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Absolute rotary encoder with TCP/IP+UDP interface

1. Applet NetworkConfigPanel started Futo Copy Version 02 08 Page 14 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 5 Operating by TCP IP Commands 5 1 Introduction To use the absolute encoder with a control system platform independent commands and data in ASCII format can be exchanged by TCP IP To take a look at the commands and a short description please see chapter 5 6 To find out how to address the TCP IP interface of your control or operating system please refer to the documentation for these devices Al xl General Network Identification Hardware User Profiles Advanced Environment Variables EE Ti xl User variables For Staff TEMP C Documents and Settings Staff STAF TMP C Documents and Settings Staff STAF New AD Edit Delete r System variables variable Value OS Windows NT Os2LibPath C WINNT system32 os2 dll El C WINNT 32 CAWINNT C i PATHEXT COM EXE BAT CMD VB5 VBE J5 PROCESSOR AR x86 gt New Edit Delete E ce If you use a Windows PC you can try the following connection to the sensor Go to the command prompt DOS and type in ping lt computer name gt or ipconfig In response you get the IP address of your computer If the encoder IP address is not located within your subnet mask you will need to prepare the data transfer to the encoder
2. Remarks Values Possible output modes are Position_ Velocity_ Timestamp_ where the components mean e Position Encoder will send a scaled Position value e Velocity Encoder will send a velocity Value steps s e Timestamp Encoder will send a timestamp in microseconds starting with 0 at the startup of the encoder As the counter is a 32 Bit value the timestamp will reach zero again after approx 1 2 hours This variable has got no effect to the Modbus communication Possible output types are e ASCII Encoder will send ASCII letters in the form POSITION lt POSITION gt VELOCITY lt VELOCITY gt TIMESTAMP lt TIME gt e ASCII SHORT Encoder will send ASCII numbers in the form lt POSITION gt lt VELOCITY gt lt TIME gt separated by spaces e BINARY Encoder will send 32 bit binary values without any separator between the values This variable has got no effect to the Modbus communication States the time in ms for the cyclic time mode Can have values between 1 ms and 999 999 ms This variable has got no effect to the Modbus com munication Sets the IP address of the encoder and must be a valid IP address in the form a b c d with a b c d from 0 to 255 Attention The IP address will only be activated after a new power up when switch 2 is in position off The net mask used by the encoder Please take care that Encoder and PLC PC are within the same subnet or specify a working gateway Gateway to be u
3. by entering the command route add lt IP sensor gt lt IP computer gt Maybe are administrator rights necessary Otherwise your PC control system will try to reach the encoder via your computers Version 02 08 Page 15 standard gateway The default IP address of the sensor is 10 10 10 10 You can check the connection to the sensor with the command ping lt IP sensor gt 5 2 Installation To communicate with the Encoder using our example tools tcpcl or updcl a Java runtime environment is required on your PC If you have not installed Java you can get it from our CD look under the section accessories You can also download the latest version from http java sun com products j2se Copy the FRABA Java programs which you can find on our web site http www posital com de products POSITAL Abso luteEncoders AbsoluteEncoders_OCD_IndustrialEt hernet_TCP_IP_base html onto your hard disk e g in the folder c fraba ethernet Afterwards you need to set up the PATH variable for the Java installation and the FRABA Java programs For a convenient start we also provided batch files to start the java files depending on the IP addresses you might need to modify them For TCP will be used port 6000 5 3 PATH Variable 5 3 1 MS DOS Win95 Win98 WinME Please add the required paths to c Autoexec bat behind the Path line Example Path c ms dos c Program Files BC BIN Path Path c fraba ethernet Path Pa
4. commands e The velocity value can be wrong during setting some parameters Version 02 08 Page 11 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 4 Programming 4 1 Programming of Parameters The encoder is able to provide three different kinds of output data the position value a velocity value and a time stamp These can be used in arbitrary combinations Parameter Used scope of physical resolution parameter 1 Total scaled resolution parameter 2 Code sequence Preset value Offset value Description Specifies the part of the physical resolution used for the encoder in physical steps If e g for an encoder with a resolution of 8192 steps per revolution 16384 is chosen the encoder will count 8192 steps per revolution if Total scaled resolution is set to the same value as Used scope of physical resolution and start with zero again after 2 revolutions If this value is not set to a value which results in an inte ger division with the total physical resolution the encoder value will jump to zero when passing the physical zero point Specifies the scaled resolution which is used over the area of physi cal steps defined by Used scope of physical resolution If e g the encoder is set as described above and Total scaled resolution is set to 10 the encoder will count 10 steps over the physical steps defined with Used scope of physical resolution
5. www modbus org 3 4 Function code 16 16 0x10 Write Multiple registers This function code is used to write a block of contiguous registers in a remote device The requested written values are specified in the request data field Data is packed as two bytes per register The normal response returns the function code starting address and quantity of registers written Please take care that under all circum stances the encoder is not turned off while it is writing to the flash ADU t Client PDU Server Receive the response Version 02 08 Page 10 Perform the action ___ Initiate the response UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 3 5 Modbus Mapping Start address 0000 Number of registers 8 Register Data type Data 0 Position Bit 17 32 1 Bit 1 16 2 Velocity Bit 17 32 3 d Bit 1 16 4 Time stamp Bit 49 64 5 i Bit 33 48 6 i Bit 17 32 7 Bit 1 16 8 Not in use 9 Not in use 10 UsedScopeOfPhysRes Bit 17 32 11 Bit 1 16 12 TotalScaledRes Bit 17 32 13 Bit 1 16 14 Preset Bit 17 32 15 Bit 1 16 16 Offset Bit 17 32 17 Bit 1 16 18 CountingDir Bit 1 16 CW 0 CCW 1 19 Bit 17 32 Register 10 to 18 are only in use to send the parameters to the encoder Notify e The write registers will not get an up date with changed parameters from the Web applet or TCP
6. 24 00 12 14 10 mm 6 mm 10 mm 15 mm 13 16 C10 506 510 B15 2j PRM 0 S e PRM UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 9 Accessories and Documentation Description Male cable connector Female cable connector Coupling Clamp disc Clamp half ring Reducing adapter User manual User manual Type M12 4 pin D Coded PAM4 M12 5 pin PAM5 Drilling 10 mm GS 10 Drilling 6mm GS 06 Set 4 pcs SP 15 Set 2 pcs SP H 15mmtot4mm RR 15mmtot2mm frr 15mmtotimm frr 15mmtotomm RRO RR8 Installation configuration manual English UME OCD EMO0 Installation er eem German UMD OCD EM00 These can be downloaded free of charge from our homepage www posital com usable only for full shaft usable only for hollow shaft in stainless steel available too We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice 10 Glossary Term 10 Base T 100 Base T ADU ASCII Batch file Baud rate Binary Browser CATS CRC Version 01 08 Explanation Transmission line with 10 Mbit data transmission rate Transmission line with 100 Mbit data transmission rate Application Data Unit American Standard Code for Information Interchange ASCII describes as code the correlation from digital integers to a normal font described character Script program for MS
7. DOS Transmission rate it display the transmission bits per second Numeric system with value 0 or 1 Software program to display HTML Sides on different operating systems Linux Unix Windows Terminations for transmission rates up to 100 Mbit The cyclic redundancy check is a method from the information technol ogy to control a checksum for data to reduce errors by the transmis sion Page 25 UME OCD EM EMC Ethernet Term Fast Ethernet FCS Bytes Flash HTML HTTP Hub IP Address IP Protocol MODBUS MODBUS TCP Mbit OCD OSI Modell PDU PPP Packet SMTP Switch TCP TCP Client UDP Version 01 08 POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE Electromagnetic compatibility there are rules to verifying devices Ethernet is a computer network technology based on frames Explanation Transmission technology with 100 Mbit transmission rate The Frame Check Sequenz Bytes are a 32 Bit CRC Checksum Internal Memory saved data will be available after power down The Hypertext Markup Language is a document format used in the World Wide Web to be displayed by a browser The Hypertext Transfer Protocol is a stateless transmission protocol for data transmission The hub connects different network segments e g in an Ethernet net work IP address allow a logic addressing from computer in a network The Internet Protocol is widespread in computer networks It is the i
8. P INTERFACE 7 3 Hollow Shaft B Single Turn 95 Multi Turn 106 35 59 61 60 68 60 Edelstahl Stainless steel an Momentenstitze Anlagekante Max W 30 Min W 15 Welleneinstecktiefe hollow shaft depth 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 14mm 12 mm 11 mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow shaft Version 02 08 Page 23 Maximum radial and axial misalignment of the drive shaft axial radial static 0 5 mm dynamic 0 1 mm 0 2 mm UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE USER MANUAL 8 Models Ordering Description Description IXARC Optical Interface Version Code Revolutions Bits Steps per revolution Flange Shaft diameter Mechanical options Connection Type Key OCD EM Ethernet EM 2xM12 00 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 IP66 Customized M12 connector Standard bold further models on request Version 02 08 Page
9. POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE AMERICA FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 2020 USA T 1 609 750 8705 F 1 609 750 8703 www posital com info posital com USER MANUAL EUROPE POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln Germany T 49 221 96213 0 F 49 221 96213 20 www posital com info posital eu 8 8 8 8 8 8 8 8 8 8 58 8 8 8 en J om Jae Jew I om on I ae co om Fom Z em Cam Lam Lem fom Lem OD SI ON LEN QD ND OO C0 SI ON OTLEN ASIA FRABA Pte Ltd 20 Kallang Avenue Singapore 339411 Singapore T 65 65148880 F 65 62711792 www posital com info posital sg POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE USER MANUAL Imprint POSITAL GmbH Carlswerkstrasse 13c 51063 Cologne GERMANY Phone 49 221 96213 0 Internet www posital com Fax 49 221 96213 20 E mail info fraba eu Copyright The company POSITAL claims copyright on this documentation It is not allowed to modify to ex tend to hand over to a third party and to copy this documentation without written approval by the company POSITAL Nor is any liability 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 Version 02 08 Page 2 Alteration of Specifications reserved Technical specifications which a
10. ca tions when using TCP IP or UDP If you directly connect the absolute encoder to a computer via a 100 Mbit network card you will get a cycle time of less than 2 ms In huge networks the cycle times will depend on the utilization of the network 1 3 TCP IP Even though Ethernet and TCP IP are often used together and sometimes used interchanged these are three different kinds of terms and you should carefully separate them The coherences are based on the ISO OSI reference model after ISO IEC 7498 that is needed to basically under stand these terms Ethernet only describes layer 1 and 2 in this model nevertheless the term is often used in error in engineering as description of all layers between 1 and 7 Version 02 08 Page 5 The IP protocol of layer 3 was developed in the 70 s by the US military MIL STD 1777 It allows a universal addressing independent of the hardware involved in heterogeneous networks It also man ages the transfer of large packets by splitting them up into smaller packets The well known TCP protocol MIL STD 1778 ensures a reliable data transfer Http RFC 2068 and SMTP MIL STD 1781 be long to layer 7 of the OSI model and allow to trans fer data and documents via web browser or to send e mails 1 4 Modbus TCP MODBUS is an application layer messaging proto col positioned on level 7 of the OSI model that provides client server communication between devices connected on different types of bus
11. ch is permitted but which may result in problems when certain conditions occur the encoder will issue a warning This could for example happen if the variable UsedScopeOfPhysRes is set to a value which does not result in an integer division with the physical resolution of the encoder when dividing the total physical resolution of the encoder The reason for the warning will be sent following the WARNING tag If any variable was set it is important to wait until the encoder dis plays this message before the encoder can be turned off otherwise the internal flash might be damaged 10 30 V DC absolute limits Max 4 Watt Emitted interference EN 61000 6 4 Noise immunity EN 61000 6 2 Ethernet 10 100 MBit LSB up to 12 Bit 2 LSB up to16 Bit Max 800kHz valid code gt 2 ms for MODBUS TCP gt 10 h Programmable IP Address and Network parameters Page 20 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 6 2 Mechanical Data Housing Aluminum optional stainless steel Lifetime Dependent on shaft version and shaft loading refer to table Max shaft loading Axial 40 N radial 110 N Inertia of rotor lt 30 gem Friction torque lt 3 Ncm without shaft sealing RPM continuous operation Max 12 000 RPM Shock EN 60068 2 27 lt 30 g half sine 11 ms Permanent Shock EN 60028 2 29 lt 10 g half sine 16 ms Vibration EN 60068 2 6 lt 10 g 10 H
12. es or networks As an industry s standard since 1979 MODBUS continues to enable millions of automation devices to communicate Today support for the simple and elegant structure of MODBUS continues to grow The Internet community can access MODBUS at a reserved system port 502 on the TCP IP stack MODBUS is a request reply protocol and offers services specified by function codes MODBUS function codes are elements of MODBUS request reply PDUs The objective of this document is to describe the function codes used within the framework of MODBUS transac tions MODBUS is an application layer messaging proto col for clients For more information s see www modbus org UME OCD EM ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE POSITAL FRABA 1 5 OSI Modell Layer 7 Application Modbus Layer TPE Application 6 Mapping Layer Modbus lt gt TCP 5 4 Transport Layer TCP Data transport 3 Network Layer IP 2 Eth DENE Ves IEEE 802 3 Layer 1 Physical Layer Cable 1 6 MODBUS frame Version 02 08 MODBUS Frame Page 6 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE USER MANUAL 2 Hardware Set Up and Ethernet Connection 2 1 Network Topology Using Ethernet there are different kinds of topolo gies possible The connection of the encoder can be made both directly to the computer with a net work card or indirectly wit
13. h a switch hub or com pany network see figure below If you use a direct connection to a computer without network compo nents in between you need to use a standard Connection to Switch or Hub cat 5 crossover cable cat 5 cable PC Switch Hub Version 02 08 Page 7 straight network cable not a crossover cable You need at least a cable of category 5 to get a data transfer rate up to 100 Mbit If there is a net work component in the network which does not provide Fast Ethernet the sensor will automatically Switch down to 10 Mbit Direct connection to PC Cat 5 cable UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE USER MANUAL 2 2 Connecting an Absolute Encoder The encoder is connected by a 5 pin M12 con nector for the power supply and one 4 pin D coded M12 connector for Ethernet Connector Ethernet Connector power supply 4 pin female D coded 5 pin male A coded Pin Number Signal Pin Number Signal 1 Tx 1 24 V 2 Rx 2 24 V 3 Tx 3 0v 4 Rx 4 OV 5 PE Sketch on encoder view 3 4 4 3 g e e e 2 1 1 2 e N AG DI 2 3 Ethernet Cables 2 3 1 RJ45 M12 crossed 2 3 3 M12 M12 crossed Signal Tx Tx Rx Rx Version 02 08 Page 8 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 2 4 Diagnostic LED s LED Color Description for LED on Rx1 Yellow Incoming and outgoing traffic for port 1 L
14. he code discs and detected by Opto Arrays The output signals are electronically amplified and the result ing value is transferred to the interface The absolute rotary encoder has a maximum reso lution of 65 536 steps per revolution 16 Bit The Multiturn version can detect up to 16 384 revolu tions 14 Bit Therefore the largest resulting reso lution is 30 Bit 2 1 073 741 824 steps The standard Singleturn version has 13 Bit the stand ard Multiturn version 25 Bit The encoder sends the data in binary code via standard or fast Ethernet 10 Base T 100 Base T At present it supports the following international standardized protocols TCP IP http and SMTP in version A1 Version 02 08 Page 4 The encoder is able to provide three different kinds of output data the position value a velocity value and a time stamp These can be use in arbitrary combinations for TCP transmitting The following functions of the absolute rotary en coder can be programmed directly via the Ethernet connection Used scope of physical resolution Total scaled resolution Preset value Code sequence Complement There is no specific software required for version A1 to initiate and use the absolute rotary encoder because the sensor can be read out and pro grammed by any standard web browser For this purpose the absolute rotary encoder contains a web server which provides HTML documents with embedded Java applets These document
15. i e 5 steps per revolution The code sequence complement can be programmed as an operat ing parameter This parameter determines whether the output code increases or decreases when the axis is turned clockwise The preset value is the desired output value for the actual position of the axis The actual output value will be set to this preset value The offset value can set the offset to physical position of the axis The html page the programmable parameters and the diagnostics of the encoder are described in the next chapter od Max needed Max physical position value position value parameter 2 Version 02 08 Wanted zero Physical zero crossing crossing parameter 1 Page 12 UME OCD EM PO F S RA TAL BA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 4 2 Operating by the integrated Web Server The absolute rotary encoder can be addressed by any web browser e g Netscape Internet Explorer Opera etc Please enter the IP address of the encoder in the address field of the browser The factory setting for the IP address is 10 10 10 10 Chapter 4 3 will deal with changing the IP address If the encoder has built up a connection to the browser you can see its start page To be able to parameterize the encoder please open the page Main Controller Site see image below The other links on the starting page will open a html page showing all available c
16. ink1 Green Link to another Ethernet component for port 1 Ethernet collisions on the Collosion1 kl bus for port 1 Rx2 Incoming and outgoing traffic for port 2 Link2 Link to another Ethernet component for port 2 Collosion2 Ethernet collisions on the bus for port 2 Error Run Not available Version 02 08 Page 9 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 3 Data transmission 3 1 Values Position values velocity and a time stamp are provided 3 2 Format Data type Sign Position 32 bit integer unsigned Velocity 32 bit integer signed Time stamp 64 bit integer unsigned 3 3 Function code 03 03 0x03 Read Holding Registers This function code is used to read the contents of a contiguous block of holding registers in a remote device The Request PDU specifies the starting register address and the number of registers In the PDU Registers are addressed starting at zero Therefore registers numbered i e 1 8 are addressed as 0 7 The register data in the response message are packed as two bytes per register with the binary contents right justified within each byte For each register the first byte contains the high order bits and the second contains the low order bits The Error check in ADU is for Modbus TCP not available because TCP use a Error check For details see
17. m plementation of the internet layer of the TCP IP model Is an application layer messaging protocol positioned at level 7 of the OSI model that provides client server communication between devices connected on different types of buses or networks The Internet community can access MODBUS at a reserved system port 502 on the TCP IP stack 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 organisation of a communication Protocol Data Unit The Point to Point Protocol will be need for a connection establishment It enables the transmission between different network protocols Simple Mail Transfer Protocol managed the transmission of e mails 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 transmis sion protocol in a network MS DOS program available from FRABA to communicate with the en coder User Datagram Protocol is utilized to send data that does not need to be transferred in a reliable way Page 26 UME OCD EM
18. mand till the encoder issues an answer can be measured in steps of 10 ms This can be switched on off using time notime e the binary values transmitted by the encoder can be transferred to ASCII again if it does Version 02 08 Page 16 not contain 0 or n This can be switched by binary ASCII it will be automatically switched when the encoder is switched from to binary mode e Scrolling of the output can be turned on off via scroll noscroll e new renews the connection to the encoder e exit will close the TCPClient application UME OCD EM 5 6 Parameters 5 6 1 Commands POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE Important Please note spaces upper and Value means the output value You can lower case Value means the parameter to change and read the settings of the encoder by enter All commands and parameters have to be using the following commands entered in one line and started with ENTER Commands Run set lt Variable gt lt Value gt read Variable Version 02 08 Remarks This command will order the encoder to send a position value regardless of the time mode This command will set a variable to a given value If successful the encoder will answer in the form lt Variable gt lt Value gt else an error message will be issued All variables modes are stored in the internal flash a few seconds after they were set After the value wa
19. many http Anmuw p ositalcom Applet MainControllerPanel started Preteen Version 02 08 Page 13 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE USER MANUAL 4 3 E mail and Network Configuration The rotary encoder can be used either with the wired IP 10 10 10 10 or the software IP address which can be programmed A switch to choose either option is located in the connection cap If the switch 2 is in position off the programmable IP has been chosen Both Hex rotary switches and switch 1 are not in use for this encoder The configuration window can be accessed via the Main Controller Site or the start page FRABA POSITAL Optical Encoder WebControl Mozilla Firefox n le xl Datei Bearbeiten Ansicht Gehe Lesezeichen Extras Hilfe Qi ae 5 Q A 1 hetp 198 100 100 55 webserver networkConfiginetworkConfig html oe fia 9 FRABA POSITAL Optical Encoder we BH POSITAL FRABA Start Mony E MAIL AND NETWORK CONFIGURATION Main Controller Site Network Configuration Encoder IP Adress fi 98 100 100 55 Set Encoder Netmask 0 0 0 0 Set Gateway IP Adress fi 98 100 100 30 Set E Mail Configuration SMTP Server IP 21 7 69 67 146 Set Mail Sender Jencoder posital de Set Recipient Adress bauten posital de Set Send Test E Mail Send Parameters per E Mail Reset connection c 2004 FRABA POSITAL GmbH Cologne Germany http postal coms
20. nds 15 5 1 Introduction 15 5 2 Installation riisin ariaannirer rastao ieia 15 5 3 PATH Variable sse 15 5 3 1 MS DOS Win95 Win98 WinME 15 5 3 2 WinNT3 51 WinNT4 Win2000 WinXP 16 5 4 Operatin i courtier nee ttd evento vice 16 5 5 Advanced functionality 16 5j6 Pararmeters rtr ia 17 5 6 1 Commands sse 17 5 0 2 Variables is sess eee tie eiin 18 Version 02 08 Page 3 5 6 3 Encoder answers sese 20 6 Technical Data eene 20 6 4 El ctrcal Data uem 20 6 2 Mechanical Data i 21 6 3 Minimum mechanical lifetime 21 6 4 Environmental Conditions 21 7 Mechanical Drawings 22 7 1 Synchro Flange S i 22 7 2 Clamp Flange F sss 22 7 3 Hollow Shaft B 23 8 Models Ordering Description 24 9 Accessories and Documentation 25 10 Glossary cia 25 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 1 Introduction 1 1 Absolute IXARC Rotary Encoders Absolute rotary encoders provide a definite value for every possible rotary position All these values are reflected on one or more code discs The beams of infrared LEDs are sent through t
21. ommands Information about Commands or the page to configure the network settings Chapter 5 describes these commands in more detail To read for example continuously the position value please set the desired cycle time and choose the cyclic mode Each command to the encoder and messages from the encoder is logged in the encoder message window FRABA POSITAL Optical Encoder WebControl Mozilla Firefox le xi Datei Bearbeiten Ansicht Gehe Lesezeichen Extras Hilfe 4 fa cd gt X amp l x A LI http 198 100 100 55 webserver mainController mainController html n Q Go GL erste Schritte Aktuelle Nachrichte Posital fa FRABA POSITAL Optical Encoder We l B8 FRABA Start Menu Email and Network Configuration MAIN CONTROLLER SITE Encoder Output Parameterisation 100 Position steps Run CountingDir amp om C cow Velocity steps s UsedScopeOfPhysRes 16384 Set 33554432 Timestamp us TotalScaledRes 512 Set 33554432 Preset Offset 100 229657 POSITION 100 Raw sell CycleTime 1 Set fi o Age of Values 100 ms Encoder Messages Offset 229657 Modes Parameters successfully written Setting Cycle Time to 1 ms TimeMode OutputMode OutputType CycleTime 1 Parameters successfully written Polled IV Position ASCII gt C cos I Velocity C A SHORT Cyclic Timestamp C Binary Send Parameters per E Mail Reset connection c 2004 FRABA POSITAL GmbH Cologne Ger
22. re described in this manual are subject to change due to our permanent strive to improve our products Document information File name UME OCD EM Date February 2008 Version number 1 2 Author Reiner Batjer Service Phone For technical support questions and suggestions for improving our products and documentations call our telephone line 49 221 96213 0 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE USER MANUAL 1 Introduction rien 4 1 1 Absolute IXARC Rotary Encoders 4 1 2 Etheiriet ae entere recte etae viens 5 13 TOPP EE 5 1 4 MOdbUS TCP 5 2 Hardware set up and Ethernet Connection 7 2 1 Network Topology 7 2 2 Connecting an Absolute Encoder 8 2 3 Ethernet Cables i 8 2 3 1 RJ45 M12 crossed 8 2 3 2 RJ45 M12 straight 8 2 3 3 M12 M12 crossed 8 2 4 Diagnostic LED S neneeese rene neereee ne 9 3 Data transmission eee 10 AEE 10 RE Mee a 10 3 3 Function code 03 isisisi 10 3 4 Function code 16 sse 10 3 5 Modbus Mapping eene 11 4 Programming 12 4 1 Programming of Parameters 12 4 2 Operating by the integrated Web Server 13 4 3 E mail and Network Configuration 14 5 Operating by TCP IP Comma
23. s are a widely self explanatory graphical user interface GUI that is described in detail in chapter 4 2 The automated data transfer with a control system is done with TCP IP by simple plain text commands and data in ASCII format The encoder supports the communication with Modbus TCP PLC s and IPC s With function code 03 can you read out data Function code 16 allows to set the parameters More details see in chapter 3 4 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE USER MANUAL 1 2 Ethernet The present developments in the field of Industrial Ethernet are based on the vision of an integrated access of all data of a company through a uniform communication system In higher levels of enter prise communication Ethernet is the main medium of data transfers Combined with other IT technol ogies it is internationally standardized In the long run automation engineers will benefit from the rapid technological progress in the mass markets of IT and web technologies Ethernet technically provides a system with higher data transfer rates than common field bus systems TCP IP and UDP do have a statistical access method to access the medium thereby prohibiting determined response times Many developments are intensely done on additional real time mecha nisms e g Ethernet Powerlink Ethernet IP Profinet or EtherCat However you can already get access times that are sufficient for many appli
24. s saved the message Parameters successfully written is issued to all connected TCP Clients If the encoder is turned off while writing to the flash the process can damage the flash and destroy the encoder program Please take care that under all circumstances the encoder is not turned off while it is writing to the flash This command will read out a variable from the encoder The encoder will answer in the form lt Variable gt lt Value gt Page 17 UME OCD EM 5 6 2 Variables Variables UsedScopeOfPhysRes TotalScaledRes CountingDir Preset Offset TimeMode Version 02 08 POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE Remarks Values Specifies the part of the physical resolution used for the encoder in physical steps If e g for an encoder with a resolution of 8192 steps per revolution 16384 is chosen the encoder will count 8192 steps per revolution if TotalScaledRes is set to the same value as UsedScopeOfPhysRes and start with zero again after 2 revolutions If this value is not set to a value which results in an integer division with the total physical resolution the encoder value will jump to zero when passing the physical zero point Default value Physical resolution of the type label l e 4096 resolutions x 8192 steps per revolution 33 554 432 Specifies the scaled resolution which is used over the area of physical steps defined by UsedScopeOfPhysRes If e g the encoder is
25. sed by the encoder if own IP address and destination IP address are not within the same subnet specified by the net mask The email address given as the sender in emails from the encoder The email address emails will be send to The IP address of the SMTP server which the encoder will send the email by Level of information output for tracer 0 only errors 1 errors and warn ings 2 errors warnings and clues Page 19 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER 5 6 3 Encoder answers Encoder answers lt Variable gt lt Value gt ERROR WARNING Parameters successfully written 6 Technical Data 6 1 Electrical Data Supply voltage Power consumption EMC Bus connection Transmission rate Accuracy of division Step frequency LSB Response time Electrical lifetime Device addressing Version 02 08 WITH MODBUS TCP INTERFACE Remarks If a variable was correctly set the encoder will answer to all connected TCP clients with the variable and its new value This indicates that the Encoder understood the command and now uses the value it does not indicate that the value was already save to the internal Flash please allow some additional seconds for that If something went wrong the encoder will issue an error e g if it did not understand a command or if a value for a variable was not correct It will describe the error after the ERROR tag If a variable was set to a value whi
26. set as described above and TotalScaledRes is set to 10 the encoder will count 10 steps over the physical steps defined with UsedScopeOfPhysRes i e 5 steps per revolution Default value Physical resolution of the type label l e 4096 resolutions x 8192 steps per revolution 33 554 432 Specifies the direction to turn the axis which is associated with higher values e CW denotes that clockwise turning will increase the position value e CCW denotes that counterclockwise turning will increase the position value When the preset is set an internal offset will be calculated which will be saved and added to all position values afterwards The value given for the preset denotes the position value the encoder will show at the point where the preset was set This variable makes it possible to directly change the offset calculated and set by the preset function Possible time modes are e polled Encoder will only send output values if asked to do by Run e cyclic Encoder will send output values after time specified by CycleTime e change of state The Encoder will send the output values only if either the position or the velocity has changed The values are checked every 5 ms to reduce unwanted network traffic Page 18 UME OCD EM Variables OutputMode OutputType CycleTime NetMask Gateway OwnEmailAddr RmtEmailAddr SMTPServerlP Verbose Version 02 08 POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE
27. th c programme java bin UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 5 3 2 WinNT3 51 WinNT4 Win2000 WinXP In Start Settings Control panel System required paths Depending on the operating Advanced Environment Variables you can system used administrator rights might be configure the variable Path Please do not necessary change the other path settings but only add the 5 4 Operating After starting the batch file TCP_10101010 bat the connection to the encoder will be built up Once you are connected you can try e g read offset please note space to read out the calculated offset from the encoder You can see all available commands in the next chapter If the encoder is running in cyclic mode you can see position values coming continuously from the encoder You can enter a command anyway although your input will be overwritten by new position values the command will still be sent once you press enter The Java program can be finished with CTRL C cx Eingabeaufforderung dos10101010 C gt cd fraba ethernet C fraba ethernet gt dos1 1 1 1 C fraba ethernet gt java tcpcl 16 16 16 16 6088 Connected to server 19 18 19 1 run BOS ITION 26969556 5 5 Advanced Functionality In the subdirectory advanced in the Zip file Software Tools there is a version of the TCP client with enhanced functionality e the time from the com
28. z 1 000 Hz Weight standard version Singleturn 500g Multiturn 700g Flange Synchro S Clamp C Hollow shaft B Shaft diameter 15 mm Hollow shaft depth min max 15 mm 30 mm 6 3 Minimum mechanical lifetime Flange Lifetime in 10 revolutions with Fa Fr 40N 60N 40N 80N 40N 110N 10 Synchro flange 10 x 20 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 6 4 Environmental Conditions Operating temperature 0 60 C 40 85 C 98 without liquid state Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP66 Storage temperature Humidity Protection class EN 60529 Version 02 08 Page 21 UME OCD EM POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TCP INTERFACE 7 Mechanical Drawings 7 1 Synchro Flange S Available in 2 versions Synchro flange d mm mm Version S06 Single Turn 77 Multi Turn 88 Version S10 3xM4x6 F TT 4 9 S 68 958 Edelstahl Stainless steel 7 2 Clamp Flange F 30 Single Turn 77 Multi Turn 88 35 3x129 958 53 936 oupo Edelstahl Stainless steel 24 UME OCD EM Page 22 Version 02 08 POSITAL FRABA ABSOLUTE IXARC ROTARY ENCODER WITH MODBUS TC

Absolute rotary encoder with TCP/IP+UDP interface

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