Sensata Absolute Multi-Turn Rotary Encoder User Manual

|

USER MANUAL

|

Absolute Multi-Turn Rotary Encoder with ETHERNET IP-Interface

MHM5-EEA1B-XXXX-XXXX-PRM

MHK5-EEA1B-XXXX-XXXX-PRM

Copyright © 2018 Sensata Technologies, Inc. www.sensata.com

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| A B S O L U T E M U L T I - T U R N RO T A R Y EN C O D ER

WI T H E T HE RNE T / IP I NT E RF ACE

USER MA NU AL

Copyright

The company Sensata Technologies claims copyright on this documentation. It is not allowed to modify, extend, copy, or hand over to a third party this documentation without written approval by the company Sensata Technologies. Nor is any liability assumed for damages resulting from the use of the information contained herein. Further, this publication and features described herein are subject to change without notice.

Alteration of Specifications reserved

Technical specifications, which are described in this manual, are subject to change due to our permanent strive to improve our products.

Disclaimer of Warranty

Sensata Technologies makes no representations or warranties, either express or implied, by or with respect to anything in this manual. Furthermore,

.

Sensata Technologies shall not be liable for any implied warranties of merchantability and fitness for a particular purpose or for any indirect, special, or consequential damages.


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1. Introduction .......................................................4

1.1 Control and Information Protocol (CIP) ............ 5

1.2 Object model ..................................................... 5

2. Data Transmission ...........................................5

2.2 Explicit Messaging ...................................... 11

2.1 Implicit Messaging I/O Connection ..............9

2.1.1 I/O Assembly Instances ................................. 9

2.1.1.1 Data Attribute Format ................................. 9

2.1.2 Data Mapping ................................................ 9

2.1.3 Data Mapping (Parameter) .......................... 10

2.1.3.1 Data Offset ................................................ 10

2.1.4 Connection Path .......................................... 11

2.2.1 CIP Common Services for Position sensor object

(Class 0x23 hex

) ...................................................... 12

Save / Restore ...................................................... 12

2.2.2 Position Sensor Objects .............................. 13

2.3 TCP/IP Interface Object ............................... 14

2.3.1 Status Instance Attribute (01 hex

) .................. 14

2.3.2 Configuration Instance Attribute (02 hex

) ...... 14

2.3.3 Configuration Control Inst. Attribute (04 hex

). 15

2.3.4 Physical Link Object (05 hex

) ......................... 15

2.3.5 Interface Configuration (06 hex

) ..................... 16

2.3.6 Host Name ................................................... 16

2.4 Ethernet Link Object ................................... 16

2.4.0 Instance Attributes ....................................... 17

2.4.1 Interface Flags ............................................. 18

2.4.2 Common Services ....................................... 18

2.4.3 Link Object Instances .................................. 19

2.5 Setting parameters with scanners ............. 19

2.5.1 Read out position value ............................... 21

2.5.2 Set preset value ........................................... 22

2.5.3 Get preset value .......................................... 22

3 Diagnostic ....................................................... 23

4 Programmable Parameters ............................ 25

4.1 Encoder parameters for Position Sensor Object

Class 23hex .......................................................... 25

4.1.1 Direction counting ........................................ 25

4.1.2 Scaling function control ............................... 25

4.1.3 Resolution per revolution ............................. 25

4.1.4 Total resolution ............................................ 26

4.1.5 Preset value ................................................. 26

4.1.6 Velocity Format ............................................ 27

4.1.7 Velocity Filter ............................................... 27

4.1.8 Endless Shaft............................................... 27

5. Installation ...................................................... 28

5.1 Electrical connection ....................................... 28

5.2 Ethernet cables ............................................... 28

6 Power On .......................................................... 29

7 Installation ........................................................ 29

7.1 Rockwell configuration tools ...................... 29

7.1.1 Setting IP-Address (BOOTP/DHCP) ........... 29

7.1.2 Configuration RSLinx Classic™ .................. 31

7.1.3 RSNetWorx™ .............................................. 33

7.1.4 Configuration RSLogix 5000 ....................... 36

7.2 Schneider configuration tools .................... 43

7.2.1 Setting configuration .................................... 43

7.2.2 Online configuration .................................... 46

7.3 BOOTP/DHCP and IP configuration tool ... 48

8 FAQ ................................................................... 50

9 Glossar ............................................................. 51

10 Revision index ............................................... 52

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1. INTRODUCTION

Absolute rotary encoders provide a definite value for every possible position. All these values are reflected on one or more code discs. The beams of infrared LEDs are sent through code discs and detected by Opto-Arrays. The output signals are electronically amplified and the resulting value is transferred to the interface.

The absolute rotary encoder has a maximum resolution of 65536 steps per revolution (16 Bit). The

Multi-Turn version can detect up to 16384 revolutions (14 Bit). Therefore the largest resulting resolution is 30 Bits = 1.073.741.824 steps. The standard

Single-Turn version has 13 Bit, the standard Multi-

Turn version 25 Bit.

The integrated Ethernet interface of the absolute rotary encoder supports all the necessary EtherNet/IP functions.

The protocol supports the programming of the following additional functions in several ways:

Code sequence (Complement)

Resolution per revolution

Total resolution

Preset value

IP-Address

The general use of absolute rotary encoders with

EtherNet/IP interface is guaranteed. The data will transmit in a standard Ethernet frame in the data section, as shown in the Ethernet Data Package diagram, below.

The MAC Address for each encoder is available on the type label.

The IP address can be programmed with DHCP or

BOOTP using standard PC configuration tools.

The physical interface supports Autonegotiation and

Autocrossing.

General information about EtherNet/IP are available in the following links: www.ethernetip.de

(German) www.odva.org/default.aspx?tabid=67 (English)

EtherNet/IP data


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1.1 CONTROL AND INFORMATION PROTOCOL (CIP)

The EtherNet/IP specification defines the Application

Layer and the Physical Layer. The Data Link layer is based on the CAN-specification. Industrial control is optimized into two different messaging types. I/O messaging (Implicit Messaging) and explicit messaging. With Implicit Messaging I/O data is exchanged in real time and with Explicit Messaging data is exchanged to configure a device.

CIP (Common Industrial Protocol) consists of four essential functions available to the end user:

•

Unique service

•

Unique service

• Unique allocation of messaging

• Common knowledge base

1.2 Object model

EtherNet/IP describes all data and functions of a device considering an object model. By means of that object-oriented description, a device can be defined completely with single objects. An object is defined across the centralization by associated attributes (e.g. process data), its functions (read- or write access of a single attribute) as well as by the defined behavior. The absolute rotary encoder supports the Encoder Device Type: 22 hex or

Generic Device Type: 0 hex

. This is programmable, see chapter 4.1.6. All parameters use Big Endian notation.


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2. DATA TRANSMISSION

Data transmission in the EtherNet/IP network is realized by implicit or explicit messaging. Explicit messages are split in unconnected and connection based versions. Unconnected messages will be used for example by EtherNet/IP scanners.


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Exclusive-Owner, Input Only Listen Only

It is possible to open 256 connections to the encoder. One could be an Exclusive Owner connection, 255 additional connections can be realized mixed in Input Only or Listen Only.

An Exclusive Owner connection can be used to transmit the parameters (cycle time, configuration and Assembly Instances) to the encoder.

Exclusive Owner

Input Only connections can only work if all of the parameters are according to the encoder parameters.

Listen Only needs an Excusive Owner or Input

Only connection.

Assembly Config

Connection Manager Config

Output Instance Input Instance

Connection Point 1 Connection Point 2

Exclusive-Owner 0x6A

Input Only 0x6A hex hex

(106) 0x69

(106) 0x64 hex hex

(105)

(100)

0x01 Position value

0x03 Position value + velocity

0x01 Position value


Listen Only - 0x65 hex

(101)

0x01 Position value


Demo-Scanner 0x68 hex

(104) 0x67 hex

(103) 0x66 hex

(102)


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Communication check

Sent message to J-M asking for more detail on this page.


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2.1 Implicit Messaging I/O Connection

Provide dedicated, special-purpose communication paths between a producing application and one or more consuming applications for the purpose of moving application-specific data. This is

2.1.1 I/O Assembly Instances

Instance Type Name

1 Input Position Value

3

Instance

Input

Byte

Position Value and Velocity

2.1.1.1 Data Attribute Format

Bit 7 Bit 6 Bit 5

1

3

2

3

4

5

6

0

1

2

3

0

1

Position Value (low Byte)

Position Value (high byte)

Position Value (low Byte)

Position Value (high byte)

Velocity (low Byte)

7

2.1.2 Data Mapping

Data Component

Name

Class

Name

Velocity (high byte)

Number

Position Value

Velocity

Position Sensor

Position Sensor

23 hex

23 hex often referred to as implicit messaging. Class 0 and 1 are supported.

Bit 4

Instance

Number

1

1

Bit 3 Bit 2 Bit 1

Attribute

Name

Position Value

Velocity

Bit 0

Number

0A hex

18 hex


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4

5

6

7

0

1

2

3

8

9

10

11

2.1.3 Data Mapping (Parameter)

On every Forward Open Request, the following parameters, will be sent from the controller to the encoder.

Assembly Instance Configuration: 7, size 12 Bytes

Configuration Parameter

Name

Class

Name Number

Direct Counting Toggle Position Sensor 23 hex

Scaling Function Control Position Sensor 23 hex

Measuring units per Revolution

Position Sensor

23 hex

Total Measuring Range

Position Sensor in measuring units

23 hex

Position Sensor 23 hex

Velocity Format

2.1.3.1 Data Offset

Byte Offset

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3

1

1

1

1

1

Instance

Number

Attribute

Name Number

Direct Counting Toggle 0C hex

Scaling Function Control 0E hex

Measuring Units per Span

10 hex

Bit 2

Total Measuring Range in

11 hex measuring units

Velocity Format 19 hex

Bit 1 Bit 0

Direction Counting Toggle

Scaling Function Control

Measuring units per Revolution (low byte)

Measuring units per Revolution (high byte)

Total Measuring Range in measuring units (low byte)

Total Measuring Range in measuring units (high byte)

Velocity Format (low byte)

Velocity (high byte)


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2.1.4 Connection Path

Is made up of a byte stream that defines the application object to which a connection instance applies.

This path will be created from the configuration tools and are available in the EDS file too. This path will be sent during power up to the encoder.

For some tools it is necessary to use the connection path as parameter:

[20] [04] [24 6A] [2C 69] [2C 01] [80 06 00 01 00100000 00200000 041F]

Segment

Groups

Segment Description

Application Path 20 04

24 6A

2C 69

Assembly object class

Instance segment type with Assembly Instance

0x6A hex

(105) (Configuration)

Assembly Instance 0x69 hex

(106) (Output controller to encoder)

I/O Assembly Instance 1 (Position value)

Data segment with length of 6 Bytes

2C 01

80 06

00 01 00100000 00200000 041F Configuration Data, see chapter 2.1.3.1 for details

2.2 Explicit Messaging

Provide generic, multi-purpose communication paths between two devices. These connections often are referred to as just Messaging Connections. Explicit Messages provide the typical request/response-oriented network communications. Class 2 and 3 are supported.


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2.2.1 CIP Common Services for Position sensor object (Class 0x23

hex

)

Save / Restore

Supported Service Code Service Name Comment

05 hex

0E hex

10 hex

15 hex

16 hex

Reset

Get_Attribute_Single Read out attribute from the encoder

Set_Attribute_Single Write attribute to the encoder

Restore

Boot up of the encoder, the programmed parameter from the customer will be used again

Save

Restore the saved parameters. Use instance 0 of position sensor class to restore all configuration parameters at once. To restore a single parameter use instance 1 of position sensor class with attribute number as argument (see next table).

Save the parameters from chapter 2.1.3 to the nonvolatile memory. Use instance 0 of position sensor class to save all configuration parameters at once.


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2.2.2 Position Sensor Objects

Instance Attributes (Get: read, Set: write + read)

Class Code: 23 hex

Attrib. ID Access Name

01 hex

02 hex

0A hex

0B hex

0C hex

0E hex

10 hex

11 hex

13 hex

Get

Get

Get

Get

Set

Set

Set

Set

Set

Number of Attributes

Data Type

USINT

Description

Number of supported Attributes

Attribute List

Position Value Signed

Array of USINT List of supported Attribute

DINT Current position signed

Position Sensor Type UINT

Direction Counting Toggle Boolean

Specifies the device type

Controls the code sequence clockwise or counterclockwise

Scaling Function Control

Measuring units per Span

Boolean

UDINT

Total Measuring Range in

UDINT

Measuring Units

Preset Value DINT

Scaling function on/off

Resolution for one revolution

Total resolution

Setting a defined position value

18 hex

19 hex

29 hex

2A hex

2B hex

33 hex

64 hex

65 hex

66 hex

Get

Set

Get

Get

Get

Get

Set

Set

Set

Velocity Value DINT

Velocity Format

Operating Status

ENGUINT

BYTE

Physical Resolution Span UDINT

Number of Spans UINT

Offset Value

Device Type

Endless Shaft

Velocity Filter

DINT

DINT

DINT

DINT

Current speed in format of attribute

19 hex

and 2A hex

Format of the velocity attributes

Encoder diagnostic operating status

Resolution for one revolution

Number of revolutions

Shift position value with the calculated value

Encoder device = 22 hex

Generic device = 0 (default)

Off = 0, On = 1, Auto = 2

Fine = 0, Middle = 1, Raw = 2


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2.3 TCP/IP Interface Object

The TCP/IP Interface Object provides the mechanism to configure a device’s TCP/IP network interface. With this parameter it is possible, for example, to read or write the device’s IP Address and Network Mask.

Class Code: F5 hex

Attribute

ID

Access Name Data Type Description

01 hex

02 hex

03 hex

04 hex

05 hex

Get

Get

Set

Get

Set

Status

Configuration Capability

Configuration Control

Physical Link Object

Path size

Path

DWORD

DWORD

DWORD

Interface status, details in chapter

2.3.1

Interface capability flags, details in chapter 2.3.2

Interface control flags, details in chapter 2.3.3

STRUCT of:

UINT

Path to physical link object

Size of path

Padded EPATH Logical segments identifying the physical link object

Interface Configuration

IP Address

Network Mask

06 hex

Set Host Name

2.3.1 Status Instance Attribute (01

hex

)

Bit(s) Called Definition

STRUCT of:

UDINT

UDINT

STRING

TCP/IP network interface configuration

The device’s IP address

The device’s network mask

0-3

4

Interface

Configuration

Status

Mcast

Pending

0 = The Interface Configuration attribute has not been configured.

1 = The Interface Configuration attribute contains valid

Indicates the status of the configuration obtained from BOOTP, DHCP or nonvol-

Interface Configuration attribute. atile storage.

2 = The Interface Configuration attribute contains valid configuration, obtained from hardware settings (e.g.: pushwheel, thumbwheel, etc.)

3-15 = Reserved for future use.

Indicates a pending configuration change in the TTL Value and/or Mcast Config attributes. This bit shall be set when either the TTL Value or Mcast Config attribute is set, and shall be cleared the next time the device starts.

5-31 Reserved Reserved for future use and shall be set to zero.

2.3.2 Configuration Instance Attribute (02

hex

)

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Bit(s) Called

0

1

Definition

BOOTP

Client

1 (TRUE) shall indicate the device is capable of obtaining its network configuration via BOOTP.

DNS Client Not supported

2 DHCP Client

1 (TRUE) shall indicate the device is capable of obtaining its network configuration via DHCP.

3

DHCP-DNS

Update

Not supported

4

Configuration

Settable

1 (TRUE) shall indicate the Interface Configuration attribute is settable. Some devices, for example a PC or workstation, may not allow the Interface Configuration to be set via the TCP/IP Interface Object.

5-31 Reserved Reserved for future use and shall be set to zero.

2.3.3 Configuration Control Inst. Attribute (04

hex

)

Bit(s) Called Definition

0 = The device shall use the interface

0-3

Startup Configuration

Determines how the device shall obtain its initial configuration at start up. configuration values previously stored

(for example, in non-volatile memory or via hardware switches, etc).

1 = The device shall obtain its interface configuration values via BOOTP.

2 = The device shall obtain its interface configuration values via DHCP upon start-up.

3-15 = Reserved for future use.

2.3.4 Physical Link Object (05

hex

)

This attribute identifies the object associated with the underlying physical communications interface (e.g., an 802.3 interface). There are two components to the attribute: a Path Size (in UINTs) and a Path. The Path shall contain a Logical Segment, type Class, and a

Logical Segment, type Instance that identifies the physical link object. The maximum Path Size is 6 (as-

The physical link object itself typically maintains linkspecific counters as well as any link specific configuration attributes. If the CIP port associated with the

TCP/IP Interface Object has an Ethernet physical layer, this attribute shall point to an instance of the

Ethernet Link Object (class code = F6 hex

). When there are multiple physical interfaces that correspond to the suming a 32 bit logical segment for each of the class and instance).

TCP/IP interface, this attribute shall either contain a

Path Size of 0, or shall contain a path to the object representing an internal communications interface

(often used in the case of an embedded switch).


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For example, the path could be as follows:

Path Meaning

0-3

[20] = 8 bit class segment type; [F6] = Ethernet Link Object class;

[24] = 8 bit instance segment type; [01] = instance 1.

2.3.5 Interface Configuration (06

hex

)

Name Meaning

IP Address

The device’s IP address. Value of 0 indicates no IP address has been configured.

Otherwise, the IP address shall be set to a valid Class A, B, or C address and shall not be set to the loopback address (127.0.0.1).

Network mask

The device’s network mask. The network mask is used when the IP network has been partitioned into subnets. The network mask is used to determine whether an IP address is located on another subnet. Value of 0 indicates no network mask address has been configured.

2.3.6 Host Name

Name Meaning

Host Name

ASCII characters. Maximum length is 64 characters. Shall be padded to an even number of characters (pad not included in length). A length of 0 shall indicate no Host Name is configured.

2.4 Ethernet Link Object

Class Code: F6 hex

Attribute

Access Name

ID

Data Type Description Semantics of Values

01 hex

02 hex

03 hex

Get

Get

Get

Revision

Max Instance

Number of Instances

UINT

UINT

UINT

Revision of this object

The minimum value shall be 1. Shall be 2 or greater if instance attribute 6 is implemented. Shall be 3 if any instance attributes 7-

10 are implemented. The maximum value shall be

3.

Maximum instance numThe largest instance number of an object currently ber of a created object at created in this class level this class hierarchy level of the device

Number of object inThe number of object instances currently created stances at this class hierat this class level of the archy level device

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2.4.0 Instance Attributes

ID Access Name Data Type Description of Attribute

1 Get Interface Speed UINT

Semantics of Values

Interface speed currently Speed in Mbps (e.g., 10, 100 in use

2 Get

3 Get

6 Set

7 Get

8 Get

10 Get

Control Bits

Bit(s) Called

Interface Flags DWORD Interface status flags

Physical

Address

ARRAY of

MAC layer address

6 USINTs

Interface

Control

Control Bits

Forced Interface Speed

STRUCT of:

WORD

UINT

Configuration for physical interface

Interface Control Bits

Speed at which the

interface shall be forced

to operate

See chapter 2.4.1

Displayed format

“XX-XX-XX-XX-XX-XX”

See table below

Speed in Mbps (10 or 100)

Interface Type USINT Type of interface

1 = The interface is internal to the device, i.e. in the case of an embedded switch

2 = Twisted-pair (e.g. 100Base-

TX)

Interface State

Interface Label

USINT

SHORT_S

TRING

Current state of the interface

Human readable identification

0 = No link

1 = The interface is enabled and is ready to send and receive data

„Internal switch“ or

„External Port 1“ or

„External Port 2“

0 Auto-negotiate

Definition

802.3 link Auto-negotiation: 0 = disabled, 1 = enabled (standard)

If Auto-negotiation is disabled then the device shall use the settings indicated by the Forced Duplex Mode and Forced Interface Speed bits.

1

If Auto-negotiation bit = 0 the Forced Duplex Mode bit indicates whether the

Forced Duplex interface shall operate in full or half duplex mode.

Mode

0 = Half Duplex, 1 = Full Duplex

2-15 Reserved Shall be set to zero

Example

Use on Transmit data size double (4 bytes) 00000064 for Auto-negotiation = disable on 100 MBaud


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2.4.1 Interface Flags

Bit(s) Called

0

1

Link Status

Half/Full Duplex

2-4 Negotiation Status

Definition

Indicates whether or not the Ethernet 802.3 communications interface is connected to an active network. 0 indicates an inactive link; 1 indicates an active link. The determination of link status is implementation specific. In some cases devices can tell whether the link is active via hardware/driver support. In other cases, the device may only be able to tell whether the link is active by the presence of incoming packets.

Indicates the duplex mode currently in use. 0 indicates the interface is running half duplex; 1 indicates full duplex. Note that if the Link Status flag is 0, then the value of the Half/Full Duplex flag is indeterminate.

Indicates the status of link auto-negotiation

0 = Auto-negotiation in progress.

1 = Auto-negotiation and speed detection failed. Using default values for speed and duplex. Default values are product-dependent; recommended defaults are 10Mbps and half duplex.

2 = Auto negotiation failed but detected speed. Duplex was defaulted. Default value is product-dependent; recommended default is half duplex.

3 = Successfully negotiated speed and duplex.

4 = Auto-negotiation not attempted. Forced speed and duplex.

0 indicates the interface can activate changes to link parameters (auto-ne-

5

Requires Reset requires a Reset service be issued to its Identity Object in order for the changes to take effect.

0 indicates the interface detects no local hardware fault; 1 indicates a local hardware fault is detected. The meaning of this is product-specific. Exam-

6

Fault dem detects no antennae attached. In contrast to the soft, possible selfcorrecting nature of the Link Status being inactive, this is assumed to be a hard-fault requiring user intervention.

7

2.4.2 Common Services

Service

Code

Reserved Shall be set to zero

Class Instance*

Service

Name

Description of Service

0E hex

10 hex

Conditional n/a

Required

Conditional

Get_Attribute_Single

Set_Attribute_Single

Returns the contents of the specified attribute

Modifies a single attribute


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2.4.3 Link Object Instances

Instance Description

1

2

Internal interface

Intern switch Port 1

3 Intern switch Port 2

2.5 Setting parameters with scanners

There are several external scanners for Ether-

Net/IP available. RS-NetWorks TM has one such scanner. In the figure is an example where the IP-

Address (FD 00 A8 C0 complies 192.168.0.253), the Subnet (00 FF FF FF complies

255.255.255.0), Gateway (00 00 00 00), DNS1

(00 00 00 00), DNS2 (00 00 00 00) and Domain

Name = “” (ASCII Character max length = 48 bytes) was read out of the encoder.


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Another scanner program, RSNetWorx tm is another available scanner as well. In the next section is a sample to set the Preset value.

2.5.1 Read out position value

Get Single Attribute Position sensor value:

Class: 0x23 (Position sensor object)

Instance: 0x01

Attribute: 0x0A (Position Value)


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2.5.2 Set preset value

Set Single Attribute Position Preset Value to 1


Instance: 0x01

Attribute: 0x13 (Preset Value)

2.5.3 Get preset value

Get Single Attribute Position Value


Instance: 0x01

Attribute: 0x13 (Preset Value)


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3 DIAGNOSTIC

LED Color EtherNet/IP name

Active1 Yellow

Link1 Green

Active2 Yellow

Link2 Green

Stat1

Stat2

Green

Red

Network Status Indicator 1 Details in table 2

Network Status Indicator 2 Details in table 2

Module Status Indicator

Description

Details in table 1

Table 1: Module Status Indicator Stat1/Stat2

Steady Off

Steady On

Green

Flashing

Green 1

Flashing

Green 2

Flashing

Red

Steady On

Red

Flashing

Red + Green

No power

Device operational

Standby

If the device is operating correctly, the module status indicator shall be steady green

If the device has not been configured including the IP-Address, the module status indicator will be flashing green at 1 Hz

Missing IP If the device does not have an IP-Address, the module status indicator shall be flashing green at 4 Hz

Minor fault If the device has detected a recoverable minor fault. I.e. an incorrect or inconsistent configuration

Major fault If the device has detected a non-recoverable major fault

Self-test While the device is performing its power up testing, the Stat1 and

Stat2 LED will be flashing red / green


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Table 2: Network Status Indicator Stat2

Steady Off

Steady

Green

Flashing

Green

Flashing

Yellow

Steady

Yellow

Flashing

Yellow / Green

No power, no IP address

If the device does not have an IP address or is powered off

Connected If the device has at least one established connection (even to the

Message router)

No connection If the device has no established connections, but has obtained an IP address

Connection timeout

If one or more of the connections in which this device is the target has timed out. This will be flashing only if all timed-out connections are reestablished or if the device is reset

Duplicate IP If the device has detected that its IP address is already in use

Self-test While the device is performing its power up testing, the Stat1 and

Stat2 LED will be flashing yellow / green


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4 PROGRAMMABLE PARAMETERS

4.1 Encoder parameters for Position Sensor Object Class 23hex

4.1.1 Direction counting

This operating parameter can be used to select the figuration Assembly and Explicit Messaging code sequence. The parameter can set with Con-

Attribute ID Default value Value range Data Type

0C hex

0 hex

0 hex

- 1 hex

Boolean

The parameter code sequence (complement) de-

Bit 0 Counting direction Position values fines the counting direction of the process value as viewed from the shaft end (clockwise or counter

0 CW Increase

1 CCW Decrease clockwise). The counting direction is defined in the attribute 0C hex

:

Bit 0 Scaling function on/off

0 on

4.1.2 Scaling function control

If the Scaling function control is deactivated then

1 off the output value of physical resolution cannot be defined.


0E hex

1 hex

This parameter can be set with Con-

0 hex figuration Assembly and Explicit Messaging

- 1 hex

Boolean

4.1.3 Resolution per revolution

The parameter resolution per revolution is used to program the encoder to set a desired number of steps per revolution. Each value between 1 and the maximum (see type label) can be realized.

The parameter can set with Con-

Attribute ID Default value Value range figuration Assembly and Explicit Messaging.

Scaling function control must be switch on to set scaling parameters!

Data Type

10 hex

(*) 0 hex

- 10000 hex

Double

(*) see type label, Maximum resolution:

16Bit Encoder: 10,000 hex

(65,536)

When the value is set larger than 8192 for a 13Bit encoder, the process value of the encoder will not be single stepped and values will be skipped while rotating the shaft. So, it is recommended, to keep the measuring steps per revolution below 8192 measuring steps.


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4.1.4 Total resolution

This value is used to program the desired number of measuring steps over the total measuring range. This value must not exceed the total resolution of the encoder with 25 bit =

33,554,432 steps. Please note the value written on the type shield. The parameter can be set with

Configuration Assembly and Explicit Messaging

Scaling function control must be switched on for resolution parameters!


11 hex

(*) - 40,000,000 hex

Integer

(*) see type shield

Maximum total resolution

30 Bit Encoder: 40,000,000 hex

(1,073,741,824)

4.1.5 Preset value

The preset value is the desired position value, which should be reached at a certain physical position of the axis. The position value of the encoder is set to the desired process value by the parameter preset. The preset value must not exceed the parameter total measuring units. The parameter can be set with Explicit Messaging.

Set the preset value only in standstill! Use the save command from chapter 2.2.1 to save the preset value in the non-volatile memory.

Attribute ID

13 hex

Default value Value range

0 hex

0 hex

- total measuring range

Data Type

Unsigned Integer 32


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4.1.6 Velocity Format

Default value for Velocity Format is steps per secfiguration Assembly and Explicit Messaging. ond. This parameter can be set with Con-

Attribute ID

19 hex

Default value Value range Data length

1F04 hex

1F04 hex second

1F05 hex millisecond

1F06 hex microsecond

1F07 hex minute

1F0F hex

RPM

4.1.7 Velocity Filter

To manage the noise of the velocity it is possible to switch between three classes.

Attribute ID Default value Value range Description Data Type

66 hex

0 hex

0 hex

/ 1 hex

/ 2 hex

0 = Fine, 1 = Middle, 2 = Raw Double Integer

4.1.8 Endless Shaft

Normally the period, i.e. “Total resolution” /

“measuring units” per revolution must be an integer and it must fit an integer number of times (integer multiple) into 4096 for an encoder with 12

Bit for the revolutions. So the following equation must apply:

(4096 x measuring units per revolution) / Total resolution = integer

But with this EtherNet/IP encoder it is possible to solve this problem. If the Endless Shaft is activated then this problem will be solved by the encoder. The default value is Auto. In this case the

Note: The internal software routine only works if the encoder is in operation. If it is necessary to turn the encoder shaft more than 1024 revolutions encoder checks if the parameters need the endless shaft. The parameter can be set only with Explicit Messaging.

(the internal routine will not work without power supply). In this case the rule ahead should be observed even with new devices. without power supply this can lead to problems

Attribute ID Default value Value range Description Data Type

65 hex

2 hex

0 hex

/ 1 hex

/ 2 hex

0 = Off, 1 = On, 2 = Auto Double Integer


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5. INSTALLATION

5.1 Electrical connection

The rotary encoder is connected by a 4 pin M12 connector for the power supply and two 4 pin, D-coded

M12 connector for Ethernet.

The Encoder uses a second D-coded connector and provides integrated switch functionality. On or in the packaging of the connector is the mounting description.

Connector Ethernet

4 pin female, D-coded

Connector power supply

4 pin male, A-coded

Pin Number Signal

Pin Number Signal

1 US (10 - 30 V DC)

2 N.C.

4 N.C.

Sketch as seen on the encoder These two connectors should be rotated as shown – then they will match the data sheets. Of course the numbering will need to be upright and not rotated.

5.2 Ethernet cables

5.2.3 M12 – M12 straight

5.2.1 RJ45 – M12 crossed

Tx+ 1 2

Tx- 2 4

Rx+ 3 1

Rx- 6 3

5.2.2 RJ45 – M12 straight

Tx+ 1 1

Tx- 2 2

Rx+ 3 3

Rx- 4 4

Tx+ 1 1

Tx- 2 3

Rx+ 3 2

Rx- 6 4

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6 POWER ON

After power on the LED’s on the absolute rotary encoder will flash between green and red or yellow.

(Reference Section 3 – Diagnostics)

7 INSTALLATION

7.1 Rockwell configuration tools

7.1.1 Setting IP-Address (BOOTP/DHCP)

To set the IP Address there are special tools available. I.e. the BOOTP/DHCP Server is installed with the software package from

RSNetWorx™. The server scans the network for the MAC Addresses of all products with active

BOOTP or DHCP. If one MAC address is selected in the Request History then the IP

Address can be set by the “Add to Relation List” button. The MAC Address of each EtherNet/IP encoder is available on the type label. Note: After a power up the encoder sends the BOOTP or

If the encoder has an IP-Address, the BOOTP and

DHCP must be disabled with the corresponding button.

Otherwise during encoder start up it will attempt to get a new IP-Address. After setting the IP-Address the Status LED will flash at 1 Hz. But in this case save the configuration in the File menu, because the products cannot be found by

DHCP request repeatedly.After several attempts with no answer the frequency of requests decreases. A power up after a long pause often solves the missing request problem.

If not all encoders are listed in the BOOTP/DHCP

Server then check the following points:

•

LED status of the encoder OK?

• Is the Network setting correct?

• Is the BOOTP and/or DHCP enabled?

The BOOTP/DHCP Server. After loading this file the

MAC Addresses and IP-Addresses are available and

BOOTP or DHCP can be activated by the corresponding button. Possible IP-Range:

Class A-C (0.0.0.0 – 223.255.255.255) without Loopback range (127.x.x.x)

Referenced IP-Address range: 192.168.0.x


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After setting the IP-Address with this tool the IP-

Address will be available only after the next

BOOTP request.

If the IP-Address is not known and BOOTP and

DHCP are deactivated it is possible with a special tool to find the IP-Address or to activate BOOTP or DHCP. See details in chapter 7.3.


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7.1.2 Configuration RSLinx Classic™

RSLinx™ is a complete communication server providing plant-floor device connectivity for a wide variety of Rockwell Software applications such as

RSLogix™, RSNetWorx™,…

To start a new project add first a new RSLinx

Classic™ Driver for EtherNet/IP under

Communications Configuration Drivers and input the name.


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Use Browse Local Subnet to find the EtherNet/IP components in the network. The status should be

“Running”. Then push the Close button to finish this configuration.


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7.1.3 RSNetWorx™

RSNetWorx™ products provide design and configuration management services for EtherNet/IP.

The program defines and configures the devices on the network quickly through a simple software

EDS Wizard interface. This definition can take place offline using drag and drop operations or online by using

RSLinx® to browse a EtherNet/IP network.

The EDS File contains information about device specific parameters as well as possible operating modes of the encoder. With this file you have a data sheet in an electronic format, which can be used to configure the device in the network, for example with RSNetWorx™ from Rockwell. In this sample the PLC uses address 192.168.0.100 and the encoder 192.100.0.252.

To install the EDS file the EDS Wizard has to be started, that can be done in the menu Tools/EDS

Wizard.

If the EDS Wizard is activated successfully the Register an EDS File(s) has to be chosen and after that the button weiter

(continue) . In the next step the Register a directory of EDS files has to be chosen and with

Browse the path of the EDS file(s). That is indicated in the next pictures.

The Wizard finds all EDS files that are discarded in the choosing path and operates a test to check the EDS files on errors. In the next step (see picture 1.3) pictures can be selected for the using nodes. With the button weiter the installation can be continued and fini


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The Wizard finds all EDS files that are discarded in the choosing path and operates a test to check the EDS files on errors. In the next step pictures can be selected for the using nodes. With the button weiter (continue) the installation can be continued and finished.


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Load a saved *.enet file or start a new project.

Add the devices per Drag and Drop to the net work line and set the IP-Address.

Optional browse the network with all devices with

Button or Upload from Network . So it is not necessary to set the IP-Address manually.

For using this configuration in RSLogix save the

*.enet file.


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7.1.4 Configuration RSLogix 5000

The RSLogix 5000 Series environment offers an easy-to-use, IEC61131-3 compliant interface, symbolic programming with structures and arrays, and a comprehensive instruction set that serves many types of applications. It supports relay ladder, structured text, function block diagram, and sequential function chart editors for you to develop application programs.

In the first step load a configuration or add a new controller and input a name. In this sample

CompactLogix5332E is used.


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Start the configuration of the controller or load the

*.enep file in the module properties of tab

RSNetWorx™ that was created with RSNet-

Worx™.


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Select the network in the I/O Configuration and add New Module.

For using a Generic Device select the Generic

Ethernet Module. Some PLC’s support Encoder

Devices too. Please check that the matching EDS

Set the Connection Parameters according the following figure. file complies to the configuration of the encoder.

The device type is programmable.

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Set the cycle time.


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To read or write data use Logic - Monitor Tags


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•

If the value is 00 then the standard configuration will be used

•

If the Paramter are out of range the maximum value of the encoder will be used as parameter

•

To open , Go Offline , File Save , select controller,

Download , Run

•

These parameter can set by a standard EtherNet/IP scanner tool too.


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If everything is running then, in the “Errors tab” the message 0 error(s) should appear.


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7.2 Schneider configuration tools

In the software tool Unity it is possible to configure the parameters of the encoders. EDS file helps

7.2.1 Setting configuration

For the first installation it is necessary to install the EDS-File with the wizard. make parameter changes easier to perform.. Select the EtherNet/IP module and start the Ether-

Net/IP configuration tool.


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Select the EDS-File, available on our web site, and follow the wizard to the end.

Select the encoder in the Device Library and

Insert in Configuration (menu opens on right button click of the mouse).


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Set the IP-Adress of the encoder in the General -

Tab. Add a connection for reading the position value or the position value and velocity. More details about the different connections are available in chapter 2.

In tab Connections under General can be checked the cycle time (RPI), the input and output configuration. Under Configuration

Setting are the offline parameters available, that will be used after the PLC goes in the Run state.


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7.2.2 Online configuration

If the last steps were successful the encoder can go to the status online. In the configuration window in tab General it is possible to test the encoder connection by sending Ping commands to the encoder.


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In tab Online Parameters it is possible to change the parameters. In a separate window it is possible to use the desired parameter. There are the minimum, maximum and default values available. With the

Synchronize button it is possible to send the parameters to the encoder in order to read them out from the encoder.


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7.3 BOOTP/DHCP and IP configuration tool

For EtherNet/IP encoders it is necessary to know the IP-Address. On our website [Note: we need to get this software and have it available on our web site] there is a free special tool available that allows scanning the complete network segment for MAC-Addresses of encoders. Our tool will find the devices with deactivated BOOTP and DHCP too.

Connect all devices, turn on the power supply and push the “ Search… ” button. Select the encoder and push the button for the desired Functionality. After changing the status it is necessary to push the button “ Search… ” to get the actual status of the encoders.

With this tool is it possible to change the IP-

Address, the Subnet and Gateway too.

This program use UDP Port 4000. Attention:

Check that the firewall doesn’t block this port!


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8 FAQ

8.1 Problem: Replace a rotary encoder in the machine and the controller cannot start the application. Additionally the Stat LED is flashing with 4 Hz

Solution: Start the BOOTP/DHCP server to set the IP-Address and deactivate BOOTP and DHCP. See chapter 7.1.1

8.2 Problem: Cannot deactivate BOOT/P or DHCP

Background: Firewall and/or WLAN block communication.

Solutions:

1. Firewall must not block Port 4000 and 5000

2. Deactivate WLAN and all additional network cards.

8.3 Problem: Error message "Invalid identifier"

Solution: Check that the major revision of the encoder uses the same number as the EDS-File. Check the website.

8.4 Problem: IP Address unknown and BOOTP/DHCP is deactivated

Solution: Download the tool to read out the IP-Address based on the MAC-Address from our web site.

8.5 Problem: Stat LED is flashing with 4 Hz

Background: After replacing of a rotary encoder in the machine the controller cannot start the application.

Additionally, the Stat LED is flashing with 4 Hz

Solution: Start the BOOTP/DHCP server to set the IP-Address and deactivate BOOTP and DHCP.

8.6 Problem: After Power-up the programmed parameter were lost

Solution: Use the save command to save all programmed parameters in the non volatile memory (NVM).

Only Preset is saved automatically in the NVM.

8.7 Problem: Parameter from Configuration tool i.e. RSLogix overwrites saved values of the encoder

Answer: Yes, that is correct according to the encoder profile. It could be changed according to the new

Profibus functionality of parameterization

8.8 Problem: Additional transmission of LLDP frames

Answer: According to the used stack, the version will transmit additional ~1% LLDP frames. This should not be t a problem with the total network traffic.

8.9 Problem: Problems with Configuration Tool

Answer: Check if the Version 1.4 is in use!

8.10 Problem: How many encoders can work with one Rockwell PLC?

Answer: One encoder can operate with traffic of only 100 Ethernet-Packet/s. The PLCs can manage 6000-

20000 Ethernet-Packets/s. Rockwell has got two tools:

- EtherNet/IP Capacity Tool

- Integrated Architecture Builder (overdressed for analysis)

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9 GLOSSAR

Term Explanation

10Base-T

100Base-T

Transmission line with 10 Mbit data transmission rate

Transmission line with 100 Mbit data transmission rate

Autocrossing

Autonegotiation

Allow to use straight or crossover wiring

Is an Ethernet procedure by which two connected devices choose common transmission parameters, such as speed and duplex mode

Transmission rate; it displays the transmission bits per second Baudrate

Big Endian

Binary

BootP

Variables will use Byte 0 as Low and last Byte as High

Numeric system with value 0 or 1.

CAT5

CIP

A UDP network protocol used by a network client to obtain its IP address automatically

Terminations for transmission rates up to 100 Mbit.

C ontrol and I nformation P rotocol

DHCP D ynamic H ost C onfiguration P rotocol is a protocol used by networked devices

(clients) to obtain the parameters necessary for operation in an Internet Protocol network. This protocol reduces system administration workload, allowing devices to be added to the network with little or no manual configuration.

E therNet /IP EIP

EMC

ENIP

Ethernet

E lectro m agnetic c ompatibility, there are rules to verifying devices.

E ther N et/ IP

Ethernet is a computer network technology based on frames.

Explicit Messages Communication between i.e. a Ethernet scanner and encoder

Term Explanation

Fast Ethernet

Flash

Implicit Messaging

IP-Address

Transmission technology with 100 Mbit transmission rate.

Internal memory, saved data will be available after power down.

IO Connection: communication between controller and device

Allows for logic addressing from computer in a network.

MAC Address

Mbit tion of the internet layer of the TCP/IP-model

Worldwide explicit address of a device. The encoder uses three MAC Addresses: one for internal interface and two for the ports.

Transmission rate or baud rate, million bits per second

OSI-Model The I nterconnection reference model is an open layer model for the organization of a communication.

Scanner Program to send Explicit Messages to the encoder

Switch A switch is an electronic device to connect computers e.g. network segments in a local network. Unlike a hub, a switch uses stacks to avoid network collisions.

TCP The P rotocol is a connection orientated transmission protocol, in a network.

UDP U ser D atagram P rotocol is utilized to send data that does not need to be transferred in a reliable way.

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We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject to change without notice.

10 REVISION INDEX

Revision Date Revision

First release

Delete section device type

5.6.2008 1.0

2.7.2009 1.7

Delete save single attributes, Cycle of write parameters from 5,000 Mio -> 1.9.2009 1.8

100.000, 15-30V -> 10-30V, Preset info to save in non volatile memory, add Port

4000 FAQ

Change Cycle of write parameters from 100,000 to 5 Mio 14.1.2010 1.9

Add table Control Bits 17.11.2010 1.10

10.1.2013 1.11 Add information about filter definition, velocity, Unicast

Update FAQ

Delete technical data and drawings

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Sensata Absolute Multi-Turn Rotary Encoder User Manual

USER MANUAL

Absolute Multi-Turn Rotary Encoder with ETHERNET IP-Interface

1. INTRODUCTION

1.1 CONTROL AND INFORMATION PROTOCOL (CIP)

1.2 Object model

2. DATA TRANSMISSION

2.1 Implicit Messaging I/O Connection

2.1.1 I/O Assembly Instances

2.1.1.1 Data Attribute Format

2.1.2 Data Mapping

2.1.3 Data Mapping (Parameter)

2.1.3.1 Data Offset

2.1.4 Connection Path

2.2 Explicit Messaging

2.2.1 CIP Common Services for Position sensor object (Class 0x23

)

Save / Restore

2.2.2 Position Sensor Objects

2.3 TCP/IP Interface Object

2.3.1 Status Instance Attribute (01

)

2.3.2 Configuration Instance Attribute (02

)

2.3.3 Configuration Control Inst. Attribute (04

)

2.3.4 Physical Link Object (05

)

2.3.5 Interface Configuration (06

)

2.3.6 Host Name

2.4 Ethernet Link Object

2.4.0 Instance Attributes

Control Bits

Example

Use on Transmit data size double (4 bytes) 00000064 for Auto-negotiation = disable on 100 MBaud

2.4.1 Interface Flags

2.4.2 Common Services

2.4.3 Link Object Instances

2.5 Setting parameters with scanners

2.5.1 Read out position value

2.5.2 Set preset value

2.5.3 Get preset value

3 DIAGNOSTIC

4 PROGRAMMABLE PARAMETERS

4.1 Encoder parameters for Position Sensor Object Class 23hex

4.1.1 Direction counting

4.1.2 Scaling function control

4.1.3 Resolution per revolution

4.1.4 Total resolution

4.1.5 Preset value

4.1.6 Velocity Format

4.1.7 Velocity Filter

4.1.8 Endless Shaft

5. INSTALLATION

5.1 Electrical connection

5.2 Ethernet cables

6 POWER ON

7 INSTALLATION

7.1 Rockwell configuration tools

7.1.1 Setting IP-Address (BOOTP/DHCP)

7.1.2 Configuration RSLinx Classic™

7.1.3 RSNetWorx™

7.1.4 Configuration RSLogix 5000

7.2 Schneider configuration tools

7.2.1 Setting configuration

7.2.2 Online configuration

7.3 BOOTP/DHCP and IP configuration tool

8 FAQ

9 GLOSSAR

10 REVISION INDEX

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