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Rockwell Automation Publication 842E-UM002A-EN-P - November 2013

11

Chapter

 1

Safety Precautions

This chapter deals with your own safety and the safety of the equipment 
operators.

Please read this chapter carefully before working with the 842E-CM 
Integrated Motion encoder on EtherNet/IP and/or the machine or system 
in which the encoder is used. Integrated Motion on Ethernet IP networks 
requires use of time synchronization. This is explained in the next 
chapter.

Authorized Personnel

The following qualifications are necessary for the various tasks:

ATTENTION: 

The 842E-CM encoder must only be installed, commissioned, and 

serviced by authorized personnel.

ATTENTION: 

Repairs to the 842E-CM encoder are allowed to be undertaken 

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

Electrical installation and 
replacement

Practical electrical training
Knowledge of current electrical safety regulations
Knowledge on the use and operation of devices in the related application (e.g., 
industrial robots, storage, and conveyor technology)

Commissioning, operation, and 
configuration

Knowledge on the current safety regulations and the use and operation of devices 
typically in Integrated Motion on EtherNet/IP applications
Knowledge of automation systems (e.g., Rockwell ControlLogix controller)
Knowledge of servo control or motion control (e.g., Kinetix for PowerFlex drives)
Knowledge of EtherNet/IP and integrated motion applications
Knowledge of the usage of automation software (e.g., Rockwell Logix Designer)

Содержание Allen-Bradley 842E-CM

Страница 1: ...842E CM Integrated Motion Encoder on EtherNet IP User Manual...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 10: ...10 Rockwell Automation Publication 842E UM002A EN P November 2013 Preface Notes...

Страница 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...

Страница 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...

Страница 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...

Страница 14: ...14 Rockwell Automation Publication 842E UM002A EN P November 2013 Chapter 1 Safety Precautions Notes...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 20: ...20 Rockwell Automation Publication 842E UM002A EN P November 2013 Chapter 2 About the Encoder Notes...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 28: ...28 RockwellAutomationPublication842E UM002A EN P November2013 Chapter 4 Configuring the Encoder Notes...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 46: ...46 Rockwell Automation Publication 842E UM002A EN P November 2013 Chapter 5 Configuring the 842E CM Encoder Using the Logix Designer Application Notes...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 63: ......

Страница 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...

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