Solid-state equipment has operational characteristics differing from those of electromechanical
equipment. Safety Guidelines for the Application, Installation and Maintenance of Solid State Controls
(Publication SGI-1.1
http://www.rockwellautomation.com/literature/
solid-state equipment and hard-wired electromechanical devices. Because of this difference, and also
because of the wide variety of uses for solid-state equipment, all persons responsible for applying this
equipment must satisfy themselves that each intended application of this equipment is acceptable.
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.
available from your local Rockwell Automation sales office or online at
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 consequences.
) describes some important differences between
SHOCK HAZARD: Labels may be on or inside the equipment (for example, drive or
motor) to alert people that dangerous voltage may be present.
BURN HAZARD: Labels may be on or inside the equipment (for example, drive or
motor) to alert people that surfaces may reach dangerous temperatures.
IMPORTANT
Identifies information that is critical for successful application and understanding of the
product.
Publication 1794-IN063C-EN-E - February 2014
Environment and Enclosure
ATTENTION: This equipment is intended for use in a Pollution Degree 2
industrial environment, in overvoltage Category II applications (as defined in
IEC 60664-1), at altitudes up to 2000 m (6562 ft) without derating.
This equipment is not intended for use in residential environments and may not
provide adequate protection to radio communication services in such
environments.
This equipment is supplied as open-type equipment. It must be mounted within
an enclosure that is suitably designed for those specific environmental
conditions that will be present and appropriately designed to prevent personal
injury resulting from accessibility to live parts. The enclosure must have
suitable flame-retardant properties to prevent or minimize the spread of flame,
complying with a flame spread rating of 5VA or be approved for the application
if nonmetallic. The interior of the enclosure must be accessible only by the use
of a tool. Subsequent sections of this publication may contain additional
information regarding specific enclosure type ratings that are required to
comply with certain product safety certifications.
In addition to this publication, see:
• NEMA Standard 250 and IEC 60529, as applicable, for explanations of the
degrees of protection provided by different types of enclosure.
Prevent Electrostatic Discharge
FLEX I/O 2-Channel Incremental Encoder Module 3
, for additional installation requirements.
ATTENTION: This equipment is sensitive to electrostatic discharge, which can
cause internal damage and affect normal operation. Follow these guidelines
when you handle this equipment:
• Touch a grounded object to discharge potential static.
• Wear an approved grounding wriststrap.
• Do not touch connectors or pins on component boards.
• Do not touch circuit components inside the equipment.
• Use a static-safe workstation, if available.
• Store the equipment in appropriate static-safe packaging when not in use.
Publication 1794-IN063C-EN-E - February 2014
4 FLEX I/O 2-Channel Incremental Encoder Module
European Hazardous Location Approval
The following module is European Zone 2 approved: 1794-ID2 Series B.
The following applies when the product bears the Ex Marking
European Zone 2 Certification (The following applies when the product bears the Ex Marking)
This equipment is intended for use in potentially explosive atmospheres as defined by European
Union Directive 94/9/EC. DEMKO certifies that this equipment has been found to comply with the
Essential Health and Safety Requirements relating to the design and construction of Category 3
equipment intended for use in Zone 2 potentially explosive atmospheres, given in Annex II to this
Directive.
Compliance with the Essential Health and Safety Requirements has been assured by
compliance with EN 60079-15:2012 and EN 60079-0:2010.
WARNING: Observe the following additional Zone 2 certification
requirements:
• This equipment is not resistant to sunlight or other sources of UV
radiation.
• This equipment must be installed in an enclosure providing at least IP54
protection when applied in Zone 2 environments.
• This equipment shall be used within its specified ratings defined by
Rockwell Automation.
• Provision shall be made to prevent the rated voltage from being
exceeded by transient disturbances of more than 40% when applied in
Zone 2 environments.
• Secure any external connections that mate to this equipment by using
screws, sliding latches, threaded connectors, or other means provided
with this product.
• Do not disconnect equipment unless power has been removed or the
area is known to be nonhazardous.
Publication 1794-IN063C-EN-E - February 2014
FLEX I/O 2-Channel Incremental Encoder Module 5
North American Hazardous Location Approval
The following module is North American Hazardous Location approved:
1794-ID2 Series B
The following information applies when
operating this equipment in hazardous
locations:
Products marked “CL I, DIV 2, GP A, B, C, D” are suitable
for use in Class I Division 2 Groups A, B, C, D, Hazardous
Locations and nonhazardous locations only. Each product
is supplied with markings on the rating nameplate
indicating the hazardous location temperature code.
When combining products within a system, the most
adverse temperature code (lowest “T” number) may be
used to help determine the overall temperature code of
the system. Combinations of equipment in your system are
subject to investigation by the local Authority Having
Jurisdiction at the time of installation.
WARNING: EXPLOSION HAZARD
• Do not disconnect equipment
unless power has been
removed or the area is known
to be nonhazardous.
• Do not disconnect connections
to this equipment unless
power has been removed or
the area is known to be
nonhazardous. Secure any
external connections that mate
to this equipment by using
screws, sliding latches,
threaded connectors, or other
means provided with this
product.
• Substitution of components
may impair suitability for Class
I, Division 2.
• If this product contains
batteries, they must only be
changed in an area known to
be nonhazardous.
Informations sur l’utilisation de cet
équipement en environnements
dangereux:
Les produits marqués "CL I, DIV 2, GP A, B, C, D" ne
conviennent qu'à une utilisation en environnements
de Classe I Division 2 Groupes A, B, C, D dangereux et
non dangereux. Chaque produit est livré avec des
marquages sur sa plaque d'identification qui
indiquent le code de température pour les
environnements dangereux. Lorsque plusieurs
produits sont combinés dans un système, le code de
température le plus défavorable (code de température
le plus faible) peut être utilisé pour déterminer le
code de température global du système. Les
combinaisons d'équipements dans le système sont
sujettes à inspection par les autorités locales
qualifiées au moment de l'installation.
WARNING: RISQUE
D’EXPLOSION
• Couper le courant ou
s’assurer que
l’environnement est
classé non dangereux
avant de débrancher
l'équipement.
• Couper le courant ou
s'assurer que
l’environnement est
classé non dangereux
avant de débrancher les
connecteurs. Fixer tous
les connecteurs externes
reliés à cet équipement à
l'aide de vis, loquets
coulissants, connecteurs
filetés ou autres moyens
fournis avec ce produit.
• La substitution de
composants peut rendre
cet équipement inadapté
à une utilisation en
environnement de Classe
I, Division 2.
• S’assurer que
l’environnement est
classé non dangereux
avant de changer les
piles.
Publication 1794-IN063C-EN-E - February 2014
6 FLEX I/O 2-Channel Incremental Encoder Module
ATTENTION: Personnel responsible for the application of safety-related
programmable electronic systems (PES) shall be aware of the safety
requirements in the application of the system and shall be trained in using the
system.
ATTENTION: FLEX I/O systems are grounded through the DIN rail to chassis
ground. Use zinc plated yellow-chromate steel DIN rail to assure proper
grounding. The use of other DIN rail materials (for example, aluminum or
plastic) that can corrode, oxidize, or are poor conductors, can result in improper
or intermittent grounding. Secure DIN rail to mounting surface approximately
every 200 mm (7.8 in.) and use end-anchors appropriately.
ATTENTION: Do not remove or replace a Terminal Base unit while power is
applied. Interruption of the backplane can result in unintentional operation or
machine motion.
ATTENTION: For Class I Division 2 applications, use only Class I Division 2
listed or recognized accessories and modules approved for use within the 1794
platform.
ATTENTION: If this equipment is used in a manner not specified by the
manufacturer, the protection provided by the equipment may be impaired.
WARNING: When used in a Class I, Division 2, hazardous location, this
equipment must be mounted in a suitable enclosure with proper wiring
method that complies with the governing electrical codes.
WARNING: If you connect or disconnect wiring while the field-side power is
on, an electrical arc can occur. This could cause an explosion in hazardous
location installations. Be sure that power is removed or the area is
nonhazardous before proceeding.
Publication 1794-IN063C-EN-E - February 2014
FLEX I/O 2-Channel Incremental Encoder Module 7
44341
3
4
7
1
2
6
5
Install the Module
Read this for information about how to install the module, which mounts on a 1794-TB3
or 1794-TB3S terminal base.
Module Description
DescriptionDescription
1Latching mechanism5Alignment bar
2Keyswitch6Module
3Terminal base7FlexBus connector
4Groove
ATTENTION: During mounting of all devices, be sure that all debris (such as
metal chips or wire strands) is kept from falling into the module. Debris that
falls into the module could cause damage on powerup.
To install the module on a 1794 terminal base, refer to the figure and complete the
following.
1. Rotate the keyswitch (2) on the terminal base (3) clockwise to position 3 as
required for this type of module.
2. Make sure the flexbus connector (7) is pushed all the way to the left to connect
with the neighboring terminal base or adapter.
ATTENTION: You cannot install the module unless the connector is fully
extended.
Publication 1794-IN063C-EN-E - February 2014
8 FLEX I/O 2-Channel Incremental Encoder Module
3. Make sure the pins on the bottom of the module are straight so they align
properly with the connector in the terminal base.
WARNING: If you remove or insert the module while the backplane power is
on, an electrical arc can occur. This could cause an explosion in hazardous
location installations. Be sure that power is removed or the area is
nonhazardous before proceeding.
4. Position the module (6) with its alignment bar (5) aligned with the groove (4) on
the terminal base.
5. Press firmly and evenly to seat the module in the terminal base unit, noting that
the module is seated when the latching mechanism (1) is locked into the module.
Remove debris wrapper before applying power to the module.
Wire the Module
1794-TB3 and 1794-TB3S Terminal Base Wiring
WARNING: If you connect or disconnect wiring while the field-side power is
on, an electrical arc can occur. This could cause an explosion in hazardous
location installations. Be sure that power is removed or the area is
nonhazardous before proceeding.
To connect wiring for 1794-TB3 and 1794-TB3S bases, refer to the tables and figure and
complete the following.
1. Connect individual input wiring (A+, A-, B+, B-, Z+, Z-, G+, G-) for each
channel to numbered terminals on the 0…15 row (A) as indicated in the table
below.
2. If applicable, connect the encoder commons to any terminal on the 16…33 row
(B) for each input as indicated.
ATTENTION: To reduce susceptibility to noise, power analog modules and
digital modules from separate power supplies. Do not exceed a length of 3 m
(9.8 ft) for DC power cabling.
Terminals 16…33 (1794-TB3, 1794-TB3S)Terminals 16 and 33
12/24V DCTerminals 34…51 (1794-TB3, 1794-TB3S)Terminals 34 and 51
1Auxiliary terminal blocks are required when using these terminal base units.
Publication 1794-IN063C-EN-E - February 2014
1
FLEX I/O 2-Channel Incremental Encoder Module 11
_
+
G
Z
B
A
_
+
_
+
_
+
17 18 19 20
21
22 23 24 25
33
012
345
6
78
16
35 36
37 38
39 40 41 42
15
51
34
0V DC
12/24V DC
External
power supply
12/24V DC
Pulse Counter Channel 0
Signal inputs
Signal for
counter gate
Signal for counter
calibration/preset
Signal for
up/down counting
+
G
Z
B
A
+
_
+
+
17 18 19
20 212223 24
25
33
0
1
2
34
5
678
16
353637
38
39 40
41 42
15
51
34
0V DC
12/24V DC
External
power supply
12/24V DC
Pulse Counter Channel 0
Signal inputs
_
_
_
_
Example of Incremental Encoder Wiring
Example of pulse transmitter with 1 pulse train. For connection of channel 1, refer to
connection diagram. To reduce noise, connect negative input to 0V DC terminal.
Note: Dotted lines indicate signals not always used.
Example of incremental encoder with 2 pulse trains, with or without reference, and/or gate
function. For connection of channel 1, refer to connection diagram.
Note: Dotted lines indicate signals not always used.
1Channel 0 - Stored counter value of channel 0
2Channel 1 - Stored counter value of channel 1
3Channel 0 - Current counter value
4Channel 1 - Current counter value
5Channel 0 - Counter word readback
6Channel 1 - Counter word readback
7Revision read - software version code
Where A0 = Status of input A, channel 0 - bit = 1 when input is on
B0 = Status of input B, channel 0 - bit = 1 when input is on
Z0 = Status of input Z, channel 0 - bit = 1 when input is on
G0 = Status of input G, channel 0 - bit = 1 when input is on
A1= Status of input A, channel 1 - bit = 1 when input is on
B1 = Status of input B, channel 1 - bit = 1 when input is on
Z1 = Status of input Z, channel 1 - bit = 1 when input is on
G1 = Status of input G, channel 1 - bit = 1 when input is on
C0 = Cal 0 - when bit is set, counter 0 has been calibrated (reset by CalReset)
C1 = Cal 1 - when bit is set, counter 1 has been calibrated (reset by CalReset)
S0 = Stored 0 - when bit is set, counter 0 value has been saved in Store 0 (reset by
StoreReset)
S1 = Stored 1 - when bit is set, counter 1 value has been saved in Store 0 (reset by
StoreReset)
Once a store has occurs, L0 and L1 are on until cleared by StoreReset (counter word bit 14)
PR0 = Preset 0 reached - when bit is set, counter 0 has reached value of preset (reset by
PresetReset)
PR1 = Preset 1 reached - when bit is set, counter 1 has reached value of preset (reset by
PresetReset)
CT DIR 0 = Increase/Decrease counter value for counter 0: set to 0 at startup. 0 = last pulse
decreased
counter value; 1 = last pulse increased counter value
CT DIR 1 = Increase/Decrease counter value for counter 1: set to 0 at startup. 0 = last pulse
decreased
counter value; 1 = last pulse increased counter value
0Control Word 0 - Channel 0 - Sets the function of counter 0
1Control Word 1 - Channel 1 - Sets the function of counter 1
2Channel 0 Preset - Value to load or compare with counter 0
3Channel 1 Preset - Value to load or compare with counter 1
4Control Word 2 - Filter Function Control Word - Enables filter, and sets filter constant
5…6Reserved
Description of Control Words 0 and 1
BitDescription
00…02 020100Mode Selection Bits
000Counting on positive (rising) edge of input signal A. (Up/dwn
001Quadrature encoder X1
010Quadrature encoder X2
011Quadrature encoder X4
100Counting up on positive edge of input signal A, and counting
101No count function
110
111
03Preset (Reset) bit - A positive edge on this bit moves the value in Preset X to
Counter X, independent of Preset Enable. Note: To use Preset as a Reset, use a count
value of 0000 in the Preset Value word.
04Enable Z Preset (Reset) bit - When this bit is set (1), a positive edge on Z preloads
Counter X = Preset X, independent of Cal Enable. Note: If Z is configured to do Store
and Preset (Reset), the Store will occur first.
05Count Enable bit - When this bit is set (1), the pulse counter is enabled.
Calibration Control Bits 06-08
06Enable bit - When this bit is set (1), the pulse counter can be calibrated.
07Direction bit - When this bit is set (1), calibration is performed in a negative
direction; when reset (0), calibration is performed in a positive direction.
08Reset bit - Calibration is acknowledged and a new calibration is enabled on a
positive edge on this bit.
counting determined by B.)
down on positive edge of input signal B.
Publication 1794-IN063C-EN-E - February 2014
14 FLEX I/O 2-Channel Incremental Encoder Module
Description of Control Words 0 and 1
BitDescription
09…10 1009Gate Control Bits
00No gate function on input G
01Counting only if G is high (active)
10Counting only if G is low (inactive)
11The counter can be calibrated when G is high (active)
11…12 1211Store Control Bits - These bits will trigger a Store only if the
00Save counter value on positive edge of Z (if S0 or S1 = 0)
01Save counter value on positive edge of G (if S0 or S1 = 0)
10Save counter value on negative edge of G (if S0 or S1 = 0)
11Save the counter value on the positive edge and negative edge of G
13Rollover bit - When set (1), the counter counts up to the preset and then restarts at 0.
If this bit is reset (0) (not rollover), the rollover preset value is FFFF hex = 65535
decimal
14Store Reset bit - A positive edge on this bit resets the channel Store status bit (S0 or
S1).
15Preset Reset bit - A positive edge on this bit resets the Preset Reached (PR0 or PR1).
channel Store status bit (S0 or S1) are cleared (0).
(if S0 or S1 = 0)
Decription of Control Word 2
BitDescription
00Filter A0 Enable bit - When this bit is set (1), and counter 0 is in mode 000 (Pulse
counting), signal A0 is filtered by a digital low pass filter with selectable constant.
01Filter A1 Enable bit - When this bit is set (1), and counter 1 is in mode 000 (Pulse
counting), signal A1 is filtered by a digital low pass filter with selectable constant.
02…07 Reserved - set to 0
08…09 0908Filter Constant Bits - This constant is common to both counters
0073.5 kHz or min 0.007 ms pulsewidth
0137.8 kHz or min 0.013 ms pulsewidth
1012.8 kHz or min 0.04 ms pulsewidth
111.2 kHz or min 0.4 ms pulsewidth
10…15 Reserved - set to 0
Publication 1794-IN063C-EN-E - February 2014
FLEX I/O 2-Channel Incremental Encoder Module 15
Specifications
General Specification
Attribute Value
Number of inputs2
Number of inputs per counter4 (A, B, Z, and G)
Module Location1794-TB3, 1794-TB3S, 1794-TBN
Terminal base screw torque1794-TB3, 1794-TB3S – 0.8 Nm (7 lb-in.)
Dimensions, HxWxD
(with module installed)
Input pulse width, minEach signal condition must be stable for at least 2 µs to be
Counting frequency, max100 kHz
Input range
Input ON
Input OFF
Input current, typical3 mA @ 6V DC
Isolation voltageTested @ 500V DC for 1 s
Flexbus current5 mA @ 5V DC
Power supply (external)12…24V DC (+10%)
Current consumption from
external power supply
Power dissipation, max5 W @ 26.4V DC
Thermal dissipation, max17.1 BTU/hr @ 26.4V DC
Indicators (field side indication,
customer device driven)
Keyswitch position1
1794-TBN – 1.0 Nm (9 lb-in.)
45.7 x 94.0 x 53.3 mm (1.8 x 3.7 x 2.1 in.)
recognized
26.4V DC (24V DC +10%) max
6V DC min
3V DC max
-26.4V DC min
9 mA @ 12V DC
15 mA @ 24V DC
150 mA @ 12V DC
75 mA @ 24V DC
1 green/red power/status indicator
12 yellow status indicators
Shock, operatingIEC 60068-2-27 (Test Ea, Unpackaged Shock): 30 g
Shock, nonoperatingIEC 60068-2-27 (Test Ea, Unpackaged Shock): 50 g
EmissionsCISPR 11 (IEC 61000-6-4): Class A
ESD immunityIEC 61000-4-2:
Radiated RF immunityIEC 61000-4-3:
EFT/B immunityIEC 61000-4-4:
Surge transient immunityIEC 61000-4-5:
Conducted RF immunityIEC 61000-4-6:
IEC 60068-2-2 (Test Bd, Operating Dry Heat),
IEC 60068-2-14 (Test Nb, Operating Thermal Shock):
0…55 °C (32…131 °F)
Note: Do not connect maximum input voltage
simultaneously to all inputs if the module ambient
temperature is expected to exceed 40 °C.
See the product certifications link at http://www.rockwellautomation.com/products/certification/ for Declarations of
Conformity, Certificates, and other certification details.
Valu e
Canada.
UL Listed for Class I, Division 2 Group A,B,C,D Hazardous
Locations, certified for U.S. and Canada.
EN 61326-1; Meas./Control/Lab., Industrial Requirements
EN 61000-6-2; Industrial Immunity
EN 61000-6-4; Industrial Emissions
EN 61131-2; Programmable Controllers (Clause 8, Zone A
& B)
AS/NZS CISPR 11; Industrial Emissions
Publication 1794-IN063C-EN-E - February 2014
18 FLEX I/O 2-Channel Incremental Encoder Module
Notes:
Publication 1794-IN063C-EN-E - February 2014
Notes:
FLEX I/O 2-Channel Incremental Encoder Module 19
Publication 1794-IN063C-EN-E - February 2014
Rockwell Automation Support
Rockwell Automation provides technical information on the Web to assist you in using its products. At
http://www.rockwellautomation.com/support/
technical and application notes, sample code and links to software service packs, and a MySupport feature
that you can customize to make the best use of these tools.
For an additional level of technical phone support for installation, configuration and troubleshooting, we
offer TechConnect support programs. For more information, contact your local distributor or Rockwell
Automation representative, or visit http://www.rockwellautomation.com/support/
, you can find technical manuals, a knowledge base of FAQs,
.
Installation Assistance
If you experience a problem within the first 24 hours of installation, please review the information that's
contained in this manual. You can also contact a special Customer Support number for initial help in getting
your product up and running.
United States or Canada 1.440.646.3434
Outside United States or
contact your local Rockwell Automation representative.
at
, or
New Product Satisfaction Return
Rockwell Automation tests all of its products to ensure that they are fully operational when shipped from
the manufacturing facility. However, if your product is not functioning and needs to be returned, follow
these procedures.
United StatesContact your distributor. You must provide a Customer Support case number
Outside United StatesPlease contact your local Rockwell Automation representative for the return
(call the phone number above to obtain one) to your distributor to complete
the return process.
procedure.
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