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1. FRABA Clamp flange C10 Cable cable diameter 8 mm L T 28 _ T 1 18 5 6 o 8 4 ae 1 RIF H BN 25 30 L in mm Single Turn axial 53 radial 53 Multi Turn axial 62 radial 62 Page 37 POSITAL FRABA Clamp flanch S 5 pin connector The dimensions of the housing from type Clamp flange 5 pin connector are the same like the type synchro flange 058 05 9365 L im mm Single Turn axial 53 radial 53 Multi Turn axial 62 radial 62 Page 38 4 N POSITAL FRABA Hollow Shaft B N N gt 2 o 99928 cC Co og 5 o C 5 gt T eco M23x1 x v 2 Max W 30 Min W 15 Welleneinstecktiefe hollow shaft depth Single Turn axial 72 radial 72 Multi Turn axial 81 radial 81 Mounting instructions hollow shaft The clamp ring may only be tightened if the shaft of the driving element is in the hollow shaft The diameter of the hollow shaft can be reduced to 12mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow shaft Allowed shaft movements of the drive element are listed in the table axial static 0 3 mm dynamic 0 1 mm ra
2. 125 0 250 1 500 2 125 3 reserved 6 3 Cabel Pin Signal Description Color 1 V GND Black 2 CAN L CAN Bus signal dominant low Blue 3 CAN H CAN Bus signal dominant high White 4 V External voltage supply Vcc Red 6 3 Connector Pin Signal Description Color 2 V External voltage supply Vcc Red 3 V GND Black 4 CAN H CAN Bus signal dominant high White 5 CAN L CAN Bus signal dominant low Blue 5 o d 2 SS PA 5 pin connector Page 18 POSITAL FRABA 7 Power On 7 1 Operating Mode After power on the absolute rotary encoder sends two times his MAC ID telegram on the bus 7 2 Programming If some parameters should not be modified you format In the examples the CAN ID and MAC ID can skip over this chapter are OA hex and for the slave 03 hex The following numbers are given in hexadecimal The changeable values are written in an italics 7 2 1 Operating Parameter Master to absolute rotary encoder Set Parameter CAN ID MAC ID Service Class Instance Attribute Data Code ID ID ID Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 41C 01 Ob X X 1hexfor CW Default 0 hex for CCW Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID Service Code Byte 0 Byte 1 41B 0A 90 7 2 2 Resolution per revolution Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Service Class Instance Attribute Data Code ID ID ID Byte 0 Byte 1 By
3. 18 63 Cabera 18 6 3 Connector sss 18 Power 19 7 1 Operating Mode 19 7 2 19 7 2 1 Operating Parameter 19 7 2 3 Total resolution eerren 20 7 2 4 Preset Value 21 7 2 5 MAG IDB a iiie 8 ee 22 7 2 6 Baudrate u 22 8 RsNetworX essent 24 8 1 EDS 24 8 2 Driver 26 8 3 Network 28 9 Technical 31 9 1 Electrical 31 9 2 Mechanical 31 9 3 Minimum mechanical lifetime 32 9 4 Environmental Conditions 32 Mechanical Drawings 33 Synchro flange S 36 Page3 POSITAL FRABA 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 valu
4. 15 mm Synchro S 15 mm 30 mm Page 31 POSITAL FRABA 9 3 Minimum mechanical lifetime Flange Lifetime in 10 revolutions with Fa C10 Clamp flange 10 x 20 S10 Synchro flange 10 x 20 247 104 40 40 N 60N 40 N 80N 40 N 110N 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 9 4 Environmental Conditions Operating temperature 40 85 C Storage temperature 40 85 C Humidity 98 without liquid state Protection class EN 60529 Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP66 Page 32 TO C 2 gt Mechanical Drawings Synchro flange S available in 2 versions Single Turn 82 Multi Turn 92 Synchro flange Version S06 Version S10 30 d mm mm 10 20 4 6 63 5 860 058 Edelstahl Stainless steel _ Clamp flange C 30 Single Turn 82 Multi Turn 92 260 63 5 058 053 036 Edelstahl Stainless steel 20 20 Schl sselweite wrench size 17 Schl sselweite wrench size 17 POSITAL FRABA Hollow shaft B Single Turn 100 Multi Turn 112 N N o t
5. 2 Rockwell Automation 2 Rockwell Automation Ri Rockwell Automation Spr E22 Generic Device FRABA FRABA lt Zur ck Weiter gt Abbrechen 2 Message Code Date Description DNET 0043 12 05 2005 15 39 49 error has occurred attempting to insert the device at address 62 into the configuration DNET OFFF 12 05 2005 15 39 49 Copy protection was not detected and RSNetWorx for DeviceNet is running in DEMO mode Only addresses 0 through 6 are valid onet 0101 12 05 2005 15 39 25 Mode changed to online The online path is KLIMA LAPTOP 1770 KFD 1 5 i n eM Ready Online Not Browsing Mstart 20 amp A Gjtotaler Datentr ger 2 Rsnetwo Sredsws Paint fd 1559 1 3 EDS Wizard 8 2 Driver Configuration After a successful installing of the EDS file the next step is to choose the suitable driver With Star Programme Rockwell Software RSLinx the menu the programm RSLinx can be started With this programm the suitable driver can be chosen For this example the driver typ 1770 Page 26 KFD is being used In the next step the window Configure Drivers in the menu Communications Configure Drivers has to be started In the drop down Men Available Driver Types the driver typ 1770 KFD has to be chosen and confirmed with the button Add New See picture 1 4 95 232 DF1 devices Ethemet devi
6. 4 pcs AWC 2 pcs AWC 15 mm to 12 mm 15 mm to 10 mm 15 mm to 8 mm Installation and configuration manual German Installation and configuration manual English Disc containing EDS file for coniguration for OCC Disc containing EDS file for coniguration needless for hollow shaft Type AH 58 B1DA 3PG AH 58 B1DA 3PG VA AH 58 B1DA 1BW AH 58 B1DA 2M20 Type GS 10 GS 06 SP 15 5 RR12 RR10 RR8 UMD DA UME DA OCD DN C OCD DN 0 These can be downloaded free of charge from our Homepage www posital com We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice Page 43
7. The online path is KLIMA LAPTOP 1770 KFD 1 a i P4 o Ready Browsing 19 Astart teu Sr unbenannt Paint S sene Dateien 2 Devicenet RsNetwo 15 39 1 6 Browsing Network To cofigure the encoder the configuration opened By pushing Parameters an upload of window in the menu Device Properties has to be the encoder parameter is realized Page 28 DeviceNet RSNetWorx for DeviceNet Edit View Network Device Diagnostics Tools Help amp Hardware xi ED DeviceNet B Category EA General Parameters 1 0 Data EDS AC Drive Barcode Scanner Select the parameter that you want to configure and initiate an Communication Adapter action using the toolbar DPI to DeviceNet Groups EM singe Monitor 3 Position Abbrechen bernehmen Hilfe i ff Parameter Curentvaue Code sequence clockwise Resolution per revolution Total Resolution Preset Value 1 sequence 2000 Steps 4000 Steps 13 Steps 70 Steps MK 4 gt M Graph Spreadsheet Master Slave Configuration Diagnostics ud Message Code Description DNET 0043 DNET OFFF onet 0101 12 05 2005 15 39 49 12 05 2005 15 39 49 12 05 2005 15 39 25 Messages E error has occurred attempting to insert the device at address 62 into
8. these telegrams can be divided into the CAN ID and 8 following bytes as shown in the table below 2 1 The Object Dictionary Instance Attribute of the Position Sensor Objects Class Code Attribute ID 1 hex 2 hex 3 hex OB hex 2C hex 2D hex 2E hex 6E hex 6F hex Get Set 23 hex Access Get Get Get Get Set Number of Attributes Attribute Position value Code sequence Get Set Get Set Get Set Get Set Baudrate Get Set MAC ID resolution per revolution total resolution preset value read write CAN ID Header Message Body 11 Bit 1 Byte 7 Byte Data Type Description USINT Number of supported Attributes Array of USINT DINT Boolean INT DINT DINT Page 7 List of supported Attribute current position Controls the code sequence clockwise or counterclockwise resolution for one revolution total measurable resolution setting a defined position value Adjustment of the Baudrate Adjustment of the MAC ID POSITAL FRABA 2 2 Definition of the CAN ID DeviceNet is based on the standard CAN protocol and used a 11Bit 2048 specifiable messages messages identifier For the identification of a device in a DeviceNet network are 6Bit enough because a network belongs 64 nodes That nodes will be call MAC ID The CAN Identifier consists of the Message Group Message ID and the MAC ID of the device By our absolute rotary e
9. Devices Valve Drives Controllers Profiles Application Object Library CIP Messaging Explicit 1 0 Routing DeviceNet Data Lirk CIP SPEC Layer CAN DeviceNet Physical Page5 Layer CIP Common Industrial Protocol make for the user available four essential functions e Unique control service e Unique communication service e Unique allocation of messaging e Common knowledge base POSITAL FRABA 1 2 Object modell DeviceNet describes all data and functions of a device considering as 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 associated attributes e g processdata his functions read or write access of a single attribute as well as by the defined behaviour DeviceNet distinction is drawn between three different objects Communication object Define the exchange messages over DeviceNet and becoming designated as Connection Objects DeviceNet Object Message Router Object Connection Object Acknowledge Handler Object System objects Define common DeviceNet specific data and functions Identity Object Parameter Object e Applications specific objects Define device specific data and functions Application Object Assembly Object Page 6 POSITAL FRABA 2 Data Transmission The data transmission in the DeviceNet network is realised by message telegrams Basically
10. EDS Wizard has to be started that can be done in the menu Tools EDS Wizard f the EDS Wizard is activated successfully the Register an EDS File s has to Page 24 Offline Will 10 35 be chosen and after that the button weiter In the next step the Register a directory of EDS files has to be chosen and with Browse the path of the EDS file s That is indicated in picture 1 2 Eile Edit View Network Device Diagnostics Tools Help SS eal BS H Hardware 3 xl ED DeviceNet ED Category 840 AC Drive 9 0 Barcode Scanner 8 4 Communication Adapter DPT to DeviceNet x 840 DeviceNet to SCANport Registration EHI Dodge EZLINK Electronic Data Sheet file s will be added to your system for use in 8 General Purpose Discrete Software applications Generic Device Human Machine Interfac Inductive Proximity Swite 8 Limit Switch Motor Overload Photoelectric Sensor In folder Rockwell Automation misq Browse I SCANport Adapter foraner suchen rer Register a single file Register a directory of EDS files Look in subfolders is an icon file ico with the same name as the you are registering this image will be associated with the device 548 Arbeitsplatz 9 29 3 4 Diskette A Lokaler Datentr ger 5 Programme D c Netzwerkumgebung To perform an installa
11. chapter online and how to parametrise a encoder In the 6 2 the network is online After that RsNetworx menu Network Online the window Browse for searches in the network for connecting nodes network will be opened If the driver 1770 KFD That is also being showed in picture 1 6 DeviceNet RSNetWorx for DeviceNet E lalx Edit View Network Device Diagnostics Tools Help Hardware DeviceNet B Category AC Drive Barcode Scanner Communication Adapter DPI to DeviceNet DeviceNet to SCANport Dodge EZLINK General Purpose Discrete 7 Generic Device Human Machine Interfacd Inductive Proximity Switc 2 Limit Switch 2 Motor Overload Photoelectric Sensor Rockwell Automation misq SCANport Adapter Smart Specialty I O Vendor FRABA Sensorsysteme G Pepperl Fuchs 2 Rockwell Automation All 2 Rockwell Automation D Rockwell Automation El Rockwell Automation Ri Rockwell Automation Spri m 9 2288 t Ja 1 Browsing network E xj Not found Device at address 19 H a M Graph Spreadsheet __Master Slave Configuration Diagnostics 4 2 xi 21 Message Code Date Description oner 0101 12 05 2005 15 39 25 Mode changed to online
12. 2298 9 gt Edelstahl Stainless steel o 5 S255 c c c lt 2 30 Min W 2 15 Welleneinstecktiefe hollow shaft depth Schl sselweite wrench size 17 Mounting instructions The clamp ring may only be tightened if the shaft Allowed shaft movements of the drive element are of the driving element is in the hollow shaft listed in the table The diameter of the hollow shaft can be reduced to 12mm 10 mm or 8 mm by using an adapter this axial radial reducing adapter can be pushed into the hollow static 0 3 mm 0 5 mm shaft dynamic 0 1 mm 0 2 mm Page 34 a gt UJ gt Connection cap with 5 round connector Micro style 30 060 66 Square flange Single Turn 89 Multi Turn 115 Stier oa 0 0 013 1 9 529 66 5 31 7500 5 947 6 3 10 320 28 4 6tie 35 Synchro flange 5 Two types available Synchro flange d mm mm Typ S06 Typ S10 10 8 20 Cable cable diameter 8 mm POSITAL FRABA 042 3xM4x6 2 25 30 L in mm Single Turn axial 53 radial 53 Multi Turn axial 62 radial 62 Seite 36 POSITAL
13. Instance Attribute Editor Page 30 9 Technical Data 9 1 Electrical Data Interface Transmission rate Device addressing Supply voltage Current consumption Power consumption Step frequency LSB Accuracy of division EMC Electrical lifetime 9 2 Mechanical Data Housing Lifetime Max shaft loading Inertia of rotor Friction torque RPM continuous operation Shock EN 60068 2 27 POSITAL FRABA Transceiver according ISO DIS 11898 up to 64 nodes galvanically isolated by opto couplers 150 kBaud 250 kBaud 500kBaud Adjustable by rotary switches in connection cap 10 30 V DC absolute limits max 230 mA with 10 V DC max 100 mA with 24 V DC max 2 5 Watts 800 kHz 12 LSB 12 bit 2 LSB 16 bit Emitted interference EN 61000 6 4 Noise immunity EN 61000 6 2 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 Ncm without shaft sealing max 12 000 RPM Multiturn lt 30 0 halfsine 11 ms Singleturn max 6 000 RPM Permanent shock EN 60028 2 29 lt 10 g halfsine 16 ms Vibration EN 60068 2 6 Weight standard version Weight stainless steel version Flange Shaft diameter Shaft length hollow shaft depth min max 10 g 10 Hz 1 000 Hz Singleturn 550g Multiturn 6009 Singleturn 1 1009 Multiturn 1 200 9 Hollow shaft
14. N ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 41E 0 4B 03 01 03 0A 1 Setting the Expected packet rate of the Explicit Message Connection on 0 Definition CAN ID 1198 7654 32 1 0 Identity Usage Range 1 0 Destination MAC 1 0 0 Master s Explicit Request Message ID Page12 POSITAL FRABA Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C 0 10 05 01 09 00 00 1 Setting the Expected packet rate of the Polling Connection on 0 n Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C 0A 10 05 02 09 00 00 Release Master Slave Connection Set Release Polling Byte Offset Bit 7 0 Frag 0 1 R R 0 Service 4C Class ID 03 Instance ID 01 Release Choice 03 Bt4 Bt2 Bit 5 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 41E 0A 4C 03 01 03 Page 13 POSITAL FRABA 4 2 Change of State Mode The absolute rotary encoder sends data without when the position value is not changing This any request from the host when the actual results in a reduced bus loading process value is changing No telegram will occur Allocate Master Slave Connection Set Allocate COS Byte Offset Bit2 Bi Bito 0 1 Frag 0 Service 4B Class ID 03 Instance ID 01 Allocation Choice 51 0 0 Allocator MAC ID Example CAN ID Byte 0 Byt
15. POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH DEVICE NET INTERFACE USER MANUAL Page1 POSITAL FRABA CONTENTS Imprint FRABA POSITAL GmbH Schanzenstra e 35 D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 Internet http www posital com e mail info posital com Copyright The company FRABA POSITAL GmbH claims copyright on this documentation It is not allowed to modify extend copy or hand over to a third party this documentation without written approval by the company FRABA POSITAL GmbH 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 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 Page 2 Disclaimer of Warranty FRABA POSITAL GmbH makes representations or warranties either express or implied by or with respect to anything in this manual And shall not be liable for any implied warranties of merchantability and fitness for a particular purpose or for any indirect special or consequential damages no Document information File name UME OCD D doc Date 07 05 Version number 1 2 Author KMA EIO Phone Service For technical support questions and suggestions for improving our products and documentations c
16. The counting direction is defined in the attribute Ob hex 3 1 2 Resolution per revolution The parameter resolution per revolution is used to program the encoder to set a desired number of Attribute ID 2C hex Default value see type shield Maximum resolution 12 24 Bit Encoder 1 000 hex 4096 13 25 Bit Encoder 2 000 hex 8192 When the value is set larger than 4096 8192 for a 13 25 Bit encoder the process value of the encoder will not be single stepped and values will Value range 0 hex 1hex Value range Ohex 2000hex Data Type Boolean Bit 0 Drehrichtung Ausgabecode 1 CW Steigend 0 CCW Fallend steps per revolution Each value between 1 and the maximum see type shield can be realised Data Type Unsigned Integer16 be skipped while rotating the shaft So it is recommended to keep the measuring steps per revolution below 4096 8192 measuring steps Page 9 POSITAL FRABA 3 1 3 Total resolution This value is used to program the desired number of measuring steps over the total measuring range This value must not exceed the total resolution of the encoder with 24 bit 16 777 216 steps Attribute ID Default value 2D hex see type shield Maximum total resolution 24 Bit Encoder 1 000 000 hex 25 Bit Encoder 2 000 000 hex Attention The following formula letters will be used PGA Physical total resolution of the encoder see type shield PAU Physical res
17. all our telephone line 49 0 221 96213 0 POSITAL FRABA 1 Introduction 2 2 4 Clamp flange 10 nenne 37 1 1 Control and Information Protocol CIP 5 Clamp flanch S 5 pin 38 1 2 Object 6 Hollow Shaft B nennen 39 2 Data Transmission 7 Mounting instructions hollow shaft 39 2 1 The Object Dictionary 7 Heavy Duty 40 2 2 Definition of the 8 Mamfeat reS enari ce 40 3 Programmable Parameters 9g Heavy Duty version with blind shaft 41 3 1 Encoder parameters 9 10 Versions Order Description 42 3 1 2 Resolution per revolution 9 31 5 MAC D 5 5 11 3 1 6 B drate niet ea 11 4 Operating Mode eese 12 4 1 Polled 12 4 2 Change of State 14 4 3 Saving 16 5 Transmission of the actual position 16 6 Installation eeeeeeeeeeee 17 6 1 Electrical 17 6 2 Setting of the
18. ces 1784 KT K TA D JPKTA D PCMK for DH DH 485 devices 1784 KTC X for ControlNet devices DF1 Polling Master Driver 1784 PCC for ControlNet devices 1784 PCIC S for ControlNet devices 1747 PIC AIC Driver DF1 Slave Driver 5 5 50 502 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 Linx Gateway 1 4 Cofigure Drivers If the suitable driver is chosen it can be configured in the window Driver Configuration In this step the correct baudrate has to be requested name Allen Bradley 1770 KFD Driver Configuration 3 xi Allen Bradley 1770 KFD Driver Driver Revision 2 06 Copyright 1998 Allen Bradley Company amp Division of Rockwell Automation ke KFD Driver Setup Serial Port Setup DeviceNet Port Setup Node Address 2 250K Port Select Data Rate 57600 Modem Setup Use Modem Dialer Display Info Data Rate Configure Dialer This port is not currently in use Cancel Help 1 5 Driver Configuration Page 27 registered picture 1 Configure Startup Start Stop Delete 5 In the next step a can be registered 2 gt 00 gt 8 3 Network Connection This chapter will explain how to switch a network has been choosen this is explained in
19. de used to Duplicate MAC ID After that the master must save the parameter set is manufacturer specific reallocate the slave Page 23 2 gt 00 8 RsNetworx 8 1 EDS Wizard The EDS File contains information about device specific parameters as well as possible operating modes of the encoder With this file you have a data sheet in an electronic format DeviceNet RSNetWorx for DeviceNet which can be used to configure the device in the network for example with RsNetworx from Rockwell Ele Edit View Network Device Diagnostics Tools Help als 2 E Hardware EE DeviceNet E Category Options What task do you want to complete ka Unregister a device our database sy X device Rockwell Automation Rockwell Automation Di Rockwell Automation al Rockwell Automation Re Rockwell Automation Spr Create an EDS file device Change a device s graphic ima This option allows you to Rockwell Software s EDS Wizard This option will remove device that has been registered by an EDS file from This option creates a new EDS file that allows our software to recognize your ge lace the graphic image icon file associated with a xi lt Zur ck Abbrechen Messages Ready Pstart 1 e 2 X DeviceNet RSNetWor 1 1 EDS Wizard To install the EDS file the
20. dial 0 5 mm 0 2 mm Heavy Duty version These Outdoor encoder are suitable for dirty industrial environment e g heavy construction machines The heavy duty option for the Pure CANopen encoder provides an extended temperature range protection elements against perspiration water inside the encoder and a heavy duty housing Uppermost attention was laid on a high EMI Micro style connectors for supply voltage and bus in bus out connection provide an easy installation for non professional people The parametrization of the Pure CANopen encoder is possible with all current project tools by implementation of the ESD file to the current project Page 40 Main features Compact dimensions Heavy Duty housing Protective element against perspiration water integrated T coupler Standard protection class IP66 shaft side IP67 casing side POSITAL FRABA Heavy Duty version with full shaft Flangetype mm Clampflange available in two versions Standard 10 Optional 4 M4x6 Singleturn 45 Multiturn 69 058 0367 Heavy Duty version with blind shaft Allowed shaft movement of drive element Axial Radial is listed in the table 0 3 mm 0 5 mm dynamic 0 1 mm 0 2 mm Singleturn 66 Multiturn 90 an Momentenst tze Anlagekante Max Welleneinstecktiefe 30 Min Welleneinstecktiefe 15 Page 41 POSITAL 10 Versions Order Descrip
21. e 1 Byte 2 41C 8A 81 x X desired preset value Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID ByteO Byte 1 Byte 2 41B 8A C1 00 Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID Service Code ByteO Byte1 41B 0 90 21 Class Instance Attribute ID ID ID Byte 3 Byte 4 Byte 5 23 01 2E Byte 5 X E Byte 6 X Byte 6 Byte 7 X Byte 7 POSITAL FRABA 7 2 5 MAC ID Master to encoder Set Parameter CAN ID MAC ID Service Class Instance Attribute Data Code ID ID ID ByteO Byte1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 41C 0A 10 23 01 6F X X Value of the MAC ID Encoder to Master Confirmation CAN ID MAC ID Service Code ByteO Byte1 41B 0A 90 7 2 6 Baudrate Master to encoder Set Parameter CAN ID MAC ID Service Class Instance Attribute Data Code ID ID ID ByteO Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 41C 0 10 23 01 6E X X Value of the Baudrate X Baudrate o 125kbaud 1 250kbaud 2 500kbaud Encoder to Master Confirmation CAN ID MAC ID Service Code Byte0 Byte1 41B 0 90 22 POSITAL FRABA 7 2 7 Parameter Saving Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Service Code Class ID Instance ID ByteO Byte 2 Byte 3 23 01 If the transfer has been successful the absolute If the transfer is not successful an error rotary encoder responds after 3 4s with the message will be sent The service co
22. e 1 Byte 2 Byte 3 Byte 4 Byte 5 41E 0A 4B 03 01 51 0A 2 Setting Expected packet rate of the Explicit Message Connection on 0 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C 0A 10 05 01 09 00 00 3 Setting Expected packet rate of the Change of State Connection on 0 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C 0A 10 05 04 09 00 00 Page 14 POSITAL FRABA Release Master Slave Connection Set Release COS Byte Offset 0 1 2 R R 0 Service 4C Class ID 03 Instance ID 01 Release Choice 51 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 41E 0 4 03 01 51 Page 15 POSITAL FRABA 4 3 Saving Parameter The parameters of the absolute rotary encoder are examination those values can be saved in the saved in a non volatile FLASH memory Because FLASH memory After successful saving of the of a limited number of writing cycles 1 000 it is parameter the encoder sends his MAC ID on the useful to transmit the modified parameter in the bus To get the process value a new allocation of first step only in the RAM area After adjusting and the slave is required Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 XID MAC ID Service 32 R R 0 Class ID 23 Instance ID 01 Example MAC ID Master 0A hex MAC ID Slave 03 hex CAN ID Byte O Byte 1 Byte 2 Byte 3 41C 0A 32 23 01 5 Transmi
23. e is transferred to the interface The absolute rotary encoder has a maximum resolution of 65536 steps per revolution 16 Bit The Multi Turn version can detect up to 16384 revolutions 14 Bit Therefore the largest resulting resolution is 30 Bit 1 073 741 824 steps The standard Single Turn version has 12 Bit the standard Multi Turn version 24 Bit The integrated CAN Bus interface of the absolute rotary encoder supports all of the DeviceNet functions The following modes can be programmed and enabled or disabled Polled Mode Change of State The protocol supports the programming of the following additional functions Code sequence Complement Resolution per revolution Total resolution Preset value Baudrate MAC ID The general use of absolute rotary encoders with DeviceNet interface is guaranteed Page 4 POSITAL FRABA 1 1 Control and Information Protocol CIP User Layer Poplication Layer Poplication amp Data Link Layer Physical Layer The DeviceNet specification defines the Application Layer and the Physical Layer The Data Link layer is based on the CAN specification For the optimal industrial control will be defined two different messaging types messaging Implicit Messaging and explicit messaging With Implicit Messaging becoming data exchanged in realtime and with Explicit Messaging becoming data exchanged to configure a device Semi Pneurnatic AC Position Other
24. edoes The MAC ID can only be adjusted using a MAC ID Media Access Control via explicit messaging The default MAC ID is Identifier Every device needs an explicit and setting on d63 unique MAC ID A Device Net netwok supports 3 1 6 Baudrate Attribute ID Default value Value range Data length 6E hex 0 hex Ohex 2hex BYTE Device Net supports three different baurates that baudrate has to be the same as the Device Net are being showed in the below table The network baudrate The default baudrate is baudrate can be changed via explicit messages setting 125kBaud and stored in the EEPROM with a save command It is to insure that the selective 0x Baudrate in kBaud 0 125 1 250 2 500 Page11 POSITAL FRABA 4 Operating Mode 4 1 Polled Mode For switching the polled mode on the following following example a master MAC ID of OA hex and telegrams are needed Further it is assumed in the a slave MAC ID of 03 hex Allocate Master Slave Connection Set 1 Allocate Polling Byte Offset Bit7 Bite Bt5 Bit4 Bits Bit2 Biti Bito 0 Frag 0 XID MAC ID 1 R R 0 Service 4B Class ID 03 Instance ID 01 Allocation Choice 03 0 Allocator MAC ID Definition CAN ID 1198 7654 32 1 0 Identity Usage Range 1 0 Destination MAC 1 1 0 Group 2 Only Unconnected Explicit Request ID Message reserved Example CA
25. ncoder it is a matter of a Group 2 Messages In the table below a user can see the importance CAN IDs for a certain communication type 1019 8 76 5 4 3 2 1 0 Identity Range 0 Group 1 Source MAC ID GROUP 1 Message 000 3ff Message ID 01111 011 Source MAC ID Slave s I O Change of State or Cyclic Message 01111 1 1 Source MAC ID Slave s I O Poll Response or Change of State Cyclic Acknowledge Message 1 0 MAC ID Group2 GROUP 2 Messages 400 5ff Message ID 1 0 Destination 0 1 0 Masters Change of State or Cyclic Acknowledge ID Message 1 0 Source MAC ID 0 1 Slave s Explicit Unconnected Response Messages 1 0 Destination MAC 1 0 0 Masters Explicit Request Message ID 1 0 Destination 1 O 1 Masters I O Poll Command Change of State Cyclic ID Message 1 0 Destination 1 1 0 Group 2 Only Unconnected Explicit Request Message ID reserved 1 0 Destination 1 1 1 Duplicate MAC ID Check Messages ID Page 8 POSITAL FRABA 3 Programmable Parameters 3 1 Encoder parameters 3 1 1 Operating Parameter The operating parameter can be used to select the code sequence Attribute ID 0 b hex Default value 1 hex The parameter code sequence complement defines the counting direction of the process value as seen on the shaft whether clockwise or counter clockwise
26. olution per revolution see type shield 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 encoder then the total resolution must be entered as follows 3 1 4 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 2E hex Default value 0 hex Value range Value range Oh 2 000 000h Ohex total measuring range 25 bit 33 554 432 steps Please note the value written on the type shield Data Type Unsigned Integer 32 Total resolution GA PGA AU PAU if AU lt PAU Example Customer requirement AU 2048 Encoder type shield PGA 24 bit PAU 12 bit GA 16777216 2048 4096 GA 8388608 If the total resolution of the encoder is less than the physical total resolution the parameter total resolution must be a multiple of the physical total resolution k PGA GA kzinteger encoder is set to the desired process value by the parameter preset The preset value must not exceed the parameter total measuring units Data Type Unsigned Integer 32 Page 10 POSITAL FRABA 3 1 5 MAC ID Attribute ID Default value Value range Data length 6F hex 0 hex Ohex 3Fhex BYTE Each node in a Device Net network is identified 64 n
27. ssion of the actual position The process value is transmitted according to the following table CAN ID process value 11 Bit Byte 0 Byte 1 Byte 2 Byte 3 2 to 2 2 to 2 2 to 2 Page 16 POSITAL FRABA 6 Installation 6 1 Electrical connection The rotary encoder is connected by three cables The power supply is achieved with a two wire connection cable through one PG 9 Each one of the twisted pair and shielded bus lines are guided in and out through two PG 9 on the right side as seen on clamps Clamp Description JL Ground t 24 V Supply voltage OV Supply voltage CG CAN Ground CL CAN Low CH CAN High CG CAN Ground CL CAN Low CH CAN High There is a resistor provided in the connection cap which must be used as a line termination on the last device Resistor Last Device Device X Ry Ry on ON a The setting of the node number is achieved by 2 turn switches in the connection cap Possible addresses lie between 0 and 63 whereby every address can only be used once 2 LEDs on the backside of the connection cap show the operating DeviceNet Devices _BCD coded rotary switches Device adress 0 63 x1 Setting CAN node number 10 Bd Setting of the baud rate status of the encoder Page 17 POSITAL FRABA 6 2 Setting of the baudrate Baudrate in kBit s BCD coded rotary switches
28. te 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 41C 0A 10 23 01 2C X X X desired resolution per revolution Page 19 POSITAL FRABA Absolute rotary encoder to master Confirmation CAN ID MAC ID Service Code ByteO Byte1 41B 0 90 7 2 3 Total resolution A fragmented transmission is needed when the total resolution must be sent to the encoder So here are more messages necessary Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Fragment Service Class Instance Attribute Code Byte 0 Byte 1 Byte 2 41C 8A 00 10 23 01 2D Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID ByteO Byte 1 Byte 2 41B 8A co 00 Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Fragment Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 41C 8A 81 x x X desired total resolution Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID ByteO Byte 1 Byte 2 41B 8A C1 00 Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID Service Code ByteO Byte1 41B 0 90 20 6 x Byte 7 POSITAL FRABA 7 2 4 Preset Value Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Fragment Service Code Byte 0 Byte 1 Byte 2 41C 8A 00 10 X desired preset value Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID ByteO Byte 1 Byte 2 41B 8A co 00 Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Fragment Byte 0 Byt
29. the configuration Copy protection was not detected and RSNetWorx for DeviceNet is running in DEMO mode Only addresses 0 through 6 are valid Mode changed to online The online path is KLIMA LAPTOP 1770 KFD 1 Ready Astarte 1 8 A BAUnbenannt Paint Dateien B Devicenet 1 7 Upload Parameter After a successful upload of the parameters those can be configured as the picture 1 8 below shows A download of the configured parameters can be realized with the yellow arrow that is showing down and is placed at the top right in the configuration window An upload can be realized with the arrow beside the download arrow which is showing up To show the position value the button Monitor has to be Page 29 Online Not Browsing We 15 45 pushed It should be noticed that the configuration parameters are not stored in the EEPROM To store the parameters in the EEPROM the window in the menu Device Class Instance Editor has to be opened The entries that are necessary to store the parameters are being showed in the picture 1 9 below At last the button execute has to be executed to store the parameters in the EEPROM Code sequence clockwise Resolution per revolution Total Resolution Preset Value amp Position MAC ID 1 8 Configure Parameters 8 Service Class Instance Attribute Editor Node 32 a Execute 1 9 Service Class
30. tion Description Optocode Interface Version Code Revolutions Bits Steps per revolution Bits Flange Shaft diameter Mechanical options Connection FRABA Type Key OCD D2 Bi B DeviceNet D2 B1 Binary B Singleturn Multiturn 4096 revolutions Multiturn 16384 revolutions 4096 8192 65536 Clamp flange Synchro flange Hollow shaft Square flange 10 mm 06 mm 15 mm hollow shaft Without Shaft sealing IP66 Stainless steel version Heavy Duty Customized Connection Cap 00 12 14 12 13 16 5 B Q 10 06 15 Has to be ordered separately see accessories Connector 5 pin M12 radial Connector 5 pin M12 axial Cable radial 1m Cable axial 1m Heavy Duty Standard bold further models on request Page 42 lt occ PRM PAM CRW CAW PRN Connection caps Standard DeviceNet Alternative version DeviceNet POSITAL FRABA Description T coupling functionality with address setting integrated Stainless steel configuration Connection with 5pin round connector Micro style M12 2 cable glands for cable diameter 9 13 mm Accessories and Documentation Description Shaft coupling Clamp disc Clamp ring Reducing adapter Reducing adapter Reducing adapter User Manual User Manual EDS File EDS File KKK KKK KKK KKK only for hollow shaft Drilling 10 mm Drilling 6 mm
31. tion test on the file s click Next lt Zur ck Weiter gt Abbrechen ali El E T 51 eee Ready Offline WEB 10 38 Astart c 99 PFevicenet RsNetwor P Bilder ir Unbenannt Paint 1 2 EDS Wizard 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 see picture 1 3 pictures can be selected for the using nodes With the button weiter the installation can be continued and finished Page 25 DeviceNet RSNetWorx for DeviceNet 81 x Edit View Network Device Diagnostics Tools Help 1812 8515 ele Hardware 3 x DeviceNet B Category HG AC Drive 2 Barcode Scanner Communication Adapter DPI to DeviceNet 2 DeviceNet to SCANport Change Graphic Image 2 General Purpose Discrete El 2 Dodge EZLINK You can change the graphic image that is associated with os Generic Device Human Machine Interfacd Product Types Inductive Proximity Switc Change icon 2 Limit Switch 2 Motor Overload 2 Photoelectric Sensor Rockwell Automation misd SCANport Adapter 2 Smart MCC Specialty 1 0 Vendor FRABA Sensorsysteme G 7 Pepperl Fuchs 3 Rockwell Automation All Rockwell Automation 4

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