Allen-Bradley FLEX I/O 1794-ID2 User Manual

PDF Download

Document

Allen-Bradley

FLEX I/O 2 Input

Incremental

Encoder Module

(Cat. No. 1794-ID2)

User

Manual

Allen-Bradley Motors

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 this guide are intended solely for example. Since there are many variables and requirements associated with any particular installation,

Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication.

Allen-Bradley publication SGI–1.1, “Safety Guidelines For The

Application, Installation and Maintenance of Solid State Control”

(available from your local Allen-Bradley office) describes some important differences between solid-state equipment and electromechanical devices which 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 in part, without written permission of Allen–Bradley Company, Inc.

is prohibited.

Throughout this manual we make notes to alert you to possible injury to people or damage to equipment under specific circumstances.

ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss.

Attention helps you:

• identify a hazard

• avoid the hazard

• recognize the consequences

Important: Identifies information that is especially important for successful application and understanding of the product.

Important: We recommend you frequently backup your application programs on appropriate storage medium to avoid possible data loss.

DeviceNet, DeviceNetManager, and RediSTATION are trademarks of Allen-Bradley Company, Inc.

PLC, PLC–2, PLC–3, and PLC–5 are registered trademarks of Allen-Bradley Company, Inc.

Windows is a trademark of Microsoft.

Microsoft is a registered trademark of Microsoft

IBM is a registered trademark of International Business Machines, Incorporated.

All other brand and product names are trademarks or registered trademarks of their respective companies.

Purpose of this Manual

Audience

Vocabulary

This manual shows you how to use your FLEX I/O pulse counter module with Allen-Bradley programmable controllers. The manual helps you install, program and troubleshoot your module.

You must be able to program and operate an Allen-Bradley programmable controller to make efficient use of your FLEX I/O module. In particular, you must know how to program block transfers.

We assume that you know how to do this in this manual. If you do not, refer to the appropriate programming and operations manual before you attempt to program your modules.

In this manual, we refer to:

–

the pulse counter module as the “input module”

–

the Programmable Controller as the “controller”

Manual Organization

This manual is divided into eight chapters. The following chart lists each chapter with its corresponding title and a brief overview of the topics covered in that chapter.

Chapter Title Contents

Overview of FLEX I/O and the

Pulse Counter Module

Describes FLEX I/O pulse counter modules, features, and how they function

How to Install Your Pulse Counter

Module

How to install and wire the module

Module Programming Explains block transfer programming, sample programs

Writing Configuration to and

Reading Status From with a

Remote I/O Adapter

Explains how to configure your modules and read status information from your modules when using a remote I/O adapter

How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter

Explains how you communicate with your modules, and how the I/O image is mapped when using a DeviceNet adapter

Input, Output and Configuration files for Analog Modules using

ControlNet

Explains how you communicate with your modules, and how the I/O and configuration files are mapped when using a ControlNet adapter

How to calibrate the module.

Calibrating Your Pulse Counter

Module

Troubleshoot Your Pulse Counter How to use the indicators to troubleshoot your module.

Module

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

P–2

Conventions

Using This Manual

Appendix

Specifications

Title Contents

Specifications for the pulse counter module

We use these conventions in this manual:

In this manual, we show:

that there is more information about a topic in another chapter in this manual

Like this:

that there is more information about the topic in another manual

More

For Additional Information

For additional information on FLEX I/O systems and modules, refer to the following documents:

Number

1794

1794-ACN

1794-ACNR

1794-ACN15

1794-ACNR15

1794-ADN

1794-ASB/C

1794-ASB2/B

1794-APB

1794-IB8

1794-OB8

1794 FLEX I/O Product Data

24V dc ControlNet Adapter

24V dc Redundant Media ControlNet Adapter

24V dc ControlNet Adapter

24V dc Redundant Media ControlNet Adapter

24V dc DeviceNet Adapter

24V dc Remote I/O Adapter

24V dc 2-Slot Remote I/O Adapter

24V dc Profibus Adapter

24V dc 8 Sink Input Module

24V dc 8 Source Output Module

1794-IB16

1794-OB16

1794-IV16

1794-OV16

24V dc 16 Sink Input Module

24V dc 16 Source Output Module

24V dc 16 Source Input Module

24V dc 16 Sink Output Module

1794-OB8EP

1794-IB8S

24V dc 8 Electronically Fused Output Module

24V dc Sensor Input Module

1794-IB10XOB6 24V dc 10 Input/6 Output Module

1794-IE8 24V dc Selectable Analog 8 Input Module

1794-OE4 24V dc Selectable Analog 4 Output Module

Table continued on next page

Publications

Installation

Instructions

1794-2.1

User

Manual

1794-5.8

1794-5.18

1794-5.47

1794-5.48

1794-5.14

1794-5.50

1794-5.44

1794-6.5.13

1794-5.40

1794-6.5.6

1794-5.30

1794-6.5.5

1794-6.5.9

1794-5.31

1794-5.4

1794-5.3

1794-5.28

1794-5.29

1794-5.20

1794-5.7

1794-5.24

1794-5.6

1794-5.5

Publication 1794-6.5.15 – December 1998

Summary

Using This Manual

P–3

1794-IE4XOE2

1794-OF4

1794-IF4

1794-IF2XOF2

1794-IR8

1794-IT8

1794-IRT8

1794-IJ2

1794-IA8

1794-OA8

1794-TB2

1794-TB3

1794-TBN

1794-TBNF

1794-TB3T

1794-TB3S

1794-TB3TS

1794-TB3G

1794-TB3GS

1794-CE1, -CE3

1794-NM1

1794-PS1

24V dc 4 Input/2 Output Analog Module

24V dc 4 Output Isolated Analog Module

Publications

Installation

Instructions

1794-5.15

User

Manual

1794-6.5.2

1794-5.37

24V dc 4 Input Isolated Analog Module

1794-5.38

24V dc 2 Input/2 Output Isolated Analog Module 1794-5.39

1794-6.5.8

24V dc

8 RTD Input Analog Module

8 Thermocouple Input Module

8 Thermocouple/RTD Input Module

24V dc 2 Frequency Input Module

120V ac 8 Input Module

120V ac Output Module

2-wire Terminal Base

3-wire Terminal Base

Terminal Base Unit

Fused Terminal Base Unit

Temperature Terminal Base Unit

Spring Clamp Terminal Base Unit

Spring Clamp Temperature Base Unit

1794-5.22

1794-5.21

1794-6.5.4

1794-6.5.7

1794-5.50

1794-6.5.12

1794-5.49

1794-6.5.11

1794-5.9

1794-5.10

1794-5.2

1794-5.16

1794-5.17

1794-5.41

1794-5.42

Terminal Base Unit

Spring Clamp Terminal Base Unit

1794-5.43

1794-5.51

1794-5.59

24V dc

Extender Cables

Mounting Kit

Power Supply

1794-5.12

1794-2.13

1794-5.35

This preface gave you information on how to use this manual efficiently. The next chapter introduces you to the frequency module.

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

P–4

Using This Manual

Publication 1794-6.5.15 – December 1998

Overview of the Incremental

Encoder Module

Chapter 1

What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

How You Use the Incremental Encoder Module . . . . . . . . . . . . . . .

What the Incremental Encoder Module Does

Typical Applications

. . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Input Capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

How the Incremental Encoder Operates . . . . . . . . . . . . . . . . . . . . .

Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Start Counting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Selecting the incremental encoder and up/down counting

Up/Down Counting Controlled by B Input

. . . . . .

. . . . . . . . . . . . . . . . . .

Up/Down Counting using Pulses at Inputs A and B

Count Pulses from Incremental Encoders

. . . . . . . . . . .

. . . . . . . . . . . . . . . . .

Preset Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Gate Function

Store Function

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Limitation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1–1

How to Install Your

Incremental Encoder Module

Chapter 2

What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Before You Install Your Input Module

European Union Directive Compliance

EMC Directive

Power Requirements

. . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Wiring the Terminal Base Units (1794-TB3G shown) . . . . . . . .

Installing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mounting the Terminal Base Unit on a DIN Rail . . . . . . . . . . . . .

Panel/Wall Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mounting the Incremental Encoder Module on the Terminal

Base Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connecting Wiring for Your incremental encoder Module . . . . . . . . .

Wiring to a 1794-TBN or -TBNF Terminal Base Unit . . . . . . . . . .

2–7

2–9

2–11

Wiring connections for the 1794–ID2 incremental encoder Module

2–12

Example of Pulse Transmitter Wiring . . . . . . . . . . . . . . . . . . . . .

2–13

Example of Incremental Encoder Wiring

Module Indicators

. . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2–1

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

Table of Contents

Programming Your

Incremental Encoder Module

Chapter 3

What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Enter Block Transfer Instructions . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC-2 Family Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PLC-5 Family Processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SLC-5 Programming

Chapter Summary

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3–1

3–2

3–3

3–8

Writing Configuration to and

Reading Status from Your

Module with a Remote I/O

Adapter

Chapter 4

What This Chapter Contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configuring Your Incremental Encoder Module

Reading Data From Your Module

. . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . .

4–1

4–2

Mapping Data for the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Incremental Encoder Module (1794-ID2) Image Table Mapping . .

4–2

Block Transfer Read Word Assignments for the Incremental Encoder

Module (1794-ID2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–3

Bit/Word Definitions for Block Transfer Read Words for the

Incremental Encoder Module . . . . . . . . . . . . . . . . . . . . . .

4–3

Block Transfer Write Word Assignments for the Incremental Encoder

Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–5

Bit/Word Definitions for the Block Transfer Write Words for the

Incremental Encoder Module . . . . . . . . . . . . . . . . . . . . . .

Chapter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4–5

4–7

How Communication Takes

Place and I/O Image Table

Mapping with the DeviceNet

Adapter

Chapter 5

What This Chapter Contains

Polled I/O Structure

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About DeviceNetManager Software . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–1

Adapter Input Status Word

System Throughput

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mapping Data into the Image Table . . . . . . . . . . . . . . . . . . . . . . . .

Incremental Encoder Module (1794-ID2) Image Table Mapping . .

5–2

5–3

Block Transfer Read Word Assignments for the Incremental Encoder

Module (1794-ID2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–4

Block Transfer Write Word Assignments for the Incremental Encoder

Module (1794-ID2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–4

Bit/Word Definitions for the incremental encoder Module

(1794–ID2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–5

Defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5–8

Publication 1794-6.5.15 – December 1998

Table of Contents

iii

Input, Output and

Configuration Files for

Analog Modules when used with ControlNet

Chapter 6

Chapter Objectives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About the ControlNet Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Scheduled Data-Transfer

Unscheduled Data-Transfer

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . .

Module I/O Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I/O Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Adapter Input Status Word

Safe State Data

. . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Device Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Communication Fault Behavior . . . . . . . . . . . . . . . . . . . . . . . . .

Idle State Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Input Data Behavior upon Module Removal . . . . . . . . . . . . . . . .

Incremental Encoder Module (1794-ID2) Image Table Mapping . .

Bit/Word Definitions for Block Transfer Read Words for the

Pulse Counter Module . . . . . . . . . . . . . . . . . . . . . . . . . . .

6–1

Calibrating Your Incremental

Encoder Module

Chapter 7

Chapter Objective . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Calibrating Your Module

Calibration Method 1

Calibration Method 2

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7–1

7–2

7–3

Troubleshoot the

Incremental Encoder Module

Chapter 8

What This Chapter Contains

Status Indicators

. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

What’s Next . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8–1

8–2

Specifications

Appendix A

Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A–1

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

Table of Contents

Publication 1794-6.5.15 – December 1998

What This Chapter

Contains

How You Use the

Incremental Encoder

Module

Chapter

Read this chapter to familiarize yourself with the 1794–ID2 module.

For information on See page

How You Use the incremental encoder Module . . . . . . . . . . . 1–1

What the incremental encoder Module Does . . . . . . . . . . . . . 1–2

Input Capabilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–3

How the incremental encoder Operates . . . . . . . . . . . . . . . . . 1–4

The 1794–ID2 module is an intelligent I/O module designed to perform high speed pulse counting. The module provides:

•

2 pulse transmitter interfaces, each with 4 optocoupled inputs

Each input has + and – inputs for connection to transmitters with complementary and noncomplementary signals.

The pulse inputs can accept frequencies up to 100KHz. The module accepts and returns binary data.

The module’s primary use is accurate, high-speed counting of pulse from pulse transmitters or incremental encoders with 1 or 2 pulse trains. This includes quantity counting, positioning and speed calculations.

The module has 2 up/down counters, each individually programmable. The number of edges to be counted can be multiplied by 1, 2 or 4 (x1, x2, x4). Pulse transmitters can be complementary or noncomplementary.

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

1–2

Overview of the Incremental Encoder Module

Optocouplers

Preset Register

Counter Register

Latch Register

Control Word

Preset Register

Counter Register

Latch Register

Control Word

Internal +5V dc

Gavanically Isolated dc/dc Converter

What the Incremental

Encoder Module Does

Z+

Z–

G+

G–

A+

A–

B+

B–

Z+

Z–

G+

G–

A+

A–

B+

B–

12–24V dc

The incremental encoder module performs high-speed scaling calculation operations for various industrial applications. The module interfaces with a FLEX family adapter which then communicates with a programmable controller processor that has block-transfer capability and external I/O devices.

The adapter/power supply transfers data to the module (block transfer write) and from the module (block transfer read) using BTW and BTR instructions in your ladder diagram program. These instructions let the adapter read input values and status from the module, and let you write output values and configure the module’s mode of operation. The following illustration describes the communication process.

Publication 1794-6.5.15 – December 1998

Overview of the Incremental Encoder Module

The adapter transfers your configuration data to the module using a BTW.

1–3

External devices transmit frequency signals to the module.

Flexbus

Allen-Bradley

ADAPTER

ACTIVE FAULT

LOCAL

FAULT

24VDC

POWER SUPPLY

RIO ADAPTER

1794-ASB

Your ladder program instructs the adapter to perform a BTR of the values and stores them in a data table.

Allen-Bradley

2 CH INCREMENTAL ENCODER

1794–ID2

The adapter and module determine that the transfer was made without error and input values are within specified range.

Your ladder program can use and/or move the data (if valid) before it is written over by the transfer of new data in a subsequent transfer.

Your ladder program performs BTWs to the module when you power it up, and any time you wish to reconfigure the module.

The module converts frequency signals into integer format and stores these values until the adapter requests their transfer.

Typical Applications

You can use the 1794–ID2 module in the power management, automotive, food and beverage, and oil and gas industries for various flow and/or turbine metering applications. Some sample applications include:

• turbine shaft speed monitoring

• automotive paint booths

• brewery flow monitoring

• petrochemical flow and custody transfer

Input Capabilities

The incremental encoder module has 2 identical input channels.

Each of the input channels may accept these input signals:

•

A+ and A–

•

B+ and B–

•

Z+ and Z–

•

G+ and G–

The pulse inputs can accept frequencies up to 100KHz. The module

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

1–4

Overview of the Incremental Encoder Module

How the Incremental

Encoder Operates

The counter module handles up/down counting and detection of selectable number of edges (X1, X2, X4) for incremental encoders with 2 pulse trains, nominal 90 o

out of phase. The minimum stable input condition is 2

µ s.The following paragraphs detail operation of the incremental encoder module.

Each of the 2 counters has a 16–bit counter register, a preset register and a latch register.

Variables

Communication between the counter module and the control system uses variables accessible in the control system program. These variables include:

•

a counter register (Counter)

• a preset register (PresetValue)

• a latch register (LatchValue).

Signal registers and control words are used to set parameters for the counter configuration. The control word sent to the incremental encoder module can be read back to the control system, allowing verification that one I/O scan been performed since the cycle has been initiated.

Start Counting

The control bit CounterEnable enables counting. It must be set to 1 to enable counting and all other functions.

Selecting the Incremental Encoder and up/down counting

Depending on the incremental encoder, the module can be set in different counter modes. The parameter is set using a 3 digit code in write word 1 or 2 (depending on the channel) control word.

Mode Selection

Bit 02 01 00 Mode Selection bits

0 0

Counting on positive (rising) edge of input signal A. (Up/dwn counting determined by B.)

Quadrature encoder X1

Quadrature encoder X2

Quadrature encoder X4

Counting up on the positive edge of input signal A, and down on positive edge of input signal B.

No count function.

Publication 1794-6.5.15 – December 1998

Overview of the Incremental Encoder Module

1–5

Up/Down Counting Controlled by B Input

Pulse Counting (Mode 000)

Up/Down counting controlled by input B

The positive edge of the pulses are counted at input A. If input B = 0, the counter counts up; if B = 1, the counter counts down.

Counter Mode = 0

B = 0/1

Logic

Counter Register

Up/Down

Input A

Input B

Counter Value

1 2

Counting Up

3 2

Counting Down

Up/Down Counting using Pulses at Inputs A and B

Pulse Counting Mode (100)

Up/Down Counting using pulses at the inputs of A and B

The counter counts up on the positive edge of the pulses at input A, and counts down on the positive edge of input B.

Counter Mode = 4

Logic

Counter Register

Up/Down

Input A

Input B

Counter Value

1 0 1 2 1

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

1–6

Overview of the Incremental Encoder Module

Count Pulses from Incremental Encoders

Pulse Counting Mode (001, 010. 011) Up/Down Counting using pulses at the inputs of A and B

If countermode = 1, 2 or 3, then 1, 2 or 4 edges of the pulse train will be counted. The count direction (up/down) is determined by the phase difference of the input signals A and B.

Counter Mode = 1, 2 or 3

Logic

Counter Register

Up/Down

Example 1 – Counter Mode = 1 (x1)

Input A

Input B

Counter Value

Example 2 – Counter Mode = 2 (x2)

Counting Up

3 2 1

Counting Down

Input A

Input B

Counter Value

1 2 3 4

Counting Up

5 4 3 2

Counting Down

1 0

Example 3 – Counter Mode = 3 (x4)

Input A

Input B

Counter Value

1 2 3 4 5 6 7

Counting Up

8 9 8 7 6 5 4

Counting Down

3 2 1 0

Publication 1794-6.5.15 – December 1998

Overview of the Incremental Encoder Module

1–7

Preset Function

Use the preset function to copy a value from the preset register to the counter register.

Method 1

Preset Register

Preset

PresetReached = 1

Counter Register

Method 2

PresetEnable = 1

Preset Register

Logic

PresetReached = 1

Z =

Counter Register

The flag PresetReached is set when the counter register and the preset register are equal (if the counter preset is reached, or if the counter has been loaded with the preset value). This flag is reset on a positive edge of PresetReset after the operation and can only be set after at least one additional counting pulse.

Gate Function

Use the gate function to determine when counting starts and stops.You can use this function to measure distance.

The parameter GateControl determines the gate function. The gate signal is connected to input G. It is a 2–bit binary code in write word

1 or 2, bits 09 and 10

Word

Bits

Gate Control Function

Binary 10 09 Gate Control bits

No gate function on input G (Count is independent)

Counting only if G = 1 (active)

1 0 Counting only if G = 0 (inactive)

1 1 Calibration if G = 1 and all other conditions are fulfilled (refer to Calibrating the Module, chapter ?).

Example

Gate Control = 1

G = 1

Logic

Counter Register

The counter is counting if G = 1.

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

1–8

Overview of the Incremental Encoder Module

Store Function

Use the store function to copy the value in the counter register

(Counter) to the latch register (StoreValue).

The StoreControl parameter determines the store function. Execution occurs on either the positive or negative edge of input signals G and

Z respectively (see table). The parameter is a 2–bit binary code in write word 1 (bits 11 and 12)

Word Bits

1 or 2 11–12

Binary 12 11 Store Control bits

0 Save the counter value on the positive edge of Z

(if Stored X = 0)

1 Save the counter value on the positive edge of G

(if Stored X = 0)

0 Save the counter value on the negative edge of G

(if Stored X = 0)

1 Save the counter value on both the positive edge and negative edge of G (if Stored X = 0)

The parameter Stored must be reset (0). Stored is set (1) when the operation is completed. Reset after the operation with StoreReset.

Example

Store Control = 1

Stored = 0

Counter Register

Logic

Latched = 1

Store Register

The counter value is copied to the store register on the positive edge of input signal G.

Limitation Function

If the control bit RangeLimited = 1, the counter counts up to the preset value and restarts at 0. Counting down, the counter reaches the preset value on the next pulse if the current counter value = 0.

RangeLimited = 0 corresponds to RangeLimited = 1 if the preset value = FFFF in hex = 65535 in decimal.

The flag PresetReached is set when the counter is equal to the preset value. Use PresetReset to reset the flag.

Publication 1794-6.5.15 – December 1998

Chapter Summary

Overview of the Incremental Encoder Module

Count Up pulse (+)

RangeLimited = 1

Counter = PresetValue

Logic

Value 0

Counter Register

Count Down pulse (–)

RangeLimited = 1

Preset Register

Logic

Counter = 0

Counter Register

Note: If the preset register value = 0, the counter retains the value 0.

1–9

In this chapter, you learned about the incremental encoder module, block transfer communication, and details of how the module functions. Now you can install the module.

Install the

ID2 Module

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

1–10

Overview of the Incremental Encoder Module

Publication 1794-6.5.15 – December 1998

Chapter

What This Chapter

Contains

Before You Install Your

Input Module

In this chapter, we tell you about:

For information on See page

Before You Install Your Module . . . . . . . . . . . . . . . . . . . . . . . 2–1

European Union Directives . . . . . . . . . . . . . . . . . . . . . . . . . . 2–1

Power Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–2

Installing the Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–4 on a DIN rail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–4

on a wall/panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–6

on the terminal base . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–7

Connecting Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–9

Module Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–14

Before installing your incremental encoder module in the FLEX I/O system:

You need to:

Calculate the power requirements of all modules in each FLEX system.

Position the keyswitch on the terminal base

As described under:

Power Requirements, page 2-2

Installing the Module, page 2–4

ATTENTION: The incremental encoder module does not receive power from the backplane. +24V dc power must be applied to your module before installation. If power is not applied, the module position will appear to the adapter as an empty slot in your chassis.

European Union Directive

Compliance

If this product has the CE mark it is approved for installation within the European Union and EEA regions. It has been designed and tested to meet the following directives.

EMC Directive

This product is tested to meet Council Directive 89/336/EEC

Electromagnetic Compatibility (EMC) and the following standards, in whole or in part, documented in a technical construction file:

•

EN 50081-2EMC – Generic Emission Standard, Part 2 –

Industrial Environment

•

EN 50082-2EMC – Generic Immunity Standard, Part 2 –

Industrial Environment

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

2–2

How to Install Your Incremental Encoder Module

Low Voltage Directive

This product is tested to meet Council Directive 73/23/EEC

Low Voltage, by applying the safety requirements of EN 61131–2

Programmable Controllers, Part 2 – Equipment Requirements and

Tests.

For specific information required by EN 61131-2, see the appropriate sections in this publication, as well as the following Allen-Bradley publications:

•

Industrial Automation Wiring and Grounding Guidelines For

Noise Immunity, publication 1770-4.1

•

Guidelines for Handling Lithium Batteries, publication AG-5.4

•

Automation Systems Catalog, publication B111

This equipment is classified as open equipment and must be mounted in an enclosure during operation to provide safety protection.

Power Requirements

The wiring of the terminal base unit is determined by the current draw through the terminal base. Make certain that the current draw does not exceed 10A.

ATTENTION: Total current draw through the terminal base unit is limited to 10A. Separate power connections may be necessary.

Publication 1794-6.5.15 – December 1998

How to Install Your Incremental Encoder Module

Methods of wiring the terminal base units are shown in the illustration below.

Wiring the Terminal Base Units (1794-TB3G shown)

ATTENTION: Do not daisy chain power or ground from the terminal base unit to any ac or dc digital module terminal base unit.

2–3

Daisy-chaining

incremental encoder

Module incremental encoder

Module

TC/RTD/mV

Module incremental encoder

Module

24V dc

Individual

Note: All modules must be pulse, frequency or TC/RTD/mV modules for this configuration.

Wiring when total current draw is less than 10A

Digital Input

Module incremental encoder

Module

Digital Input

Module

Digital Output

Module

24V dc

Note: Use this configuration if using any

“noisy” dc digital I/O modules in your system.

incremental encoder Module wiring separate from digital wiring.

Wiring when total current draw is greater than 10A

Combination

incremental encoder

Module incremental encoder

Module

TC/RTD/mV

Module incremental encoder

Module

24V dc

Note: All modules powered by the same power supply must be pulse, frequency or TC/RTD/mV modules for this configuration.

Total current draw through any base unit must not be greater than 10A

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

2–4

How to Install Your Incremental Encoder Module

Installing the Module

Installation of the incremental encoder module consists of:

• mounting the terminal base unit

• installing the module into the terminal base unit

• installing the connecting wiring to the terminal base unit

If you are installing your module into a terminal base unit that is already installed, proceed to “Mounting the incremental encoder

Module on the Terminal Base” on page 2–7.

Mounting the Terminal Base Unit on a DIN Rail

ATTENTION: Do not remove or replace a terminal base unit when power is applied. Interruption of the flexbus can result in unintended operation or machine motion.

1. Remove the cover plug (if used) in the male connector of the unit to which you are connecting this terminal base unit.

2. Check to make sure that the 16 pins in the male connector on the adjacent device are straight and in line so that the mating female connector on this terminal base unit will mate correctly.

3. Position the terminal base on the 35 x 7.5mm DIN rail A (A-B pt.

no. 199-DR1; 46277-3). Proceed as follows:

Position terminal base at a slight angle and hooked over the top of the DIN rail.

4. Make certain that the female flexbus connector C is fully

retracted into the base unit.

Publication 1794-6.5.15 – December 1998

How to Install Your Incremental Encoder Module

2–5

Slide the terminal base unit over tight against the adapter.

Make sure the hook on the terminal base slides under the edge of the adapter and the flexbus connector is fully retracted.

Press down on the terminal base unit to lock the terminal base on the

DIN rail. If the terminal base does not lock into place, use a screwdriver or similar device to open the locking tab, press down on the terminal base until flush with the DIN rail and release the locking tab to lock the base in place.

30077–M

Publication 1794-6.5.15 – December 1998

2–6

How to Install Your Incremental Encoder Module

5. Repeat the above steps to install the next terminal base.

Panel/Wall Mounting

Installation on a wall or panel consists of:

• laying out the drilling points on the wall or panel

• drilling the pilot holes for the mounting screws

• mounting the adapter mounting plate

• installing the terminal base units and securing them to the wall or panel

If you are installing your module into a terminal base unit that is already installed, proceed to “Mounting the incremental encoder

Module on the Terminal Base” on page2–7.

Use the mounting kit Cat. No. 1794-NM1 for panel/wall mounting.

1.4

(35.5)

1794-NM1 Mounting Kit

Contents:

1 – Mounting Plate for Adapter

2 – 18 #6 self-tapping screws

(2 for the adapter, and 2 each for up to 8 modules)

Adapter Module

(not included)

Terminal Base Unit

(not included)

To install the mounting plate on a wall or panel:

1. Lay out the required points on the wall/panel as shown in the drilling dimension drawing.

Publication 1794-6.5.15 – December 1998

Inches

(Millimeters)

.83 (21)

How to Install Your Incremental Encoder Module

1.4

(35.5)

Drilling Dimensions for Panel/Wall Mounting of FLEX I/O

2.3

(58.5)

1.4

(35.5)

2.3

(58.5)

1.4

(35.5)

2–7

More

2. Drill the necessary holes for the #6 self-tapping mounting screws.

3. Mount the mounting plate (1) for the adapter module using two

#6 self-tapping screws (18 included for mounting up to 8 modules and the adapter).

Important:

Make certain that the mounting plate is properly grounded to the panel. Refer to “Industrial Automation

Wiring and Grounding Guidelines,” publication

1770-4.1.

4. Hold the adapter (2) at a slight angle and engage the top of the mounting plate in the indention on the rear of the adapter module.

5. Press the adapter down flush with the panel until the locking lever locks.

6. Position the terminal base unit up against the adapter and push the female bus connector into the adapter.

7. Secure to the wall with two #6 self-tapping screws.

8. Repeat for each remaining terminal base unit.

Note: The adapter is capable of addressing eight modules. Do not exceed a maximum of eight terminal base units in your system.

Mounting the Incremental Encoder Module on the Terminal Base

Unit

The incremental encoder module mounts on a 1794-TB3, TB3S,

-TBN or -TBNF terminal base unit.

1. Rotate the keyswitch (1) on the terminal base unit (2) clockwise to position 1 as required for the incremental encoder module.

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

2–8

How to Install Your Incremental Encoder Module

2. Make certain the flexbus connector (3) is pushed all the way to the left to connect with the neighboring terminal base/adapter.

You cannot install the module unless the connector is fully extended.

3. Make sure that the pins on the bottom of the module are straight so they will align properly with the connector in the terminal base unit.

ATTENTION: Remove field-side power before removing or inserting the module. This module is designed so you can remove and insert it under

backplane power. When you remove or insert a module with field-side power applied, an electrical arc may occur. An electrical arc can cause personal injury or property damage by:

• sending an erroneous signal to your system’s field devices causing unintended machine motion

• causing an explosion in a hazardous environment

Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector.

Worn contacts may create electrical resistance.

4. Position the module (4) with its alignment bar (5) aligned with the groove (6) on the terminal base.

5. Press firmly and evenly to seat the module in the terminal base unit. The module is seated when the latching mechanism (7) is locked into the module.

6. Repeat the above steps to install the next module in its terminal base unit.

Publication 1794-6.5.15 – December 1998

How to Install Your Incremental Encoder Module

Connecting Wiring for

Your Incremental Encoder

Module

1794-TB3

Wiring to the module is made through the terminal base unit on which the module mounts.

Compatible terminal base units are:

Module

1794–ID2

1794-TB3

Yes

1794-TB3S

Yes

1794-TBN

Yes

1794-TBNF

Yes

1794-TB3S

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33

34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51

Label placed at top of wiring area.

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

0 –15

16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33

16–33

34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51

C 34–51 C

34 and 50 = 24V dc

35 and 51 = common

16 and 33 = chassis ground

40 thru 45 = chassis ground

34 and 50 = 24V dc

35 and 51 = common

16 and 33 = chassis ground

40 thru 45 = chassis ground

2–9

Connecting Wiring using a 1794-TB3 and -TB3S Terminal Base

Units

1. Connect individual input wiring (A+, A–, B+, B–, Z+, Z–, G+,

G–) to numbered terminals on the 0–15 row (A) as indicated in the table below.

ATTENTION: Do not connect maximum input voltage simultaneously to all inputs if the module ambient temperature is expected to exceed 40 o

ATTENTION: If the module ambient temperature is expected to continuously exceed 40 o

C, you must limit the input voltage using an external resistor on each input. A 1K

Ω

resistor effectively limits a 24V sensor signal to about 15V at the input. Do not limit the input to less than 6V.

2. Connect the associated input common (3-wire devices only) to the corresponding terminal on the 16-33 row (B) for each input as indicated in the table below. (Commons are internally connected together.)

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

2–10

How to Install Your Incremental Encoder Module

3. Terminate shields to terminals 16 or 33 on row B, or 40 through

45 on row C.

4. Connect +24V dc to terminal 34 on the 34-51 row (C).

5. Connect dc return to terminal 16 on the 16–33 row (B).

ATTENTION: To reduce susceptibility to noise, power frequency modules and digital modules from separate power supplies. Do not exceed a length of 33 ft (10m) for dc power cabling.

6. If continuing power to the next terminal base unit, connect a jumper from terminal 51 (+24V dc) on this base unit to terminal

34 on the next base unit.

7. If continuing common to the next terminal base unit, connect a jumper from terminal 33 (common) on this base unit to terminal

16 on the next base unit.

ATTENTION: Do not daisy chain power or ground from this terminal base unit to any ac or dc digital module terminal base unit.

ATTENTION: This module does not receive power from the backplane. +24V dc power must be applied to your module before operation. If power is not applied, the module position will appear to the adapter as an empty slot in your chassis. If the adapter does not recognize your module after installation is completed, cycle power to the adapter.

Publication 1794-6.5.15 – December 1998

How to Install Your Incremental Encoder Module

Wiring to a 1794-TBN or -TBNF Terminal Base Unit

1. Connect individual input wiring (A+, A–, B+, B–, Z+, Z–, G+,

G–) to the even numbered terminals on row (B) as indicated in the table below.

ATTENTION: Do not connect maximum input voltage simultaneously to all inputs if the module ambient temperature is expected to exceed 40 o

2–11

ATTENTION: If the module ambient temperature is expected to continuously exceed 40 o

C, you must limit the input voltage using an external resistor on each input. A 1K

Ω

resistor effectively limits a 24V sensor signal to about 15V at the input. Do not limit the input to less than 6V.

2. Connect the associated input common to the corresponding odd numbered terminal on row (C) for each input as indicated in the table below.

3. Connect 24V dc to terminal 34 on row (C).

4. Connect 24V dc common to terminal 16 on row (B).

5. If continuing power to the next terminal base unit, connect a jumper from terminal 51 (24V dc) on this base unit to terminal 34 on the next base unit.

6. If continuing common to the next terminal base unit, connect a jumper from terminal 33 (24V dc common) on this base unit to terminal 16 on the next base unit.

Even Numbered Terminals 0 thru 14

4 6 8 10 12 14

3 5 7 9 11 13

Odd Numbered Terminals 1 thru 15

1794-TBN, -TBNF

16, 0, 2, 4, 6,

8, 10, 12, 14, 33

34, 1, 3, 5, 7,

9, 11, 13, 15, 51

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

2–12

How to Install Your Incremental Encoder Module

Wiring connections for the 1794–ID2 incremental encoder Module

Z+

Z–

G+

G–

A+

A–

B+

B–

Z+

Z–

G+

G–

A+

A–

B+

B–

Terminal Base Units

1794–TB3, –TB3S

Signal 0V dc 12/24V dc

incremental encoder Channel 0

42 incremental encoder Channel 1

25 43

Terminal Base Units

1794–TBN, –TBNF

Signal Input

0V dc Terminals 16 and 33 (1794–TB2)

Terminals 16 thru 33 (1794-TB3, -TB3S)

Terminals 16 and 33

12/24V dc Terminals 34 thru 51 (1794–TB3, –3S) Terminals 34 and 51

1 Auxiliary terminal blocks are required when using these terminal base units.

ATTENTION: Total current draw through the terminal base unit is limited to 10A. Separate power connections to the terminal base unit may be necessary.

Publication 1794-6.5.15 – December 1998

How to Install Your Incremental Encoder Module

Example of Pulse Transmitter Wiring

incremental encoder Channel 0

Signal for counter gate

–

Signal for counter calibration/preset

Signal for up/down counting

–

External Power

Supply

12/24V dc

Signal Inputs

1 2

18 19

5 6

22 23

0V dc

12/24V dc

34 35 36 37 38 39 40 41 42

Example of pulse transmitter with 1 pulse train. For connection of channel 1, refer to wiring table.

Note: Dotted lines indicate signals not always used.

Example of Incremental Encoder Wiring

incremental encoder Channel 0

–

Signal Inputs

External Power

Supply

12/24V dc

0V dc

12/24V dc

25 33

Example of incremental encoder with 2 pulse trains, with or without reference, and/or gate function. For connection of channel 1, refer to wiring table.

Note: Dotted lines indicate signals not always used.

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

2–13

2–14

How to Install Your Incremental Encoder Module

Module Indicators

The incremental encoder module has one status indicator (PWR) that is on when power is applied to the module, and one input status indicator for each input (12 in all).

Allen-Bradley

2 CH INCREMENTAL ENCODER MODULE

1794–ID2

Chapter Summary

A B Z G + – A B Z G + –

C B A

A = Power/status indicator – indicates power applied to module and status of module.

B = Insertable label for writing individual I/O assignments.

C = Status Indicators –

A = Status of input A

B = Status of input B

Z = Status of input Z

G = Status of input G

+ = Positive count detected

– = Negative count detected

Indicator

–

Indication

Yellow

Off

Yellow

Off

Yellow

Off

Yellow

Off

Yellow

Red

Green

Explanation

Input A active

Input A not active

Input B active

Input B not active

Input Z active

Input Z not active

Input G active

Input G not active

On when a positive pulse is detected; turns off on negative pulse.

On when a negative pulse is detected; turns off on positive pulse.

Red during initialization after power turned on

Green when initialization is completed

In this chapter, we told you how to install your incremental encoder module in an existing programmable controller system and how to wire to the terminal base units.

Publication 1794-6.5.15 – December 1998

What This Chapter

Contains

Enter Block Transfer

Instructions

Chapter

To initiate communication between the incremental encoder module and your PLC processor, you must enter block transfer instructions into your ladder logic program. Use this chapter to enter the necessary block transfer instructions into your ladder logic program.

To edit your ladder logic you See page

Enter Block Transfer Instructions . . . . . . . . . . . . . . . . . . . . . 3–1

PLC-2 Family Processors . . . . . . . . . . . . . . . . . . . . . . . . 3–2

PLC-5 Family Processors . . . . . . . . . . . . . . . . . . . . . . . . 3–2

SLC-5 Processors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–3

The incremental encoder module communicates with the PLC processor through bidirectional block transfers. This is the sequential operation of both read and write block transfer instructions.

Before you configure the module, you need to enter block transfer instructions into your ladder logic. The following example programs illustrate the minimum programming required for communication to take place between the module and a PLC processor. These programs can be modified to suit your application requirements.

A configuration block transfer write (BTW) is initiated when the module is first powered up, and subsequently only when the programmer wants to enable or disable features of the module. The configuration BTW sets the bits which enable the programmable features of the module, such as scalars and alarm values, etc. Block transfer reads are performed to retrieve information from the module.

Block transfer read (BTR) programming moves status and data from the module to the processor’s data table. The processor user program initiates the request to transfer data from the module to the processor.

The transferred words contain module status, channel status and input data from the module.

Your program should monitor status bits, block transfer read and block transfer write activity.

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

3–2

Programming Your Incremental Encoder Module

PLC-2 Family Processor

The 1794 incremental encoder module is not recommended for use with PLC-2 family programmable controllers due to the number of digits needed for high resolution.

Important:

The incremental encoder module functions with reduced performance in PLC-2 systems. Because the module does not support BCD and the PLC-2 processor is limited to values of 4095 (12 bit binary), many values returned in the BTR file may not provide meaningful data to the PLC-2 processor.

PLC-5 Family Processor

Block transfer instructions with the PLC-5 processor use a control file and a data file. The block transfer control file contains the data table section for module location, the address of the block transfer data file and other related data. The block transfer data file stores data that you want transferred to the module (when programming a

BTW) or from the module (when programming a BTR).

The programming terminal prompts you to create a control file when a block transfer instruction is being programmed. A different block

transfer control file is used for the read and write instructions

for your module.

Publication 1794-6.5.15 – December 1998

Programming Your Incremental Encoder Module

3–3

PLC-5 Processor

Program Example

Rung 2:0

The ID2 module is located in rack 1, I/O group 0, slot 0. The integer control file starts at N17:0. The data sent by the

PLC-5 processor to the ID2 module starts at N18:0 and is 4 words long. At power up in RUN mode, or when the processor is first switched from PROG to RUN, the user program enables a block transfer write to configure the module..

First scan of ladder or SFC

S:1

ID2 BTW

Control File

BTW

BLOCK TRANSFER WRITE

Module Type

Rack

Group

Slot

Control

Data File

Length

Continuous

Generic BT

001

N17:0

N18:0

Rung 2:1

The ID2 module is located in rack 1, group 2, slot 0. The integer control file starts at N17:10,. The data obtained by the

PLC-5 processor from the ID2 module is placed in memory starting at N18:10 and is 8 words long. lThe program continuously performs read block transfers to read data from the module.

ID2 BTR

Enable Bit

N17:10

ID2 BTR

Control File

BTR

BLOCK TRANSFER READ

Module Type

Rack

Group

Slot

Control

Data File

Length

Continuous

Generic BT

001

N17:10

N18:10

SLC-5 Programming

More

The SLC-5 programs (using the 1747-SN scanner) follow the same logic as the PLC-5 family programs in the previous example.

Differences occur in the implementation of block transfers due to the use of “M” files in the SLC system.

Configuration data for the FLEX I/O incremental encoder module and the 1747-SN scanner must be in place before executing the following programs. Chapter 4 contains information on module configuration.

For more information on using the 1747-SN scanner module and block transfer programming, refer to publication 1747-6.6, “Remote

I/O Scanner User Manual.”

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

3–4

Programming Your Incremental Encoder Module

Program Action

This rung configures the block transfer operation type, length, and RIO address at power-up. Bit

B3:100/7 must be set to 1 to indicate a BTR and bit B3:110/7 must be 0 to indicate a BTW.

0000

Figure 3.1SLC Programming for the 1794-OF4I Isolated

Analog Output Module

PowerUp Bit

S2:1

BTR_CONTROL

COP

COPY FILE

SOURCE

DEST

LENGTH

BTW_CONTROL

COP

COPY FILE

SOURCE

DEST

LENGTH

#B3:100

#M0:1.100

#B3:110

#M0:1.200

0001

BTR status is copied to the B3:0 area when a BTR is in progress.

BTR PENDING

B3:5

CHECK BTR STATUS

B3:5

BTR DONE BIT

B3:0

0002

Unlatch the bit that continues to check the BTR status.

BTR ERROR BIT

B3:0

BTW PENDING

B3:15

0003

BTW status is copied to the B3:100 area when a

BTW is in progress.

0004

Unlatch the bit that continues to check the BTW status.

CHECK BTW STATUS

B3:15

BTW DONE BIT

B3:10

To next page.

BTW ERROR BIT

B3:10

COP

COPY FILE

SOURCE

DEST

LENGTH

COP

COPY FILE

SOURCE

DEST

LENGTH

#M1:1.100

#B3:0

CHECK BTR STATUS

B3:5

#M1:1.200

#B3:10

CHECK BTW STATUS

B3:15

Publication 1794-6.5.15 – December 1998

Programming Your Incremental Encoder Module

Program Action

When a BTR successfully completes and the done bit is detected, the BTR data is copied into the N7:0 to N7:7 area.

0005

BTR DONE BIT

B3:0

COP

COPY FILE

SOURCE

DEST

LENGTH

#M1:1.110

#N7:0

BTR PENDING

B3:5

BTR ENABLE BIT

B3:100

CHECK BTR STATUS

B3:5

Whe a BTR error occurs, the error code is moved to N7:9.

0006

BTR ERROR BIT

B3:0

MOV

MOVE

SOURCE

DEST

When a BTW successfully completes and the done bit is detected, the BTR data is copied into the N7:0 to N7:7 area.

0007

To next page.

BTW DONE BIT

B3:10

#M1:1.103

#N7:6

BTR PENDING

B3:5

BTR ENABLE BIT

B3:100

CHECK BTR STATUS

B3:5

BTW PENDING

B3:15

BTW ENABLE BIT

B3:110

CHECK BTW STATUS

B3:15

3–5

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

3–6

When a BTW occurs, the error code is moved to N7:17.

Programming Your Incremental Encoder Module

Program Action

0008

BTW ERROR BIT

B3:10

MOV

MOVE

SOURCE

DEST

#M1:1.203

#N7:17

BTW PENDING

B3:15

BTW ENABLE BIT

B3:110

CHECK BTW STATUS

B3:15

This rung executes BTRs continuously, as fast as possible.

0009

BTR ENABLE BIT BTR DONE BIT

B3:100 B3:0

15 13

BTR ERROR BIT

B3:0

BTR PENDING

B3:5

BTR ENABLE BIT

B3:100

0010

One BTW is triggered at power up. Four words of data starting at N7:10 is sent to the 1794-ID2 module.

TRIGGER

FOR

BTW

B7:20

BTW

ENABLE

BIT

B3:110

BTW

DONE

BIT

B3:10

BTW

ERROR

BIT

B3:10

COP

COPY FILE

SOURCE

DEST

LENGTH

#N7:10

#M1:1.210

BTW ENABLE BIT

B3:110

BTW PENDING

B3:15

To next page.

Publication 1794-6.5.15 – December 1998

Programming Your Incremental Encoder Module

Program Action

This BTR control word is moved to the M0 file for the scanner module while the BTR is in progress until the enable, done and error bits are turned off

0011

BTR ENABLE BIT

B3:100

BTR DONE BIT

B3:0

BTR ERROR BIT

B3:0

This BTW control word is moved to the M0 file for the scanner module while the BTW is in progress until the enable, done and error bits are turned off.

0012

BTW ENABLE BIT

B3:110

BTW DONE BIT

B3:10

BTW ERROR BIT

B3:10

BTR CONTROL

MOV

MOVE

SOURCE

DEST

B3:100

00000001000000<

M0:1.100

BTW CONTROL

MOV

MOVE

SOURCE

DEST

B3:110

00000000000000

M0:1.200

3–7

0013

END

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

3–8

Programming Your Incremental Encoder Module

Chapter Summary

In this chapter, you learned how to program your ID2 incremental encoder module using block transfer instructions and ladder logic.

Now, you can configure your module.

Configure the

ID2 Module

Publication 1794-6.5.15 – December 1998

Chapter

Writing Configuration to and

Reading Status from Your

Module with a Remote I/O

Adapter

What This Chapter

Contains

In this chapter, we tell you about:

For information on See page

Configuring Your Module . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–1

Reading Data from Your Module . . . . . . . . . . . . . . . . . . . . . . 4–2

Mapping Data for the Module . . . . . . . . . . . . . . . . . . . . . . . . 4–2

Incremental Encoder Module (1794-ID2) Image Table Mapping

4–2

Block Transfer Read Word Assignments . . . . . . . . . . . . . . . . 4–3

Bit/Word Definitions for Block Transfer Read Words . . . . . . . . 4–3

Block Transfer Write Word Assignments . . . . . . . . . . . . . . . . 4–5

Bit/Word Definitions for the Block Transfer Write Words . . . . . 4–5

Configuring Your

Incremental Encoder

Module

The incremental encoder module is configured using a group of data table words that are transferred to the module using a block transfer write instruction.

Some of the software configurable features available are:

• number of inputs

• encoder multiplier

• gate function

• latch function

• rollover

Configure your module for its intended operation by means of your programming terminal and write block transfers.

Note: Programmable controllers that use 6200 software (release 4.2

or higher) programming tools can take advantage of the IOCONFIG

Addendum utility to configure this module. IOCONFIG Addendum uses menu–based screens for configuration without having to set individual bits in particular locations. Refer to your 6200 software literature for details.

Important:

It is strongly recommended that you use IOCONFIG

Addendum to configure this module. The IOCONFIG

Addendum utility greatly simplifies configuration. If the IOCONFIG Addendum is not available, you must enter data directly into the data table. Use this chapter as a reference when performing this task.

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

4–2

Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter

During normal operation, the processor transfers from 1 to 4 words to the module when you program a BTW instruction to the module’s address.

Reading Data From Your

Module

Mapping Data for the

Module

I/O Image

Input Size

1 to 8 Words

Read programming moves status and data from the frequency input module to the processor’s data table in one I/O scan. The processor’s user program initiates the request to transfer data from the incremental encoder module to the processor.

The following read and write words and bit/word descriptions describe the information written to and read from the incremental encoder module. The module uses up to 8 words of input data and up to 4 words of output data. Each word is composed of 16 bits.

Incremental Encoder Module (1794-ID2) Image Table Mapping

Module Image

R PR1 PR0 S1 S0 C1 C0 G1 Z1 B1 A1 G0 Z0 B0 A0

Store 0 – Stored Counter Value on channel 0

Store 1 – Stored Counter Value on channel 1

Channel 0 – current counter value

Channel 1 – current counter value

Channel 0 – Counter word readback

Channel 1 – Counter word readback

Code for identification of software version

Output Size

0 to 4 Words

Channel 0 Control Word – Sets the function of counter 0

Channel 1 Control Word – Sets the function of counter 1

Channel 0 Preset – value to load or compare with counter 0

Preset 1 – value to load or compare with counter 1

Publication 1794-6.5.15 – December 1998

Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter

Block Transfer Read Word Assignments for the Incremental

Encoder Module (1794-ID2)

(Octal Bit

⇒

) 17

Dec. Bit

⇒

Word

⇓

Not used

15 14 13 12 11 10 07 06 05 04

13 12 11 10 09 08 07 06

Read

05 04

PR1 PR0 S1 S0 C1 C0 G1 Z1 B1

Channel 0 – Stored counter value on channel 0

Channel 1 – Stored counter value on channel 1

Channel 0 – current counter value on channel 0

Channel 1 – current counter value on channel 1

Channel 0 – Counter word readback

Channel 1 – Counter word readback

Revision read – software version code

Where: A0 = Status of input A, channel 0 – bit = 1 when input is on

B0 = Status of input B, channel 0 – bit = 1 when input is on

Z0 = Status of input Z, channel 0 – bit = 1 when input is on

G0 = Status of input G, channel 0 – bit = 1 when input is on

G1 = Status of input G, channel 1 – bit = 1 when input is on

A1 = Status of input A, channel 1 – bit = 1 when input is on

B1 = Status of input B, channel 1 – bit = 1 when input is on

Z1 = Status of input Z, channel 1 – bit = 1 when input is on

C0 = Cal 0 – when bit is set, counter 0 has been calibrated (reset by CalReset)

C1 = Cal 1 – when bit is set, counter 1 has been calibrated (reset by CalReset)

S0 = Stored 0 – when bit is set, counter 0 value has been saved in Store 0 (reset by StoreReset)

S1 = Stored 1 – when bit is set, counter 1 value has been saved in Store 1 (reset by StoreReset)

Once a Store occurs, L0 and L1 are on until cleared by StoreReset (counter word bit 14)

PR0 = Preset 0 reached – when bit is set, counter 0 has reached value of preset

(reset by PresetReset)

PR1 = Preset 1 reached – when bit is set, counter 1 has reached value of preset

(reset by PresetReset)

Bit/Word Definitions for Block Transfer Read Words

for the

Incremental Encoder Module

Read

Word

Bit

Bit 00

Bit 01

Bit 02

Bit 03

Bit 04

Bit 05

Definition

Status for input A (pulse transmitter 0) – This bit, when set, indicates a signal at A.

Status for input B (pulse transmitter 0) – This bit, when set, indicates a signal at B.

Status for input Z (pulse transmitter 0) – This bit, when set, indicates a signal at Z.

Status for input G (pulse transmitter 0) –This bit, when set, indicates a signal at G.

Status for input A (pulse transmitter 1) – This bit, when set, indicates a signal at A.

Status for input B (pulse transmitter 1) – This bit, when set, indicates a signal at B.

4–3

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

4–4

Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter

Read

Word

Word 0

Word 1

Word 2

Word 3

Word 4

Word 5

Word 6

Word 7

Bit Definition

Bit 06

Bit 07

Status for input Z (pulse transmitter 1) – This bit, when set, indicates a signal at Z.

Status for input G (pulse transmitter 1) – This bit, when set, indicates a signal at G.

Bit 08 (10) Cal 0 – This bit, when set (1), indicates that counter 0 has been calibrated. This bit is reset by CalReset.

Bit 09 (11) Cal 1 – This bit, when set (1), indicates that counter 1 has been calibrated. This bit is reset by CalReset.

Bit 10 (12) Store 0 – This bit, when set (1), indicates a counter value is saved in store 0. This bit is reset by StoreReset.

Bit 11 (13) Store 1 – This bit, when set (1), indicates a counter value is saved in store 1. This bit is reset by StoreReset.

Bit 12 (14)

Bit 13 (15)

Preset Reached 0 (PR0) – When this bit is set (1), in all configuration modes, the counter 0 value equals the preset 0 value, either in a positive or negative direction. This bit is reset by PresetReset0 and can only be set again after at least 1 more pulse.

Preset Reached 1 (PR1) – When this bit is set (1), in all configuration modes, the counter 1 value equals the preset 1 value, either in a positive or negative direction. This bit is reset by PresetReset1 and can only be set again after at least 1 more pulse.

Bit 14–15

(16–17)

Bits 00–15

(00–17)

Bits 00–15

(00–17)

Bits 00–15

(00–17)

Bits 00–15

(00–17)

Bits 00–15

(00–17)

Bits 00–15

(00–17)

Bits 00–15

(00–17)

Not used – set to 0

Store 0 – Saved counter value on channel 0

Store 1 – Saved counter value on channel 1

Channel 0 Current Counter Value– Current value in counter 0

Channel 1 Current Counter Value– Current value in counter 1

Channel 0 Readback– Counter word readback – last value written to write word 0

Channel 0 Readback– Counter word readback – last value written to write word 1

Revision Read – identification of latest software version code

Publication 1794-6.5.15 – December 1998

Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter

4–5

(Octal Bit)

⇒

Dec. Bit

⇒

Word

⇓

Block Transfer Write Word Assignments for the Incremental

Encoder Module

13 12 11 10 07 06 05 04

11 10 09 08

Write

07 06 05 04

Channel 0 Control Word – Sets the function of counter 0

Channel 1 Control Word – Sets the function of counter 1

Channel 0 Preset – value to load or compare with counter 0

Channel 1 Preset – value to load or compare with counter 1

Bit/Word Definitions for the Block Transfer Write Words for the

Incremental Encoder Module

Write

Word

Write

Bit

Definition

0–15 (0–17) Channel 0 Control Word – Control word for setting the function of counter 0.

Bits 00–02 02 01 00 Mode Selection bits

Bit 03

Bit 04

Bit 05

Bits 06–08

Bits 09–10

0 0

0 1

1 0

1 1

0 0

Counting on positive (rising) edge of input signal A. (Up/dwn counting determined by B.)

Quadrature encoder X1

Quadrature encoder X2

Quadrature encoder X4

Counting up on the positive edge of input signal A, and down on positive edge of input signal B.

0 1

1 0

No count function.

1 1 1 No count function.

Preset (Reset) bit – A positive edge on this bit moves the value in Preset X to Counter X, independent of Preset

Enable. NOTE: To use Preset as Reset, use a count value of 0000 in the Preset value word.

Enable Z Preset bit – When this bit is set (1), a positive edge on Z preloads Counter X = Preset X, independent of

Cal Enable. NOTE: If Z is configured to do Store and Preset (Reset), the Store will occur first.

Count Enable bit – When this is set (1), the incremental encoder is enabled.

Calibration Control bits – bits 06, 07 and 08

06 Enable bit – When this bit is set (1), the counter can be calibrated.

07 Direction bit – When this bit set (1), calibration is performed in a negative direction; when reset (0), calibration is performed in a positive direction.

08 Reset bit – Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit.

10 09

Gate Control bits

0 0 No gate function on input G

Counting only if G is high (active)

Counting only if G is low (inactive)

The counter can be calibrated when G is high (active).

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

4–6

Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter

Write

Word

Write

Bit

Definition

Bits 11–12 12 11 Store Control bits – These bits will trigger a Store only if the channel Store status bit (L0 or L1) is cleared (0).

Save the counter value on the positive edge of Z (if Stored X = 0)

Save the counter value on the positive edge of G (if Stored X = 0)

Save the counter value on the negative edge of G (if Stored X = 0)

Save the counter value on the positive edge and negative edge of G (if Stored X = 0)

Bit 13 (15) Rollover bit – When set (1), the counter counts up to the preset and then restarts at 0. If this bit is reset (0) (not rollover), the rollover preset value = FFFF (hex = 65535 (decimal).

Bit 14 (16) Store Reset bit – A positive edge on this bit resets Store X in Signals.

Bit 15 (17) Preset Reset bit – A positive edge on this bit resets Preset Reached in Signals.

Channel 1 Control Word – Control word for setting the function of counter 1.

Bits 00–02 02 01 00

Mode Selection bits

Bit 03

Bit 04

Bit 05

Counting on positive (rising) edge of input signal A. (Up/dwn counting determined by B.)

Quadrature encoder X1

Quadrature encoder X2

Quadrature encoder X4

Counting up on the positive edge of input signal A, and down on positive edge of input signal B.

No count function.

1 1 1 No count function.

Preset bit – A positive edge on this bit moves the value in Preset X to Counter X, independent of Preset Enable.

Preset Enable bit – When this bit is set (1), a positive edge on Z preloads Counter X = Preset X, independent of

Cal Enable.

Count Enable bit – When this is set (1), the incremental encoder is counting.

Publication 1794-6.5.15 – December 1998

Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter

4–7

Write

Word

Word 1

Word 2

Word 3

Bit

Definition

Bits 06–08 Calibration Control bits – bits 06, 07 and 08

06 Enable bit – When this bit is set (1), the counter can be calibrated.

07 Direction bit – When this bit set (1), calibration is performed in a negative direction; when reset (0), calibration is performed in a positive direction.

08 Reset bit – Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit.

Bits 09–10 10 09

Gate Control bits

No gate function on input G

Counting only if G is high (active)

Bits 11–12

Counting only if G is low (inactive)

Calibration if G is high (active) and ???

12 11 Store Control bits – These bits will trigger a Store only if the channel Store status bit (L0 or L1) is cleared (0).

0 0 Save the counter value on the positive edge of Z (if Store X = 0)

1 Save the counter value on the positive edge of G (if Store X = 0)

0 Save the counter value on the negative edge of G (if Store X = 0)

1 Save the counter value on the positive edge and negative edge of G (if Store X = 0)

Bit 13 Rollover bit – When set (1), the counter counts up to the preset and then restarts at 0. If this bit is reset (0) (not rollover), the rollover preset value = FFFF (hex = 65535 (decimal).

Store Reset bit – A positive edge on this bit resets Store X in Signals.

Bit 14

Bit 15 Store Reset bit – A positive edge on this bit resets Preset Reached in Signals.

Bits 00–15 Preset 0 – Value to load or compare with counter 0

Bits 00–15 Preset 1 – Value to load or compare with counter 1

Chapter Summary

In this chapter, you learned how to configure your module’s features and enter your data.

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

4–8

Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter

Publication 1794-6.5.15 – December 1998

Chapter

How Communication Takes

Place and I/O Image Table

Mapping with the DeviceNet

Adapter

What This Chapter

Contains

About DeviceNetManager

Software

More

In this chapter, we tell you about:

For information on See page

About DeviceNetManager Software . . . . . . . . . . . . . . . . . . . . . . 5–1

Polled I/O Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–1

Adapter Input Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . 5–2

System Throughput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–3

Mapping Data into the Image Table . . . . . . . . . . . . . . . . . . . . . . . 5–3

Incremental Encoder Module (1794-ID2) Image Table Mapping . . .

5–3

Block Transfer Read Word Assignments . . . . . . . . . . . . . . . . 5–4

Block Transfer Write Word Assignments . . . . . . . . . . . . . . . . . 5–4

Word/Bit Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–5

Defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–8

DeviceNetManager software is a tool used to configure your FLEX

I/O DeviceNet adapter and its related modules. This software tool can be connected to the adapter via the DeviceNet network.

You must understand how DeviceNetManager software works in order to add a device to the network. Refer to the DeviceNetManager

Software User Manual, publication 1787-6.5.3.

Polled I/O Structure

Network READ

Output data is received by the adapter in the order of the installed

I/O modules. The Output data for Slot 0 is received first, followed by the Output data for Slot 1, and so on up to slot 7.

The first word of input data sent by the adapter is the Adapter Status

Word. This is followed by the input data from each slot, in the order of the installed I/O modules. The Input data from Slot 0 is first after the status word, followed by Input data from Slot 2, and so on up to slot 7.

DeviceNet Adapter

Read Data

Adapter Status

Slot 0 Input Data

Slot 1 Input Data

Slot 7 Input Data

Read

Write

I/O Module

Slot 0

I/O Module

...

I/O Module

Slot 1 Slot 7

Write Data

Slot 0 Output Data

Slot 1 Output Data

Network WRITE

Slot 7 Output Data

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

5–2

How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter

Adapter Input Status Word

Bit:

The input status word consists of:

•

I/O module fault bits – 1 status bit for each slot

• node address changed – 1 bit

•

I/O status – 1 bit

15 10 through 15 9 8 7 6

I/O Module Fault Bits

5 4 3 2 1 0

Not Used

I/O State Bit

Node Address Changed Bit

The adapter input status word bit descriptions are shown in the following table.

Bit Description

Node Address Changed

I/O State

Bit Explanation

This bit is set (1) when an error is detected in slot position 0.

This bit is set (1) when an error is detected in slot position 1.

This bit is set (1) when an error is detected in slot position 2.

This bit is set (1) when an error is detected in slot position 3.

This bit is set (1) when an error is detected in slot position 4.

This bit is set (1) when an error is detected in slot position 5.

This bit is set (1) when an error is detected in slot position 6.

This bit is set (1) when an error is detected in slot position 7.

This bit is set (1) when the node address switch setting has been changed since power up.

Bit = 0 – idle

Bit = 1 – run

10 thru 15 Not used – sent as zeroes.

Possible causes for an I/O Module Fault are:

• transmission errors on the Flex I/O backplane

• a failed module

• a module removed from its terminal base

• incorrect module inserted in a slot position

• the slot is empty

The node address changed bit is set when the node address switch setting has been changed since power up. The new node address does not take affect until the adapter has been powered down and then powered back up.

Publication 1794-6.5.15 – December 1998

How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter

System Throughput

System throughput, from incremental encoder to backplane, is a function of:

• the configured minimum frequency sample time

• the number of channels actually configured for connection to a specific sensor (0 or 1)

You can set the minimum frequency time during module configuration. The selection influences the sample data rate, thus affecting system throughput.

The number of channels included in each input scan also affects system throughput.

5–3

Mapping Data into the

Image Table

I/O Image

Input Size

1 to 8 Words

FLEX I/O incremental encoder module data table mapping is shown below.

Incremental Encoder Module (1794-ID2) Image Table Mapping

Module Image

R PD1 PD0 S1 S0 C1 C0 G1 Z1 B1 A1 G0

Store 0 – Saved Counter Value on channel 0

Z0 B0 A0

Store 1 – Saved Counter Value on channel 1

Channel 0 – current counter value on channel 0

Channel 1 – current counter value on channel 1

Channel 0 – Counter word readback

Channel 1 – Counter word readback

Code for identification of software version

Output Size

0 to 7 Words

Channel 0 Control Word– sets the function of counter 0

Channel 1 Control Word – sets the function of counter 1

Channel 0 Preset – value to load or compare with counter 0

Channel 1 Preset – value to load or compare with counter 1

Not used

Allen-Bradley Motors

Publication 1794-6.5.15 – December 1998

5–4

How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter

Block Transfer Read Word Assignments for the Incremental

Encoder Module (1794-ID2)

(Octal Bit

⇒

) 17

Dec. Bit

⇒

Word

⇓

Not used

15 14 13 12 11 10 07 06 05 04

13 12 11 10 09 08 07 06

Read

05 04

PR1 PR0 S1 S0 C1 C0 G1 Z1 B1

Channel 0 – Stored counter value on channel 0

Channel 1 – Stored counter value on channel 1

Channel 0 – current counter value on channel 0

Channel 1 – current counter value on channel 1

Channel 0 – Counter word 0 readback

Channel 1 – Counter word 1 readback