842D DeviceNet Encoder User Manual
Contents
1. Send the Preset al Initiate Explicit Message B30 OP ool J Copy File 0 Source 0 20 10 Dest M0 1 224 Length 32 B30 wet 0 if the correct response to the set message clean the 1747 SDN registers ready for next message Explicit Response Explicit Ready Message Response I 1 OP a002 Copy File 15 Souce 1 1 224 1747 SDN Dest Masked Move Source Mask Dest MO0 1 224 fs 0003 CEND gt i IED Fite 2 a a For Help press F1 XREF 2 0000 APP READ 7 Using DeviceNet Explicit Messaging Example Values One of the following tables of data is sent to and received from the 1747 SDN Values shown are in hexadecimal even the MAC ID Table 1 Preset set service Example to position 00 00 00 00h 0 decimal Offset 0 1 2 3 4 5 6 7 N20 0 00 04 gt N20 10 02 01 00 0A 10 MaclD 002F 0001 000A 00 00 00 00 N20 50 02 01 00 00 90 MacID Table 2 Preset set service Example to position 01 35 DO B2h 20304050 decimal Offset 0 1 2 3 4 5 6 7 N20 0 00 04 N20 10 02 01 00 0A 10 MaclD 002F 0001 000A DO B2 01 35 N20 50 02 01 00 00 90 MaciD Data Description The table below defines the data types and is followed by their definitions Table 3 Data Type see definitions on next page Offset 0 1 2 3 4 5 6 7 N20 0 Delete Block Cmd N20 10 TX ID Port Size Service Class Instance Attribute Preset Pr2. Allen Bradley 842D DeviceNet Encoder Catalog Numbers 842D 60131331BDA and 842D 60131331BXA Revision 4 001 User Manual Automation 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 Automatio
3. Before configuring the scanner your PC must be e Running RSNetWorx for DeviceNet Refer to http www software rockwell com for more information e Connected to and communicating with the DeviceNet network using a DeviceNet interface such as a 1784 PCD card or a 1770 KFD adapter There are two fundamentally different DeviceNet protocols e Explicit messaging e I O messaging Explicit messaging Explicit messaging is used for modifying the device configurations reading diagnostic values program upload download etc Characteristics of explicit messaging e Very flexible e Less efficient because each device must interpret and generate a response e Unbound connections Hit and Run e Contents of the data field Protocol information Instructions for service to be performed Internal address to which the service is to be applied I O messaging T O messaging is used for fast or time critical data transfer All of the 8 data bytes of the CAN telegram can be used for data transmission Characteristics of I O messaging e Less flexible Configuring a Scanner to Communicate with the Encoder e Highly efficient for both bandwidth and node processing e Bound connections e Data field contains data only e Meaning of data is predefined Input data specification of the 842D The 842D encoder is an Input Device This means the encoder only produces sends data and does not consume any data from the mas
4. 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 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
5. 3 4 4 Configuring the Encoder Using RSNetWorx for DeviceNet Installation of the EDS File Offline Integration into the Network The Electronic Data Sheet or EDS file must be installed with RSNetWorx The EDS file may be downloaded from our website at http www ab com networks eds Simply select DeviceNet followed by RA Miscellaneous and then press the Search button By selecting the 842D encoder you can begin downloading the 842D EDS file 1 Goto Tools EDS Wizard and click Next to start the process Figure 4 7 EDS Wizard x Welcome to Rockwell Software s EDS Wizard The EDS Wizard allows you to register EDS based devices unregister a device change the graphic images associated with a device create an EDS file from an unknown device To continue click Next Cancel 2 Follow the prompts to install the 842D EDS file 3 Click Finish to complete the process After a new project is started select the 842D encoder under the Rockwell Automation Miscellaneous category in the hardware window Double click or drag and drop the 842D Multiturn Encoder into the network view Figure 4 8 RSNetworx Graph View la xi Ele gdt view Network Device Tools Help Hl als ulss elwa Ale EE S F Hardware xl Absolute Mutti Tum eG DPI to DeviceNet r H DeviceNet to SCANport T H Dodge EZLINK 0 General Purpose Discrete 1 0 00 HD Generic Device
6. 4000 RPM and or high resolution 1024 ppr applications either increase the hysteresis to over 10 of the RESOLUTION PER REVOLUTION value increase the Inhibit Time Scanlist Edit I O Parameters Advanced to 10 msec The current position value This value is affected by PRESET 12 Position value Get UDINT VALUE RESOLUTION PER REVOLUTION and SCALING CONTROL This sets the format for velocity and acceleration values The max and min limits for velocity and acceleration are affected as well 20 Velocity format Get Set BYTE A DE Bieba ber second 1 RPM 2 RPS B 8 DeviceNet Objects Attr ID Attribute Access Data type Description This is the value of the current velocity according to unit type in 22 Velocity value Get DINT VELOCITY FORMAT Minimum Value of minimum velocity limit according to unit type of 23 Get Set DINT VELOCITY FORMAT A VELOCITY VALUE under this limit will velocity non f cause a Min Velocity Underrun warning and set the warning flag Value of maximum velocity limit according to unit type of Maximum VELOCITY FORMAT A VELOCITY VALUE over this limit will 24 Get Set DINT i i f velocity cause a Max Velocity Exceeded warning and set the warning flag 31 Acceleration Get DINT Value of the current acceleration according to unit type of value VELOCITY FORMAT Value of minimum a
7. an error code will be returned SERVICE REQ RSP The DeviceNet service request and response 10 Set Service Request 0 Set Service Response MAC ID The DeviceNet network address of device where the transaction is sent This value can range from 0 to 63 The slave device must be listed in the scanner module s scan list and be on line for the Explicit Message transaction to be completed See appendix B of the encoder manual for class attribute values access rules and data types CLASS 002Fh is the encoder class INSTANCE There is only one instance of the encoder 0001h ATTRIBUTE The value OOOAh is the Preset Value attribute PRESET VALUEMSW VALUELSW This quadword value limited to 03 FF FF FF is stored in non volatile memory when the set service is used Storing the preset value applies the preset value to the encoder position value Using DeviceNet Explicit Messaging 6 5 Explicit Messaging Preset Example for the 1756 DNB The following is a code segment that will preset the value of the 842D encoder s Position Value This can be useful for automatic homing or automated error recovery The following tags are used for the explicit messaging e MSGY isa Message type tag e Lsource is a UDINT type tag the value is preset to e Ldest is a UDINT type tag that should always return with 0 Figure 6 2 Position Value Preset o RS Logix S000 Encodes_Scanner in Preect_Example ACD 1756 11 ManPregi
8. 1 Required Equipment ccccccceceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeees 6 1 Explicit Messaging Preset Example for the 1747 SDN Scanner 6 1 Explicit Messaging Prest Example for the 1756 DNB 6 6 842D Specifications and Dimension cccceeeeeeeeees A 1 DeviceNet Objects Appendix Objectives inrano kig iae i suieraubeanboes B 1 ObjeCt Classes E ET B 1 Class Code 01hex Identity Object eee ceeeeeeeeeeeeteeeteeeaes B 1 Class Code 02hex Message Routel cecccceceseeeeesseteeeteeeees B 2 Class Code O3hex DeviceNet ccccceccceeeeeeeeeeeeeeeeeeeeeteaneeeeesaas B 2 Class Code 04hex Assembly cccececeeeceeeeeeeeeeeeeeeeesetaeeeeeeeaes B 3 Class Code O5hex Connection cccceceeeeseeeeeeneeeeeeesaeeeeeeeaes B 4 Class Code 2Fhex Encoder ccccecsceeeeeeeeeeeeeeneeeeeeesaeeeeneaes B 7 Designation of Alarm Bits cecceccceeeeeeeeeeseeeeeeeeeeeeeeeeeeeeeeeeeeees B 10 Designation of Warning Bits 0 ce cececeeeeeeeeeeeenteeeeeeteeeenneeeeeeeees B 10 Designation Of Cam Bits ccccsceeeesseeeeeeseeeeeeeaeeeeeenneeeeeeaeeees B 10 Objectives Who Should Use this Manual Purpose of this Manual Preface Using this Manual Read this preface to become familiar with the organization of the manual In this preface you will read about the following e Who should use this manual e An overvi
9. GS VINT Max bytes to transmit across this connection 8 Consumed Cnxn Get UINT Size Max bytes to receive across this connection 9 EPR Get Set UINT Expected Packet Rate 12 Watchdog Action Get USINT How to handle inactivity watchdog timeouts B 6 DeviceNet Objects es Attribute Access Data type Description 13 Produced Cnxn Get UINT Number of bytes in the produced connection path Path Length attribute 14 Produced Cnxn Get ARRAY of Path information of the desired assembly instance Path UINT Def 1 15 Consumed Cnxn Get UINT Number of bytes in the consumed connection path Path Length attribute 16 Consumed Cnxn Get ARRAY of Specifies the application object to receive the data Path UINT consumed by this application Production inhibit Get Set Defines minimum time between new data 17 f UINT i time production for COS connections Services Service Code Service Name Description OEnex Get_Attribute_Single Returns the value of an attribute 10hex Set_Attribute_Single Changes the value of an attribute O5hex Reset Reset 16 hex Save Save DeviceNet Objects B 7 Class Code 2Fhex Encoder The Encoder Object contains all encoder data All input data parameter data and status data are included here Class Attributes Attr f ae ID Attribute Access Data Type Description 1 Revision Get USINT Revision 01 2 Max Instan
10. STATUS 6 3 T Technical support P 5 Termination resistor 3 2 Terms and Abbreviations P 3 Terms and abbreviations P 3 Time delay 5 3 Transaction body 6 2 Transaction header 6 2 Transaction ID 6 3 Transmission baud rate 3 2 Trunk cable 2 1 Tx Size 5 6 TXID 6 3 U Update cycle time 5 2 Upload 5 4 W Warning Bits B 10 I 3 4 Index Notes RSLinx RSNetWorx RSLogix5 RSLogix500 and RSLogix 5000 are trademarks of Rockwell Automation PLC and PLC 5 are registered trademarks of Rockwell Automation SLC and SLC 5 03 are registered trademarks of Rockwell Automation DeviceNet is a trademark of the Open DeviceNet Vendor Association Windows and Microsoft are either registered trademarks or trademarks of Microsoft Corporation www rockwellautomation com Power Control and Information Solutions Headquarters Americas Rockwell Automation 1201 South Second Street Mihwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Europe Middle East Africa Rockwell Automation Vorsdaan Boulevard du Souverain 36 1170 Brussels Belgium Tel 32 2 663 0600 Fax 32 2 663 0640 Asia Pacific Rockwell Automation Level 14 Core F Cyberport 3 100 Cyberport Road Hong Kong Tel 852 2887 4788 Fax 852 2508 1846 Publication 842D UM001B EN P January 2004 Copyright 2004 Rockwell Automation All rights reserved Printed in USA
11. Scanner Figure 5 5 Inhibit time Advanced COS Cyclic Settings WARNING Modifying these settings may disrupt network communication Do not modify unless instructed to do so by a technical support representative Timeout 16 j msec Cancel Inhibit Time fio msec 13 In the Edit I O Parameters box click OK If you changed any settings a Scanner Applet appears and asks if it is OK to unmap the I O Click Yes to continue The Edit I O Parameters dialog box closes and then the Scanner Module dialog box Figure 5 3 reappears You will map the I O in the next section in this chapter Data from I O messages must be mapped in the scanner This mapping determines where a ladder logic program can find data transmitted on the network Mapping the Input I O In the Scanner Module dialog box click the Input tab If you need to display this dialog box right click the scanner in the configuration view See Figure 5 1 Below the input pages for Change of State Polled and Strobed are shown Figure 5 6 Scanner Module Dialog Box Input Page COS EX 1756 DNB A 27x General Module Scanlist Input Output ADR Summary Memory Assembly Data x Start DWord 0 4 ES 1 1 Dataf01 03 Absolute Multi Tum Encoder 60mm 26 bit 1 1 _Datafi l Datai2 1 1 Datal5 1 1 Datal6 1 l Data 7 1 L Dataf8l Cancel Apply Help 5 8 Config
12. Scanner Module dialog box click Apply to save the configuration to the scanner A Scanner Configuration Applet appears and asks if it is OK to download the changes 2 Click Yes to download the changes The changes are downloaded and then the Scanner Module dialog box reappears 3 Click OK to close the Scanner Module dialog box 4 Select File gt Save If this is the first time that you saved the project the Save As dialog box appears Navigate to a folder type a file name and click Save to save the configuration to a file Chapter Objectives Required Equipment Explicit Messaging Examples Chapter 6 Using DeviceNet Explicit Messaging Chapter 6 provides information you need to monitor and configure the encoder using explicit messaging on DeviceNet In this chapter you will read about the following e Required equipment e Messaging guidelines for the 1747 SDN scanner e An Explicit Messaging example Refer to Appendix B DeviceNet Objects for information on object data support Before using messaging your PC must be e Running RSLogix500 and RSLinx if you are using an SLC Refer to http www software rockwell com for more information on these products e Running RSLogix5000 and RSLinx for Logix platforms Refer to http www software rockwell com for more information on these products e Connected to and communicating with the controller ATTENTION The PRESET function results in a change of position rea
13. Size Data received from the device Class Instance Attribute Zo I Send the attribute ID Decimal jes zi Close Help In order to set the parameters to the EEPROM values the service Restore 15hex of the encoder object is used This is done in the Class Instance Editor Select the service Restore 15hex of the object 2Fhex encoder object Instance 1 with the Send the attribute ID box unchecked Finish by clicking on the Execute button ATTENTION The Restore function results in a change of position reading This can cause unexpected motion which could result in personal injury and damage to the product or equipment During Resore steps should be taken to ensure the shaft is stationary and will remain so 4 8 Configuring the Encoder Using RSNetWorx for DeviceNet Setting Parameters to Default Values In order to reset the parameters to the factory default values the service Reset 05pex of the encoder object is used This is done in the Class Instance Editor Select the service Reset OS5pex of the object 2Fhex encoder object Instance 1 with the Send the attribute ID box unchecked Finish by clicking on the Execute button Chapter Objectives Required Equipment and Software Operating Modes of the Encoder Chapter 5 Configuring a Scanner to Communicate with the Encoder Chapter 5 provides instructions for configuring a PLC or SLC scanner to communicate with the encoder
14. 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 To set up the 842D DeviceNet encoder you must perform the following tasks 1 2 Install the encoder Refer to Chapter 2 Installation Set the encoder s node address transmission rate and bus termination Refer to Chapter 3 Configuring the DeviceNet Encoder DIP Switches Configure the encoder s parameters Refer to Chapter 4 Configuring the Encoder Using RSNetWorx for DeviceNet 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 Objectives Installing a Bulletin 842D DeviceNet Encoder Chapter 2 Installation Chapter 2 provides the information that you need to install the 842D DeviceNet encoder In this chapter you will read about the following e Cable connections e Installing the 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 encod
15. 6 DNB A 5 4 A Accessing and Editing Parameters 4 5 Alarm Bits B 10 Assembly B 3 Audience for this manual P 1 Automap on Add 5 5 Baud rate 3 2 Bit Strobe 5 3 Bus termination 3 2 Bus Termination Switches 3 3 C Cables selecting 2 1 Cam Bits B 10 Change of State 5 2 Characteristics 5 1 Class Instance Editor 4 5 4 7 Communicate with the Encoder 5 1 Configuration 5 8 Configuration modes 4 5 Configure Drivers 4 2 Configuring a Scanner 5 1 Configuring the DIP Switches 3 1 Index Connection B 5 Conventions Used in this Manual P 5 COS 5 2 Cyclic 5 2 D Daisy chain connections 2 1 Data exchange 5 6 Default Values 4 7 Designation of Alarm Bits B 10 Designation of Cam Bits B 10 DeviceNet B 2 definition P 3 overview 1 1 DeviceNet Drivers 4 2 DeviceNet objects B 1 connection B 5 DeviceNet B 5 identify B 1 message router B 3 register B 7 Diagnostic LED 3 3 DIP Switches 3 1 Driver 4 2 Drop cable 2 1 E Edit I O Parameters 5 5 EDS file 4 4 EDS Wizard 4 4 EEPROM 3 3 EEPROM Values 4 7 Electronic Data Sheet 4 4 Encoder B 7 Encoder object 4 7 Enhanced Device Configuration 4 5 4 6 4 7 Examples 6 1 Explicit Messaging 6 1 l 2 Index F Features 1 1 G Going Online 4 2 Graph View 4 4 Groups 4 6 H Heartbeat Rate 5 6 l I O messaging 5 1 Identity Object B 1 In Offline Mode 4 6 In Online Mode 4 7 Inhibit Time 5 6 Input data 5 2 Installation 2 1 L Limitations of the trunk and drop cabl
16. D 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 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 e 26 bit absolute multi turn operation 8192 steps per revolution x 8192 revolutions without batteries e Supports Polling Cyclic Change of State COS and Bit Strobed T O messaging e Transmission rate up to 500 kBaud e Programmable functions Electronic alignment PRESET or Number SET Electronic alignment may be carried out via DeviceNet or via a push button in the bus connector of the 842D Clockwise or Counterclockwise CW CCW counting direction 1 2 Overview Overview of Setting Up the Encoder Scaling function Setting the single turn resolution as well as the number of turns The single turn resolution is any whole number from 1
17. Human Machine Interface HH Inductive Proximity Switch Fe Limit Switch Motor Protector H Photoelectric Sensor EHO Rockwell Automation miscellaneous 1734 IE2C 2 Pt Current Input 1734 1E2C B 2pt Current Input 1734 0E2C 2 Pt Current Output 1734 O 2C 6 2pt Current Output em 8520 MDDN EE 8520 MTBD EE Absolute Multi Turn Encoder 60mm 26 bit I 19 Position Controller Powermanitor 3000 iJ Ultra 100 0 5kw iJ Ultra 100 1 0kW i Ultra 100 2 0kw iJ Ultra 100 with Indexing 0 5kw iJ Ultra 100 with Indexing 1 0kW iJ Ultra 100 with Indexing 2 0kW a VcECECECROnc H 4 gt Graph Spreadsheet _ Master Sle Ready Offine Accessing and Editing Parameters Configuring the Encoder Using RSNetWorx for DeviceNet 4 5 To assign a name description and node address double click on the encoder in the Graph view window In the General tab of the Edit dialog box enter the node address that has been set via the six pole DIP switch Figure 4 9 General Tab in the Edit Dialog Box i 2x E Absolute Multi Turn Encoder 60mm 26 bi General Parameters 1 0 Defaults EDS File Absolute Multi Turn Encoder 60mm 26 bit Name Absolute Multi Turn Encoder 60mm 26 bil Description Address o a Device Identity Primary Vendor RockwellAutomation AllenBradey 1 Device Rockwell Automation miscellaneous 115 Product Absolute Mult Tumn Encoder 60mm 26
18. LAG The Frequency Exceeded warning is caused by rotating faster then 6000 RPM The Velocity min max flag is caused by a VELOCITY VALUE under or over the velocity limits The Acceleration min max flag is a ACCELERATION VALUE under or over the acceleration limits The Cam Limits Out of Order flag is caused by a set of cam limits where the hysteresis value is larger then the cam lower limit or the higher or lower limit that is greater than the TOTAL MEASURING RANGE 88 Warning flag Get BOOL Indicates if any of the WARNINGS are active This value will be reported if the INPUT ASSY is set to Position Flags as bit 1 of the 5th byte 90 Operating time Get UDINT Stores operating time for the encoder in operating hours 91 Offset value Get DINT The offset value is calculated by the preset function Shift position value by the calculated value 111 Assembly Number Polling Mode Get USINT The type of input data that is sent for the Polling I O connections Position 4 bytes Position Cam State 5 bytes Position Flags 5 bytes Position Velocity 8 bytes Update time Velocity 50 mS other modes 0 3 mS 112 Assembly Number COS Cyclic Mode Get USINT The type of input data that is sent for the Change of State I O connections Position 4 bytes Position Cam State 5 bytes Position Flags 5 b
19. a DeviceNet interface such as a 1784 PCD card or a 1770 KFD adapter 4 2 Configuring the Encoder Using RSNetWorx for DeviceNet Going Online To use RSNetWorx for DeviceNet you must first set up a driver in RSLinx The driver provides a communications link between the computer and DeviceNet network Then you can view the devices on a DeviceNet network by going online A device may appear as an unrecognized device if RSNetWorx for DeviceNet does not have an EDS file for it 1 Start RSLinx and select Communications gt Configure Drivers to display the Configure Drivers dialog box Figure 4 1 Configure Drivers Dialog Box Available Driver Types Close Add New Help DeviceNet Drivers Configured Drivers Name and Description ULL te 2 Inthe Available Driver Types box select DeviceNet Drivers and then click Add New The DeviceNet Driver Selection dialog box appears Figure 4 2 DeviceNet Driver Selection Dialog Box RO C KWE il Available DeviceNet Drivers S 0 FT WA RE Allen Bradley 1770 KFD Allen Bradley 1771 SDNPT Allen Bradley 1747 SDNPT 3 In the Available DeviceNet Drivers list select the adapter connected to your computer and then click Select A Driver Configuration dialog box appears 4 Configure the driver for your computer and network settings and then click OK The Configure Drivers dialog box reports the progress of the configuration The Add New RSLinx D
20. am ManHouline W Fle Edt yew Seach Loge Cowruricationt Tools Window Help la xj alae a ele lo alala fe le Ale ottine x ore aces x ao ri fe J J J L L locas ze Ditabied PURTABRICUGSactplewo GCL z Conrols Encodet_Scanner A Contole Tage J Comte Fod Handler HorvelindSetch ItsSaletoHome NSG JE 3E Type CIF Garvie Mex Sage Control 5 HarProgan 2 Program Tags G J Urechaduled Prog ant S Trends C Data Tppes ak UrerDetred Uh Predefined Sih Modde Defined 10 Contigzstion 4 16 0ONB ONB LF MainRowtine A 411 id Fungo APP pE MSGY needs the service code set 10 the class code encoder 2F and the instance 01 only instance for the attribute OA Preset The preset data will be sent from the tag Lsource Since the Preset attribute is a long integer UDINT the Num Of Elements is 4 bytes Other attributes maybe read service code OE or set service code 10 in a similar way Any response data would return in Ldest 6 6 Using DeviceNet Explicit Messaging Figure 6 3 Message Configuration Corfiguaton Commuricaion Tag Message Type Senyice Code fio sd He Source ae SOY Glass name zz o o o Hex Num OlElenens Bytes Instance name nC Destination fe Altribyte name gt Hex New Tag D Enebe Enable Waiting Stat J Done Done Length 0 J Enor Code F Timed Out Extended Eno Code res _ The
21. an a action using the toolbar Groups All parameters ig a v P LI rl m al parameter current value Code Sequence CW Scaling Enable Yes Resolution Per 8192 steps Total Measuring 67108864 steps Preset Value O steps Position Value O steps Operating Status Xxxxx100 Single Turn Res 8192 steps Number of Rev 8192 Revs Alarm Flag No Alarms 00000000 00000000 Warning Flag No Warnings 00000000 00000000 Delta for COS 5 steps Cancel Apply Help Parameters are displayed in numerical order in the Parameter column You can either scroll through the list or select a specific group of parameters in the Groups box for example DeviceNet Module owane une B D P amp amp amp amp w Figure 4 11 Device Parameters Arranged by Groups E Absolute Multi Turn Encoder 60mm 26 bit General Parameters 1 0 Defaults EDS File is Select the parameter s that you want to configure and initiate an a action using the toolbar Groups ve A DNet Configuratior x if va l Single Value 7 oa tal 2 1D aif Parameter Curent Value Delta for COS 5 steps Device Switches 00000011 00000010 E Input Assy POLL Position Value Velocity Input Assy COS Position Value B Input Assy Strobed Position Value Cam State B e e Parameters labeled with a padlock represent encoder status information and are read only All other data can be modified in the Current Value column dou
22. ate an EDS file for it and then configure it Click Help or refer to your scanner documentation if you need more information Configure the scanner using the General and Module tabs 4 Click the Scanlist tab A message box prompts you to upload 5 Click Upload Data is uploaded from the scanner and then the Scanlist page appears Configuring a Scanner to Communicate with the Encoder 5 5 Figure 5 2 Scanlist Page in the Device Edit Dialog Box General Module Scanlist Input Output ADR Summary Avail i Scanlist 1E lt gt gt lt lt V Automap on Add F Node Active Upload from Scanner ine Ea Download to Scanner i El LE 6 Select the Automap on Add box a check mark will appear 7 Under Available Devices select the encoder and then click gt Right Arrow to add it to the scanlist Figure 5 3 Scanlist Page in the Scanner Module Dialog Box EX 1756 DNB7A 2 x General Module Scanlist Input Output ADR Summary Available Devices Scanlist lute Multi Turn E gt gt EVARA lt lt I Automap on Add IV Node Active Electronic Key I Device Type M Vendor Download to Scanner I Product Code F Majo Revision Edit 1 0 Parameters ja Hinar E or higher Upload from Scanner Cancel Apply Help 8 Under Scanlist select the encoder and then click Edit I O Parameters The Edit I O Parameters dialog box appears 5 6 Configurin
23. bit 46 Catalog 8420 601 313318 Revision for j Cancel Apply Help In order to modify the parameter values of the encoder on DeviceNet RSNetWorx offers two configuration modes e Class Instance Editor e Enhanced Device Configuration The Enhanced Device Configuration is a more comfortable way to read and modify encoder parameters This mode can be used online and offline file access only In the Enhanced Device Configuration mode the parameters can be stored to a file dnt for later transfer to the device In order to protect parameter values against loss due to a power failure they can be stored in the encoder EEPROM with the Save service The Reset service sets all parameters to default values The Restore service sets all parameters to the values stored in the EEPROM see page 4 7 The Save Reset and Restore services can only be executed in the Class Instance Editor Configuring the Encoder Using RSNetWorx for DeviceNet Enhanced Device Configuration in Offline Mode The Enhanced Device Configuration is started by double clicking on the encoder symbol and clicking on the Parameter tab In offline mode the parameters are preset to the default values in the EDS file Figure 4 10 Device Parameters Page in the Edit Dialog Box Absolute Multi Turn Encoder 60mm 26 bit 2 xi General Parameters 1 0 Defaults EDS File Select the parameter s that you want to configure and initiate
24. ble click a value to edit it After all parameters are set they can be stored using the File Save command Configuring the Encoder Using RSNetWorx for DeviceNet 4 7 Saving Parameter Values to EEPROM Restoring Parameters to EEPROM Values Enhanced Device Configuration in Online Mode The Enhanced Device Configuration is selected by double clicking on the encoder symbol In on line mode the parameter values currently stored in the encoder are accessed By clicking on the Apply or Download to Device buttons the parameters can be saved to the encoder The updated encoder values are stored in the encoder RAM and are valid immediately Saving the new values to the EEPROM is done with a separate command Saving the parameter values to the EEPROM is performed in the Class Instance Editor To access the Class Instance Editor select the device in the graph window and click on Class Instance Editor in the Device menu Select the service Save 16pex of Class 2Fhex encoder object Instance 1 with the Send the attribute ID box unchecked Finish by clicking on the Execute button Figure 4 12 Class Instance Editor 24 Class Instance Editor Node 2 q 21x Absolute Multi Turn Encoder 60mm 26 bit Execute Transaction Arguments Service Code ___ Object Address 1 Value Description 16 Save g Transmit Data Size Data sent to the device I Values in decimal Execute Receive Data
25. cceleration limit according to unit type of Minimum VELOCITY FORMAT An ACCELERATION VALUE under this 32 Get Set DINT eae aa i acceleration limit will cause a Min Accel Underrun warning and set the warning flag Value of maximum acceleration limit according to unit type of Maximum VELOCITY FORMAT An ACCELERATION VALUE over this 33 i Get Set DINT MEON i acceleration limit will cause a Max Accel Exceeded warning and set the warning flag State of all 8 cams See Designation of Cam Bits page B 10 40 CAM state Get BYTE Bit 0 Cam_NO_1 State register Bit 7 Cam_NO_8 State Polarity for the state of 8 independent CAMs 1 8 See CAM polarity Designation of Cam Bits page B 10 4 register Get Set BYTE 1 cam state will be active outside of the cam limits Ocam state will be active inside of the cam limits Enable Disable 8 independent CAMs 1 8 See Designation of CAM enable Cam Bits page B 10 42 register Get Set BYTE 1 cam state will be affected by position Ocam state will always be 0 43 46 49 CAM X low limit This is the Switch point for this cam s lower limit The value must 52 55 58 0 lt X lt 8 Get Set UDINT be less than the CAM HYSTERESIS for this cam and less than 61 64 gt the TOTAL MEASURING RANGE 44 47 50 Ta P i imi 53 56 59 CAM X high Get Set UDINT This is the Switch point for this cam s upper limit The value must 62 65 i limit 0 lt X lt 8 be l
26. ce Get USINT 1 Instance Attributes Attr ID Attribute Access Data type Description Number of 1 Get USINT Number of supported attributes attributes F ARRAY F 2 Attributes Get of USINT List of supported attributes Code Direction control for counting Defines the increasing POSITION 3 Sequence Get Set BOOL VALUE as clockwise shaft rotation or counter clockwise as seen q facing the shaft CW CCW Scalin Scaling Enable Enabling scaling changes the POSITION 5 fu eti n cea Get Set BOOL VALUE I O data resolution to MEASURING UNITS PER REVOLUTION and TOTAL MEASURING RANGE measuring STEE 7 units per Get Set UDINT Number of distinguishable steps per revolution Less than physical resolution revolution Total The steps over total measuring range The number is measur automatically adjusted to a 240 2413 multiple of RESOLUTION 8 tande h Get Set UDINT PER REVOLUTION Example if RESOLUTION PER soi REVOLUTION is set to 3600 then the possible TOTAL units 9 MEASURING RANGE values will be 3600 7200 14400 28800 29491200 10 Preset value Get Set UDINT This value will be applied to the POSITION VALUE A COS I O message will be generated when the POSITION VALUE changes by this value This value will be set to 5 if set toa value larger than the TOTAL MEASURING RANGE Setting this value to 0 disables COS messaging for POSITION VALUE 11 COS delta Get Set UDINT changes To lessen network traffic for high speed
27. ceeeeeeeeeeeeeeeeteeeess 1 1 Features of the Encodel c seeeeeeeeeneeenseeecneeeaeeeaeees 1 1 Overview of Setting Up the Encode cccceecseeeeeeeeees 1 2 Installation Chapter Objectives ses cel oe Geel fe ete ase ete nen aes 2 1 Installing a Bulletin 842D DeviceNet Encoder 2 1 Selecting Cables ek feiss Reece ceancasene seen e eteatecaneseas 2 1 Installing the DeviceNet Encoder ccccsecceeeeeeeseeeeeeeeeees 2 2 Configuring the DeviceNet Encoder DIP Switches Chapter Objectives 4 sccicetsicutgset A matveessceel ea ow enenoelanls 3 1 Setting up the 842D DeviceNet Encoder eeeeeeeteee 3 1 Setting the Node Address ccccceeeeeseeeeeeeeeeeeeeeeseeeeeenaes 3 2 Setting the baud Tate wsilecciteeesttetacdes dale gods vensncncs eet edad aes 3 2 Diagnostic WED ssn orninn iniaeeaa ruiva 3 2 B s terminatio M s ieie criin ar aea E a aa 3 3 Preset function 0 cececececececececeeeeeseceseneeeeeceeeereeeneeeneeeneeeneees 3 3 Chapter 4 Chapter 5 Chapter 6 Appendix A Appendix B Configuring the Encoder Using RSNetworx for DeviceNet Chapter Objectives 3 50 2 de pescciccnetdeddeg yesh aes enediedadegeadsaeedudeieatardentausenlene 4 1 What is RSNetWorx for DeviceNet ccccceeeeeeeeeeeeeeeeeeeeneeeeenees 4 1 Required Equipment and Software cceceecccceeceeeeesesseeeeeeeeeeees 4 1 G ng ONNE aiseta eip apr Eo EEEE e tea aesateesenraesedeed 4 2 Installa
28. d to as a Connection Instance or a Connection Object Important An externally visible interface to the Connection Class across Explicit Messaging Connections exists Unless otherwise noted all services attributes noted in the following sections are accessible using Explicit Messaging A Connection Object within a particular module actually represents one of the end points of a Connection It is possible for one of the Connection end points to be configured and active e g transmitting without the other end point s being present Connection Objects are used to model the communication specific characteristics of a particular Application to A pplication s relationship A specific Connection Object Instance manages the communication specific aspects related to an end point A Connection Object on DeviceNet uses the services provided by a Link Producer and or Link Consumer to perform low level data transmission and reception functions Class Attributes Not supported Instance Attributes Attr en ID Attribute Access Data type Description 1 Get USINT State of the connection as defined in the State S DeviceNet specification 2 Instance_Type Get USINT Indicates I O or Messaging connection 3 a Pel ele The Transport Class Trigger for this instance 4 CN cn Gel HINT CAN Identifier to transmit on j eu cnx Get UINT CAN Identifier to receive on 6 Initial Comm Char Get BYTE Defines the DeviceNet message groups that the tx rx Cnxn s apply i e Cm
29. details where communication is addressed are also required DNB is the name of the DeviceNet module 1756 DNB at a port from the 1756 L1 controller 2 to communicate with encoder at MACID where MACID is a variable SINT with the destination slave DeviceNet node address The decimal value of the node address may be used if a variable is not desired Figure 6 4 Message Configuration Communication Tab Corfiguaton Commaricaion Tag Bah ONB 2MOCID OO o Bwe DNB 2 MACID ca e Pd oeei ay O Enebe Q Enable Waiting O Stat 2 Done Done Length 0 O Enor Code l Timed Out Extended Eno Code Loo en j r fo n 842D Specifications Appendix A Specifications and Dimensions Electrical Code Format Natural Binary Code Direction CW or CCW programmable Electrical Interface DeviceNet Specification release 2 0 Operating Voltage 11 25V DC Power Consumption 1 8W 75mA 24V DC Max of Steps Revolution 8192 Max of Revolutions 8192 Position Forming Time 0 3msec Delay on Power Up 1050msec Reset Via covered rear button EEPROM Write Life Mechanical Angular Acceleration Greater than 100 000 cycles 5 x 10 radians sec Moment of Inertia 35gcm 5 0 x 10 0z in sec Operating Speed 6000 RPM at max shaft loading Maximum Working Speed 12 000 RPM Starting Torque 2 5Ncm 3 50z in Shaft Loading Environmental H
30. ding This can cause unexpected 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 Explicit Messaging Preset Example for the 1747 SDN Scanner The SLC copies an Explicit Message into the scanner s MO file When the copy is completed the scanner moves the message into a queue for processing Up to 10 Explicit Messages can be in this queue When the scanner receives a response message it is placed into a queue The first response in the queue is available from the M1 file When the message delete command is copied into the scanner the message is complete and the next available response will appear in the M1 file 6 2 Using DeviceNet Explicit Messaging In this example a value is sent to the preset attribute in the encoder The encoder stores the preset value sent in non volatile memory Storing the preset value applies the preset value to the encoder position value The following program fragment sends an explicit message and confirms the message reception The N20 user defined integer file is used to hold message data Figure 6 1 1747SDN Explicit Messaging Example E RSLogix 500 842DPRESET RSS LAD 2 Pe Fle Edt View Search Comms Tools window Help lej x jOGM 6 see e ee SPR Qao e me peee ee eee F i CO AB at io Lal User 51 K TimeriCounter A Inputfouput_ amp Compare
31. equent 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 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 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 RSNetWorx for DeviceNet 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 RSLin
32. equential steps or hierarchical information e Italic type is used for chapter names and for parameter names e 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 e Sales and order support e Product technical training e Warranty support e 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 Objectives Overview of the Encoder Features of the Encoder Chapter 1 Overview 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 e Features of the 842D encoder e Steps for setting up the encoder e Required tools and equipment The 842
33. er 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 amp one female Pin configurations are per the DeviceNet specification as follows Figure 2 1 DeviceNet Micro Connections 1 Drain Bare Female Micro OPA 2 V Red 3 V Black 4 CAN_H White d ee 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 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 Installa
34. es 2 2 M MO file 6 1 M1 file 6 1 MAC ID 6 3 Manual audience P 1 contents P 2 conventions P 5 purpose P 1 Mapping the Input I O 5 7 Message buffer 6 2 Message connections 5 2 Message Router B 2 Messaging examples 6 4 6 5 explicit 1747 SDN scanner 6 1 Micro Connections 2 1 Modify encoder parameters 4 5 N Node Address 3 2 O Objects refer to DeviceNet objects Offline Integration 4 4 Operating Modes 5 1 Operating modes 5 2 Overview 1 1 P Parameter values 4 5 Parameters Pin configurations 2 1 Polled Rate 5 6 Polling 5 2 5 3 PORT 6 3 POSITION VALUE 3 3 Preset function 3 3 Protocols 5 1 R Read only 4 6 Read parameters 4 5 Recommended cables 2 1 Related Publications P 2 Remote setting of the DIP switches 3 3 Request and Response messages 6 1 Reset service 4 5 Restore service 4 5 Rockwell Automation Support P 5 RSNetworx 4 4 RSNetWorx for DeviceNet 4 1 creating an EDS file 4 4 editing parameters with 4 5 going online 4 2 setting up a scan list with 5 4 using to map I O 5 7 web site 5 1 Rx Size 5 6 Index S Safety Precautions P 3 Save 4 7 Saving Parameter Values to EEPROM 4 7 Scan List 5 4 Scan rate 5 6 SCANport cables 2 1 Selecting Cables 2 1 Send Rate 5 6 SERVICE 6 3 Setting Parameters to Default Values 4 7 Setting Parameters to EEPROM Values 4 7 Setting the baud rate 3 2 Setting the Node Address 3 2 Setting Up the Encoder 1 2 SLC explicit messaging example 6 4 Specifications A 1
35. eset Command Req ValueLSW ValueMSW MaclID N20 50 RX ID Port Size Service Status Rsp MaclD 6 4 Using DeviceNet Explicit Messaging TXID This is a one byte integer the range of 1 to 255 The scanner uses this value to track the transaction to completion and returns the value with the response that matches the request STATUS For each upload the status code provides the processor with status on the device and its response 0 Ignore transaction block block empty 1 Transaction completed successfully 2 Transaction in progress not ready 3 Error Slave not in scan list 4 Error Slave off line 5 Error DeviceNet port disabled or off line 6 Error Transaction TXID unknown 8 Error Invalid command code 9 Error Scanner out of buffers 10 Error Other client server transaction in progress 11 Error Could not connect to slave device 12 Error Response data too large for block 13 Error Invalid port 14 Error Invalid size specified 15 Error Connection busy COMMAND A code that instructs the scanner how to administer the request 1 Execute this transaction block 4 Delete this transaction block PORT The port must be zero Channel A on a 1747 SDN scanner SIZE The size of the transaction body in bytes The transaction body can be up to 29 words 58 bytes in length If the size exceeds 29 words
36. ess than the TOTAL MEASURING RANGE 45 48 51 CAM X This value will be added to the CAM 1 HIGH LIMIT and 54 57 60 hysteresis Get Set UINT subtracted from the CAM 1 LOW LIMIT when calculating the 63 66 0 lt X lt 8 cam state This value must be less than CAM 1 LOW LIMIT 80 Operating Get USINT The Direction CCW and Scaling On indicators show enabled status modes for CODE SEQUENCE and SCALING CONTROL 81 Single turn Get UDINT This is the physical number of steps per revolution This is the resolution maximum number for RESOLUTION PER REVOLUTION Number of This is the number of revolutions the encoder will rotate before the 82 distinguishable Get UINT POSITION VALUE rolls over to 0 Must be a multiple of 2 revolutions between 2 and 219 DeviceNet Objects B 9 Attr ID Attribute Access Data type Description 83 Alarms Get WORD Malfunction could lead to incorrect position value See Designation of Alarm Bits page B 10 Any alarm will set the ALARM FLAG 85 Alarm flag Get BOOL This flag indicates a device failure that requires user intervention The ALARMS indicate the specific failure This value will be reported if INPUT ASSY is set to Position Flags as bit 0 of the 5th byte 86 Warnings Get WORD Internal parameters exceeded See Designation of Warning Bits page B 10 Any warning will set the WARNING F
37. ew of the 842D DeviceNet absolute rotary shaft encoder e The purpose of this manual e Terms and abbreviations e Conventions used in this manual e 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 This manual is a learning and reference guide for the 842D encoder It describes the procedures needed to install configure and troubleshoot the encoder 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 Describes the setting of node address bus termination baud rate and Encoder DIP Switches PRESET function 4 Configuring the Encoder Provides information that you need to configure the encoder online and Using RSNetWorx for of
38. 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 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 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 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 Notes Configuring the DeviceNet Encoder DIP Switches Chapter Objectives What is RSNetWorx for DeviceNet Required Equipment and Software Chapter 4 Configuring the Encoder Using RSNetWorx for DeviceNet Chapter 4 provides information that you need to configure the encoder over the DeviceNet network In this chapter you will read about t
39. fline over the DeviceNet network DeviceNet 5 Configuring a Scanner to Provides instructions for configuring a PLC or SLC scanner to communicate Communicate with the with the encoder Encoder 6 Using DeviceNet Explicit Includes information you need to monitor and configure the encoder using Messaging explicit messaging on DeviceNet Features an example of explicit messaging A Specifications and Provides the specifications and physical dimensions of the 842D encoder Dimensions B DeviceNet Objects Defines the DeviceNet object classes class services and attributes that are supported by the DeviceNet encoder Related Publications Title RSNetWorx for DeviceNet Getting Results Manual Publication Number 9398 DNETGR 1747 SDN DeviceNet Scanner Configuration 1747 6 5 2 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 DN 6 7 2 RSLogix 5 Getting Results Guide 9399 RL53GR RSLogix 500 Getting Results Guide 9399 RL50GR RSLogix 5000 Getting Results Guide 9399 RLD300GR Safety Precautions Terms and Abbreviations Using this Manual P 3 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 subs
40. g a Scanner to Communicate with the Encoder Figure 5 4 Edit I O Parameters Dialog Box COS Edit 1 0 Parameters 03 Absolute Multi Turn Encoder 60mm 26 RA EG T Stobe _ W fh 3 Re Size E4 Bier Change of State Cyclic Use Ty Bit ia Rix Size 4 I Bytes Lo AL 0 Ei Bytes Rg Size F 4 Bytes Heartbeat Rate 250 4 msec Tk Size Bytes Advanced Poll Rate Cancel Restore 1 0 Sizes 9 Select the type s of data exchange Polled Change of State and or Cyclic In our example we selected Change of State 10 Type the number of bytes that will be required for your I O in the Rx Size and Tx Size See Assembly Data Format page B 4 for data sizes 11 Set the scan rate Data Rate to set Exchange Polled Polled Rate Change of Heartbeat State Rate Cyclic Send Rate Click Help for more information 12 When using COS in high speed and or high resolution applications it may be necessary to limit how often the device will report to the master in order to lessen network traffic To do so requires either setting the hysteresis to over 10 of the RESOLUTION PER REVOLUTION value or increasing the Inhibit Time To increase the inhibit time to 10ms click on the Advanced button under Change of State Cyclic Adjust the Inhibit Time and click OK Configuring a Scanner to Communicate with the Encoder 5 7 Mapping the Product s Data in the
41. he following e RSNetWorx for DeviceNet software and the equipment required to use it e Going online e Installing the Electronic Data Sheet EDS file e Online and offline configuration of the 842D encoder e Accessing editing and saving encoder parameters RSNetWorx for DeviceNet is 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 RSNetWorx supports online and offline commissioning of a DeviceNet system During offline commissioning the bus network is configured and parameters for the bus participants are set without an established connection to the bus network Thereafter the bus connection is made and the user data are transferred to the master as well as to the bus participants In the online commissioning the bus structure and the parameters of the participants are configured using an established bus connection After installing or mounting the encoder you can use RSNetWorx for DeviceNet to configure or edit the encoder s parameters Before configuring the encoder and editing its parameters your PC must be e Running RSNetWorx for DeviceNet Refer to http www software rockwell com for more information on this product e Connected to and communicating with the DeviceNet network using
42. ific 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 and ending with switch number 6 25 DIP 1 DIP 2 DIP 3 DIP 4 DIP 5 DIP 6 Address 20 21 22 23 24 25 0 0 0 0 0 0 0 1 0 0 0 0 0 1 1 1 1 1 1 1 63 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 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
43. n 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 death property damage or economic loss Attention statements help you to e Identify a hazard e Avoid the hazard e Recognize the consequences Important Identifies information that is critical for successful application and understanding of the product Preface Chapter 1 Chapter 2 Chapter 3 Table of Contents Using this Manual ODJOCUVES anssi inina idee ees P 1 Who Should Use this Manual cccccceesessessseeeeeeeeeeeees P 1 Purpose of this Manual eeeeeeeeeneeeeeeeeeaeeeaeeeaeees P 1 Contents of this Manual cccccsessecccceeeeeeesssenseeeeeeeeeeees P 2 Related Publications c ccsseeeseecceecceneaeeeeeeeeeeeeeeeeeeees P 2 Safety PRECAUTIONS ace ees acatineeeReeaacast deaecout ewe teeasaiess P 3 Terms and Abbreviations ccccsscesecceeeceeecaceeeeaeeeaeees P 3 Conventions Used in this Manual cccccccessssteeeeeeeeeees P 5 Rockwell Automation SUPpOrt ccccecccssseeeeeeeeesssseeeeeeess P 5 Local Product SUPPOM ressis aa P 5 Technical Product SUPPOM aisenciescasieisd dire aati P 5 Overview Chapter Objectives ia fe issih otc cedteauevecnnhceseccamcandieceeas 1 1 Overview of the ENCOdel cccccccccccececec
44. ngle QD S 120 z 35 M4 3 Pics 7 0 28 deep sO Double QD __ 5 48 0 1 1 89 Appendix Objectives Object Classes Class Code 01pex Identity Object DeviceNet Objects Appendix B defines the DeviceNet object classes class services and attributes that are supported by the DeviceNet encoder This appendix assumes that you have experience in object programming Appendix B The 842D DeviceNet encoder supports the following object classes Class Object Page OThex Identity B1 O2hex Message Router B 2 O3hex DeviceNet B 2 O4nex Assembly B 3 OShex Connection B 5 2Fhex Encoder B 7 The identity object provides identification and general information about the device Class Attributes Not supported Instance Attributes Attr Saat ID Attribute Access Data type Description 1 Vendor ID Get UINT Allen Bradley 1 2 Device Type Get UINT Rockwell Misc 115 3 Product Code Get UINT 10626 4 Revision Get UINT 4 001 5 Status Get WORD 6 Serial Number Get UDINT 842D MULTITURN 7 Product Name Get Short String ENCODER Services Service Code Service Name Description OEhex Get_Attribute_Single Returns the attribute value O5hex Reset Value 0 B 2 DeviceNet Objects Class Code 02hex Message Router Class Code 03hex DeviceNet The Message Router Object provides a mes
45. one bit of output data to each Slave whose node address appears in the Master s scan list Because the 842D encoder is an Input Device the output data bit is ignored The Bit Strobe Command is only used to trigger a transmission of return input data in the response message 5 4 Configuring a Scanner to Communicate with the Encoder Example DeviceNet Network Setting Up the Scan List This section provides the steps that are needed to configure a simple network that includes 1756 DNB A scanner Node 10 and an 842D DeviceNet encoder Node 03 For the scanner to communicate with a product the scanner must be configured and the product s node number must be added to its scan list 1 Go online with RSNetWorx for DeviceNet Refer to the Going Online section in Chapter 4 2 Select Network gt Single Browse Path The devices on the network are displayed in the configuration view Figure 5 1 Configuration View Graph 5 5 842Dexample dnt RSNetWorx for DeviceNet _ Of x File Edit View Network Device Tools Help BS S Bs he EE Absolute 1756 DNB A Multi Turn Encoder 60 sa E 10 Kl 4 gt MN Graph Spreadsheet Master Slave Configuration 2 xi l Ready Online Not Browsing YW 3 Right click the DeviceNet scanner node 10 in Figure 5 1 and select Properties The Scanner Module dialog box appears Important If your scanner is an unrecognized device you must cre
46. ousing Operating Temperature Axial 11Ib 50N Radial 67Ib 300N Aluminum 20 C to 85 C 4 F to 185 F Max Working Temperature 40 C to 100 C 40 F to 212 F Storage Temperature 40 C to 125 C 40 F to 257 F Humidity 98 Noncondensing Protection NEMA Type 4 13 IP66 IEC 529 Shock 100g 6msec Vibration 20g 58 to 2000HZ2 1 5mm displacement 10 to 58Hz Approximate Weight 0 91kg 2lbs Specifications and Dimensions 842D Dimensions ATTENTION Rigidly coupling the encoder shaft to the machine shaft will cause a failure in either the bearings of the encoder or the bearings of the machine shaft Double QD _ H A I Parallel K gt e 1 Off Set Diagnostic LEDs Single QD Sa 65 gt 2 56 Diagnostic LEDs 0 Ye 9 98 9 99 18 20 0 392 0 393 0 71 0 79 8 8 9 2 m 0 34 0 37 18 0 71 7 0 28 deep 59 5 35 94 35 98 y 2 34 1 41871 416 T a6 253 8 sis 2 12 y jo 0 39 A y 13 0 12 ag 0 51 ee 4 4 0 24 x 15 5 lt 27 68 0 61 Screw Cover for I lt a8 a DIP Switches and j Reset Button M4 3 Pics O48 0 1 1 89 Si
47. river dialog box appears Figure 4 3 Add New RSLinx Driver Dialog Box Add New RSLinx Driver x Choose a name for the new driver 15 characters maximum Cancel fi 770 KFD 1 em Configuring the Encoder Using RSNetWorx for DeviceNet 4 3 5 Type a name if desired and then click OK The Configure Drivers dialog box reappears and the new driver is in the Configured Drivers List Figure 4 4 Configure Drivers Dialog Box with a DeviceNet Driver Configure Drivers 2x r Available Driver Types Close DeviceNet Drivers 1784 PCD PCIDS 1770 KFD SDNPT drivers find Add New t i ii ew Help Zz Configured Drivers Name and Description Status 1770 KFD 1 MAC ID 62 Baud Rate 125k RUNNING Running Configure Startup Stop Delete 6 Click Close to close the dialog box Leave RSLinx running 7 Start RSNetWorx for DeviceNet and then select Network gt Online If the Browse for Network dialog box appears RSLinx has drivers for multiple networks Select your DeviceNet network and click OK A message appears Figure 4 5 DeviceNet Configuration Services Message You must either upload or download devices before viewing their online configuration For more information press F1 Help 8 Click OK to go online The devices in the network appear in the Configuration view Figure 4 6 Online in RSNetWorx for DeviceNet 1747 SDN wW2005848 Unrecognized Scanner Module Device
48. saging connection point through which a client may address to any object class or instance residing in the physical devices Class and Instance Attributes Not supported Services Not supported The DeviceNet Object is used to provide the configuration and status of a physical attachment to DeviceNet A product must suppot one and only one DeviceNet Object per physical network attachment Class Attributes aa Attribute Access Data Type Description 1 Revision Get UINT Revision 002 Instance Attributes Attr este ID Attribute Access Data Type Description 1 Node address Get USINT Range 0 63 2 Baud Rate Get USINT Range 0 2 3 BOI Get BOOL Value 1 4 Bus OFF Ctr Get Set USINT Allocation Siruct ot Allocation choice byte 2 Information Get BYTE master s Node Address USINT Services Semi Service Name Description Code OEnex Get_Attribute_Single Returns the attribute value 10hex Set_Attribute_Single Changes the attribute value Allocte_Master Predefined master slave 4Bhex Slave_Connection_Set connection set is requested DeviceNet Objects B 3 Class Code O4nex The Assembly Object combines attributes from different objects into Assembly a single object For a detailed view of the assembly data format see page B 4 Class Attributes Attr 7 SE ID Attribute Access Data Type Description 1 Revision Get UINT Revision 002 Ins
49. tance Attributes Instance Attr Data feet ID ID Attribute Access Type Description 1 3 Data Get ARRAY Position value 2 3 Data Get ARRAY Position Warning Flag Alarm Flag 3 3 Data Get ARRAY Position Velocity 4 3 Data Get ARRAY Position CAM Services Service code Service name Description OEnex Get_Attribute_Single Returns the value of an attribute B 4 DeviceNet Objects Assembly Data Format Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O 0 LSB Position value Att 12 wo N e o o o o o MSB 0 LSB 1 Position value Att 12 2 2 3 0 0 0 0 0 0 MSB Warning Alarm flag 4 reserved flag Att 88 Att 85 0 LSB 1 Position value Att 12 2 3 0 0 0 0 0 0 MSB 3 4 LSB 5 Velocity value Not available in COS 6 MSB 0 LSB 1 Position value Att 12 2 4 3 0 0 0 0 0 0 MSB Cam state 4 Cam 8 Cam 7 Cam 6 Cam 5 Cam 4 Cam 3 Cam 2 Cam 1 Position only 4 Bytes Position Flags 5 Bytes Position Velocity 8 Bytes Position Cams 5 Bytes DeviceNet Objects B 5 Class Code O5hex The Connection Class allocates and manages the internal resources Connection associated with both I O and Explicit Messaging Connections The specific instance generated by the Connection Class is referre
50. ter The 842D supports the following I O operating modes message connections e Polling e Change of State COS Cyclic e Bit Strobed mode All these modes can be adjusted simultaneously with different assembly instances To use a particular Assembly there are installed 3 special attributes assembly number Input Ass_xx in the manufacturer section of the encoder object These attributes have to be configured with the number 1 n of the corresponding assembly instance containing the different data components By default this number is set to 1 Position Value Each of the 3 different I O message connections is assigned its own attribute The table below shows how the different data components are used Data Component Assembly Supported Update cycle modes time Position Value 1 2 3 4 COS Strobe 0 3 ms Poll Velocity Value 3 Strobe Poll 50 ms Flag Alarm COS Strobe Warning Poll cols Cam State 4 ade tages 0 3 ms Update cycle time is the time required for the encoder to calculate a new value for one of the listed data components For example the encoder is able to send new position values in intervals of approx 0 3ms Note For all the different I O messages applied the number of the configured assembly instance determines the data components to be sent as an input data Configuring a Scanner to Communicate with the Encoder 5 3 For more detail see the Assembly object man
51. tion 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 Objectives Setting up the 842D DeviceNet Encoder Chapter 3 Configuring the DeviceNet Encoder DIP Switches Chapter 3 provides information that you need to configure the encoder In this chapter you will read about the following e Setting the node address e Setting the transmission baud rate e Activating bus termination e Diagnostic LED e The Preset function Spec
52. tion of the EDS File ssnsssesseeeseeneesenressrrrnssrernnerenrssrerrsne 4 4 Offline Integration into the Network cceeeeeeeeeeeeeeeeeesetaeeeeeeeaes 4 4 Accessing and Editing Parameters cccccceeeeeeeeseeeeeeeeeeeeeneeenaes 4 5 Enhanced Device Configuration in Offline Mode eeeeeeee 4 6 Enhanced Device Configuration in Online Mode ceeeeeeee 4 7 Saving Parameter Values to EEPROM c cccceceeeeeeeeeeteeeteeeaes 4 7 Restoring Parameters to EEPROM ValU6S eceeseeeeeeeeeeeteeeeee 4 7 Setting Parameters to Default Values cceeeeeeeeeeeeeeeeeteeeeeeeees 4 7 Configuring a Scanner to Communicate with the Encoder Chapter Objectives 25 szccceck ch an leccennveusten ceetenansvteeidgects dane steeaeendenetece 5 1 Required Equipment and Software ccccesssseceeeeeeeeesseeeeeeeeeees 5 1 Operating Modes of the ENCodet ccccceccceeeeeeeeeeeeeeeeeeeesneeeeeenees 5 1 Example DeviceNet Network ccceeeeeeeeeeeeeeeeeeeeeeeennaaeeeeeeeeeeeas 5 4 Setting Up the Scan List sic ecceecassiteten nad esvacieigeeisthetendienedaeeeeteee 5 4 Mapping the Product s Data in the Scanner cccccsssseeeeeeeeees 5 7 Saving the Configuration cccccceeeeceeeeeeeeeeeeeeeeeeeeeeaaeeeeessaeeetennaes 5 8 Using DeviceNet Explicit Messaging Chapter Objectives a ccsscceaiesacvepesscactesachecdeveasechdeasearsecsvrembevetvceateneces 6
53. ufacturer specific functions in Appendix B Polling mode The standard mode in the master slave communication is the polling mode In this mode the master contacts all bus participants cyclically The output data are transmitted to the slaves and the input data are read from the slaves over the course of one scan Because the 842D is an Input Device output data from the master is ignored The Poll Command is used to trigger the transmission of return input data in the response message COS mode Cyclic mode In Change of State COS mode the encoder sends input data if the value of one of the data components changes or at the Heartbeat Rate See Figure 5 4 Edit I O Parameters Dialog Box COS In addition a Cycle Time is used to trigger the transmission of the input data This is done after the internal Cycle Time period has elapsed no matter if the value of one of the data components has changed Additionally a time delay inhibit time in the range of 1 msec to 65 535 msec can be configured to reduce the bus load When getting a trigger only from the cam state or Flag data components by using Instance 2 or 4 in a COS connection you should set the value of COS Hyst attr 11 to 0 zero to avoid a trigger from the data component position value see Appendix B In Cyclic mode the encoder only sends input data after the internal Cycle Time period has elapsed Bit Strobed mode The Bit_Strobe Command sends
54. uring a Scanner to Communicate with the Encoder Figure 5 7 Scanner Module Dialog Box Input Page Polled E 1756 DNB A x General Module Scanlist Input Output ADR Summary 03 Absolute Polled 8 1 1 Data 0 0 Unmap Advanced Dr Eem Options Memory Assembly Data z Start DWord 0 Bits 31 0 M T 03 Absolute Multi Turn Encoder 60mm 26 bit 03 Absolute Multi Turn Encoder 60mm 26 bit 1 Datal2 1 Datalsl 1 Datald 1 LData5si 1 Datal6 1 1 Datal 1 Datal8 Cancel Apply Help Figure 5 8 Scanner Module Dialog Box Input Page Strobed EX 1756 DNB A x General Module Scanlist Input Output ADR Summary 03 Absolute Stro 5 1 Data 0 0 Memory Assembly Data x Start DWord fo ers31 0 TTT _ ae 03 Absol 1 1 Datal21 1 Datal3l E Daa S O 1 1 Datal6 11 Datal 1 1 1 Datal l If you selected the Automap on Add box Figure 5 2 in the Scanlist page Figure 5 3 and did not change any settings RSNetWorx has already mapped the I O If I O is not mapped click AutoMap to map it If you need to change the mapping click Advanced and change the settings Click Help for assistance Saving the Configuration After configuring a scanner you must download it to the scanner You should also save it to a file on your computer 1 Inthe
55. x 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 0 292 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 231 231 1 LSB Least Significant Bit Byte MSB Most Significant Bit Byte Conventions Used in this Manual Rockwell Automation Support Using this Manual P 5 The following conventions are used throughout this manual e Bulleted lists provide information not procedural steps e Numbered lists provide s
56. ytes Update time 0 3 mS Velocity not supported 113 Assembly Number Bit Strobed Mode Get USINT The type of input data that is sent for the Strobed I O connections Position 4 bytes Position Cam State 5 bytes Position Flags 5 bytes Position Velocity 8 bytes Update time Velocity 50 mS other modes 0 3 mS B 10 DeviceNet Objects Designation of Alarm Bits see Attribute 83 Bit Description 0 Position error O NO 1 YES 1 Diagnostic 0 Diagnostic OK 1 Diagnostic error 2 11 Reserved 12 15 Manufacturer specific not used Designation of Warning Bits see Attribute 86 Bit Description 0 Frequency exceeded 0 NO 1 YES 1 Light control reserve O Not reached 1 Error 2 CPU watchdog 0 OK 1 Reset 3 Operating time limit warning O NO 1 YES 4 Reserved 5 Reference point 0 Reached 1 Not reached 6 Minimum Velocity Flag 0 OK 1 Under 7 Maximum Velocity Flag O OK 1 Over Designation of Cam Bits See Attributes 40 41 42 Bit Description 0 Cam 1 state 1 Cam 2 state Cam 3 state Cam 4 state Cam 5 state Cam 6 state Cam 7 state NN oO oO AJ wo Cam 8 state Numerics 842D configuring to communicate with a scanner 5 1 default settings 3 1 function 1 1 installation 2 1 setting up 1 2 specifications A 1 1747 SDN Scanner 6 1 175
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