Manual TCP/IP
Contents
1. gies possible The connection of the encoder can be made both directly to the computer with a net work card or indirectly with a switch hub or com pany network see figure below If you use a direct connection to a computer without network compo nents in between you need to use a standard Connection to Switch or Hub cat 5 crossover cable cat 5 cable PC Switch Hub Version 03 07 Page 7 straight network cable not a crossover cable You need at least a cable of category 5 to get a data transfer rate up to 100 Mbit If there is a net work component in the network which does not provide Fast Ethernet the sensor will automatically switch down to 10 Mbit Direct connection to PC Cat 5 cable PC UME OCD ETA1 POSITAL FRABA 2 2 Connecting an Absolute Encoder The encoder is connected by a 5 pin M12 con nector for the power supply and one 4 pin D coded M12 connector for Ethernet Connector Ethernet 4 pin female D coded Pin Number Signal p JE 2 Rx 3 Tx 4 Rx Sketch on encoder view 2 1 NS E mp p P 2 3 Ethernet Cables 2 3 1 RJ45 M12 crossed Signal RJ45 Pin Signal TX 1 Rx Tx 2 Rx Rx 3 TX Rx 6 Tx 2 3 2 RJ45 M12 straight Signal RJ45 Pin Signal TX 3 TX Tx 6 Tx Rx 1 Rx Rx 2 Rx Version 03 07 Page 8 Encoder version B1 uses a second D coded connector and provides an integrated hub func tionality On or in the packa2. J5 PROCESSOR AR x86 xl New Edit Delete CE om If you use a Windows PC you can try the following connection to the sensor Go to the command prompt DOS and type in ping lt computer name gt or ipconfig In response you get the IP address of your computer If the encoder IP address is not located within your subnet mask you will need to prepare the data transfer to the encoder by entering the command route add lt IP sensor gt lt IP computer gt Maybe are administrator rights necessary Otherwise your PC control system will try to reach the encoder via your computers Version 03 07 Page 13 standard gateway The default IP address of the sensor is 10 10 10 10 You can check the connection to the sensor with the command ping lt IP sensor gt 4 2 Installation To communicate with the Encoder using our example tools tcpcl or updcl a Java runtime environment is required on your PC If you have not installed Java you can get it from our CD look under the section accessories You can also download the latest version from http java sun com products j2se Copy the FRABA Java programs which you can find on our CD in the folder CD Manual ToolslEthernetEncoderTools or on our web site http www posital de products ocd ethernet ethern et html onto your hard disk e g in the folder c fraba ethernet Afterwards you need to set up the PATH va
3. medium of data transfers Combined with other IT tech nologies it is internationally standardized In the long run automation engineers will benefit from the rapid technological progress in the mass markets of IT and web technologies Ethernet technically provides a system with higher data transfer rates than common field bus systems TCP IP and UDP do have a statistical access method to access the medium thereby prohibiting determined response times Many developments are intensely done on additional real time mecha nisms e g Ethernet Powerlink Ethernet IP Profi net or EtherCat However you can already get access times that are sufficient for many applica tions when using TCP IP or UDP If you directly connect the absolute encoder to a computer via a 100 Mbit network card you will get a cycle time of less than 2 ms In huge networks the cycle times will depend on the utilization of the network Version 03 07 Page 5 1 3 TCP IP Even though Ethernet and TCP IP are often used together and sometimes used interchanged these are three different kinds of terms and you should carefully separate them The coherences are based on the ISO OSI reference model after ISO IEC 7498 that is needed to basically under stand these terms Ethernet only describes layer 1 and 2 in this model nevertheless the term is often used in error in engineering as description of all layers between 1 and 7 The IP protocol of layer 3 was developed in th
4. send a position value regardless of the time mode This command will set a variable to a given value If successful the encoder will answer in the form lt Variable gt lt Value gt else an error message will be issued All variables modes are stored in the internal flash a few seconds after they were set After the value was saved the message Parameters successfully written is issued to all connected TCP Clients If the encoder is turned off while writing to the flash the process can damage the flash and destroy the encoder program Please take care under all circumstances that the encoder is not turned off while it is writing to the flash This command will read out a variable from the encoder The encoder will answer in the form lt Variable gt lt Value gt Page 15 UME OCD ETA1 4 6 2 Variables Variables UsedScopeOfPhysRes TotalScaledRes CountingDir Preset Offset TimeMode Version 03 07 POSITAL FRABA Remarks Values Specifies the part of the physical resolution used for the encoder in physical steps If e g for an encoder with a resolution of 8192 steps per revolution 16384 is chosen the encoder will count 8192 steps per revolution if TotalScaledRes is set to the same value as UsedScopeOfPhysRes and start with zero again after 2 revolutions If this value is not set to a value which results in an integer division with the total physical resolution the encoder value will jump to zero when passi
5. specify a working gateway Gateway to be used by the encoder if own IP address and destination IP address are not within the same subnet specified by the net mask The email address given as the sender in emails from the encoder The email address emails will be send to The IP address of the SMTP server which the encoder will send the email by Level of information output for tracer 0 only errors 1 errors and warn ings 2 errors warnings and clues Page 17 UME OCD ETA1 4 6 3 Encoder answers Encoder answers lt Variable gt lt Value gt ERROR WARNING Parameters successfully written POSITAL FRABA Remarks If a variable was correctly set the encoder will answer to all connected TCP clients with the variable and its new value This indicates that the Encoder understood the command and now uses the value it does not indicate that the value was already save to the internal Flash please allow some additional seconds for that If something went wrong the encoder will issue an error e g if it did not understand a command or if a value for a variable was not correct It will describe the error after the ERROR tag If a variable was set to a value which is permitted but which may result in problems when certain conditions occur the encoder will issue a warning This could for example happen if the variable UsedScopeOfPhysRes is set to a value which does not result in an integer division with
6. the physical resolution of the encoder when dividing the total physical resolution of the encoder The reason for the warning will be sent following the WARNING tag If any variable was set it is important to wait until the encoder displays this message before the encoder can be turned off otherwise the internal flash might be damaged 5 Using UDP transmission After starting the batch file UDP 10101010 bat which will start a UDP client on the PC and con nect to the encoder run can be entered to read out the position value As UDP is not con nection oriented as TCP is only the POLLED mode is supported using UDP encoder values cv Eingabeaufforderung UDP 10101010 C gt cd fraba ethernet C fraba ethernet gt UDP_16161616 cyclically send will not be received by UDP cli ents The parameterization of the encoder can only be changed by TCP commands see chapter 4 As UDP is not connection orientated The encoder allows UDP connections to port 5000 only C fraba ethernet gt java udpcl 18 10 10 18 5606 Local UDP socket opened will send to server 16 16 186 16 on port 56086 runt POS ITION 26969556 Version 03 07 Page 18 UME OCD ETA1 6 Technical Data 6 1 Electrical Data Supply voltage Power consumption EMC Bus connection Transmission rate Accuracy of division Step frequency LSB Cycle time Electrical lifetime Device addressing 6 2 Mechanical Data Housing Lifetime Max shaft l
7. 5 Bit The encoder sends the data in decimal code via standard or fast Ethernet 10 Base T 100 Base T At present it supports the following international standardized protocols IP TCP UDP http and SMTP Version 03 07 Page 4 The encoder is able to provide three different kinds of output data the position value a velocity value and a time stamp These can be used in arbitrary combinations The following functions of the absolute rotary en coder can be programmed directly via the Ethernet connection Used scope of physical resolution Total scaled resolution Preset value Code sequence Complement There is no specific software required to initiate and use the absolute rotary encoder because the sensor can be read out and programmed by any standard web browser For this purpose the abso lute rotary encoder contains a web server which provides HTML documents with embedded Java applets These documents are a widely self explanatory graphical user interface GUI that is described in detail in chapter 2 The automated data transfer with a control system is done with TCP IP by simple plain text commands and data in ASCII format UME OCD ETA1 POSITAL FRABA 1 2 Ethernet The present developments in the field of Industrial Ethernet are based on the vision of an integrated access of all data of a company through a uniform communication system In higher levels of enter prise communication Ethernet is the main
8. Bytes are a 32 Bit CRC Checksum Internal memory saved data will be available after power down The Hypertext Markup Language is a document format used in the World Wide Web to be displayed by a browser The Hypertext Transfer Protocol is a stateless transmission protocol for data transmission The hub connects different network segments e g in an Ethernet net work IP address allow a logic addressing from computer in a network The Internet Protocol is widespread in computer networks It is the im plementation of the internet layer of the TCP IP model Transmission rate or baud rate million bits per second Acronym OPTOCODE name of an encoder series manufactured by POSITAL The Open System Interconnection reference model is a open layer model for the organisation of a communication The Point to Point Protocol will be need for a connection establishment It enables the transmission between different network protocols Simple Mail Transfer Protocol managed the transmission of e mails A switch is an electronic device to connect computers e g network segments in a local network Unlike a hub a switch uses stacks to avoid network collisions The Transmission Control Protocol is a connection orientated transmis sion protocol in a network MS DOS program available from FRABA to communicate with the en coder User Datagram Protocol is utilized to send data that does not need to be transferred in a reliable way Page 25 UME OCD
9. ETA1
10. L FRABA Start Menu E MAIL AND NETWORK CONFIGURATION Main Controller Site Network Configuration Encoder IP Adress fi 98 100 100 55 Set Encoder Netmask 0 0 0 0 Set Gateway IP Adress fi 98 100 100 30 Set E Mail Configuration SMTP Server IP 21 7 69 67 146 Set Mail Sender encoder posital de Set Recipient Adress bauten posital de Set Send Test E Mail Send Parameters per E Mail Reset connection 6 2004 FRABA POSITAL GmbH Cologne Germany http Annuw posital com Applet NetworkCanfigPanel started ene Version 03 07 Page 12 UME OCD ETA1 POSITAL FRABA 4 Operating by TCP IP Commands 4 1 Introduction To use the absolute encoder with a control system platform independent commands and data in ASCII format can be exchanged by TCP IP To take a look at the commands and a short description please see chapter 4 6 To find out how to address the TCP IP interface of your control or operating system please refer to the documentation for these devices General Network Identification Hardware User Profiles Advanced Environment Variables ee 2 xi User variables for Staff TEMP C Documents and Settings Staff STAF TMP C Documents and Settings Staff STAF New Edit Delete ee ai o mm Variable Value OS Windows NT Os2LibPath C WINNT system32 os2 dil CMI WINNT CA WIN PATHEXT COM EXE BAT CMD B5 VBE
11. POSITAL FRABA 4 D 6 7 8 9 0 1 2 3 4 9 47 Absolute Rotary Encoder with Ethernet TCP IP and UDP Interface User manual POSITAL GmbH Carlswerkstrasse 13c D 51063 K ln Telefon 49 0 221 96213 0 Telefax 49 0 221 96213 20 www posital de info posital de POSITAL FRABA Imprint POSITAL GmbH Carlswerkstrasse 13c 51063 K ln Phone 49 221 96213 0 Internet www posital com Fax 49 221 96213 20 e mail info fraba com Copyright The company FRABA POSITAL claims copyright on this documentation It is not allowed to modify to extend to hand over to a third party and to copy this documentation without written approval by the company FRABA POSITAL Nor is any liability assumed for damages resulting from the use of the information contained herein Further this publica tion and features described herein are subject to change without notice Version 03 07 Page 2 Alteration of Specifications reserved Technical specifications which are described in this manual are subject to change due to our permanent strive to improve our products Document information File name UME OCD ETA1 Date March 2007 Version number 1 06 Author Reiner Batjer Service Phone For technical support questions and suggestions for improving our products and documentations call our telephone line 49 221 96213 0 UME OCD ETA1 POSITAL FRABA 1 Introduction eeerssvvnnnnnnvnnnnnnvnnnnnnvnnnnnnnvnnsnnnenenn 4 6 Tech
12. The absolute rotary encoder can be addressed by any web browser e g Netscape Internet Explorer Opera etc Please enter the IP address of the encoder in the address field of the browser The factory setting for the IP address is 10 10 10 10 Chapter 3 2 2 will deal with changing the IP address If the encoder has built up a connection to the browser you can see its start page To be able to parameterize the encoder please open the page Main Controller Site see image below The other links on the starting page will open a html page showing all available commands lnformation about Commands or the page to configure the network settings Chapter 4 describes these commands in more detail To continuously please set the desired cycle time read for example the position value and choose the cyclic mode Each command to the encoder and messages from the encoder are logged in the encoder message window FRABA POSITAL Optical Encoder WebControl Mozilla Firefox 5 x Datei Bearbeiten Ansicht Gehe Lesezeichen Extras Hilfe Q C3 ard amp 0 QP O htos 100 100 55webserver manControlerjmaincontroler html T Oo fia Erste Schritte EV aktuelle Nachrichte Posital 4 1 FRABA POSITAL Optical Encoder We x FRABA Start Menu Email and Network Configuration MAIN CONTROLLER SITE Encoder Output Parameterisation 100 Position steps Run CountingDir G cw C cow Velocity steps
13. command will still be sent once you press enter The Java program can be finished with CTRL C C fraba ethernet gt java tcpcl 10 10 10 10 6666 Connected to server 10 10 10 10 runt BOS ITION 26969556 4 5 Advanced functionality In the subdirectory advanced on our CD there is a version of the TCP client with enhanced functionality e the time from the command till the encoder issues an answer can be measured in steps of 10 ms This can be switched on off using time notime e the binary values transmitted by the encoder can be transferred to ASCII again if it does 4 6 Parameters 4 6 1 Commands Version 03 07 Page 14 not contain 0 or n This can be switched by binary ASCII it will be automatically switched when the encoder is switched from to binary mode e Scrolling of the output can be turned on off via scroll noscroll e new renews the connection to the encoder e exit will close the TCPClient application UME OCD ETA1 POSITAL FRABA Important Please note spaces upper and Value means the output value You can lower case lt Value gt means the parameter to change and read the settings of the encoder by enter All commands and parameters have to be using the following commands entered in one line and started with lt ENTER gt Commands Run set lt Variable gt lt Value gt read lt Variable gt Version 03 07 Remarks This command will order the encoder to
14. e 70 s by the US military MIL STD 1777 It allows a universal addressing independent of the hardware involved in heterogeneous networks It also man ages the transfer of large packets by splitting them up into smaller packets The well known TCP protocol MIL STD 1778 ensures a reliable data transfer Http RFC 2068 and SMTP MIL STD 1781 be long to layer 7 of the OSI model and allow to trans fer data and documents via web browser or to send e mails UME OCD ETA1 1 4 UDP POSITAL FRABA User Datagram Protocol is utilized to send data that does not need to be transferred in a reliable way The UDP packet is encapsulated in an IP packet which in turn is encapsulated in a PPP packet Both UDP and IP have checksum octets and the PPP packet has its FCS octets however this can only guarantee that the data and the des tination are correct If a packet is lost it will not be resent using UDP this issue is only addressed by the TCP protocol 1 5 OSI Modell Layer 7 Application Layer SMTP FTP HTTP DEE 6 Presentation Application Layer 5 Session Layer 4 Transport Layer TCP and UDP Data transport 3 Network Layer IP and IPX 2 Data Link Layer Ethernet 1 Physical Layer 10BASET 100BASET Cable Version 03 07 Page 6 UME OCD ETA1 POSITAL FRABA 2 Hardware set up and Ethernet Connection 2 1 Network Topology Using Ethernet there are different kinds of topolo
15. e encoder will count 8192 steps per revolution if Total scaled resolution is set to the same value as Used scope of physical resolution and start with zero again after 2 revolutions If this value is not set to a value which results in an inte ger division with the total physical resolution the encoder value will jump to zero when passing the physical zero point Specifies the scaled resolution which is used over the area of physi cal steps defined by Used scope of physical resolution If e g the encoder is set as described above and Total scaled resolution is set to 10 the encoder will count 10 steps over the physical steps defined with Used scope of physical resolution i e 5 steps per revolution The code sequence complement can be programmed as an operat ing parameter This parameter determines whether the output code increases or decreases when the axis is turned clockwise The preset value is the desired output value for the actual position of the axis The actual output value will be set to this preset value The html page the programmable parameters and the diagnostics of the encoder are described in the next chapter Max physical position value Max needed position value parameter 2 Version 03 07 Wanted zero crossing parameter 1 Physical zero crossing Page 10 UME OCD ETA1 N 4 T mv gt OO 3 2 Operating by the integrated Web Server
16. ge temperature 40 85 C Humidity 98 without liquid state Protection class EN 60529 Casing side IP 65 Shaft side IP 64 optional with shaft sealing IP66 Version 03 07 Page 20 UME OCD ETA1 ml 7 gt oJ gt 7 Mechanical Drawings 7 1 Synchro Flange S available in 2 versions mm Synchro flange Version 506 Version S10 Single Turn 77 Multi Turn 88 35 58 Edelstahl Stainless steel 7 2 Clamp Flange F 30 Single Turn 77 Multi Turn 88 i a m 3xM4x6 SX 58 53 36 y Edelstahl 3 Stainless steel UME OCD ETA1 Version 03 07 Page 21 POSITAL FRABA 7 3 Hollow shaft B Single Turn 95 Multi Turn 106 35 Edelstahl Stainless steel an Momentenst tze Anlagekante Max W 30 Min W 15 Welleneinstecktiefe hollow shaft depth Mounting instructions The clamp ring should only be tightened after the shaft of the driving element was inserted into the hollow shaft The diameter of the hollow shaft can be reduced to 14mm 12 mm 11 mm 10 mm or 8 mm by using an adapter this reducing adapter can be pushed into the hollow shaft Version 03 07 60 68 Page 22 60 Maximum radial and axial misalignment of the drive shaft axial radial static 0 3
17. ging of the connector is the mounting description Connector power supply 5 pin male A coded Pin Number Signal 24 V 24 V Signal M12 Pin Signal TX 2 Rx Tx 4 Rx Rx 1 TX Rx 3 Tx UME OCD ETA1 POSITAL FRABA 2 4 Diagnostic LED s LED Color Description for LED on Rx1 Incoming and outgoing traffic for port 1 Link1 Link to another Ethernet component for port 1 Collosion1 Red Ethernet collisions on the bus for port 1 Rx2 Incoming and outgoing traffic for port 2 Link2 Link to another Ethernet component for port 2 Collosion2 Red Ethernet collisions on the bus for port 2 Error Red 5 Run Green Only for version B1 Ethernet N TCP IP l N S Rx2 M A Link2 Rx Col2 Coll Linki Nw PWR Port a gt Port 2 Version 03 07 Page 9 UME OCD ETA1 3 Programming 3 1 Programming of Parameters POSITAL FRABA The encoder is able to provide three different kinds of output data the position value a velocity value and a time stamp These can be used in arbitrary combinations Parameter Used scope of physical resolution parameter 1 Total scaled resolution parameter 2 Code sequence Preset value Description Specifies the part of the physical resolution used for the encoder in physical steps If e g for an encoder with a resolution of 8192 steps per revolution 16384 is chosen th
18. mm 0 5 mm dynamic 0 1 mm 0 2 mm UME OCD ETA1 8 Models Ordering Description Description Optocode Interface Version Code Revolutions Bits Steps per revolution Flange Shaft diameter Mechanical options Connection Type Key OCD ET 5 PRM Ethernet ET 2xM12 A1 Integrated hub 3xM12 B1 Binary Singleturn Multiturn 4 096 revolutions Multiturn 16 384 revolutions 8 192 65 536 Clamp flange full shaft Synchro flange full shaft Blind hollow shaft hollow shaft Without Shaft sealing IP66 Customized M12 connector Standard bold further models on request Available from 11 08 Version 03 07 Page 23 00 12 14 10 mm 6 mm 10 mm 15 mm 13 16 C10 506 10 B15 no PRM UME OCD ETA1 9 Accessories and Documentation Description Male cable connector Female cable connector Coupling Clamp disc Clamp half ring Reducing adapter User manual User manual KKK Type M12 4 pin D Coded PAM4 M12 5 pin PAM5 Drilling 10 mm GS 10 Drilling 6mm GS 06 Set 4 pcs SP 15 Set 2 pcs SP H 15 mm to 14 mm RR14 15 mm to 12 mm RR12 15 mm to 11 mm RR11 15 mm to 10 mm RR10 15 mm to 8 mm RR8 Installation configuration manual English UMD ETA1 Installation configuration manual German UME ETA1 These can be downloaded free of charge from our homepage www posital de usable only for full shaft u
19. ng the physical zero point Default value Physical resolution of the type label l e 4096 resolutions x 8192 steps per revolution 33 554 432 Specifies the scaled resolution which is used over the area of physical steps defined by UsedScopeOfPhysRes If e g the encoder is set as described above and TotalScaledRes is set to 10 the encoder will count 10 steps over the physical steps defined with UsedScopeOfPhysRes i e 5 steps per revolution Default value Physical resolution of the type label l e 4096 resolutions x 8192 steps per revolution 33 554 432 Specifies the direction to turn the axis which is associated with higher values e CW denotes that clockwise turning will increase the position value e CCW denotes that counterclockwise turning will increase the position value When the preset is set an internal offset will be calculated which will be saved and added to all position values afterwards The value given for the preset denotes the position value the encoder will show at the point where the preset was set This variable makes it possible to directly change the offset calculated and set by the preset function Possible time modes are e polled Encoder will only send output values if asked to do by Run e cyclic Encoder will send output values after time specified by CycleTime e change of state The Encoder will send the output values only if either the position or the velocity has changed The values are checked every 5 ms t
20. nical Data evernnnnnvnnnnnnvrnnnnnvnnnnnnnvennnnnevennr 19 1 1 Absolute Rotary Encoders rrrnvrnrnrnvrnnnvrvrnnnnn 4 6 1 Electrical Data rrrnnrnnrornronnnnnvrornvrnvrnerervrnnn 19 12 EInGinel 2c8 eatin oriented niin 5 6 2 Mechanical Data eeren 19 13 TOPP saith hath eden 5 6 3 Minimum mechanical lifetime 20 14 UDP aeoea n ae aa ee E danene 6 6 4 Environmental Conditions cere 20 2 Hardware set up and Ethernet Connection 7 7 Mechanical Drawings evrnnnvnnnnvnnnnvnnnnvnnnnvnnnnr 21 2 1 Network Topology errnvrvrrrnvrnnnvrvrennnnnvrnrrrnnnnn 7 7 1 Synchro Flange S 21 2 2 Connecting an Absolute Encodet 00 8 7 2 Clamp Flange F rrnrnnonvnnnnvnnonvnnnnrnnenvnnenrn 21 2 3 Ethernet Cables nrnnnnrnnnnvnnrnronnnrnnnnronnnvnnnnrne 8 7 3 Hollow shaft B neccen 22 2 3 1 RJ45 M12 Crossed seccsscssseeseessesseesseeseen 8 8 Models Ordering Description 23 2 3 2 RJ45 M12 straight 8 9 Accessories and Documentation 24 23 3 M12 M12 Crossed cecccccecccccccecccceccecceceececeeces 8 10GIOSSary m mmmrsevrvrneservrnerervrnerervrsererern 24 2 4 Diagnostic LED S rrnnnnnvrnrrrnvrnerervrennrnnernrrrnnrnn 9 3 Programming e rr svnnnsanvvnnnnnvvnnnnnnvnnnnnnnvnnsnnnenene 10 3 1 Programming of ParameterS eee 10 3 2 Operating by the integrated Web Server 11 3 3 E mail and Network Configuration 12 4 Ope
21. o reduce unwanted network traffic Page 16 UME OCD ETA1 Variables OutputMode OutputType CycleTime IP NetMask Gateway OwnEmailAddr RmtEmailAddr SMTPServerlP Verbose Version 03 07 POSITAL FRABA Remarks Values Possible output modes are Position Velocity Timestamp where the components mean e Position Encoder will send a scaled Position value e Velocity Encoder will send a velocity Value steps s e Timestamp Encoder will send a timestamp in microseconds starting with 0 at the startup of the encoder As the counter is a 32 Bit value the timestamp will reach zero again after approx 1 2 hours Possible output types are e ASCII Encoder will send ASCII letters in the form POSITION lt POSITION gt VELOCITY lt VELOCITY gt TIME STAMP lt TIME gt e ASCII SHORT Encoder will send ASCII numbers in the form lt POSITION gt lt VELOCITY gt lt TIME gt separated by spaces e BINARY Encoder will send 32 bit binary values without any separator between the values States the time in ms for the cyclic time mode Can have values between 1 ms and 999 999 ms Sets the IP address of the encoder and must be a valid IP address in the form a b c d with a b c d from 0 to 255 Attention The IP address will only be activated after a new power up when switch 2 is in position off The net mask used by the encoder Please take care that Encoder and PLC PC are within the same subnet or
22. oading Inertia of rotor Friction torque POSITAL FRABA 10 30 V DC absolute limits max 4 Watt Emitted interference EN 61000 6 4 Noise immunity EN 61000 6 2 Ethernet 10 100 MBit Y LSB up to 12 Bit 2 LSB up to16 Bit Max 800kHz valid code gt 1 ms Cyclic mode gt 5 ms Change of state gt 10 h Programmable IP Address and Network parameters Aluminum optional stainless steel Dependent on shaft version and shaft loading refer to table Axial 40 N radial 110 N lt 30 gem lt 3 Nem without shaft sealing RPM continuous operation max 12 000 RPM Shock EN 60068 2 27 lt 30 g half sine 11 ms Permanent shock EN 60028 2 29 lt 10 g half sine 16 ms Vibration EN 60068 2 6 lt 109 10 Hz 1 000 Hz Weight standard version Singleturn 500 g Multiturn 7009 Flange Synchro S Clamp C Shaft diameter Shaft length hollow shaft depth min max Hollow shaft B 15 mm 15 mm 30 mm Version 03 07 Page 19 UME OCD ETA1 POSITAL FRABA 6 3 Minimum mechanical lifetime Flange Lifetime in 10 revolutions with Fa Fr 40 N 60N 40 N 80N 40 N 110N C10 Clamp flange 10 x 20 247 104 40 510 Synchro flange 10 x 20 262 110 42 S6 Synchro flange 6 x 10 without shaft sealing 822 347 133 S6 Synchro flange 6 x 10 with shaft sealing max 20 N axial 80 N radial 6 4 Environmental Conditions Operating temperature 0 60 C Stora
23. rating by TCP IP Command 13 41 IMtrOdUCTION cn 13 4 2 Installations wexwicaide nadine cities 13 4 3 PATH Variable cccecsceeseeeeeeeeeeeeeeeeeees 13 4 3 1 MS DOS Win95 Win98 WinME 13 4 3 2 WinNT3 51 WinNT4 Win2000 WinXP 14 4 4 Operating cinereis iaronn ninka 14 4 5 Advanced functionality uernvrrrrrnnrnnrvrvrnnnnn 14 4 6 Parameters rrrnvnrnrnnvvornnnvvnnnnnnvnennnnnvnnnrnnvnnnnn 14 4 6 1 CommanoS rrranvnnonrnnnnvnnenvnnenvnnenrnrenvnnennnnen 14 4 6 2 Variables srrnrrrnrrnnrrrvronrrrnvrnrrrnnrnnrernrnnnenn 16 4 6 3 Encoder answers seeren 18 5 Using UDP transmission rrnnnnnvnnnnnnvvnnnnnvenenn 18 Version 03 07 Page 3 UME OCD ETA1 POSITAL FRABA 1 Introduction 1 1 Absolute Rotary Encoders Absolute rotary encoders provide a definite value for every possible rotary position All these values are reflected on one or more code discs The beams of infrared LEDs are sent through the code discs and detected by Opto Arrays The output signals are electronically amplified and the result ing value is transferred to the interface The absolute rotary encoder has a maximum reso lution of 65 536 steps per revolution 16 Bit The Multi Turn version can detect up to 16 384 revolu tions 14 Bit Therefore the largest resulting reso lution is 30 Bit 2 1 073 741 824 steps The standard Single Turn version has 13 Bit the stan dard Multi Turn version 2
24. riable for the Java installation and the FRABA Java programs For a convenient start we also provided batch files to start the java files depending on the IP addresses you might need to modify them For TCP will be used port 6000 4 3 PATH Variable 4 3 1 MS DOS Win95 Win98 WinME Please add the required paths to c Autoexec bat behind the Path line Example Path c ms dos c Program Files BC BIN Path Path c fraba ethernet Path Path c programme java bin UME OCD ETA1 POSITAL FRABA 4 3 2 WinNT3 51 WinNT4 Win2000 WinXP In Start Settings Control panel System Advanced Environment Variables you can configure the variable Path Please do not change the other path settings but only add the 4 4 Operating After starting the batch file TCP 10101010 bat the connection to the encoder will be built up Once you are connected you can try e g read offset please note space to read out the calculated offset from the encoder You can see all available commands in the next chapter ex Eingabeaufforderung dos1010 C gt cd fraba ethernet C fraba ethernet gt dos16161616 required paths Depending on used administrator rights necessary the operating system might be If the encoder is running in cyclic mode you can see position values coming continuously from the encoder You can enter a command anyway although your input will be overwritten by new position values the
25. s UsedScopeOfPhysRes 16384 Set 33554432 Timestamp us TotalScaledRes 512 Set 33554432 Preset Offset 100 229657 Posmmion 100 Raw se CycleTime 1 Set fr 1 Age of Values 100 ms Encoder Messages Offset 229657 Modes Parameters successfully written Setting Cycle Time to 1 ms TimeMode OutputMode OutputType CycleTime 1 Parameters successfully written Polled IV Position ASCII C cos I Velocity C A SHORT Cyclic Timestamp C Binary Send Parameters per E Mail Reset connection c 2004 FRABA POSITAL GmbH Cologne Germany http vam posital coms Applet MainControllerPanel started Version 03 07 Page 11 Auto Copy ENABLED UME OCD ETA1 3 3 E mail and Network Configuration The rotary encoder can be used either with the wired IP 10 10 10 10 or the software IP address which can be programmed A switch to choose either option is located in the connection cap If the switch 2 is in position off the programmable IP has been chosen Both Hex rotary switches and switch 1 are not in use for this encoder The configuration window can be accessed via the Main Controller Site or the start page FRABA POSITAL Optical Encoder WebControl Mozilla Firefox ais SJ laj xj Datei Bearbeiten Ansicht Gehe Lesezeichen Extras Hilfe Ou fa lt a ci gt oe amp Q A E http 198 100 100 55 webserver networkConfig networkConfig html z 6 Go GL FRABA POSITAL Optical Encoder We se POSITA
26. sable only for hollow shaft in stainless steel available too We do not assume responsibility for technical inaccuracies or omissions Specifications are subject to change without notice 10 Glossary Term 10 Base T 100 Base T ASCII Batch file Baudrate Binary Browser CAT5 CRC EMC Ethernet Fast Ethernet Version 03 07 Explanation Transmission line with 10 Mbit data transmission rate Transmission line with 100 Mbit data transmission rate American Standard Code for Information Interchange ASCII describes as code the correlation from digital integers to a normal font described character Script program for MS DOS Transmission rate it display the transmission bits per second Numeric system with value 0 or 1 Software program to display HTML Sides on different operating systems Linux Unix Windows Terminations for transmission rates up to 100 Mbit The cyclic redundancy check is a method from the information technol ogy to control a checksum for data to reduce errors by the transmis sion Electromagnetic compatibility there are rules to verifying devices Ethernet is a computer network technology based on frames Transmission technology with 100 Mbit transmission rate Page 24 UME OCD ETA1 Term FCS Bytes Flash HTML HTTP Hub IP Adresse IP Protokoll Mbit OCD OSI Modell PPP Packet SMTP Switch TCP TCP Client UDP Version 03 07 Explanation The Frame Check Sequenz
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