absolute rotary encoder with device net interface user manual

absolute rotary encoder with device net interface user manual
ABSOLUTE ROTARY ENCO DER W ITH DEVICE NET INTERFACE
USER MANUAL
FRABA Inc.
1800 East State Street, Suite 148, Hamilton, NJ 08609
Phone +1 609 750 8705, Fax. +1 609 750 8703
www.posital.com, [email protected]
DEVI CENET
USER MANUAL
Imprint
Disclaimer of Warranty
FRABA Inc.
FRABA POSITAL GmbH makes no representations or warranties, either express or implied, by
1800 East State Street, Suite 148
or with respect to anything in this manual. And
shall not be liable for any implied warranties of
Hamilton, NJ 08609
USA
Phone +1 609 750 8705
merchantability and fitness for a particular purpose or for any indirect, special, or consequential
Fax.
damages.
+1 609 750 8703
www.posital.com
[email protected]
Document information
File name: UMUS-OCD-D.doc
Copyright
Versionnumber: 05/09
Author:
KMA/EIO
The company FRABA POSITAL GmbH claims
copyright on this documentation. It is not allowed
Phone Service
to modify, extend, copy, or hand over to a third
party this documentation without written approval
For technical support, questions and suggestions
for improving our products and documentations
by the company FRABA POSITAL GmbH .Nor is
any liability assumed for damages resulting from
call our telephone line +49 (0) 221-96213-0.
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.
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1. Introduction ..................................................... 4
1.1 Control and Information Protocol (CIP) ............ 5
1.2 Object modell ................................................... 6
2. Data Transmission .......................................... 7
2.1. The Object Dictionary...................................... 7
2.2 Definition of the CAN-ID ................................... 8
3. Programmable Parameters ............................ 9
3.1. Encoder parameters ....................................... 9
3.1.2. Resolution per revolution ............................. 9
3.1.5. MAC-ID ...................................................... 11
3.1.6. Baudrate .................................................... 11
4. Operating Mode ............................................. 12
4.1. Polled Mode .................................................. 12
4.2. Change of State Mode .................................. 14
4.3. Saving Parameter ......................................... 15
5. Transmission of the actual position ............ 15
6. Installation ..................................................... 16
6.1. Electrical connection ..................................... 16
6.2. Setting of the baudrate .................................. 17
6.3 Cabel.............................................................. 17
6.3 Connector ...................................................... 17
7. Power On ....................................................... 18
7.1. Operating Mode ............................................ 18
7.2. Programming ................................................ 18
7.2.1. Operating Parameter.................................. 18
7.2.3. Total resolution .......................................... 19
7.2.4. Preset Value .............................................. 20
7.2.5. MAC-ID ...................................................... 21
7.2.6. Baudrate .................................................... 21
8. RsNetworx ..................................................... 22
8.1. EDS Wizard .................................................. 22
8.2 Driver Configuration ....................................... 24
8.3 Network Connection ....................................... 26
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1. Introduction
Absolute rotary encoders provide a definite value
The integrated CAN-Bus interface of the absolute
for every possible position. All these values are
reflected on one or more code discs. The beams of
rotary encoder supports all of the DeviceNet functions. The following modes can be programmed and
infrared LEDs are sent through code discs and
detected by Opto-Arrays. The output signals are
enabled or disabled:
Polled Mode
electronically amplified and the resulting value is
transferred to the interface.
Change of State
The protocol supports the programming of the fol-
The absolute rotary encoder has a maximum reso-
lowing additional functions:
Code sequence (Complement)
lution of 65536 steps per revolution (16 Bit). The
Multi-Turn version can detect up to 16384 revolu-
Resolution per revolution
Total resolution
tions (14 Bit). Therefore the largest resulting resolution is 30 Bit = 1.073.741.824 steps. The standard
Preset value
Baudrate
Single-Turn version has 12 Bit, the standard MultiTurn version 24 Bit.
MAC-ID
The general use of absolute rotary encoders with
DeviceNet interface is guaranteed.
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1.1 Control and Information Protocol (CIP)
The DeviceNet specification defines the Application
Layer and the Physical Layer. The Data Link layer
CIP (Common Industrial Protocol) make for the
user available four essential functions:
is based on the CAN-specification. For the optimal
industrial control will be defined two different mes-
•
Unique control service
saging types. I/O messaging (Implicit Messaging )
and explicit messaging.With Implicit Messaging
•
•
Unique communication service
Unique allocation of messaging
becoming I/O data exchanged in realtime and with
Explicit Messaging becoming data exchanged to
•
Common knowledge base
configure a device.
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1.2 Object modell
DeviceNet describes all data and functions of a device considering as object model. By means of that
object-oriented description a device can be defined complete with single objects. A object is defined across
the centralization by associated attributes (e.g. processdata), his functions (read- or write access of a single
attribute) as well as by the defined behaviour.
DeviceNet distinction is drawn between three different objects:
•
Communication object
Define the exchange messages over DeviceNet and becoming designated as Connection Objects.
(DeviceNet Object, Message Router Object, Connection Object, Acknowledge Handler Object)
•
System objects
Define common DeviceNet-specific data and functions. (Identity Object, Parameter Object)
•
Applications-specific objects
Define device-specific data and functions. (Application Object, Assembly Object)
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2. Data Transmission
The data transmission in the DeviceNet network is
CAN-ID
Message Header
Message Body
realised by message telegrams. Basically, these
telegrams can be divided into the CAN-ID and 8
11 Bit
1 Byte
7 Byte
following bytes as shown in the table below:
2.1. The Object Dictionary
Instance Attribute of the Position Sensor Objects
Class Code:
23 hex
Attribute
ID
Access
Name
Data Type
Description
1 hex
Get
Number of Attributes
USINT
Number of supported Attributes
2 hex
Get
Attribute
Array of USINT
List of supported Attribute
3 hex
Get
Position value
DINT
current position
0B hex
Get / Set Code sequence
Boolean
Controls the code sequence
clockwise or counterclockwise
2C hex
Get / Set resolution per revolution
INT
resolution for one revolution
2D hex
Get / Set total resolution
DINT
total measurable resolution
2E hex
Get / Set preset value
DINT
setting a defined position value
6E hex
Get / Set Baudrate
Adjustment of the Baudrate
6F hex
Get / Set MAC ID
Adjustment of the MAC ID
Get / Set:
Version 05/09
: read, write
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2.2 Definition of the CAN-ID
DeviceNet is based on the standard CAN-protocol
and used a 11Bit (2048 specifiable messages)
the Message Group, Message ID and the MAC ID
of the device.
messages identifier. For the identification of a
device in a DeviceNet network are 6Bit enough
By our absolute rotary encoder it is a matter of a
Group 2 Messages. In the table below a user can
because a network belongs 64 nodes. That nodes
will be call MAC-ID. The CAN-Identifier consists of
see the importance
communication type.
CAN-IDs
for
a
certain
.
10 9
0
8
7
6
Group 1
5
4
3
2
1
0
Identity
Usage
Hex
Range
Source MAC ID
GROUP 1 Message
000-3ff
Message ID
0
1
1
0
1
Source MAC ID
Slave’s I/O Change of State or Cyclic Message
0
1
1
1
1
Source MAC ID
Slave’s I/O Poll Response or Change of State/Cyclic
Acknowledge Message
1
0
MAC ID
Group 2
GROUP 2 Messages
400 - 5ff
Message
ID
1
0
Destination
MAC 0
1
0
ID
Master’s Change of State or Cyclic Acknowledge
Message
1
0
Source MAC ID
1
0
Destination
0
1
1
Slave’s Explicit/Unconnected Response Messages
MAC 1
0
0
Master’s Explicit Request Message
1
0
MAC 1
0
1
Master’s I/O Poll Command/Change of State/Cyclic
1
0
Destination
ID
MAC 1
1
0
Group 2 Only Unconnected Explicit Request Message
(reserved)
1
0
Destination
ID
MAC 1
1
1
Duplicate MAC ID Check Messages
ID
Destination
ID
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3. Programmable Parameters
3.1. Encoder parameters
3.1.1. Operating Parameter
The operating parameter can be used to select the
code sequence.
Attribute ID
Default value
Value range
Data Type
0 b hex
1 hex
0 hex - 1hex
Boolean
The parameter code sequence (complement) defines the counting direction of the process value as
seen on the shaft whether clockwise or counter
clockwise. The counting direction is defined in the
attribute 0b hex:
Bit 0
Drehrichtung
Ausgabecode
1
CW
Steigend
0
CCW
Fallend
3.1.2. 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 shield) can be realised
Attribute ID
Default value
Value range
Data Type
2C hex
(*)
0hex - 2000hex
Unsigned Integer16
(*) see type shield, Maximum resolution:
12/24 Bit Encoder: 1,000 hex (4096)
13/25 Bit Encoder: 2,000 hex (8192)
When the value is set larger than 4096 (8192 for a
skipped while rotating the shaft. So, it is recom-
13/25 Bit encoder), the process value of the encoder will not be single stepped and values will be
mended, to keep the measuring steps per revolution below 4096 (8192) measuring steps.
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3.1.3. Total resolution
This value is used to program the desired number
(25 bit = 33,554,432 steps). Please note the value
of measuring steps over the total measuring range.
This value must not exceed the total resolution of
written on the type shield.
the encoder with 24 bit = 16,777,216 steps
Attribute ID
Default value
Value range
Data Type
2D hex
(*)
0h - 2,000,000h
Unsigned Integer 32
(*) see type shield
Maximum total resolution
24 Bit Encoder: 1,000,000 hex
25 Bit Encoder: 2,000,000 hex
Attention:
The following formula letters will be used:
-
PGA
Physical total resolution of the encoder
(see type shield)
-
PAU
Physical resolution per revolution (see
type shield)
-
GA
AU
Total resolution (customer parameter)
Resolution per revolution (customer
parameter)
If the desired resolution per revolution is less than
the physical resolution per revolution of the encoder, then the total resolution must be entered as
follows:
Total resolution
GA = PGA * AU / PAU, if AU < PAU
Example: Customer requirement: AU = 2048,
Encoder type shield: PGA=24 bit, PAU=12 bit
GA = 16777216 * 2048 / 4096
GA = 8388608
If the total resolution of the encoder is less than the
physical total resolution, the parameter total resolution must be a multiple of the physical total resolution:
-
k = PGA / GA
k = integer
3.1.4. Preset value
The preset value is the desired position value,
which should be reached at a certain physical position of the axis. The position value of the
encoder is set to the desired process value by the
parameter preset. The preset value must not exceed the parameter total measuring units
Attribute ID
Default value
Value range
Data Type
2E hex
0 hex
0hex - total measuring range
Unsigned Integer 32
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3.1.5. MAC-ID
Attribute ID
Default value
Value range
Data length
6F hex
0 hex
0hex – 3Fhex
BYTE
Each node in a Device Net network is identified
A Device Net netwok supports 64 nedoes. The
using a MAC-ID (Media Access Control Identifier).
Every device needs an explicit and unique MAC-ID.
MAC-ID can only be adjusted via explicit messaging. The default MAC-ID is setting on d63.
3.1.6. Baudrate
Attribute ID
Default value
Value range
Data length
6E hex
0 hex
0hex - 2hex
BYTE
Device Net supports three different baurates that
that the selective baudrate has to be the same as
are being showed in the below table. The baudrate
can be changed via explicit messages and stored in
the Device Net network baudrate. The default
baudrate is setting 125kBaud.
the EEPROM with a save command. It is to insure
0x
Baudrate in kBaud
0
125
1
250
2
500
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4. Operating Mode
4.1. Polled Mode
For switching the polled mode on the following
following example a master MAC ID of 0A hex and
telegrams are needed. Further it is assumed in the
a slave MAC ID of 03 hex.
Allocate Master / Slave Connection Set
1. Allocate Polling
Byte Offset
Bit 7
Bit 6
Bit 5
Bit 4
0
Frag [0]
XID
MAC ID
1
R/R [0]
Service [4B]
Bit 3
Bit 2
Bit 1
Bit 0
Class ID [03]
Instance ID [01]
Allocation Choice [03]
0
0
Allocator MAC ID
Definition CAN ID
10
9 8 7 6 5 4 3 2 1 0 Identity
Usage
1
0 Destination MAC 1 1 0 Group
ID
Hex
Range
2
Only
Unconnected
Explicit
Request
Message (reserved)
Example:
CAN-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
41E
0A
4B
03
01
03
0A
1. Setting the Expected_packet_rate of the Explicit Message Connection on 0:
Definition CAN-ID
10
9 8 7 6 5 4 3 2 1 0 Identity
Usage
Hex
Range
1
0 Destination MAC 1 0 0 Master´s Explicit Request Message
ID
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Example:
CAN-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
41C
0A
10
05
01
09
00
00
1. Setting the Expected_packet_rate of the Polling Connection on 0:n:
Example:
CAN-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
41C
0A
10
05
02
09
00
00
Release Master / Slave Connection Set
Release Polling
Byte Offset
Bit 7
Bit 6
Bit 5
0
Frag [0]
XID
MAC ID
1
R/R [0]
Service [4C]
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Class ID [03]
Instance ID [01]
Release Choice [03]
Example:
CAN-ID
41E
Version 05/09
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
0A
4C
03
01
03
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4.2. Change of State Mode
The absolute rotary encoder sends data, without
position value is not changing. This results in a
any request from the host, when the actual process
value is changing. No telegram will occur when the
reduced bus loading.
Allocate Master / Slave Connection Set
Allocate COS
Byte Offset
Bit 7
Bit 6
Bit 5
Bit 4
0
Frag [0]
XID
MAC ID
1
R/R [0]
Service [4B]
Bit 3
Bit 2
Bit 1
Bit 0
Class ID [03]
Instance ID [01]
Allocation Choice [51]
0
Example:
CAN-ID
41E
0
Allocator MAC ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
0A
4B
03
01
51
0A
2. Setting Expected_packet_rate of the Explicit Message Connection on 0:
Example:
CAN-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
41C
0A
10
05
01
09
00
00
3.
Setting Expected_packet_rate of the Change of State Connection on 0:
Example:
CAN-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
41C
0A
10
05
04
09
00
00
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Release Master / Slave Connection Set
Release COS
Byte Offset Bit 7
Bit 6
Bit 5
MAC ID
0
Frag [0]
XID
1
R/R [0]
Service [4C]
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Class ID [03]
Instance ID [01]
Release Choice [51]
Example:
CAN-ID
41E
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
0A
4C
03
01
51
4.3. Saving Parameter
The parameters of the absolute rotary encoder are
amination, those values can be saved in the FLASH
saved in a non-volatile FLASH memory. Because of
a limited number of writing cycles (≈ 1,000), it is
memory. After successful saving of the parameter
the encoder sends his MAC-ID on the bus. To get
useful to transmit the modified parameter in the first
step only in the RAM area. After adjusting and ex-
the process value a new allocation of the slave is
required.
Byte
Offset
Bit 7
Bit 6
Bit 5
Bit 4
0
Frag [0]
XID
MAC ID
1
R/R [0]
Service [32]
Bit 3
Bit 2
Bit 1
Bit 0
Class ID [23]
Instance ID [01]
Example:
(MAC-ID Master: 0A hex, MAC-ID Slave: 03 hex)
CAN-ID Byte 0 Byte 1
Byte 2
Byte 3
41C
0A
32
23
01
5. Transmission of the actual position
The process value is transmitted according to the
following table.
CAN-ID
process value
11 Bit
Byte 0
7
2 to 2
Version 05/09
Byte 1
0
2
15
to 2
Byte 2
8
2
Page 15
23
to 2
Byte 3
16
2
31
to 2
24
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6. Installation
6.1. Electrical connection
The rotary encoder is connected by three cables.
The power supply is achieved with a two-wire connection cable through one PG 9. Each one of the
twisted-pair and shielded bus lines are guided in
and out through two PG 9 on the right side (as seen
There is a resistor provided in the connection cap,
which must be used as a line termination on the last
device
Resistor:
on clamps)
Last Device
Device X
RT
RT
ON
RT
ON
ON
The setting of the node number is achieved by 2
G L
901
L
H
901
23
23
23
78
901
H G
78
-
78
+
456
456
456
Bd
x10
x1
turn-switches in the connection cap. Possible addresses lie between 0 and 63 whereby every address can only be used once. 2 LEDs on the backside of the connection cap show the operating
status of the encoder.
DeviceNet Devices
BCD coded rotary switches
x1
Device adress 0...63
Setting CAN-node number
x10
xBd Setting of the baud-rate
Clamp
Description
⊥
+
-
Ground
CG
CAN Ground
CL
CAN Low
CH
CAN High
CG
CAN Ground
CL
CAN Low
CH
CAN High
Version 05/09
24 V Supply voltage
0 V Supply voltage
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6.2. Setting of the baudrate
Baudrate in kBit/s
BCD coded rotary switches
125
0
250
1
500
2
125
3
reserved
4...9
6.3 Cabel
Pin
Signal
Description
Color
1
V-
GND
Black
2
CAN-L
CAN Bus signal (dominant low)
Blue
3
CAN-H
CAN Bus signal (dominant high)
White
4
V+
External voltage supply Vcc
Red
6.3 Connector
Pin
Signal
Description
Color
2
V+
External voltage supply Vcc
Red
3
V-
GND
Black
4
CAN-H
CAN Bus signal (dominant high)
White
5
CAN-L
CAN Bus signal (dominant low)
Blue
4
3
5
1
2
5 pin connector
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7. Power On
7.1. Operating Mode
After power on the absolute rotary encoder sends
two times his MAC ID telegram on the bus.
7.2. Programming
If some parameters should not be modified you can
format. In the examples, the CAN ID and MAC ID
skip over this chapter.
are 0A (hex) and for the slave 03 (hex).
The following numbers are given in hexadecimal
The changeable values are written in an italics.
7.2.1. Operating Parameter
Master to absolute rotary encoder:
Set-Parameter
CAN ID
MAC ID
Service
Class
Instance
Code
ID
ID
ID
Byte 0
Byte1
Byte 2
Byte 3
Byte 4
0A
10
23
01
0b
41C
X:
Attribute
Data
Byte 5 Byte 6
-
X
Byte 7
-
1 hex for CW (Default)
0 hex for CCW
Absolute Rotary Encoder to Master:
CAN ID
Confirmation
MAC ID
Service Code
Byte 0
Byte 1
0A
90
41B
7.2.2. Resolution per revolution
Master to Absolute Rotary Encoder: Set-Parameter
CAN ID
MAC ID
Service Code
Class
Instance ID
Attribute ID
Data
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
23
01
2C
X
X
ID
Byte 0
Byte 1
41C
0A
10
X: desired resolution per revolution
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Absolute rotary encoder to master:
CAN ID
41B
Confirmation
MAC ID
Service Code
Byte0
Byte1
0A
90
7.2.3. Total resolution
A fragmented transmission is needed, when the
total resolution must be sent to the encoder.
So here are more messages necessary.
Master to Absolute Rotary Encoder: Set-Parameter
CAN ID
41C
MAC ID
Fragment
Byte 0
Byte 1
8A
00
Absolute Rotary Encoder to Master:
CAN ID
41B
Service
Class
Instance
Attribute
Code
ID
ID
ID
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
10
23
01
2D
X
X
Confirmation
MAC ID
Byte0
Byte 1
Byte 2
8A
C0
00
Master to Absolute Rotary Encoder: Set-Parameter
CAN ID
MAC ID
Fragment
Byte 0
Byte 1
41C
8A
81
X: desired total resolution
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
X
X
-
-
-
-
Absolute Rotary Encoder to Master:
CAN ID
41B
Byte0
Byte 1
Byte 2
8A
C1
00
Absolute Rotary Encoder to Master:
CAN ID
41B
Version 05/09
Confirmation
MAC ID
Confirmation
MAC ID
Service Code
Byte0
Byte1
0A
90
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7.2.4. Preset Value
Master to Absolute Rotary Encoder: Set-Parameter
CAN ID
41C
MAC ID
Fragment
Byte 0
Byte 1
8A
00
Service
Class
Instance
Attribute
Code
ID
ID
ID
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
10
23
01
2E
X
X
X: desired preset value
Absolute Rotary Encoder to Master
CAN ID
41B
Confirmation
MAC ID
Byte0
Byte 1
Byte 2
8A
C0
00
Master to Absolute Rotary Encoder: Set-Parameter
CAN ID
41C
MAC ID
Fragment
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
8A
81
X
X
-
-
-
-
X: desired preset value
Absolute Rotary Encoder to Master
CAN ID
41B
MAC ID
Byte0
Byte 1
Byte 2
8A
C1
00
Absolute Rotary Encoder to Master:
CAN ID
41B
Version 05/09
Confirmation
Confirmation
MAC ID
Service Code
Byte0
Byte1
0A
90
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7.2.5. MAC-ID
Master to encoder:
CAN ID
41C
Set-Parameter
MAC ID
Service
Class
Instance Attribute
Data
Code
ID
ID
ID
Byte0
Byte1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
0A
10
23
01
6F
X
-
-
Data
X:Value of the MAC-ID
Encoder to Master:
CAN ID
41B
Confirmation
MAC ID
Service Code
Byte0
Byte1
0A
90
7.2.6. Baudrate
Master to encoder:
CAN ID
41C
Set-Parameter
MAC ID
Service
Class
Instance
Attribute
Code
ID
ID
ID
Byte0
Byte1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
0A
10
23
01
6E
X
-
-
X: Value of the Baudrate
X
Baudrate
o
125kbaud
1
250kbaud
2
500kbaud
Encoder to Master:
CAN ID
41B
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Confirmation
MAC ID
Service Code
Byte0
Byte1
0A
90
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7.2.7. Parameter Saving
Master to Absolute Rotary Encoder:
CAN ID
Set-Parameter
MAC ID
Service Code
Class ID
Instance ID
Byte0
Byte1
Byte 2
Byte 3
32
23
01
If the transfer has been successful, the absolute
If the transfer is not successful, an error message
rotary encoder responds after 3-4s with the Du-
will be sent. The service code used to save the
plicate MAC-ID. After that the master must reallo-
parameter
set
is
manufacturer
specific.
cate the slave.
8. RsNetworx
8.1. EDS Wizard
The EDS File contains information about device
data sheet in an electronic format, which can be
specific parameters as well as possible operating
used to configure the device in the network, for
modes of the encoder. With this file you have a
example
with
RsNetworx
from
Rockwell.
1.1 EDS Wizard
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sen and after that the button weiter. In the next
To install the EDS file the EDS Wizard has to be
started, that can be done in the menu Tools/EDS
step the Register a directory of EDS files has to
Wizard. If the EDS Wizard is activated success-
be chosen and with Browse the path of the EDS
fully the Register an EDS File(s) has to be cho-
file(s). That is indicated in picture 1.2.
1.2 EDS Wizard
The Wizard finds all EDS files that are discarded in
1.3) pictures can be selected for the using nodes.
the choosing path and operates a test to check the
With the button weiter the installation can be con-
EDS files on errors. In the next step (see picture
tinued
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and
finished.
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1.3 EDS Wizard
8.2 Driver Configuration
After a successful installing of the EDS file the next
used. In the next step the window Configure Drivers
step is to choose the suitable driver. With
in the menu Communications/ Configure Drivers
Start/Programme/Rockwell Software/RSLinx in the
menu the programm RSLinx can be started. With
has to be started. In the drop down Menü Available
Driver Types the driver typ 1770-KFD has to be
this programm the suitable driver can be chosen.
chosen and confirmed with the button Add New.
For this example the driver typ 1770-KFD is being
(See picture 1.4)
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1.4 Cofigure Drivers
If the suitable driver is chosen it can be configured
In the next step a requested name can be regis-
in the window Driver Configuration. In this step the
tered.
correct baudrate has to be registered (picture 1.5).
1.5 Driver Configuration
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8.3 Network Connection
This chapter will explain how to switch a network
has been choosen, this is explained in chapter
online and how to parametrise a encoder. In the
6.2, the network is online. After that RsNetworx
menu Network/ Online the window Browse for
searches in the network for connecting nodes.
network will be opened. If the driver 1770-KFD
That is also being showed in picture 1.6.
1.6 Browsing Network
To cofigure the encoder the configuration window in
pushing Parameters an upload of the encoder pa-
the menu Device/Properties has to be opened. By
rameter is realized.
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1.7 Upload Parameter
show the position value the button Monitor has to
be pushed. It should be noticed that the configuration parameters are not stored in the EEPROM. To
After a successful upload of the parameters, those
store the parameters in the EEPROM the window in
can be configured as the picture 1.8 below shows.
the menu Device/Class Instance Editor has to be
A download of the configured parameters can be
opened. The entries that are necessary to store the
realized with the yellow arrow that is showing down
parameters are being showed in the picture 1.9
and is placed at the top right in the configuration
below. At last the button execute has to be exe-
window. An upload can be realized with the arrow
cuted to store the parameters in the EEPROM.
beside the download arrow which is showing up. To
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1.8 Configure Parameters
1.9 Service Class Instance Attribute Editor
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EDS-File** Table
Encoder with connection cap
EDS-File**
OCD-D2B1B-0012-xxxx-OCC
OCD-D2B1B-1213-0013-xxxx-OCC.eds
OCD-D2B1B-0013-xxxx-OCC
OCD-D2B1B-1213-0013-xxxx-OCC.eds
OCD-D2B1B-0016-xxxx-OCC
OCD-D2B1B-0016-xxxx-OCC.eds
OCD-D2B1B-1212-xxxx-OCC
OCD-D2B1B-1213-0013-xxxx-OCC.eds
OCD-D2B1B-1213-xxxx-OCC
OCD-D2B1B-1213-0013-xxxx-OCC.eds
OCD-D2B1B-1216-xxxx-OCC
OCD-D2B1B-1216-xxxx-OCC.eds
OCD-D2B1B-1412-xxxx-OCC
OCD-D2B1B-1412-xxxx-OCC.eds
OCD-D2B1B-1413-xxxx-OCC
OCD-D2B1B-1413-xxxx-OCC.eds
OCD-D2B1B-1416-xxxx-OCC
OCD-D2B1B-1416-xxxx-OCC.eds
Encoder without connection cap
EDS-File**
OCD-D2B1B-0012-xxxx-xxx
OCD-D2B1B-1213-0013-xxxx-xxx.eds
OCD-D2B1B-0013-xxxx- xxx
OCD-D2B1B-1213-0013-xxxx-xxx.eds
OCD-D2B1B-0016-xxxx- xxx
OCD-D2B1B-0016-xxxx- xxx.eds
OCD-D2B1B-1212-xxxx- xxx
OCD-D2B1B-1213-0013-xxxx-xxx.eds
OCD-D2B1B-1213-xxxx- xxx
OCD-D2B1B-1213-0013-xxxx-xxx.eds
OCD-D2B1B-1216-xxxx- xxx
OCD-D2B1B-1216-xxxx- xxx.eds
OCD-D2B1B-1412-xxxx- xxx
OCD-D2B1B-1412-xxxx- xxx.eds
OCD-D2B1B-1413-xxxx- xxx
OCD-D2B1B-1413-xxxx- xxx.eds
OCD-D2B1B-1416-xxxx- xxx
OCD-D2B1B-1416-xxxx- xxx.eds
**
needless for hollow shaft
We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject to
change without notice.
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