Solid-state equipment has operational characteristics diering from those of electromechanical equipment.
Safety Guidelines for the Application, Installation and Maintenance of Solid-State Controls (publication
SGI 1.1 available from your local Rockwell Automation sales oce or online at
http://literature.rockwellautomation.com) describes some important dierences between solid-state
equipment and hard-wired electromechanical devices. Because of this dierence, and also because of the
wide variety of uses for solid-state equipment, all persons responsible for applying this equipment must
satisfy themselves that each intended application of this equipment is acceptable.
Reproduction of the contents of this copyrighted publication, in whole or part, without written permission
of Rockwell Automation, is prohibited.
Throughout this manual we use notes to make you aware of safety considerations:
Rockwell Automation, Allen-Bradley, RSLinx, RSLogix, and RSLogix 5000 are trademarks
of Rockwell Automation, Inc.
Identies information about practices or circumstances that can cause an explosion in
a hazardous environment, which may lead to personal injury or death, property
damage, or economic loss.
Identies information that is critical for successful application and understanding of
the product.
Identies information about practices or circumstances that can lead to personal
injury or death, property damage, or economic loss. Attentions help you identify a
hazard, avoid a hazard, and recognize the consequences.
SHOCK HAZARD
Labels may be on or inside the equipment (for example, drive or motor) to alert people
that dangerous voltage may be present.
BURN HAZARD
Labels may be on or inside the equipment (for example, drive or motor) to alert people
that surfaces may reach dangerous temperatures.
WARNING
IMPORTANT
ATTENTION
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or consequential damages
resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative purposes. Because of the
many variables and requirements associated with any particular installation, Rockwell Automation, Inc.
cannot assume responsibility or liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of information, circuits,
equipment, or software described in this manual.
Trademarks not belonging to Rockwell Automation are property of their respective companies.
It is recommended that you save this user manual for future use.
Safety
Table of Contents
About this document
Who should use this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
iiRockwell Automation Publication 842E-UM001A-EN-P May 2012
About this document
Read this section to familiarize yourself with the rest of the manual. It provides
information concerning:
• Who should use this manual
• The purpose of this manual
• Related documentation
• Conventions used in this manual
Who should use this manual
Purpose of this manual
Related documentation
Use this manual if you are responsible for designing, installing, programming, or
troubleshooting control systems that use 842E EtherNet/IP™ encoder.
You should have a basic understanding of electrical circuitry and familiarity with
relay logic. If you do not, obtain the proper training before using this product.
This manual is a reference guide for the 842E EtherNet/IP encoders. It describes
the procedures you use to install, wire, and troubleshoot your encoder. This
manual:
• Gives you an overview of the 842E EtherNet/IP encoders
• Explains how to install and wire your encoder
The following documents contain additional information concerning Rockwell
Automation products. To obtain a copy, contact your local Rockwell Automation
office or Allen-Bradley
A manual on how to use EtherNet/IP modules with Logix5000
controllers and communicate with various devices on the
ethernet network
Information on how to install and navigate RSLogix 5000. The
guide includes troubleshooting information and tips on how to
use RSLogix 5000 effectively.
An article on wire sizes and types for grounding electrical
equipment
A glossary of industrial automation terms and abbreviations
Common techniques used in
this manual
The following conventions are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical information.
• Italic type is used for emphasis.
Rockwell Automation Publication 842E-UM001A-EN-P May 2012iii
About this document
Notes:
ivRockwell Automation Publication 842E-UM001A-EN-P May 2012
Chapter 1
ATTENTION
Safety
This chapter deals with your own safety and the safety of the equipment
operators.
Please read this chapter carefully before working with the 842E EtherNet/IP
encoder or the machine or system in which the 842E EtherNet/IP encoder is
used.
Authorized personnel
The 842E EtherNet/IP encoder must only be installed, commissioned, and
serviced by authorized personnel.
Repairs to the 842E EtherNet/IP encoder are only allowed to be undertaken by
trained and authorized service personnel from Rockwell Automation.
The following qualifications are necessary for the various tasks:
ActivityQualification
MountingBasic technical training
Knowledge of the current safety regulations in the
workplace
Electrical installation
and replacement
Commissioning,
operation, and
configuration
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)
Knowledge on the current safety regulations and the use
and operation of devices in the related application
Knowledge of automation systems (e.g. Rockwell
ControlLogix controller)
Knowledge of EtherNet/IP
Knowledge of the usage of automation software (e.g.
Rockwell RSLogix)
Correct use
The 842E EtherNet/IP encoder is an instrument that is manufactured in
accordance with recognized industrial regulations and meets the quality
requirements as per ISO 9001:2008 as well as those of an environment
management system as per ISO 14001:2009.
An encoder is a device for mounting that cannot be used independent of its
foreseen function. For this reason an encoder is not equipped with immediate
safe devices.
Rockwell Automation Publication 842E-UM001A-EN-P May 20121
Chapter 1Safety
ATTENTION
Considerations for the safety of personnel and systems must be provided by the
constructor of the system as per statutory regulations.
Due to its design, the 842E EtherNet/IP encoder can only be operated within an
EtherNet/IP network. It is necessary to comply with the EtherNet/IP
specifications and guidelines for setting up a EtherNet/IP network.
In case of any other usage or modifications to the 842E EtherNet/IP, e.g. opening
the housing during mounting and electrical installation, or in case of
modifications to the Rockwell Automation software, any claims against Rockwell
Automation under warranty will be rendered void.
General safety notes and
protective measures
Please observe the following procedures in order to ensure the correct and safe
use of the 842E EtherNet/IP encoder.
The encoder is to be installed and maintained by trained and qualified
personnel with knowledge of electronics, precision mechanics and control
system programming. It is necessary to comply with the related standards
covering the technical safety stipulations.
All safety regulations are to be met by all persons who are installing, operating
or maintaining the device:
• The operating instructions must always be available and must always be
followed.
• Unqualified personnel are not allowed to be present in the vicinity of the
system during installation.
• The system is to be installed in accordance with all applicable safety
regulations and the mounting instructions.
• All work safety regulations of the applicable countries are to be followed during
installation.
• Failure to follow all applicable health and safety regulations may result in
personal injury or damage to the system.
• The current and voltage sources in the encoder are designed in accordance with
all applicable technical regulations.
Environmental protection
2Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Please note the following information on disposal.
AssemblyMaterialDisposal
PackagingCardboardWaste paper
ShaftStainless steelScrap metal
FlangeAluminumScrap metal
HousingAluminum Die-castScrap metal
Electronic assembliesVariousHazardous waste
Chapter 2
Encoder overview
The 842E family of encoders uses EtherNet/IP technology to provide its data to
a programmable controller. These encoders include an embedded EtherNet/IP
switch to connect additional EtherNet/IP capable products in series and/or
support a device level ring (DLR) topology for ethernet media redundancy.
The 842E are ultra-high resolution encoders in single-turn and multi-turn
versions. These encoders have 18 bit single-turn resolution. The multi-turn has
an additional 12 bits for counting the number of revolutions.
Overview of the encoder
What is an encoder?
Encoders can electronically monitor the position of a rotating shaft to measure
information such as speed, distance, RPM, and position. Rockwell Automation
offers a variety of light- and heavy-duty incremental and absolute encoders. Our
accessories help you easily install and efficiently use our encoders.
What are the different kinds of encoders?
Incremental
A simple and cost-effective solution for a wide variety of applications,
incremental encoders electronically monitor the position or speed of a rotating
shaft. Encoder feedback is compatible with programmable controllers, numerical
controllers, motion controllers, and other positioning systems. Rockwell
Automation offers light-duty and heavy-duty incremental encoders for differing
shaft loads. Ruggedized incremental encoders are available with an enclosure
rating of NEMA Type 4 and IP66. Incremental encoders are also available in
solid and hollow shaft models for a variety of mounting options. Applications
include: machine tools, packaging machinery, motion controls, robotics, and DC
drives.
Absolute
An absolute encoder has a unique digital output for each shaft position. The use
of absolute encoders assures that true position is always available, regardless of
power interruptions to the system. Absolute encoders can be single-turn or multiturn.
Rockwell Automation Publication 842E-UM001A-EN-P May 20123
Chapter 2Encoder overview
Multi-turn units assign a unique digital output for each shaft position across
multiple shaft rotations and are capable of extremely high resolutions. Rockwell
Automation absolute encoders are available with an enclosure rating of NEMA
Type 4 and IP66, as well as a variety of mounting options. Applications include
steel mills, overhead cranes, punch presses, transfer lines, oil rigs, wind mills,
machine tools, and packaging.
Sine-cosine
A sine-cosine encoder is a position transducer using two sensors, each 90° out of
phase with respect to the other. Sine-cosine encoders can be used directly by the
drive or squared to provide a conventional A quad B digital signal. Therefore, the
sine-cosine encoder can be used as an absolute, sine-cosine, or incremental
feedback device.
Single-turn vs. multi-turn
Absolute encoders are either single-turn or multi-turn. Single-turn encoders are
used if the absolute position of the shaft for one revolution is required. Multiturn encoders are used if the absolute position is required for more than one shaft
revolution.
842E encoder features
The 842E EtherNet/IP encoder features include:
• Support for the encoder profile 22h (0x22) defined in the Common
Industrial Protocol (CIP
• Compatibility with star, linear and device level ring topology
• Robust nickel code disk for harsh ambient conditions
• Configurable resolution per revolution: 1 to 262,144
• High precision and availability
• Ball bearing spacing of 30 mm for longer life
• Face mount flange and servo flange/blind hollow shaft and through
hollow shaft
• 18-bit single turn resolution
• 30-bit total resolution multi-turn resolution
™), according to IEC 61784-1
4Rockwell Automation Publication XXXX-X.X.X - Month Year
Encoder overviewChapter 2
Configurable parameters
The electronic data sheet file
The EtherNet/IP technology allows for certain encoder parameters to be
configured over the network.
• Counting direction
• Counts per revolution
• Preset value
• Velocity ou tp ut
• IP addressing
The electronic data sheet (EDS) file contains all the information related to the
measuring-system-specific parameters as well as the operating modes of the 842E
EtherNet/IP encoders. The EDS file is integrated using the EtherNet/IP
network configuration tool to configure and place in operation the 842E
EtherNet/IP encoder
For more information, go to www.rockwellautomation.com/resources/eds/
search on “842E.”
and
Rockwell Automation Publication 842E-UM001A-EN-P May 20125
Chapter 2Encoder overview
Notes:
6Rockwell Automation Publication XXXX-X.X.X - Month Year
Chapter 3
IP
UDP
TCP
HTTPFTPCIP
Ethernet
Process layer
Communication
layers
Explicit messagin
Implicit messagin
Physical layer
EtherNet/IP overview
Ethernet Industrial Protocol (EtherNet/IP) is a frame-based computer
networking technology for local industrial area networks. It follows the seven
layers of the Open Systems Interconnection model:
OSI Model
LayerFunction
7. ApplicationNetwork process to application
Host Layers
Media
Layers
6. PresentationData, encryption
5. SessionInter-host communication
Explicit and implicit messaging
4. TransportFlow control, TCP/UDP
3. NetworkInternet protocol, logical addressing
2. Data LinkPhysical addressing
1. PhysicalMedia, signal and binary transmission, peer-to-peer, multicast, unicast
Use of the Common
Industrial Protocol
EtherNet/IP implements the Common Industrial Protocol (CIP), the
application layer protocol specified for EtherNet/IP.
EtherNet/IP uses the CIP on the process layer. Similarly, as, for example, FTP is
used for the transfer of files, this protocol is used for process control. The 842E
encoder meets the requirements of the EtherNet/IP protocol according to IEC
61784-1 and those of the encoder profile.
g
g
The encoder is an I/O adapter in the EtherNet/IP. It receives and sends explicit
and implicit messages either cyclic or on request (polled).
Rockwell Automation Publication 842E-UM001A-EN-P May 20127
Chapter 3EtherNet/IP overview
Transmission sequence
Data field
Trailer
Header
Destination
Address
Source
Address
46...1500 Byte
TCP/IP and UDP/IP
EtherNet/IP uses TCP/IP or UDP/IP for communication. (TCP is transmission
control protocol and UDP is user datagram protocol.)
Implicit messaging is used for real-time communication between a programmable
logic controller (PLC) and the encoder in EtherNet/IP. With implicit messaging
a connection is established between exactly two devices within the CIP to
transfer, for example, I/O data such as position or velocity from the encoder to
the PLC. Implicit messaging uses UDP/IP via port 2222. As a result, a fast data
rate is used.
Explicit messaging is used in EtherNet/IP for communication that does not need
to take place in real time. Explicit messaging uses TCP/IP; it is used, for example,
to transfer parameters from the PLC to the encoder.
MAC address
Devices that originate or use data on the network have factory-assigned media
access control (MAC) addresses for unique identification. The MAC address
(MAC ID) consists of 6 bytes. The first three bytes identify the manufacturer.
The last three bytes are unique to the device. An example of a MAC address is
00:00:BC:C9: D7:14.
Communication frame
EtherNet/IP is based on the standard ethernet FRAME. This contains the
ethernet header, the ethernet data and the ethernet trailer. The MAC addresses of
the receiver (destination address) and of the source (source address) are contained
in the ethernet header.
8Rockwell Automation Publication 842E-UM001A-EN-P May 2012
EtherNet/IP overviewChapter 3
IP header TCP/UDP header CIP header CIP data
CIP protocol
IP datagram
TCP segment or UDP datagram
The ethernet data field consists of several nested protocols:
• The IP datagram is transported in the user data of the ethernet data field.
• The TCP segment or the UDP datagram are transported in the user data
of the IP datagram.
• The CIP protocol is transported in the user data of the TCP segment or of
the UDP datagram.
CIP is a message-based protocol that implements a relative path to send a message
from the “producing” device in a system to the “consuming” devices.
The producing device contains the path information that steers the message
along the proper route to reach its consumers. Because the producing device
holds this information, other devices along the path simply pass this information;
they do not need to store it.
Understanding the
producer/consumer model
This has two significant benefits:
• You do not need to configure routing tables in the bridging modules,
which greatly simplifies maintenance and module replacement.
• You maintain full control over the route taken by each message, which
enables you to select alternative paths for the same end device.
The CIP “producer/consumer” networking model replaces the old source/
destination (“master/slave”) model. The producer/consumer model reduces
network traffic and increases speed of transmission. In traditional I/O systems,
controllers poll input modules to obtain their input status. In the CIP system,
input modules are not polled by a controller. Instead, they produce their data
either upon a change of state or periodically. The frequency of update depends
upon the options chosen during configuration and where on the network the
input module resides. The input module, therefore, is a producer of input data
and the controller is a consumer of the data.
The controller can also produce data for other controllers to consume. The
produced and consumed data is accessible by multiple controllers and other
devices over the EtherNet/IP network. This data exchange conforms to the
producer/consumer model.
Rockwell Automation Publication 842E-UM001A-EN-P May 20129
Chapter 3EtherNet/IP overview
IMPORTANT
IMPORTANT
Specifying the requested
packet interval
EtherNet/IP topologies
The requested packet interval (RPI) is the update rate specified for a particular
piece of data on the network. This value specifies how often to produce the data
for that device. For example, if you specify an RPI of 50 ms, it means that every
50 ms the device sends its data to the controller or the controller sends its data to
the device.
RPIs are only used for devices that exchange data. For example, a ControlLogix
EtherNet/IP bridge module in the same chassis as the controller does not require
an RPI because it is not a data-producing member of the system; it is used only as
a bridge to remote modules.
The 842E encoders can be connected in any of three network topologies: star,
linear or device level ring (DLR).
Rockwell Automation recommends that you use no more than 50 nodes on a
single DLR or linear network. If your application requires more than 50 nodes,
we recommend that you segment the nodes into separate, but linked, DLR or
linear networks.
Star topology
The star structure consists of a number of devices connected to a central switch.
When this topology is used, make the ethernet connection on the 842E
encoder to the Link 1 connection. The Link 2 ethernet connection must remain
unused.
10Rockwell Automation Publication 842E-UM001A-EN-P May 2012
EtherNet/IP overviewChapter 3
Linear topology
The linear topology uses the embedded switching capability to form a daisychain style network that has a beginning and an end. Linear topology simplifies
installation and reduces wiring and installation costs, but a break in the 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.
Device level ring topology
A DLR network is a single-fault-tolerant ring network intended for the
interconnection of automation devices. DLR topology is advantageous as it can
tolerate a a break in the network. If a break 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 encoder.
Rockwell Automation Publication 842E-UM001A-EN-P May 201211
Chapter 3EtherNet/IP overview
CIP object model
EtherNet/IP uses an object model for network communication wherein all
functions and data of a device are defined. The important terms are as follows:
Class: A class contains related objects of a device, organized in instances.
Instance: An instance consists of different attributes that describe the properties
of the instance. Different instances of a class have the same services, the same
behavior, and the same attributes. They can, however, have different values.
Attribute: The attributes represent the data a device provides over EtherNet/IP.
These include the current values of, for example, a configuration or an input.
Typical attributes are configuration and status information.
Service: Services are used to access classes or the attributes of a class or to
generate specific events. These services execute defined actions such as reading
the attributes.
The following table shows an example of the object model for the 842E encoders.
ClassInstanceAttributeValue
842EBasicResolution per revolution15 bit
Revolutions, total12 bit
AdvancedResolution per revolution18 bit
Revolutions, total12 bit
The 842E EtherNet/IP encoder supports the following classes of the encoder
profile:
Supported classes
Number of
Class code Object classDescription
0x01
0x02
0x04
0x06
0x23
0x47
0x48
0xF4
0xF5
0xF6
Identity objectContains information on the node within the network
Message router object
Assembly object
(I/O-assembly class)
Connection manager object
Position sensor object
Device level ring (DLR) object
QoS object
Port object
TCP/IP interface object
Ethernet link object
Processes all messages and routes them to the
appropriate objects
Assembles attributes (data) of various objects to a
single object
Used for I/O messages
Contains connection specific attributes for triggering,
transport, and connection type
Administrates device specific data like position and
counting direction
Contains the configuration and status information of
the DLR protocol
Contains mechanisms used to treat traffic streams with
different relative priorities
Contains implemented port types port numbers and
port names
Contains all attributes for configuring the TCP/IP
interface
Contains connection-specific attributes like
transmission rate, MAC address, or duplex mode
instances
1
1
7
1
1
1
1
1
1
3
12Rockwell Automation Publication 842E-UM001A-EN-P May 2012
EtherNet/IP overviewChapter 3
23h Position sensor
02h Message
router
04h Assembly
F4h
F5h
06h Connection manager
01h Identity
F6h
Network
The Class Instance Attributes for the position sensor object are provided in the
tables below.
See Appendix B on page 53 for an example of how to create an explicit message in
RSLogix 5000 using the position sensor object tables.
Class services of the position sensor object
Instance Service NameDescription
0x05ResetReboot with all EEProm parameters of the encoder, reboot with the factory
0x0EGet_Attribute_SingleReturns value of attribute
0x15
(21dec)
0x16
(22dec)
Restore Restore all parameter values from the non-volatile storage, customer defaults
SaveSave para meters to the n on-volatile storage
defaults
00: reboot Object– read all EEProm parameters
01: set and save factory defaults and reboot object– read all EEProm parameter
Rockwell Automation Publication 842E-UM001A-EN-P May 201213
Chapter 3EtherNet/IP overview
Class attributes of the position sensor object
Num
Required/
(dec)
optional
1Required
(implemented)
2ImplementedGetMax instanceINTMax. instance number of an object
3ImplementedGetNumber of
6ImplementedGetMaximum ID
7ImplementedGetMaximum ID
100GetNV
(1) Nonvolatile
Access
ruleNameData type DescriptionDefault
GetRevisionINTObject revision no0x00 02
in this class
INTNumber of object instances in this
INTHighest implemented class ID0x00 64
INTHighest implemented instance
ARRAY
of bytes
class
attribute ID
aa.bb: major revision
minor revision
dd.mm.yy: day.month.year
(1)
instances
number class
attributes
number
instance
attributes
Encoder
firmware
version
0x00 01
0x00 01
0x00 7A
842eaa.bb
dd.mm.yy
Instance Services of the position sensor object are automatically populated in the
explicit message instruction configuration
Instance services of the position sensor object
InstanceService nameDescription
0x0EGet_Attribute_SingleReturns value of attribute
0x10Set_Attribute_SingleSets value of attribute
1Instance attributes of the position sensor object
Attribute ID
(dec)
11GetVNumber of attributesINTNumber of supported attributes in this
22GetVAttribute listARRAY
10AGetVPosition value signedDINTCurrent position value (32 Bit)none
11BGetNVPosition sensor type
12CSetNVDirection counting toggle, code
13DSetNVCommissioning diagnostic control
14ESetNVScaling function control (SFC)BOOLON: 1 calc. value (from 16+42)
422AGetNVPhysical resolution span (PRS)DINTNumber of steps per rev
432BGetNVPhysical resolution
442CGetVAlarmsWORDFlags for alarms (errors)
452DGetNVSupported alarmsWORDInformation on supported alarms0x3003
462EGetVAlarm flagBOOLIndication of set alarm0: OK
472FGetVWarningsWORDFlags for warnings
4830GetNVSupported warningsWORDInformation on supported warnings0x673C
Attribute ID
(hex)
Access
rule
(1)
NV /
(2)
NameData type Description
V
INT
UNIT
INTNumber of revolutions
number of spans
revoluti on.
0x00 01)
position value
Bit 0: Out of range
Bit 1: Range overflow
Bit: 2: Range underflow
Bit 3…7 reserved
Format of velocity value
0x1F04 counts/s
0x1F0E revs/s
0x1F0F revs/min
(24)
warning flag (47)
warning flag (47)
Format of acceleration value
0x0810: cps/s
0x0811: rpm/s
0x0812: rps/s
value
Bit 0: Direct. 0 (inc.) 1 (dec.)
Bit 1: Scaling 0 (off) 1 (on)
Bit: 2…4 Reserved
Bit: 5: Diag. 0 (off) 1 (on)
Bit 6…7 manuf. spec.
Basic = 15 bit
Advanced = 18 bit
(single-turn part)
(multi-turn part)
Min. / max
(default)
Min 0x00 00 00 01
Max 0x00 04 00 00
(0x00 04 00 00)
Min / Max
0x00 00 00 00 /
Attr.17 - 1
(0x00 00 00 00)
(0x00)
(0x1F0F)
(0x00 00 00 01)
(0x00 00 00 00)
(0x3F FF FF FF)
(0x0810)
(0x00 00 00 01)
(0x00 04 00 00)
(0x00 01) single
(0x10 00) multi
1: Alarm error
Rockwell Automation Publication 842E-UM001A-EN-P May 201215
Chapter 3EtherNet/IP overview
Attribute ID
(dec)
4931GetVWarning flagBOOLIndication of set warning0: OK
5032GetNVOperating timeDINTStorage of operating time counter
5133GetNVOffset valueDINTOffset value is calculated when using
10064GetVTemperature valueINTCurrent temperature value
10165SetNVTemperature value formatENG
10266SetNVTemperature resolutionDINTMinimum resolution of temperature
10367SetNVMinimum temperature value
10468SetNVMaximum temperature value
10569GetVFault header
Attribute ID
(hex)
Access
rule
(1)
NV /
(2)
NameData type Description
V
UNIT
setpoint
setpoint
(see Sensor error table)
INTMinimum temperature set-point
INTMaximum temperature set-point
DINTFlags of encoder sensor errors and
[0,1h], the format of the counter is
second.
preset function
-40…100°C or -40…212°F
Accuracy of the temperature sensor is
about +/- 5 °C.
Format of temperature value
°C or °F (Fahrenheit)
0x1200: °C
0x1201: °F
value
[°C/100] or [(°F)/100]
(-40…100°C, -40…212°F)
(-40…100°C, -40…212°F)
warning s
Min. / max
(default)
1: Warning Flag
0
0x00 00 00 00
0xF0 60
0x27 10
(-4000… +10000)
(0x1200)
(0x00000001)
0xF0 60
(-4000)
0x27 10 (+10000)
or 0x52D0
(+21200)
0x00 00 00 00
1066ASetNVSlave sign of liveDINTFlags for encoder functionalities
1076BGetNVEncoder motion timeDINTStorage of the motion time. This counter
1086CGetNVEncoder operating time [second] DINTStorage of the operating time. This
1096DGetNVMax velocity
1106EGetNVMax acceleration [cnts/(ms)2]DINTStorage of the maximum acceleration of
1116FGetNVMax temp [°C/100]DINTStorage of the maximum temperature of
11270GetNVMin temp [°C/100]DINTStorage of the minimum temperature of
11371GetNVNumber of startups DINTStorage of the number of startups
11472GetVLED current value [μA]INTCurrent LED current [μA]
11573GetNVMax current value [μA]INTMax. LED current [μA]1.500
11674GetNVMin current value [μA]INTMin. LED current [μA]1.500
11775GetVPower supply voltage [mV]
(1) You can do a Get of all the Set values, as shown in Appendix B, page
successful.
(2) Nonvolatile/volatile
RA [cnts/ms]
Accuracy is about 1% from the
measurement value.
53. It is always good programming practice to do a Get after setting a value to ensure the Set command was
DINTStorage of the maximum velocity of the
INTCurrent supply voltage [mV]
(Bit-field):
Bit 0: Slave sign of live (on/off)
Bit 1…7: not used
Bit 8…15: UpdateFac tor (1…127)
Bit 16…31: not used
is incrementing if the encoder is in
rotation [sec].
counter is incrementing if the encoder is
powered on [sec].
encoder in operational state.
the encoder in operational state.
the encoder in operational state
the encoder in operational state
(power-on) cycles
Range: 200…25.000
Range: 9.500…30.500
0x0000500
0
0
0
0
2000
2000
0
200…25.000
(0)
9.500…30.500
(24.000)
16Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Installation
ATTENTION
Chapter 4
Mechanical
This chapter describes how to install the 842E EtherNet/IP Encoder.
Also refer to the installation sheet provided in the box, Publication No.
100000169360.
Shaft 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 flexible coupling clamp to mate to the
encoder shaft, e.g., 845–FC–*–*. See encoder accessories in the Sensors
catalog.
Do not rigidly connect the encoder shaft to the machine; this will cause
premature failure of the encoder or machine bearings. Always use a flexible
coupling.
2. Use the dimension drawings in the installation instructions to determine
the encoder mounting hole locations (see “Related documentation” on
page iii).
3. Slide the flexible coupling onto the shaft, but do not tighten the set screws.
May 2012Rockwell Automation Publication 842E-UM001A-EN-P May 201217
Chapter 4Installation
ATTENTION
IMPORTANT
4. Mount the encoder and tighten with three size M4 mounting screws (not
supplied).
5. Center the flexible coupling and tighten the set screws.
6. Rotate the machine slowly and verify that the flexible coupling is not
deforming beyond specifications.
7. Align machine to its mechanical zero or home position.
8. Remove the screw cover on the back of the encoder and press the preset
push button to change the preset value to the current shaft position value.
(The factory preset value is zero.)
9. Replace the screw cover.
Mounting with a hollow shaft
IMPORTANT
Be sure the mating shaft is chamfered and grease-free.
1. Loosen the screw on the clamping ring with a 2.5-mm star driver.
2. Slide the encoder onto the mating shaft until the flex mount rests on the
machine surface.
The encoder should slide freely onto the shaft; if not, do not force. Check the
shaft for interferences such as gouges, burrs, rust, or size.
3. Hold encoder firmly and mark the two mounting holes. (If mounting holes
already exist, proceed to Step 6.)
4. Slide the encoder off. Drill and tap the marked holes to accept M4 (or
equivalent) screws.
5. Slide the encoder back onto the shaft until the flex mount rests on the
machine surface.
6. Attach the encoder with two M4 (or equivalent) screws.
Do not stress the flex mount while tightening the screws.
7. Tighten the clamping ring screw to 1.1 Nm (10 in–lb).
8. Align machine to its mechanical zero or home position.
18Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Electrical
ATTENTION
ATTENTION
Power connection
Link 1 connection
Network address
switches
Link 2 connection
Preset push button
InstallationChapter 4
9. Remove the screw cover on the back of the encoder and press the preset
push button to change the preset value to the current shaft position value.
(The factory preset value is zero.)
10. Replace the screw cover.
Mechanical specifications
Face mount flange10 x 19 mm
Servo flange6 x 10 mm
Blind hollow shaft8, 19, 12, 15 mm and 1/4, 1/2, 3/8, 5/8 in.
Switch off the power supply. The machine/system could unintentionally start
while you are connecting the devices.
Ensure that the entire machine/system is disconnected during the electrical
installation.
Commissioning requires a thorough check by authorized personnel!
Before you operate a system equipped with the 842E EtherNet/IP absolute
encoder, make sure that the system is first checked and released by authorized
personnel.
Please read more in Chapter 1, Safety.
Electrical wiring instructions
Three electrical connections are located on the back of the housing.
A 4-pin M12 connector is used for the power supply connection.
Two 4-pin M12 connectors are used for the ethernet connection. The Link 1
connection is used for star networks. For ring networks, use both the Link 1 and
Link 2 connectors. In a linear network, use Link 1, Link 2, or both connectors.
Encoder
Link 2
Link 1
Mod
Net
Network
Address
Switches
x100
Rockwell Automation Publication 842E-UM001A-EN-P May 201219
x10
Reset
Button
x1
Chapter 4Installation
ATTENTION
IMPORTANT
Pin assignments
Voltage sup ply
PinSignalMating cable
wire color
1VsBrownSupply voltage 10…30V DC
2WhiteD o not use
3GNDBlue0V DC (ground)
4BlackDo not use
Ethernet Link Connections – Link 1 and Link 2
PinSignalMating Cable
Wire Color
1TxD+White orangeEthernet
2RxD+White greenEthernet
3TxD–OrangeEthernet
4RxD–GreenEthernet
Function
Function
Preset push button
Pressing the preset push button results in a change of position reading.
This can cause unexpected motion which could result in personal injury or
damage to the product or equipment.
Press the preset button briefly, no longer than one second.
To preset the position of the encoder, remove the screw cover from the back of
the encoder and briefly press the Preset button inside (see figure on page 19 and
“Preset function” on page 40).
Network address switches
You can use the three Network Address switches to set the IP address of the
encoder (see figure on page 19 and “Setting the IP Address” on page 23).
20Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Electrical specifications
Operating voltage10…30V DC
Power consumption3 W
Load current200 mA
Resolution per revolution262,144
Revolutions4,096
Repeat accuracy±0.002°
Error limit±0.03°
Code directionCW or CCW programmable
InterfaceEtherNet/IP per IEC 61784-1
Transmission speed100 MBits/s
DuplexFull or half
InstallationChapter 4
Rockwell Automation Publication 842E-UM001A-EN-P May 201221
Chapter 4Installation
Notes:
22Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Chapter 5
Configuring the encoder for your EtherNet/IP
network
Setting the IP Address
The 842E encoder is shipped with the network address switches set to 888. You
must assign it an IP address using one of the two methods outlined below.
You can set the IP address of the 842E encoder using either one of the following
methods:
1. Use the network address switches (see figure on page 19) on the encoder to
set the last octet of the IP address (192.168.1.xxx) .
2. Use the network address switches to enable BootP / DHCP and use a
BootP utility or DHCP server to assign the IP address of the unit on
powerup.
Assigning the last octet in an IP address scheme of 192.168.1.xxx
using the network address switches
1. Set the three network address switches to 999.
2. Cycle power to the encoder.
3. Set the three network address switches to a valid address of 001 – 254.
4. Cycle power to the encoder.
5. The encoder will power up with the IP address set to 192.168.1.xxx, where
xxx is the position of the three network address switches.
Network address switches set to 123
x10
x100
Rockwell Automation Publication 842E-UM001A-EN-P May 201223
x1
Chapter 5Configuring the encoder for your EtherNet/IP network
ATTENTION
Assigning the IP Address using BootP/DHCP:
Verify that the encoder’s MAC ID is in the relationship list in the BootP Utility
or DHCP server before attempting to assign the encoder an IP address using this
procedure.
1. Set the three network address switches to 999 and cycle power.
2. Set the three network address switches to 000 and cycle power.
3. The encoder will power up and request an IP address from a BootP/
DHCP server.
4. If the encoder’s MAC ID is in the relationship list, the BootP/DHCP
server will assign the associated IP address to the corresponding MAC ID.
Function of network address switch settings
Setting of
network address switchesFunction
001-254Sets last octet of the IP address to the value indicated (xxx in 192.168.1.xxx)
888Restores all factory default settings in the encoder and clearing its IP address
999Clears the encoder’s IP address
Disable DHCP after the new network address is set (see next step).
This prevents unexpected resetting of the network address, which could result
in unintended machine motion or loss of process control.
24Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Configuring the encoder for your EtherNet/IP networkChapter 5
5. Disable DHCP: click once on the encoder in the relation list to highlight
it. Then click Disable BOOTP/DHCP. This instructs the 842E encoder
to retain the IP address at the next power cycle.
Wait for the status message to show that the command was successfully
sent. If the message does not appear, repeat this step.
6. Click File > Save As to save the relationship, if desired.
7. Cycle the power to the 842E encoder. You should no longer see the 842E
encoder appear in the request history panel.
From a DOS prompt, you can ping the new address. The response should be
4 packets sent, 4 packets received, and 0 lost.
Rockwell Automation Publication 842E-UM001A-EN-P May 201225
Chapter 5Configuring the encoder for your EtherNet/IP network
Notes:
26Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Chapter 6
Configuring the 842 E encoder using
RSLogix 5000
This chapter guides you through the steps required to configure your encoder
using RSLogix 5000 software. Note that the modules presented in this chapter
are configured using RSLogix 5000 software, version 20.
Example: setting up the
hardware
In this example, a CompactLogix™ chassis contains the L35E processor in slot 1
and a built-in EtherNet/IP connection. The encoder is connected to a Stratix
6000 ethernet switch.
To work along with this example set up your system as shown.
• Verify the IP addresses for your programming terminal and 842E encoder.
• Verify that you connected all wiring and cabling properly.
• Be sure you configured your communication driver (for example,
AB_ETH-1 or AB-ETHIP-1) in the RSLinx
® software.
Rockwell Automation Publication 842E-UM001A-EN-P May 201227
Chapter 6Configuring the 842 E encoder using RSLogix 5000
Configuring the encoder
You must configure your encoder upon installation. The encoder will not work
until it has been configured with at least the default configuration.
RSLogix 5000 configuration software
You must use RSLogix 5000, version 18 or later to set configuration for your
encoder. The instructions in this chapter use version 20.
You have the option of accepting default configuration for your encoder or
writing point level configuration specific to your application. Both options are
explained in detail, including views of software screens, in this chapter.
Checking the integration in EtherNet/IP via RSLinx Classic
With the aid of the tool RSLinx Classic you can again check whether the IP
address set is detected by the control system.
The EDS file (electronic data sheet) contains all 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 on “842E,” also see
“The electronic data sheet file” on page 5). You can register the EDS file using the
EDS hardware installation tool in the tools menu of RSLinx Classic software.
1. Start RSLinx Classic (as a rule on the Start menu on your PC/notebook in
Rockwell Software, RSLinx, RSLinx Classic).
2. Click on the RSWho button in the program.
28Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Configuring the 842 E encoder using RSLogix 5000Chapter 6
IMPORTANT
3. Then open the path AB_ETHIP1, ethernet. The encoder can be seen
with its IP address.
4. Install the add-on profile according to the instructions in Appendix A,
page 49.
Before proceeding, install the add-on profile (see Appendix A, page 49).
Setting up the add-on profile
in RSlogix 5000
After you install the encoder add-on profile (see Appendix A, page 49), set up the
add-on profile; here is an example of the setup procedure.
1. Open RSLogix 5000.
2. Click File>New.
Rockwell Automation Publication 842E-UM001A-EN-P May 201229
Chapter 6Configuring the 842 E encoder using RSLogix 5000
3. Enter the new controller information.
4. Right-click on the ethernet port of the controller and select New Module.
30Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Configuring the 842 E encoder using RSLogix 5000Chapter 6
5. Select the desired 842E encoder and click Create.
6. Close the select module type dialog box.
7. Continue to the next sections to complete the add-on profile.
Rockwell Automation Publication 842E-UM001A-EN-P May 201231
Chapter 6Configuring the 842 E encoder using RSLogix 5000
General tab
1. Enter a name for the encoder. In this example, the name is Encoder_1. You
may have multiple encoders or other modules, so be sure to give each a
brief but descriptive name. The name that you assign to the encoder
appears in the controller organizer IO tree. The name will also appear in
the description of tags.
2. Enter a description of the encoder’s function.
3. Set the ethernet address for the encoder. In this example, the address is
192.168.1.123. The 123 reflects the address of the network address
switches on the 842E.
32Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Configuring the 842 E encoder using RSLogix 5000Chapter 6
Ethernet address
When the controller is offline, the ethernet address can be set. You have three
options:
• When a private network is used, click on the Private Network radio
button. Enter a value of 1…254 for the last segment (octet) of the address.
Be sure not to duplicate the address of an existing device. In the preceding
example, the address of the EtherNet/IP encoder is 192.168.1.123.
• When multiple networks exist, you may choose to set the address to some
other value. when offline, simply click the IP address radio button and
enter the desired address
• Click the Host Name radio button and type in the name of the host. In
the example below, the host name is QPACK4.
Rockwell Automation Publication 842E-UM001A-EN-P May 201233
Chapter 6Configuring the 842 E encoder using RSLogix 5000
Module definition
The user should not have to make changes to the default values. If necessary,
follow the steps below to change series, revision, electronic keying, connection,
and/or input data.
1. On the General tab, click the Change button. The module definition
window opens.
2. Click the arrows at the right of each box to access drop-down menus.
• The connection drop-down menu allows you to select either a Data or
Listen Only connection (see definitions, below).
• The Input data drop-down menu allows you to select position, position-
status, or position-velocity (see “RSLogix 5000 controller tags” on page 41
for more information).
3. Click OK to accept the changes (or Cancel to retain the original settings).
See the definitions below. Click Help for more information.
Data: This type of connection is used to read data from the encoder without
controlling the outputs. This connection is not dependent on any other
connection.
Listen Only: This type of connection is dependent on another connection to
exist. If that connection is closed, the listen-only connection will be closed as
well.
34Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Connection tab
Configuring the 842 E encoder using RSLogix 5000Chapter 6
You should not have to change any settings on the Connection tab. For reference,
these are the settings:
Requested Packet Interval: Specify the number of milliseconds between
requests for information from the controller to the encoder. The encoder may
provide data on a shorter interval, but if no data is received the controller asks the
encoder for a status update. Minimum setting is 2 ms and the maximum setting is
750 ms.
Inhibit Module: When checked, the encoder is not polled for information, and
any information provided will be ignored by the controller.
Major fault on controller if connection fails while in run mode: Check this
box if a connection failure should be considered a major fault.
Use Unicast Connection over EtherNet/IP: Unicast connections are point to
point connections. Multicast connections are considered one to many. Unicast
reduces the amount of network bandwidth used.
Module fault: Fault messages will appear in this box.
Rockwell Automation Publication 842E-UM001A-EN-P May 201235
Chapter 6Configuring the 842 E encoder using RSLogix 5000
Module Info tab
The Module Info tab contains read-only data that is populated when the
controller goes on line (a program is downloaded or uploaded from the
controller).
The left panel, Identification, shows the vendor, product type, product code,
revision level, serial number, and product name.
The right panel, Status, shows the fault status, internal state (i.e. run mode) and
whether the file is owned and Module Identity.
The Refresh and Reset Module buttons are active when the controller is on line.
Refresh: Click this button to refresh the data in the window.
Reset Module: Click this button with care as it disconnects the module
momentarily and control will be interrupted. A warning window appears: “Click
Ye s or No as needed. Click Help for further information.”
36Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Configuration tab
Configuring the 842 E encoder using RSLogix 5000Chapter 6
The Configuration tab is used to configure the encoder scaling, direction, and
set velocity units. Click the Enable Scaling checkbox to change the encoder
resolution. Use the Direction drop down box to set the direction of the encoder
(check the definition in the old user manual). Use the velocity units to set the
velocity units of the encoder.
Scaling makes it possible to scale the steps per revolution and the total resolution
(see “Linear scaling example” on page 53 in Appendix B).
If the Enable Scaling box is checked, the values can be entered for the steps per
revolution and the total resolution applied.
Direction: The direction of rotation (increasing position value), viewed on the
shaft, can be set to clockwise or counterclockwise.
• Clockwise = increasing position value on clockwise revolution of the shaft
• Counterclockwise = increasing position value on counterclockwise
revolution of the shaft.
Vel o city units: Use this parameter to define the units in which the velocity is
transmitted. The options are the following:
• Counts/sec
• Revolutions/sec
• Revolutions/min
Rockwell Automation Publication 842E-UM001A-EN-P May 201237
Chapter 6Configuring the 842 E encoder using RSLogix 5000
Internet Protocol tab
For the purpose of this user manual, the user is expected to use a private address,
that is, an address of 192.168.1.xxx. This window is automatically populated with
the data.
38Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Network tab
Configuring the 842 E encoder using RSLogix 5000Chapter 6
The Net work tab contains read-only data that is populated when the controller
goes online.
Network Topolog y: This displays the current network topology as either linear/
star or ring.
Network Status: This displays the current network status as normal, ring fault,
or unexpected loop detected.
The Refresh Communication link appears when communication with the
encoder has failed. Click Refresh Communication to attempt to restart
communication with the encoder.
Rockwell Automation Publication 842E-UM001A-EN-P May 201239
Chapter 6Configuring the 842 E encoder using RSLogix 5000
ATTENTION
IMPORTANT
Configuration
Default encoder settings
The 842E EtherNet/IP encoder is supplied with the following parameters:
• Direction = clockwise
• Scaling = none
• Steps per revolution = 262,144
• Total resolution = 1,073,741,823
• Preset = 0
• Velocity measuring unit = rpm
Preset function
The 842E encoder position value is set to zero when the preset function is
executed (by the preset push button or EtherNet/IP). This predefined value is
stored in the EEPROM. The factory default preset value is zero.
The preset function results in a change of position reading. This can cause
unexpected motion which could result in personal injury and damage to the
product or equipment. During preset, steps should be taken to ensure the shaft
is stationary and will remain so.
The preset function is not intended for use in dynamic parameter setting
operations but as an electronic adjustment function during commissioning, in
order to allocate a specific value to the mechanical rotary position of the 842E
encoder.
If the preset value is set by EtherNet/IP, the value must be within the total
working range currently configured (steps per revolution and number of
revolutions).
The preset push button (see figure on page 19 and “Preset push button” on page
20) should only be operated when the encoder is powered and the green LED is
blinking or steady.
Press the preset button briefly, no longer than one second.
40Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Configuring the 842 E encoder using RSLogix 5000Chapter 6
RSLogix 5000 controller tags
During the encoder installation the encoder tags are automatically loaded as
controller tags. This makes the tags available for all programs.
In the controller organizer, click on the Controller Tags.
The categories of tags appear. The tag name is composed of the encoder name
followed by a:
• :“C” for configuration
• :“I” for input
Configuration image table and tags
Expand Enc_1:C by clicking “+.” This shows the configuration image table,
which has the following tags:
Enc_1:C.Counterclockwise: Configuration status of the direction of the count
as defined in the encoder profile.
Enc_1:C.VelocityUnits: Velocity units status of the encoder as defined in the
encoder profile.
Input image table and tags
Expand Enc_1:I by clicking “+.” This shows the input image table, which has the
following tags:
Rockwell Automation Publication 842E-UM001A-EN-P May 201241
Chapter 6Configuring the 842 E encoder using RSLogix 5000
Enc_1:I.Fault: Fault status of the encoder.
Enc_1:I.Position: Position status of the encoder. If position-status is selected
from the input data selection in the encoder definition you will also see alarms
and warning status.
Enc_1:I.Velocity: Velocity status of the encoder is also included when selecting
velocity-status from input data selection in the encoder definition.
42Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Chapter 7
ATTENTION
Net
Mod
Link 1
Screw cover
Encoder
Link 2
Diagnostics and troubleshooting
This chapter describes the diagnostic process to correct and clear fault conditions
on the 842E encoder.
Cease operation if the cause of the malfunction has not been identified!
Stop the machine if you cannot clearly identify the error and/or if you cannot
safely rectify the malfunction.
Status indicators
The Mod LED shows the device status, the Net LED shows the status of the CIP
connection, and the Encoder LED shows the status of the internal measuring
device in the 842E EtherNet/IP encoder.
Five LED indicators provide status information on the back of the encoder. The
figure below shows their location and the tables below describe their status.
Read the LEDs according to the following tables.
LED NetDescription
OFFNo power
Green flashingNo connection
GreenThe device has an IP address and a CIP connection.
or
No IP address
The device has an IP address but no CIP connection.
Rockwell Automation Publication 842E-UM001A-EN-P May 201243
Chapter 7Diagnostics and troubleshooting
LED NetDescription
Red flashingWarning, connection time-out
Cleared by reset or a new connection
RedError
IP address has been assigned to another device already.
Green/Red flashSelf-test at power-on
LED ModDescription
OFFNo power
GreenDevice operational
Green flashingStandby/device not configured, no IP address assigned
Red flashingWarning, but device still operational
or
Firmware update in progress
RedError, device not operational
Green/red flashingSelf-test at power-on
LED EncoderDescription
OFFNo power
Green flashingWarning
GreenDevice operational
Red flashingWarning, but device still operational
RedError
Green / red flashingSelf-test at power-on
or
No IP address
Wrong parameter
or
Firmware update in progress
Encoder error
44Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Diagnostics and troubleshootingChapter 7
ATTENTION
Ethernet Link LEDs Link 1 and 2
The ethernet link LEDs, Link 1 and Link 2, display the status of the physical
connection on the ethernet interface.
Link 1 or Link 2 LEDDescription
OFFNo link / power off
Green solidEthernet connection established
Green flashingData transmission TxD/RxD
Amber solidInterface por t locked
Amber flashingData collisions
Self-test via EtherNet/IP
Warnings, alarms and errors
via EtherNet/IP
Electromagnetic interference (EMI) can cause incorrect operations or errors in
the position value. Without a self-test an immediate position change may occur
on power up.
Using the position sensor object a self-test can be triggered with attribute 13. See
“CIP object model” on page 12. During this test the sensor and the most
important functions are tested automatically. If an error occurs, bit 27 in the fault
header is set.
It is imperative to evaluate the alarms in your application!
In case of a serious error, incorrect position values may be output. This change
could cause an unexpected movement that may result in a hazard for persons or
damage to the system or other objects.
Within EtherNet/IP warnings, alarms, and errors can be retrieved using implicit
messages and also explicit messages.
Alarms and warnings for the encoder can be read via the position sensor object
with the aid of the attributes.
For errors, alarms, and warning the following applies:
Bit status = 0: no error, alarm or warning
Bit status =1: error, alarm or warning present
In addition the Net LED illuminates red continuously.
Rockwell Automation Publication 842E-UM001A-EN-P May 201245
10Position limits exceededMax. position exceededOKExceeded
11Reserved by CIP–Always 0–
12Reserved by CIP–Always 0–
13Ve ndo r:
Temperature out of range
14Vendor: over / under voltage
(9.700…30.300mV)
Temperature set-points reachedOKOut of
voltage set-points reachedOKOut of
(47)
TRUE (1)
(47)
range
range
range
Alarms
The alarm type is coded in a bit field of attributes 44 and 45. If one of the bits is
listed below is set, the alarm flag (attribute 47) will also be set.
If, for example, the velocity or temperature drop below/exceed the limit values,
the warning flag is set (attribute 49 position sensor object).
In addition, the Net LED flashes red.
The warning type is coded in a bit field of attributes 47 and 48.
Note: The position value will continue to be correctly calculated; the encoder is
therefore still ready for operation.
46Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Operating temperature of the encoder
outside the permissible range
Permissible internal LED current in the
sensors exceeded
Supply voltage outside the permissible
range
Frequency error, maximum velocity has
been exceeded.
The velocity has dropped below/
exceeded the minimum/maximum
velocity configured with attribute
27 or 28.
The acceleration has dropped below/
exceeded the minimum/ maximum
acceleration configured with attribute
32 or 33.
The position has dropped below/
exceeded the minimum/maximum
position configured with attribute
22 or 23.
Position error (amplitude error of the
single-turn measurement)
Position error (amplitude error of the
multi-turn measurement)
Position error (vector error Sin² + Cos²
of the single-turn measurement)
Position error (vector error Sin² + Cos²
of the multi-turn measurement)
FAL SE
TRUE
(0)
(1)Supported
01YESW
01YESW
01YESW
01YESW
01YESW
01YESW
YESW
01YESA
01YESA
01YESA
01YESA
0
NO–
Warni ng/
alarm
Rockwell Automation Publication 842E-UM001A-EN-P May 201247
Chapter 7Diagnostics and troubleshooting
Faul t
header
[byte]BitErrorDescription
16Position
error
217Position
325Memory
error
18Position
error
19Position
error
20Position
error
…
23 ReservedReservedAlways
21
24Pos ition o r
memory
error
error
26Star tup error Error on start-up01YESA
27Diagnostic
error
28…29 ReservedReserved
30Slave sign of
life
31Reser vedReservedAlways
Single-turn position error (error in the
sensor)
Multi-turn position error
(synchronization MA single)
Multi-turn position error
(synchronization quad single)
Multi-turn position error (internal
interface)
Multi-turn position error (FRAM)Always 0–NOA
Memory error (EEPROM checksum)01YESA
Memory error (EEPROM IRQ)01YESA
Error during self-test01YESA
LifeSign; active if attribute 13 is set01YES–
FAL SE
(0)
01YESA
01YESA
01YESA
01YESA
0
0
TRUE
(1)Supported
NO–
NO–
Warni ng/
alarm
48Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Installing the add-on profile
Appendix A
Introduction
Performing the installation
This appendix shows how to install the add-on profile (AOP) of the encoder
with the RSLogix 5000 program. Add-on profiles are files that users add to their
Rockwell Automation library. These files contain the pertinent information for
configuring a device that will be added to the Rockwell Automation network.
The add-on profile simplifies the setup 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 manner.
The add-on profile is a folder containing numerous files for the device. It will
come as an installation package.
Install the add-on profile following the on-screen instructions.
1. In the file explorer, locate the directory where the installation files were
extracted.
2. Click MPSetup.exe.
3. Extract the zip file to a local directory on you computer.
4. Double-click on MPSetup.exe to begin the installation.
Rockwell Automation Publication 842E-UM001A-EN-P May 201249
Appendix AInstalling the add-on profile
5. At the welcome screen click on Next.
6. Click the radio button to accept the licensing terms, then click Next.
50Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Installing the add-on profileAppendix A
7. Click the Install radio button and then click Next.
8. Click Install to begin the installation.
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Appendix AInstalling the add-on profile
9. Click Next to install the add-on profile files.
10. Click Finish to complete the installation.
52Rockwell Automation Publication 842E-UM001A-EN-P May 2012
Appendix B
RSLogix 5000 sample code
This appendix gives examples of using your encoder, including how to use
RSLogix 5000 to set and read parameters.
• “Linear scaling example,” next section
• “Setting up your project” on page 54
• “Using an explicit message configuration to set preset encoder value” on
page 59
• “Using an explicit message configuration to read preset encoder value” on
page 63
Linear scaling example
• “Using an explicit message configuration to obtain the encoder’s run-time
in seconds” on page 67
A linear cart is to be controlled using ball screw slide. The cart will stop after 1 m
of travel for loading and unloading. For precise measurement of the distance
between stops, 10,000 steps are required.
The cart will travel 20 mm for one revolution of the encoder, bringing the
number of rotations the encoder turns for 1m of travel distance to 50. For a
resolution of 10,000 steps per meter, the encoder requires 200 steps per
revolution.
There are three (3) stops along the 3-m track, so our total resolution must be at
least 3 x 10,000 = 30,000 steps to cover the length of the track. For the scaling
function, our total resolution must be
n
x CPR
2
or in this case
8
2
x 200 = 51,200
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Appendix B RSLogix 5000 sample code
Set up the Configuration tab as follows.
1. Set Parameter Scaling to Enable.
2. Set Counts per Revolution to 200.
3. Total Measuring Range will be 51,200.
4. Position the slide/encoder to a known start position.
5. Set the preset value. The preset value will be retained by the encoder
through a machine cycle.
Setting up your project
1. Create a new program file. Select the processor revision and name the
project file. In this example the CompactLogix 1769-L35E V20 was used.
54Rockwell Automation Publication 842E-UM001A-EN-P May 2012
RSLogix 5000 sample codeAppendix B
2. In the controller organizer, right-click Ethernet Communication
Adapter and select Properties.
3. Configure the controller’s IP address, this example uses 192.168.1.100. Click Apply, then OK.
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Appendix B RSLogix 5000 sample code
4. Right-click Ethernet Network and select New Module.
5. Find the encoder add-on profiles under specialty modules. Select the add-
on profile for either Multi-turn Encoder or Single-turn Encoder, then
click Create.
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RSLogix 5000 sample codeAppendix B
6. The encoder add-on profile configuration will then launch. Name the
encoder (In this example it is My_842E). Configure the encoder’s IP
address at 192.168.1.101.
7. Click the Configuration tab and set it up as shown per the linear scaling
example on page 53. Click Apply, then OK.
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Appendix B RSLogix 5000 sample code
8. The encoder can now be seen as configured on the ethernet network in the
controller organizer.
9. The project can then be downloaded to the controller.
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RSLogix 5000 sample codeAppendix B
ATTENTION
ATTENTION
Using an explicit message
configuration to set preset
encoder value
The preset function results in a change of position reading. This can cause
unexpected motion which could result in personal injury and damage to the
product or equipment. During preset, steps should be taken to ensure the shaft
is stationary and will remain so.
In this example, a value is sent to the preset attribute in the encoder. The
encoder stores this preset value in non-volatile memory. Storing the preset
value applies the preset value to the encoder position value.
In this example a value is sent to the preset attribute in the encoder. The encoder
stores the preset value sent in non-volatile memory. Storing the preset value
applies the preset value to the encoder position value.
The following program fragment sends an explicit message and confirms the
message reception.
1. Create a new message data type named Preset_Message and a DINT named
Preset_Value.
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Appendix B RSLogix 5000 sample code
2. Add a new MSG instruction to the program and browse to the
Preset_Message data type created in step 1. Then double-click the gray
box on the message instruction to configure it.
3. Use the Position Sensor Object to find the values you want to use to send
an explicit message. In the Configuration tab select:
Message type: CIP generic
Service type: Set attribute single
Service code: (Automatically populated)
Source element: Preset_value (browse to this tag).
Source length: 4
Instance: 1
Class: 23*
Attribute: 13*
*hexadecimal values
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RSLogix 5000 sample codeAppendix B
4. In the Communication tab, browse to the encoder on the ethernet
network, then click OK.
5. The Ta g tab will be populated for the Preset_Message
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Appendix B RSLogix 5000 sample code
IMPORTANT
6. Add a normally open contact and a one-shot instruction to initialize the
message instruction.
7. After you enter a value into the Preset_Value DINT and toggle the preset
contact, the message instruction presets the encoder’s current count value.
The position value is changed to the preset value you set.
Always do a Get after a Set to verify the value was changed.
62Rockwell Automation Publication 842E-UM001A-EN-P May 2012
RSLogix 5000 sample codeAppendix B
Using an explicit message
configuration to read preset
encoder value
1. Create a new message data type named Read_Preset and a DINT named
Preset_Value_Read.
2. Add a new MSG instruction to the program and browse to the
Read_Preset data type created in step 1. Then double-click the gray box on
the message instruction to configure it.
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Appendix B RSLogix 5000 sample code
3. In the Configuration tab select:
Message type: CIP generic
Service type: Get attribute single
Service code: (automatically populated)
Source element: Preset_Value_Read (browse to this tag ).
Instance: 1
Class: 23*
Attribute: 13*
* hexadecimal values
4. In the Communication tab, browse to the encoder on the ethernet
network, then click OK.
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RSLogix 5000 sample codeAppendix B
5. The Tag tab will be populated for the Read_Preset.
6. Add a normally open contact and a one-shot instruction to initialize the
message instruction.
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Appendix B RSLogix 5000 sample code
7. Toggle the Get_preset contact, the message instruction returns the preset
value form the encoder into Preset_Value_Read DINT.
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RSLogix 5000 sample codeAppendix B
Using an explicit message
configuration to obtain the
encoder’s run-time in
seconds
This example is similar to the previous one, “Using an explicit message
configuration to read preset encoder value” on page 63.
1. Create a new message data type named Run_Time_Message and a DINT
named Run_Time Seconds.
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Appendix B RSLogix 5000 sample code
2. Add a new MSG function block to the program, browse to the
Run_Time_Message data type created in step 1. Then double-click the grey
box to configure the message instruction.
3. In the Configuration tab select:
Message type - CIP Generic
Service Type - Get Attribute Single
Service Code - (Automatically populated)
Destination Element - Run_Time_Seconds (browse to this tag)
Instance - 1
Class - 23*
Attribute 32*
* hexadecimal values
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RSLogix 5000 sample codeAppendix B
4. In the Communication tab, browse to the encoder on the ethernet
network, then click OK.
5. The Ta g tab will be populated f or the Run_Time_Message.
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Appendix B RSLogix 5000 sample code
6. Add a normally open contact and a one-shot instruction to initialize the
message instruction.
To gg li n g th e Get_Run_Time contact initiates the message instruction and
returns the current run time in seconds into Run_Time Seconds DINT.
70Rockwell Automation Publication 842E-UM001A-EN-P May 2012
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