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MEM-BUS ABSOLUTE ENCODER
Instruction Manual
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MEM-BUS EtherNet/IP™ ENCODER Instruction Manual
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References
THE CIP NETWORKS LIBRARY
Volume 1 – Common Industrial Protocol (CIP™), Edition 3.23
Volume 2 – EtherNet/IP Adaptation of CIP, Edition 1.23
For more information regarding ODVA, visit www.odva.org.
Registered Trademarks
RSLinx™ and RSLogix5000™ are registered trademarks of Rockwell Automation.
EtherNet/IP™ and CIP™ are registered trademarks of ODVA®.
All other specified products, names and logos, serve exclusively for information purposes and may be
trademarks of their respective owners, without any special marking to indicate this.
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Summary
1 EtherNet/IP™ ........................................................... 4
1.1 General information ........................................... 4
1.2 CIP™ Protocol ..................................................... 4
1.3 The “Producer / Consumer” Model .................... 6
1.4 RPI Parameter ..................................................... 6
1.5 EtherNet/IP™ topologies .................................... 6
1.6 CIP™ Object Model ............................................. 7
1.7 EDS File ............................................................... 8
2 Installation ............................................................... 9
2.1 Safety ................................................................. 9
2.2 Transport and storage ....................................... 9
2.3 Mechanical assembly ......................................... 9
2.4 Electrical supply ................................................. 9
2.5 IP Address H/W Setting ................................... 10
2.6 IP Address S/W Setting .................................... 11
2.7 Preset button ................................................... 12
2.8 LED Indicators .................................................. 12
3 CIP Objects ............................................................ 13
3.1 Identity Object – 01H ....................................... 14
3.2 Position Sensor Object – 23H .......................... 15
3.3 Assembly Object – 04H .................................... 20
3.4 TCP/IP Interface Object – F5H ......................... 23
3.5 Ethernet Link Object – F6H ............................. 26
4 Configuring the encoder using RSLogix5000 ........ 29
4.1 General tab ...................................................... 30
4.2 Connection tab ................................................. 32
4.3 Module Info tab ............................................... 33
4.4 Internet Protocol, Port Configuration and
Network tabs ........................................................ 33
4.5 Configuration ................................................... 34
4.6 Preset function ................................................. 35
TECHNICAL SPECIFICATIONS ..................................... 38
ORDERING INFORMATION ........................................ 39
Enclosures: dimensional drawings
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1 EtherNet/IP™
1.1 General information
EtherNet/IP™ (Ethernet Industrial Protocol) is a frame-based computer networking technology for local
industrial area networks.
It follows the seven layers of the OSI (Open System Interconnection) model:
Layer
Function
7. Application
It supplies network services to end-user application.
6. Presentation
It handles syntax processing of message data such as format conversions and
encryption / decryption needed to support the application layer above it.
5. Session
It manages the sequence and flow of events that initiate and tear down
network connections. It is built to support multiple types of connections that
can be created dynamically and run over individual networks.
4. Transport
It delivers data across network connections. Different transport protocols
may support a range of optional capabilities including error recovery, flow
control, and support for re-transmission.
3. Network
Logical addressing is translated here into physical addressing.
2. Data Link
It checks for physical transmission errors and packages bits into data
"frames".
1. Physical
It is responsible for ultimate transmission of digital data bits from the
Physical layer of the sending (source) device over network communications
media to the Physical layer of the receiving (destination) device.
Table 1.1 – OSI model layers
1.2 CIP™ Protocol
As an application layer (number 7 in the OSI model), EtherNet/IP uses the Common Industrial Protocol
(CIP™) for process control. ELAP MEM-BUS encoder meets all the requirements of the EtherNet/IP protocol
according to IEC61784-1 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).
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EtherNetIP uses TCP/IP (Transmission Control Protocol) and UDP/IP (User Datagram Protocol) for
communication.
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 to transfer, for example, I/O data such as position and 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; it
is used, for example, to transfer parameters from the PLC to the encoder. Explicit messaging uses TCP/IP.
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.
The MAC address of ELAP MEM-BUS encoders is 60-D7-E3-1x-xx-xx.
EtherNet/IP is based on the standard Ethernet frame, which consists of 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.
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.
CIP™ is a message-based protocol that implements a relative path to send a message from the “producing”
device 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, the other devices along the path simply pass it, without any need to store it.
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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.
1.3 The “Producer / Consumer” Model
The CIP Producer/Consumer networking model replaces the old source/destination model (Known as
master/slave). 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 any more. 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
the topology of the network. Each input module, therefore, is a producer of input data, while the controller
is a consumer of 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.
1.4 RPI Parameter
The requested packet interval (RPI) is the update rate that is specified for a particular piece of data in the
network. This value specifies how often to produce the data for that device. For example, if RPI = 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.
1.5 EtherNet/IP™ topologies
ELAP MEM-BUS encoders can be connected in any of three network topologies: star, linear, or Device Level
Ring (DLR).
The linear topology uses the embedded switching capability to form a daisy chain 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.
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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.
The EtherNet/IP™ specification include the Device Level Ring (DLR) protocol, allowing multi-port devices to
be connected in a ring topology. DLR provides for fast network fault detection and recognition in order to
support the most demanding control applications. For example, a ring of 50 nodes implementing the DLR
protocol has a worst case fault recovery time of less than 3 ms.
The DLR protocol operates at layer 2, in the OSI model. The presence of the ring topology and the operation
of the DLR protocol are transparent to higher layers protocols, such as TCP/IP and CIP, with the exception
of a DLR object that provides a DLR configuration and diagnostic interface via CIP.
1.6 CIP™ Object Model
EtherNet/IP uses an object model for network communication wherein all functions and data of a device
are defined. CIP objects are organized in Classes, Instances and Attributes.
Class
It contains related objects of a device, which is organized in instances.
Instance
It 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.
Attributes
They represent the data that a device provides over EtherNet/IP. The attributes include the current
values of a configuration or an input. Typical attributes are configuration and status information.
Services
They are used to access the classes or the attributes of a class or to generate specific events. These
services execute defined actions such as reading/writing the attributes.
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1.7 EDS File
The EDS (Electronic Data Sheet) file, provided by ELAP, contains all information that is related to the
measuring-system-specific parameters and the operating modes of the MEM-BUS EtherNet/IP encoders.
The EDS file is integrated using the EtherNet/IP network configuration tool to configure and place in
operation the MEM-BUS EtherNet/IP encoder.
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2 Installation
The encoder must be installed by qualified experts only, with net voltage off and standstill shaft. The
operating instructions of the machine manufacturer must be always observed.
2.1 Safety
Always observe prevention and safety norms during the installation and operation of the device.
Use the encoder exclusively for its intended purpose.
High voltage, current and rotating parts may cause serious or fatal injuries.
Encoders must not be operated outside the specified limited values (see detailed product
documentation).
2.2 Transport and storage
Always transport or store encoders in their original packaging.
Never drop encoders or expose them to major vibrations.
2.3 Mechanical assembly
Do not open the device.
Do not carry out mechanical changes on the device.
Avoid impacts or shocks on the housing and shaft.
Operate the device within its environmental specifications.
2.4 Electrical supply
Carry out the wiring operations exclusively with unplugged voltage supply
Do not operate on the electrical plant while the encoder is on.
Ensure that the entire plant complies with EMC requirements. The installation environment and
wiring affect the electromagnetic compatibility of the encoder. In particular:
o before handling and installing the encoder, eliminate any electrostatic charge from your
body and from any tool that will get in contact with the device;
o supply the encoder with steady voltage free from electrical noise; if necessary, install
EMC filters for the supply input;
o always use shielded and, if possible, twisted cables;
o do not use longer cables than necessary;
o the device cable path should be away from power cables;
o install the device away from possible interference sources, or shield it effectively;
o connect the cable shield and the connector case to a protective earth and make sure that
the protective earth is free from electrical noise; the connection to earth can be carried
out at the encoder side and/or at the user side; it is up to the user to evaluate which is
the best solution to keep the electrical interference as low as possible.
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In order to achieve the highest possible noise immunity, the Ethernet cable screen must be connected to
ground on both ends.
In certain cases current might flow over the screen, therefore it is recommended to use equipotential
connections.
2.5 IP Address H/W Setting
The MEM-BUS encoder is provided with three rotary switches, for hardware setting of the IP address. The
IP address can be assigned using one of the two methods described below:
1. Use of the rotary switches to set the last byte value for the IP address (192.168.1.xxx).
Set the three switches to a valid address, in the range of 001 – 254, and take a cycle power to the
encoder. The MEM-BUS encoder will power up with the IP address set to 192.168.1.xxx, where xxx
is given by the position of the three network address switches. In the picture below, it is xxx = 123.
2. Use the BOOTP/DHCP protocol to assign a dynamic IP address.
Set the three rotary switches to 777 (for BOOTP) or 999 (for DHCP) and then take a cycle power to
the encoder. At power up, the MEM-BUS encoder will request an IP address from a BOOTP/DHCP
server, which must be in the same network. This IP address, just assigned, can be statically
allocated by disabling the BOOTP/DHCP mode via software and setting the rotary switches to 000.
At next cycle power, no further request is sent to the BOOTP/DHCP server and the last assigned IP
is used.
Set the rotary switches to 888 to reset the encoder to factory settings. The default IP is 192.168.1.123.
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2.6 IP Address S/W Setting
1. Set the rotary switches to 888 and take a cycle power in order to load the default factory settings.
2. Set the rotary switches to 000 and take a cycle power in order to enable S/W configuration.
3. Run RXLinx Classic Lite for Rockwell Automation networks.
ELAP MEM-BUS encoder appears in the main window, with its default IP address (192.168.1.123).
Click the right mouse button and select Module Configuration command.
In the “Port Configuration” table, it is possible to configure the TCP/IP interface (see attributes 3 e 5 of
object F5, section 3.4).
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2.7 Preset button
The preset button allows the user to reset the position value of the encoder. Remove the screw cover from
the back of the encoder and briefly press the button inside (see also par. 4.6, Preset Function). This button
is active only when the encoder is powered.
Note: Pressing the preset button result in a change of position reading. This can cause unexpected motion
which could result in personal injury or damage to the product or equipment.
2.8 LED Indicators
Four LEDs show the working conditions of the EtherNet/IP interface.
The Link1 and Link2 LEDs, display the status of the physical connection on the Ethernet interface.
Link1 / Link2
OFF
Power off or no Ethernet connection.
Steady Green
Ethernet connection established.
Yellow
Data transmission TxD/RxD.
Table 2.1 – Ethernet link indicators
The Mod LED shows the device status.
Mod
OFF
Power off.
Steady Green
Device in operation.
Flashing Green
Standby device, not configured, no IP address assigned.
Flashing Red
Major recoverable fault
(for example, inconsistent configuration).
Steady Red
Major unrecoverable fault, device not operational.
Flashing Green/Red
Self-test at power on.
Table 2.2 – Module status indicator
The Net LED show the status of the CIP connection.
Net
OFF
Power off or no IP address configured.
Flashing Green
Device not connected: an IP address is configured, but no CIP
connections are established.
Steady Green
Device connected: an IP address is configured, at least one CIP
connection is established.
Flashing Red
Connection timeout: a reset or a new CIP connection are
requested.
Steady Red
Error: the device has detected that its IP address is already in
use.
Flashing Green/Red
Self-test at power on.
Table 2.3 – Network status indicator
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3 CIP Objects
The ELAP MEM-BUS encoder, with EtherNet/IP interface, is an absolute multiturn encoder. The encoder
profile 22H is supported, according to the CIP™ protocol specifications.
The objects implemented and their interactions are shown in the picture below.
The following table shows the implemented objects and the number of instances available for each class.
Class
Description
Instances
01H: Identity Object
It includes all device specific data (manufacturer, device
type, device status, etc.).
1
02H: Message Router Object
It includes all supported class codes of the encoder and
the maximum number of connections.
1
04H: Assembly Object
It assembles the data of several objects to one single
object (for example, position and velocity values).
4
06H: Connection Manager Object
It includes connection specific attributes for triggering,
transport, connection type, etc.
1
23H: Position Sensor Object
It includes the attributes for programming the encoder
parameters, such as scaling, counting direction, etc.
1
F5H: TCP/IP Interface Object
It includes the attributes for TCP/IP interface, such as IP
address, subnet mask, gateway and acquisition of the IP
address via BOOTP/DHCP or hardware switches, etc.
1
F6H: Ethernet Link Object
It includes connection specific attributes such as
transmission speed, interface status, MAC address, etc.
2
47H: Device Level Ring (DLR) Object
It includes status attributes and configuration attributes
for the DLR protocol.
1
48H: Quality of Service (QoS) Object
It contains mechanism for processing data streams with
different priorities.
1
Table 3.1 – Implemented CIP objects and instances
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3.1 Identity Object – 01H
This object provides general information about the device.
Instance 0 includes the attributes of the class itself, while instance 1 includes the device identification data.
The following services are supported:
01H – Get_attribute_All (for both instances 0 and 1)
0EH – Get_Attribute_Single
05H – Reset
0 The device is re-initialized (power on).
1 The device is re-initialized (power on) and reset to the factory settings.
4BH – Flash_LEDs
9 The device executes 6 flashing sequences of its LEDS.
0 Stops the flashing.
Table 3.2 shows the supported attributes for instance 0.
INSTANCE 0, CLASS 01H
Attribute
Access
Name – Description
Data type
Value
1
Get
Revision
UINT
0001H
2
Get
Max instance
UINT
0001H
6
Get
Number ID of the last class attribute
UINT
0007H
7
Get
Number ID of the last instance attribute
UINT
0009H
Table 3.2 – Class attributes of the object 01H
Table 3.3 shows the supported attributes for instance 1.
INSTANCE 1, CLASS 01H
Attribute
Access
Name – Description
Data type
Value
1
Get
Manufacturer identification
UINT
0580H (ELAP)
2
Get
Device type
UINT
0022H (Encoder)
3
Get
Product code
UINT
000AH
4
Get
Revision
Major code
Minor code
STRUCT
USINT
USINT
01H
01H
5
Get
Device status
WORD
See table 3.4
6
Get
Serial number
UDINT
7
Get
Product name
STRING
MEM-BUS EtherNet/IP
8
Get
Present state of the device
USINT
0 Unknown
1 Device self testing
2 Standby
3 Operational
4 Recoverable fault (minor)
5 Unrecoverable fault (major)
6 – 254 Reserved
255 Default (if not implemented)
9
Get
Configuration consistency
UINT
0000H
Table 3.3 – Instance 1 attributes, for object 01H
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The attribute number 5, which is defined as a bit string, shows the current state of the device. The
meanings of the individual bits are shown in the table below.
Bit
Name
Meaning
0
Owned
= 1 if 1 object, at least, of the device has got an owner.
This bit is set if at least a class 1 or class 3 connection was established.
1 = 0, Reserved.
2
Configured
= 1 if 1 application attribute, at least, was changed as against the default
settings.
3 = 0, Reserved.
4 - 7
Extended device status
0000 Self-test
0001 Firmware update is active
0010 1 I/O connection, at least, is in Error status (timeout detected)
0011 There are no I/O connections in the Established status
0100 The saved configuration is defective
0101 A serious error has been detected; Bit 10 or Bit 11 is set
0110 1 I/O connection, at least, is active (RUN status)
0111 1 I/O connection, at least, is in the Established status (IDLE status)
1000…1111 Values reserved for manufacturer information, not used.
8
Minor Recoverable Fault
= 1 if the device has detected a non-serious and reparable fault (for
example a I/O connection has detected a timeout).
9
Minor Unrecoverable Fault
10
Major Recoverable Fault
11
Major Unrecoverable Fault
12 - 15
Reserved, value = 0
Table 3.4 – Device status
3.2 Position Sensor Object – 23H
This object provides specific data for the encoder.
Instance 0 includes the attributes of the class itself, while instance 1 includes the device specific data.
The following services are supported:
0EH – Get_Attribute_Single
10H – Set_Attribute_Single
Table 3.5 shows the supported attributes for instance 0.
INSTANCE 0, CLASS 23H
Attribute
Access
Name – Description
Data type
Value
1
Get
Revision
UINT
0002H
2
Get
Max instance
UINT
0001H
3
Get
Number of instances
UINT
0001H
6
Get
Number ID of the last class attribute
UINT
0007H
7
Get
Number ID of the last instance attribute
UINT
0064H
Table 3.5 – Class attributes of the object 23H
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Table 3.6 shows the supported attributes for instance 1.
INSTANCE 1, CLASS 23H
Attribute
Access
Name – Description
Data type
Value
10
Get
Position Value
DINT
11
Get
Position Sensor Type
UINT
2 Absolute encoder, multiturn
12
Get/Set
Direction Counting Toggle
BOOL
0 CW
1 CCW
14
Get/Set
Scaling Function Control
BOOL
0 Disabled
1 Enabled
16
Get/Set
Measuring Units per Span
UDINT
1 – 8192
17
Get/Set
Total Measuring Range
UDINT
1 – 536870912
19
Get/Set
Preset Value
DINT
0
21
Get
Position Status Register
(see values of attributes 22 and 23).
BYTE
Bit0 Position is out of range
Bit1 Over range
Bit2 Under range
22
Get/Set
Position Low Limit
DINT
0 – 536870911
23
Get/Set
Position High Limit
DINT
0 – 536870911
24
Get
Velocity Value
DINT
25
Get/Set
Velocity Format
ENG UINT
1F04H step/s (default)
1F05H step/ms
1F0FH turns/min
26
Get/Set
Velocity Resolution
UDINT
1
27
Get/Set
Minimum Velocity Setpoint
DINT
-2147483648 – 2147483647
28
Get/Set
Maximum Velocity Setpoint
DINT
-2147483648 – 2147483647
41 Get
Operating status of the encoder
BYTE
Bit0 Direction (0 = CW)
Bit1 Scaling (0 = Disabled)
Bit2…7 Not used
42
Get
Physical Resolution Span
UDINT
8192 (13 Bit )
43
Get
Physical Resolution Number of Span
UINT
65535
44 Get
Alarms WORD
Bit0 Position error
Bit1 Diagnostic error
Bit2…15 Not used
45
Get
Supported Alarms
WORD
0003H
46
Get
Alarm Flag
BOOL
0 No alarms
1 Alarm / error
47 Get
Warnings
WORD
Bit4 Battery charge
Bit6 Velocity below min. value
Bit7 Max Velocity exceeded
Bit10Position Limits exceeded
48
Get
Supported Warnings
WORD
04D0H
49
Get
Warning Flag
BOOL
0 No warnings
1 Warning
51
Get
Offset Value
(calculated by the Preset function).
DINT
100
Get
Rotary Switches Value
UINT
0…999
Table 3.6 – Instance 1 attributes, for object 23H
Attribute 10, Position Value
It is the output position value of the encoder, that is eventually modified by the scaling parameters (see
attributes 14, 16 and 17).
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Attribute 12, Direction Counting Toggle
Rotation direction, seen from the shaft side:
0 CW, the position value increases with a clockwise rotation.
1 CCW, the position value increases with a counter clockwise rotation.
Attribute 14, Scaling Function Control
0 The scaling function is disabled. Physical resolution is used for calculations (13 bit for single
turn and 16 bit for number of revolutions).
1 The scaling function is enabled. The values of attributes 16 and 17 are used for calculations.
Attribute 16, Measuring Units per Span
It sets the number of pulses for a single turn. It is active when the scaling function is enabled (that is
attribute 14 = 1). Values lower or equal to physical resolution (that is 8192 pulses per turn) are accepted.
Note: When the scaling parameters change, it is recommended to execute a Preset function (writing of
attribute 19) in order to reset the encoder and restart it from a correct position.
Attribute 17, Total Measuring Range
it sets the total measuring range for position values. It is active when the scaling function is enabled (that is
attribute 14 = 1).
The setting value is calculated as:
Measuring Units per Revolution (6001.00) x Number of Revolutions
Values lower or equal to the global physical resolution (that is 536870912) are accepted.
Note: When the scaling parameters change, it is recommended to execute a Preset function (writing of
attribute 19) in order to reset the encoder and restart it from a correct position.
Attribute 19, Preset Value
It sets the Preset value. The Preset function, that is executed when writing the attribute 19, is used to
adjust the measuring system to any position value within a range to the total measuring length - 1.
Note:
1. When the scaling parameters change, it is recommended to execute a Preset function in order to
reset the encoder and restart it from a correct position.
2. When the scaling function is disabled (attribute 14 = 0), the Preset value shall be lower than the
global physical resolution (536870912).
3. When the scaling function is enabled (attribute 14 = 1), the Preset value shall be lower than the
total resolution (attribute 17).
Attribute 21, Position Status Register
This attribute contains the actual area status of the encoder position (see attributes 22 and 23).
Bit0 = 1, if the position value is out of range (attributes 22 and 23)
Bit1 = 1, if the position value is higher than its high limit (attribute 23)
Bit2 = 1, if the position value is lower than its low limit (attribute 22)
This function allows a replacement of external proximity switches.
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Attributes 22 and 23, Position Low / High Limit
These attributes define a configurable work area within the measuring range.
Attribute 24, Velocity Value
It is the encoder current speed, where the format of this value is defined in attribute 25.
Attribute 25, Velocity Format
It is the format of the velocity attribute, in engineering units.
The following values are accepted:
1F04H step/s (default)
1F05H step/ms
1F0FH turns/min
Note : If this attribute is changed, both Minimum Velocity Setpoint (attribute 27) and Maximum Velocity
Setpoint (attribute 28) are reset to their default values.
Attribute 26, Velocity Resolution
It specifies the smallest incremental change of the velocity value (attribute 24).
Attributes 27 and 28, Minimum and Maximum Velocity Setpoint
The actual velocity speed limit values with minimum and maximum can be configured in attributes 27 and
28. The corresponding flags in attribute 47 (Bit6 and Bit7) are affected.
Attribute 41, Operating Status
This attribute contains the operating status of the encoder.
Bit0 Information about rotation direction is given. Position value is increasing (0) or decreasing
(1). Attribute 12 shall be used to set the counting direction.
Bit1 Information about scaling function is given (0 Disabled, 1 Enabled). Attribute 14 shall
be used to enable/disable the scaling function.
Attribute 42, Physical Resolution
This attribute contains the number of measuring steps per revolution which can be output by the
measuring system. See attributes 16 and 17 in order to set a specific resolution.
Attribute 43, Physical Resolution Number of Spans
This attribute contains the number of distinguishable revolutions that the measuring system can output.
The global physical resolution of the ELAP MEM-BUS encoder is calculated as follows
Single Turn Resolution x Number of revolutions = 8192 x 65536 = 536870912
See attributes 16 and 17 in order to set a specific total resolution.
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Attribute 44, Alarms
An alarm is set when the encoder has detected a status which can result in an incorrect position. As soon
as an alarm status is detected, the corresponding bit is set to logical high.
Bit0 Position error
Bit1 Diagnostic error
Bit2, …, Bit11 Reserved
Bit12, …, Bit15 Not used
Attribute 45, Supported Alarms
This attribute contains information about the alarms supported by the device.
ELAP MEM-BUS encoder supports the position error only (Bit 0); so this attribute value is 0001H.
Attribute 46, Alarm Flag
It indicates that an alarm error has occurred (attribute 44 is not zero).
Attribute 47, Warnings
Warnings are signaled by the encoder when the tolerance for certain internal parameters have been
exceeded. In contrast to alarms (attribute 44), warnings don’t imply incorrect position values.
Bit4 Battery charge too low.
Bit6 Velocity has dropped below its minimum value (attribute 27).
Bit7 Velocity has exceeded its maximum value (attribute 28).
Bit10 Position limits exceeded (see attributes 22 and 23).
Attribute 48, Supported Warnings
This attribute contains information about the warnings supported by the device.
ELAP MEM-BUS encoder supports the warnings of battery charge (Bit 4), Position limits exceeded (Bit 10)
and Velocity limits exceeded (Bit6, Bit7); so this attribute value is 04D0H.
Attribute 49, Warning Flag
It indicates that a warning error has occurred (attribute 47 is not zero).
Attribute 51, Offset Value
The offset value attribute is calculated by the preset function and shifts the position value attribute. It is
stored automatically by the device and can be read from the encoder for diagnostic purposes.
It is
Offset (attr.51) = Preset (attr.19) – Position Value (attr.10)
Attribute 100, Rotary Switches Value
The value corresponding to the position of the three rotary switches can be read for diagnostic purposes.
These rotary switches are used by the encoder only at power on. So, it is possible to change their position
when the encoder is powered, in order to check them.
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3.3 Assembly Object – 04H
The Assembly Object binds attributes of multiple objects, which allows data to or from each object to be
sent or received over a single connection. Assembly objects can be used to bind input data or output data,
where the terms ‘input’ and ‘output’ are defined from the network’s point of view.
An input will produce data on the network, while an output will consume data from the network.
Instance 0 includes the attributes of the class itself.
The following services are supported:
0EH – Get_Attribute_Single
Table 3.7 shows the supported attributes for instance 0.
INSTANCE 0, CLASS 04H
Attribute
Access
Name – Description
Data type
Value
1
Get
Revision
UINT
0002H
2
Get
Max instance
UINT
006EH
3
Get
Number of instances
UINT
0005H
6
Get
Number ID of the last class attribute
UINT
0007H
7
Get
Number ID of the last instance attribute
UINT
0004H
Table 3.7 – Class attributes of the object 04H
The following table contains all supported instance attributes of the assembly object.
Attribute
Access
Name – Description
Data type
Value
3
Get
Data of the assembly instance
BYTE ARRAY
See table 3.9
4
Get
Number of bytes in attribute 3
UINT
See table 3.9
Table 3.8 – Assembly object, instance attributes
ELAP MEM-BUS encoder supports 4 I/O assembly instances. Assembly instances are also called connection
points. Two connection point types are defined:
O T (Originator Target = Encoder): These connection points represent output data from the
control system (PLC).
T O (Target = Encoder Originator): These connection points represent input data for control
system (PLC). The instances T O contain, for example, the position and velocity values of the
encoder.
According to the Encoder Device Profile, instances 1, 2 and 3 are provided for input data. Instance 110 is
vendor specific.
Instance 100 is defined as the configuration assembly instance. Use of this assembly instance when
establishing class 1 connections is one possibility for configuration of the encoder.
The following table shows the values of attributes 3 and 4, for the assembly instances.
Instance
Type
Attribute 3 (data)
Attribute 4 (size)
1
Input
Position Value (23H, attr.10)
4 Byte
2
Input
Position (23H, attr.10) + Alarm Flag (23H, attr.46) + Warning Flag (23H,
attr.49)
5 Byte
3
Input
Position Value (23H, attr.10) + Velocity Value (23H, attr.24)
8 Byte
100
Output
Configuration Data (see table 3.11)
28 Byte
110
Input
Position Value (23H, attr.10) + Velocity Value (23H, attr.24) + Position Status
Register (23H, attr.21) + Warnings (23H, attr.47)
12 Byte
Table 3.9 –Attributes 3 and 4 of the assembly instances
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The data format of the input assembly instances are listed in the table below.
Instance
Byte
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
1
0
Position LSB
1
Position
2
Position
3
Position MSB
2
0
Position LSB
1
Position
2
Position
3
Position MSB
4
Warn
Flag
Alarm
Flag
3
0
Position LSB
1
Position
2
Position
3
Position MSB
4
Velocity LSB
5
Velocity
6
Velocity
7
Velocity MSB
110
0
Position LSB
1
Position
2
Position
3
Position MSB
4
Velocity LSB
5
Velocity
6
Velocity
7
Velocity MSB
8
Position Status Register
9
Reserved
10
Warnings LSB
11
Warnings MSB
Table 3.10 – Input assembly instance data format
Instance 110 is ELAP specific. It consists of 3 input data of type DINT. The last value has to be read as an
array of flag bit:
Bit1 1 if position value has exceeded its high limit
Bit2 1 if position value has dropped below its low limit
Bit20 1 if battery charge is too low
Bit22 1 if velocity value has dropped below its minimum setpoint
Bit23 1 if velocity value has exceeded its maximum setpoint
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The data format of the configuration assembly is listed in the table below.
Instance
Byte Data
100
0
LSB
Object 23H
Attribute 16
Measuring Units per Span
1
2 3
MSB
4
LSB
Object 23H
Attribute 17
Total Measuring Range
5 6 7
MSB
8 Object 23H
Attribute 12
Direction Counting Toggle in Bit0
9 Object 23H
Attribute 14
Scaling Function Control in Bit0
10
LSB
Object 23H
Attribute 25
Velocity Format
11
MSB
12
LSB
Object 23H
Attribute 22
Position Low Limit
13 14
15
MSB
16
LSB
Object 23H
Attribute 23
Position High Limit
17
18 19
MSB
20
LSB
Object 23H
Attribute 27
Minimum Velocity Setpoint
21 22 23
MSB
24
LSB
Object 23H
Attribute 28
Maximum Velocity Setpoint
25 26
27
MSB
Table 3.11 – Configuration data
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3.4 TCP/IP Interface Object – F5H
The TCP/IP Interface Object provides the mechanism to configure a device’s TCP/IP network interface.
Examples of configuration items include the device’s IP address, Network Mask and Gateway Address. This
Object provides an attribute that identifies the link-specific object for the associated physical
communication interface.
The following services are supported:
01H – Get_Attribute_All (for instance 1 only)
0EH – Get_Attribute_Single
10H – Set_Attribute_Single
Table 3.12 shows the supported attributes for instance 0.
INSTANCE 0, CLASS F5H
Attribute
Access
Name - Description
Data type
Value
1
Get
Revision
UINT
0004H
2
Get
Max instance
UINT
0001H
Table 3.12 – Class attributes of the object F5H
Table 3.13 shows the supported attributes for instance 1.
INSTANCE 1, CLASS F5H
Attribute
Access
Name – Description
Data type
Value
1
Get
Interface Status
DWORD
2
Get
Configuration Capability
DWORD
0000 00B5H
3
Get / Set
Configuration Control
DWORD
0000 0000H
4
Get
Path to Physical Link Object (F6H)
Path Size (number of 16 bit words)
Path (logical segment)
STRUCT
UINT
EPATH
2
20H F6H 24H 01H
5
Get / Set
TCP/IP Interface Configuration
IP Address
Network Mask
Gateway Address
Primary Server Name
Secondary Server Name
Domain Name
STRUCT
UDINT
UDINT
UDINT
UDINT
UDINT
STRING
Max 48 ASCII characters
6
Get / Set
Host Name
STRING
Max 64 ASCII characters
8
Get/Set
TTL Value
USINT
01H
9
Get/Set
Multicast Configuration
IP Multicast Addresses Allocation Control
Reserved
Number of IP Multicast Addresses
Starting Multicast Address
STRUCT
USINT
USINT
UINT
UDINT
00H
00H
32
239.192.x.x
10
Get/Set
Enable ACD
BOOL
1 (enabled)
11
Get/Set
Last Conflict Detected
ACD Activity
Remote MAC Address
ARP PDU in which a conflict was detected
STRUCT
USINT
USINT(6)
USINT(28)
13
Get / Set
Encapsulation Inactivity Timeout (in sec)
UDINT
120
Table 3.13 – Instance 1 attributes, for object F5H
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Attribute 1, Interface Status
This attribute is a bitmap, indicating the status of the TCP/IP interface. Now, only bits from 0 to 3 are used,
in order to show its configuration status:
0 Attribute 5 has not been configured.
1 Attribute 5 contains configuration obtained from BOOTP/DHCP or from device’s internal
memory.
2 Attribute 5 contains configuration obtained from hardware settings (rotary switches).
3, … 15 Reserved for future use.
Attribute 2, Configuration Capability
This attribute is a bitmap, indicating the device’s support for optional network configuration capability.
This attribute value is 00B5H for ELAP MEM-BUS encoder, that is:
Bit0 = 1, the encoder is capable of obtaining its network configuration (attribute 5) via BOOTP.
Bit2 = 1, the encoder is capable of obtaining its network configuration (attribute 5) via DHCP.
Bit4 = 1, the interface configuration attribute (attribute 5) is settable.
Bit5 = 1, IP address is hardware configurable.
Bit7 = 1, the encoder is capable to detect IP address conflicts (ACD).
Attribute 3, Interface Control
This attribute is a bitmap and it is used to control network configuration options.
The following values are accepted:
0 In order to assign a static IP address, through the rotary switches (see section 2.5)
1 In order to assign an IP address via BOOTP
2 In order to assign an IP address via DHCP
Attribute 4, Path to Physical Link Object
This attribute identifies the object associated with the underlying physical communications interface. In this
case, it is the instance 1 of the object F6H:
20H The following byte identifies a class
F6H Class code of the Ethernet Link Object
24H The following byte identifies an instance
01H Instance number 1.
Attribute 5, TCP/IP Interface Configuration
This attribute contains the configuration parameters required for a device to operate as a TCP/IP node.
In particular:
IP Address.
Network Mask: It is used when the IP network has been partitioned into subnets. The mask is used
to determine whether an IP address is located on another subnet.
Gateway Address: When a destination IP address is on a different subnet, packets are forwarded to
the default gateway for routing to the destination subnet.
Name Server: IP address of the primary name server, which is used to resolve host names.
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Name Server 2: IP address of the secondary name server, which is used when the primary name
server is not available, or it is unable to resolve a host name.
Domain Name: The default domain name is used when resolving host names that are not fully
qualified. For example, if the default domain name is “odva.org”, and the device needs to resolve a
host name of “plc”, then the device will attempt to resolve the host name as “plc.odva.org”.
Attribute 6, Host Name
This attribute contains the host name of the encoder.
Attribute 8, TTL Value
It is the value the device shall use for the IP header Time-to-Live field when sending EtherNet/IP packets via
IP multicast. All values between 1 and 255 are accepted.
Attribute 9, Multicast Configuration
This attribute contains the configuration of the device’s IP multicast addresses to be used for EtherNet/IP
multicast packets. There are 3 elements in this data structure:
IP Multicast Addresses Allocation Control
= 0 Multicast addresses shall be generated using the default allocation algorithm.
= 1 Multicast addresses shall be allocated according to the values specified in the parameters
Number of IP multicast addresses
Stating multicast IP address
Attribute 10, Enable ACD (Address Conflict Detection)
This attribute enables (1) or disables (0) the address conflict detection activity.
Attribute 11, Last Conflict Detected
When the ACD function is active, this attribute provides information on the last address conflict detected.
Attribute 13, Encapsulation Inactivity Timeout
This attribute is used to enable TCP socket or DTLS session cleanup (closing) when the defined number of
seconds (default is 120) have elapsed with no Encapsulation activity.
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3.5 Ethernet Link Object – F6H
This object maintains link-specific counters and status information for an IEEE 802.3 communications
interface. Each internal accessible interface has its own instance.
The following services are supported:
01H – Get_Attribute_All (only for instances 1 and 2)
0EH – Get_Attribute_Single
10H – Set_Attribute_Single
Table 3.14 shows the supported attributes for instance 0.
INSTANCE 0, CLASS F6H
Attribute
Access
Name – Description
Data type
Value
1
Get
Revision
UINT
0004H
2
Get
Max instance
UINT
0002H
3
Get
Number of instances
UINT
0002H
Table 3.14 – Class attributes of the object F6H
Table 3.15 contains the two supported instances, 1 for P1 port and 2 for P2 port.
INSTANCES 1 and 2, CLASS F6H
Attribute
Access
Name – Description
Data type
Value
1
Get
Interface Speed (Mbps)
UDINT
100 2 Get
Interface Flags
DWORD
0000 000FH
3
Get
Physical Address (MAC)
ARRAY of 6 USINT
60H D7H E3H 1xH …
4
Get
Interface Counters
STRUCT
5
Get
Media Counters
STRUCT
6
Get / Set
Interface Control
Control Bits
Forced Interface Speed
STRUCT
WORD
UINT
7
Get
Interface Type
USINT
2 (Twisted - Pair)
8
Get
Interface State
USINT
01H 9 Get/Set
Administrative State
USINT
01H
10
Get
Interface Label
STRING
“Port 1” / “Port 2”
11 Get
Interface Capability
Capability Bits
Speed/Duplex Options
Number of elements
Speed/Duplex Array
Interface Speed
Duplex Mode
STRUCT
DWORD
STRUCT of
USINT
ARRAY of STRUCT
UINT
USINT
0000 000EH
04H
Table 3.15 – Instances 1 and 2 attributes, object F6H
Attribute 1, Interface Speed
This attribute value indicates the speed at which the interface is currently running. A value of 0 is used to
indicate that the speed of the interface is indeterminate.
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Attribute 2, Interface Flags
This attribute value is a bitmap, showing status and configuration information about the physical interface.
Bit0 Link Status
It indicates whether or not the communication interface is connected to an active network.
Bit1 Half / Duplex Link
0 indicates the interface is running Half-Duplex, 1 indicates Full-Duplex.
Bit2–4 Negotiation Status
Indicate the status of link auto-negotiation
= 0, auto-negotiation in progress.
= 1, auto-negotiation and speed detection failed; using default values for speed and duplex;
= 2, auto-negotiation failed but detected speed; using default value for duplex.
= 3, successfully negotiated speed and duplex.
= 4, auto-negotiation not attempted; forced speed and duplex.
Bit5 Manual Setting Requires Reset
= 0, the interface can automatically adopt changes of attributes of the Ethernet Link Object,
without resetting for activation.
Bit6 Local Hardware Fault
= 0, indicates the interface detects no local hardware faults.
Bit7, …, Bit31 Reserved.
Attribute 3, Physical Address (MAC)
This attribute value contains the interface’s MAC layer address. The MAC address consists a 6 byte Ethernet
address for each individual device and it is unique worldwide. The MAC address consists of two parts, the
first 3 bytes represents the manufacturer-specific ID, while the last 3 bytes represents a consecutive
number. The MAC address for ELAP MEM-BUS encoder is 60-D7-E3-1x-xx-xx.
Attribute 4, Interface Counters
This attribute is a data structure consisting of 11 UDINT counters, concerning the receipt of packets on the
interface.
Attribute 5, Media Counters
This attribute is a data structure consisting of 12 UDINT counters, specific to Ethernet media.
Attribute 6, Interface Control
This attribute is a data structure consisting of Control Bits and Forced Interfaced Speed.
Control Bits:
Bit0 1 indicates the link auto-negotiation is disabled; in this case, the device shall use the
settings indicated by the Forced Duplex Mode and Forced Interface Speed bits.
Bit1 When the auto-negotiate bit is 0 (Bit0 = 0), it indicates whether the interface shall operate
in full or half duplex mode (0 Half Duplex, 1 Full Duplex).
Bit2, …, Bit15 Reserved, shall be set to 0.
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Forced Interface Speed:
When the auto-negotiate bit is 0 (Bit0 = 0), it indicates the speed at which the interface shall operate.
Speed is specified in megabits per second (Mbps).
Attribute 7, Interface Type
This attribute value indicates the type of physical interface. ELAP MEM-BUS encoder has got an interface of
type 2, Twisted-pair (10Base-T, 100Base-T, 1000Base-T, etc.).
Attribute 8, Interface State
This attribute value indicates the current operational state of the interface.
= 0, unknown interface state.
= 1,the interface is enabled and ready to send and receive data.
= 2, the interface is disabled.
= 3, the interface is testing.
= 4, …, 256 reserved values.
Attribute 9, Administrative State
This attribute value allows administrative setting of the interface state.
= 1, enable the interface.
= 2, disable the interface.
Attribute 10, Interface Label
This attribute value is a text string, describing the interface.
Attribute 11, Interface Capability
This attribute value indicates the set of capabilities for the interface. It is a data structure with two main
elements: Capability Bits and Speed/Duplex Options.
Capability Bits: it is an array of bits, indicating whether the interface supports capabilities such as autonegotiation and auto-MDIX.
Bit0 Manual Setting Requires Reset.
It indicates whether or not the device requires a reset to apply changes made to attribute 6;
= 0, the device automatically applies changes, without any reset operation.
Bit1 Auto-negotiate.
= 1, indicates that the interface supports link auto-negotiation.
Bit2 Auto-MDIX.
= 1, indicates that the interface supports auto-MDIX operation.
Bit3 Manual Speed/Duplex.
= 1, indicates that the interface supports manual setting of speed/duplex via the attribute 6.
Bit4, …, Bit31 Reserved, shall be set to 0.
Speed/Duplex Options: it is an array of speed/duplex pairs that may be set via the attribute 6 (for example,
10 Mbps – Half Duplex, 100 Mbps – Full Duplex, etc.).
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4 Configuring the encoder using RSLogix5000
This chapter guides you through the steps required to configure your MEM-BUS encoder using RSLogix5000
software, version 30, by Rockwell Automation.
1. Use command File New … in order to create a new project and select the proper CPU. In this
case it is 1769 – L18ERM – BB1B CompactLogix™ controller.
2. Install your EDS file, provided by ELAP, using command Tools EDS Hardware Installation Tool.
3. Select the Ethernet network and press your mouse right button; then select New Module…
4. Select MEM_BUS-Eth/IP encoder and click the Create button.
5. Complete your module profile with all requested information.
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4.1 General tab
Enter a name for the encoder, for example Encoder_1. Short descriptive names are recommended.
Enter a description of the encoder’s function and then set its Ethernet address. In this example, the address
is 192.168.1.123, where the value 123 is the address assigned with the hardware rotary switches.
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The Ethernet address can be set when the controller is offline. Three options are available:
Private Network: Enter a value of 1 … 254 for the last segment of the address. Be sure not to
duplicate the address of an existing device.
IP Address: Enter the desired address.
Host Name: Enter the name of the host. In this example, the host name is ELAP1.
Click the Change button, in Module Definition section, in order to select input data for controller and their
format.
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4.2 Connection tab
The following settings are available:
Requested Packet Interval: It is the measure of how frequently the originating application requires the
transmission of data from the target application. All values between 1 and 750 ms are accepted.
Connection over EtherNet/IP: Unicast connections are point to point connections, while multicast
connections are considered one to many. Select unicast in order to reduce the amount of network
bandwidth used.
Inhibit Module: When checked, the encoder is not polled for information any more. Any data 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.
Module Fault: Fault messages will appear in this box.
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4.3 Module Info tab
This section shows general read-only data and it is populated when the controller goes online.
The Identification panel shows vendor, product type, product code, revision level, serial number and
product name.
The Status panel shows the fault status, internal state (for example Run Mode) and whether the module
corresponds to its description file .EDS.
The Refresh and Reset Module buttons are active when the controller is online. Click Refresh in order to
refresh data in the window. Click Reset Module with care as it momentarily disconnects the module and
control is interrupted.
4.4 Internet Protocol, Port Configuration and Network tabs
These sections contain reads-only data, that are visible when the controller is online.
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4.5 Configuration
ELAP MEM-BUS encoder is supplied with the following parameters:
Direction counting = 0 (clockwise)
Scaling function = 0 (disabled)
Steps per revolution = 8192
Total resolution = 536870912
Velocity measuring Unit = 1F04H (step/s)
These values can be changed in the Controller Tags table of your project, with tool RSLogix5000.
Here, the encoder data are divided into 2 categories, whose names are composed by the name assigned to
the encoder (in this case Encoder_1), followed by:
C for configuration
I for input
Expand the configuration table Encoder_1.C, in order to set the desired configuration values.
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4.6 Preset function
The Preset function is used to adjust the measuring system to any position value within a range to the total
measuring length – 1. Two modes are available:
Preset button: The position value is set to zero when preset button is pressed. This button is active only
when the encoder is powered.
Note: Pressing the preset button result in a change of position reading. This can cause unexpected motion
which could result in personal injury or damage to the product or equipment.
PLC command: The preset function can be performed by writing the Preset attribute value (class 23H,
instance 1, attribute 19) with an explicit message in the PLC program.
Note:
1. When the scaling parameters change, it is recommended to execute a Preset function (writing of
attribute 19) in order to reset the encoder and restart it from a correct position.
2. When the scaling function is disabled (attribute 14 = 0), the Preset value shall be lower than the
global physical resolution (536870912).
3. When the scaling function is enabled (attribute 14 = 1), the Preset value shall be lower than the
total resolution (attribute 17).
In your PLC program, create a new message data type named Preset_msg and a DINT named Preset_val.
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Double-click the gray box on the message instruction to configure it.
In the configuration tab select:
Message Type: CIP Generic
Service Type: Set Attribute Single
Service Code: 10H (automatic)
Class: 23H (Position Sensor Object)
Instance: 1
Attribute: 13H (19)
Source Element: Preset_val
Source Length: 4
Note: the numbers of class, instance and attribute are hexadecimal values.
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In the communication tab, browse to the MEM_BUS-Eth/IP encoder on the Ethernet network, then click
OK.
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TECHNICAL SPECIFICATIONS
MECHANICAL & ENVIRONMENTAL SPECIFICATIONS
MEM-BUS 620 / 520 / 540
MEM-BUS 440 / 450
Materials: case
shaft
Aluminium
Stainless steel
Weight
500 g
Shaft/joint hole Ø
6, 8 ,10 mm
8, 10, 12, 14, 15 mm
Revolutions/minute
6000
Starting torque
0.8 Ncm
Inertia
25 g cm2
Max load
80 N axial/100 N radial
Vibrations resistance (10÷2000 Hz)
100 m/sec2
Shock (11 ms)
50 G
Protection degree
IP67 – IP65 shaft side
Operating temperature
-30 ÷ 70°C
Stocking temperature
-30 ÷ 85°C
ELECTRICAL & OPERATING SPECIFICATIONS
Operating principle
Magnetic
Resolution/revolution
8192 steps/rev – 13 bit
Revolutions no.
65536 - 16 bit
Initializing time
< 1 s
Data memory
> 20 years
No motion – Power off
Field bus
EtherNet/IP™
Supply
10 ÷ 30 V dc
Protection against polarity reversal
Power consumption
2 W
Accuracy
± ½ LSB
Connection
2 M12 female connectors
+1 M12 male connector
Interference immunity
EN 61000-6-2
Emitted interference
EN 61000-6-4
EtherNet/IP™ IEC 61784-1
Physical Layer
EtherNet/IP™ 100Base-TX, Fast Ethernet, ISO/IEC 8802-3
Output code
Binary
Device profile
CIP™ Protocol, encoder profile 22H
Cycle time
>= 1 ms
Transmission rate
100 Mbit/s
Transmission
CAT-5 cable, shielded (STP), ISO/IEC 11801
Programmable via CIP™
o Counting direction
o Measuring steps per revolution
o Total measuring length in steps
o Preset value
o Velocity measuring unit
o IP Address
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ORDERING INFORMATION
M
10
TYPE
MEM520-Bus = Round flange Ø 58 mm
MEM540-Bus = Round flange Ø 58 mm
MEM620-Bus = Square flange 63.5x63.5 mm
MEM440-Bus = Blind hollow shaft for motor coupling
MEM450-Bus = Blind hollow shaft, fixing by elastic support
EIP
MEM520B
INTERFACE
EIP = EtherNet/IP
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