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Allen-Bradley Rockwell Automation 842E-MIP Series, User Manual

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Allen-Bradley Rockwell Automation 842E-MIP Series User Manual Download Page 3

Rockwell Automation Publication 842E-UM001B-EN-P—April 2015

i

Table of Contents

About this document

Who should use this manual  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii 
Purpose of this manual  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Related documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Common techniques used in this manual  . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Chapter 1

Safety

Authorized personnel  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 
Correct use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1 
General safety notes and protective measures  . . . . . . . . . . . . . . . . . . . . . . . . .2 
Environmental protection  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2 

Chapter 2

Encoder overview

Overview of the encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3 

What is an encoder? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 
What are the different kinds of encoders?. . . . . . . . . . . . . . . . . . . . . . . . . 3

842E encoder features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
Configurable parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
The electronic data sheet file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

Chapter 3

EtherNet/IP overview

Use of the Common Industrial Protocol  . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

TCP/IP and UDP/IP  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
MAC address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Communication frame. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Understanding the producer /consumer model . . . . . . . . . . . . . . . . . . . . . . .9
Specifying the requested packet interval . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
EtherNet/IP topologies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

Star topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Linear topology  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Device level ring topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

CIP object model  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

Chapter 4

Installation

Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

Shaft rotation direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Mounting with a solid shaft  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Mounting with a hollow shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Mechanical specifications  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

Electrical wiring instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Preset push button  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Network address switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Electrical specifications  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Summary of Contents for Rockwell Automation 842E-MIP Series

Page 1: ...842E EtherNet IP Absolute Encoder 842E SIP xxx 842E MIP xxx User Manual ...

Page 2: ...SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Rockwell Automation sales office describes some important differences between solid state equipment and electromechanical devices that should be taken into consideration when applying products such as those described in this publication It is recommended that you save this us...

Page 3: ... 4 Configurable parameters 5 The electronic data sheet file 5 Chapter3 EtherNet IPoverview Use of the Common Industrial Protocol 7 TCP IP and UDP IP 8 MAC address 8 Communication frame 8 Understanding the producer consumer model 9 Specifying the requested packet interval 10 EtherNet IP topologies 10 Star topology 10 Linear topology 11 Device level ring topology 17 CIP object model 17 Chapter4 Inst...

Page 4: ...b 41 Module Info tab 42 Configuration tab 43 Internet Protocol tab 44 Network tab 45 Configuration 46 Default encoder settings 46 Preset function 46 RSLogix 5000 controller tags 47 Chapter7 Diagnosticsandtroubleshooting Status indicators 49 Self test via EtherNet IP 51 Warnings alarms and errors via EtherNet IP 51 Warnings 52 Alarms 52 Errors 53 Appendix A Installingtheadd onprofile Introduction 5...

Page 5: ...ditional information concerning Rockwell Automation products To obtain a copy contact your local Rockwell Automation office or Allen Bradley distributor Common techniques used in this manual The following conventions are used throughout this manual Bulleted lists such as this one provide information not procedural steps Numbered lists provide sequential steps or hierarchical information Italic typ...

Page 6: ...iv Rockwell Automation Publication 842E UM001B EN P April 2015 About this document Notes ...

Page 7: ... IP encoder must only be installed commissioned and serviced by authorized personnel Repairs to the 842E EtherNet IP encoder are only allowed to be undertaken by trained and authorized service personnel from Rockwell Automation Activity Qualification Mounting Basic technical training Knowledge of the current safety regulations in the workplace Electrical installation and replacement Practical elec...

Page 8: ...ensure the correctandsafe use of the 842E EtherNet IP encoder The encoder is to be installed and maintained by trained and qualified personnel with knowledge of electronics precision mechanics and control system programming It is necessary to comply with the related standards covering the technical safety stipulations All safety regulations are to be met by all persons who are installing operating...

Page 9: ...s Our accessories help you easily install and efficiently use our encoders What are the different kinds of encoders Incremental A simple and cost effective solution for a wide variety of applications incremental encoders electronically monitor the position or speed of a rotating shaft Encoder feedback is compatible with programmable controllers numerical controllers motion controllers and other po...

Page 10: ... Single turnvs multi turn Absolute encoders are either single turn or multi turn Single turn encoders are used if the absolute position of the shaft for one revolution is required Multi turn encoders are used if the absolute position is required for more than one shaft revolution 842E encoder features The 842E EtherNet IP encoder features include Support for the encoder profile 22h 0x22 defined in...

Page 11: ... Operating principle of the 842E EtherNet IP encoder acquires the position of rotating axes and outputs the position in the form of a unique digital numeric value Optical acquisition of the rotary position value is from an internal coded disk The 842E SIP xxx EtherNet IP is a singleturn encoder Singleturn encoders are used if the absolute position of the shaft for one revolution is required The 84...

Page 12: ...ility Large ball bearing spacing of 30 mm High level of resistance to vibration Optimal rotational accuracy Compact design Face mount flange servo flange and blind Hollow shaft Firmware flash upgradable 18 bit single turn resolution 1 to 262 144 steps 30 bit total resolution 12 bit multi turn resolution 1 4 096 revolutions Round axis functionality endless shaft functionality EtherNet IP interface ...

Page 13: ... FTP is used for the transfer of files this protocol is used for process control The 842E encoder meets the requirements of the EtherNet IP protocol according to IEC 61784 1 and those of the encoder profile OSI Model Host Layers Layer Function 7 Application Network process to application 6 Presentation Data encryption 5 Session Inter host communication Explicit and implicit messaging 4 Transport F...

Page 14: ...sult a fast data rate is used Explicit messaging is used in EtherNet IP for communication that does not need to take place in real time Explicit messaging uses TCP IP it is used for example to transfer parameters from the PLC to the encoder MAC address Devices that originate or use data on the network have factory assigned media access control MAC addresses for unique identification The MAC addres...

Page 15: ...lacement You maintain full control over the route taken by each message which enables you to select alternative paths for the same end device Understanding the producer consumer model The CIP producer consumer networking model replaces the old source destination master slave model The producer consumer model reduces network traffic and increases speed of transmission In traditional I O systems con...

Page 16: ...he same chassis as the controller does not require an RPI because it is not a data producing member of the system it is used only as a bridge to remote modules EtherNet IP topologies The 842E encoders can be connected in any of three network topologies star linear or device level ring DLR Star topology The star structure consists of a number of devices connected to a central switch IMPORTANT Rockw...

Page 17: ...he steps per revolution are not configured directly Instead the nominator and divisor for the number of revolutions are defined The total measuring range can be scaled from 1 1 073 741 824 as an integer The encoder supports the function for round axes During this process the steps per revolution are set as a fraction As a result the total resolution does not have to be configured to 2H times the s...

Page 18: ...tionality The steps per revolution are ignored here The total resolution as well as the nominator and divisor for the number of revolutions are configured 9 000 steps are configured as the total resolution For the nominator for the number of revolutions 125 is configured 10 as the divisor 125 10 12 5 After 12 5 revolutions that is after one complete revolution of the rotary table the encoder reach...

Page 19: ...s Pass 1 1 1 262 150 Pass Pass 1 Position Rolls over 262 144 This is expected behavior as the CMR limit is 262 144 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 1 1 524 288 Pass Pass 1 Position Rolls over 262 144 This is expected behavior as the CMR limit is 262 144 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 2 1 524 288 Pass Pass 1 Position Rolls ov...

Page 20: ...he encoder 8 1 262 144 Pass Pass 0 1 32 768 counts per turn of the encoder 16 1 262 144 Pass Pass 0 1 16 384 counts per turn of the encoder 32 1 262 144 Pass Pass 0 1 8 196 counts per turn of the encoder 64 1 262 144 Pass Pass 0 1 4 096 counts per turn of the encoder 128 1 262 144 Pass Pass 0 1 2 048 counts per turn of the encoder 256 1 262 144 Pass Pass 0 1 1 024 counts per turn of the encoder 51...

Page 21: ... Pass Outside CMR Limit See description above 1 16 262 144 Pass Pass Pass Outside CMR Limit See description above 1 32 262 144 Pass Pass Pass Outside CMR Limit See description above 1 64 262 144 Pass Pass Pass Outside CMR Limit See description above 1 128 262 144 Pass Pass Pass Outside CMR Limit See description above 1 256 262 144 Pass Pass Pass Outside CMR Limit See description above 1 512 262 14...

Page 22: ...e and remains at zero The is expected behavior as the CMR limit is 131072 based on the following formula CMR CNR_N CNR_D CPR where CPR 262 144 8 32 65536 Pass Pass I Position traverses 4 cyles turn of the encoder with an unwind at 65536 8 32 65537 Pass Pass I Position doesn t update and remains at zero The is expected behavior as the CMR limit is 65536 based on the following formula CMR CNR_N CNR_...

Page 23: ...zed in instances Instance An instance consists of different attributes that describe the properties of the instance Different instances of a class have the same services the same behavior and the same attributes They can however have different values Attribute The attributes represent the data a device provides over EtherNet IP These include the current values of for example a configuration or an ...

Page 24: ...ttributes data of various objects to a single object Used for I O messages 7 0x06 Connection manager object Contains connection specific attributes for triggering transport and connection type 1 0x23 Position sensor object Administrates device specific data like position and counting direction 1 0x47 Device level ring DLR object Contains the configuration and status information of the DLR protocol...

Page 25: ...r values from the non volatile storage customer defaults 0x16 22dec Save Save parameters to the non volatile storage Nu m dec Required optional Access rule Name Data type Description Default 1 Required implemented Get Revision INT Object revision no 0x00 02 2 Implemented Get Max instance INT Max instance number of an object in this class 0x00 01 3 Implemented Get Number of instances INT Numberofob...

Page 26: ...ng 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 Max 2 n Attr 16 18 12 Set NV Position measuring increment DINT Minimumresolutioninsteps isalways 0x00 01 0x00 00 00 01 19 13 Set NV Preset value DINT ...

Page 27: ...4 2C Get V Alarms WORD Flags for alarms errors 45 2D Get NV Supported alarms WORD Information on supported alarms 0x3003 46 2E Get V Alarm flag BOOL Indication of set alarm 0 OK 1 Alarm error 47 2F Get V Warnings WORD Flags for warnings 48 30 Get NV Supported warnings WORD Information on supported warnings 0x673C 49 31 Get V Warning flag BOOL Indication of set warning 0 OK 1 Warning Flag 50 32 Get...

Page 28: ...e 0 110 6E Get NV Max acceleration cnts ms 2 DINT Storage of the maximum acceleration of the encoder in operational state 0 111 6F Get NV Max temp C 100 DINT Storage of the maximum temperature of the encoder in operational state 2000 112 70 Get NV Min temp C 100 DINT Storage of the minimum temperature of the encoder in operational state 2000 113 71 Get NV Number of startups DINT Storage of the num...

Page 29: ... size flexible coupling clamp to mate to the encoder shaft e g 845 FC See encoder accessories in the Sensors catalog 2 Use the dimension drawings in the installation instructions to determine the encoder mounting hole locations see Related documentation on page iii 3 Slide the flexible coupling onto the shaft but do not tighten the set screws 4 Mount the encoder and tighten with three size M4 moun...

Page 30: ... mounting holes already exist proceed to Step 6 4 Slide the encoder off Drill and tap the marked holes to accept M4 or equivalent screws 5 Slide the encoder back onto the shaft until the flex mount rests on the machine surface 6 Attach the encoder with two M4 or equivalent screws 7 Tighten the clamping ring screw to 1 1 Nm 10 in lb 8 Align machine to its mechanical zero or home position 9 Remove t...

Page 31: ...ervo flange 6 x 10 mm Blind hollow shaft 8 19 12 15 mm and 1 4 1 2 3 8 5 8 in ATTENTION Switchoffthepowersupply Themachine systemcouldunintentionallystartwhile you are connecting the devices Ensure that the entire machine system is disconnected during the electrical installation ATTENTION Commissioning requires a thorough check by authorized personnel Beforeyouoperateasystemequippedwiththe842EEthe...

Page 32: ...and Setting the IP Address on page 29 Voltage supply Pin Signal Mating cable wire color Function 1 Vs Brown Supply voltage 10 30V DC 2 White Do not use 3 GND Blue 0V DC ground 4 Black Do not use Ethernet Link Connections Link 1 and Link 2 Pin Signal Mating Cable Wire Color Function 1 TxD White orange Ethernet 2 RxD White green Ethernet 3 TxD Orange Ethernet 4 RxD Green Ethernet ATTENTION Pressing ...

Page 33: ...ecifications Operating voltage 10 30V DC Power consumption 3 W Load current 200 mA Resolution per revolution 262 144 Revolutions 4 096 Repeat accuracy 0 002 Error limit 0 03 Code direction CW or CCW programmable Interface EtherNet IP per IEC 61784 1 Transmission speed 100 MBits s Duplex Full or half ...

Page 34: ...28 Rockwell Automation Publication 842E UM001B EN P April 2015 Chapter 4 Installation Notes ...

Page 35: ...coder to set the last octet of the IP address 192 168 1 xxx 2 Use the network address switches to enable BootP DHCP and use a BootP utility or DHCP server to assign the IP address of the unit on powerup Assigning the last octet in an IP address scheme of 192 168 1 xxx using the network address switches 1 Set the three network address switches to 999 2 Cycle power to the encoder 3 Set the three net...

Page 36: ... up and request an IP address from a BootP DHCP server 4 If the encoder s MAC ID is in the relationship list the BootP DHCP server will assign the associated IP address to the corresponding MAC ID Functionofnetworkaddressswitchsettings Setting of network address switches Function 001 254 Sets last octet of the IP addressto the value indicated xxx in 192 168 1 xxx 888 Restores all factory default s...

Page 37: ...der to retain the IP address at the next power cycle Wait for the status message to show that the command was successfully sent If the message does not appear repeat this step 6 Click File Save As to save the relationship if desired 7 Cycle the power to the 842E encoder You should no longer see the 842E encoder appear in the request history panel From a DOS prompt you can ping the new address The ...

Page 38: ...32 Rockwell Automation Publication 842E UM001B EN P April 2015 Chapter 5 Configuring the encoder for your EtherNet IP network Notes ...

Page 39: ...are version 20 Example setting up the hardware In this example a CompactLogix chassis contains the L35E processor in slot 1 and a built in EtherNet IP connection The encoder is connected to a Stratix 6000 ethernet switch To work along with this example set up your system as shown Verify the IP addresses for your programming terminal and 842E encoder Verify that you connected all wiring and cabling...

Page 40: ...oth options are explained in detail including views of software screens in this chapter CheckingtheintegrationinEtherNet IPviaRSLinxClassic With the aid of the tool RSLinx Classic you can again check whether the IP address set is detected by the control system The EDS file electronic data sheet contains all the information related to the parameters as well as the operating modes of the EtherNet IP...

Page 41: ...h its IP address 4 Install the add on profile according to the instructions in Appendix A page 55 Settinguptheadd onprofile in RSlogix 5000 After you install the encoder add on profile see Appendix A page 55 set up the add on profile here is an example of the setup procedure 1 Open RSLogix 5000 2 Click File New IMPORTANT Before proceeding install the add on profile see Appendix A page 55 ...

Page 42: ...ation Publication 842E UM001B EN P April 2015 Chapter 6 Configuring the 842 E encoder using RSLogix 5000 3 Enter the new controller information 4 Right click on the ethernet port of the controller and select New Module ...

Page 43: ...M001B EN P April 2015 37 Configuring the 842 E encoder using RSLogix 5000 Chapter 6 5 Select the desired 842E encoder and click Create 6 Close the select module type dialog box 7 Continue to the next sections to complete the add on profile ...

Page 44: ... encoders or other modules so be sure to give each a brief but descriptive name The name that you assign to the encoder appears in the controller organizer IO tree The name will also appear in the description of tags 2 Enter a description of the encoder s function 3 Set the ethernet address for the encoder In this example the address is 192 168 1 123 The 123 reflects the address of the network add...

Page 45: ...o button Enter a value of 1 254 for the last segment octet of the address Be sure not to duplicate the address of an existing device In the preceding example the address of the EtherNet IP encoder is 192 168 1 123 When multiple networks exist you may choose to set the address to some other value when offline simply click the IP address radio button and enter the desired address Click the Host Name...

Page 46: ... allows you to select either a Data or Listen Only connection see definitions below The Input data drop down menu allows you to select position position status or position velocity see RSLogix 5000 controller tags on page 47 for more information 3 Click OK to accept the changes or Cancel to retain the original settings See the definitions below Click Help for more information Data This type of con...

Page 47: ...s received the controller asks the encoder for a status update Minimum setting is 2 ms and the maximum setting is 750 ms Inhibit Module When checked the encoder is not polled for information and any information provided will be ignored by the controller Major fault on controller if connection fails while in run mode Check this box if a connection failure should be considered a major fault Use Unic...

Page 48: ...r product type product code revision level serial number and product name The right panel Status shows the fault status internal state i e run mode and whether the file is owned and Module Identity The Refresh and Reset Module buttons are active when the controller is on line Refresh Click this button to refresh the data in the window Reset Module Click this button with care as it disconnects the ...

Page 49: ...t possible to scale the steps per revolution and the total resolution see Linear scaling example on page 59 in Appendix B If the Enable Scaling box is checked the values can be entered for the steps per revolution and the total resolution applied Direction The direction of rotation increasing position value viewed on the shaft can be set to clockwise or counterclockwise Clockwise increasing positi...

Page 50: ...l 2015 Chapter 6 Configuring the 842 E encoder using RSLogix 5000 Internet Protocol tab For the purpose of this user manual the user is expected to use a private address that is an address of 192 168 1 xxx This window is automatically populated with the data ...

Page 51: ...when the controller goes online Network Topology This displays the current network topology as either linear star or ring Network Status This displays the current network status as normal ring fault or unexpected loop detected The Refresh Communication link appears when communication with the encoder has failed Click Refresh Communication to attempt to restart communication with the encoder ...

Page 52: ...arameter setting operations but as an electronic adjustment function during commissioning in order to allocate a specific value to the mechanical rotary position of the 842E encoder If the preset value is set by EtherNet IP the value must be within the total working range currently configured steps per revolution and number of revolutions The preset push button see figure on page 25 and Preset pus...

Page 53: ...egories of tags appear The tag name is composed of the encoder name followed by a C for configuration I for input Configurationimagetableandtags Expand Enc_1 C by clicking This shows the configuration image table which has the following tags Enc_1 C Counterclockwise Configuration status of the direction of the count as defined in the encoder profile Enc_1 C VelocityUnits Velocity units status of t...

Page 54: ...atus of the encoder Enc_1 I Position Position status of the encoder If position status is selected from the input data selection in the encoder definition you will also see alarms and warning status Enc_1 I Velocity Velocity status of the encoder is also included when selecting velocity status from input data selection in the encoder definition ...

Page 55: ...ve LED indicators provide status information on the back of the encoder The figure below shows their location and the tables below describe their status Read the LEDs according to the following tables ATTENTION Cease operation if the cause of the malfunction has not been identified Stop the machine if you cannot clearly identify the error and or if you cannot safely rectify the malfunction LED Net...

Page 56: ... Device operational Green flashing Standby device not configured no IP address assigned Red flashing Warning but device still operational or Firmware update in progress Red Error device not operational Green red flashing Self test at power on LED Encoder Description OFF No power or No IP address Green flashing Warning Wrong parameter Green Device operational Red flashing Warning but device still o...

Page 57: ...arms and errors via EtherNet IP Within EtherNet IP warnings alarms and errors can be retrieved using implicit messages and also explicit messages Alarms and warnings for the encoder can be read via the position sensor object with the aid of the attributes For errors alarms and warning the following applies Bit status 0 no error alarm or warning Bit status 1 error alarm or warning present In additi...

Page 58: ...1 47 0 Frequency exceeded Max velocity exceeded OK Exceeded 1 Light control reserve LED current critical OK Out of range 2 CPU watchdog Not implemented Always 0 3 Operating time limit warning Operating time limit reached Always 0 4 Battery charge Not implemented Always 0 5 Reference point Not implemented Always 0 6 Minimum velocity flag Minimum velocity set point reached OK Fall below 7 Maximum ve...

Page 59: ...ssible range 0 1 YES W 4 Frequency exceeded Frequency error maximum velocity has been exceeded 0 1 YES W 5 Velocity exceeded The velocity has dropped below exceeded the minimum maximum velocity configured with attribute 27 or 28 0 1 YES W 6 Acceleration exceeded The acceleration has dropped below exceeded the minimum maximum acceleration configured with attribute 32 or 33 0 1 YES W 7 Position limi...

Page 60: ...e 0 1 YES A 20 Position error Multi turn position error FRAM Always 0 NO A 21 23 Reserved Reserved Always 0 NO 24 Position or memory error Memory error EEPROM checksum 0 1 YES A 3 25 Memory error Memory error EEPROM IRQ 0 1 YES A 26 Startup error Error on start up 0 1 YES A 27 Diagnostic error Error during self test 0 1 YES A 28 29 Reserved Reserved 30 Slave sign of life LifeSign active if attribu...

Page 61: ...add on profile simplifies the setup of devices because it presents the necessary fields in an organized fashion which allows users to set up and configure their systems in a quick and efficient manner The add on profile is a folder containing numerous files for the device It will come as an installation package Performing the installation Install the add on profile following the on screen instruct...

Page 62: ...ckwell Automation Publication 842E UM001B EN P April 2015 Appendix A Installing the add on profile 5 At the welcome screen click on Next 6 Click the radio button to accept the licensing terms then click Next ...

Page 63: ...Rockwell Automation Publication 842E UM001B EN P April 2015 57 Installing the add on profile Appendix A 7 Click the Install radio button and then click Next 8 Click Install to begin the installation ...

Page 64: ...58 Rockwell Automation Publication 842E UM001B EN P April 2015 Appendix A Installing the add on profile 9 Click Next to install the add on profile files 10 Click Finish to complete the installation ...

Page 65: ...in seconds on page 73 Linear scaling example A linear cart is to be controlled using ball screw slide The cart will stop after 1 m of travel for loading and unloading For precise measurement of the distance between stops 10 000 steps are required The cart will travel 20 mm for one revolution of the encoder bringing the number of rotations the encoder turns for 1m of travel distance to 50 For a res...

Page 66: ...ounts per Revolution to 200 3 Total Measuring Range will be 51 200 4 Position the slide encoder to a known start position 5 Set the preset value The preset value will be retained by the encoder through a machine cycle Setting up your project 1 Create a new program file Select the processor revision and name the project file In this example the CompactLogix 1769 L35E V20 was used ...

Page 67: ...B EN P April 2015 61 RSLogix 5000 sample code Appendix B 2 In the controller organizer right click Ethernet Communication Adapter and select Properties 3 Configure the controller s IP address this example uses 192 168 1 100 Click Apply then OK ...

Page 68: ...pril 2015 Appendix B RSLogix 5000 sample code 4 Right click Ethernet Network and select New Module 5 Find the encoder add on profiles under specialty modules Select the add on profile for either Multi turn Encoder or Single turn Encoder then click Create ...

Page 69: ...de Appendix B 6 The encoder add on profile configuration will then launch Name the encoder In this example it is My_842E Configure the encoder s IP address at 192 168 1 101 7 Click the Configuration tab and set it up as shown per the linear scaling example on page 59 Click Apply then OK ...

Page 70: ...ublication 842E UM001B EN P April 2015 Appendix B RSLogix 5000 sample code 8 The encoder can now be seen as configured on the ethernet network in the controller organizer 9 The project can then be downloaded to the controller ...

Page 71: ...xplicit message and confirms the message reception 1 Create a new message data type named Preset_Message and a DINT named Preset_Value ATTENTION The preset function results in a change of position reading This can cause unexpected motion which could result in personal injury and damage to the product or equipment During preset steps should be taken to ensure the shaft is stationary and will remain...

Page 72: ... double click the gray box on the message instruction to configure it 3 Use the Position Sensor Object to find the values you want to use to send an explicit message In the Configuration tab select Message type CIP generic Service type Set attribute single Service code Automatically populated Source element Preset_value browse to this tag Source length 4 Instance 1 Class 23 Attribute 13 hexadecima...

Page 73: ... Publication 842E UM001B EN P April 2015 67 RSLogix 5000 sample code Appendix B 4 In the Communication tab browse to the encoder on the ethernet network then click OK 5 The Tag tab will be populated for the Preset_Message ...

Page 74: ... one shot instruction to initialize the message instruction 7 After you enter a value into the Preset_Value DINT and toggle the preset contact the message instruction presets the encoder s current count value The position value is changed to the preset value you set IMPORTANT Always do a Get after a Set to verify the value was changed ...

Page 75: ...cit message configuration to read preset encoder value 1 Create a new message data type named Read_Preset and a DINT named Preset_Value_Read 2 Add a new MSG instruction to the program and browse to the Read_Preset data type created in step 1 Then double click the gray box on the message instruction to configure it ...

Page 76: ...onfiguration tab select Message type CIP generic Service type Get attribute single Service code automatically populated Source element Preset_Value_Read browse to this tag Instance 1 Class 23 Attribute 13 hexadecimal values 4 In the Communication tab browse to the encoder on the ethernet network then click OK ...

Page 77: ...blication 842E UM001B EN P April 2015 71 RSLogix 5000 sample code Appendix B 5 The Tag tab will be populated for the Read_Preset 6 Add a normally open contact and a one shot instruction to initialize the message instruction ...

Page 78: ... Automation Publication 842E UM001B EN P April 2015 Appendix B RSLogix 5000 sample code 7 Toggle the Get_preset contact the message instruction returns the preset value form the encoder into Preset_Value_Read DINT ...

Page 79: ...B Using an explicit message configuration to obtain the encoder s run time in seconds This example is similar to the previous one Using an explicit message configuration to read preset encoder value on page 69 1 Create a new message data type named Run_Time_Message and a DINT named Run_Time Seconds ...

Page 80: ... the Run_Time_Message data type created in step 1 Then double click the grey box to configure the message instruction 3 In the Configuration tab select Message type CIP Generic Service Type Get Attribute Single Service Code Automatically populated Destination Element Run_Time_Seconds browse to this tag Instance 1 Class 23 Attribute 32 hexadecimal values ...

Page 81: ...ublication 842E UM001B EN P April 2015 75 RSLogix 5000 sample code Appendix B 4 In the Communication tab browse to the encoder on the ethernet network then click OK 5 The Tag tab will be populated f or the Run_Time_Message ...

Page 82: ...pendix B RSLogix 5000 sample code 6 Add a normally open contact and a one shot instruction to initialize the message instruction Toggling the Get_Run_Time contact initiates the message instruction and returns the current run time in seconds into Run_Time Seconds DINT ...

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Page 84: ...tional when shipped from the manufacturing facility However if your product is not functioning and needs to be returned follow these procedures Documentation Feedback Yourcommentswillhelpusserveyourdocumentationneedsbetter Ifyouhaveanysuggestionsonhowtoimprovethisdocument completethisform publication RA DU002 available at http www rockwellautomation com literature Allen Bradley Rockwell Software a...

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