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PROFINET C

YCLIC

D

ATA

F

ORMATS

PROFINET Protocol

ADVANCED MICRO CONTROLS INC.

84

Encoder Control Word (STW2_ENC)

STW2_ENC is one of the two control words cyclically written to the NR60E2. Only bits 15 through 12, and
10, are used by the NR60E2.

Figure R7.2 G1_STW Format

Bits 15-12: Controller Sign-of-Life –

These bits are used by the NR60E2 to ensure stable communications

between the NR60E2 and the controller.

Bit 10: Control by PLC –

This bit is a handshake response to the

Control Requested

bit from the NR60E2.

(ZSW2_ENC.9, see below.) It is a signal to the NR60E2 that data being sent to it by the controller is
valid.

The

Control Requested / Control by PLC

mechanism is only used when Compatibility Mode is

disabled. (The NR60E2 is configured as a V4.1 encoder.) When in Compatibility Mode and
the NR60E2 is acting as a V3.1 encoder, and this functionality is ignored and the NR60E2 will
always respond to data from the controller.

Sensor Status Word (G1_ZSW)

G1_ZSW is one of two control words cyclically written from the NR60E2 to the controller. Only bits 15
through 11 are used by the NR60E2.

Figure R7.3 G1_ZSW Format

Bit 11: Requirement of error acknowledgement detected –

This bit is used to initiate a handshake with

the controller to ensure that an error signal from the NR60E2 is recognized and acknowledged. The
controller must set the

Acknowledging a sensor error

bit, G1_STW.15, to acknowledge the error sig-

nal. The NR60E2 will respond by resetting the

Requirement of error acknowledgement detected

bit.

The sensor error bit, G1_ZSW.15, will remain active as long as an error exists.

Bit 12: Set/shift of home position executed –

This bit is used in conjunction with

Request set/shift of

Home position,

G1_STW.12. A 0



1 transition on this bit indicates that the NR60E2 has successfully

applied the requested preset/offset of the current position.

Bit 13: Transmit absolute value cyclically –

When this bit is set to “1”, the G1_XIST2 signal contains the

absolute position value. If this bit is reset to “0”, the G1_XIST2 signal is either an error code, or zero.
If the G1_XIST2 signal contains an error code, G1_ZSW.15 will be set to “1”.

Bit

15

Bit

14

Bit

13

Bit

12

Bit

11

Bit

10

Bit

9

Bit

8

Bit

7

Bit

6

Bit

5

Bit

4

Bit

3

Bit

2

Bit

1

Bit

0

0

0 0 0 0 0 0 0

0

0

N

Reserved. Must be zero.

Control by PLC

Controller Sign-Of-Life

Reserved. Must be zero.

Reserved. Must be zero.

Not Applicable. Features not required/implemented.

Bit

15

Bit

14

Bit

13

Bit

12

Bit

11

Bit

10

Bit

9

Bit

8

Bit

7

Bit

6

Bit

5

Bit

4

Bit

3

Bit

2

Bit

1

Bit

0

0 0 0 0 0 0 0 0 0

0

0

Not Applicable. Features not required/implemented.
Reserved. Will be zero.
Requirement of error acknowledgement detected
Set/shift of home position executed
Transmit absolute value cyclically
Parking sensor active
Sensor error

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Содержание NR60E2

Страница 1: ...MICRO CONTROLS INC ADVANCED U s e r M anual E2 Technology E2 Technology Manual 940 0D161...

Страница 2: ...ls and workmanship for a period of 18 months Within this warranty period AMCI shall at its option repair or replace free of charge any equipment covered by this warranty which is returned shipping cha...

Страница 3: ...All Unused Network Interfaces 21 Configure Your Network Interface 21 Test Your Network Interface 22 Task Physical Installation Installation Guidelines 23 Electrostatic Discharge Prevention 23 Suitabl...

Страница 4: ...ssemblies 59 Write Assemblies 59 RSLogix 500 Configuration 60 Add the Read Message Instructions 61 General Tab Settings 61 MultiHop Tab Settings 62 Task EtherNet IP Explicit Messaging continued Positi...

Страница 5: ...T Cyclic Data Formats Sensor Control Word G1_STW 83 Encoder Control Word STW2_ENC 84 Sensor Status Word G1_ZSW 84 Encoder Status Word 2 ZSW2_ENC 85 Position Data Formats 86 G1_XIST1and G1_XIST3 86 G1_...

Страница 6: ...TABLE OF CONTENTS NR60E2 User Manual ADVANCED MICRO CONTROLS INC 6 Notes...

Страница 7: ...anual NOTES highlight important concepts decisions you must make or the implications of those decisions CAUTIONS tell you when equipment may be damaged if the procedure is not followed properly WARNIN...

Страница 8: ...ructions and information needed to wire power and ethernet connections to the NR60E2 These instructions are applicable to both bench top and machine wiring Set the IP Address and Protocol 33 Task info...

Страница 9: ...m standard blind shaft mount with 0 375 0 250 10 mm or 12 mm diameter hubs The body material is either aluminum with a powder coat finish or stainless steel Side and end connect ver sions of these mou...

Страница 10: ...cription MS 28 Mating connector for Ethernet port connector Screw terminal connections 6 to 8 mm dia cable Straight IP67 rated when properly installed MS 29 Mating connector for Power connector Screw...

Страница 11: ...Test Power up Self Test Flashing Green Ethernet connection but no CIP connections Indicates number of connec tions with 2 second delay between group The SMD17E2 supports up to 5 concurrent connections...

Страница 12: ...nitializing Power up Self Test Communications failure There is a communications error between the main processor and the ethernet co processor within the unit You must cycle power to the NR60E2 to att...

Страница 13: ...Switches should not be set within this range by customers in the field 2 Address 999 is used to set the NR60E2 to a known IP address If the switches are set to 999 the NR60E2 will use the IP Address o...

Страница 14: ...on can be preset or offset to any value within its range The Internal Position Offset can be stored in nonvolatile memory and retrieved on power up Position can be reset to zero via momentary contact...

Страница 15: ...irection the position changes from your current position value to Maximum number of counts current position value For example assume a 30 bit NR60E2 with its default of 65 536 counts per turn If the c...

Страница 16: ...et to its disabled state Values can range from 2 to 65 536 counts per turn for single turn NR60E2 units Values can range from 1 to 65 536 counts per turn for multi turn NR60E2 units Changing the Count...

Страница 17: ...the value of the Counts per Turn parameter multi plied by the number of turns the NR60E2 can encode Figure R1 6 Fractional Turn Example 1 Figure R1 6 shows what occurs when the Total Measurement Range...

Страница 18: ...n you re apply power If the point that you re apply power at is greater than the limits listed above the position value from the NR60E2 will be off by at least 1 turn Encoding Additional Turns When th...

Страница 19: ...the position to any value in its single or multi turn range without rotating the shaft This value is not stored in memory This value must be included in every Preset Position command The range of valu...

Страница 20: ...NR60 SPECIFICATIONS NR60E2 User Manual ADVANCED MICRO CONTROLS INC 20 Notes...

Страница 21: ...includes all wireless interfaces as well as all Bluetooth interfaces Configure Your Network Interface Before you can communicate with the NR60E2 your network interface must be on the same subnet as t...

Страница 22: ...v4 from the list and then click on the Properties button For Windows 8 and 10 this open the Network Connections window Double click on the appropriate interface In the window that opens select Intern...

Страница 23: ...coupler should be used when connecting an NR60E2 to a drive shaft because any mismatch in shaft alignment will result in large radial or axial loading on the shaft of the encoder Limit shaft loading...

Страница 24: ...de Connector Outline Drawing 1 3 2 Servo Mount Side Connect Aluminum Body Only Figure T1 2 Servo Mount Side Connector Outline Drawing Exit Direction of Right Angle Cables 0 65 max 16 5 Additional clea...

Страница 25: ...1 3 Flange Mount Side Connector Outline Drawing 1 3 4 Flange Mount Side Connect Aluminum Body Only Figure T1 4 Flange Mount Side Connector Outline Drawing 26 21 31 75 typ 26 21 typ C C 0 65 max 16 5 A...

Страница 26: ...NCED MICRO CONTROLS INC 26 1 3 Outline Drawings continued 1 3 5 Servo and Flange Shaft Details The figure below shows the pilot of a flange mount nose Listed dimensions are identical for the servo mou...

Страница 27: ...gure T1 6 Hub Shaft Mount Side Connector Outline Drawing 0 65 max 16 5 Additional clearance is needed for the removal of the mating connectors Exit Direction of Right Angle Cables C L 0 067 radius on...

Страница 28: ...xit Direction of Right Angle Cables C L 0 067 radius on 2 48 B C 1 70 63 0 2 72 69 0 17 0 20 0 2 50 Dia 63 5 SEE DIA CHART Customer Side 1 9 48 2 48 B C 63 0 0 65 Clearance 16 5 1 10 depth 28 0 Shaft...

Страница 29: ...ting connectors Figure T2 1 above shows the direction of the cable when using AMCI TURCK or Phoenix Contact cordsets 2 1 4 Mating Connectors and Cordsets AMCI offers the following mating connector and...

Страница 30: ...ng to minimize capacitive coupling of electrical noise If they must be run in parallel separate them as much as possible If an Ethernet cable must cross high power AC or DC cabling it should do so at...

Страница 31: ...r Phoenix Contact cordsets 2 2 4 TIA EIA 568 Color Codes There are two color codes in common use when wiring Ethernet connections with twisted pairs Either one of these standards is acceptable Note th...

Страница 32: ...The only difference between the 568A and 568B standards is that the two pairs are swapped With the auto switch port that is built into the NR60E2 the system will work correctly regardless of which sta...

Страница 33: ...to its web server The IP address of the webserver can be set to 192 168 0 50 by setting the rotary switches to a value of 999 3 1 2 Rotary Switch Guidelines Setting the switches to 000 enables the int...

Страница 34: ...label on the NR60E2 that lists the MAC address of the device There is space on the label for noting the IP address of the device if it is changed If the address was not documented the best course of a...

Страница 35: ...sed to set an address between 001 and 254 If the address is set to 000 DHCP will be enabled If set to a value between 255 and 989 the NR60E2 will use the IP Address stored in its nonvolatile memory Fi...

Страница 36: ...iring Installation found on page 29 You must be able to power the NR60E2 PREREQUISITE Task 2 2 Ethernet Wiring Installation found on page 30 You must attach your NR60E2 to your computer PREREQUISITE T...

Страница 37: ...se the Embedded Web Server continued 3 3c 2 Start your web browser and connect to the NR60E2 The internal HTML pages should work with any browser Once your web browser is running enter the pres ent IP...

Страница 38: ...set to a valid address on the chosen subnet Because the Default Gateway is often not used in device level networks if you do not have a required value for it AMCI suggests setting the Default Gateway...

Страница 39: ...ection 3 3b Use the NR60E2 IP Address Switches to set the Address Switches to 999 This sections starts on page 35 This sets the IP Address to 192 168 0 50 regardless of the data stored in flash memory...

Страница 40: ...u Note that the install process only copies the utility to the designated location and cre ates links to the Start Menu No changes are made to registry settings 3 3d 3 Verify that Your Host Controller...

Страница 41: ...erface are on the same subnet Figure T3 7 Scan for NR60 Click on the IP Address of the NR60E2 and click on the Connect button The NET Configurator utility will connect to the encoder 3 3d 7 Click on t...

Страница 42: ...he new IP address settings to the NR60E2 These settings are automatically saved to nonvolatile memory 3 3d 10 Remove Power from the NR60 The new IP address will not be used until power to the NR60E2 h...

Страница 43: ...i com 43 PROTOCOL SPECIFIC INFORMATION Manual Sections The remainder of this manual is divided into three sections one for each supported protocol Each section has the protocol name in the page header...

Страница 44: ...PROTOCOL SPECIFIC INFORMATION NR60E2 User Manual ADVANCED MICRO CONTROLS INC 44 Notes...

Страница 45: ...ol This will open the EDS Wizard Figure T4 1 Opening the EDS Wizard 2 Click on Next to advance to the Options screen Many EtherNet IP platforms support the use of EDS files to simplify the addition an...

Страница 46: ...ext Figure T4 2 EDS Options Screen 2 The registration screen will open Select the Register a single file radio button Figure T4 3 EDS Registration Screen 3 Click on the Browse button and browse to the...

Страница 47: ...Press on the Next button to advance to the Change Graphic Image screen This screen gives you the ability to change the icon associated with the device Figure T4 5 Change ECS Icon Screen 6 Click on th...

Страница 48: ...O Configuration tree before adding the unit to your project Refer to your Rockwell Automation documentation if you need instructions for configuring the ethernet port 4 4 Add the NR60E2 to Your Projec...

Страница 49: ...o open the screen to perform this task at a later time right click on the unit in the project tree and then select Properties from the drop down menu Tabs that are not listed in the steps below are fi...

Страница 50: ...g the Input Data Input data is updated asynchronously to the program scan The input data should be buffered with Synchro nous Copy File instructions to guarantee stable data during the program scan Fi...

Страница 51: ...ue even if you have saved a valid configuration to the flash memory of the NR60E2 Parameter Size Description Direction Counting Toggle Boolean 0 Clockwise increasing counts looking at shaft 1 Counter...

Страница 52: ...IMPLICIT COMMUNICATIONS WITH AN EDS EtherNet IP Protocol ADVANCED MICRO CONTROLS INC 52 Notes...

Страница 53: ...will have to add it to the I O Configuration tree before adding the driver to your project Refer to your Rockwell Automation documentation if you need instructions for configuring the ethernet port 5...

Страница 54: ...Module Type screen type generic into the filter as shown in figure T5 2 This will limit the results in the Catalog Number list 3 Select the Catalog Number ETHERNET MODULE in the list 4 Click on the C...

Страница 55: ...ll not be able to communi cate with the host controller if this format is not changed to Input Data DINT when the device is added to the system Once added the Comm Format cannot be changed The device...

Страница 56: ...onal setting When done click on OK to complete the setup Figure T5 4 Setting the RPI Time 5 3 Check for Communication Errors You can immediately check for errors if you are on line with the processor...

Страница 57: ...ange during a pro gram scan resulting in logical errors that may cause a machine malfunction Figure T5 5 Sample CPS Instruction The amount of data to buffer depends on the Input Assembly Instance you...

Страница 58: ...IMPLICIT COMMUNICATIONS WITHOUT EDS EtherNet IP Protocol ADVANCED MICRO CONTROLS INC 58 Notes...

Страница 59: ...values are restored to RAM A separate Save to Flash command is required to save the factory defaults to flash memory All controllers that support EtherNet IP support explicit messaging When using expl...

Страница 60: ...60E2 in the system requires its own Extended Routing Information RIX data file and the mini mum number of elements in the RIX file must be greater than or equal to the number of Message Instructions t...

Страница 61: ...ss in memory that will be the destination of the data you are reading from the NR60E2 This address is typically in an Integer N file 4 Size in Bytes Receive The length of the data you are reading from...

Страница 62: ...3FFF FFFF Note that the two 16 bit registers are combined into a single 32 bit data word The values on the right show the register values in hexadecimal if the position value is 1 274 237 16 0013 717D...

Страница 63: ...ing to the NR60E2 See table T6 2 Write Message Instruction Attributes on page 59 for the list of options 4 Size in Bytes Send The length of the data you are writing to the NR60E2 This length is always...

Страница 64: ...1 Scaling Function Control 0 Disable Scaling Function The full resolution of 65 536 counts per turn is used for the Measuring Units per Span 1 Enable Scaling Function The number of counts per turn is...

Страница 65: ...6 6 5 Restore Factory Defaults Instruction This instruction restores parameter values to their factory defaults The Attribute field is not used and should be set to zero Additional data is not sent w...

Страница 66: ...uration in the Project Tree and then select the Channel 1 tab The fol lowing window will open Figure R2 2 MicroLogix Ethernet Configuration Screen 2 Enter the IP address and Subnet Mask of your MicroL...

Страница 67: ...PLC programming The only reasons to use the Position Sensor Object is if you need extremely fine grain control over communications with the NR60E2 or if you use EtherNet IP encoders from multiple ven...

Страница 68: ...t of supported Attributes 01 02 0A 0B 0C 71hex 16 0A 10 Get Position Value Signed DINT Current position value 16 0B 11 Get Position Sensor Type WORD Specifies the device type 1 Single turn absolute ro...

Страница 69: ...e of zero if no alarms have occurred and a value of one if an alarm has occurred Attrib ID Access Name Data Type Description 16 19 25 Set Velocity Format WORD Format of the velocity attribute 16 1F04...

Страница 70: ...CIP POSITION SENSOR OBJECT EtherNet IP Protocol ADVANCED MICRO CONTROLS INC 70 Notes...

Страница 71: ...Read Coils OUTPUT Bit Address 16 384 through 16 527 2 Read Discrete Inputs INPUT Bit Address 0 through 63 3 Read Holding Registers OUTPUT INPUT Word Out Regs 1024 through 1032 In Regs 0 though 3 4 Rea...

Страница 72: ...ange Value First Register Second Register 12 0x0000 000C 12 0x000C 0 0x0000 1 234 567 0x0012 D687 54 919 0xD687 18 0x0012 Register Description Example 1024 Command Word See Description below 1025 Pres...

Страница 73: ...a Preset Value that is greater than the Total Measure ment Range the NR60E2 will respond with a Modbus Exception Code 3 when it senses the 0x2 to 0xD transition on the Command Word It will leave the r...

Страница 74: ...e NR60E2 Both are 32 bit values that use the little endian format Table R4 5 Modbus Input Data Format Register Data Value Example 0 32 bit Scaled Position Value This data is the calculated position da...

Страница 75: ...Class 4 Functionality parameter is set to its disabled state and CW rotation will produce increasing counts Scaling Function Control The name and functionality of this parameter does not change howev...

Страница 76: ...1 Factory Default Settings If you do not know the IP address used by the NR60E2 for its webserver you can set the IP Address Switches to a value of 999 and apply power to the NR60E2 The NR60E2 will us...

Страница 77: ...pports module 0 I M0 Access to this function is read only Table R6 1 I M0 Data Format P922 Telegram Selection This parameter is equal to the telegram number that is currently in use for cyclic data ex...

Страница 78: ...5 Device ID parameter values P971 Store local parameters to non volatile memory This read write parameter is used to store local parameters to non volatile memory A 0 1 transition on this bit signals...

Страница 79: ...es that contains important properties of the NR60E2 Read only Array 0 5 of Unsigned32 Integer Table R6 6 P979 Sensor Format Index Sub Meaning Value Access 974 0 Maximum Block Length 70 RO 974 1 Maximu...

Страница 80: ...controls when this parameter is applied to the position value reported by the NR60E2 Read Write Unsigned32 Integer Range 0 to Total Measurement Range TMR 1 Index Sub Meaning Value Access 980 0 P922 Te...

Страница 81: ...ality is disabled Index Sub Meaning Value Access 65001 0 Header 0x000C0101 RO 65001 1 Operating Status See R6 1 below RO 65001 2 Faults See R6 2 below RO 65001 3 Supported Faults 0x00000031 See R6 2 b...

Страница 82: ...ible with Encoder profile V3 1 If this bit equals 1 the present configuration of the NR60E2 is not com patible with Encoder profile V3 1 P65001 2 3 Supported Faults The following figure shows the faul...

Страница 83: ...remain set until the NR60E2 responds by setting G1_ZSW 12 to a 1 to signal that the posi tion has been successfully preset or offset Bit 13 Request absolute value cyclically When this bit is set to 1...

Страница 84: ...s recognized and acknowledged The controller must set the Acknowledging a sensor error bit G1_STW 15 to acknowledge the error sig nal The NR60E2 will respond by resetting the Requirement of error ackn...

Страница 85: ...n the Encoder Object This bit is set to 0 when the NR60E2 is operating without a fault Faults are reported in P65001 2 See P65001 2 3 Supported Faults on page 82 for a list of the supported faults Dur...

Страница 86: ...ffect the number of bits used If there is a sensor error the NR60E2 will report a diagnostic code in G1_XIST2 The G1_ZSW status word contains the bits that specify the data transmitted in G1_XIST2 Fig...

Страница 87: ...egram 82 Output Data Format Input Data Table R7 4 Telegram 82 Input Data Format PROFINET Data Name STW2_ENC G1_STW Data Word Length 2 bytes 2 bytes Description Encoder Control Word Sensor Control Word...

Страница 88: ...m 84 Input Data Format PROFINET Data Name STW2_ENC G1_STW Data Word Length 2 bytes 2 bytes Description Encoder Control Word Sensor Control Word PROFINET Data Name ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 NIS...

Страница 89: ...eset value must be less than the value of the Total Measurement Range parameter 1 This value can only be used to preset the position value It cannot be used to offset the posi tion value by a programm...

Страница 90: ...PROFINET CYCLIC DATA FORMATS PROFINET Protocol ADVANCED MICRO CONTROLS INC 90 Notes...

Страница 91: ...File Installation 1 Open or create a new project that will include the NR60E2 and open the Project View of the project 2 In the menu select Options Manage general station description files GSD 3 In t...

Страница 92: ...Absolute Encoders Standard At this point select either the Multiturn or the Singleturn branch based on your part number If your part number is NR60E2 2 01 select Multiturn and then the AMCI NR60 M28...

Страница 93: ...click on the NR60E2 icon and select Properties from the pop up menu The Inspector window will open at the bottom of the screen Under the General tab select the General heading You can rename the NR60E...

Страница 94: ...Cyclic Data Formats Reference chapter starting on page 83 With the NR60E2 icon selected on the PROFINET bus click on the Device view tab The view in the Hard ware Catalog will change Expand the Submo...

Страница 95: ...selected on the PROFINET bus click on the Device view tab The view in the Hard ware Catalog will change 1 In the Device overview pane right click on Module Access Point and select Properties from the...

Страница 96: ...able select the NR60 in the table 4 Confirm that the PROFINET device name at the top of the screen is correct 5 Click on the Assign name button to write the device name to the NR60 The Online status i...

Страница 97: ...own menu to select the appropriate domain Use the Media redundancy role drop down menu to select Client 3 Continuing in the Inspector window select Advanced options Port 1 Port interconnection Under P...

Страница 98: ...LEADERS IN ADVANCED CONTROL PRODUCTS ADVANCED MICRO CONTROLS INC...

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