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

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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

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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

+ 56 hidden pages

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