Rockwell Automation 842D-60131331BXA User Manual
842D DeviceNet
Encoder
Catalog Numbers:
842D-60131331BDA and
842D-60131331BXA Revision 4.001
User Manual
Important User Information Because of the variety of uses for the products described in this
publication, those responsible for the application and use of this
control equipment must satisfy themselves that all necessary steps
have been taken to assure that each application and use meets all
performance and safety requirements, including any applicable laws,
regulations, codes and standards.
The illustrations, charts, sample programs and layout examples
shown in this guide are intended solely for purposes of example.
Since there are many variables and requirements associated with any
particular installation, Rockwell Automation does not assume
responsibility or liability (to include intellectual property liability) for
actual use based upon the examples shown in this publication.
Rockwell Automation publication SGI-1.1, Safety Guidelines for the
Application, Installation, and Maintenance of Solid-State Control
(available from your local Rockwell Automation office), describes
some important differences between solid-state equipment and
electromechanical devices that should be taken into consideration
when applying products such as those described in this publication.
Reproduction of the contents of this copyrighted publication, in
whole or in part, without written permission of Rockwell
Automation, is prohibited.
Throughout this manual we use notes to make you aware of safety
considerations:
ATTENTION: Identifies information about practices
or circumstances that can lead to personal injury or
!
Attention statements help you to:
• Identify a hazard.
• Avoid the hazard.
• Recognize the consequences.
Important: Identifies information that is critical for successful
application and understanding of the product.
death, property damage or economic loss.
Preface Using this Manual
Objectives .............................................................................P-1
Who Should Use this Manual?..............................................P-1
Purpose of this Manual .........................................................P-1
Contents of this Manual ........................................................P-2
Related Publications .............................................................P-2
Safety Precautions ............................................................... P-3
Terms and Abbreviations ......................................................P-3
Conventions Used in this Manual..........................................P-5
Rockwell Automation Support ...............................................P-5
Local Product Support ..........................................................P-5
Technical Product Support....................................................P-5
Table of Contents
Chapter 1 Overview
Chapter Objectives ...............................................................1-1
Overview of the Encoder....................................................... 1-1
Features of the Encoder........................................................ 1-1
Overview of Setting Up the Encoder..................................... 1-2
Chapter 2 Installation
Chapter Objectives ...............................................................2-1
Installing a Bulletin 842D DeviceNet Encoder....................... 2-1
Selecting Cables ................................................................... 2-1
Installing the DeviceNet Encoder..........................................2-2
Chapter 3 Configuring the DeviceNet Encoder DIP Switches
Chapter Objectives ...............................................................3-1
Setting up the 842D DeviceNet Encoder ..............................3-1
Setting the Node Address..................................................... 3-2
Setting the baud rate.............................................................3-2
Diagnostic LED ..................................................................... 3-2
Bus termination ..................................................................... 3-3
Preset function ...................................................................... 3-3
ii
Chapter 4 Configuring the Encoder Using RSNetworx for DeviceNet
Chapter Objectives ...........................................................................4-1
What is RSNetWorx for DeviceNet? .................................................4-1
Required Equipment and Software...................................................4-1
Going Online ..................................................................................... 4-2
Installation of the EDS File ............................................................... 4-4
Offline Integration into the Network .................................................. 4-4
Accessing and Editing Parameters...................................................4-5
Enhanced Device Configuration in Offline Mode ..............................4-6
Enhanced Device Configuration in Online Mode ..............................4-7
Saving Parameter Values to EEPROM ............................................. 4-7
Restoring Parameters to EEPROM Values.......................................4-7
Setting Parameters to Default Values ............................................... 4-7
Chapter 5 Configuring a Scanner to Communicate with the Encoder
Chapter Objectives ...........................................................................5-1
Required Equipment and Software...................................................5-1
Operating Modes of the Encoder......................................................5-1
Example DeviceNet Network ............................................................ 5-4
Setting Up the Scan List ................................................................... 5-4
Mapping the Product’s Data in the Scanner .....................................5-7
Saving the Configuration .................................................................. 5-8
Chapter 6 Using DeviceNet Explicit Messaging
Chapter Objectives ..........................................................................6-1
Required Equipment ........................................................................ 6-1
Explicit Messaging Preset Example for the 1747-SDN Scanner ...... 6-1
Explicit Messaging Prest Example for the 1756-DNB....................... 6-6
Appendix A 842D Specifications and Dimensions................................. A-1
Appendix B DeviceNet Objects
Appendix Objectives.........................................................................B-1
Object Classes..................................................................................B-1
Class Code 01hex — Identity Object................................................B-1
Class Code 02hex — Message Router.............................................B-2
Class Code 03hex — DeviceNet ......................................................B-2
Class Code 04hex — Assembly .......................................................B-3
Class Code 05hex — Connection.....................................................B-4
Class Code 2Fhex — Encoder .........................................................B-7
Designation of Alarm Bits ...............................................................B-10
Designation of Warning Bits ...........................................................B-10
Designation of Cam Bits .................................................................B-10
Preface
Using this Manual
Objectives Read this preface to become familiar with the organization of the
manual. In this preface, you will read about the following:
• Who should use this manual.
TM
absolute rotary shaft
Who Should Use this
Manual?
• An overview of the 842D DeviceNet
encoder.
• The purpose of this manual.
• Terms and abbreviations.
• Conventions used in this manual.
• Rockwell Automation support.
Use this manual if you are responsible for installing, wiring,
programming, or troubleshooting control systems that use the 842D
encoder.
This manual is intended for qualified service personnel responsible
for setting up and servicing the 842D encoder. You must have
previous experience with and a basic understanding of electrical
terminology, programming procedures, networking, required
equipment and software, and safety precautions.
Purpose of this Manual This manual is a learning and reference guide for the 842D encoder. It
describes the procedures needed to install, configure, and
troubleshoot the encoder.
P-2 Using this Manual
Contents of this Manual
This manual contains the following information:
Chapter Title Contents
Preface Using this Manual Describes the purpose, background and scope of this manual. Also provides
information on safety precautions and technical support.
1 Overview Provides an overview of the 842D Encoder.
2 Installation Provides a procedure for installing the 842D encoder.
3 Configuring the DeviceNet
Encoder DIP Switches
4 Configuring the Encoder
Using RSNetWorx for
DeviceNet
5 Configuring a Scanner to
Communicate with the
Encoder
6 Using DeviceNet Explicit
Messaging
A Specifications and
Dimensions
B DeviceNet Objects Defines the DeviceNet object classes, class services, and attributes that are
Describes the setting of node address, bus termination, baud rate and
PRESET function.
Provides information that you need to configure the encoder (online and
offline) over the DeviceNet networ
Provides instructions for configuring a PLC or SLC scanner to communicate
with the encoder.
Includes information you need to monitor and configure the encoder using
explicit messaging on DeviceNet. Features an example of explicit messaging.
Provides the specifications and physical dimensions of the 842D encoder.
supported by the DeviceNet encoder.
k.
Related Publications
Title Publication Number
RSNetWorx for DeviceNet Getting Results
Manual
9398-DNETGR
1747-SDN DeviceNet Scanner Configuration
Manual
1747-SDN DeviceNet Scanner Module Manual 1747-5.8
DeviceNet Media, Sensors and Distributed I/O 1485-CG001A-EN-P
DeviceNet Cable System Planning and
Installation Manual
RSLogix 5 Getting Results Guide 9399-RL53GR
RSLogix 500 Getting Results Guide 9399-RL50GR
RSLogix 5000 Getting Results Guide 9399-RLD300GR
1747-6.5.2
DN-6.7.2
Using this Manual P-3
Safety Precautions Please read the following safety precautions carefully.
ATTENTION: Only personnel familiar with
DeviceNet products and associated machinery should
!
!
!
plan or implement the installation, start-up,
configuration, and subsequent maintenance of the
DeviceNet absolute encoder. Failure to comply may
result in personal injury and/or equipment damage.
ATTENTION: Remove all power before installing the
DeviceNet absolute encoder. Failure to disconnect
power may result in death or serious injury. Verify all
power is removed before installing the DeviceNet
absolute encoder.
ATTENTION: Hazard of equipment damage exists. If
explicit messages are programmed to frequently write
parameter data to the 842D EEPROM, the EEPROM can
exceed its life cycle and cause the product to
malfunction. Do not create a program that frequently
uses explicit messages to write parameter data to a
product. (See EEPROM Life specification on page A-1.)
Terms and Abbreviations For a complete listing of Allen-Bradley terminology, refer to the
Allen-Bradley Industrial Automation Glossary, Publication AG-7.1.
Terms Definition
DeviceNet An open network that provides probabilistic I/O control
through a managed bit-wise non-destructive multiplexing
scheme.
842D
DeviceNet
Encoder
RSNetWorx
for
DeviceNet
An Allen-Bradley encoder that communicates directly with the
DeviceNet network without requiring additional adapters. In
this manual, the terms “encoder” and “842D” are also used
when referring to the 842D DeviceNet Encoder.
A Rockwell Software application that can be used to set up
DeviceNet networks and configure connected devices.
RSNetWorx for DeviceNet (version 3.00.00) and RSLinx
(version 2.20.02) were used for examples in the manual.
Different versions may differ in appearance and procedures.
P-4 Using this Manual
Abbreviation Full Name Definition
CAN Controller Area Network Physical layer definition
ODVA Open DeviceNet Vendor Association User organization for DeviceNet.
ID Identifier
EDS Electronic Data Sheet
ScF Scaling factor Measuring units per revolution / Single turn
resolution
Pos_calc calculated position value calculated current position value, after clearing
with Offset, ScF, Preset
Pos_num numerical position value numerical (physical) position value before
clearing with Offset, ScF, Preset
Data Types
BOOL Boolean Bit
BYTE Bit String 1 Byte (8 Bit)
WORD Bit String 2 Byte (16 Bit)
USINT Unsigned Short Integer Int (1 Byte) - (0...255)
UINT Unsigned Integer Int (2 Byte) - (0...65,535)
UDINT Unsigned Double Integer
Int (4 Byte) - (0...+2
32
-1)
SINT Signed Short Integer Int (1 Byte) - (-128...+127)
INT Signed Integer Int (2 Byte) - (-32,768...+32,767)
DINT Signed Double Integer
Int (4 Byte) - (-2
31
...+231 - 1)
LSB Least Significant Bit / Byte
MSB Most Significant Bit / Byte
Using this Manual P-5
Conventions Used in this
Manual
Rockwell Automation
Support
The following conventions are used throughout this manual:
• Bulleted lists provide information, not procedural steps.
• Numbered lists provide sequential steps or hierarchical
information.
• Italic type is used for chapter names and for parameter names.
• Bold type is used for names of menus, menu options, screens, and
dialog boxes.
Important: This type of paragraph contains tips or notes that have
been added to call attention to useful information.
Rockwell Automation offers support services worldwide, with more
than 75 sales/support offices, more than 500 authorized distributors,
and more than 250 authorized systems integrators located throughout
the United States alone. In addition, Rockwell Automation
representatives are in every major country in the world.
Local Product Support
Contact your local Rockwell Automation representative for:
• Sales and order support.
• Product technical training.
• Warranty support.
• Support service agreements.
Technical Product Support
If you need to contact Rockwell Automation for technical assistance,
please call your local Rockwell Automation representative.
Refer to http://www.ab.com for updates and supporting
documentation.
P-6 Using this Manual
Notes:
Chapter 1
Overview
Chapter Objectives Chapter 1 provides an overview of your 842D DeviceNet absolute
encoder. In this chapter, you will read about the following:
• Function of the 842D encoder.
• Features of the 842D encoder.
• Steps for setting up the encoder.
• Required tools and equipment.
Overview of the Encoder The 842D absolute multi-turn encoder provides a total resolution of
26 bits. The single-turn position value is transmitted with 13 bits. The
number of multi-turn revolutions is 13 bits. Revolutions are counted
by the use of a gear mechanism. The bus interface is located in the
encoder and is configured as a DeviceNet slave according to
DeviceNet specification, release 2.0.
Features of the Encoder The DeviceNet network is an open, global industry-standard
communication network designed to provide an interface through a
single cable from a programmable controller directly to “smart”
devices such as sensors, push buttons, motor starters, operator
interfaces and drives.
The 842D DeviceNet encoder connects directly to the a DeviceNet
network without the need for additional adapters. Features of the
842D include:
• 26-bit absolute multi-turn operation (8192 steps per revolution x
8192 revolutions) without batteries
• Supports Polling, Cyclic, Change of State (COS) and Bit Strobed
I/O messaging
• Transmission rate up to 500 kBaud.
• Programmable functions
– Electronic alignment (PRESET or Number-SET). Electronic
alignment may be carried out via DeviceNet or via a pushbutton in the bus connector of the 842D.
– Clockwise or Counterclockwise (CW/CCW) counting
direction
1-2 Overview
– Scaling function - Setting the single-turn resolution as well as
the number of turns. The single-turn resolution is any whole
number from 1 to 8192. The number of turns must be 1, 2, 4,
8, 16, 32, 64... up to 8192.
– Up to eight programmable cams
– Velocity Warning Flags
• Status information is available via the Network Status LED on
the back of the encoder.
• Velocity Feedback (Steps per second, RPM, or RPS)
• Diagnostic and Position Error Alarms
• Node address, Baud rate, and bus termination resistance are
selected via DIP switches under the removable cover on the back
of the encoder.
Overview of Setting Up the
Encoder
To set up the 842D DeviceNet encoder, you must perform the
following tasks:
1. Install the encoder. Refer to Chapter 2, Installation.
2. Set the encoder’s node address, transmission rate and bus
termination. Refer to Chapter 3, Configuring the DeviceNet
Encoder DIP Switches.
3. Configure the encoder’s parameters. Refer to Chapter 4,
Configuring the Encoder Using RSNetWorx for DeviceNet.
4. Configure a scanner (either PLC or SLC) to communicate with
the encoder. Refer to Chapter 5, Configuring a Scanner to
Communicate with the Encoder.
Chapter 2
Installation
Chapter Objectives Chapter 2 provides the information that you need to install the 842D
DeviceNet encoder. In this chapter, you will read about the following:
• Cable connections.
• Installing the encoder.
Installing a Bulletin 842D
DeviceNet Encoder
Selecting Cables
To connect the encoder to the DeviceNet network, you must select an
appropriate DeviceNet drop cable. A drop line connects a node, such
as an encoder, to the DeviceNet trunk cable. Use the following
information to select appropriate cables for each connection.
Bulletin 842D DeviceNet encoders are available with a single 5-pin
micro quick disconnect or two 5-pin quick disconnects (one male and
one female) for ‘daisy chain’ connections.
Catalog Number Electrical Connection
842D-60131331BDA One 5-pin male micro QD
842D-60131331BXA Two 5-pin micro QDs (one male & one female)
Pin configurations are per the DeviceNet specification as follows:
Figure 2.1 DeviceNet Micro Connections
Female Micro
Male Micro
3
5
2 1
4
1
4
3
5
2
1Drain Bare
2V+ Red
3V- Black
4 CAN_H White
5 CAN_L Blue
Refer to the table below for recommended drop cables. .
Length Right Angle Micro Male to Straight Micro Female
1m 1485R-P1R5-F5
2m 1485R-P2R5-F5
3m 1485R-P3R5-F5
4m 1485R-P4R5-F5
5m 1485R-P5R5-F5
6m 1485R-P6R5-F5
2-2 Installation
It is also important to determine the limitations of the trunk and drop
cables. Refer to the following table.
Data Rates 125 Kbps 250 Kbps 500 Kbps
Thick Trunk Line 500 m (1,640 ft) 250 m (820 ft) 100 m (328 ft)
Thin Trunk Line 100 m (328 ft) 100 m (328 ft) 100 m (328 ft)
Maximum Drop Length 6 m (20 ft) 6 m (20 ft) 6 m (20 ft)
Cumulative Drop Budget 156 m (512 ft) 78 m (256 ft) 39 m (128 ft)
For more information on DeviceNet cables and cable systems, refer to
the DeviceNet Cable System Planning and Installation Manual,
Publication DN-6.7.2.
Installing the DeviceNet Encoder
The following instructions explain how to physically install your
DeviceNet encoder.
1. Be sure to select the proper size flexible coupling clamp to mate
to the encoder shaft, e.g., 845-FC-*-*. See the Encoder
Accessories section in the Allen-Bradley Sensors catalog.
ATTENTION: Only personnel familiar with
DeviceNet products and associated machinery should
!
plan or implement the installation, start-up,
configuration, and subsequent maintenance of the
DeviceNet absolute encoder. Failure to comply may
result in personal injury and/or equipment damage.
2. Use the dimension drawings to determine the encoder mounting
hole locations. See Appendix A.
3. Slide the flexible coupling onto the shaft, but do not
tighten the
set screws.
4. Mount the encoder and tighten with three size M4 mounting
screws (not supplied).
5. Center the flexible coupling and tighten the set screws.
6. Rotate the machine slowly and verify that the flexible coupling is
not deforming beyond specifications.
Chapter 3
Configuring the DeviceNet Encoder
DIP Switches
Chapter Objectives Chapter 3 provides information that you need to configure the
encoder. In this chapter, you will read about the following:
• Setting the node address.
• Setting the transmission baud rate
• Activating bus termination.
• Diagnostic LED
• The Preset function.
Setting up the 842D
DeviceNet Encoder
Specific features of the 842D must be configured by means of
hardware settings. (Remote setting of the DIP switches via a Node
Commissioning Tool is not supported at this time.) These features are
Node Address, Baud Rate and the DeviceNet bus termination. In
addition, the encoder can be set to a fixed position value (PRESET
function) by actuating a push-button. In order to execute this
function, the large PG plug on the rear of the encoder has to be
removed. Inside, three DIP switches and a micro push-button become
visible.
Figure 3.1 Encoder DIP Switches
Preset Position
Button
Baud Rate
Node Address
(MAC-ID)
Bus Termination
3-2 Configuring the DeviceNet Encoder DIP Switches
Setting the Node Address
The Node Address is set via the 6-pole DIP switch. The DIP switch
settings are binary starting with switch number 1 = (2
with switch number 6 (= 2
DIP-1 DIP-2 DIP-3 DIP-4 DIP-5 DIP-6
0
2
0000000
1000001
... ... ... ... ... ... ...
11111163
0 = DIP switch is OFF
1 = DIP switch is ON
Setting the baud rate
The 3-pole DIP switch allows for setting the transmission baud rate.
DIP-1 DIP-2 DIP-3 Baud rate
0
) and ending
5
).
1
2
2
2
3
2
4
2
2
Address
5
0 0 X 125 kBaud
1 0 X 250 kBaud
0 1 X 500 kBaud
1 1 X 125 kBaud
X = don't care
0 = DIP switch is OFF
1 = DIP switch is ON
Bus termination
The recommended method for connecting DeviceNet products is to
run a “trunk line” with 120-ohm resistors connected at each end.
DeviceNet products are then connected as “drops” along the length of
the trunk line. In this configuration, the internal termination resistor
of the 842D should not be used and the bus termination DIP switches
should be in the OFF position.
When 842D encoders are connected in a “daisy chain” configuration,
the internal termination resistor may be used on the end positions
only. In this configuration, only 842D(s) at either end of the network
should have their bus termination 2-pole DIP switches placed in the
ON position. Further details on termination resistors can be found in
publication DN-6.7.2 DeviceNet Cable System Planning and
Installation Manual.
ATTENTION: If you do not use terminating resistors
as described here and in publication DN-6.7.2, the
!
DeviceNet system will not operate properly.
Configuring the DeviceNet Encoder DIP Switches 3-3
Figure 3.2 Bus Termination Switches
ON
2
1
Bus Termination
1 and 2 OFF: not active
1 and 2 ON: active
Note: Remote setting of the DIP switches via a Node Commissioning
Tool is not supported at this time.
Diagnostic LED
Once the DIP switches have been properly set, the 842D may be
connected to a DeviceNet network. LED functions are as follows:
LED Status
Off Not connected, not on line
Green Blinking Active but not allocated by master
Green Steady Active and allocated by master
Red Blinking Minor fault and/or connection interrupt
Red Steady Critical communication fault
Preset function
The 842D ‘POSITION VALUE’ is set to zero when the PRESET
function is executed (by Reset Position Button or DeviceNet). This
predefined value is stored in the EEPROM. The factory default
PRESET value is zero.
ATTENTION: The PRESET function results in a
change of position reading. This can cause unexpected
!
The PRESET function is not intended for use in dynamic parameter
setting operations but as an electronic adjustment function during
commissioning, in order to allocate a specific value to the mechanical
rotary position of the 842D.
motion which could result in personal injury and damage
to the product or equipment. During PRESET, steps
should be taken to ensure the shaft is stationary and will
remain so.
If the PRESET value is set by DeviceNet, the value must be within
the total working range currently configured (steps per revolution and
number of revolutions).
The Reset Position Button should only be operated when the encoder
is powered and the green LED is blinking or steady.
3-4 Configuring the DeviceNet Encoder DIP Switches
Notes:
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