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ABSOL UT E ROT ARY ENCO DER
W IT H ET HERNET /IP INT ERFACE
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]
ET HERNET /IP
USER MANUAL
Imprint
FRABA Inc.
1800 East State Street
Hamilton, NJ 08609
Phone +1 609 750 8705
Fax +1 609 750 8703
Internet http://www.posital.com e-mail [email protected]
Copyright
The company POSITAL GmbH claims copyright on this documentation. It is not allowed to modify, extend, copy, or hand over to a third party this documentation without written approval by the company POSITAL GmbH. Nor is any liability assumed for damages resulting from the use of the information contained herein. Further, this publication and features described herein are subject to change without notice.
Alteration of Specifications reserved
Technical specifications, which are described in this manual, are subject to change due to our permanent strive to improve our products.
Disclaimer of Warranty
POSITAL GmbH makes no representations or warranties, either express or implied, by or with respect to anything in this manual. Furthermore,
POSITAL shall not be liable for any implied warranties of merchantability and fitness for a particular purpose or for any indirect, special, or consequential damages.
Document information
Document name: UMUS-OCD-EE_V1R6.doc
Version number: 05/09
Author: RBA
Phone Service
For technical support, questions and suggestions for improving our products and documentations call our telephone line +49 (0) 221-96213-0.
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1. Introduction ..................................................... 4
1.1 Control and Information Protocol (CIP) ............ 5
1.2 Object model .................................................... 6
2. Data Transmission .......................................... 6
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 Explicit Messaging ...................................... 11
Position Sensor Objects ....................................... 12
2.3 TCP/IP Interface Object .............................. 13
2.3.1 Status Instance Attribute (01 hex
) .................. 13
2.3.2 Configuration Instance Attribute (02 hex
) ....... 14
2.3.3 Configuration Control Inst. Attribute (04 hex
) . 14
2.3.4 Physical Link Object (05 hex
)......................... 14
2.3.5 Interface Configuration (06 hex
) ..................... 15
2.3.6 Host Name .................................................. 15
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............................... 20
2.5.2 Set preset value .......................................... 21
2.5.3 Get preset value .......................................... 21
3 Diagnostic ....................................................... 22
4 Programmable Parameters ........................... 24
4.1 Encoder parameters for Position Sensor
Object Class 23hex .............................................. 24
4.1.1 Direction counting ....................................... 24
4.1.2 Scaling function control ............................... 24
4.1.3 Resolution per revolution ............................ 24
4.1.4 Total resolution ........................................... 25
4.1.5 Preset value ................................................ 25
4.1.6 Velocity Format ........................................... 26
4.1.7 Velocity Filter ............................................... 26
4.1.8 Device Type ................................................ 26
4.1.9 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™ .................. 32
7.1.3 RSNetWorx™ .............................................. 34
7.1.4 Configuration RSLogix 5000 ....................... 38
7.2 Schneider configuration tools ................... 45
7.2.1 Setting configuration ................................... 45
7.2.2 Online configuration .................................... 49
7.3 BOOTP/DHCP and IP configuration tool ... 51
8 FAQ ................................................................. 52
9 Glossary .......................................................... 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 Bit = 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 necessary the Ether-
Net/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, see at the bottom of this side the pink field with the blue frame.
The MAC Address for each encoder is available on the type label.
The IP address can be programmed with DHCP or BOOTP by configuration tools of the PLC.
The physical interface support Autonegotiation and Autocrossing.
General information’s about EtherNet/IP are available: www.ethernetip.de
(German) www.odva.org/default.aspx?tabid=67 (English)
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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. For the optimal industrial control will be defined two different messaging types. I/O messaging (Implicit
Messaging ) and explicit messaging.With Implicit
Messaging becoming I/O data exchanged in realtime and with Explicit Messaging becoming data exchanged to configure a device.
CIP (Common Industrial Protocol) make for the user available four essential functions:
•
Unique control service
•
Unique communication service
•
Unique allocation of messaging
•
Common knowledge base
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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 complete with single objects. A 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 support the
Encoder Device Type: 22 hex or Generic Device
Type: 0 hex
. This is programmable, see chapter
4.1.6. All parameters will be used with Big
Endian notation.
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2. Data Transmission
The 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 use i.e. 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.
With an Exclusiv Owner connection can be transmit the parameters (cycle time, configuration and Assembly Instances) to the encoder.
ET HERNET / IP
USER MANUAL
Input Only connections can only work if all of the parameters are according to the encoder parameters.
Listen Only need an connection of Excusiv
Owner or Input Only.
Assembly
Connection Manager
Exclusiv-Owner
Config
Config
0x6A hex
Output Instance Input Instance
Connection Point 1 Connection Point 2
(106) 0x69 hex
(105)
0x01 Position value
0x03 Position value + velocity
Input Only
Listen Only
0x6A
-
0x68 hex hex
(106) 0x64
(104)
0x65
0x67 hex hex hex
(100)
(101)
(103)
0x01 Position value
0x03 Position value + velocity
0x01 Position value
0x03 Position value + velocity
0x66 hex
(102) Demo-Scanner
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Communication check
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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
2.1.1 I/O Assembly Instances
Instance Type Name
1 Input Position Value
3 Input Position Value and Velocity
2.1.1.1 Data Attribute Format
Instance Byte Bit 7 Bit 6 Bit 5
0 Position Value (low Byte)
1
1
2
3 Position Value (high byte)
3
0
1
2
3
4
Position Value (low Byte)
Position Value (high byte)
Velocity (low Byte)
Position Value
Velocity
5
6
7
2.1.2 Data Mapping
Data Component
Name
Class
Name
Velocity (high byte)
Number
Position Sensor
Position Sensor
23 hex
23 hex the purpose of moving application-specific data. This is 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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5
6
7
8
9
10
11
0
1
2
3
4
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
Revolution units per
Position Sensor
23 hex
1
1
1
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
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 measuring units
Velocity Format
Bit 1 Bit 0
11 hex
19 hex
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
EDS file too. This path will sent during power up to the encoder. For some tools it is necessary to use the connection path as parameter: the configuration tools and are available in the
[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)
2C 01
80 06
I/O Assembly Instance 1 (Position value)
Data segment with lenght of 6 Bytes
00 01 00100000 00200000 041F Configuration Data, see chapter 2.1.3.1 for details
2.2 Explicit Messaging
Provide generic, multi-purpose communication nections. Explicit Messages provide the typical paths between two devices. These connections often are referred to as just Messaging Conrequest/response-oriented network communications. Class 2 and 3 are supported.
2.2.1 CIP Common Services for Position sensor object (Class 0x23
hex
)
Supported Service Code Service Name
05 hex
0E
10
15
16 hex hex hex hex
Reset
Comment
Boot up of the encoder, the programmed parameter from the customer will use again
Get_Attribute_Single Read out attribute from the encoder
Set_Attribute_Single Write attribute to the encoder
Restore
Save
Restore the saved parameters. Use instance 0 of position sensor class to restore all configuration parameter at once. To restore 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 parameter at once. To save single parameter use instance 1 of position sensor class with attribute number as argument (see next table).
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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
10
11
13
18
19
29
2A
2B
33
64
65
66 hex hex hex hex hex hex hex hex hex hex hex hex hex
Get
Get
Get
Get
Set
Set
Set
Set
Set
Get
Set
Get
Get
Get
Get
Set
Set
Set
Number of Attributes
Attribute List
Position Value Signed
Position Sensor Type
Scaling Function Control
Velocity Value
Velocity Format
Operating Status
Physical Resolution Span
Number of Spans
Offset Value
Device Type
Endless Shaft
Velocity Filter
Data Type
DINT
UINT
Direction Counting Toggle Boolean
Measuring units per Span UDINT
Total Measuring Range in
Measuring Units
Preset Value
UDINT
DINT
Description
USINT Number of supported Attributes
Array of USINT List of supported Attribute
Boolean
DINT
ENGUINT
BYTE
UDINT
UINT
DINT
DINT
DINT
DINT
Current position signed
Specifies the device type
Controls the code sequence clockwise or counterclockwise
Scaling function on/off
Resolution for one revolution
Total resolution
Setting a defined position value
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 possi-
Class Code: F5 hex
Attribute
Access Name
ID ble i.e. to read or write the device’s IP Address and Network Mask.
Data Type Description
01 hex
Get Status DWORD
Interface status, details in chapter
2.3.1
02
03 hex hex
Get
Set
Configuration Capability
Configuration Control
DWORD
DWORD
Interface capability flags, details in chapter 2.3.2
Interface control flags, details in chapter 2.3.3
Path to physical link object
Size of path
04 hex
Get Physical Link Object
Path size
Path
STRUCT of:
UINT
05 hex
Set Interface Configuration
Padded EPATH Logical segments identifying the physical link object
STRUCT of: TCP/IP network interface configuration
UDINT
UDINT
The device’s IP address
The device’s network mask
IP Address
Network Mask
06 hex
Set Host Name
2.3.1 Status Instance Attribute (01 hex
)
Bit(s) Called Definition
0-3
4
5-31
Interface
Configuration
Status
Mcast
Pending
Reserved
STRING
0 = The Interface Configuration attribute has not been configured.
Indicates the status of the
Interface Configuration attribute.
1 = The Interface Configuration attribute contains valid configuration obtained from BOOTP, DHCP or nonvolatile 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.
Reserved for future use and shall be set to zero.
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2.3.2 Configuration Instance Attribute (02 hex
)
Bit(s) Called Definition
0
1
2
BOOTP
Client
1 (TRUE) shall indicate the device is capable of obtaining its network configuration via BOOTP.
DNS Client Not supported
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
0-3
Startup Configuration configuration values previously stored
(for example, in non-volatile memory or
Determines how the device shall obtain via hardware switches, etc).
1 = The device shall obtain its interface its initial configuration at start up.
0 = The device shall use the 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 (assuming a 32 bit logical segment for each of the class and instance).
The physical link object itself typically maintains link-specific 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 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
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 mask
2.3.6 Host Name
located on another subnet. Value of 0 indicates no network mask address has been configured.
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.
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]
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2.4 Ethernet Link Object
Class Code: F6 hex
Attribut e ID
Access Name
01 hex
Get
02 hex
Get
03 hex
Get
Revision
Max Instance
Number of Instances
Data Type Description
UINT
UINT
UINT
Semantics of Values
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 ber of an object currently number of a created created in this class level object at this class hieof the device rarchy level
Number of object inThe number of object stances currently created instances at this class at this class level of the hierarchy level device
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2.4.0 Instance Attributes
ID Access Name
1
2
3
6
Get
Get
Get
Set
Forced Interface Speed
Data Type Description of Attribute
UINT
Interface Control Bits
Speed at which the
interface shall be forced
to operate
Semantics of Values
Interface
Speed
UINT
Interface speed currently in use
Interface Flags DWORD Interface status flags
Speed in Mbps (e.g., 10, 100
See chapter 2.4.1
Physical
Address
Interface
Control
ARRAY of
MAC layer address
6 USINTs
STRUCT of:
Configuration for physical interface
Displayed format
“XX-XX-XX-XX-XX-XX”
Control Bits WORD
Speed in Mbps (10 or 100)
7
8
10
Get
Get
Get
Interface Type
Interface State
Interface Label
USINT
USINT
SHORT_S
TRING
Type of interface
Current state of the interface
Human readable identification
1 = The interface is internal to the device, i.e. in the case of an embedded switch
2 = Twisted-pair (e.g.
100Base-TX)
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“
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2.4.1 Interface Flags
Bit(s) Called
0
1
Link Status
Half/Full Duplex
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.
2-4
5
6
Negotiation Status
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.
Manual Setting negotiate, duplex mode, interface speed) automatically. 1 indicates the device
Requires Reset
0 indicates the interface can activate changes to link parameters (autorequires 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. Examples
Local Hardware
Fault are an AUI/MII interface detects no transceiver attached or a radio modem detects no antennae attached. In contrast to the soft, possible self-correcting nature of the Link Status being inactive, this is assumed a hard-fault requiring user intervention.
7 Reserved
2.4.2 Common Services
Service
Shall be set to zero
Class Instance*
Code
Service
Name
0E
10 hex hex
Conditional n/a
Required
Conditional
Get_Attribute
_Single
Set_Attribute
_Single
Description of Service
Returns the contents of the specified attribute
Modifies a single attribute
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2
3
2.4.3 Link Object Instances
Instance Description
1 Internal interface
Intern switch Port 1
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 complains 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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In RSNetWorx is a scanner available too. 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
Class: 0x23 (Position sensor object)
Instance: 0x01
Attribute: 0x13 (Preset Value)
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2.5.3 Get preset value
Get Single Attribute Position Value
Class: 0x23 (Position sensor object)
Instance: 0x01
Attribute: 0x13 (Preset Value)
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3 Diagnostic
LED Color EtherNet/IP name Description
Active1 Yellow
Link1 Green
Network Status Indicator 1 Details in table 2
Active2 Yellow
Link2 Green
Network Status Indicator 2 Details in table 2
Stat1
Stat2
Green
Red
Module Status Indicator Details in table 1
Table 1: Module Status Indicator Stat1/Stat2
LED Summary Requirements
Steady Off No power
Steady On
Green
Flashing
Green 1
Flashing
Green 2
Flashing
Red
Steady On
Red
Flashing
Red + Green
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 shall be flashing green with 1 Hz
Missing IP If the device does not have an IP-Address, the module status indicator shall be flashing green with 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 shall be flashing red / green
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Table 2: Network Status Indicator Stat2
LED Summary Requirements
Steady Off No power, no
IP address
If the device does not have an IP address or is powered off
Steady
Green
Flashing
Green
Flashing
Yellow
Connected
No connection If the device has no established connections, but has obtained an IP address
Connection timeout
Duplicate IP
If the device has at least one established connection (even to the Message router)
If one or more of the connections in which this device is the target has timed out. This shall be left only if all timed out connections are reestablished or if the device is reset
If the device has detected that its IP address is already in use Steady
Yellow
Flashing
Yellow / Green
Self-test While the device is performing its power up testing, the Stat1 and Stat2 LED shall 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 code sequence. The parameter can set with Con-
Attribute ID Default value Value range
0C hex
0 hex
0 hex
- 1 hex
The parameter code sequence (complement) defines the counting direction of the process value
as seen on the shaft
( clockwise or counter clockwise). The counting direction is defined in the attribute 0C hex
:
4.1.2 Scaling function control
figuration Assembly and
Data Type
Boolean
Bit 0
0
1
Counting direction
CW
CCW
Explicit
Position values
Increase
Decrease
Messaging
If the Scaling function control is deactivated then complains the output value the physical resolution.
Attribute ID Default value Value range
0E hex
1 hex
0 hex
- 1 hex
This parameter can be set with Configuration Assembly and Explicit Messaging
4.1.3 Resolution per revolution
Bit 0
0
1
Data Type
Boolean
Scaling function on/off on off
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
10 hex
(*)
(*) see type label, Maximum resolution:
0 hex
- 10000 hex
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 figuration Assembly and Explicit Messaging.
Scaling function control
must be switch on
for customer parameters!
Data Type
Double Integer32 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 set with
Configuration Assembly and Explicit Messaging
Scaling function control
must be switch on
for customer parameters!
Data Type Attribute ID Default value Value range
11 hex
(*) see type shield
(*) 0 hex
- 40,000,000
Maximum total resolution
30 Bit Encoder: 40,000,000 hex
(1,073,741,824)
Attention:
hex
Unsigned Integer 32
Total resolution
GA = PGA * AU / PAU, if AU < PAU
Example: Customer requirement: AU = 2048,
The following formula letters will be used:
-
PGA Physical total resolution of the encoder (see type label)
-
PAU Physical resolution per revolution
(see type label)
-
GA Total resolution (customer parameter)
-
AU Resolution per revolution (customer parameter)
Encoder type shield: PGA=25 bit, PAU=13 bit
GA = 16777216 * 2048 / 8192
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
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: resolution:
k = PGA / GA
k = integer
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 set with Explicit Messaging.
Set the preset value only in standstill!
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 second. This parameter can be set with Configuration Assembly and Explicit Messaging.
Attribute ID Default value Value range Data length
1F04 hex
1F04 hex
1F05 hex
19 hex
1F06 hex
1F07 hex
1F0F hex
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
Steps per second
Steps per millisecond
Steps per microsecond
Steps per minute
RPM
Description Data Type
66 hex
0 hex
4.1.8 Device Type
0 hex
/ 1 hex
/ 2 hex
The EtherNet/IP interface supports the Encoder
Device with device type 22
hex
functionality or the Generic Device type 0 hex
according to the
CIP specification. As all controllers do not sup-
0 = Fine, 1 = Middle, 2 = Raw Double Integer port the Encoder Device the encoder changed to the Device Type. This parameter can set only with Explicit Messaging.
Attribute ID
64 hex
Default value
0 hex
Value range
0 hex
/ 22 hex
Data Type
Double Integer
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4.1.9 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 case the encoder checks if the parameters need the endless shaft. The parameter can be set only with Explicit Messaging. activated then this problem will be solved by the encoder. The default value is Auto. In this
Note:
The internal software routine only works if lems (the internal routine will not work without the encoder is in operation. If it is necessary to turn the encoder shaft more than 1024 revolutions without power supply this can lead to probpower supply). In this case the rule ahead should be observed even with new devices.
Attribute ID Default value Value range
65 hex
2 hex
0 hex
/ 1 hex
/ 2
Description hex
0 = Off, 1 = On, 2 = Auto
Data Type
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.
Connector Ethernet
4 pin female, D-coded
Pin Number
1
2
Signal
Tx +
Rx +
3 Tx -
4 Rx -
Sketch as seen on the encoder
3 4
2
1
The Encoder uses a second D-coded connector and provides an integrated switch functionality.
On or in the packaging of the connector is the mounting description.
Connector power supply
4 pin male, A-coded
3
4
Pin Number
1
2
Signal
US (15 - 30 V DC)
N.C.
GND (0V)
N.C.
4 3
5
1 2
5.2 Ethernet cables
5.2.1 RJ45 – M12 crossed
Signal
Tx+
Tx-
RJ45 Pin M12 Pin
1 2
2 4
Rx+ 3 1
Rx- 6 3
5.2.2 RJ45 – M12 straight
Signal
Tx+
Tx-
RJ45 Pin M12 Pin
1
2
1
3
Rx+
Rx-
3
6
2
4
Signal
Tx+
Tx-
Rx+
Rx-
5.2.3 M12 – M12 straight
M12 Pin M12 Pin
1
2
3
4
1
2
3
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.
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 scan 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 send the BOOTP or DHCP request often. But after several time comes no answer the frequency of requests decrease. A power up after a longer pause could solve the missing requests.
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?
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If the encoder has got his IP-Address, the BOOTP and DHCP must be disabled with the corresponding button. Otherwise the encoder starts up to get a new IP-Address again. After setting the IP-Address the Status LED is flashing with 1 Hz. But in this case save the configuration in the File menu, because the products cannot be found by 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 is 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 Ether-
Net/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 Ether-
Net/IP. The program defines and configures the devices on the network quickly through a sim-
EDS Wizard
The EDS File contains information about device specific parameters as well as possible operating modes of the encoder. With this file you have a data sheet in an electronic format, 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. ple software interface. This definition can take place offline using drag and drop operations or online by using RSLinx® to browse a Ether-
Net/IP network.
To install the EDS file the EDS Wizard has to be started, that can be done in the menu
Wizard.
be chosen and after that the button next step the
Tools/EDS
If the EDS Wizard is activated successfully the
Register an EDS File(s) weiter
has to
. In 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.
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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
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.
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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 is used the CompactLogix5332E.
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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 file complies to the configuration of the encoder. The device type is programmable.
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Set the Connection Parameters according the following figure.
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 change parameters open
Communication Who Active
,
Go Offline
,
File Save
, select controller,
Download
, Run
•
These parameter can set by a standard EtherNet/IP scanner tool too.
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 help to change the parameters on an easy way. Select the EtherNet/IP module and start the EtherNet/IP configuration tool.
7.2.1 Setting configuration
In the first time it is necessary
to install the EDS-File with the wizard.
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Select the EDS-File, available on our web side, and follow the wizard to the end.
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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 in the status online. In the configuration window in tab General it is possible to test the encoder connection with sending Ping commands to the encoder.
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In tab
Online Parameters
is it possible to change the parameters. In a separate window it is possible to use the wished parameter. There are the minimum, maximum and default values available. With the
Synchronize
button it is possible to send the parameters to the encoder oder 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 there is a
Functionality. After changing the status it is necessary to push the button “
Search…
” to get free special tool available that allows to scan the complete network segment for MAC-
Addresses of Posital 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 needed the actual status of the encoders.
With this tool is it possible to change the IP-
Adress, the Subnet and Gateway too.
This program use UDP Port 4000.
Attention:
Check that the firewall don’t block this port!
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8 FAQ
8.1 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: http://www.posital.eu/en/products/POSITAL/AbsoluteEncoders/AbsoluteEncoders_OCD_IndustrialEthernet_
Ertec_base.html
8.2 Problem:
Replace a rotary encoder in the machine and the controller cannot start the application. Additional 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
9 Glossary
Term Explanation
10Base-T
100Base-T
Transmission line with 10 Mbit data transmission rate
Transmission line with 100 Mbit data transmission rate
Autocrossing
Autonegotiation
Baudrate
Big Endian
Binary
BootP
CAT5
CIP
DHCP
EIP
EMC
ENIP
Ethernet
Explicit Messages
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 display the transmission bits per second
Variables will use Byte 0 as Low and last Byte as High
Numeric system with value 0 or 1.
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
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
theNet
/IP
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.
Communication between i.e. a Ethernet scanner and encoder
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Fast Ethernet
Flash
Implicit Messaging
IP-Address
Term
IP-Protocol
MAC Address
Mbit
OCD
OSI-Model
Scanner
Switch
TCP
UDP
Transmission technology with 100 Mbit transmission rate.
Internal memory, saved data will be available after power down.
IO Connection: communication between controller and device
Allow a logic addressing from computer in a network.
Explanation
The
I
nternet
P
rotocol is widespread in computer networks. It is the implementation of the internet layer of the TCP/IP-model
World wide explicit address of a device. The encoder use three MAC Adresses: one for internal interface and two for the ports.
Transmission rate or baud rate, million bits per second
Acronym:
O
PTO
C
O
D
E, name of an encoder series manufactured by FRABA
POSITAL.
The
O
pen
S
ystem
I
nterconnection reference model is a open layer model for the organization of a communication.
Program to send Explicit Messages to the encoder
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.
The
T
ransmission
C
ontrol
P
rotocol is a connection orientated transmission protocol, in a network.
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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