this sample is used the CompactLogix5332E mimis sole 211 5 1 viel all Offline Ex Patt New Controller 1 3 Motion Groups Ungrouped Axes Name 5 88 Backplane System Description 8 1769 132E ENCODER 5 0 17694 32 Ethernet Port LocalENB Ethernet CompactBus Local Create In Version 10 08 Allen Bradley 1769 L32E CompactLogiv332E Controler v 15 52 Redundancy Enabled OCD_ENCODER none m Page 30 Safety Partner Slot UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE Start the configuration of the cont
15. ANport Drives on EtherNet IP Unknown Device Type 34 Enter Address Host Name OcD ENCODER Vendor Address Host Name prem IPAddess 192 168 0 254 Ro actes m n Bradley Enable automatic IP addressing when adding devices Rockwell Automation Reliance Electric Rockwell Software Inc M4 Graph Spreadsheet n Diagnostics 7 Date 03 09 2008 14 50 06 The online scanlist in address 192 168 0 100 slot 00 does not match its scanlist in the offline file 03 09 2008 14 49 57 Mode changed to online The communication timeout is 3000 msec The online path is CJA LAPTOP 2400 OCD NET 03 09 2008 14 49 57 RSLogix edits exist in the device or module configuration data To include these edits in the network configuration dick the Edits Enabled che 03 09 2008 14 48 26 RSLogix edits no longer exist in the device or module configuration data 03 09 2008 14 48 25 Save completed ix Messages Optional browse the network with all devices is not necessary to set the IP Address manually with Button E or Upload from Network So it For using this configuration in RSLogix save the enet file Browse for Network The current path is not valid for the communication drivers on this computer Select a communications path to the desired network Autobrowse Workstation CJA LAPTOP 2400 305 Linx Gateways Ethernet 192 168 0 100 1769 L32E Ethernet Port 1769 L32E 192 1
16. Code sequence Complement Resolution per revolution Total resolution Preset value IP Address The general use of absolute rotary encoders with EtherNet IP interface is guaranteed The data will transmit in a standard Ethernet frame in the data section see at the bottom of this side the pink field with the blue frame The MAC Address for each encoder is available on the type label The IP address can be programmed with DHCP or BOOTP by configuration tools of the PLC General information s about EtherNet IP are avail able www ethernetip de German www odva org default aspx tabid 67 English Target MAC Address Source MAC Address VLAN Tag Type Field mE 0 1500 0 1500 Byte Version 10 08 Page 4 UME OCD EE POSITAL FRABA 1 1 Control and Information Protocol CIP Object Library Data Management Services Explicit Messages 1 0 Messages Connection Management Routing DeviceNet Transport Internet Protocol IP Ethernet CAN CSMA CD CSMA NBA Ethernet DeviceNet Physical Layer Physical Layer Physical Layer EtherNet IP DeviceNet 1 2 Object model EtherNet IP describes all data and functions of a device considering an object model By means of that object oriented description a device can be defined complete with single objects A object is defined across the centralization by associ ated attributes e g process data its functions As C R
17. D EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 11 Models Ordering Description Description Optocode Interface Version Code Revolutions Bits Steps per revolution Flange Shaft diameter Mechanical options Connection Type Key OCD EtherNet IP EE With integrated switch Binary Singleturn Multiturn 4 096 revolutions Multiturn 16 384 revolutions 8 192 65 536 Clamp flange full shaft Synchro flange full shaft Blind hollow shaft hollow shaft Without Shaft sealing IP67 Customized M12 connector Standard bold further models on request Version 10 08 Page 43 00 B 00 00 12 14 10 mm 6mm 10 mm 15 mm 13 16 C10 S06 510 15 n PRM PRM UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 12 Accessories and Documentation Description Male cable connector Female cable connector Coupling Clamp disc Clamp half ring Reducing adapter User manual User manual EDS file IP Configuration Tool M12 4 pin D Coded M12 5 pin Drilling 10 mm Drilling 0 6 Set 4 pcs Set 2 pcs 15 mm to 14 mm 15 mm to 12 mm 15 mm to 11 mm 15 mm to 10 mm 15 mm to 8 mm Installation configuration manual English UMD ER EI Installation configuration manual German UME ER EI Electronic Data Sheet Details
18. E 5 c gt re gt 00 gt BOOTP DHCP Server 2 3 File Tools Help Request History Clear History Add to Relation List Ethemet Address MAC IP Address BOOTP 00 0 03 10 27 252 00 0 03 10 27 00 03 10 27 00 0 03 10 27 15 40 06 00 0 03 10 27 r Relation List New Delete Enable BOOTP Enable DHCP Disable BOOTP DHCP Ethemet Address MAC _ Type IP Address Hostname Description 00 0E CF 03 10 27 BOOTP 192 168 0 252 Status Sent 192 168 0 252 to Ethernet address 00 0 03 10 27 After setting the IP Address with this tool the IP BOOTP request Address will be available only after the next Version 10 08 Page 24 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 7 2 Configuration RSLinx Classic RSLinx is a complete communication server providing plant floor device connectivity for a wide variety of Rockwell Software applications such as RSLogix RSNetWorx M To start a new project add first a new RSLinx Classic Driver for X EtherNet IP under Communications Configuration Drivers and input the name Configure Drivers m Available Driver Types Add New 5 232 DF1 devices Ethernet devices zi Ethemet IP Driver 1784 K T KTX D PKTA D PCMK for DH DH 485 devices 1784 K TC X for ControlNet devices Status DF1 Pol
19. Messaging Data length Steps per second Steps per millisecond Steps per microsecond Steps per minute RPM the Encoder Device the encoder changed to the Device Type This parameter can set only with Explicit Messaging Data Type Double Integer integer multiple into 4096 for an encoder with 12 Bit for the revolutions So the following equa tion must apply 4096 x measuring units per revolution Total resolution z integer But with this EtherNet IP encoder it is possible to solve this problem If the Endless Shaft is acti vated then this problem will be solved by the encoder The default value is Auto In this case Note The internal software routine only works if the encoder is in operation If it is necessary to turn the encoder shaft more than 1024 revolu tions without power supply this can lead to prob Attribute ID 65nex Default value Value range 2hex Ohex Thex 2hex Version 10 08 Page 21 the encoder checks if the parameters need the endless shaft The parameter can be set only with Explicit Messaging lems the internal routine will not work without power supply In this case the rule ahead should be observed even with new devices Description Data Type 0 Off 1 On 2 Auto Double Integer UME OCD EE POSITAL FRABA 5 Installation 5 1 Electrical connection The rotary encoder is connected by a 4 pin M12 connector for the power supply and two 4 pin D coded M12 connector
20. NBackplane O Set Project Path Path in Project none E Clear Project Path Version 10 08 Page 35 UME OCD EE FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL If everything is running then in the Errors tab the message 0 error s should appear f amp RSLogix 5000 OCD ENCODER 1769 L32E Controller Tags OCD_ENCODER controller 2 Edt View Search Logic Communications Tools Window No Forces No Edits Controller ENCODER Scope 8 OCD_ENCODEF Show STRING ALARM AXIS CONSUMED AXIS GENERIC AXIS GENERIC DRIVE AXIS SERVO AXIS SERVO DRIVE AXI Controller Tags Value e FoceMask Data Description iB E Controller Fault Handler TEES Tm ABETHERNET G Power Up Handler i a Tasks NEU B amp B a MainTask 16400 SINT Direct Counting Toggle MainProgram 16801 SINT Scaling Function Control 16 00 SINT Measuring Unit per Span Byte 0 E unscheduled Programs 15 9 Motion Groups 16 00 SINT Measuring Unit per Span Byte 1 Gi Ungrouped Axes 16810 SINT Measuring Unit per Span Byte 2 2 I OCD C Data 16 00 SINT Measuring Unit per Span Byte 3 User Defined OCD C Data 6 16 00 SINT Total Measuring Range in Measuring units Byte 0 Strings OCD C Data 7 16 00 SINT Total Measuring Range in Measuring units Byte 1 eH 2 4
21. POSITAL FRABA T2F TES O S3 V R JOI O s O 35 2 767036 FIZ O 37 Z2 768 2 768 O 39 EtherNet IP conformance tested ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL POSITAL FRABA CONTENTS Imprint POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 Internet http www posital com e mail info 2posital com Copyright The company POSITAL GmbH claims copyright on this documentation It is not allowed to mod ify extend copy or hand over to a third party this documentation without written approval by the company POSITAL GmbH Nor is any liabil ity assumed for damages resulting from the use of the information contained herein Further this publication and features described herein are subject to change without notice Alteration of Specifications reserved Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products Version 10 08 Page 2 Disclaimer of Warranty POSITAL GmbH makes no representations or warranties either express or implied by or with respect to anything in this manual Furthermore POSITAL shall not be liable for any implied war ranties of merchantability and fitness for a par ticular purpose or for any indirect special or consequential damages Document information File name UME OCD EE_V1R4 doc Date 1
22. able way Page 38 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE 10 Technical Data 10 1 Electrical Data Physical Layer Transmission Transmission rate Supply voltage Current consumption Power consumption Step frequency LSB Accuracy of division EMC Device addressing Cycle of write parameters Electrical lifetime 10 2 Mechanical Data Housing Lifetime Max shaft loading Inertia of rotor Friction torque RPM continuous operation USER MANUAL 10Base T 100Base TX autonegotiation CAT 5e cable shielded 10 100 Mbit s 5 80 V DC absolute limits max 90 mA with 24 V DC max 2 5 Watts 800 kHz Ve LSB 12 bit 2 LSB 16 bit Emitted interference EN 61000 6 4 Noise immunity EN 61000 6 2 Programmable by BOOTP or DHCP 5 000 Mio gt 10 h Aluminum optional stainless steel Dependent on shaft version and shaft loading refer to table Axial 40 N radial 110 N lt 30 lt 3 Nem lt 5 Nem with shaft sealing max 12 000 RPM Shock EN 60068 2 27 lt 30 g halfsine 11 ms Permanent shock EN 60028 2 29 10 g halfsine 16 ms Vibration EN 60068 2 6 Weight standard version Weight stainless steel version Multiturn Flange Shaft diameter Shaft length hollow shaft depth min max Version 10 08 lt 10 g 10 Hz 1 000 Hz Singleturn 550 9 Multiturn 600g Singleturn 1 1009 1
23. address shall be set to a valid Class A B or C address and shall not be set to the loopback address 127 0 0 1 The device s network mask The network mask is used when the IP network has been Network partitioned into subnets The network mask is used to determine whether an IP address is mask located on another subnet Value of 0 indicates no network mask address has been con figured 2 3 6 Host Name Name Meaning ASCII characters Maximum length is 64 characters Shall be padded to an even number Host Name of characters pad not included in length A length of 0 shall indicate no Host Name is configured Version 10 08 Page 13 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 2 4 Ethernet Link Object Class Code F6 hex Attrib Name Data Type Description ute ID 1 Revision UINT Revision of this object Maximum instance num ber of an object currentl 02nex Max Instance UINT y created in this class level of the device O3nex Number of UINT Number of object in stances stances currently created at this class level of the device 2 4 0 Instance Attributes ID Access Name Data Type Description of Attribute 1 UINT in use 2 Interface Flags DWORD Interface status flags Semantics of Values The minimum value shall be 1 Shall be 2 or greater if instance attrib ute 6 is implemented Shall be 3 if any instance attributes 7 10
24. and shall be set to zero Page 11 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 2 3 2 Configuration Instance Attribute 02 5 31 Called BOOTP Cli ent DNS Client DHCP Client DHCP DNS Update Configuration Settable Reserved Definition 1 TRUE shall indicate the device is capable of obtaining its network configura tion via BOOTP Not supported 1 TRUE shall indicate the device is capable of obtaining its network configura tion via DHCP Not supported 1 TRUE shall indicate the Interface Configuration attribute is settable Some devices for example a PC or workstation may not allow the Interface Configura tion to be set via the TCP IP Interface Object Reserved for future use and shall be set to zero 2 3 3 Configuration Control Inst Attribute 04 Bit s 0 3 Called Startup Con figuration Definition 0 The device shall use the interface configuration values previously stored for example in non volatile memory or via hardware switches etc Determines how the device shall obtain 1 2 The device shall obtain its interface its initial configuration at start up configuration values via BOOTP 2 The device shall obtain its interface configuration values via DHCP upon start up 3 15 Reserved for future use 2 3 4 Physical Link Object 05 This attribute identifies the object associated w
25. are referred to as just Messaging Connec 2 2 1 CIP Common Services Supported Service Code Service Name Data segment with lenght of 6 Bytes 00 01 00100000 00200000 041F Configuration Data see chapter 2 1 3 1 for details tions Explicit Messages provide the typical re quest response oriented network communica tions Class 2 and 3 are supported Comment 5 Reset Boot up of the encoder the programmed parameter from the customer will use again Get Attribute Single Read out attribute from the encoder 1 Set Attribute Single Write attribute to the encoder 15 Restore Restore the saved parameters 16nex Save Save the parameters from chapter 2 1 3 to the non Version 10 08 volatile memory Page 9 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 2 2 2 Position Sensor Objects Instance Attributes Get read Set write read Class Code Attrib ID 01 hex 02 OCnex OEnex 1 11 1 Shex 1 8nex 1 Qhex 29 2 2 33hex 64nex 65hex Version 10 08 23hex Access Get Get Get Get Set Set Set Set Set Get Set Get Get Get Get Set Set Name Number of Attributes Attribute List Position Value Signed Position Sensor Type Direction Counting Toggle Scaling Function Control Measur
26. asuring Units per Span byte 3 MSB DCD C Data 5 16 00 Hex SINT Total Measuring byte 0 LSB HH j 0 Hex SINT Total Measuring byte 1 Hex SINT Total Measuring byte 2 0CD OCD C Data 9 16 00 Hex SINT Total Measuring byte 3 MSB DCD C Data 10 16 04 Hex SINT Velocity 0 LSB DCD C Data 11 l6glf Hex 5 Velocity 1 MSB OCD C Data 12 16 00 Hex SINT OCD C Data 13 16 00 SINT SINT OCD C Data 15 16 00 I e x i x I qo x SINT SINT m x SINT SINT SINT SINT SINT OCD C Data 22 16 00 SINT necnon acr A Monitor Tags Edit Tags Dur I oO x qo x ae x H M e Ifthe value is 00 then the standard configuration will be used e Ifthe Paramter are out of range the maximum value of the encoder will be used as parameter change parameters open Communication Who Active Go Offline File Save select controller Download Run e These parameter can set by a standard EtherNet IP scanner tool too a Who Active Autobrowse H a Linx Gateways Ethernet as NET Ethernet Upload E 192 168 0 3067 1769 5 P TP eet Por Backplane CompactLogix System Download 01 17694 32 Ethernet Port Update Firmware 69 Bus Adapter 731759 Coss 192 168 0 252 OCD ENCODER OCD ENCODER Help Path CD NET 192 158 0 100
27. bly and Explicit Messaging Data Type Double Integer32 rotating the shaft So it is recommended to keep the measuring steps per revolution below 8192 measuring steps UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 4 1 4 Total resolution This value is used to program the desired num ber of measuring steps over the total measuring range This value must not exceed the total resolution of the encoder with 25 bit Attribute ID Default value 1 nex see type shield Maximum total resolution 30 Bit Encoder 40 000 000hex 1 073 741 824 Attention The following formula letters will be used PGA Physical total resolution of the encoder see type label PAU Physical resolution per revolution see type label GA Total resolution customer parameter AU Resolution per revolution customer parameter If the desired resolution per revolution is less than the physical resolution per revolution of the en coder then the total resolution must be entered as follows 4 1 5 Preset value The preset value is the desired position value which should be reached at a certain physical position of the axis The position value of the Attribute ID 13nex Default value Value range Version 10 08 Value range Onex 40 000 000 Ohex Onex total measuring range Page 20 33 554 432 steps Please note the value written on the type shield The para
28. e communica tion paths between a producing application and One or more consuming applications for the Version 10 08 Page 6 purpose of moving application specific data This is often referred to as implicit messaging Class 0 and 1 are supported UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 2 1 1 Assembly Instances Instance Type 1 Position Value 3 Input Position Value and Velocity 2 1 1 1 Data Attribute Format Instance Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Velocity high byte 2 1 2 Data Mapping Data Component Class Instance Attribute Name Name Number Number Number Position Value Position Sensor Velocity Position Sensor 23 Velocity 18 Version 10 08 7 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 2 1 3 Data Mapping Parameter On every Forward Open Request the following parameters will be sent from the controller to the encoder Assembly Instance Configuration 7 size 12 Bytes Configuration Parameter Class Instance Attribute Name Direct Counting Toggle 1 Direct Counting Toggle Scaling Function Control 1 Scaling Function Control Measuring Revolution Total Measuring Range 23 1 Total Measuring Range Position Sensor in measuring units measuring units Number Name Number OEnex
29. e und Einstellungen AdministratorND esktop NS REEL Found in c Ndokumente und einstellungen administrator desktop Launch RSNetworx for EtherNet IP View and edit the EtherNet IP network C Audit the EtherNet IP network RSNetWwors for EtherNet IP cannot be launched until pending edits are applied Status Offline Version 10 08 OK Cancel Apply Help Page 31 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL Select the network in the I O Configuration and add New Module RSLogix 5000 OCD_ENCODER2 1769 L32E File Edit View Search Logic Communications Tools Window Help alsa 5 oll amp viel ee Be M Path enone _ Ea No Edits s pe sel 4 Favorites Bit Timer Counter Input Output Compare Controller OCD_ENCODER2 Controller Tags Controller Fault Handler Power Up Handler amp Tasks 5 68 MainTask MainProgram Unscheduled Programs amp Motion Groups Ungrouped Axes 3 Trends Data Types Cj User Defined C Strings Cg Predefined C Module Defined amp 1 0 Configuration 88 Backplane CompactLogix System 1769 132E OCD_ENCODER2 1769 4 32 Ethernet Port LocalENB For using a Generic Device select the Generic EDS file complies to the configura
30. equired E Optional Version 10 08 Page 5 Pneumatic AC SEMI Other Safety Other Valves Drives Devices Profiles 1 0 Block E cdd Parameter Class onnection Manager or Connection Obje Safety Specific Object Library Mapes 49 4 9 1070044 0151 uowwog Contro Net Transport ControiNet CTDMA ControiNet did 40 suoydepy ControINet read or write access of a single attribute as well as by the defined behavior The absolute rotary encoder support the Encoder Device Type 22 or Generic Device Type Onex This is programmable see chapter 4 1 6 All parame ters will be used with Big Endian notation Network E Specific Link Explicit 2 Object s CIP Network UME OCD EE POSITAL FRA BA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 2 Data Transmission The data transmission in the EtherNet IP net work is realized by implicit or explicit messaging Explicit messages are split in unconnected and Unconnected Explicit Messages Connection Class 7 2 i Explicit Messaging 7 Connection Objects Connection Based Explicit Messages T O Messages connection based versions Unconnected mes sages will be use i e by EtherNet IP scanners Unconnected Message Manager Link Specific Object s Message Router Application Objects 2 1 Implicit Messaging I O Connection Provide dedicated special purpos
31. for Ethernet Connector Ethernet 4 pin female D coded Pin Number Signal I ____ 2 Rx 3 Tx 4 Rx Sketch as seen on the encoder 2 1 ADI LL 5 2 Ethernet cables 5 2 1 RJ45 M12 crossed Signal Signal TX Tx Rx TX Rx Tx 5 2 2 RJ45 M12 straight Signal Signal TX TX Rx Rx Version 10 08 Page 22 The Encoder uses a second D coded connector and provides an integrated switch functionality On or in the packaging of the connector is the mounting description Connector power supply 4 pin male A coded Pin Number Signal 1 US 15 30 V DC 2 N C 3 GND 0V 4 N C T 74 5 2 3 M12 M12 crossed Signal M12 Pin M12 Pin UME OCD EE POSITAL FRABA 6 Power On After power on the LED s on the absolute rotary encoder will flash between green and red or yellow 7 Installation 7 1 Setting IP Address BOOTP DHCP To set the IP Address there are special tools available l e the BOOTP DHCP Server is in stalled with the software package from RSNet Worx The server scan the network for the MAC Addresses of all products with active BOOTP or DHCP If one MAC address is se lected then the IP Address can be set by the New button The MAC Address of each If the encoder has got his IP Address the BOOTP and DHCP can be disabled with the corresponding button But in this case save the configuration in the File
32. for errors in the EDS file This test does not guarantee EDS file validity Installation Test Results e eds posital ocd encoer eds Rockwell Software s EDS Wizard Change Graphic Image You can change the graphic image that is associated with a device Product Types Vendor Specific Type OCD ENCODER The Wizard finds all EDS files that are discarded in the choosing path and operates a test to check the EDS files on errors In the next step Version 10 08 Page 28 pictures can be selected for the using nodes With the button weiter the installation can be continued and finished UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL Load a saved enet file or start a new project work line and set the IP Address Add the devices per Drag and Drop to the net EtherNet enet RSNetWorx for EtherNet IP Edit View Network Device Diagnostics Tools Help 93 dim xe eft 198 L 3 Worst Case Device Usages Edits Enabled Address Address Current Current Minimum CPU Connection Devices not included 0 Maximum CPU Consume Produce Device Usage Ix we Hardware OCD ENCODER EtherNet IP E Category Communication Adapter DSI to EtherNet IP i 89 4 Human Machine Interface Modular DPI Devices ik 192 168 0 252 59 Programmable Logic Controller MTS C Rockwell Automation miscellaneous 1 SC
33. ing green with 2 Hz Minor fault If the device has detected a recoverable minor fault l e an incor rect or inconsistent configuration Major fault If the device has detected a non recoverable major fault Version 10 08 Page 17 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL Table 2 Network Status Indicator Stat2 LED Summary Requirements Steady Off If the device does not have an IP address or is powered off IP address Steady e If the device has at least one established connection even to Green the Message router Flashing 3 No connection If the device has no established connections but has obtained Green an IP address Flashing Connection If one or more of the connections in which this device is the Yellow timeout target has timed out This shall be left only if all timed out con nections are reestablished or if the device is reset Steady Li Duplicate IP If the device has detected that its IP address is already in use Yellow Flashing lt Self test While the device is performing its power up testing the Stat1 Yellow Green and Stat2 LED shall be flashing yellow green Version 10 08 Page 18 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 4 Programmable Parameters 4 1 Encoder parameters for Position Sensor Object Class 23hex 4 1 1 Direction counting This operating parameter can be used to select the c
34. ing units per Span Total Measuring Range in Measuring Units Preset Value Velocity Value Velocity Format Operating Status Physical Resolution Span Number of Spans Offset Value Device Type Endless Shaft Data Type USINT Array of USINT DINT UINT Boolean Boolean UDINT UDINT DINT DINT ENGUINT BYTE UDINT UINT DINT DINT DINT Page 10 Description Number of supported Attributes List of supported Attribute Current position signed Specifies the device type Controls the code sequence clockwise or counterclockwise Scaling function on off Resolution for one revolution Total resolution Setting a defined position value Current speed in format of attribute 19hex and 2 Format of the velocity attributes Encoder status diagnostic operating Resolution for one revolution Number of revolutions Shift position value with the calcu lated value Encoder device 22hex Generic device 0 default Off 0 On 1 Auto 2 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 2 3 TCP IP Interface Object The TCP IP Interface Object provides the mechanism to configure a device s TCP IP network interface With this parameter it is possible i e to read or write the device s IP Address and Network Mask Class Co Attribute ID 01 hex 02 O3hex 4 O5hex 06 hex de F5na Access Get Get Set Get Set
35. ith the underlying physical communications interface e g an 802 3 interface There are two components to the attribute a Path Size in UINTs and a Path The Path shall contain a Logical Segment type Class and a Logical Segment type Instance that identifies the physical link object The maximum Path Size is 6 assuming a 32 bit logical segment for each of the class and instance The physical link object itself typically maintains link specific counters as well as any linkspecific configura tion attributes If the CIP port associated with the TCP IP Interface Object has an Ethernet physical layer this attribute shall point to an instance of the Ethernet Link Object class code When there are multiple physical interfaces that correspond to the TCP IP interface this attribute shall either contain a Version 10 08 Page 12 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL Path Size of 0 or shall contain a path to the object representing an internal communications interface often used in the case of an embedded switch For example the path could be as follows Path Meaning 20 8 bit class segment type F6 Ethernet Link Object class 0 3 24 8 bit instance segment type 01 instance 1 2 3 5 Interface Configuration O6nex Name Meaning The device s IP address Value of 0 indicates no IP address has been configured IP Address Otherwise the IP
36. line Path zl 4l H mper e po Eoo o m 5 69 Controller ENCODER Controller Fault Handler Power Up Handler g ae s ABETHERNET F Cg MainProgram DCD C Data s 15171400 Unscheduled Programs DCD I Son C AB ETHERNET_ 5 9 Motion Groups em Decimal DINT 2 e P ien Axes OCD I Data O Decimal DINT Trends T 5 i GKg Data Types OCD I Data 1 Decimal DINT User Defined 8 Strings Cj Predefined E Module Defined 5 39 1 0 Configuration Backplane CompactLogix System 8 1769432 ENCODER E 1769132 Ethernet Port LocalENB ge Ethernet 17594 32 Ethernet Port LocalENB 8 ETHERNET MODULE OCD CompactBus Local Monitor Tags Edit Tags Version 10 08 Page 34 UME OCD EE POSITAL ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL Controller Tags CompactLogix L32E controller oJ x Scope 8 CompactLogix_L Show Show All Nam 7 Value Force Mask Style Data Type Description eo cape OE Jrock Courting Hex 5 Scaling Function Control Se OCD C Data 2 16 00 Hex SINT Measuring Units per Span byte 0 LSB DCD C Data 3 16 20 Hex SINT Measuring Units per Span byte 1 DCD C Data 4 16 00 Hex SINT Measuring Units per Span byte 2 DCD C Data 5 16 00 Hex 5 Me
37. ling Master Driver 1784 PCC for ControlNet devices 1784 PCIC S for ControlNet devices 1747 PIC 7 AIC Driver DF1 Slave Driver 5 5 SD SD2 for DH devices Virtual Backplane SoftLogix58xx DeviceNet Drivers 1784 PCD PCIDS 1770 KFD SDNPT drivers PLC 5 DH Emulator driver SLC 500 DH485 Emulator driver SoftLogix5 driver Remote Devices via Link Gatewa Add New RSLinx Classic Driver Choose a name for the new driver 15 characters maximum 0 0 Version 10 08 Page 25 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL Use Browse Local Subnet to find the EtherNet IP finish this configuration components in the network The status should be Running Then push the Close button to Configure driver OCD NET Browse Remote Subnet Configure Drivers Available Driver Types Ethernet IP Driver Add New Configured Drivers Name and Description Status OCD NET Ethemet RUNNING TRunning Configure Startup Start Stop Delete Version 10 08 Page 26 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 7 3 RSNetWorx RSNetWorx products provide design and configuration management services for EtherNet IP The program defines and config ures the devices on the network quickly through a simple software interface This definitio
38. me cases devices can tell whether the link is active via hardware driver support In other cases the device may only be able to tell whether the link is active by the presence of incoming packets Indicates the duplex mode currently in use 0 indicates the interface is running half duplex 1 indicates full duplex Note that if the Link Status flag is 0 then the value of the Half Full Duplex flag is indeterminate Indicates the status of link auto negotiation 0 Auto negotiation in progress 1 Auto negotiation and speed detection failed Using default values for speed and duplex Default values are product dependent recommended defaults are 10Mbps and half duplex 2 Auto negotiation failed but detected speed Duplex was defaulted Default value is product dependent recommended default is half duplex 3 Successfully negotiated speed and duplex 4 Auto negotiation not attempted Forced speed and duplex 0 indicates the interface can activate changes to link parameters auto negotiate duplex mode interface speed automatically 1 indicates the device requires a Reset service be issued to its Identity Object in order for the changes to take effect 0 indicates the interface detects no local hardware fault 1 indicates a local hardware fault is detected The meaning of this is product specific Exam ples are an AUI MII interface detects no transceiver attached or a radio modem detects no antennae attached In contrast to the
39. menu because the products cannot be found by the BOOTP DHCP Server After loading this file the MAC Addresses and IP Addresses are available and BOOTP or DHCP can be activated by the corresponding button BOOTP DHCP Server 2 3 E bootp bpc File Tools Help Request History Clear History hr min sec Type Ethernet Address MAC 15 41 04 BOOTP 00 0 03 10 27 15 40 32 BOOTP 00 0 03 10 27 15 40 17 BOOTP 00 0 03 10 27 15 40 09 BOOTP 00 0 03 10 27 15 40 06 BOOTP 00 0 03 10 27 Address Relation List New Delete Enable BOOTP Enable DHCP Disable BOOTP DHCP Ethemet Address MAC IP Address Hostname New Entry selected device to retain configuration memo EtherNet IP encoder is available on the type label If not all encoders are listed in the BOOTP DHCP Server then check the following points e LED status of the encoder OK e sthe Network setting correct e Is the BOOTP and or DHCP enabled Possible IP Range Class A C 0 0 0 0 223 255 255 255 without Loopback range 127 x x x Referenced IP Address range 192 168 0 x Ethemet Address MAC 00 0E CF 03 1 0 27 IPAddress 192 168 0 252 Hostname Description 00 0E CF 03 10 27 BOOTP 192 168 0 252 Status Save file complete Version 10 08 Page 23 Entries 1 of 256 UME OCD E
40. meter can set with Configuration Assembly and Explicit Messaging Data Type Unsigned Integer 32 Total resolution GA PGA AU PAU if AU lt PAU Example Customer requirement AU 2048 Encoder type shield PGA 25 bit PAU 13 bit GA 16777216 2048 8192 GA 8388608 If the total resolution of the encoder is less than the physical total resolution the parameter total reso lution must be a multiple of the physical total reso lution k integer encoder is set to the desired process value by the parameter preset The preset value must not exceed the parameter total measuring units The parameter can set with Explicit Messaging Data Type Unsigned Integer 32 UME OCD EE POSITAL FRABA 4 1 6 Velocity Format Default value for Velocity Format is steps per second This parameter can be set with Con Attribute ID Default value Value range 1 04 1 04 1FO5hex 19nex 1FOFhex 4 1 7 Device Type The EtherNet IP interface supports the Encoder Device with device type 22 hex functionality or the Generic Device type according to the CIP specification As all controllers do not support Attribute ID 64 hex 22hex 4 1 8 Endless Shaft Normally the period i e Total resolution measuring units per revolution must be an integer and it must fit an integer number of times Default value Value range figuration Assembly and Explicit
41. n can take place offline using drag and drop operations or online by using RSLinx to browse a EtherNet IP network 7 3 1 EDS Wizard The EDS File contains information about device To install the EDS file the EDS Wizard has to be specific parameters as well as possible operat started that can be done in the menu Tools EDS ing modes of the encoder With this file you have Wizard f the EDS Wizard is activated a data sheet in an electronic format which can successfully the Hegister an EDS File s has to be used to configure the device in the network be chosen and after that the button weiter In the for example with RSNetWorx from Rockwell next step the Register a directory of EDS files this sample the PLC uses address has to be chosen and with Browse the path of 192 168 0 100 and the encoder 192 100 0 252 the EDS file s That is indicated in the next pictures EtherNet enet RSNetWorx for EtherNet IP File Edit View Network Device Diagnostics Tools Help Worst Case Device Usages Address Current Address Current Current Minimum CPU Connection Devices not included 0 Maximum CPU Consume Edits Enabled Device Usage Produce Hardware D Ethernet iP E Category Options C Communication Adapter What task do you want to complete DSI to EtherNet IP 2 Human Machine Interface Modular DPI Devices ba 9 Programmable Logic Controller Rockwell Automation miscellaneous EA
42. ode sequence The parameter can set with Con figuration Assembly Explicit Messaging Attribute ID Default value Value range Data Type OChex Ohex Ohex inex Boolean The parameter code sequence complement de P 9 p Bit 0 Counting direction Position values fines the counting direction of the process value 0 CW Increase seen on the shaft clockwise or counter clock I CON wise The counting direction is defined in the at Pcrease tribute OChex 4 1 2 Scaling function control If the Scaling function control is deactivated then Bit 0 Scaling function on off complains the output value the physical resolu 0 on tion 1 off Attribute ID Default value Value range Data Type OEnex Onex 1 Boolean This parameter can be set with Con figuration Assembly and Explicit Messaging 4 1 3 Resolution per revolution The parameter resolution per revolution is used to program the encoder to set a desired number of steps per revolution Each value between 1 and the maximum see type label can be real ized The parameter can set with Con Attribute ID 10hex Default value see type label Maximum resolution 16Bit Encoder 10 000 65 536 When the value is set larger than 8192 for a 13Bit encoder the process value of the encoder will not be single stepped and values will be skipped while Version 10 08 Page 19 Value range Ohex 10000hex figuration Assem
43. ost Name x IPAddress 192 168 0 252 Status Input Host Name Status Output Status Offline Cancel Apply Help Set the cycle time fs RSLogix 5000 OCD ENCODER 1769 L32E File Edit View Search Logic Communications Tools Window Help a selel AlslGl viw alll Offline Mae o gt SSS No Forces 1 3 Controller OCD_ENCODER Wii Module Properties LocalENB ETHERNET MODULE 1 1 Controller Tags Controller Fault Handler General Connection Module Info Requested Packet Interval RPI 10024 ms 1 0 3200 0 ms 4 E Inhibit Module Un Programs Motion Groups Major Fault On Controller If Connection Fails While in Run Mode Ungrouped Axes 53 Trends 5 63 Data Types Module Fault CR User Defined Gg Strings Ep Predefined Module Defined 5 6 1 0 Configuration 5 88 Backplane CompactLogix System 1769 L32E OCD_ENCODER 5 0 1769432 Ethernet Port LocalENB 5 95 Ethernet 1769132 Ethernet Port LocalENB Status Offline uled Connection over ControlNet Version 10 08 Page 33 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL To read or write data use Logic Monitor Tags fa RSLogix 5000 OCD ENCODER 1769 L32E DER File Edit View Search Logic Communications Tools Window Help s lt lt lt 818 te vig alal Off
44. roller or load the enep file in the module properties of tab fa RSLogix 5000 OCD ENCODER 1769 L32E USER MANUAL RSNetWorx that was created with RSNetWorx M File Edit View Search Logic Communications Tools Window Help 21 Hele 1 viel Je E Path ke 3p Eres pes sepe o eo 4 A Favorites Bit Timer Counter Input Output Compare 5 69 Controller ENCODER Controller Tags Controller Fault Handler Power Up Handler 5 69 Tasks 2 68 MainTask C MainProgram Unscheduled Programs Cg Module Defined 5 69 1 0 Configuration 5 88 Backplane CompactLogix System 1769432 ENCODER 17694 32 Ethernet Port LocalENB 5 85 Ethernet M 17694 32 Ethernet Port LocalENB Wil Module Properties Controller 1 1769 L32E Ethernet Port 15 3 General Connection RSNetwors Module Info Port Configuration Port Diagnostics Type 1769 L32E Ethemet Port 10 100 Mbps Ethemet Port on CompactLogix5332E Vendor Allen Bradley Parent Controller Name I 192 168 0 100 IP Address Host Name Slot H Maior Revision Address Host Name Status Offline Control Geld Wil Module Properties Controller 1 1769 L32E Ethernet Port 15 3 General Connection RSNetWworx Module Info Port Configuration Port Diagnostics EtherNet IP file enet okument
45. soft possible self correcting nature of the Link Status being inactive this is assumed a hard fault requiring user intervention Shall be set to zero Service Class Instance Description of Service Name Condi Get Attribute Returns the contents of the specified attribute Required tional Single T Set Attribute Modifies a single attribute n a Conditional Single Page 15 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL 2 4 4 Link Object Instances Instance Description 1 Internal interface 2 Intern switch Port 1 3 Intern switch Port 2 2 5 Setting parameters with scanner There are several external scanners for 192 168 0 253 and the Gateway 00 FF FF FF EtherNet IP available RS NetWorks has one complains 255 255 255 0 was read out of the such scanner In the figure is an example where encoder the IP Address FD 00 A8 CO complies 5 EtherNet IP Scanner Demo Unbenannt File View Network Request I O Help D amp Bi xi Request all fields but IP addresses in hex Send to fi 92 168 0 253 Adapter fi 92 168 0 200 Service hex e Class hex 5 ElPScan Test Tool B Host 192 168 0 200 OCD ENCODER Instance hex fi Attribute hex 5 g Member hex 92 168 0 25 Symbol Request Data Each byte is 2 char hex value separated by a space 26 f9
46. t is a computer network technology based on frames Communication between i e a Ethernet scanner and encoder Transmission technology with 100 Mbit transmission rate Internal memory saved data will be available after power down IO Connection communication between controller and device Allow a logic addressing from computer in a network The Internet Protocol is widespread in computer networks It is the implementa tion of the internet layer of the TCP IP model Page 37 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE Term MAC Address Mbit OCD OSI Model Scanner Switch TCP UDP Version 10 08 USER MANUAL Explanation World wide explicit address of a device The encoder use three MAC Adresses one for internal interface and two for the ports Transmission rate or baud rate million bits per second Acronym OPTOCODE name of an encoder series manufactured by FRABA POSITAL The Open System Interconnection reference model is a open layer model for the organization of a communication Program to send Explicit Messages to the encoder A switch is an electronic device to connect computers e g network segments in a local network Unlike a hub a switch uses stacks to avoid network collisions The Transmission Control Protocol is a connection orientated transmission protocol in a network User Datagram Protocol is utilized to send data that does not need to be trans ferred in a reli
47. tion of the Ethernet Module Some PLC s support Encoder encoder The device type is programmable Devices too Please check that the matching Select Module Description 1769 L35E Etherne 10 100 Mbps Ethernet Port on CompactLogix5335E Allen Bradley 1788 EN2DN A 1788 Ethernet to DeviceNet Linking Device Allen Bradley 1788 ENBT A 1788 10 100 Mbps Ethernet Bridge Twisted Pair Media Allen Bradley 1788 EWEB A 1788 10 100 Mbps Ethernet Bridge w Enhanced Web Serv Allen Bradley 1794 AENT A 1794 10 100 Mbps Ethernet Adapter Twisted Pair Media Allen Bradley Drivelogix5730 Eth 10 100 Mbps Ethernet Port on DriveLogix5730 Allen Bradley ETHERNET BRIDGE Generic EtherNet IP CIP Bridge Allen Bradley ETHERNET MODULE Generic Ethernet Module Allen Bradley EtherNet IP SoftLogix5800 EtherNet IP PH PSSCENA A Ethernet Adapter Twisted Pair Media Drives Version 10 08 32 UME OCD EE POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH ETHERNET IP INTERFACE USER MANUAL Set the Connection Parameters according the following figure Ml Module Properties LocalENB ETHERNET MODULE 1 1 General Connection Module Info Type ETHERNET MODULE Generic Ethernet Module Vendor Allen Bradley Parent LocalENB Name DCD Connection Parameters Assembly Instance Size Input 2 a 32 bit Output 5 p Comm Format input Data DINT Run Progran 71 m gt Configuration 2 zl 8 bit Address H
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