AV6A 17
E
therNet/IP “R”
EtherNet/IP is typically a producer/consumer network-the master/
scanner device gathers data from each (slave) device on the bus.
Avtron encoders are Ethernet/IP slave devices. Unlike simple
master/slave systems, however, EtherNet/IP permits multiple devices
to Listen Only or use Input Only to receive the encoder position
directly.
EtherNet/IP may be wired in several different configurations, but
the best known is a “star” configuration where each device has a
“home-run” network cable that connects to a central switch or hub.
To reduce the cabling requirements, Avtron encoders support
“Daisy-Chain” configurations. The master device must be at one
end of the bus. The signal is repeated by each encoder to its output
port (labelled “Port 2”), which can in turn be connected to an input
Port 1 of another encoder. No external or switched termination
resistors are required for EtherNet/IP. Power is carried to the device
via a separate set of wires. A maximum of (7) encoders can be
daisy-chained together to a single EtherNet/IP master/scanner or
switch port.
Preferred cable: Nidec Avtron recommends structured Ethernet
wiring systems, available from a broad range of vendors as well as
Avtron.
For more details on EtherNet/IP, consult the Open DeviceNet
Vendor’s Association (ODVA):
www.odva.org
Number of
Nodes
1-7
Units
Max. Overall
Cable Length*
330
[100]
ft
[m]
*Using Ethernet standard cable, CAT6 or CAT5e required
Setting Station/Node, Baud Rate, Duplex
NOTE: There is no hardware method to set the Station/Node number
(IP address) for Avtron EtherNet/IP address.
Setting IP Address via BOOTP software:
Begin with a factory-default encoder. Make a physical Ethernet
connection between a PC and the encoder. Run the utility BOOTP/
DCHP Server. BOOTP will produce a list of all encoders via MAC-
address. Use BOOTP to assign the IP address, subnet mask,
etc. Any IP address from 0.0.0.0 to 223.255.255.255 (excluding
127.x.x.x) is permitted.
Disable the BOOTP and DHCP mode in the encoder using BOOTP.
Cycle power.
The encoder should now operate at the assigned IP address, which
can be validated using the ping command from the PC.
Ethernet baud rate and duplex are auto-detected by the encoder, no
settings are required. 100mBit and 10mBit are supported, Gigabit
Ethernet is not supported at the encoder level but may be utilized at
the switch backbone level. Consult Nidec Avtron if manual forcing of
duplex is required.
Measuring Position, Speed, and Acceleration
To read position and speed into your device (acceleration
measurement is not supported):
Following the instructions for your master/scanner module for
the EtherNet/IP network, load the encoder EDS file into your
configuration. Assign it to the correct IP address node number.
Store the configuration to the scanner module.
All of the position data and other parameters will be read by
the scanner module and placed in registers identified in the
configuration package.
Class Code 0x23 Position Sensor Objects
ID
(hex) R/W
Function
Type Notes
01
R
# Attributes
UINT
02
R
Attrib.List
UINT
Array
0A
R
Position
DINT
0B
R
Sensor Type UNIT
0E
W
Scaling
BOOL Scaling on/off
10
W
Units per
span
UDINT Units per revolution
11
W
Total span
UDINT Total units
13
W
Preset
DINT
Set position
18
R
Velocity
DINT
19
W
Vel. Format
EUINT
29
R
Status
BYTE
2A
R
Units per
span
UDINT read only, set w/0x10
2B
R
# Spans
UINT
# revolutions
33
R
Offset
DINT
Poffset
64
W
Device Type DINT
0x22 = Encoder
65
W
Rollover
DINT
0=off, 1=on, 2=auto
66
W
Vel’cty Filter DINT
0=low pass, 1=mid, 2=off
Setting (Zero) Position for Multiturn Encoders and Single turn
Encoders:
This can be done manually via the master/scanner software, or via
programmed code in the master device:
Write to the Preset: Class 0x23, Instance 0x01, Attribute 0x13.
The Preset register can be forced to any valid value using the Online
Parameters tab for the device from the configuration software. The
units for the preset are steps (counts per revolution x revol
counts in the final turn). Note: if the machine is not at the home/
preset physical position during set position command, this can
cause a position error.
Setting Direction of Rotation for Count Up/Down:
Parameter 0 (from the EDS file) contains a Direction Counting
Toggle for the count direction. Use the Online Parameters tab to
change the value. Note that this is REVERSED from standard Avtron
nomenclature--the encoder is viewed from the front.
Setting Polling, Cyclic, Sync, and Implicit Messaging Mode
Polling, cycling, sync, and implicit messaging modes are supported
by the encoder; use the parameters supplied in the EDS file to set
the appropriate mode. Class 0 and Class 1 implicit messaging
is supported. Store the resulting configuration into the scanner
module.
Storing/Saving Encoder Parameters to EEPROM
To store the current encoder operating parameters into non-volatile
memory:
Send explicit message CIP service 0x16 (Save). A new allocation is
then required to resume receiving position values from the encoder
and a power cycle is recommended.
