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HS6A 17

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]

[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

(hex) R/W

Function

Type Notes

# Attributes

UINT

Attrib.List

UINT

Array

Position

DINT

Sensor Type UNIT

Scaling

BOOL Scaling on/off

Units per

span

UDINT Units per revolution

Total span

UDINT Total units

Preset

DINT

Set position

Velocity

DINT

Vel. Format

EUINT

Status

BYTE

Units per

span

UDINT read only, set w/0x10

# Spans

UINT

# revolutions

Offset

DINT

Poffset

Device Type DINT

0x22 = Encoder

Rollover

DINT

0=off, 1=on, 2=auto

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.

Содержание HS6A

Страница 1: ...tion into a safety system CAUTION Be careful not to damage clamping fingers of hollow shaft during handling Do not tighten clamping collar before installation onto motor shaft WARNING Installation should be performed only by qualified personnel Safety precautions must be taken to ensure machinery cannot rotate and all sources of power are removed during installation INSTALLATION Refer to the back ...

Страница 2: ...emove power before wiring Interconnecting cables specified in the wire selection chart are based on typical applications Refer to the system drawing for specific cable requirements where applicable Physical properties of cable such as abrasion temperature tensile strength solvents etc are dictated by the specific application and communications bus Do not use unshielded cable Ground one end only of...

Страница 3: ...s PCAN View Ensure the device is set to the proper baud rate connection cap or for units with no connection cap via software Ensure the device is set to the proper node address connection cap or for units with no connection cap via software The encoder will power up in the pre operational mode The message it will issue is ID 0x07nn 0x00 If you cannot see this message try power cycling the device N...

Страница 4: ...Line Driver Specs See table G Connectors See connector options on page 1 H Accuracy 0 04 deg 2 6 arc min 12 bit units 0 02 deg 1 3 arc min 16 bit units MECHANICAL A Shaft Inertia 0 00003lb in sec2 30 g cm2 dyn B Acceleration 6000 RPM Sec Max C Speed 6000 RPM Max EOS model std seals 3000 RPM Max 12mm thru shaft model 12000 RPM Max w o seals not recommended D Weight 1 2 2 7 lbs 550 1200g E Vibration...

Страница 5: ... encoder will power up in the pre operational mode The message it will issue is ID 0x07nn 0x00 nn node number typically 0x01 for units with connection cap including hardware node and baud rate selection software commands will not change node 0x20 is the factory default for units with software selectable addressing software commands can change node number Setting Node Number To set the node number ...

Страница 6: ...x620 0x22 0x00 0x23 0x00 0x55 0xAA 0xAA 0x55 No reset is triggered Cycle power after saving changes to parameters Other Parameters Contact Nidec Avtron for additional parameters diagnostic registers cam and programmable limit switch functionality and other advanced features CANOPEN TROUBLESHOOTING For CANOpen disconnect the power connection then ensure there are no short circuits between any of th...

Страница 7: ... cycled before the values are stored the encoder will default to the values previously stored in EEPROM Setting Node Number To set the node number on units with a connection cap Set the address using the two rotating switches The node number can be between 0 63 The node address X10 switch 10 X1 switch value To set the node MAC ID number on units without a connection cap write attribute 6Fh byte ma...

Страница 8: ... cabling system and that no termination resistors are in placed or activated in the middle of the system Remove the connections to the master controller and all devices or power down all devices Measure the resistance between the communication wires Example DeviceNet measure between CAN_L and CAN_H The value should be 1 2 of the termination resistor value on the network For DeviceNet this value sh...

Страница 9: ...ian lowest bit right most bit Single turn data data within 1 turn is provided in the least significant bits Multiturn data is provided directly above the single turn data bitwise Example 12 turns x 13 bits turn encoder lowest 13 bits position within one turn next 12 bits up to bit 25 represent turns position data The position data is provided at parameter 0x6004 Setting Zero Position for Multiturn...

Страница 10: ...ors encoder operational LS DA 1 Status Flashing Green Active inbound communication LS DA 2 Status Green Output connected to next encoder LS DA 2 Flashing Green Active communication to next encoder Error Red Ethernet Error or invalid node address Status 1 Flash Pre Operational Mode 1 2 Flashes Pre Operational Mode 2 3 Flashes Ready to operate Blinking Stopped ...

Страница 11: ... position data Setting Zero Position for Multiturn Encoders and Single turn Encoders NOTE Do not attempt to use zero preset function while the encoder is rotating Doing so will produce unpredictable results To set zero position raise the voltage level of the Preset input to V supply of the encoder for at least 0 1sec The encoder will set the outputs to zero Setting Direction of Rotation for Count ...

Страница 12: ...ition Speed and Acceleration To read position into your device acceleration and speed measurement is not supported For multiturn single turn encoders position data provided as 4 bytes 32 bits Format is little endian lowest bit right most bit Single turn data data within 1 turn is provided in the least significant bits Multiturn data is provided in adjacent 32 bit words Example 12 turns x 13 bits t...

Страница 13: ...ted to each cable Use hubs or switches to connect multiple Modbus TCP encoders to the master device A software snoop or sniffer program can also be used to packet analyze the communication If the position is changing as the encoder moves but is reported incorrectly the Initial Value parameter may have been loaded into the encoder at the wrong physical position of the machine Drive the machine to t...

Страница 14: ...now operate at the assigned IP address which can be validated using the ping command from the PC The assigned name can be used throughout STEP7 software to address the encoder Note that if more than one encoder is to be used on the same Profinet IO network each encoder must be assigned a unique name and individual encoders must be connected one by one to assign names using STEP7 software during se...

Страница 15: ...ncoder use the parameters supplied in the GSDML file to set the appropriate mode 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 Other Parameters Contact Nidec Avtron for additional parameters diagnostic registers cam and programmable limit switch functionality and other...

Страница 16: ...placed in registers identified in the configuration package Profibus DP Diagnostic LEDs LED Status Meaning STATUS ERROR Green Off Power Ok Status OK STATUS ERROR Green Red No Configuration Data Received STATUS ERROR Green Flashing Red Encoder Bus Address Set Incorrectly STATUS ERROR Flashing Green Red Parameters Received With Incorrect Length STATUS ERROR Flashing Green Off Commissioning Mode Acti...

Страница 17: ...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 o...

Страница 18: ...munication A software snoop or sniffer program can also be used to packet analyze the communication If the position is changing as the encoder moves but is reported incorrectly the Preset parameter may have been loaded into the encoder at the wrong physical position of the machine Drive the machine to the home preset position and cycle power to see if the position is correctly reloaded EtherNet IP...

Страница 19: ...d Upon the Set Zero signal returning to logic zero falling edge the encoder count value will be set to zero Set Direction input 10K resistance For input logic zero or no connection the encoder will count UP for CCW rotation as viewed from the rear end of the encoder For input logic 1 10V Vs the encoder will count DOWN for CCW rotation as viewed from the rear of the encoder SSI TROUBLESHOOTING For ...

Страница 20: ...ost L GND 0V BROWN 3 NC PINK NC BLUE NC GRAY CAN_H Rightmost H CAN_L Rightmost L CAN_GND Rightmost G Double up Double up REF SIGNAL CAN_GND V CAN_H CAN_L GND 0V Optional Daisy Chain CAN_H CAN_L CAN_GND V GND 0V CANOpen Bus C HS6A WIRING DIAGRAMS NOTE CAN cable required with individual and overall shields Obey pairing as shown Term Strip Switches Pinouts Bus in Bus out ...

Страница 21: ...eftmost H CAN_L BLUE 3 Leftmost L NC NC NC CAN_H Rightmost H CAN_L Rightmost L Double up Double up REF SIGNAL V V GND CAN_H CAN_L Optional Daisy Chain CAN_H CAN_L GND V DeviceNet Bus D HS6A WIRING DIAGRAMS NOTE CAN cable required with individual and overall shields Obey pairing as shown Switches Pinouts Term Strip Bus in Bus out ...

Страница 22: ...bey pairing as shown optional overall shield may be used for high noise environments NOTE For encoder switch connections use the crossover pinout shown for encoder PC or encoder PLC direct wiring use a Straight through connection Tx Tx Rx Rx Rx Rx Communication Bus K N R POWERLINK Profinet IO EtherNet IP Pinout Pinouts for Ethernet Port 2 Port 1 Power Switches HS6A WIRING DIAGRAMS Master Scanner o...

Страница 23: ... YELLOW BROWN 16 BIT 15 WHITE YELLOW 15 BIT 14 BROWN GREEN 14 BIT 13 WHITE GREEN 13 BIT 12 BLUE RED 12 BIT 11 GREY PINK 11 BIT 10 VIOLET 10 BIT 9 BLACK 9 BIT 8 RED 8 BIT 7 BLUE 7 BIT 6 PINK 6 BIT 5 GREY 5 BIT 4 YELLOW 4 BIT 3 GREEN 3 BIT 2 BROWN 2 BIT 1 LSB WHITE 1 NOTE Cable with overall shield required Communication Bus P Parallel Pinout REF SIGNAL SIGNAL GND Vs DIRECTION LATCH PRESET BIT 25 MSB...

Страница 24: ...hown optional overall shield may be used for high noise environments Communication Bus M Modbus TCP Pinout HS6A WIRING DIAGRAMS Master Scanner or Switch Power Supply NOTE For encoder switch connections use the crossover pinout shown for encoder PC or encoder PLC direct wiring use a Straight through connection Tx Tx Rx Rx Rx Rx 1 4 2 3 5 2 3 1 4 Pinouts for Ethernet Port 1 Power ...

Страница 25: ... B Bus A out 5 pin female 2 Rightmost A Bus B out 4 Rightmost B REF SIGNAL GND OV Vs Bus A out Bus B out Bus A in Bus B in NOTE Profibus cabling required Obey pairing as shown If termination resistor R is enabled on bus out terminals are disabled Communication Bus P Profibus Pinout HS6A WIRING DIAGRAMS Power Supply Bus In Bus Out Pinouts for Profibus Power Bus out Bus in ...

Страница 26: ...INK 4 6 SET ZERO BLUE 9 7 SET DIRECTION RED 8 8 NC 5 NC 6 NC 7 NC 10 REF SIGNAL GND Vs CLK CLK DAT DAT SET ZERO SET DIRECTION NC NC NC NC NOTE Twisted pair cable required with overall shield individual pair shielding recommended Obey pairing as shown Communication Bus S SSI Pinout HS6A WIRING DIAGRAMS Pinouts for SSI Option F M23 12 Option E M12 8 ...

Страница 27: ...HS6A 27 HS6A SSI S 12mm Bore P End Thru Shaft Universal Mounting U Connector M12 8 E ...

Страница 28: ...HS6A 28 HS6A SSI S 15mm Bore R End of Shaft Mounting E Connector M23 12 F ...

Страница 29: ...2 1230 FAX 1 216 642 6037 www avtronencoders com HS6A Profibus DP P 15mm Bore R End of Shaft Mounting E Connector M12x3 C DIMENSIONS IN INCHES MILLIMETERS ALL DIMENSIONS ARE APPROXIMATE Features and specifications subject to change without notice Avtron standard warranty applies All dimensions are in millimeters approx ...

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