Allen-bradley 842E User Manual

842E EtherNet/IP™Absolute Encoder User Manual

Important User Information

Solid-state equipment has operational characteristics diering 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 oce or online at http://literature.rockwellautomation.com) describes some important dierences between solid-state equipment and hard-wired electromechanical devices. Because of this dierence, 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.

Identies 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.

Identies information that is critical for successful application and understanding of

the product.

Identies 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

About this document

Who should use this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Purpose of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Related documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Common techniques used in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Chapter 1

Authorized personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Correct use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

General safety notes and protective measures . . . . . . . . . . . . . . . . . . . . . . . . . 2

Environmental protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Chapter 2

Encoder overview

EtherNet/IP overview

Installation

Overview of the encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

What is an encoder? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

What are the different kinds of encoders?. . . . . . . . . . . . . . . . . . . . . . . . . 3

842E encoder features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Configurable parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

The electronic data sheet file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Chapter 3

Use of the Common Industrial Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

TCP/IP and UDP/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

MAC address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Communication frame. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Understanding the producer /consumer model . . . . . . . . . . . . . . . . . . . . . . . 9

Specifying the requested packet interval . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

EtherNet/IP topologies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Star topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Linear topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Device level ring topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

CIP object model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Chapter 4

Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Shaft rotation direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Mounting with a solid shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Mounting with a hollow shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Mechanical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Electrical wiring instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Pin assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Preset push button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Network address switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 i

Table of Conten ts

Chapter 5 Configuring the encoder for your EtherNet/IP network

Configuring the 842 E encoder using RSLogix 5000

Setting the IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Assigning the last octet in an IP address scheme of 192.168.1.xxx using

the network address switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Assigning the IP Address using BootP/DHCP:. . . . . . . . . . . . . . . . . . 24

Chapter 6

Example: setting up the hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Configuring the encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Setting up the add-on profile in RSlogix 5000. . . . . . . . . . . . . . . . . . . . . . . 29

General tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Ethernet address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Module definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Connection tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Module Info tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Configuration tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Internet Protocol tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Network tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Default encoder settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

Preset function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

RSLogix 5000 controller tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

Diagnostics and troubleshooting

Installing the add-on profile

RSLogix 5000 sample code

Chapter 7

Status indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Self-test via EtherNet/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Warnings, alarms and errors via EtherNet/IP . . . . . . . . . . . . . . . . . . . . . . . 45

Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Errors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Appendix A

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Performing the installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Appendix B

Linear scaling example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Setting up your project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Using an explicit message configuration to set preset encoder value . . . 59

Using an explicit message configuration to read preset encoder value . . 63

Using an explicit message configuration to obtain the encoder’s run-time

in seconds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

ii Rockwell 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

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 2012 iii

About this document

Notes:

iv Rockwell 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:

Activity Qualification

Mounting Basic 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 2012 1

Chapter 1 Safety

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

2 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Please note the following information on disposal.

Assembly Material Disposal

Packaging Cardboard Waste paper

Shaft Stainless steel Scrap metal

Flange Aluminum Scrap metal

Housing Aluminum Die-cast Scrap metal

Electronic assemblies Various Hazardous 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 2012 3

Chapter 2 Encoder 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

4 Rockwell Automation Publication XXXX-X.X.X - Month Year

Encoder overview Chapter 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 2012 5

Chapter 2 Encoder overview

Notes:

6 Rockwell Automation Publication XXXX-X.X.X - Month Year

Chapter 3

UDP

TCP

HTTPFTP CIP

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

Layer Function

7. Application Network process to application

Host Layers

Media Layers

6. Presentation Data, encryption

5. Session Inter-host communication Explicit and implicit messaging

4. Transport Flow control, TCP/UDP

3. Network Internet protocol, logical addressing

2. Data Link Physical addressing

1. Physical Media, 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.

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 2012 7

Chapter 3 EtherNet/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.

8 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

EtherNet/IP overview Chapter 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 2012 9

Chapter 3 EtherNet/IP overview

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.

10 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

EtherNet/IP overview Chapter 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 2012 11

Chapter 3 EtherNet/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.

Class Instance Attribute Value

842E Basic Resolution per revolution 15 bit

Revolutions, total 12 bit

Advanced Resolution per revolution 18 bit

Revolutions, total 12 bit

The 842E EtherNet/IP encoder supports the following classes of the encoder profile:

Supported classes

Number of

Class code Object class Description

0x01

0x02

0x04

0x06

0x23

0x47

0x48

0xF4

0xF5

0xF6

Identity object Contains 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

12 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

EtherNet/IP overview Chapter 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 Name Description

0x05 Reset Reboot with all EEProm parameters of the encoder, reboot with the factory

0x0E Get_Attribute_Single Returns value of attribute

0x15 (21dec)

0x16 (22dec)

Restore Restore all parameter values from the non-volatile storage, customer defaults

Save Save 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

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Chapter 3 EtherNet/IP overview

Class attributes of the position sensor object

Num

Required/

(dec)

optional

1Required

(implemented)

2 Implemented Get Max instance INT Max. instance number of an object

3 Implemented Get Number of

6 Implemented Get Maximum ID

7 Implemented Get Maximum ID

100 Get NV

(1) Nonvolatile

Access rule Name Data type Description Default

Get Revision INT Object revision no 0x00 02

in this class

INT Number of object instances in this

INT Highest implemented class ID 0x00 64

INT Highest 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 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

Instance Service name Description

0x0E Get_Attribute_Single Returns value of attribute

0x10 Set_Attribute_Single Sets value of attribute

1Instance attributes of the position sensor object

Attribute ID (dec)

1 1 Get V Number of attributes INT Number of supported attributes in this

2 2 Get V Attribute list ARRAY

10 A Get V Position value signed DINT Current position value (32 Bit) none 11 B Get NV Position sensor type

12 C Set NV Direction counting toggle, code

13 D Set NV Commissioning diagnostic control

14 E Set NV Scaling function control (SFC) BOOL ON: 1 calc. value (from 16+42)

15 F Set NV Position format ENG

Attribute ID (hex)

Access

rule

(1)

NV /

(2)

Name Data type Description

of byte

(see following table, encoder ID)

sequence (CS)

(encoder position test)

INT Device Type

BOOL Definition of direction of incrementing

BOOL ON: 1 Encoder diagnostics possible

UNIT

class List of supported attributes –

0x01: Single-turn absolute encoder 0x02: Multi-turn absolute encoder

counts (10) 0: CW 1:CCW

OFF: 0 No diagnostics implemented

OFF: 0 phys. resolution [steps] Format of position value

(e.g., arcsec or steps) Engineering unit: 0x1001 (counts)

Min. / max (default)

0x0039

Min 0x00 01 Max 0x00 02 (0x00 02)

(0: CW)

(OFF: 0)

(0x1001)

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EtherNet/IP overview Chapter 3

Attribute ID (dec)

16 10 Set NV Counts per range DINT Number of requested steps per

17 11 Set NV Total measuring range DINT Total resolution Min / Max

18 12 Set NV Position measuring increment DINT Minimum resolution in steps (is always

19 13 Set NV Preset value DINT The preset value is set to the current

21 15 Get V Position status register BYTE State of the software limit switch

22 16 Set NV Position low limit DINT Lower limit for position 0x00 00 00 00 23 17 Set NV Position high limit DINT Upper limit for position 0x3F FF FF FF 24 18 Get V Velocity value DINT Current velocity (32 Bit) Format (25) und (26) 25 19 Set NV Velocity format ENG

26 1A Set NV Velocity resolution DINT Minimum resolution of velocity value

27 1B Set NV Minimum velocity setpoint DINT Minimum velocity set-point for setting

28 1C Set NV Maximum velocity setpoint DINT Maximum velocity set-point for setting

29 1D Get V Acceleration value DINT Current acceleration (32 Bit) Format (30) und (31) 30 1E Set NV Acceleration format ENG

31 1F Set NV Acceleration resolution DINT Minimum resolution of acceleration

32 20 Set NV Minimum acceleration setpoint DINT Minimum acceleration set-point (0x00 00 00 00) 33 21 Set NV Maximum acceleration setpoint DINT Maximum acceleration set-point 0x3F FF FF FF 41 29 Get V Operating status BY TE Operating status encoder

42 2A Get NV Physical resolution span (PRS) DINT Number of steps per rev

43 2B Get NV Physical resolution

44 2C Get V Alarms WORD Flags for alarms (errors) 45 2D Get NV Supported alarms WORD Information on supported alarms 0x3003 46 2E Get V Alarm flag BOOL Indication of set alarm 0: OK

47 2F Get V Warnings WORD Flags for warnings 48 30 Get NV Supported warnings WORD Information on supported warnings 0x673C

Attribute ID (hex)

Access

rule

(1)

NV /

(2)

Name Data type Description

INT

UNIT

INT Number 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)

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)

0x00 00 00 01 / Max. 2^n * Attr.16 (Max. 2^n * Attr.16)

(0x00 00 00 01)

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 2012 15

Chapter 3 EtherNet/IP overview

Attribute ID (dec)

49 31 Get V Warning flag BOOL Indication of set warning 0: OK

50 32 Get NV Operating time DINT Storage of operating time counter

51 33 Get NV Offset value DINT Offset value is calculated when using

100 64 Get V Temperature value INT Current temperature value

101 65 Set NV Temperature value format ENG

102 66 Set NV Temperature resolution DINT Minimum resolution of temperature

103 67 Set NV Minimum temperature value

104 68 Set NV Maximum temperature value

105 69 Get V Fault header

Attribute ID (hex)

Access

rule

(1)

NV /

(2)

Name Data type Description

UNIT

setpoint

(see Sensor error table)

INT Minimum temperature set-point

INT Maximum temperature set-point

DINT Flags 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)

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

106 6A Set NV Slave sign of live DINT Flags for encoder functionalities

107 6B Get NV Encoder motion time DINT Storage of the motion time. This counter

108 6C Get NV Encoder operating time [second] DINT Storage of the operating time. This

109 6D Get NV Max velocity

110 6E Get NV Max acceleration [cnts/(ms)2] DINT Storage of the maximum acceleration of

111 6F Get NV Max temp [°C/100] DINT Storage of the maximum temperature of

112 70 Get NV Min temp [°C/100] DINT Storage of the minimum temperature of

113 71 Get NV Number of startups DINT Storage of the number of startups

114 72 Get V LED current value [μA] INT Current LED current [μA]

115 73 Get NV Max current value [μA] INT Max. LED current [μA] 1.500 116 74 Get NV Min current value [μA] INT Min. LED current [μA] 1.500 117 75 Get V Power 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

DINT Storage of the maximum velocity of the

INT Current 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

(power-on) cycles

Range: 200…25.000

Range: 9.500…30.500

0x0000500

2000

200…25.000 (0)

9.500…30.500 (24.000)

16 Rockwell 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 2012 Rockwell Automation Publication 842E-UM001A-EN-P May 2012 17

Chapter 4 Installation

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.

18 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Electrical

ATTENTION

Power connection

Link 1 connection

Network address

switches

Link 2 connection

Preset push button

Installation Chapter 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 flange 10 x 19 mm

Servo flange 6 x 10 mm

Blind hollow shaft 8, 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 2012 19

x10

Reset

Button

Chapter 4 Installation

ATTENTION

IMPORTANT

Pin assignments

Voltage sup ply

Pin Signal Mating cable

wire color

1 Vs Brown Supply voltage 10…30V DC

2 White D o not use

3 GND Blue 0V DC (ground)

4BlackDo not use

Ethernet Link Connections – Link 1 and Link 2

Pin Signal Mating Cable

Wire Color

1 TxD+ White orange Ethernet

2 RxD+ White green Ethernet

3 TxD– Orange Ethernet

4 RxD– Green Ethernet

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).

20 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Electrical specifications

Operating voltage 10…30V DC

Power consumption 3 W

Load current 200 mA

Resolution per revolution 262,144

Revolutions 4,096

Repeat accuracy ±0.002°

Error limit ±0.03°

Code direction CW or CCW programmable

Interface EtherNet/IP per IEC 61784-1

Transmission speed 100 MBits/s

Duplex Full or half

Installation Chapter 4

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 21

Chapter 4 Installation

Notes:

22 Rockwell 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 2012 23

Chapter 5 Configuring 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 switches Function

001-254 Sets last octet of the IP address to the value indicated (xxx in 192.168.1.xxx)

888 Restores all factory default settings in the encoder and clearing its IP address

999 Clears 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.

24 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Configuring the encoder for your EtherNet/IP network Chapter 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 2012 25

Chapter 5 Configuring the encoder for your EtherNet/IP network

Notes:

26 Rockwell 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 2012 27

Chapter 6 Configuring 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.

28 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Configuring the 842 E encoder using RSLogix 5000 Chapter 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 2012 29

Chapter 6 Configuring 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.

30 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Configuring the 842 E encoder using RSLogix 5000 Chapter 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 2012 31

Chapter 6 Configuring 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.

32 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Configuring the 842 E encoder using RSLogix 5000 Chapter 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 2012 33

Chapter 6 Configuring 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.

34 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Connection tab

Configuring the 842 E encoder using RSLogix 5000 Chapter 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 2012 35

Chapter 6 Configuring 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.”

36 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Configuration tab

Configuring the 842 E encoder using RSLogix 5000 Chapter 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

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Chapter 6 Configuring 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.

38 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Network tab

Configuring the 842 E encoder using RSLogix 5000 Chapter 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 2012 39

Chapter 6 Configuring 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.

40 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Configuring the 842 E encoder using RSLogix 5000 Chapter 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 2012 41

Chapter 6 Configuring 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.

42 Rockwell 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 Net Description

OFF No power

Green flashing No connection

Green The device has an IP address and a CIP connection.

or No IP address

The device has an IP address but no CIP connection.

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Chapter 7 Diagnostics and troubleshooting

LED Net Description

Red flashing Warning, connection time-out

Cleared by reset or a new connection

Red Error

IP address has been assigned to another device already.

Green/Red flash Self-test at power-on

LED Mod Description

OFF No power

Green Device operational

Green flashing Standby/device not configured, no IP address assigned

Red flashing Warning, but device still operational

or Firmware update in progress

Red Error, device not operational

Green/red flashing Self-test at power-on

LED Encoder Description

OFF No power

Green flashing Warning

Green Device operational

Red flashing Warning, but device still operational

Red Error

Green / red flashing Self-test at power-on

or No IP address

Wrong parameter

or Firmware update in progress

Encoder error

44 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Diagnostics and troubleshooting Chapter 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 LED Description

OFF No link / power off

Green solid Ethernet connection established

Green flashing Data transmission TxD/RxD

Amber solid Interface por t locked

Amber flashing Data 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.

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Chapter 7 Diagnostics and troubleshooting

Warnings

Supported warnings (attribute 47+48)

FALSE (0)

Bit Warning Description

0 Frequency exceeded Max. velocity exceeded OK Exceeded

1 Light control reserve LED current critical OK Out of

2 CPU watchdog Not implemented Always 0 –

3 Operating time limit warning Operating time limit reached Always 0 –

4 Battery charge Not implemented Always 0 –

5 Reference point Not implemented Always 0 –

6 Minimum velocity flag Minimum velocity set-point reached OK Fa ll be low

7 Maximum velocity flag Maximum velocity set-point reached OK Exceeded

8 Minimum acceleration flag Minimum acceleration set-point reached OK Fall below

9 Maximum acceleration flag Maximum acceleration set-point reached OK Exceeded

10 Position limits exceeded Max. position exceeded OK Exceeded

11 Reserved by CIP – Always 0 –

12 Reserved by CIP – Always 0 –

13 Ve ndo r:

Temperature out of range

14 Vendor: over / under voltage

(9.700…30.300mV)

Temperature set-points reached OK Out of

voltage set-points reached OK Out of

(47)

TRUE (1) (47)

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.

46 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Supported alarms (attribute 44+45)

Diagnostics and troubleshooting Chapter 7

FALSE (0 )

Bit Description Description

0 Position ERROR Position error Ok ERROR 1 Diagnostic ERROR Diagnostic error Ok ERROR 2…11 Reserved by CIP – – – 12 Vendor: checksum ERROR Checksum error Ok ERROR 13 Vendor: startup ERROR Startup error Ok ERROR 14…15 Vendor specific – – –

(44)

TRUE (1) (44)

Errors

Sensor error table

Faul t header [byte] Bit Error Description

0 Reserved Reserved Always 0–NO W

01Over

temperature sensor

2Light control

reser ve

3Voltage

detection

4Frequency

exceeded

5 Velocity

exceeded

6 Acceleration

exceeded

7 Position

limits exceeded

8 Posi tion

error

1 9 Po sitio n

error

10 Pos ition

error

11 Pos ition

error

12…15 Reserved Reserved Always

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

0 1 YES W

YES W

0 1 YES A

NO –

Warni ng/ alarm

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Chapter 7 Diagnostics and troubleshooting

Faul t header [byte] Bit Error Description

16 Position

error

2 17 Position

3 25 Memory

error

18 Position

error

19 Position

error

20 Position

error

…

23 Reserved Reserved Always

24 Pos ition o r

memory error

error

26 Star tup error Error on start-up 0 1 YES A

27 Diagnostic

error

28…29 Reserved Reserved

30 Slave sign of

life

31 Reser ved Reserved Always

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–NO A

Memory error (EEPROM checksum) 0 1 YES A

Memory error (EEPROM IRQ) 0 1 YES A

Error during self-test 0 1 YES A

LifeSign; active if attribute 13 is set 0 1 YES –

FAL SE (0)

0 1 YES A

TRUE (1) Supported

NO –

Warni ng/ alarm

48 Rockwell 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 2012 49

Appendix A 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 Next.

50 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

Installing the add-on profile Appendix A

7. Click the Install radio button and then click Next.

8. Click Install to begin the installation.

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 51

Appendix A Installing the add-on profile

9. Click Next to install the add-on profile files.

10. Click Finish to complete the installation.

52 Rockwell 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

x CPR

or in this case

x 200 = 51,200

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 53

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.

54 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

RSLogix 5000 sample code Appendix 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.

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 55

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.

56 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

RSLogix 5000 sample code Appendix 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.

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 57

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.

58 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

RSLogix 5000 sample code Appendix B

ATTENTION

Using an explicit message configuration to set preset encoder value

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.

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 59

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 code Appendix 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

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 61

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.

62 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

RSLogix 5000 sample code Appendix 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.

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 63

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.

64 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

RSLogix 5000 sample code Appendix 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.

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 65

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.

66 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

RSLogix 5000 sample code Appendix 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.

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 67

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

68 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

RSLogix 5000 sample code Appendix 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.

Rockwell Automation Publication 842E-UM001A-EN-P May 2012 69

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.

70 Rockwell Automation Publication 842E-UM001A-EN-P May 2012

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Allen-bradley 842E User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

About this document

Who should use this manual

Purpose of this manual

Related documentation

Common techniques used in this manual

Authorized personnel

Correct use

General safety notes and protective measures

Environmental protection

Overview of the encoder

What is an encoder?

What are the different kinds of encoders?

Incremental

Absolute

Sine-cosine

Single-turn vs. multi-turn

842E encoder features

Configurable parameters

The electronic data sheet file

Use of the Common Industrial Protocol

TCP/IP and UDP/IP

MAC address

Communication frame

Understanding the producer/consumer model

Specifying the requested packet interval

EtherNet/IP topologies

Star topology

Linear topology

Device level ring topology

CIP object model

Mechanical

Shaft rotation direction

Mounting with a solid shaft

Mounting with a hollow shaft

Electrical

Mechanical specifications

Electrical wiring instructions

Pin assignments

Preset push button

Network address switches

Electrical specifications

Setting the IP Address

Assigning the last octet in an IP address scheme of 192.168.1.xxx using the network address switches

Network address switches set to 123

Assigning the IP Address using BootP/DHCP:

Function of network address switch settings

Example: setting up the hardware

Configuring the encoder

RSLogix 5000 configuration software

Checking the integration in EtherNet/IP via RSLinx Classic

Setting up the add-on profile in RSlogix 5000

General tab

Ethernet address

Module definition

Connection tab

Module Info tab

Configuration tab

Internet Protocol tab

Network tab

Configuration

Default encoder settings

Preset function

RSLogix 5000 controller tags

Configuration image table and tags

Input image table and tags

Status indicators

Ethernet Link LEDs Link 1 and 2

Self-test via EtherNet/IP

Warnings, alarms and errors via EtherNet/IP

Warnings

Alarms

Errors

Introduction

Performing the installation

Linear scaling example