Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
35
EtherNet/IP Overview
Chapter 3
Attribute ID
(dec)
Attribute ID
(hex)
Access
rule
(1)
NV /
V
(2)
Name
Data type Description
Min. / Max.
(default)
1
1
Get
V
Number of attributes
INT
Number of supported attributes in this
class
0x0039
2
2
Get
V
Attribute list
ARRAY
of byte
List of supported attributes
–
10
A
Get
V
Position value signed
DINT
Current position value (32 Bits)
none
11
B
Get
NV
Position sensor type
(see following table, encoder ID)
INT
Device Type
0x01: Single-turn absolute encoder
0x02: Multi-turn absolute encoder
Min 0x00 01
Max 0x00 02
(0x00 02)
12
C
Set
NV
Direction counting toggle, code
sequence (CS)
BOOL
Definition of direction of incrementing
counts (10)
0: CW
1:CCW
(0: CW)
13
D
Set
NV
Commissioning diagnostic
control (encoder position test)
BOOL
ON: 1 Encoder diagnostics possible
OFF: 0 No diagnostics implemented
(OFF: 0)
14
E
Set
NV
Scaling function control (SFC)
BOOL
ON: 1 calc. value (from 16+42)
OFF: 0 phys. resolution [steps]
(OFF: 0)
15
F
Set
NV
Position format
ENG
UNIT
Format of position value
(for example, arcsec or steps)
Engineering unit: 0x1001 (counts)
(0x1001)
16
10
Set
NV
Counts per range
DINT
Number of requested steps per
revolution.
Min 0x00 00 00 01
Max 0x00 04 00 00
(0x00 04 00 00)
17
11
Set
NV
Total measuring range
DINT
Total resolution
Min / Max
0x00 00 00 01 /
Max. 2
n
* Attr.16
18
12
Set
NV
Position measuring increment
DINT
Minimum resolution in steps (is always
0x00 01)
(0x00 00 00 01)
19
13
Set
NV
Preset value
DINT
The preset value is set to the current
position value
Min / Max
0x00 00 00 00 /
Attr.17 - 1
(0x00 00 00 00)
21
15
Get
V
Position status register
BYTE
State of the software limit switch
Bit 0: Out of range
Bit 1: Range overflow
Bit: 2: Range underflow
Bit 3…7 reserved
(0x00)
22
16
Set
NV
Position low limit
DINT
Lower limit for position
0x00 00 00 00
23
17
Set
NV
Position high limit
DINT
Upper limit for position
0x3F FF FF FF
24
18
Get
V
Velocity value
DINT
Current velocity (32 Bits)
Format (25) and (26)
25
19
Set
NV
Velocity format
ENG
INT
Format of velocity value
0x1F04 counts/s
0x1F0E revs/s
0x1F0F revs/min
(0x1F0F)
26
1A
Set
NV
Velocity resolution
DINT
Minimum resolution of velocity value
(24)
(0x00 00 00 01)
27
1B
Set
NV
Minimum velocity setpoint
DINT
Minimum velocity setpoint for setting
warning flag (47)
(0x00 00 00 00)
28
1C
Set
NV
Maximum velocity setpoint
DINT
Maximum velocity setpoint for setting
warning flag (47)
(0x3F FF FF FF)
29
1D
Get
V
Acceleration value
DINT
Current acceleration (32 Bits)
Format (30) and (31)
Table 17 - Instance Attributes of the Position Sensor Object
