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842E EtherNet/IP Absolute Encoder User Manual

1. a Edit View Search Logic ET Tools Window Help OSH Stee oo mo AAA br OR Ra Rem Run GB E Run Mode a Feed Pan 28 EveiP 10792 1687 TOO Backplane yal Nopoce P I Controller OK No Edis 7 wel o i ey dk ee SO lt gt Favorites ms r re El MainProgram MainRoutine i SBS B ag e HAM AA WKR FR VR Preset Preset_ons Message Message Control Preset_Message CJ 432 ue 140 43 049U0 gt IR Name Description Type Base Data Type MESSAGE Scope fa Config 842E External Read write Access O Enable Enable Waiting Start Done Done Length 0 Eror Code Extended Error Code C Timed Out Error Path Error Text Rockwell Automation Publication 842E UM001B EN P April 2015 67 Appendix B RSLogix 5000 sample code 68 6 Add a normally open contact and a one shot instruction to initialize the message instruction fo RSLogix 5000 Config_842E 1769 135E 20 11 File Edit View Search Logic Communications Tools Window Help ASH S amp S tme amp amp Pistopo0 43a FOR QQ Rem Run DU E Run Mode Path AB_ETHIP 1 182 168 1 100 Backplane 0 v El No Forces p M Controller OK Eerens Se No Edits a LEDs 48 jotta dk Ww 4 uy 4 E 1 0 0K 0 lt gt Favorites Add On Alarms Bit E MainProgram MainRoutine Preset Preset_ons om Cut
2. Status Creating Cancel Heb l 7 Click the Configuration tab and set it up as shown per the linear scaling example on page 59 Click Apply then OK RSLogix 5000 Config _842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help alsa 2 sje ol asjal le ve alal Select a Language Offline D mE RUN No Forces bz J Ok No Edits alr P en oo va 7 a Ee eo D aH Favorites an Safety Alarms Bit TimeriCe E New Module abed 405 I Enable Scaling Resolution 200 Counts Revolution Revolutions 256 51200 Clockwise bd Velocity Units JRevimin 7 Counts Range is calculated as Range Resolution times Revolutions Direction Status Creating Rockwell Automation Publication 842E UM001B EN P April 2015 General Connection Module Info Configuration Intenet Protocol Port Configuration Network Allen Bradley 63 Appendix B RSLogix 5000 sample code 8 The encoder can now be seen as configured on the ethernet network in the controller organizer alal E e alal pax Een e A a E E chica Favorites Q e ms Controller Org J Controller Config_842E Controller Tags Controller Fault Handler E3 Power Up Handler amp Tasks AS MainTask E MainProgram E3 Unscheduled Programs Phases J Motion Groups Ungrouped Axes
3. Monitor Tags Edit Tags 7 Rockwell Automation Publication 842E UM001B EN P April 2015 Rockwell Automation Support Rockwell Automation provides technical information on the Web to assist you in using its products At http www rockwellautomation com support you can find technical and application notes sample code and links to software service packs You can also visit our Support Center at https rockwellautomation custhelp com for software updates support chats and forums technical information FAQs and to sign up for product notification updates In addition we offer multiple support programs for installation configuration and troubleshooting For more information contact your local distributor or Rockwell Automation representative or visit http www rockwellautomation com services online phone Installation Assistance If you experience a problem within the first 24 hours of installation review the information that is contained in this manual You can contact Customer Support for initial help in getting your product up and running United States or Canada 1 440 646 3434 Outside United States or Canada Use the Worldwide Locator at http www rockwellautomation com rockwellautomation support overview page or contact your local Rockwell Automation representative New Product Satisfaction Return Rockwell Automation tests all of its products to help ensure that they are fully operational when s
4. Green The device has an IP address and a CIP connection Rockwell Automation Publication 842E UM001B EN P April 2015 49 Chapter 7 50 Diagnostics and troubleshooting LED Net Description Red flashing Warning connection time out Cleared by reset or a new connection Red Error IP address has been assigned to another device already Green Red flash Self test at power on LED Mod Description OFF No power Green Device operational Green flashing Standby device not configured no IP address assigned Red flashing Warning but device still operational Fare update in progress Red Error device not operational Green red flashing Self test at power on LED Encoder Description OFF No power or No IP address Green flashing Warning Wrong parameter Green Device operational Red flashing Warning but device still operational or Firmware update in progress Red Error Encoder error Green red flashing Self test at power on Rockwell Automation Publication 842E UM001B EN P April 2015 Self test via EtherNet IP Warnings alarms and errors via EtherNet IP Diagnostics and troubleshooting Chapter 7 Ethernet Link LEDs Link 1 and 2 The ethernet link LEDs Link 1 and Link 2 display the status of the physical connection on the ethernet interface Link 1 or Link 2 LED Description OFF No link power off Green solid Ethernet connection established Green flashing Data transmission
5. One Rev Distance Numerator Denominator Range CMR Pass Fail Test Accuracy counts NOTES Message Instruction Errors this is expected 1 262 144 operation Position doesn t update and remains at zero The is expected behavior as the CMR limit is 1 262 144 131072 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above 1 262 144 Outside CMR Limit See description above Message Instruction Errors this is expected 1 262 144 operation Rockwell Automation Publication 842E UM001B EN P April 2015 15 Chapter3 _EtherNet IP overview Other Ratios Tested Bi Directional One Rev Measuring Rollover Test Distance Check Numerator Denominator Range CMR Pass Fail Test 2 4096 One Rev Distance Accuracy counts NOTES 2 4096
6. White Do not use Blue OV DC ground Black Do not use Function 1 White orange Ethernet 2 White green Ethernet 3 Orange Ethernet Ethernet Preset push button Pressing the preset push button results in a change of position reading This can cause unexpected motion which could result in personal injury or damage A to the product or equipment mma Press the preset button briefly no longer than one second To preset the position of the encoder remove the screw cover from the back of the encoder and briefly press the Preset button inside see figure on page 25 and Preset function on page 46 Network address switches You can use the three Network Address switches to set the IP address of the encoder see figure on page 31 and Setting the IP Address on page 29 Rockwell Automation Publication 842E UM001B EN P April 2015 Installation Chapter 4 Electrical specifications Operating voltage 10 30V DC Power consumption 3W Load current 200 mA Resolution per revolution 262 144 Revolutions 4 096 Repeat accuracy 0 002 Error limit 0 03 Code direction CW or CCW programmable Interface EtherNet IP per IEC 61784 1 100 MBits s Full or half Transmission speed Duplex Rockwell Automation Publication 842E UM001B EN P April 2015 27 Chapter4 Installation Notes 28 Rockwell Automation Publication 842E UM001B EN P April 2015 Chapter 5 Confi
7. 1 CW Commissioning diagnostic ON 1 Encoder diagnostics possible OFF 0 control encoder position test OFF 0 No diagnostics implemented Scaling function control SFC ON 1 calc value from 16 42 OFF 0 OFF 0 phys resolution steps Position format Format of position value 0x1001 e g arcsec or steps Engineering unit 0x1001 counts Counts per range Number of requested steps per Min 0x00 00 00 01 revolution Max 0x00 04 00 00 0x00 04 00 00 Total measuring range Total resolution Min Max 0x00 00 0001 Max 2 n Attr 16 Max 24n Attr 16 Position measuring increment Minimum resolution in steps is always 0x00 00 00 01 0x00 01 19 13 Set NV Preset value DINT The preset value is set to the current Min Max position value 0x00 00 00 00 Attr 17 1 0x00 00 00 00 21 15 Get V Position status register BYTE State of the software limit switch 0x00 Bit 0 Out of range Bit 1 Range overflow Bit 2 Range underflow Bit 3 7 reserved 22 16 Set NV Position low limit DINT Lower limit for position 0x00 00 00 00 23 17 Set NV Position high limit DINT Upper limit for position Ox3F FF FF FF 24 18 Get V Velocity value DINT Current velocity 32 Bit Format 25 und 26 25 19 Set NV Velocity format ENG Format of velocity value 0x1F0F INT 0x1F04 counts s Ox1FOE revs s Ox1FOF revs min 26 1A Set NV Velocity resolution DINT Minimum resolution of velocity value 0x00 00 00 01 24 27 1B Set
8. All Tags Decimal Decimal Decimal sapadosg Fy lt AB 842EM C 0 AB 842E 1 0 t My_842E l Fault Binary DINT My_842E 1 Position Decimal DINT Preset Decimal BOOL Preset Message MESSAGE Preset_ons Preset_Value Read Read_Preset Decimal BOOL Decimal DINT Decimal DINT Run_Time_Message Run_Time_ons Decimal Run_Time_Seconds Decimal gt Monitor tags AtatTegs JIS m 2 Add a new MSG instruction to the program and browse to the Read_Preset data type created in step 1 the message instruction to configure it SLogix 5000 Config 842E 1769 135E 20 11 Then double click the gray box on File Edit View Search Logic Communications Tools Window Help Oe g BB c Pistop_o 44a amp Oe QQ Rem Run DE E Run Mode lt a Path ABLETHIPT VIS2168 1100 Backplene O w a No Forces E Controller OK 4 NoEdts 8 I Battery OK 4 H tot tel ih w y Ut a 1 1 0 0K lt gt Favorites arms T mpare 7 Cl MainProgram MainRoutine Get_Preset Get_Preset_ons EATE UEY AWK KRW Kk Of 43210610 421101703 JE fons I Message Configuration Read_Preset Configuration Communication Tag k Message EN Message Control Read_Preset CI HDN ER Message Type Service Get Attribute Singh So
9. Bit 0 Position ERROR Position error 1 Diagnostic ERROR Diagnostic error 2 11 Reserved by CIP 12 Vendor checksum ERROR Checksum error 13 Vendor startup ERROR Startup error 14 15 Vendor specific Errors Sensor error table Fault header byte Description Supported Reserved Reserved 0 Over Operating temperature of the encoder temperature outside the permissible range sensor Light control f Permissible internal LED current in the reserve sensors exceeded Voltage Supply voltage outside the permissible detection range Frequency Frequency error maximum velocity has exceeded been exceeded Velocity The velocity has dropped below exceeded exceeded the minimum maximum velocity configured with attribute 27 or 28 Acceleration The acceleration has dropped below exceeded exceeded the minimum maximum acceleration configured with attribute 32 or 33 Position The position has dropped below limits exceeded the minimum maximum exceeded position configured with attribute 22 or 23 Position Position error amplitude error of the error single turn measurement 1 Position Position error amplitude error of the error multi turn measurement Position error 2 Position error vector error Sin Cos of the single turn measurement Position error Position error vector error Sin Cos of the multi turn measurement Paes Position error 15 Reserved Rockwell Automation Publication 842E UM001B
10. Decimal Get_Run_Time Decimal sapadosd Ly AB 842EM C 0 AB 842E 1 0 Decimal Decimal DINT DINT Preset_ons Decimal Preset Value Decimal Hl Preset Value_Read Read Preset Decimal MESSAGE Run_Time_Message MESSAGE Run_Time_ons __ FRun_Time_Seconds Decimal Decimal BOOL 4 gt Monitor Tags Edt Tas J VponTANT Always do a Get after a Set to verify the value was changed Rockwell Automation Publication 842E UM001B EN P April 2015 RSLogix 5000 sample code Appendix B Using an explicit message configuration to read preset encoder value 1 Create a new message data type named Read_Preset and a DINT named Preset_Value_Read fo RSLogix 5000 Config_842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help OSM S iae Oo amp pttp Sa bk OW QQ Rem Run IE E Run Mode ea Path AB_ETHIP 1 192 168 1 100 Backplane O lt Norac p E Controller OK No Forces b E Net Alaaa 4 Hia 4h OW 4 o 0 A Favorites A Add On Alarms Bit Timer Counter put Out Compare EJ MainProgram MainRoutine Get_Preset Get_Preset_ons th SREE HAX AA WK FRR o mG JE ons 43210610 48 0 9U0 gt igi Controller Tags Config_842E controller Message Message Control Read_Preset CJ f Config 842E Show
11. 0 C Timed Out 3 an explicit message In the Configuration tab select Message type CIP generic Service type Set attribute single Service code Automatically populated Source element Preset_value browse to this tag Source length 4 Instance 1 Class 23 Attribute 13 hexadecimal values Rockwell Automation Publication 842E UM001B EN P April 2015 Use the Position Sensor Object to find the values you want to use to send RSLogix 5000 sample code Appendix B 4 Inthe Communication tab browse to the encoder on the ethernet network then click OK n SLOG UU onhg 42 D JF File Edit View Search Logic Communications Tools Window Help BSE tae Pst Sab OW QQ Rem un Fine A ron SETHP ETT e L No Forces P E Controller OK Ey oe o TS te fe SE eb ess lt gt Favorites arms g Eh MainProgram MainRoutine i SBSB e ar woe ee eK FR VE o Preset Preset_ons MSG Message Message Control Preset_Message 4az1ue510 1431 00 ig Message Configuration Preset_Message Configuration Communication Tag Path My_842E My_B42E Broadcast Ml Message Path Browser My_842E S amp 1 0 Configuration S Backplane CompactLogix System ff 1769 L35E Config 842E 1769 L35E Ethemet Port LocalENB as Etheret 17693 L35E Ethernet Port LocalENB D 8426 M A My_842E S CompactBus Local
12. 45 Chapter6 Configuring the 842 E encoder using RSLogix 5000 Configuration Default encoder settings The 842E EtherNet IP encoder is supplied with the following parameters Direction clockwise Scaling none Steps per revolution 262 144 Total resolution 1 073 741 823 Preset 0 Velocity measuring unit rpm Preset function The 842E encoder position value is set to zero when the preset function is executed by the preset push button or EtherNet IP This predefined value is stored in the EEPROM The factory default preset value is zero ATTENTION A The preset function results in a change of position reading This can cause unexpected motion which could result in personal injury and damage to the product or equipment During preset steps should be taken to ensure the shaft is stationary and will remain so The preset function is not intended for use in dynamic parameter setting operations but as an electronic adjustment function during commissioning in order to allocate a specific value to the mechanical rotary position of the 842E encoder If the preset value is set by EtherNet IP the value must be within the total working range currently configured steps per revolution and number of revolutions The preset push button see figure on page 25 and Preset push button on page 26 should only be operated when the encoder is powered and the green LED is blinking or steady Press the preset button
13. 842E Octal MainRoutine MainPrograrm amp J 1 0 Configuration 5 Backplane CompactLogix System ff 1769 L35E Config_842E a 1769 L35E Ethernet Port LocalENB S Ethernet 1769 L35E Ethernet Port LocalENB I 842E M A My_842E A CompactBus Local 70 Rockwell Automation Publication 842E UM001B EN P April 2015 RSLogix 5000 sample code 5 The Tag tab will be populated for the Read_Preset i RSLogix 5000 Config 842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help Appendix B Agel amp jee om Pitstop _ID 0 v atna E yY Ra Rem Run DE E Run Mode NoFaces Controller OK I Battery OK NOES E 1 0 0K al Path AB_ETHIP 1 192 168 1 100 Backplane O RAE D lt gt Favorites aaron K Alans K ERK Tinericounter K Timdloupat K Compare K 4 fel te 4b H y Uw Ed MainProgram MainRoutine HH BSS w awe m 428ZIUPB10 43 0 qU0D Get_Preset Get_Preset_ons TA Me WK FR VE A se JE ons Message Configuration Re ad_Preset Configuration Communication Tag Message Message Control Read_Preset L Nene EET Description Type Base Data Type MESSAGE Scope External Access Read write fa Config_842E O Enable Enable Waiting Start O Eror Code Error Path Eror Text f RSLogix 5000 Config _842E 17
14. Add On Instructions amp Data Types iE User Defined gery Strings Oi Add On Defined ER Predefined i Module Defined E Trends E 1 0 Configuration B ii Backplane CompactLogix System ff 1769 L35E Config_842E E 1769 L35E Ethernet Port LocalENB S a Ethernet i 1769 L35E Ethernet Port LocalENB 842E MjA My_842E S CompactBus Local UEBIG 43 049UG 43 9 The project can then be downloaded to the controller 64 Rockwell Automation Publication 842E UM001B EN P April 2015 Using an explicit message configuration to set preset encoder value RSLogix 5000 sample code Appendix B The preset function results in a change of position reading This can cause unexpected motion which could result in personal injury and damage to the product or equipment During preset steps should be taken to ensure the shaft is stationary and will remain so ATTENTION A In this example a value is sent to the preset attribute in the encoder The encoder stores this preset value in non volatile memory Storing the preset value applies the preset value to the encoder position value ATTENTION A In this example a value is sent to the preset attribute in the encoder The encoder stores the preset value sent in non volatile memory Storing the preset value applies the preset value to the encoder position value The following pro
15. Decimal BOOL T eters AB 842EM C 0 Enc_1 1 Fault Fault status of the encoder Enc_1 I Position Position status of the encoder If position status is selected from the input data selection in the encoder definition you will also see alarms and warning status Enc_1 1LVelocity Velocity status of the encoder is also included when selecting velocity status from input data selection in the encoder definition Rockwell Automation Publication 842E UM001B EN P April 2015 Chapter 7 Diagnostics and troubleshooting This chapter describes the diagnostic process to correct and clear fault conditions on the 842E encoder Cease operation if the cause of the malfunction has not been identified ATTENTION A Stop the machine if you cannot clearly identify the error and or if you cannot safely rectify the malfunction Status indicators The Mod LED shows the device status the Net LED shows the status of the CIP connection and the Encoder LED shows the status of the internal measuring device in the 842E EtherNet IP encoder Five LED indicators provide status information on the back of the encoder The figure below shows their location and the tables below describe their status Net Encoder Mod Link2 Link 1 Screw cover Read the LEDs according to the following tables LED Net OFF Description No power or No IP address No connection Green flashing The device has an IP address but no CIP connection
16. EN P April 2015 Reserved ae turn position error error in the sensor fede 53 Chapter7 Diagnostics and troubleshooting Error Description Position Multi turn position error error synchronization MA single Position Multi turn position error error synchronization quad single Position Multi turn position error internal error interface Position Multi turn position error FRAM error Reserved Reserved Position or Memory error EEPROM checksum memory error Memory Memory error EEPROM IRQ error Startup error Error on start up Diagnostic Error during self test error Reserved Reserved Slave sign of LifeSign active if attribute 13 is set life Reserved Reserved 54 Rockwell Automation Publication 842E UM001B EN P April 2015 Introduction Performing the installation Appendix A Installing the add on profile This appendix shows how to install the add on profile AOP of the encoder with the RSLogix 5000 program Add on profiles are files that users add to their Rockwell Automation library These files contain the pertinent information for configuring a device that will be added to the Rockwell Automation network The add on profile simplifies the setup of devices because it presents the necessary fields in an organized fashion which allows users to set up and configure their systems in a quick and efficient manner The add on profile is
17. EtherNet IP Multi turn Encoders EtherNet IP Modules in Logix5000 Control Systems User Manual publication ENET UM001 A manual on how to use EtherNet IP modules with Logix5000 controllers and communicate with various devices on the ethernet network Getting Results with RSLogix 5000 publication 9399 RLD300GR Information on how to install and navigate RSLogix 5000 The guide includes troubleshooting information and tips on how to use RSLogix 5000 effectively M116 On Machine Connectivity Catalog M116 CA001A Anarticle on wire sizes and types for grounding electrical equipment Allen Bradley Industrial Automation Glossary AG 7 1 A glossary of industrial automation terms and abbreviations Common techniques usedin The following conventions are used throughout this manual this manual e Bulleted lists such as this one provide information not procedural steps e Numbered lists provide sequential steps or hierarchical information Italic type is used for emphasis Rockwell Automation Publication 842E UM001B EN P April 2015 iii About this document Notes iv Rockwell Automation Publication 842E UM001B EN P April 2015 Authorized personnel Correct use Chapter 1 Safety This chapter deals with your own safety and the safety of the equipment operators Please read this chapter carefully before working with the 842E EtherNet IP encoder or the machine or system in which the 842E EtherNet IP en
18. MESSAGE Run_Time_ons 0 Decimal BOOL H Run_Time_Seconds 0 Decimal DINT 5 4 gt Monitor Tags Edt Tags amp m gt Rockwell Automation Publication 842E UM001B EN P April 2015 65 Appendix B RSLogix 5000 sample code 2 Add anew MSG instruction to the program and browse to the Preset_Message data type created in step 1 Then double click the gray box on the message instruction to configure it Te RSLogix 5000 Config_642E 1769 1 35E 20 11 File Edit View Search Logic Communications Tools Window Help Bee g amp BR gt Pistop 010 Eta E OP aa Rem Run DE E Run Mode Path AB_ETHIP 1 192 168 1 100 Backplane O E E Controller OK No Forces b Fs Ae mes fe 4 it u 4 No Edits 2 E 00k H ki a KA ib 0 ESEA I Favorites Ey MainProgram MainRoutine Preset Preset_ons J Eons Message 432100610 142 0 7U03 Message Control Preset_Message CJ Message Configuration Preset_ Message Configuration Communication Tag C Message Type Service Set Attribute Single Type g x Source Element Preset Value v Source Length 4 Bytes Service Code Instance 1 23 Hex Attribute 1 Hex l 10 Hex Class Destination Element O Enable Enable Waiting Error Code Error Path Error Text Start Extended Error Code Done Done Length
19. Position traverses 2 cyles turn of the encoder with an unwind at 4096 2 4096 Position traverses 4 cycles turn of the encoder with an unwind at 4096 2 4096 Position traverses 16 cycles turn of the encoder with an unwind at 4096 16 4096 Position traverses 2 cyles turn of the encoder with an unwind at 4096 16 131072 16 131073 Position traverses 2 cyles turn of the encoder with an unwind at 131072 Position doesn t update and remains at zero The is expected behavior as the CMR limit is 131072 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 Position traverses 4 cyles turn of the encoder 8 with an unwind at 65536 Position doesn t update and remains at zero The is expected behavior as the CMR limit is 8 65536 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 Features Attribute 14 e hex Scaling Function Control SFC Attribute 125 7d hex Endless Shaft Functionality ESF Attribute 126 7e hex Nominator CNR_N Attribute 127 7f hex Divisor CNR_D Attribute 17 11 hex Total Measuring Range CMR IMPORTANT 16 Rockwell Automation Publication 842E UM001B EN P April 2015 Making online scaling changes through the modules profile is not allowed unless the encoder device is inhibited Executing online changes will display an error message Failed to modify properties Fa
20. S RSLogix 5000 Config_842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help alsia s eee oT ay aala E ee aal omine Te RUN al E T No Forces Pe ok Note Brie Jaee ers Es bos os Eos D Lhi Favorites amon A Salen A Aam A et A Timericourl Controller Organizer a Controller Config_84 842E iA Controller Tags Controller Fault Handler E Power Up Handler amp Tasks 5 8 MainTask H 8 MainProgram E Unscheduled Programs Phases a Motion Groups E Ungrouped Axes a Add On Instructions amp Data Types i ER User Defined Ge Strings Ga Add On Defined Oi Predefined Gi Module Defined E Trends E Yo Configuration zii Backplane CompactLogix System a 1769 L35E Config_842E 1ue 40 42 0u0 IE E New Module A Com Discover Modules de t Ctrl x Copy Ctrl C E Paste Ctri y Delete Del Cross Reference Ctrl E Properties Alt Enter Print 3 Configure the controller s IP address this example uses 192 168 1 100 Click Apply then OK s RSLogix 5000 Config_842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help Belt 8 45e elo Pis esla E alal oe gan Roe i No Edits Bre af Hlal e a Favorites W Module Properties Report Controller 1 1769 L35E Ethe
21. TxD RxD Amber solid Interface port locked Amber flashing Data collisions Electromagnetic interference EMI can cause incorrect operations or errors in the position value Without a self test an immediate position change may occur on power up Using the position sensor object a self test can be triggered with attribute 13 See CIP object model on page 17 During this test the sensor and the most important functions are tested automatically Ifan error occurs bit 27 in the fault header is set It is imperative to evaluate the alarms in your application ATTENTION A Within EtherNet IP warnings alarms and errors can be retrieved using implicit messages and also explicit messages In case of a serious error incorrect position values may be output This change could cause an unexpected movement that may result in a hazard for persons or damage to the system or other objects Alarms and warnings for the encoder can be read via the position sensor object with the aid of the attributes For errors alarms and warning the following applies Bit status 0 no error alarm or warning Bit status 1 error alarm or warning present In addition the Net LED illuminates red continuously Rockwell Automation Publication 842E UM001B EN P April 2015 51 Chapter 7 Diagnostics and troubleshooting Warnings Supported warnings attribute 47 48 Bit 0 Frequency exceeded Max vel
22. a folder containing numerous files for the device It will come as an installation package Install the add on profile following the on screen instructions 1 In the file explorer locate the directory where the installation files were extracted 2 Click MPSetup exe 3 Extract the zip file to a local directory on you computer 4 Double click on MPSetup exe to begin the installation Name Size Type Date Modified 5 InstallNotes File Folder 2 6 2012 2 10 PM license File Folder 2 6 2012 2 10 PM me File Folder 2 6 2012 2 10 PM B MPT dll 820 KB Application Extension 1 5 2010 2 32 PM MPS 1 002 KB Application 1 5 2010 2 32 PM S MPSetupCHs dll 141 KB Application Extension 1 5 2010 2 32 PM S MPSetupDEU dll 141KB Application Extension 1 5 2010 2 32 PM MPSetupENU dll 141KB Application Extension 1 5 2010 2 32 PM a MPSetupESP dll 141 KB Application Extension 1 5 2010 2 32 PM S MPSetupFRA dll 141 KB Application Extension 1 5 2010 2 32 PM S MPSetupITA dll 141KB Application Extension 1 5 2010 2 32 PM S MPSetupJPN dll 141 KB Application Extension 1 5 2010 2 32 PM B MPSetupKOR dll 141 K6 Application Extension 1 5 2010 2 32 PM S MPSetupPTB dll 141KB Application Extension 1 5 2010 2 32 PM S shfolder dll 22KB Application Extension 12 18 2009 11 58 AM Rockwell Automation Publication 842E UM001B EN P April 2015 55 AppendixA Installing the add on profile 5 At the welcome screen click on Next ie RSLogix 5000 Module Profil
23. axis functionality endless shaft functionality EtherNet IP interface as per IEC 61784 1 Supports the encoder profile 22h defined in the CIP common industrial protocol Device level ring DLR Rockwell Automation Publication 842E UM001B EN P April 2015 Use of the Common Industrial Protocol EtherNet IP overview Chapter 3 Ethernet Industrial Protocol EtherNet IP is a frame based computer networking technology for local industrial area networks It follows the seven layers of the Open Systems Interconnection model OSI Model Layer Function 7 Application Network process to application Host 6 Presentation Data encryption Layers f T 5 Session Inter host communication Explicit and implicit messaging 4 Transport Flow control TCP UDP 3 Network Internet protocol logical addressing Media 2 Data Link Physical addressing Layers 1 Physical Media signal and binary transmission peer to peer multicast unicast EtherNet IP implements the Common Industrial Protocol CIP the application layer protocol specified for EtherNet IP EtherNet IP uses the CIP on the process layer Similarly as for example FTP is used for the transfer of files this protocol is used for process control The 842E encoder meets the requirements of the EtherNet IP protocol according to IEC 61784 1 and those of the encoder profile CIP a TCP UDP Explicit messag
24. briefly no longer than one second 46 Rockwell Automation Publication 842E UM001B EN P April 2015 Configuring the 842 E encoder using RSLogix 5000 Chapter 6 RSLogix 5000 controller tags During the encoder installation the encoder tags are automatically loaded as controller tags This makes the tags available for all programs In the controller organizer click on the Controller Tags acl amp E sendtime n 2 amp QE Ve A x 3 f a Offline 1 E RUN me Phro SS A No Forces Le 5 E A No Edits a Evo 4 i t i K K KEK a B Controll r I Controller Controller _1 lt A Controller Tags Scope ff Controlle_1 x Show All Tags sj Y ly Controller Fault Handler e G Power Up Handler Name Value e Force Mask e Style Data Type zsja Descrip 3 Tasks Ene_tl ae os AB 842E 1 0 lg amp Maintask Enc_1 l Fault 2 0000_0000_0000_0000_0000_0000_0000_0000 Binary DINT amp 8 MainProgram Enc_1 l Position 0 Decimal DINT Ws i a Unscheduled Programs Phases EEn it TN A AB 842EM C 0 Motina ase ane lotion Groups z 7 E Ungrouped Axes is Ene_1 C Counterclockwise 0 Decimal BOOL G Add On Instructions Enc_1 C VelocityUnits 2 0000_0000_0000_0010 Binary INT amp Data Types Gi User Defined Oe Strings i Add On Defined Oi Predefined Oyj Madule Defined Gi Trends amp 1 0 Configuration Backplane CompactLogix System fla 1769 L35E Controlle
25. can be scaled from 1 2 048 as an integer The default factory setting for the nominator is 2 048 Number of revolutions divisor for the round axis functionality The divisor can be scaled from 1 65 535 as an integer The default factory setting for the divisor is 1 Example A rotary table for a filling system is to be controlled The steps per revolution are predefined by the number of filling stations There are nine filling stations For Rockwell Automation Publication 842E UM001B EN P April 2015 11 Chapter 3 12 EtherNet IP overview the precise measurement of the distance between two filling stations 1000 steps are required The number of revolutions is pre defined by the transmission ratio 12 5 of the rotary table gearing The total resolution is then 9 x 1 000 9 000 steps to be realized in 12 5 revolutions of the encoder This ratio cannot be realized via the steps per revolution and the total resolution as the total resolution is not 2H times the steps per revolution The application problem can be solved using the round axis functionality The steps per revolution are ignored here The total resolution as well as the nominator and divisor for the number of revolutions are configured 9 000 steps are configured as the total resolution For the nominator for the number of revolutions 125 is configured 10 as the divisor 125 10 12 5 After 12 5 revolutions that is after one complete revolution of the rotary tab
26. home position 8 Remove the screw cover on the back of the encoder and press the preset push button to change the preset value to the current shaft position value The factory preset value is zero 9 Replace the screw cover Mounting with a hollow shaft IMPORTANT Be sure the mating shaft is chamfered and grease free 1 Loosen the screw on the clamping ring with a 2 5 mm star driver 2 Slide the encoder onto the mating shaft until the flex mount rests on the machine surface ATTENTION The encoder should slide freely onto the shaft if not do not force Check the shaft for interferences such as gouges burrs rust or size 3 Hold encoder firmly and mark the two mounting holes If mounting holes already exist proceed to Step 6 4 Slide the encoder off Drill and tap the marked holes to accept M4 or equivalent screws 5 Slide the encoder back onto the shaft until the flex mount rests on the machine surface 6 Attach the encoder with two M4 or equivalent screws Do not stress the flex mount while tightening the screws 7 Tighten the clamping ring screw to 1 1 Nm 10 in Ib 8 Align machine to its mechanical zero or home position 9 Remove the screw cover on the back of the encoder and press the preset push button to change the preset value to the current shaft position value The factory preset value is zero 10 Replace the screw cover Mechanical specifications 24 Rockwell Automatio
27. singleturn encoder Singleturn encoders are used if the absolute position of the shaft for one revolution is required The 842E MIP xxxEtherNet IP is a multiturn encoder Multiturn encoders are used if the absolute position is required for more than one shaft revolution Scalable resolution The steps per revolution and the total resolution can be scaled and adapted to the related application The steps per revolution can be scaled in integers from 1 32 767 Basic or from 1 262 144 Advanced The total resolution of the 842E MIP Multi turn EtherNet IP encoder must be 2H times the steps per revolution This restriction is not relevant if the round axis or endless shaft functionality is activated Rockwell Automation Publication 842E UM001B EN P April 2015 5 Chapter2 Encoder overview Special Features 842E EtherNet IP is firmware flash gradable using Control Flash Properties Encoder Single turn Multi turn Absolute Encoder in 60 mm design Robust nickel coded disk for harsh environment High precision and reliability Large ball bearing spacing of 30 mm High level of resistance to vibration Optimal rotational accuracy Compact design Face mount flange servo flange and blind Hollow shaft Firmware flash upgradable 18 bit single turn resolution 1 to 262 144 steps 30 bit total resolution 12 bit multi turn resolution 1 4 096 revolutions Round
28. up the Configuration tab as follows Set Parameter Scaling to Enable Set Counts per Revolution to 200 Total Measuring Range will be 51 200 Position the slide encoder to a known start position Ww oe YY Ne Set the preset value The preset value will be retained by the encoder through a machine cycle Setting up your project 1 Create a new program file Select the processor revision and name the project file In this example the CompactLogix 1769 L35E V20 was used is RSLogix 5000 Condition_Sensing 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help alsa a 2 2 lt j a asla vg ala Offline A Ae Ea He Path as ETHIP 14192 168 1 35 Backplane O No Forces b No Edits el 4 Hite fie ao D d of ravortes Gator say A Aams A et AT New Controller Vendor Type 1769 L35E CompactLogix5335E Controller F Redundancy Enabled Config_842E a 132106010 43 0400 TR pe ese aes SSS Slot f Safety Partner Slot fone Create In JE Program Files Rockwell Software RSLogix SOOO ENU y204Bin Browse Security Authority No Protection 2 PO Use only the selected Security Authority for Authentication and Authorization 60 Rockwell Automation Publication 842E UM001B EN P April 2015 RSLogix 5000 sample code Appendix B 2 In the controller organizer right click Ethernet Communication Adapter and select Properties
29. 0 30 500 24 000 Rockwell Automation Publication 842E UM001B EN P April 2015 Chapter 4 Installation Mechanical This chapter describes how to install the 842E EtherNet IP Encoder Also refer to the installation sheet provided in the box Publication No 100000169360 Shaft rotation direction When you view the encoder from the shaft side the shaft rotation is clockwise CW or counterclockwise CCW as shown CW CCW ip fli E A h Mounting with a solid shaft 1 Be sure to select the proper size flexible coupling clamp to mate to the encoder shaft e g 845 FC See encoder accessories in the Sensors catalog ATTENTION Do not rigidly connect the encoder shaft to the machine this will cause premature failure of the encoder or machine bearings Always use a flexible coupling 2 Use the dimension drawings in the installation instructions to determine the encoder mounting hole locations see Related documentation on page iii 3 Slide the flexible coupling onto the shaft but do not tighten the set screws 4 Mount the encoder and tighten with three size M4 mounting screws not supplied 5 Center the flexible coupling and tighten the set screws Rockwell Automation Publication 842E UM001B EN P April 2015 23 Chapter4 Installation 6 Rotate the machine slowly and verify that the flexible coupling is not deforming beyond specifications 7 Align machine to its mechanical zero or
30. 0 Config_842E 1769 1355 20 11 File Edit View Search Logic Communications Tools Window Help ASH amp BB oc Pistoia 44a b OP QQ Rem Run AW Run Mode Path AB_ETHIP 1 192 168 1 100 Backplane 0 E No Forces P oa p attery No Edits 2 moo 4H iol ka Ak WH 4 4 4 lt gt Favorites arms imer oompare Gi MainProgram MainRoutine a ma ar w nny A ARa A Message Message Control Run_Time_Message CJ KDN ER Message Configuration Run_Time_Message Configuration Communication Tag Message Type EE Get_Run_Time Run_Time_ons 432100610 142 0 7U03 Service Get Attribute Single x Source Element Type oe Source Length jo Bytes Service Code b Hex Class e Hex Destination Run_Time_Seconds w F eo Element MainRoutine Instance 1 Attribute 32 Hex QO Enable Enable Waiting Start Done Done Lenath 4 Eror Code Extended Error Code C Timed Out Error Path 3 In the Configuration tab select Message type CIP Generic Service Type Get Attribute Single Service Code Automatically populated Destination Element Run_Time_Seconds browse to this tag Instance 1 Class 23 Attribute 32 hexadecimal values 74 Rockwell Automation Publication 842E UM001B EN P April 2015 RSLogix 5000 sample code Appendix B 4 Inthe Communication tab browse to the encoder on the etherne
31. 2E UM001B EN P April 2015 4 Right click on the ethernet port of the controller and select New Module Configuring the 842 E encoder using RSLogix 5000 Chapter 6 5 Select the desired 842E encoder and click Create Catalog Module Discovery Favores s2 HeT A o Module Type Category Filters A amp Module Type Vendor Filters A oO Allen Bradley o o o o o xv O v can gt gt Catalog Number Description Vendor Category 842E M Multi Tum Encoder Allen Bradley Specialty 842E S Single Turn Encoder Allen Bradley Specialty lt gt 2 of 178 Module Types Found C seon Cienie 6 Close the select module type dialog box 7 Continue to the next sections to complete the add on profile Rockwell Automation Publication 842E UM001B EN P April 2015 37 Chapter6 Configuring the 842 E encoder using RSLogix 5000 General tab 1 Enter a name for the encoder In this example the name is Encoder_1 You may have multiple encoders or other modules so be sure to give each a brief but descriptive name The name that you assign to the encoder appears in the controller organizer IO tree The name will also appear in the description of tags 2 Enter a description of the encoder s function 3 Set the ethernet address for the encoder In this example the address is 192 168 1 123 The 123 reflects the address of the network address switches on the 842E E New Module General Connection Module Info Configuration Inme
32. 69 L35E 20 11 Extended Error Code 6 Add a normally open contact and a one shot instruction to initialize the message instruction O Done Done Length 0 C Timed Out Fie Edit View Search Logic Communications Tools Window Help Bel amp ye o PtstopDo v 4 Sab YR QQ No Forces No Edits DE Run Mode gt M Controller OK a F Battery OK WE ook Path AB_ETHIPA 4192 168 1 100 Backplane O X 1Ha lt gt Favorites 4H w ty Uy 4 E MainProgram MainRoutine 42212619 4 0 qU0D tH SBS Bw ala MainRoutine Get_Preset_ons Fonc gb Cut Instruction B3 Copy Instruction E paste me Ctrl X Ctrl C Ctrl Get Delete Instruction Add Ladder Element Del Alt Ins Edit Main Operand Description Ctrl D Save Instruction Defaults Clear Instruction Defaults Toggle Bit Force On Force Off Remove Force Go To Instruction Help HAAZ A rsg Message Message Control Read_Preset L MSG Message Message Control Run_Time_Message L Rockwell Automation Publication 842E UM001B EN P April 2015 Hex 71 Appendix B RSLogix 5000 sample code 7 Toggle the Get_preset contact the message instruction returns the preset value form the encoder into Preset_Value_Read DINT RSLogix 5000 Config_842E 1769 L35E 20 11 File Ed
33. 9 D7 14 Communication frame EtherNet IP is based on the standard ethernet FRAME This contains the ethernet header the ethernet data and the ethernet trailer The MAC addresses of the receiver destination address and of the source source address are contained in the ethernet header Transmission sequence Header i Data field Trailer Destination Source T l l Address Address l 46 1500 Byte gt Rockwell Automation Publication 842E UM001B EN P April 2015 Understanding the producer consumer model Rockwell Automation Publication 842E UM001B EN P April 2015 EtherNet IP overview Chapter 3 The ethernet data field consists of several nested protocols e The IP datagram is transported in the user data of the ethernet data field e The TCP segment or the UDP datagram are transported in the user data of the IP datagram e The CIP protocol is transported in the user data of the TCP segment or of the UDP datagram IP header TCP UDP header CIP header CIP data 1 CIP protocol 1 1 1 1 1 1 1 TCP segment or UDP datagram IP datagram CIP is a message based protocol that implements a relative path to send a message from the producing device in a system to the consuming devices The producing device contains the path information that steers the message along the proper route to reach its consumers Because the producing device holds this information other devices along the p
34. Element Del Alt HIns gt Edit Main Operand Description Save Instruction Defaults Clear Instruction Defaults Toggle Bit Force On Force Off Remove Force GoTo Instruction Help DINT DINT MESSAGE MESSAGE Decimal Decimal Decimal BOOL Decimal DINT Toggling the Get_Run_Time contact initiates the message instruction and returns the current run time in seconds into Run_Time Seconds DINT RSLogix 5000 Config _842E 1769 L35E 20 11 Fie Edit View Search Logic Communications Tools Window Help Os 6 tBe oo oon vy ABBE YW QQ Rem Run DE Run Mode E EA Path A8 ETHIP 10192 168 1 T00 Backplane O NoFaces p F Controler OK EJ No Edits a Heid 2 Ey el ie Ge ave Sop O cole A Favorites Add On A Alarms imer counter A Input compare 4821UEB19 48 0 QU0 gt FR 76 Ed MainProgram MainRoutine H BAER als o v w Get_Run_Time Run_Time_ons ONS ______ _ __ Message Lie Me MRR Ve MSG Message Control Run_Time_Message CJ Controller Tags Config_842E controller fla Config 842E Show All Tags Name Decimal AB 842EM C 0 AB 842E 1 0 MESSAGE ollo l me lolololF BOOL DINT DINT MESSAGE BBB Run Time Seconds MESSAGE Decimal DINT 4 gt
35. EtherNetAP Module Fault Status Running You should not have to change any settings on the Connection tab For reference these are the settings Requested Packet Interval Specify the number of milliseconds between requests for information from the controller to the encoder The encoder may provide data on a shorter interval but if no data is received the controller asks the encoder for a status update Minimum setting is 2 ms and the maximum setting is 750 ms Inhibit Module When checked the encoder is not polled for information and any information provided will be ignored by the controller Major fault on controller if connection fails while in run mode Check this box if a connection failure should be considered a major fault Use Unicast Connection over EtherNet IP Unicast connections are point to point connections Multicast connections are considered one to many Unicast reduces the amount of network bandwidth used Module fault Fault messages will appear in this box Rockwell Automation Publication 842E UM001B EN P April 2015 41 Chapter6 Configuring the 842 E encoder using RSLogix 5000 Module Info tab Module Properties Enet 842E M 1 1 Jog General Connection Module Info Configuration Intemet Protocol Network Identification Status Vendor Allen Bradley Major Fault None Product Type Encoder Minor Fault None Product Code 842E M Inmtemal State Run mode Revision 1 1 Serial Number 6005C03F C
36. Instruction Ctrlex Copy Instruction Ctrl C l Paste Ctrl y 482 UPBAQ 42 04 U0 gt Get_F Delete Instruction Del Add Ladder Element Alt Ins Edit Main Operand Description Ctrl D Save Instruction Defaults Clear Instruction Defaults Toggle Bit Force On Force Off Remove Force Go To Instruction Help ETOR EEEEELEL EFINI Message Message Control Preset_Message C MSG Message Message Control Run_Time_Message CJ Message Message Control Read_Preset CJ 7 After you enter a value into the Preset_Value DINT and toggle the preset contact the message instruction presets the encoder s current count value The position value is changed to the preset value you set R RSLogix 5000 Config_842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help sH g 2B Ptstopo0 4 4ab YR RA Rem Run OE E Run Mode Path AB_ETHIP 1 192 168 1 100 Backplane 0 El No Forces b Pasir as p Woede Aw attery 4 afk syn i u 40 No Edits E mic stot tal 40 40 Favorites AaOr K Alarms K Gt A TmeriCounter_ InpuvOupat K Compare i Ci MainProgram MainRoutine Seg 48ZIUPBAO 1431 0 7U02 Message ii BROS lwlga we ee we KK YE om EN Message Control Preset_Message CJ ECON ER SE Get_Preset Decimal gt Get_Preset_ons
37. NV Minimum velocity setpoint DINT Minimum velocity set point for setting 0x00 00 00 00 warning flag 47 28 1C Set NV Maximum velocity setpoint DINT Maximum velocity set point for 0x3F FF FF FF setting warning flag 47 20 Rockwell Automation Publication 842E UM001B EN P April 2015 EtherNet IP overview Chapter 3 Attribute ID AttributeID Access Min max dec rule Name Description default 29 Get Acceleration value Current acceleration 32 Bit Format 30 und 31 30 Set Acceleration format Format of acceleration value 0x0810 0x0810 cps s 0x0811 rpm s 0x0812 rps s 31 Acceleration resolution Minimum resolution of acceleration 0x00 00 00 01 value 32 Minimum acceleration setpoint Minimum acceleration set point 0x00 00 00 00 33 Maximum acceleration setpoint Maximum acceleration set point Ox3F FF FF FF 4 Operating status Operating status encoder Bit 0 Direct 0 inc 1 dec Bit 1 Scaling 0 off 1 on Bit 2 4 Reserved Bit 5 Diag 0 off 1 on Bit 6 7 manuf spec 42 Physical resolution span PRS Number of steps per rev 0x00 04 00 00 Basic 15 bit Advanced 18 bit single turn part 43 2B Get Physical resolution Number of revolutions 0x00 01 single number of spans multi turn part 0x10 00 multi 44 2C Get Alarms Flags for alarms errors 45 2D Get Supported alarms Information on supported alarms 0x3003 46 2E Get Alarm flag Indication of set a
38. User Manual Allen Bradley 842E EtherNet IP Absolute Encoder 842E SIP xxx 842E MIP xxx CE Rockwell Allen Bradley Rockwell Software Automation Important User Information Because of the variety of uses for the products described in this publication those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements including any applicable laws regulations codes and standards The illustrations charts sample programs and layout examples shown in the guide are intended solely for purposes of example Since there are many variables and requirements associated with any particular installation Rockwell Automation does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Rockwell Automation publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Rockwell Automation sales office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication Reproduction of the contents of this copyrighted publication in whole or part without written permission of Rockwell Auto
39. ath simply pass this information they do not need to store it This has two significant benefits e You do not need to configure routing tables in the bridging modules which greatly simplifies maintenance and module replacement e You maintain full control over the route taken by each message which enables you to select alternative paths for the same end device The CIP producer consumer networking model replaces the old source destination master slave model The producer consumer model reduces network traffic and increases speed of transmission In traditional I O systems controllers poll input modules to obtain their input status In the CIP system input modules are not polled by a controller Instead they produce their data either upon a change of state or periodically The frequency of update depends upon the options chosen during configuration and where on the network the input module resides The input module therefore is a producer of input data and the controller is a consumer of the data The controller can also produce data for other controllers to consume The produced and consumed data is accessible by multiple controllers and other devices over the EtherNet IP network This data exchange conforms to the producer consumer model Chapter3 _EtherNet IP overview Specifying the requested The requested packet interval RPI is the update rate specified for a particular pa cket interval piece of data on the netwo
40. ch on 842E also see The electronic data sheet file on page 5 You can register the EDS file using the EDS hardware installation tool in the tools menu of RSLinx Classic software 1 Start RSLinx Classic as a rule on the Start menu on your PC notebook in Rockwell Software RSLinx RSLinx Classic 2 Click on the RSWho button in the program A RSLinx Classic Professional File Exit iew Communications Station 2 ENs15 ele x Rockwell Automation Publication 842E UM001B EN P April 2015 Configuring the 842 E encoder using RSLogix5000 Chapter 6 3 Then open the path AB_ETHIP1 ethernet The encoder can be seen with its IP address RSLinx Classic Gateway RSWho 1 File Edit View Communications Station DDE OPC Security Window Help amp 218 elke x Ej rswho 1 SE Browsing node 192 168 1 123 found Workstation ROCKWELL 446DB9 aa Linx Gateways Ethernet Zs AB_ETHIP 1 Ethernet 192 168 1 123 842E M Zs CIP_Net Ethernet Zs HMI_Net Ethernet 4 Install the add on profile according to the instructions in Appendix A page 55 Before proceeding install the add on profile see Appendix A page 55 Setting up the add on profile After you install the encoder add on profile see Appendix A page 55 set up the in RSlo gix 5000 add on profile here is an example of the setup procedure 1 Open RSLogix 5000 2 Click File gt New G3 RSLo
41. coder is used ATTENTION A The 842E EtherNet IP encoder must only be installed commissioned and serviced by authorized personnel Repairs to the 842E EtherNet IP encoder are only allowed to be undertaken by trained and authorized service personnel from Rockwell Automation The following qualifications are necessary for the various tasks Activity Qualification Mounting Basic technical training Knowledge of the current safety regulations in the workplace Electrical installation Practical electrical training and replacement Knowledge of current electrical safety regulations Knowledge on the use and operation of devices in the related application e g industrial robots storage and conveyor technology Commissioning operation and configuration Knowledge on the current safety regulations and the use and operation of devices in the related application Knowledge of automation systems e g Rockwell ControlLogix controller Knowledge of EtherNet IP Knowledge of the usage of automation software e g Rockwell RSLogix The 842E EtherNet IP Absolute Encoder is an instrument that is manufactured in accordance with recognized industrial regulations and meets the quality requirements as per ISO 9001 2008 as well as those of an environment management system as per ISO 14_001 2009 Rockwell Automation Publication 842E UM001B EN P April 2015 1 Chapter1 Safety An encoder is a device for mounting tha
42. ded switching capability to form a daisy chain style network that has a beginning and an end Linear topology simplifies installation and reduces wiring and installation costs but a break in the network disconnects all devices downstream from the break When this topology is used both ethernet connections on the encoder may be used For the network connection use Link 1 Link 2 or both c The endless shaft feature is not supported for the single turn encoder This functionality is applicable only for the multi turn Ethernet encoders The round axis functionality or endless shaft functionality removes the restriction that the total resolution must be 2H times the steps per revolution The shaft is considered an endless shaft The steps per revolution are not configured directly Instead the nominator and divisor for the number of revolutions are defined The total measuring range can be scaled from 1 1 073 741 824 as an integer The encoder supports the function for round axes During this process the steps per revolution are set as a fraction As a result the total resolution does not have to be configured to 2H times the steps per revolution and can also be a decimal number The output position value is adjusted with the zero point correction the counting direction set and the gearbox parameters entered Number of revolutions nominator for the round axis functionality The nominator
43. dress switches to 999 and cycle power 2 Set the three network address switches to 000 and cycle power 3 The encoder will power up and request an IP address from a BootP DHCP server 4 Ifthe encoder s MAC ID is in the relationship list the BootP DHCP server will assign the associated IP address to the corresponding MAC ID hg BOOTP DHCP Server 2 3 File Tools Help r Request History Clear History Add to Relation List hr min sec Type Ethernet Address MAC IP ddress _Hostname 10 05 01 DHCP 00 00 8C C9 D7 3D 192 168 1 123 10 05 01 DHCP 00 00 6C C9 D7 3D 10 04 29 DHCP 00 00 BC C9 D7 3D 10 04 13 DHCP 00 00 8C C9 D7 3D m Relation List New Delete Enable BOOTP Etat Ades MAC SS Enable DHEP Disable BUOTP DHEP 00 00 BC C9 D7 3D 192 168 1 123 Encoder_1 842E Encoder m Status r Entries Sent 192 168 1 123 to Ethernet address 00 00 BC C9 D7 3D 1 of 256 Function of network address switch settings Setting of network address switches 001 254 Function Sets last octet of the IP address to the value indicated xxx in 192 168 1 xxx 888 Restores all factory default settings in the encoder and clearing its IP address 999 Clears the encoder s IP address Disable DHCP after the new network address is set see next step This prevents unexpected resetting of the network address which could result in unintended machine motion or loss of process cont
44. e Interface Module Dual Channel 1 In 710 Allen Bradley Specialty i Ethernet SERF IN IPD22A RFID Code Interface Module Dual Channel 2 Digital l Allen Bradley Specialty E CompactBus Local RFID Interface Module Multi Turn Encoder Single Tu Encoder 9 of 202 Module Types Found Add to Favorites I Close on Create Create Close Help Allen Bradley SXRF_IN_IP i Allen Bradley 62 Rockwell Automation Publication 842E UM001B EN P April 2015 RSLogix 5000 sample code Appendix B 6 The encoder add on profile configuration will then launch Name the encoder In this example it is My_842E Configure the encoder s IP address at 192 168 1 101 6 RSLogix 5000 Config_842E 1759 L35E 20 11 File Edit View Search Logic Communications Tools Window Help als SES a eee Dtfine J E RUN l E No Forces Pi F ok No Edits alr a aje ele exe kes oa eal D ALPIN Favorites Add On K Setety K Alarms K Bi imeriCounter A Inpu T Allen Bradley LocalENB General Connection Module Info Configuration Intemet Protocol Network 842E M Multi Turn Encoder My_842E Ethemet Address Private Network ts21681 H PAddess 192 168 1 101 fi Host Name Module Definition Series Revision Electronic Keying Connection Input Data 4 Change 11 Compatible Module Data Position
45. ee eee cece ee eeeeneeenaeees 39 Module definition 0 cece eee e eee eee eee errre 40 Connection tab eeen shies t cade each ie eek de aa 4l Module Info taboes is aaaiee den cect sy Mead iat eh ea oe 42 Configuration tablnccis avo riaria aae aie cbaedcovnakgaanaw ees 43 Internet Protocol tab 01 cece eee cece eee roren 44 INetworkstabs c2 a ite Oo ee ghee ae 45 COMA BUTT AU OMe carene o ioh Neon ns Sod get mace Race ea va aA 46 Default encoder settings ccetrciuc v4 o4 diea cd ceedenesioasaee 46 Preset function 0 cece cece cece cence eee eee eeneeenaeees 46 RSLogix 5000 controller ties c cverseccsa ey vale aetereeseseiouets 47 Chapter 7 Status indicators 0 ccc eee cece ccc e ccc e eee eeeeneeeuanenaes 49 Self test via EtherNet IP 0 eee cece eee eee eneneeaes 51 Warnings alarms and errors via EtherNet IP 00005 51 WW AUITTIOS 2247 ela rhs Can E E cl lee votes eae ek als 52 VETS T west e ee stocks oe ws Seton oat ae ee ue ine whine EES tenes 52 Eror sc osie ch c ators a e nteee Rise aod ahead r a trate ataMictteheidhth apis es 53 Appendix A Introductions es orotate on manda neeaa E OE 55 Performing the installation severe sstelow entire tees ewuels 55 Appendix B Linear scaling example crvcshi Wan teresa A race 59 Setting up your Projectycss cusad eo seynencahe een mesdgax ad pees 60 Using an explicit message configuration to set preset encoder value 65 Using an exp
46. encoder scaling direction and set velocity units Click the Enable Scaling checkbox to change the encoder resolution Use the Direction drop down box to set the direction of the encoder check the definition in the old user manual Use the velocity units to set the velocity units of the encoder Scaling makes it possible to scale the steps per revolution and the total resolution see Linear scaling example on page 59 in Appendix B If the Enable Scaling box is checked the values can be entered for the steps per revolution and the total resolution applied Direction The direction of rotation increasing position value viewed on the shaft can be set to clockwise or counterclockwise e Clockwise increasing position value on clockwise revolution of the shaft e Counterclockwise increasing position value on counterclockwise revolution of the shaft Velocity units Use this parameter to define the units in which the velocity is transmitted The options are the following e Counts sec e Revolutions sec e Revolutions min Rockwell Automation Publication 842E UM001B EN P April 2015 43 Chapter 6 Configuring the 842 E encoder using RSLogix 5000 Internet Protocol tab Z Module Properties Enet 842E M 1 1 armament General Connection Module Info Configuration Internet Protocol Network Internet Protocol IP Settings IP settings can be manually configured ot can be automatically configured if the network
47. es Setup SLogix 5000 Module Profiles Setup END USER LICENSE AGREEMENT IMPORTANT READ THIS AGREEMENT CAREFULLY This End User License Agreement EULA is a legal contract between you either an individual or a single entity You or Licensee and Rockwell Automation Inc Rockwell Automation for the software product or products that Rockwell Automation licenses to You which includes computer software and may include associated media Software Rockwell Automation may also license to You printed materials and online or electronic documentation Dacumentation An amendment nr addendi i a 56 Rockwell Automation Publication 842E UM001B EN P April 2015 Installing the add on profile Appendix A 7 Click the Install radio button and then click Next E RSLogix 5000 Module Profiles Setup Group Rockwell Automation 842E EtherNet Available Software Version 2 01 16 Installation Status Not Installed Rockwell Automation Publication 842E UM001B EN P April 2015 57 AppendixA Installing the add on profile 9 Click Next to install the add on profile files ie RSLogix 5000 Module Profiles Setup Installing Rockwell Automation 842E EtherNet IP Encoder Module Profiles version 2 01 16 842E M Multi Turn Encoder 842E S Single Turn Encoder Rockwell Automation 842E EtherNet IP Encoder Module Profiles version 2 01 16 install success 10 Click Finish to complete the installation ie RSLo
48. files under specialty modules Select the add on profile for either Multi turn Encoder or Single turn Encoder then click Create ff RSLogix 5000 Config_642E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help alsje a see lt ee Do asla E e ael Offline D F RUN gg A Path p ETHIP 15192 168 1 35 Backplane 0 z l No Forces p T 0K Nee Bie yee A i 4 gt f Favorites ately A Alarms imer Counter Input Outpi ompare SOMpUte r Config_842E Controller Tags Controller Fault Handler Power Up Handler Select Module Type B S Tasks H A MainTask 03 MainProgram Unscheduled Programs Phases Motion Groups E Ungrouped Axes E Add On Instructions B 68 Data Types Eih User Defined ip Strings Gi add On Defined C Predefined Lh Module Defined E Trends 9 1 0 Configuration Enter Search Text for Module Type Clear Filters Hide Filters 2 Module Type Category Filters Module Type Vendor Filters MatorStarter M1 Allen Bradley Programmable Logic Controller Cognex Corporation SCANpott Drives on EtherNet IP Endress Hauser Specialty Mettler Toledo TN A MultiSight Vision Sensor Emm lens Specialty E E Backplane CompactLogix System 48MS SN1PF1 M2 Allen Bradley ff 1769 1356 Config_842E 48MS SN1PF2M2 MultiSight Vision Sensor 12mm lens Allen Bradley Specialty Eh 1769 L35E Ethernet Port LocalENE 56RF IN IPD22 RFID ICod
49. gix 5000 Ele Edt view Search Logic Communications Tools Window Help New Ctrl N Open Ctri 0 kaL ae RG E New Component gt Import Component gt Rockwell Automation Publication 842E UM001B EN P April 2015 35 Configuring the 842 E encoder using RSLogix 5000 3 Enter the new controller information NewControler o gt O B Vendor Allen Bradley pene Redundancy Enabled Name Eth_Ene_Prof Description Chassis Type anes Slot Us Satety Partner Slot lt none gt Create In CARSLogix 5000 Piojects Security Authority No Protection Use only the selected Security Authority for Authentication and Authorization File Edit Yiew Search Logic Communications Tools Window Help me ur ioe e No Forces b mtap No Edits a Evo elie el Favorites B Controller Controller_1 Controller Tags C Controller Fault Handler E Power Up Handler o Tasks 5 MainTask amp MainProgram Unscheduled Programs Phases amp Motion Groups E Ungrouped Axes Add On Instructions amp Data Types GR User Defined E E Strings GA Add On Defined p Predefined Gih Module Defined G Trends 5 6 10 Configuration faii Backplane CompactLogix System fa 1769 L35E Controller_1 1769 L35E Ethernet Port LocalENB abed pes M CompactBus fi New Module Discover Modules E Paste Rockwell Automation Publication 84
50. gix 5000 Module Profiles Setup 58 Rockwell Automation Publication 842E UM001B EN P April 2015 Linear scaling example Appendix B RSLogix 5000 sample code This appendix gives examples of using your encoder including how to use RSLogix 5000 to set and read parameters e Linear scaling example next section e Setting up your project on page 60 e Using an explicit message configuration to set preset encoder value on page 65 e Using an explicit message configuration to read preset encoder value on page 69 e Using an explicit message configuration to obtain the encoder s run time in seconds on page 73 A linear cart is to be controlled using ball screw slide The cart will stop after 1 m of travel for loading and unloading For precise measurement of the distance between stops 10 000 steps are required The cart will travel 20 mm for one revolution of the encoder bringing the number of rotations the encoder turns for 1m of travel distance to 50 For a resolution of 10 000 steps per meter the encoder requires 200 steps per revolution There are three 3 stops along the 3 m track so our total resolution must be at least 3 x 10 000 30 000 steps to cover the length of the track For the scaling function our total resolution must be 2 PR or in this case 28 x 200 51 200 Rockwell Automation Publication 842E UM001B EN P April 2015 59 Appendix B RSLogix 5000 sample code Set
51. gram fragment sends an explicit message and confirms the message reception 1 Create a new message data type named Preset_Message and a DINT named Preset_Value f RSLogix 5000 Config _842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help Be amp t BHR amp Pitstop RQ br YR AQ Offline j RUN ror eral A Path AB _ETHIP 1 182 168 1 100 Backplane 0 v El No Forces b Eo No Edits a at 4 4 fot tel 4k OH 4 OF Favorites Timer Counter Input Output Compare puou P li Progra ainRo o c F iH SSBB abea S ar a 2 9 Preset Preset_ons MSG A S g o JE ons Message HEEN z Message Control Preset_Message CJ KDN3 g HER3 Scope fa Config_842E Show All Tags x Y Ea Name za a Vale f Force Mask Style Data Type A E Get_Preset 0 Decimal BOOL m Get_Preset_ons o Decimal B00L 3 2 Get_Run_Time o Decimal BOOL F My_842E C EN foun AB 842EM C 0 i My_842E 1 oooh fboot AB 842E 1 0 My_842E l Fault 2 000 Binary DINT My_842E 1 Position 1030154 Decimal DINT v fo Preset 0 Decimal BOOL 3 gt Preset_Message inant auat MESSAGE Preset_ons 0 Decimal BOOL Preset_Value Preset_Value_Read 0 Decimal DINT Read_Preset EA tence MESSAGE Run_Time_Message Nooo
52. guring the encoder for your EtherNet IP network Setting the IP Address The 842E encoder is shipped with the network address switches set to 888 You must assign it an IP address using one of the two methods outlined below You can set the IP address of the 842E encoder using either one of the following methods 1 Use the network address switches see figure on page 25 on the encoder to set the last octet of the IP address 192 168 1 xxx 2 Use the network address switches to enable BootP DHCP and use a BootP utility or DHCP server to assign the IP address of the unit on powerup Assigning the last octet in an IP address scheme of 192 168 1 xxx using the network address switches 1 Set the three network address switches to 999 Cycle power to the encoder Set the three network address switches to a valid address of 001 254 Cycle power to the encoder Yow YON The encoder will power up with the IP address set to 192 168 1 xxx where xxx is the position of the three network address switches Network address switches set to 123 Rockwell Automation Publication 842E UM001B EN P April 2015 29 Chapter 5 30 Configuring the encoder for your EtherNet IP network Assigning the IP Address using BootP DHCP Verify that the encoder s MAC ID is in the relationship list in the BootP Utility or DHCP server before attempting to assign the encoder an IP address using this procedure 1 Set the three network ad
53. h a hollow shaft lt 05 csceeos de eehdavindnsperenes cee 24 Mechanical specifications 20c225s3iieihieiiee truss bedi 24 Electrical ar oe Bias tala wea te boeRindd a a E tee heel ie 25 Electrical wiring instructions 05 i 0 64635 45 Sake deeswren ed is a4 ous 25 Pin assignments ss cia ed Gere hates ean eee yer Rene eens aS 26 Preset push button ss essere seta arer AAO EEE esas lonely 26 Network address switches 4 5sc cis co sdde kieee seen daca deyedes 26 Electrical specifications yao sn a a8 co zarcnaroine aig areata Seid ese wad coatinalass 27 Rockwell Automation Publication 842E UM001B EN P April 2015 i Table of Contents Configuring the encoder for your EtherNet IP network Configuring the 842 E encoder using RSLogix 5000 Diagnostics and troubleshooting Installing the add on profile RSLogix 5000 sample code Chapter 5 Setting the IP Address 2 0cvimioescieudiie seivida oh aieauedid Maes 29 Assigning the last octet in an IP address scheme of 192 168 1 xxx using the network address switches ee cece cece cee eee noren 29 Assigning the IP Address using BootP DHCP 4 30 Chapter 6 Example setting up the hatdwate osiiiit hs ci tivated oedeiin eenes 33 Configuring the encoder jist ss sos sawssueniesensvevis nar erawne 34 Setting up the add on profile in RSlogix 5000 0 0 0008 35 General tab 0 eee ec cece eect ene eeeeeneeenaeens 38 Ethernet address 0 0 cece e cece
54. h shaft position across multiple shaft rotations and are capable of extremely high resolutions Rockwell Automation absolute encoders are available with an enclosure rating of NEMA Type 4 and IP66 as well as a variety of mounting options Applications include steel mills overhead cranes punch presses transfer lines oil rigs wind mills machine tools and packaging Sine cosine A sine cosine encoder is a position transducer using two sensors each 90 out of phase with respect to the other Sine cosine encoders can be used directly by the drive or squared to provide a conventional A quad B digital signal Therefore the sine cosine encoder can be used as an absolute sine cosine or incremental feedback device Single turn vs multi turn Absolute encoders are either single turn or multi turn Single turn encoders are used if the absolute position of the shaft for one revolution is required Multi turn encoders are used if the absolute position is required for more than one shaft revolution The 842E EtherNet IP encoder features include e Support for the encoder profile 22h 0x22 defined in the Common Industrial Protocol CIP according to IEC 61784 1 e Compatibility with star linear and device level ring topology e Robust nickel code disk for harsh ambient conditions e Configurable resolution per revolution 1 to 262 144 e High precision and availability e Ball bearing spacing of 30 mm for longer life e Face mount f
55. hipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures United States Contact your distributor You must provide a Customer Support case number call the phone number above to obtain one to your distributor to complete the return process Outside United States Please contact your local Rockwell Automation representative for the return procedure Documentation Feedback Your comments will help us serve your documentation needs better If you have any suggestions on how to improve this document complete this form publication RA DU002 available at http www rockwellautomation com literature Allen Bradley Rockwell Software and Rockwell Automation are trademarks of Rockwell Automation Inc Trademarks not belonging to Rockwell Automation are property of their respective companies Rockwell Automation maintains current product environmental information on its website at http www rockwellautomation com rockwellautomation about us sustainability ethics product environmental compliance page Rockwell Otomasyon Ticaret A Kar Plaza Is Merkezi E Blok Kat 6 34752 erenk y stanbul Tel 90 216 5698400 www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Milwaukee WI 53204 2496 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwel
56. iled to send configuration data to the module Consequently changes will be ignored Online changes should be noted as not allowed in our documentation CIP object model EtherNet IP overview Chapter 3 Device level ring topology A DLR network is a single fault tolerant ring network intended for the interconnection of automation devices DLR topology is advantageous as it can tolerate a a break in the network If a break is detected the signals are sent out in both directions With this topology use both the Link 1 and Link 2 ethernet connections on the 842E encoder HLI Tor a Taney EtherNet IP uses an object model for network communication wherein all functions and data of a device are defined The important terms are as follows Class A class contains related objects of a device organized in instances Instance An instance consists of different attributes that describe the properties of the instance Different instances of a class have the same services the same behavior and the same attributes They can however have different values Attribute The attributes represent the data a device provides over EtherNet TIP These include the current values of for example a configuration or an input Typical attributes are configuration and status information Service Services are
57. in g Implicit messaging _ f IP Ethernet Rockwell Automation Publication 842E UM001B EN P April 2015 Process layer Communication layers Physical layer Chapter 3 EtherNet IP overview The encoder is an I O adapter in the EtherNet IP It receives and sends explicit and implicit messages either cyclic or on request polled TCP IP and UDP IP EtherNet IP uses TCP IP or UDP IP for communication TCP is transmission control protocol and UDP is user datagram protocol Implicit messaging is used for real time communication between a programmable logic controller PLC and the encoder in EtherNet IP With implicit messaging a connection is established between exactly two devices within the CIP to transfer for example I O data such as position or velocity from the encoder to the PLC Implicit messaging uses UDP IP via port 2222 As a result a fast data rate is used Explicit messaging is used in EtherNet IP for communication that does not need to take place in real time Explicit messaging uses TCP IP it is used for example to transfer parameters from the PLC to the encoder MAC address Devices that originate or use data on the network have factory assigned media access control MAC addresses for unique identification The MAC address MAC ID consists of 6 bytes The first three bytes identify the manufacturer The last three bytes are unique to the device An example of a MAC address is 00 00 BC C
58. it View Search Logic Communications Tools Window Help OSM S ee gt c Ptt FITERE Rem Run M E Run Mode Eai Path AB_ETHIP 1 192 168 1 100 Backplane O E NoFoces p H Controller OK No Forces gt E me Fe 4 H tot tel dk OY 1 UO OF 0 D Favorites A Add On Alarms Bit imer Counter put Output Compare EJ MainProgram MainRoutine tH BREE w e er wo ley wy KR YR VE amp 72 4821UEB19 48 0 qU0D FR Get_Preset Get_Preset_ons Controller Tags Config_842E controller Message MSG Message Control Read_Preset CJ fla Contig 842E v Show All Tags Decimal Decimal Decimal saqpadoig Fy lt AB 842EM C 0 AB 842E 1 0 gt My_842E Fault Binary DINT My_842E 1 Pasition Decimal DINT Preset Decimal BOOL 1 Preset_Message MESSAGE Preset_ons Decimal BOOL Hl Preset Value l Read_Preset H Preset_Value_Read Decimal Decimal DINT DINT MESSAGE 4 Run_Time_Message MESSAGE Run_Time_ons Decimal BOOL __ F Run_Time_Seconds Decimal DINT m Rockwell Automation Publication 842E UM001B EN P April 2015 RSLogix 5000 sample code Appendix B Using an explicit message This example is similar to the previous one Using an explicit message confi gur ation to obtain the co
59. l Automation NV Pegasus Park De Kleetlaan 12a 1831 Diegem Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 842E UM001B EN P April 2015 Copyright 2015 Rockwell Automation Inc All rights reserved Printed in the U S A
60. lange and servo flange blind hollow shaft and through hollow shaft e 18 bit single turn resolution e 30 bit total resolution multi turn resolution e Endless shaft e Flash update IMPORTANT A Series A encoder can not be updated to a Series B A Series B encoder must be purchased in order to update future firmware Series A does not have flash update capability Rockwell Automation Publication 842E UM001B EN P April 2015 Configurable parameters The electronic data sheet file Operating principle of the encoder Encoder overview Chapter 2 The EtherNet IP technology allows for certain encoder parameters to be configured over the network e Counting direction e Counts per revolution e Preset value e Velocity output e IP addressing The electronic data sheet EDS file contains all the information related to the measuring system specific parameters as well as the operating modes of the 842E EtherNet IP encoders The EDS file is integrated using the EtherNet IP network configuration tool to configure and place in operation the 842E EtherNet IP encoder For more information go to www rockwellautomation com resources eds and search on 842E Operating principle of the 842E EtherNet IP encoder acquires the position of rotating axes and outputs the position in the form of a unique digital numeric value Optical acquisition of the rotary position value is from an internal coded disk The 842E SIP xxx EtherNet IP is a
61. larm 0 OK 1 Alarm error 48 30 Get NV Supported warnings WORD Information on supported warnings 0x673C 49 31 Get V Warning flag BOOL Indication of set warning 0 0K 1 Warning Flag 50 32 Get NV Operating time DINT Storage of operating time counter 0 0 1h the format of the counter is second 51 33 Get NV Offset value DINT Offset value is calculated when using 0x00 00 00 00 preset function 100 64 Get V Temperature value INT Current temperature value OxF0 60 40 100 C or 40 212 F 0x27 10 Accuracy of the temperature sensoris 4000 10000 about 5 C 101 65 Set NV Temperature value format ENG Format of temperature value 0x1200 UNIT C or F Fahrenheit 0x1200 C 0x1201 F 102 66 Set NV Temperature resolution DINT Minimum resolution of temperature 0x00000001 value C 100 or F 100 103 67 Set NV Minimum temperature value INT Minimum temperature set point OxFO 60 setpoint 40 100 C 40 212 F 4000 Rockwell Automation Publication 842E UM001B EN P April 2015 21 Chapter3 _EtherNet IP overview Attribute ID Attribute ID Min max dec Name Description default 104 Set Maximum temperature value Maximum temperature set point 0x27 10 10000 setpoint 40 100 C 40 212 F or 0x52D0 21200 105 Fault header Flags of encoder sensor errors and 0x00 00 00 00 see Sensor error table warnings 106 Slave sign of live Flags for encoder f
62. le the encoder reaches the total resolution of 9 000 Test In this example we will be issuing incremental MAM motion commands to the K6500 CIP axis amp compare accuracy against 842E M position tag Verify the measuring range unwind position rolls over correctly when approach from both CW and CCW directions See the tables attached for specific test intervals based on the numerator denominator and measurement ranges selected Rockwell Automation Publication 842E UM001B EN P April 2015 EtherNet IP overview Chapter 3 Measuring Range Test Bi Directional One Rev Measuring Rollover Test Distance Check One Rev Distance Numerator Denominator Range CMR Pass Fail 1 Test 2 Accuracy counts NOTES Message Instruction Errors this is expected operation Position does not change This is the expected operation 1 1 024 1 4 096 1 16 535 1 262 144 Position Rolls over 262 144 This is expected behavior as the CMR limit is 1 262 150 262 144 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 Position Rolls over 262 144 This is expected behavior as the CMR limit is 1 524 288 262 144 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 Position Rolls over 524 288 This is expected behavior as the CMR limit is 2 524 288 262 144 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 Po
63. licit message configuration to read preset encoder value 69 Using an explicit message configuration to obtain the encoder s run time in SECO IIS srens aera oe saSeen od snack sriracorsaha ia w Ae Matyi acinar 73 Rockwell Automation Publication 842E UM001B EN P April 2015 About this document Read this section to familiarize yourself with the rest of the manual It provides information concerning e Who should use this manual e The purpose of this manual e Related documentation e Conventions used in this manual Who should use this manual Use this manual if you are responsible for designing installing programming or troubleshooting control systems that use 842E EtherNet IP encoder You should have a basic understanding of electrical circuitry and familiarity with relay logic If you do not obtain the proper training before using this product Pu rpose of this manual This manual is a reference guide for the 842E EtherNet IP encoders It describes the procedures you use to install wire and troubleshoot your encoder This manual e Gives you an overview of the 842E EtherNet IP encoders e Explains how to install and wire your encoder Related documentation The following documents contain additional information concerning Rockwell Automation products To obtain a copy contact your local Rockwell Automation office or Allen Bradley distributor Resource Description Installation Instructions Pub 10000169360 842E
64. mation is prohibited Throughout this manual we use notes to make you aware of safety considerations WARNING Identifies information about practices or circumstances that can cause an explosion in a hazardous environment which may lead to personal injury or death property AN damage or economic loss Identifies information that is critical for successful application and understanding of MGG the product AMANN Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attentions help you identify a A hazard avoid a hazard and recognize the consequences Labels may be on or inside the equipment for example drive or motor to alert people that dangerous voltage may be present Labels may be on or inside the equipment for example drive or motor to alert people that surfaces may reach dangerous temperatures It is recommended that you save this user manual for future use Safety Encoder overview EtherNet IP overview Installation Table of Contents About this document Who should use this manual jchoes ae Bets alc vecweewats Hee Baas iii Purpose of thismanual soseste inane eE OE TE EER iii Related documentation iio Reaty te tutenacraenien aah autos iawn eaten iii Common techniques used in this manual 0s eee eee iii Chapter 1 Authorized personnel ith bih ee Aeus see chek LM hte ee oath Vs 1 Correc
65. mpare K El MainProgram MainRoutine fH SS BB as Get_Run_Time Run_Time_ons MSG Message Message Control Run_Time_Message CJ 432100640 43 04qU0 gt igi Message Configuration Run_Time_Message Configuration Communication Tag Name Description Type Base Data Type MESSAGE Scope fa Config 842E Extemal Read write Access O Enable Enable Waiting Start O Done Done Length 4 Eror Code Extended Error Code C Timed Out Error Path OK J Cancel Apply Help Rockwell Automation Publication 842E UM001B EN P April 2015 75 Appendix B RSLogix 5000 sample code 6 Add a normally open contact and a one shot instruction to initialize the message instruction fo RSLogix 5000 Config_842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help Bae amp pe Ptstop_D0 44 YR ea Rem Run ME E Run Mode ai Path AB_ETHIP 1 192 168 1 100 Backplane O X El NoForses p H Contioler OK 3 No Edis hese H tol lel tk OH Oy lt gt Favorites arms T re E MainProgram MainRoutine i SSS B owls t_Run_Time 422100640 131014u0 ig E Paste i Cut Instruction Ba Copy Instruction Run Time Ons Le Me MK KR MSG Ctrl x Ctrl C Ctrl V ERI Message EN Message Control Run_Time_Message C K DN Delete Instruction Add Ladder
66. n Publication 842E UM001B EN P April 2015 Installation Chapter 4 Face mount flange 10x 19mm Servo flange 6x 10mm Blind hollow shaft 8 19 12 15 mm and 1 4 1 2 3 8 5 8 in Electrical A Switch off the power supply The machine system could unintentionally start while you are connecting the devices Ensure that the entire machine system is disconnected during the electrical installation ATTENTION A Commissioning requires a thorough check by authorized personnel Before you operate a system equipped with the 842E EtherNet IP absolute encoder make sure that the system is first checked and released by authorized personnel Please read more in Chapter 1 Safety Electrical wiring instructions Three electrical connections are located on the back of the housing A 4 pin M12 connector is used for the power supply connection Two 4 pin M12 connectors are used for the ethernet connection The Link 1 connection is used for star networks For ring networks use both the Link 1 and Link 2 connectors In a linear network use Link 1 Link 2 or both connectors 2 Power connection Sf A Link 2 connection Link 1 connection Network address on100 o Preset push button switches Rockwell Automation Publication 842E UM001B EN P April 2015 25 Chapter 4 26 Installation Pin assignments Voltage supply Mating cable Function wire color Brown Supply voltage 10 30V DC
67. nfiguration to read preset encoder value on page 69 encoder s run time in 1 Create a new message data type named Run_Time_Message and a DINT seconds named Run_ Time Seconds fo RSLogix 5000 Config_842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help Ose S lE o Pst Aera EUR aA Rem Run DE Run Mode Path A8_ETHIP 1 182 168 1 100 Backplane o v E EER p_ M Controller OK K No Edis ze A ee e e e a a h Favorites Add On Alarms Bit Timer Counter Input Output Compare E MainProgram MainRoutine Jox i SBGR ldo w LGe ee wR EEN Get_Run_Time Run_Time_ons i ee J Ons Message EN Message Control Run_Time_Message C KDN3 ERS Controller Tags Config_842E controller Sa Scope ff Confia 842E v Show Al Tags JBZIUPBIQ 13110140 FR IES Decimal Get_Preset_ons Decimal Get_Run_Time Decimal My_842E C Sov r AB 842EM C 0 AB 842E 1 0 satpadoid Lig Decimal Decimal Decimal Preset_Value_Read Decimal H Read_Preset Decimal Decimal Rockwell Automation Publication 842E UM001B EN P April 2015 73 Appendix B RSLogix 5000 sample code 2 Add anew MSG function block to the program browse to the Run_Time_Message data type created in step 1 Then double click the grey box to configure the message instruction RSLogix 500
68. ocity exceeded 1 Light control reserve LED current critical 2 CPU watchdog Not implemented 3 Operating time limit warning Operating time limit reached 4 Battery charge Not implemented 5 Reference point Not implemented 6 Minimum velocity flag Minimum velocity set point reached 7 Maximum velocity flag Maximum velocity set point reached 8 Minimum acceleration flag Minimum acceleration set point reached 9 Maximum acceleration flag Maximum acceleration set point reached 10 Position limits exceeded Max position exceeded 11 Reserved by CIP 12 Reserved by CIP 13 Vendor Temperature set points reached Temperature out of range 14 Vendor over under voltage voltage set points reached 9 700 30 300mV Alarms The alarm type is coded in a bit field of attributes 44 and 45 If one of the bits is listed below is set the alarm flag attribute 47 will also be set If for example the velocity or temperature drop below exceed the limit values the warning flag is set attribute 49 position sensor object In addition the Net LED flashes red The warning type is coded in a bit field of attributes 47 and 48 Note The position value will continue to be correctly calculated the encoder is therefore still ready for operation 52 Rockwell Automation Publication 842E UM001B EN P April 2015 Diagnostics and troubleshooting Chapter 7 Supported alarms attribute 44 45
69. onfigured Configured Product Name 842E M Owned Owned Module Identity Match reren Berane Status Running OK Cancel The Module Info tab contains read only data that is populated when the controller goes on line a program is downloaded or uploaded from the controller The left panel Identification shows the vendor product type product code revision level serial number and product name The right panel Status shows the fault status internal state i e run mode and whether the file is owned and Module Identity The Refresh and Reset Module buttons are active when the controller is on line Refresh Click this button to refresh the data in the window Reset Module Click this button with care as it disconnects the module momentarily and control will be interrupted A warning window appears Click Yes or No as needed Click Help for further information 42 Rockwell Automation Publication 842E UM001B EN P April 2015 Configuring the 842 E encoder using RSLogix 5000 Chapter 6 Configuration tab alo x General Connection Module Info Configuration Internet Protocol Port Configuration Network IV Enable Scaling Resolution 200 Counts Revolution Revolutions 256 is Range 51200 Counts Range is calculated as Resolution times Revolutions Direction clockwise v velocity Units Status Offline Cancel Apply Help The Configuration tab is used to configure the
70. ontains implemented port types port numbers and port names TCP IP interface object OxF5 Contains all attributes for configuring the TCP IP interface Ethernet link object OxF6 23h Position sensor 04h Assembly 06h Connection manager Contains connection specific attributes like 3 transmission rate MAC address or duplex mode 02h Message router OOO The Class Instance Attributes for the position sensor object are provided in the tables below See Appendix B on page 59 for an example of how to create an explicit message in RSLogix 5000 using the position sensor object tables 18 Rockwell Automation Publication 842E UM001B EN P April 2015 EtherNet IP overview Chapter 3 Class services of the position sensor object Instance Service Name Description 0x05 Reboot with all EEProm parameters of the encoder reboot with the factory defaults 00 reboot Object read all EEProm parameters 01 set and save factory defaults and reboot object read all EEProm parameter Ox0E Get_Attribute_Single Returns value of attribute 0x15 Restore Restore all parameter values from the non volatile storage customer defaults 21dec 0x16 Save Save parameters to the non volatile storage 22dec Class attributes of the position sensor object Required optional Data type Description Default NT Required Revision implemented Object revision no 0x00 02 Implemented Max instance Max in
71. packets received and 0 lost cx C WINDOWS system32 cmd exe Microsoft Windows XP Version 5 1 2666 lt C gt Copyright 1985 2061 Microsoft Corp C Documents and Settings Labuser gt ping 192 168 1 123 Pinging 192 168 1 123 with 32 bytes of data Reply from 192 168 1 123 bytes 32 time lt ims 123 byt 32 time lt ims 123 byt time lt ims Reply from 192 168 1 123 bytes 32 time lt ims Ping statistics for 192 168 1 123 Packe Sent 4 Received 4 Lost Approximate round trip times in milli secon Minimum ms Maximum ms Average C Documents and Settings Labuser gt Rockwell Automation Publication 842E UM001B EN P April 2015 31 Chapter5 Configuring the encoder for your EtherNet IP network Notes 32 Rockwell Automation Publication 842E UM001B EN P April 2015 Chapter 6 Configuring the 842 E encoder using RSLogix 5000 This chapter guides you through the steps required to configure your encoder using RSLogix 5000 software Note that the modules presented in this chapter are configured using RSLogix 5000 software version 20 Exam ple setting up the In this example a CompactLogix chassis contains the L35E processor in slot 1 hardware and a built in EtherNet IP connection The encoder is connected to a Stratix 6000 ethernet switch 1769 L35E CompactLogix Programming Terminal 192 168 1 3 192 168 1 1 Stratix 6000 Switch ape EtherNet IP Network 9 1732E ArmorBlock Ethernet Mod
72. r input data 1 On the General tab click the Change button The module definition window opens Series Revision Electronic Keying Connection Input Data a i 1 wl 1 Compatible Module x Data x Position x 2 Click the arrows at the right of each box to access drop down menus e The connection drop down menu allows you to select either a Data or Listen Only connection see definitions below The Input data drop down menu allows you to select position position status or position velocity see RSLogix 5000 controller tags on page 47 for more information Click OK to accept the changes or Cancel to retain the original settings See the definitions below Click Help for more information Data This type of connection is used to read data from the encoder without controlling the outputs This connection is not dependent on any other connection Listen Only This type of connection is dependent on another connection to exist If that connection is closed the listen only connection will be closed as well Rockwell Automation Publication 842E UM001B EN P April 2015 Configuring the 842 E encoder using RSLogix 5000 Chapter 6 Connection tab General Connection Module Info Configuration Intemet Protocol Network Requested Packet Interval RPI 20 9 ms 2 0 750 0 Inhibit Module C Major Fault On Controller If Connection Fails While in Run Mode Use Unicast Connection over
73. r_t 1769 L35E Ethernet Port LocalENB gis Ethernet 1769 L35E Ethernet Port LocalENB 842E M A Encoder_t A CompactBus Local Name Ene_1 1 Ene_1 C Enc_1 C Counterclockwise Enc_1 C VelocityUnits Value gt Monitor Tags AEdit Tags 7 The categories of tags appear The tag name is composed of the encoder name followed by a e C for configuration e T for input Configuration image table and tags Expand Enc_1 C by clicking This shows the configuration image table which has the following tags ForceMask f Style Data Type 8 4 Descrip LORI ciated AB 842E 1 0 TI Haaah AB 842EM C 0 0 Decimal BOOL 2 0000_0000_0000_0010 Binary INT Enc_1 C Counterclockwise Configuration status of the direction of the count as defined in the encoder profile Enc_1 C VelocityUnits Velocity units status of the encoder as defined in the encoder profile Input image table and tags Expand Enc_1 I by clicking This shows the input image table which has the following tags Rockwell Automation Publication 842E UM001B EN P April 2015 47 Chapter6 Configuring the 842 E encoder using RSLogix 5000 Enc_1 l Enc_1 l Fault Enc_1 1 Position Enc_1 l Alarm Enc_1 1 Waming 48 Force Mask Style Data Type al Descrip Tan paa AB 842E_Status 1 0 2 0000_0000_0000_0000_0000_0000_0000_0000 Binary DINT 246706810 Decimal DINT 0 Decimal BOOL 0
74. rk This value specifies how often to produce the data for that device For example if you specify an RPI of 50 ms it means that every 50 ms the device sends its data to the controller or the controller sends its data to the device RPIs are only used for devices that exchange data For example a ControlLogix EtherNet IP bridge module in the same chassis as the controller does not require an RPI because it is not a data producing member of the system it is used only as a bridge to remote modules EtherNet IP topologies The 842E encoders can be connected in any of three network topologies star linear or device level ring DLR Rockwell Automation recommends that you use no more than 50 nodes ona single DLR or linear network If your application requires more than 50 nodes we recommend that you segment the nodes into separate but linked DLR or linear networks IMPORTANT Star topology The star structure consists of a number of devices connected to a central switch When this topology is used make the ethernet connection on the 842E encoder to the Link 1 connection The Link 2 ethernet connection must remain unused IMPORTANT 10 Rockwell Automation Publication 842E UM001B EN P April 2015 Endless Shaft Functionality EtherNet IP overview Chapter 3 Linear topology The linear topology uses the embed
75. rnet Port 20 11 General Connection RSNetWors Module Info Port Configuration Port Diagnostics Type 1769 L35E Ethemet Port 10 100 Mbps Ethernet Port on CompactLogix5335E Vendor Allen Bradley Controller FecsiENE a 422 UEBAQ 48 0 4U0 gt ipi B 5j Maior Revision 20 Rockwell Automation Publication 842E UM001B EN P April 2015 61 Appendix B RSLogix 5000 sample code 4 Right click Ethernet Network and select New Module RS RSLogix 5000 Config_842E 1769 L35E 20 11 File Edit View Search Logic Communications Tools Window Help alelu a ESL 5j Speen 010 7 28S TE ya Offline I m RUN q Path sone S No Forces mo oe Noes a a Allee Fe B APA vores lt a ATA AAT roller Organizer amp Controller Config_842E A Controller Tags C Controller Fault Handler 3 Power Up Handler amp Tasks MainTask E MainProgram Unscheduled Programs Phases amp Motion Groups fi Ungrouped Axes Add On Instructions amp Data Types ER User Defined ER Strings E Add On Defined ER Predefined i Module Defined E Trends E 1 0 Configuration ap Backplane CompactLogix System ff 1769 L3SE Config_842E 1769 L35E Ethernet Port LocalENB Ss E Compacte I New Module Discover Modules ueBIC 43 E Paste Ctrl Print 5 Find the encoder add on pro
76. rol ATTENTION A Rockwell Automation Publication 842E UM001B EN P April 2015 Configuring the encoder for your EtherNet IP network Chapter 5 5 Disable DHCP click once on the encoder in the relation list to highlight it Then click Disable BOOTP DHCP This instructs the 842E encoder to retain the IP address at the next power cycle Wait for the status message to show that the command was successfully sent If the message does not appear repeat this step 3 BOOTP DHCP Server 2 3 File Tools Help Request History Clear History Add to Relation List hrmin sec Type Ethemet Address MAC IP Address _ _ Hostname _ 13 35 35 DHCP 18 03 73 CA 1B FA 13 34 30 DHCP 00 00 BC C9 D7 3D 13 34 22 DHCP 18 03 73 CA 1B FA 13 34 19 DHCP 18 03 73 CA 1B FA 13 33 58 DHCP 00 00 BC C9 D7 3D 13 33 42 DHCP 00 00 BC C9 D7 3D 13 33 34 DHCP 00 00 BC C9 D7 3D a r Relation List New Delete Enable BOOTP Enable DHCP Disable BOOTP DHCP Etheinet Address MAC Type IP Address 00 00 BC C9 D7 3D 192 168 1 123 Encoder_1 842E_Encoder Status Entries Disable BOOTP DHCP Command successful E of 256 6 Click File gt Save As to save the relationship if desired 7 Cycle the power to the 842E encoder You should no longer see the 842E encoder appear in the request history panel From a DOS prompt you can ping the new address The response should be 4 packets sent 4
77. sition Rolls over at 524 288 This is expected behavior as the CMR limit is 2 1 048 576 524 288 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 1 536 870 912 Position Rolls over 262 144 Rockwell Automation Publication 842E UM001B EN P April 2015 13 Chapter3 _EtherNet IP overview Numerator Test Bi Directional One Rev Numerator Denominator Measuring Rollover Test Distance Check Distance Accuracy CNR_N CNR_D Range CMR Pass Fail Test Pass Fail counts NOTES Message Instruction Errors this is expected 0 262 144 operation 2 262 144 131 072 counts per turn of the encoder 4 262 144 65 536 counts per turn of the encoder 8 262 144 32 768 counts per turn of the encoder 16 1 262 144 16 384 counts per turn of the encoder 32 1 262 144 8 196 counts per turn of the encoder 64 1 262 144 4 096 counts per turn of the encoder 128 1 262 144 2 048 counts per turn of the encoder 256 1 262 144 1 024 counts per turn of the encoder 512 1 262 144 512 counts per turn of the encoder 1024 1 262 144 256 count per turn of the encoder 2048 1 262 144 128 count per turn of the encoder Message Instruction Errors this is expected 2049 1 262 144 operation 14 Rockwell Automation Publication 842E UM001B EN P April 2015 EtherNet IP overview Chapter 3 Denominator Test Bi Directional One Rev Measuring Rollover Test Distance Check
78. stance number of an 0x00 01 object in this class Implemented Number of Number of object instances in this 0x00 01 instances class Implemented Maximum ID Highest implemented class ID 0x00 64 number class attributes Implemented Maximum ID Highest implemented instance 0x00 7A number attribute ID instance attributes Encoder ARRAY aa bb major revision 842eaa bb firmware of bytes minor revision dd mm yy version dd mm yy day month year Instance Services of the position sensor object are automatically populated in the explicit message instruction configuration Instance services of the position sensor object Instance Service name Description Ox0E Get_Attribute_Single Returns value of attribute 0x10 Set_Attribute_Single Sets value of attribute Rockwell Automation Publication 842E UM001B EN P April 2015 19 Chapter 3 EtherNet IP overview Instance attributes of the position sensor object Min max Name Description default Number of attributes Number of supported attributes in this 0x0039 class Attribute list List of supported attributes Position value signed Current position value 32 Bit none Position sensor type Device Type Min 0x00 01 see following table encoder ID 0x01 Single turn absolute encoder Max 0x00 02 0x02 Multi turn absolute encoder 0x00 02 Direction counting toggle code Definition of direction of incrementing 0 CW sequence CS counts 10 0 CW
79. supports this capability Manually configure IP settings Obtain IP settings automatically using BOOTP Obtain IP settings automatically using DHCP IP Settings Configuration Physical Module IP Address 192 168 1 123 Subnet Mask 255 255 255 0 Gateway Address 192 168 1 0 Domain Name Primary ONS Server Aiete C EEE Host Name Secondary DNS e niis Server Address Ds B g B g Refresh communication e e Sisu Puig For the purpose of this user manual the user is expected to use a private address that is an address of 192 168 1 xxx This window is automatically populated with the data Rockwell Automation Publication 842E UM001B EN P April 2015 Configuring the 842 E encoder using RSLogix 5000 Chapter 6 Network tab General Connection Module Info Configuration Intemet Protocol Network Network Topology Linear Star Network Status Normal Refresh communication Status Running The Network tab contains read only data that is populated when the controller goes online Network Topology This displays the current network topology as either linear star or ring Network Status This displays the current network status as normal ring fault or unexpected loop detected The Refresh Communication link appears when communication with the encoder has failed Click Refresh Communication to attempt to restart communication with the encoder Rockwell Automation Publication 842E UM001B EN P April 2015
80. t network then click OK RSLogix 5000 Config 842E 1769 135E 20 11 File Edit View Search Logic Communications Tools Window Help Os 6 Re om Ao O Sat YX QQ Rem Run DU E Run Mode EENE Feed Path AB_ETHIP 1 192 168 1 100 Backplane O mE No Forces P S reela K gt poem Battery OK No Edits mw yooK 40H fol tet 4k w d tu 4 lt gt Favorites AaOr A Alms AER A TmerCounter K paap A Compare K Ej MainProgram MainRoutine HH BRSB wea we Wy Ae VK YR VE Of Get_Run_Time Run_Time_ons MSG Message Message Control Run_Time_Message 432102610 43 0 9U0 gt iA Message Configuration Run Time_Message Configuration Communication Tag Path My_842E My_842E Ml Message Path Browser Path My_842E Marbrodram amp amp 10 Configuration eee S E Backplane CompactLoaix System fa 1769 L35E Config_842E onnection 1769 L35E Ethernet Port LocalENB gs Ethemet 1769 L35E Ethemet Port LocalENB D 842E M A My_842E S CompactBus Local File Edit View Search Logic Communications Tools Window Help Os Stee oc Poon Sab OW RA Rem Run DE E Run Mode Path AB_ETHIP 1 192 168 1 100 Backplane O NoFaces p E Controller OK o if Battery OK 1 Hida 4k w lt w NoEdts Bl m ook lt gt Favorites Add On A Alarms A Bt X TimeriCounter_ K Input Output X Co
81. t Protocol Network 38 Rockwell Automation Publication 842E UM001B EN P April 2015 Configuring the 842 E encoder using RSLogix 5000 Chapter 6 Ethernet address When the controller is offline the ethernet address can be set You have three options e When a private network is used click on the Private Network radio button Enter a value of 1 254 for the last segment octet of the address Be sure not to duplicate the address of an existing device In the preceding example the address of the EtherNet IP encoder is 192 168 1 123 Ethernet Address Private Network 192 1681 123 4 4 IP Address Host Name e When multiple networks exist you may choose to set the address to some other value when offline simply click the IP address radio button and enter the desired address Ethernet Address Private Network 192 168 1 IPAddress 200 1 33 109 Host Name e Click the Host Name radio button and type in the name of the host In the example below the host name is QPACK4 Ethernet Address Private Network 192 168 1 O IP Address HostName GPACK4 Rockwell Automation Publication 842E UM001B EN P April 2015 39 Chapter 6 40 Configuring the 842 E encoder using RSLogix 5000 Module definition The user should not have to make changes to the default values If necessary follow the steps below to change series revision electronic keying connection and o
82. t USE a NE e ee A A AE ie eA 1 General safety notes and protective measures 6 e eee e eee eee 2 Environmental protection ssssssssrereserrerrrererrrrrrerns 2 Chapter 2 Overview of the encoder uooocscscrnusccrcrcerrrssrrrrrrrrreeee 3 Whatisanencoder rie snnre nie EAA A ONEENS Na ENS 3 What are the different kinds of encoders 0 cceeeeeeeece 3 S42E encoder features a oidsh coda Fated ai ese a es 4 Configurable parameters 4 asus ssinnas tenses Seoul cwuen mauris ngs 5 The electronic data sheet file 00o 22 3 von cece daasies tel etaseee teas 5 Chapter 3 Use of the Common Industrial Protocol 00 c ccc cece ee ees 7 TCP IP and UDP IP Ao aoe ete eG eh tase outa eee 8 IGS sens a eating a a bet 8 Communication raimecGds oad 355 ein eee caidas ota ees ees 8 Understanding the producer consumer model 008 9 Specifying the requested packet interval usunn sangmeienaveniees 10 EtherNet LP topologics s1 tia gitre a awsue ded tegesae per auan oes 10 Star topology sepa nanan uate eats haath ae adhe a 10 Linear topology ti ile ee eren such etan el a Ae asl cus 11 Device level ring topology snsssersrrrrerererrrrsrrererer 17 CIP bject model ersen araa REEE EEA EEEE ERRENTE 17 Chapter 4 Mechanical deasa a a A oe ate p pu aa 23 Shaft rotation direction tay aie ley abctvit th shoot tee oy a hulk 23 Mounting with a solid shatt ic cocrtsieisecbaravexnesaeawaste ee 23 Mounting wit
83. t cannot be used independently of its foreseen function For this reason an encoder is not equipped with immediate safety devices Considerations for the safety of personnel and systems must be provided by the operator of the system as per statutory regulations Due to its design the 842E EtherNet IP can only be operated within an EtherNet IP network It is necessary to comply with the EtherNet IP specifications and guidelines for setting up an EtherNet IP network In case of any other usage or modifications to the 842E EtherNet IP e g opening the housing during mounting and electrical installation or in case of modifications to the software any claims against Rockwell Automation under warranty will be rendered void General safety notes and protective measures A Environmental protection Please observe the following procedures in order to ensure the correct and safe use of the 842E EtherNet IP encoder The encoder is to be installed and maintained by trained and qualified personnel with knowledge of electronics precision mechanics and control system programming It is necessary to comply with the related standards covering the technical safety stipulations All safety regulations are to be met by all persons who are installing operating or maintaining the device e The operating instructions must always be available and must always be followed e Unqualified personnel are not allowed to be present in the vicinity of the s
84. tor the position of a rotating shaft to measure information such as speed distance RPM and position Rockwell Automation offers a variety of light and heavy duty incremental and absolute encoders Our accessories help you easily install and efficiently use our encoders What are the different kinds of encoders Incremental A simple and cost effective solution for a wide variety of applications incremental encoders electronically monitor the position or speed of a rotating shaft Encoder feedback is compatible with programmable controllers numerical controllers motion controllers and other positioning systems Rockwell Automation offers light duty and heavy duty incremental encoders for differing shaft loads Ruggedized incremental encoders are available with an enclosure rating of NEMA Type 4 and IP66 Incremental encoders are also available in solid and hollow shaft models for a variety of mounting options Applications include machine tools packaging machinery motion controls robotics and DC drives Absolute An absolute encoder has a unique digital output for each shaft position The use of absolute encoders assures that true position is always available regardless of power interruptions to the system Absolute encoders can be single turn or multi turn Rockwell Automation Publication 842E UM001B EN P April 2015 3 Chapter2 Encoder overview 842E encoder features Multi turn units assign a unique digital output for eac
85. ule 842E Encoder 192 168 1 32 192 168 1 123 To work along with this example set up your system as shown e Verify the IP addresses for your programming terminal and 842E encoder e Verify that you connected all wiring and cabling properly e Be sure you configured your communication driver for example AB_ETH 1 or AB ETHIP 1 in the RSLinx software Rockwell Automation Publication 842E UM001B EN P April 2015 33 Chapter 6 34 Configuring the 842 E encoder using RSLogix 5000 Configuring the encoder You must configure your encoder upon installation The encoder will not work until it has been configured with at least the default configuration RSLogix 5000 configuration software You must use RSLogix 5000 version 18 or later to set configuration for your encoder The instructions in this chapter use version 20 You have the option of accepting default configuration for your encoder or writing point level configuration specific to your application Both options are explained in detail including views of software screens in this chapter Checking the integration in EtherNet IP via RSLinx Classic With the aid of the tool RSLinx Classic you can again check whether the IP address set is detected by the control system The EDS file electronic data sheet contains all the information related to the parameters as well as the operating modes of the EtherNet IP encoder go to www rockwellautomation com resources eds and sear
86. unctionalities 0x0000500 Bit field Bit 0 Slave sign of live on off Bit 1 7 not used Bit 8 15 UpdateFactor 1 127 Bit 16 31 not used 107 Encoder motion time Storage of the motion time This 0 counter is incrementing if the encoder is in rotation sec 108 Encoder operating time second Storage of the operating time This 0 counter is incrementing if the encoder is powered on sec 109 Max velocity Storage of the maximum velocity of 0 RA cnts ms the encoder in operational state 110 Max acceleration cnts ms 2 Storage of the maximum acceleration 0 of the encoder in operational state 111 Max temp C 100 Storage of the maximum temperature 2000 of the encoder in operational state 112 Min temp C 100 Storage of the minimum temperature 2000 of the encoder in operational state 113 Number of startups Storage of the number of startups 0 power on cycles 114 LED current value pA Current LED current pA 200 25 000 Range 200 25 000 0 115 Max current value pA Max LED current pA 1 500 116 Min current value pA Min LED current pA 1 500 117 Power supply voltage mV Current supply voltage mV 9 500 30 500 1 You can do a Get of all the Set values as shown in Appendix B page 59 It is always good programming practice to do a Get after setting a value to ensure the Set command was successful 2 Nonvolatile volatile 22 Accuracy is about 1 from the measurement value Range 9 50
87. urce Element Tie jet Attribute Single v Source Length Raveo Je Hex Class 23 Hex Destination Instance i Attribute 13 Hex Element Bytes Preset_Value_R ead Y O Enable Enable Waiting Start O Eror Code Extended Error Code Error Path Error Text Rockwell Automation Publication 842E UM001B EN P April 2015 69 Appendix B RSLogix 5000 sample code 3 In the Configuration tab select Message type CIP generic Service type Get attribute single Service code automatically populated Source element Preset_Value_Read browse to this tag Instance 1 Class 23 Attribute 13 hexadecimal values 4 Inthe Communication tab browse to the encoder on the ethernet network then click OK RSLogix 5000 Config_842E 1769 135E 20 11 File Edit View Search Logic Communications Tools Window Help Bae amp amp BB Pistop 01 yeaa E Ye QQ Rem Run GB E Run Mode Path AB_ETHIP 1 192 168 1 100 Backplane O SAEs z rasa s attery No Edits By m oo 4H fol bel 4k He OD lt gt Favorites 7 pare Ej mainProgram MainRoutine i SS BB als Get_Preset Get_Preset_ons MSG JE ons Message EN Message Control Read_Preset C CDN ER A Message Configuration Read_ Preset Configuration Communication Tag Path My_842E daziUebig 43 049U0 gt IR Path MEES My
88. used to access classes or the attributes of a class or to generate specific events These services execute defined actions such as reading the attributes The following table shows an example of the object model for the 842E encoders Value Resolution per revolution 15 bit Revolutions total 12 bit Advanced Resolution per revolution 18 bit Revolutions total 12 bit Rockwell Automation Publication 842E UM001B EN P April 2015 17 Chapter 3 EtherNet IP overview The 842E EtherNet IP encoder supports the following classes of the encoder profile Supported classes Number of Class code Object class Description instances 0x01 Identity object Contains information on the node within the network Message router object 0x02 Processes all messages and routes them to the appropriate objects Assembly object I 0 assembly class 0x04 Assembles attributes data of various objects to a 7 single object Used for 1 0 messages Connection manager object 0x06 Contains connection specific attributes for triggering transport and connection type Position sensor object 0x23 Administrates device specific data like position and counting direction Device level ring DLR object 0x47 Contains the configuration and status information of the DLR protocol QoS object 0x48 Contains mechanisms used to treat traffic streams with different relative priorities Port object OxF4 C
89. ystem during installation The system is to be installed in accordance with all applicable safety regulations and the mounting instructions e All work safety regulations of the applicable countries are to be followed during installation e Failure to follow all applicable health and safety regulations may result in personal injury or damage to the system e The current and voltage sources in the encoder are designed in accordance with all applicable technical regulations Please note the following information on disposal Assembly Material Disposal Packaging Cardboard Waste paper Shaft Stainless steel Scrap metal Flange Aluminum Scrap metal Housing Aluminum Die cast Scrap metal Electronic assemblies Various Rockwell Automation Publication 842E UM001B EN P April 2015 Hazardous waste Overview of the encoder Chapter 2 Encoder overview The 842E family of encoders uses EtherNet IP technology to provide its data to a programmable controller These encoders include an embedded EtherNet IP switch to connect additional EtherNet IP capable products in series and or support a device level ring DLR topology for ethernet media redundancy The 842E are ultra high resolution encoders in single turn and multi turn versions These encoders have 18 bit single turn resolution The multi turn has an additional 12 bits for counting the number of revolutions What is an encoder Encoders can electronically moni

842E EtherNet/IP Absolute Encoder User Manual

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