Allen-Bradley 842E-SIP1BA, 842E-SIP6BA, 842E-SIP3BA, 842E-SIP4BA, 842E-SIP2BA User Manual
...
User Manual
Original Instructions
EtherNet/IP™Absolute Encoder
Catalog Numbers 842E-SIP1BA. 842E-SIP2BA, 842E-SIP3BA, 842E-SIP4BA, 842E-SIP5BA, 842E-SIP6BA, 842E-SIP7BA,
842E-SIP8BA, 842E-SIP9BA, 842E-SIP10BA, 842E-SIP11BA, 842E-SIP12BA, 842E-MIP1BA, 842E-MIP2BA, 842E-MIP3BA,
842E-MIP4BA, 842E-MIP5BA, 842E-MIP6BA, 842E-MIP7BA, 842E-MIP8BA, 842E-MIP9BA, 842E-MIP10BA, 842E-MIP11BA,
842E-MIP12BA
Important User Information
Read this document and the documents listed in the additional resources section about installation, configuration, and
operation of this equipment before you install, configure, operate, or maintain this product. Users are required to
familiarize themselves with installation and wiring instructions in addition to requirements of all applicable codes, laws,
and standards.
Activities including installation, adjustments, putting into service, use, assembly, disassembly, and maintenance are
required to be carried out by suitably trained personnel in accordance with applicable code of practice.
If this equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may
be impaired.
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.
Reproduction of the contents of this manual, in whole or in part, without written permission of Rockwell Automation,
Inc., is prohibited
Throughout this manual, when necessary, we use notes to make you aware of safety considerations.
WARNING: Identifies 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.
ATTENTION: Identifies 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 consequence.
IMPORTANT Identifies information that is critical for successful application and understanding of the product.
Labels may also be on or inside the equipment to provide specific precautions.
SHOCK HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that dangerous
voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment, for example, a drive or motor, to alert people that surfaces may
reach dangerous temperatures.
ARC FLASH HAZARD: Labels may be on or inside the equipment, for example, a motor control center, to alert people to
potential Arc Flash. Arc Flash will cause severe injury or death. Wear proper Personal Protective Equipment (PPE). Follow ALL
Regulatory requirements for safe work practices and for Personal Protective Equipment (PPE).
Table of Contents
Preface
About This Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Purpose of This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Common Techniques Used in This Manual . . . . . . . . . . . . . . . . . . . . . . .6
Chapter 1
Safety Authorized Personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Correct Use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
General Safety Notes and Protective Measures . . . . . . . . . . . . . . . . . . . . .8
Environmental Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Chapter 2
Encoder Overview Overview of the Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
What Is an Encoder?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
What Are the Different Kinds of Encoders? . . . . . . . . . . . . . . . . . . .9
842E Encoder Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Configurable Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
The Electronic Data Sheet File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Operating Principle of the Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
The 842E-SIP-xxx EtherNet/IP Is a Single-turn Encoder . . . . . 11
The 842E-MIP-xxxEtherNet/IP Is a Multi-turn Encoder . . . . . 11
Scalable Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
842E EtherNet/IP Is Firmware-flash Gradable Using
Control Flash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Special Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
EtherNet/IP Overview Use of the Common Industrial Protocol . . . . . . . . . . . . . . . . . . . . . . . . 13
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 3
Chapter 3
TCP/IP and UDP/IP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
MAC Address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Communication Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Understanding the Producer/Consumer Model . . . . . . . . . . . . . . . . . 15
Specifying the Requested Packet Interval . . . . . . . . . . . . . . . . . . . . . . . . 16
EtherNet/IP Topologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Star Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Linear Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Device Level Ring Topology. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Endless Shaft Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Enabling Endless Shaft Functionality. . . . . . . . . . . . . . . . . . . . . . . . 18
Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
CIP Object Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Position Sensor Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Table of Contents
Identity Object. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Assembly Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
I/O Assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Config . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Chapter 4
Installation Mechanical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Shaft Rotation Direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Mounting with a Solid Shaft. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Mounting with a Hollow Shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Mechanical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Electrical . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Electrical Wiring Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Pin Assignments. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Preset Push Button . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Network Address Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Electrical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Configuring the Encoder for Your
EtherNet/IP Network
Configuring the 842 E Encoder
Using RSLogix 5000®
Chapter 5
Setting the IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Assigning the Last Octet in an IP Address Scheme of 192.168.1.xxx
Using the Network Address Switches . . . . . . . . . . . . . . . . . . . . . . 43
Assigning the IP Address Using BootP/DHCP . . . . . . . . . . . . . . 44
Chapter 6
Example: Installing the Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Configuring the Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Installing the Add-on Profile in RSLogix 5000. . . . . . . . . . . . . . . . . . . 49
General Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Ethernet Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Module Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Connection Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Module Info Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Configuration Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Internet Protocol Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Network Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Default Encoder Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Preset Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
RSLogix 5000 Controller Tags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4 Rockwell Automation Publication 842E-UM001C-EN-P -September 2016
Table of Contents
Chapter 7
Diagnostics and Troubleshooting Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Self-test Via EtherNet/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Warnings, Alarms, and Errors Via EtherNet/IP. . . . . . . . . . . . . . . . . . 65
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Alarms. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Appendix A
Installing the Add-on Profile Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Performing the Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Appendix B
RSLogix 5000® Sample Code Linear Scaling Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Installing Your Project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Using an Explicit Message Configuration to Set Preset
Encoder Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Using an Explicit Message Configuration to Read Preset
Encoder Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Using an Explicit Message Configuration to Obtain the Encoder
Run-time in Seconds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 5
Table of Contents
Notes:
6 Rockwell Automation Publication 842E-UM001C-EN-P -September 2016
Preface
About This Document
Who Should Use This Manual
Purpose of This Manual
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 that are used in this manual
Use this manual if you are responsible for designing, installing, programming,
or troubleshooting control systems that use 842E EtherNet/IP encoder.
You should have a basic understanding of electrical circuitry and familiarity
with relay logic. If you do not, obtain the proper training before using this
product.
This manual is a reference guide for the 842E EtherNet/IP encoders. It
describes the procedures that you use to install, wire, and troubleshoot your
encoder. This manual:
• Gives you an overview of the 842E EtherNet/IP encoders
• Explains how to install and wire your encoder
Related Documentation
Common Techniques Used in
This Manual
The following documents contain additional information concerning
Rockwell Automation® products. To obtain a copy, contact your local
Rockwell Automation® office or Allen-Bradley distributor.
Resource Description
Installation Instructions
842E EtherNet/IP Multi-turn Encoders
EtherNet/IP Modules in Logix5000™ Control
Systems User Manual, publication ENET-UM001
Getting Results with RSLogix 5000®,
publication 9399-RLD300GR
Allen-Bradley® Industrial Automation Glossary,
AG-7. 1
Pub. # 10000169360
A manual on how to use EtherNet/IP modules with
Logix5000™ controllers and communicate with various devices
on the Ethernet network
Information on how to install and navigate RSLogix 5000®. The
guide includes troubleshooting information and tips on how to
use RSLogix 5000® effectively.
A glossary of industrial automation terms and abbreviations
The following conventions are used throughout this manual:
• Bulleted lists such as this one provide information, not procedural steps.
• Numbered lists provide steps or hierarchical information.
• Italic type is used for emphasis.
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 7
Preface
Notes:
8 Rockwell Automation Publication 842E-UM001C-EN-P -September 2016
Authorized Personnel
Chapter 1
Safety
This chapter deals with your own safety and the safety of the equipment
operators.
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.
ATT EN TI ON : Only authorized personnel can install, commission, and service
the 842E EtherNet/IP encoder.
Only trained and authorized Rockwell Automation® service personnel can make
repairs to the 842E EtherNet/IP encoder.
Correct Use
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 electr ical training
Knowledge of current electrical safety regulations
Knowledge on the use and operation of devices in the related application (for
example, 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 (for example, Rockwell Automation®
ControlLogix® controller)
Knowledge of EtherNet/IP
Knowledge of the usage of automation software (for example, Rockwell
Automation RSLogix™)
The 842E EtherNet/IP Absolute Encoder is an instrument that is
manufactured in accordance with recognized industrial regulations. It also
meets the quality requirements as per ISO 9001:2008 and of an environment
management system as per ISO 14_001:2009.
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 9
An encoder is a device for mounting that cannot be used independently of its
foreseen function. For this reason, an encoder is not equipped with immediate
safety devices. As per statutory regulations, the operator of the system provides
considerations for the safety of personnel and systems. Due to its design, the
842E EtherNet/IP can only be operated within an EtherNet/IP network. It is
Chapter 1 Safety
General Safety Notes and
Protective Measures
necessary to comply with the EtherNet/IP specifications and guidelines for
installing an EtherNet/IP network. If any modifications are made to the 842E
EtherNet/IP encoder, any warranty claim against Rockwell Automation is
rendered void.
ATT EN TI ON : Observe the following procedures to confirm the correct and
proper use of the 842E EtherNet/IP encoder.
Qualified personnel with knowledge of electronics, precision mechanics, and
control system programming install and maintain the encoder. It is necessary to
comply with the related standards for the technical safety stipulations.
All persons who install, operate, or maintain the device have to meet the safety
regulations:
• 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 results 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
10 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
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 is an ultra-high resolution encoder 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 various 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 position systems.
Rockwell Automation® offers light-duty and heavy-duty incremental encoders
for different 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 various mounting options.
Applications include: machine tools, packaging machinery, motion controls,
robotics, and DC drives.
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 11
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
multi-turn.
Chapter 2 Encoder Overview
Multi-turn units assign a unique digital output for each shaft position across
multiple shaft rotations and have high-resolution capability. Rockwell
Automation absolute encoders are available with an enclosure rating of NEMA
Type 4 and IP66, and various 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, which uses two sensors, each 90°
out of phase from each other. Sine-cosine encoders are able to 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 multiple shaft
revolutions.
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 bearings are spaced 30 mm (1.18 in.) apart 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
• Endless shaft
•ControlFLASH™ update compatible
IMPORTANT A Series A encoder cannot be updated to a Series B. A Series B encoder must
be purchased to update future firmware. Series A does not have
ControlFLASH update capability.
™), according to IEC 61784-1
12 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
Encoder Overview Chapter 2
Configurable Parameters
The Electronic
Data Sheet File
Operating Principle of the
Encoder
The EtherNet/IP technology allows for certain encoder parameters to be
configured over the network.
•Count direction
•Counts per revolution
• Preset value
•Velocity output
• IP addressing
The electronic data sheet (EDS) file contains all information that is related to
the measuring-system-specific parameters and 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/
and search on “842E.”
The 842E EtherNet/IP encoder acquires the position of rotating axes and
outputs the position in the form of a unique digital numeric value. Optical
acquisition of the rotary position value is from an internal coded disk.
The 842E-SIP-xxx EtherNet/IP Is a Single-turn Encoder
Single-turn encoders are used if the absolute position of the shaft for one
revolution is required.
The 842E-MIP-xxxEtherNet/IP Is a Multi-turn Encoder
Multi-turn encoders are used if the absolute position is required for multiple
shaft revolution.
Scalable Resolution
The steps per revolution and the total resolution can be scaled and adapted to
the related application.
The steps per revolution can be scaled in integers from 1…262,144. The total
n
resolution of the 842E-MIP Multi-turn EtherNet/IP encoder must be 2
the steps per revolution. This restriction is not relevant if the round axis or
endless shaft functionality is activated.
times
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 13
Chapter 2 Encoder Overview
Special Features
Properties Encoder
Single-turn Multi-turn
Absolute Encoder in 60 mm (2.36 in.) design
Robust nickel code disk for harsh environment
High precision and reliability
Ball bearings are spaced 30 mm (1.18 in.) apart
High level of resistance to vibration
Optimal rotational accuracy
Compact design
Face mount flange, servo flange and blind
Hollow shaft
ControlFLASH upgradable
18-bit single-turn resolution (1 to 262,144 steps)
30-bit total resolution
12-bit multi-turn resolution (1…4,096 revolutions)
Round axis functionality/endless shaft functionality
■■
■■
■■
■■
■■
■■
■■
■■
■■
■■
■■
■
■
■
EtherNet/IP interface (as per IEC 61784-1)
Supports the encoder profile 22h defined in the CIP (Common Industrial
Protocol)
Device Level Ring (DLR)
■■
■■
■■
14 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
Chapter 3
IP
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
Host Layers Layer Function
7. Application Network process to application
6. Presentation Data, encryption
Media
Layers
5. Session Inter-host communication
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
Explicit and implicit messaging
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. The 842E encoder meets the
requirements of the EtherNet/IP protocol according to IEC 61784-1 and the
requirement of the encoder profile.
g
Figure 1
g
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 15
Chapter 3 EtherNet/IP Overview
Transmission sequence
Data field
Trailer
Header
Destination
Address
Source
Address
46...1500 Byte
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).
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 protocol. Implicit messaging uses UDP/IP via port 2222.
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 ID
Devices that originate or use data on the network have factory-assigned media
access control (MAC) addresses for unique identification. The MAC ID
(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 ID is
00:00:BC:C9: D7:14.
Communication Frame
EtherNet/IP is based on the standard Ethernet frame. The frame contains the
Ethernet header, the Ethernet data, and the Ethernet trailer. The MAC IDs of
the receiver (destination address) and of the source (source address) are
contained in the Ethernet header.
16 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
Figure 2
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 is transported in the user data
of the IP datagram.
• The CIP protocol is transported in the user data of the TCP segment or
the UDP datagram.
Figure 3
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.
Understanding the
Producer/Consumer Model
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.
The Producer/Consumer model has two significant benefits:
• You do not need to configure routing table 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,
the controller does not poll the input modules. Instead, they produce their data
either upon a change of state or periodically. The frequency of update depends
upon the options that are 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.
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 17
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.
Chapter 3 EtherNet/IP Overview
Specifying the Requested
Packet Interval
EtherNet/IP Topologies
The requested packet interval (RPI) is the update rate that is 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 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).
IMPORTANT Rockwell Automation recommends that you use no more than 50 nodes on
one 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
Figure 4
The star structure consists of a number of devices that are connected to a
central switch.
18 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
IMPORTANT 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.
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 are used. For the
network connection use Link 1, Link 2, or both.
Figure 5
Device Level Ring Topology
A DLR network is a single-fault-tolerant ring network that is intended for the
interconnection of automation devices. DLR topology is advantageous as it
can tolerate 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-UM001C-EN-P - September 2016 19
Figure 6
Chapter 3 EtherNet/IP Overview
Endless Shaft Functionality
The endless-shaft feature is not supported for the single-turn encoder. This
functionality is applicable only for the multi-turn Ethernet encoders and
accessible only via messaging (not the AOP).
The round axis functionality or endless shaft functionality removes the
n
restriction that the total resolution must be 2
times the steps per revolution.
The shaft is considered an endless shaft.
The steps per revolution are not configured directly. Instead the nominator
and divisor for the number of revolutions are defined. The total measuring
range can be scaled from 1…1,073,741,824 as an integer.
The encoder supports the function for round axes. During this process, the
steps per revolution are set as a fraction. As a result, the total resolution does
n
not have to be configured to 2
times the steps per revolution and can also be a
decimal number. The output position value is adjusted with the zero point
correction, the counting direction set and the gearbox parameters entered.
Number of revolutions, nominator for the round axis functionality: The
nominator can be scaled from 1…2,048 as an integer. The default factory
setting for the nominator is 2,048.
Number of revolutions, divisor for the round axis functionality: The divisor
can be scaled from 1…65,535 as an integer. The default factory setting for the
divisor is 1.
Example:
A rotary table for a filling system is to be controlled. The number of filling
stations define the steps per revolution. There are nine filling stations. For the
precise measurement of the distance between two filling stations, 1000 steps
are required.
The transmission ratio of the rotary table gearing defines the number of
revolutions (= 12.5). The total resolution is then 9 × 1,000 = 9,000 steps to be
realized in 12.5 revolutions of the encoder. This ratio cannot be realized via the
n
steps per revolution and the total resolution, as the total resolution is not 2
times the steps per revolution. The application problem can be solved using the
round axis functionality. The steps per revolution are ignored here. The total
resolution and the nominator and divisor for the number of revolutions are
configured. 9,000 steps are configured as the total resolution. For the
nominator for the number of revolutions, 125 is configured, 10 as the divisor
(125/10 = 12.5). After 12.5 revolutions (that is after one complete revolution
of the rotary table), the encoder reaches the total resolution of 9,000.
20 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
EtherNet/IP Overview Chapter 3
Enabling Endless Shaft Functionality
CIP message instructions must be used to configure the endless shaft
functionality. The following attributes must be set for the functionality to be
enabled.
• Attribute ID 0Eh, Scaling must be set to 1.
• Attribute ID 11 h, Total resolution must be set to between 1 …
536,870,912.
• Attribute ID 7Dh, Round axis functionality must be set to 1.
• Attribute ID 7Eh, Nominator (CNR_N) must be set to 1 … 2,048.
• Attribute ID 7Fh, Divisor (CNR_D) must be set to between 1 …
65,535.
Attribute 14 (e hex) Scaling function control
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 21
Figure 7
Attribute 125 (7d hex) Endless shaft functionality
Chapter 3 EtherNet/IP Overview
Figure 8
Attribute 126 (7e hex) Nominator
22 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
Figure 9
Attribute 127 (7f hex) Divisor
EtherNet/IP Overview Chapter 3
Figure 10
Attribute 17 (11 hex) Total measuring range
Figure 11
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 23
Update your logic to verify that the encoder is in the RUNNING state before
executing the message instruction to set the endless shaft attribute. Otherwise
the attribute will not be maintained upon power cycle.
Chapter 3 EtherNet/IP Overview
Figure 12
Features
Attribute 14 (e hex) Scaling Function Control (SFC)
Attribute 125 (7d hex) Endless Shaft Functionality (ESF)
Attribute 126 (7e hex Nominator (CNR_N)
Attribute 127 (7f hex)– Divisor (CNR_D)
Attribute 17 (11 hex) Total Measuring Range (CMR)
CIP Object Model
IMPORTANT Don’t make online scaling changes through the module profile unless the
encoder device is inhibited. When you execute online changes, an error
message is displayed; “Failed to modify properties. Failed to send
configuration data to the module.” Consequently changes are ignored.
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, which is 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 that a device provides over
EtherNet/IP. The attributes include the current values of, for example, a
configuration or an input. Typical attributes are configuration and status
information.
24 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
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.
EtherNet/IP Overview Chapter 3
23h Position Sensor
02h Message
Router
01h Identity
F6h
06h Connection Manager
04h Assembly
F4h
F5h
Network
The 842E EtherNet/IP encoder supports the following classes of the encoder
profile:
Class Code Object Class Description Number of
0x01 Identity object Contains information on the node within the
0x02 Message router object Processes all messages and routes them to the
0x04 Assembly object
(I/O-assembly class)
0x06 Connection manager object Contains connection-specific attributes for
0x23 Position sensor object Administrates device-specific data like position
0x47 Device Level Ring (DLR) object Contains the configuration and status information
0x48 QoS object Contains mechanisms that are used to treat traffic
0xF4 Port object Contains implemented port types port numbers
0xF5 TCP/IP interface object Contains all attributes for configuring the TCP/IP
0xF6 Ethernet link object Contains connection-specific attributes like
network
appropriate objects
Assembles attributes (data) of various objects to
one object
Used for I/O messages
triggering, transport, and connection type
and counting direction
of the DLR protocol
streams with different relative priorities
and port names
interface
transmission rate, MAC ID, or duplex mode
Instances
1
1
7
1
1
1
1
1
1
3
Table 1 - Supported Classes
Position Sensor Object
Figure 13
The Class Instance Attributes for the position sensor object are provided in
Class Services of the Position Sensor Object
on page 34.
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 25
Chapter 3 EtherNet/IP Overview
23h Position Sensor
02h Message
Router
01h Identity
F6h
06h Connection Manager
04h Assembly
F4h
F5h
Network
48h QoS
47h DLR
See Appendix B on page 75 for an example of how to use the position sensor
object to create an explicit message in RSLogix 5000®.
Identity Object
The device information and device parameters are opened via the instances.
Figure 14 - Connections for the Identity Object
Service Code Service Description
01h Get_Attribute_All Returns the values of all attributes
0Eh Get_Attribute_Single Returns the values of one attribute
Table 2 - Class Services of the Identity Object
Attribute ID Access Description Data Type Default Value
1 Get Object revision index UINT 0001h
2 Get Highest instance number within the class UINT 0001h
3 Get Number of object instances in this class UINT 0001h
4 Get Optional attribute list STRUCT —
6 Get Highest existing class attribute ID UINT 0007h
7 Get Highest implemented instance attribute UINT 0075h
Table 3 - Class Attributes of the Identity Object
IMPORTANT Class attribute 5 is not implemented.
26 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
EtherNet/IP Overview Chapter 3
Service Code Service Description
01h Get_Attribute_All Returns the values of all attributes
0Eh Get_Attribute_Single Returns the values of one attribute
05h Reset Resets the device:
0 = The device is reinitialized (power on).
1 = The device is reinitialized (power on) and reset to
the factory settings.
Table 4 - Instance Services of the Identity Object
Attribute IDAccess Name Description Data
01h Get Vendor ID Manufacturer ID UINT
02h Get Device
Typ e
03h Get Product
Code
04h Get Revision Contains the firmware revision number in the
Get Major
Revision
Get Minor
Revision
05h Get Status Device status flags WORD See Tab le 6
06h Get Serial
Number
07h Get Product
Name
68 h Get Vendor Firmware revision in the FPGA (for example, 1.2.0) UDINT 00010200h
Device profile
22 h = Encoder
Vendor-specific product code
03h = Single-turn
04h = Multi-turn
format XX.XX
First part of the revision number, for example, 01
(depending on the release)
Last part of the revision number, for example, 02
(depending on the release)
Serial number in the format YY.WW.xxx
Y = Year
W = Week
x = Sequential number
For example, 0E.34.0001 (depending on release)
Product name Short_
Type
UINT 0022h
UINT
STRUCT
UINT 01h
UINT 02h
UDINT 0E340001h
String
Default
Value
AFx60AEth/IP
Table 5 - Instance Attributes of the Identity Object
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 27
Bit Name Description Default Value
0 Owned 0 = No connection to the master
1 — Reserved 0
2 Configured 0 = Device with standard configuration
3 — Reserved 0
4…7 Extended Device
Status field
8 Minor Recoverable
Status
9 Minor Unrecoverable
Status
1 = Connection to the master established
1 = No standard configuration
Vendor-specific status bits See Tab le 7
0 = No error
1 = Recoverable error (device not in error status)
0 = No error
1 = Recoverable error (device not in error status)
0
0
0
0
Table 6 - Bits of the Instance Attribute “Status”
Chapter 3 EtherNet/IP Overview
Bit Name Description Default Value
10 Major Recoverable
Status
11 Major Unrecoverable
Status
12…15 — Reserved 0000
0 = No serious error
1 = Serious error that can be reset (device in error status)
0 = No serious error
1 = Serious error that cannot be reset (device in error
status)
0
0
Table 6 - Bits of the Instance Attribute “Status”
Assembly Object
Possible Combinations
Bit 4…7
0000 Device in self-test
0001 Firmware update in progress
0010 At least one connection error
0011 No I/O connection established
0100 Configuration in nonvolatile memory (EEPROM) failed
0101 Serious error, bit 10, or bit 11 = 1
0110 At least one connection in the “Run” operating mode
0111 At least one connection exists, all in “Idle” operating mode
1000…1111 Reserved
Description
Table 7 - Bits 4 of 7 of the Instance Attribute “Status”
The Assembly Object allows assembling of data attributes of other objects in
one single object. The 842E EtherNet/IP encoder supports only static
assemblies of attributes. For this reason, the number of instances is fixed.
Service Code Service Description
01h Get_Attribute_All Returns the values of all attributes
0Eh Get_Attribute_Single Returns the values of one attribute
28 Rockwell Automation Publication 842E-UM001C-EN-P - September 2016
Table 8 - Class Services of the Assembly Object
Attribute ID Access Description Data Type Default Value
1 Get Object revision index UINT 0002h
2 Get Highest instance number within the class UINT 006Ah
3 Get Number of object instances in this class UINT 0007h
6 Get Highest existing class attribute ID UINT 0007h
7 Get Highest implemented instance attribute UINT 0004h
Table 9 - Class Attributes of the Assembly Object
IMPORTANT Class attributes 4 and 5 are not implemented.
EtherNet/IP Overview Chapter 3
Service Code Service Description
01h Get_Attribute_All Returns the values of all attributes
0Eh Get_Attribute_Single Returns the values of one attribute
Table 10 - Instance Services of the Assembly Object
Instance Attribute IDAccess Description Bits Bytes
1 3 Get Position value 32 4
2 3 Get Position value
Warning and alarm flags
3 3 Get Position value
Vel oci ty
4…5——— ——
100 3 Get Configuration data 224 28
101 3 Get Error
Position value
102 3 Get Error
Position value
Warning and alarm flags
103 3 Set/Get Error
Position value
Vel oci ty
101WS 3 Get Error
Position value
102WS 3 Get Error
Position value
Warning and alarm flags
103WS 3 Set/Get Error
Position value
Vel oci ty
110 3 Set/Get Dummy instance for the configuration data of a
“Listen-only” connection
32
8
32
32
32
32
32
32
8
32
32
32
32
32
32
32
8
32
32
32
00
5
8
8
9
12
8
9
12
Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 29
Table 11 - Instance Attributes of the Assembly Object
IMPORTANT • Instances 4 and 5 from the encoder profile 22 h are not implemented.
• The instances 100 to 110 are manufacturer-specific assemblies.
• If the instances 101, 102, and 103 are used, then configuration assembly
100 is activated. If the instances 101WS, 102WS, and 103WS are used,
then configuration assembly 100 is not activated.
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