842E-CM Integrated Motion Encoder on EtherNet/IPUser Manual
Page 1: ...842E CM Integrated Motion Encoder on EtherNet IP User Manual...
Page 2: ...ockwell Automation Inc with respect to use of information circuits equipment or software described in this manual Reproduction of the contents of this manual in whole or in part without written permis...
Page 3: ...theEncoder Features 15 CIP Sync Overview 16 Typical Configurations 16 Star Topology 17 Linear Topology 18 Device Level Ring Topology 19 Chapter3 Installation Mechanical 21 Shaft Rotation Direction 21...
Page 4: ...signer Project 31 Configuring the Encoder 33 Configuring the Motion Group 35 Configuring Axis Properties 36 Testing the Axis 44 Chapter6 DiagnosticsandTroubleshooting Interpreting Status Indicators 47...
Page 5: ...circuitry and familiarity with relay logic If you do not obtain the proper training before using this product Purpose of This Manual This manual is a reference guide for encoders It describes the pro...
Page 6: ...is supported Studio 5000 N A Studio 5000 Logix Designer application version 21 00 or later provides support for programming commissioning and maintaining the CompactLogix and ControlLogix controller f...
Page 7: ...longitude 0 of the former Royal Observatory at Greenwich England or Greenwich meridian UTC replaced GMT as the basis for the main reference time scale or civil time in various regions on January 1 197...
Page 8: ...P network connection data System Time Theabsolute time value as defined by CIP Sync in the context of a distributed time systemwherealldeviceshavealocalclockthatissynchronizedwithacommonMaster clock S...
Page 9: ...ring and Grounding Guidelines 2097 UM002 Kinetix 350 Single axis EtherNet IP Servo Drives User Manual 2198 UM001 Kinetix 5500 Servo Drives User Manual 842E IN002 Installation Instructions 842E CM Ethe...
Page 10: ...10 Rockwell Automation Publication 842E UM002A EN P November 2013 Preface Notes...
Page 11: ...ertaken only by trained and authorized service personnel from Rockwell Automation Activity Qualification Mounting Basic technical training Knowledge of the current safety regulations in the workplace...
Page 12: ...ations to the Rockwell Automation software any claims against Rockwell Automation under warranty will be rendered void General Safety Notes and Protective Measures ATTENTION Please observe the followi...
Page 13: ...apter 1 Environmental Protection Please note the following information on disposal Assembly Material Disposal Packaging Cardboard Waste paper Shaft Stainless steel Scrap metal Flange Aluminum Scrap me...
Page 14: ...14 Rockwell Automation Publication 842E UM002A EN P November 2013 Chapter 1 Safety Precautions Notes...
Page 15: ...linear and device level ring topologies Robust nickel code disk for harsh ambient conditions Configurable resolution per revolution 1 to 262 144 High precision and availability Ball bearing spacing of...
Page 16: ...or Coordinated Universal Time UTC synchronization of controllers and devices connected over CIP networks and the ControlLogix backplane This technology supports highly distributed applications that r...
Page 17: ...the 842E CM encodertotheLink1connection TheLink2Ethernetconnectionmustremain unused 1 Front 2 Rear 1585J M8CBJM x Ethernet shielded cable 1734 AENTR POINT I O EtherNet IP adapter CompactLogix controll...
Page 18: ...network disconnects all devices downstream from the break When this topology is used both Ethernet connections on the encoder may be used For the network connection use Link 1 Link 2 or both 1 Front 2...
Page 19: ...k is detected the signals are sent out in both directions With this topology use both the Link 1 and Link 2 Ethernet connections on the 842E CM encoder 1 Front 2 Rear 1585D M4TBJM x Ethernet shielded...
Page 20: ...20 Rockwell Automation Publication 842E UM002A EN P November 2013 Chapter 2 About the Encoder Notes...
Page 21: ...aft Rotation Direction When you view the encoder from the shaft side the shaft rotation is clockwise CW or counterclockwise CCW as shown Mounting with a Solid Shaft 1 Be sure to select the proper size...
Page 22: ...lide the encoder onto the mating shaft until the flex mount rests on the machine surface 3 Hold encoder firmly and mark the two mounting holes If mounting holes already exist proceed to Step 6 4 Slide...
Page 23: ...ines available online at http www rockwellautomation com literature for additional installation requirements ATTENTION Switch off the power supply The machine system could unintentionally start while...
Page 24: ...s 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 Example Cordset 1585D M4TBJM Operating...
Page 25: ...hanging the current IP address An address can be automatically assigned to the encoder dynamic IP address when the encoder is connected to a DHCP Dynamic Host Configuration Protocol enabled server or...
Page 26: ...ork address switches Assigning the IP Address Using BootP DHCP Verify that the MAC ID of the encoder is in the relationship list in the BootP Utility or DHCP server before attempting to assign the enc...
Page 27: ...as successfully sent If the message does not appear repeat this step Setting of network address switches Function 001 254 SetslastoctetoftheIPaddresstothevalueindicated xxx in 192 168 1 xxx 888 Restor...
Page 28: ...28 RockwellAutomationPublication842E UM002A EN P November2013 Chapter 4 Configuring the Encoder Notes...
Page 29: ...r in slot 0 and a built in EtherNet IP connection The encoder is connected to a Stratix 5700 Ethernet switch To work along with this example configure the system as shown Verify the IP addresses for y...
Page 30: ...ll the information related to the parameters as well as the operating modes of the EtherNet IP encoder go to www rockwellautomation com resources eds and search for 842E CM You can register the EDS fi...
Page 31: ...ng and setting up the encoder use the encoder add on profile to add the encoder to the project and configure it Adding the Encoder to Your Logix Designer Project 1 Apply power to the controller and op...
Page 32: ...ronization or CIP sync The controller will also participate in an election in the Logix system for the best GrandMaster clock 10 Click OK 11 If needed in the I O Configuration configure an Ethernet mo...
Page 33: ...the Select Module Type dialog box The New Module dialog box opens Configuring the Encoder 1 Configure the new encoder module a Type the encoder Name b Click an Ethernet Address option In this example...
Page 34: ...onfiguring the 842E CM Encoder Using the Logix Designer Application 4 Name the new tag 5 The data type will be AXIS_CIP_DRIVE 6 Click Create The new axis Master_Fdbk appears under Motion Groups Ungrou...
Page 35: ...up 1 Right click Motion Groups in the Controller Organizer and choose New Motion Group The New Tag dialog box opens 2 Type the new motion group Name 3 Click Create The new motion group appears under t...
Page 36: ...e from 4 32 ms is supported If you set the coarse update rate outside that range you will receive an error message 7 Click OK Configuring Axis Properties Follow these steps to configure axis propertie...
Page 37: ...box opens 7 Select Type Hiperface This is currently the only choice for Type 8 Set the resolution for the encoder set the number of turns as appropriate to your encoder The effective resolution shoul...
Page 38: ...ication 11 Select the Homing category The default values are Passive Mode and Sequence Immediate 12 Enter the desired value for position This will be the home position 13 Select Actions Here you can s...
Page 39: ...November 2013 39 Configuring the 842E CM Encoder Using the Logix Designer Application Chapter 5 14 Select Drive Parameters Check the boxes for desired real time data IMPORTANT Firmware revision 1 002...
Page 40: ...set from the Parameter List To set these parameters use the following message instructions This procedure sends a Logix message to set the following parameters a Velocity Threshold This parameter defi...
Page 41: ...Application Chapter 5 b Set the values in the Message Configuration dialog box as shown NOTE The Source Element must be a REAL data type and its default value is 6000 rps c Click the Communication ta...
Page 42: ...s bit is set If the Velocity Feedback signal falls outside the defined window the Velocity Standstill status bit is cleared The source element must be a REAL data type its default value is 3 0 rps Vel...
Page 43: ...dth of the low pass filter applied to the raw acceleration signal from Feedback Default value 100 recommended bandwidth 1 to 1000Hz Attribute disabled 0 NOTE To verify you can issue a Service Type Get...
Page 44: ...ave configured the 842E CM encoder and the Logix5000 controller applied power and are on line with the controller follow the steps below to test the axis 1 Verify that the encoder is on line with the...
Page 45: ...blication 842E UM002A EN P November 2013 45 Configuring the 842E CM Encoder Using the Logix Designer Application Chapter 5 If you need to change the polarity select Axis Properties Polarity Click the...
Page 46: ...46 Rockwell Automation Publication 842E UM002A EN P November 2013 Chapter 5 Configuring the 842E CM Encoder Using the Logix Designer Application Notes...
Page 47: ...us of the CIP connection and the XS LED shows the status of the internal measuring device in the 842E CM encoder Five LED indicators provide status information on the back of the encoder The figure be...
Page 48: ...connection Red Major fault Red flashing Minor fault Duplicate IP Mod LED Description OFF No power Green Running Green flashing Standby Red Major fault Red flashing Minor fault Green red flashing Self...
Page 49: ...Instruction error Caused by a motion instruction Instruction errors do not impact controller operation Look at the error code in the motion control tag to see why an instruction has an error Fix inst...
Page 50: ...LY MFP5 Error single position 0x20 0x2A 32 42 9 Position error Position Multi turn error synchronization MA Single Init 0x22 0x2B 34 43 10 Position error Position Multi turn error internal Interface...
Page 51: ...urn encoder for repair if fault continues NODE FLT 05 CLOCK SKEW FLT Clock Skew Fault Thecontrollertimeandthe encoder s system time are not the same Cycle control power Check controller and Ethernet s...
Page 52: ...havior tables the controlling attribute is given for programmable fault actions See the Logix Designer Axis Properties screen Actions category Table 6 Encoder Behavior FLT Sxx Fault Codes Exception ac...
Page 53: ...If the firmware version is not stated on the label visit the Rockwell Knowledgebase and search for 842E CM Firmware Update Procedure to look up the appropriate firmware update method Performing the Up...
Page 54: ...002A EN P November2013 Appendix A Flash Update the 842E CM Firmware 2 Start ControlFLASH and select Network or Local network 3 Click Next 4 Select the catalog number of the 842E CM encoder whose firmw...
Page 55: ...42E UM002A EN P November2013 55 Flash Update the 842E CM Firmware Appendix A 5 Select the controller in the browse window and click OK 6 Click Next to continue and verify the revisions Click Finish an...
Page 56: ...Firmware 7 The next screen shows the download progress 8 If you see an error message instead click OK to clear the window and power cycle the encoder before trying again 9 Upon successful completion o...
Page 57: ...on profile simplifies the configuration 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 ma...
Page 58: ...kwellAutomationPublication842E UM002A EN P November2013 Appendix B 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...
Page 59: ...RockwellAutomationPublication842E UM002A EN P November2013 59 Installing the Add on Profile Appendix B 7 Click the Install radio button then click Next 8 Click Install to begin the installation...
Page 60: ...60 RockwellAutomationPublication842E UM002A EN P November2013 Appendix B Installing the Add on Profile 9 Click Next to install the add on profile files 10 Click Finish to complete the installation...
Page 61: ...e display is read only except for the ability to clear logs Fault and alarm entries are displayed only when you are online with a controller See also Chapter 6 Diagnostics and Troubleshooting Quick Vi...
Page 62: ...utomationPublication842E UM002A EN P November2013 Appendix C Faults and Alarms Dialog Box Data Monitor The Data Monitor is where you can read and write the values assigned to specific tags both online...
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Page 64: ...ct notification updates For an additional level of technical phone support for installation configuration and troubleshooting we offer TechConnectSM support programs For more information contact your...
