absolute rotary encoder with device net interface user manual
Contents
1. 8 29 Programme 0 6 888 Netzwerkumgebung lt Zur ck Weiter gt Abbrechen Messages gt Ready Astart 21 A EF DeviceNet RSNetwor GYP F Bilder Paint 1 2 EDS Wizard The Wizard finds all EDS files that are discarded in the choosing path and operates a test to check the EDS files on errors In the next step see picture Version 05 09 Page 23 1 With the button weiter the installation can be con tinued Offline Xs 10 38 3 pictures can be selected for the using nodes and finished UMUS OCD D2_05_09 doc POSITAL FRABA DEVICENET USER MANUAL DeviceNet RSNetWorx for DeviceNet File Edit View Network Device Diagnostics Tools Help Bls wula Hardware DeviceNet B Category AC Drive Barcode Scanner Communication Adapter DPI to DeviceNet H A DeviceNet to SCANport Dodge EZLINK E Rockwell Software s EDS Wizard Change Graphic Image You can change the graphic image that is associated with a device Product Types Generic Device k lt Zur ck Abbrechen Message Code Description DNET 0043 onet o101 12 05 2005 15 39 49 12 05 2005 15 39 49 12 05 2005 15 39 25 error has occurred attempting to insert the devi2. 1 8 Configure Parameters Service Class Instance Attribute Editor Node 32 m cm 5 me eo 1 9 Service Class Instance Attribute Editor Version 05 09 Page 28 UMUS OCD D2_05_09 doc EDS File Table Encoder with connection cap OCD D2B1B 0012 xxxx OCC OCD D2B1B 0013 xxxx OCC OCD D2B1B 0016 xxxx OCC OCD D2B1B 1212 xxxx OCC OCD D2B1B 1213 xxxx OCC OCD D2B1B 1216 xxxx OCC OCD D2B1B 1412 xxxx OCC OCD D2B1B 1413 xxxx OCC OCD D2B1B 1416 xxxx OCC Encoder without connection cap OCD D2B1B 001 2 xxxx xxx OCD D2B1B 0013 xxxx xxx OCD D2B1B 0016 xxxx OCD D2B1B 1212 xxxx OCD D2B1B 1213 xxxx xxx OCD D2B1B 1216 xxxx xxx OCD D2B1B 1412 xxxx xxx OCD D2B1B 1413 xxxx xxx OCD D2B1B 1416 xxxx Xxx needless for hollow shaft POSITAL FRABA DEVICENET USER MANUAL EDS File OCD D2B1B 1213 0013 xxxx OCC eds OCD D2B1B 1213 0013 xxxx OCC eds OCD D2B1B 0016 xxxx OCC eds OCD D2B1B 1213 0013 xxxx OCC eds OCD D2B1B 1213 0013 xxxx OCC eds OCD D2B1B 1216 xxxx OCC eds OCD D2B1B 1412 xxxx OCC eds OCD D2B1B 1413 xxxx OCC eds OCD D2B1B 1416 xxxx OCC eds EDS File OCD D2B1B 1213 0013 xxxx xxx eds OCD D2B1B 1213 0013 xxxx xxx eds OCD D2B1B 0016 xxxx xxx eds OCD D2B1B 1213 0013 xxxx xxx eds OCD D2B1B 1213 0013 xxxx xxx eds OCD D2B1B 1216 xxxx xxx eds OCD D2B1B 1412 xxxx xxx eds OCD D2B1B 1413 xxxx xxx eds OCD D2B1B 1416 xxxx xxx eds We do not assume responsibility
3. see type shield PAU Physical resolution per revolution see type shield GA Total resolution customer parameter AU Resolution per revolution customer parameter If the desired resolution per revolution is less than the physical resolution per revolution of the en coder then the total resolution must be entered as follows 3 1 4 Preset value The preset value is the desired position value which should be reached at a certain physical posi tion of the axis The position value of the encoder is set to the desired process value by the parameter preset The preset value must not ex ceed the parameter total measuring units Attribute ID 2E hex Default value 0 hex Value range Version 05 09 Value range Oh 2 000 000h Page 10 25 bit 33 554 432 steps Please note the value written on the type shield Data Type Unsigned Integer 32 Total resolution GA PGA AU PAU if AU lt PAU Example Customer requirement AU 2048 Encoder type shield PGA 24 bit PAU 12 bit GA 16777216 2048 4096 GA 8388608 If the total resolution of the encoder is less than the physical total resolution the parameter total resolu tion must be a multiple of the physical total resolu tion k PGA GA kzinteger Data Type Ohex total measuring range Unsigned Integer 32 UMUS OCD D2_05_09 doc POSITAL FRABA DEVICENET USER MANUAL 3 1 5 MAC ID Attribute ID Default value Value
4. 6 2 the network is online After that RsNetworx searches in the network for connecting nodes That is also being showed in picture 1 6 Eile Edit View Network Device Diagnostics Tools Help 812 8515 B Category B Vendor Hardware xl DeviceNet 8 4 AC Drive 9 0 Barcode Scanner 9 00 Communication Adapter DPI to DeviceNet I DeviceNet to SCANport Rockwell Automation mis 9 0 SCANport Adapter Smart MCC 8 0 Specialty FRABA Sensorsysteme Gi Pepperl Fuchs Rockwell Automation All Rockwell Automation D Rockwell Automation El Rockwell Automation Ri Rockwell Automation Spri 2 2 ale El s 118 Browsing network Xi Not found Device at address 19 H 4 M Graph Spreadsheet Master Slave Configuration Diagnostics 4 of uix Messages Message Code Date oner o101 12 05 2005 15 39 25 Description changed to online The online path is KLIMA LAPTOP 1770 KFD 1 Ready Astart 20 A Srjunbenennt Paint B Eigene Dateien BF DeviceNet RSNetWo 1 6 Browsing Network To cofigure the encoder the configuration window in the menu Device Properties has to be opened By Version 05 09 Page 26 Browsing 19 4 15 39 pushing Parameters an upload of the encoder pa rameter is realized UMUS OCD D2_05_09 doc POSITAL FRABA DEVICENET
5. CAN IDs for a_ certain will be call MAC ID The CAN Identifier consists of communication type 1019 8 7 61541312 110 Identity Usage Range 0 Group 1 Source MAC ID GROUP 1 Message 000 3ff Message ID O 1 10 1 Source MAC ID Slave s I O Change of State or Cyclic Message O 1 111 1 Source MAC ID Slave s I O Poll Response or Change of State Cyclic Acknowledge Message 1 0 MAC ID Group2 GROUP 2 Messages 400 5ff Message ID 1 0 Destination 0 1 0 Masters Change of State or Cyclic Acknowledge ID Message 1 0 Source MAC ID 0 1 Slave s Explicit Unconnected Response Messages 1 0 Destination 1 0 0 Masters Explicit Request Message ID 1 10 Destination 1 O 1 Masters Poll Command Change of State Cyclic ID Message 1 10 Destination 1 1 0 Group 2 Only Unconnected Explicit Request Message ID reserved 1 0 Destination 1 1 1 Duplicate MAC ID Check Messages ID Version 05 09 Page 8 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 3 Programmable Parameters 3 1 Encoder parameters 3 1 1 Operating Parameter The operating parameter can be used to select the code sequence Attribute ID 0 b hex Default value 1 hex The parameter code sequence complement de fines the counting direction of the process value as seen on the shaft whether clockwise or counter clockwise The counting direction is defined in
6. Encoder Set Parameter CAN ID MAC ID Fragment Byte 2 Byte 3 Byte 4 0 1 41 8A 81 X desired total resolution Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID ByteO Byte 1 Byte 2 41B 8A C1 00 Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID Service Code Byte1 41B 0A 90 Byte 6 X Byte 5 Byte 6 Byte 7 X Byte 7 Version 05 09 Page 19 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 7 2 4 Preset Value Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Fragment Service Class Instance Code ID ID Byte 0 Byte 1 41C 8A 00 10 23 01 X desired preset value Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID Byte 1 Byte 2 CO 00 41B Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Fragment Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 41C 8A 81 X X X desired preset value Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID Byte 1 Byte 2 C1 00 41B Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID Service Code Byte1 41B 0A 90 Version 05 09 Page 20 Byte 2 Byte 3 Byte 4 Attribute ID Byte 5 Byte 6 Byte 7 2E X X Byte 5 Byte 6 Byte 7 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 7 2 5 MAC ID Master to encoder Set Parameter CAN ID MAC ID Service Class Instance Attribute Data Code ID ID ID ByteO Byt
7. Message Code Date Description DNET 0043 12 05 2005 15 39 49 An error has occurred attempting to insert the device at address 62 into the configuration DNET OFFF 12 05 2005 15 39 49 Copy protection was not detected and RSNetWorx for DeviceNet is running in DEMO mode Only addresses 0 through 6 are valid w onet 0101 12 05 2005 15 39 25 Mode changed to online The online path is KLIMA LAPTOP 1770 KFD 1 5 ec i n 2 4 1 Ready Online Not Browsing Astarte 51 6 A Srunbenennt Paint Dateien B Devicenet RsNetWo 3 444 15 45 show the position value the button Monitor has to be pushed It should be noticed that the configura tion parameters are not stored in the EEPROM To After a successful upload of the parameters those can be configured as the picture 1 8 below shows A download of the configured parameters can be realized with the yellow arrow that is showing down and is placed at the top right in the configuration window An upload can be realized with the arrow beside the download arrow which is showing up To Version 05 09 Page 27 store the parameters in the EEPROM the window in the menu Device Class Instance Editor has to be opened The entries that are necessary to store the parameters are being showed in the picture 1 9 below At last the button execute has to be exe cuted to store the parameters in the EEPROM UMUS OCD D2_05_09 doc POSITAL FRABA DEVICENET USER MANUAL
8. USER MANUAL DeviceNet RSNetWorx for DeviceNet i 81 xl Eile Edit View Network Device Diagnostics Tools Help EN 2 2 1 5 as BS Hardware 3 x E DeviceNet EHD Category General Parameters 1 0 Data EDS Fite HH AC Drive Barcode Scanner Select the parameter that you want to configure and initiate an action using the toolbar Communication Adapter DPI to DeviceNet DeviceNet to SCANport 12 Dodge EZLINK General Purpose Discrete Generic Device Human Machine Interfacq C Inductive Proximity Switc Limit Switch Motor Overload C Photoelectric Sensor Rockwell Automation misd SCANport Adapter 1 Smart MCC 7 Specialty 1 0 B Vendor 9 FRABA Sensorsysteme Groups Single 7 gt Monitor Ai Parameter Current vaue Code sequence clockwise 1 sequence Resolution per revolution 2000 Steps Total Resolution 4000 Steps Preset Value 13 Steps Position 70 Steps 8 8 8 88 8 8 8 8 8 8 8 8 8 8 2 Pepperl Fuchs m Rockwell Automation Al 2 Rockwell Automation D 9 Rockwell Automation 3 Hen bemetmen Ej Rockwell Automation Spri EIo 70 H 41 MA Graph Spreadsheet Master Slave Configuration Diagnostics rf 21
9. range Data length 6F hex 0 hex Ohex 3Fhex BYTE Each node in a Device Net network is identified A Device Net netwok supports 64 nedoes The using a MAC ID Media Access Control Identifier MAC ID can only be adjusted via explicit messag Every device needs an explicit and unique MAC ID ing The default MAC ID is setting on d63 3 1 6 Baudrate Attribute ID Default value 6E hex 0 hex Value range Data length Ohex 2hex BYTE Device Net supports three different baurates that that the selective baudrate has to be the same as are being showed in the below table The baudrate the Device Net network baudrate The default can be changed via explicit messages and stored in baudrate is setting 125kBaud the EEPROM with a save command It is to insure Ox Baudrate in kBaud 0 125 250 2 500 Version 05 09 Page 11 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 4 Operating Mode 4 1 Polled Mode For switching the polled mode on the following following example a master MAC ID of 0A hex and telegrams are needed Further it is assumed in the a slave MAC ID of 03 hex Allocate Master Slave Connection Set 1 Allocate Polling Byte Offset Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Frag 0 MAC ID Service 4B Class ID 03 Instance ID 01 Allocation Choice 03 0 Allocator MAC ID Definition CAN ID 10 1987654321110 Identity U
10. the EDS file the EDS Wizard has to be started that can be done the menu Tools EDS Wizard If the EDS Wizard is activated success fully the Register an EDS File s has to be cho DeviceNet RSNetWorx for DeviceNet sen and after that the button weiter In the next step the Register a directory of EDS files has to be chosen and with Browse the path of the EDS file s That is indicated in picture 1 2 Ele Edit Network Device Diagnostics Tools Help Jea sra El sd Hardware xl ED DeviceNet E Category D AC Drive 3 2 Barcode Scanner 9 02 Communication Adapter DPI to DeviceNet E DeviceNet to SCANport 2 Dodge EZLINK General Purpose Discrete Generic Device C Human Machine Interface E Inductive Proximity Switc Limit Switch D Motor Overload Photoelectric Sensor Registration Software applications C Register a single file 8 8 8 8 8 Register a directory of EDS files Rockwell Software s EDS Wizard Electronic Data Sheet file s will be added to your system for use in Look in subfolders x HE Rockwell Automation mis E M SCANport Adapter 9 29 3 e Diskette 4 9 29 Lokaler Datentr ger C ere is an icon file ico with the same name as the file s you are registering this image will be associated with the device To perform an installation test on the file s click Next Browse
11. 4 steps The standard Single Turn version has 12 Bit the standard Multi Turn version 24 Bit Version 05 09 Page 4 The integrated CAN Bus interface of the absolute rotary encoder supports all of the DeviceNet func tions The following modes can be programmed and enabled or disabled Polled Mode Change of State The protocol supports the programming of the fol lowing additional functions Code sequence Complement Resolution per revolution Total resolution Preset value Baudrate MAC ID The general use of absolute rotary encoders with DeviceNet interface is guaranteed UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 1 1 Control and Information Protocol CIP Semi Pneurnatic AC Position Dther Devices Valve Drives Controllers Profiles User Layer Poplication Object Library Fpplication CIP Messaging Explicit 1 0 Routing Layer CIP COMMON 3 SPEC DeviceNet fpplication amp Data Lirk Data Lirk Layer Layer CAN Physical DeviceNet Layer Physical Layer The DeviceNet specification defines the Application CIP Common Industrial Protocol make for the Layer and the Physical Layer The Data Link layer user available four essential functions is based on the CAN specification For the optimal industrial control will be defined two different mes e Unique control service saging types I O messaging Implicit Messaging e Unique communication service and ex
12. D Slave 03 hex CAN ID Byte O Byte 1 Byte 2 Byte 3 41C 32 23 01 5 Transmission of the actual position The process value is transmitted according to the following table CAN ID process value 11 Bit ED 0 Bye 1 2 to 2 to 28 Bit5 Bit4 Bito 2 3 4 01 51 amination those values can be saved in the FLASH memory After successful saving of the parameter the encoder sends his MAC ID on the bus To get the process value a new allocation of the slave is required Bit 1 Bit 0 Bit 3 Bit 2 i i Byte 2 id a 223 216 231 to Version 05 09 Page 15 UMUS OCD D2_05_09 doc POSITAL FRABA DEVICENET USER MANUAL 6 Installation 6 1 Electrical connection The rotary encoder is connected by three cables The power supply is achieved with a two wire con nection cable through one PG 9 Each one of the twisted pair and shielded bus lines are guided in and out through two PG 9 on the right side as seen on clamps Clamp Description L Ground 24 V Supply voltage OV Supply voltage CG CAN Ground CL CAN Low CH CAN High CG CAN Ground CL CAN Low CH CAN High Version 05 09 Page 16 There is a resistor provided in the connection cap which must be used as a line termination on the last device Resistor Last Device Device X Ry Ry ON ON The setting of the node number is achie
13. POSITAL FRABA ABSOLUTE ROTARY ENCODER WITH DEVICE NET INTERFACE USER MANUAL FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 Phone 1 609 750 8705 Fax 1 609 750 8703 www posital com info posital com POSITAL FRABA DEVICENET USER MANUAL Imprint FRABA Inc 1800 East State Street Suite 148 Hamilton NJ 08609 USA Phone 1 609 750 8705 1 609 750 8703 www posital com Fax info posital com Copyright The company FRABA POSITAL GmbH claims copyright on this documentation It is not allowed to modify extend copy or hand over to a third party this documentation without written approval by the company FRABA POSITAL GmbH Nor is any liability assumed for damages resulting from the use of the information contained herein Fur ther this publication and features described herein are subject to change without notice 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 Version 05 09 Page 2 Disclaimer of Warranty FRABA POSITAL GmbH makes no representa tions or warranties either express or implied by or with respect to anything in this manual And shall not be liable for any implied warranties of merchantability and fitness for a particular pur pose or for any indirect special or consequential damages Document information File name UMUS OCD D doc
14. Versionnumber 05 09 Author KMA EIO Phone Service For technical support questions and suggestions for improving our products and documentations call our telephone line 49 0 221 96213 0 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 1 Introduction 4 1 1 Control and Information Protocol CIP 5 1 2 Object modell seeee 6 2 Data Transmission eee 7 2 1 The Object 7 2 2 Definition of the 8 3 Programmable Parameters 9 3 1 Encoder parameters 9 3 1 2 Resolution per revolution 9 3 1 5 MAG ID 11 3 1 6 Baudtate cem 11 4 Operating Mode eene 12 4 1 Polled 12 4 2 Change of State 14 4 3 Saving 15 5 Transmission of the actual position 15 6 Installation eeeeeeeeeeeeee 16 6 1 Electrical 16 6 2 Setting of the 17 6 3 ote
15. ce at address 62 into the configuration Copy protection was not detected and RSNetWorx DeviceNet is running in DEMO mode Only addresses 0 through 6 are valid Mode changed to online The online path is KLIMA LAPTOP 1770 KFD 1 Messages x Astart 20 38 A Gjtokater Datentr ger c HJedswe Paint 1 3 EDS Wizard 8 2 Driver Configuration After a successful installing of the EDS file the next step is to choose the suitable driver With Start Programme RHockwell Software RSLinx in the menu the programm RSLinx can be started With this programm the suitable driver can be chosen For this example the driver typ 1770 KFD is being Version 05 09 Page 24 Online Not Browsing 444 15 59 used In the next step the window Configure Drivers in the menu Communications Configure Drivers has to be started In the drop down Men Available Driver Types the driver typ 1770 KFD has to be chosen and confirmed with the button Add New See picture 1 4 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL Configure Drivers r Available Driver Types 95 232 DF1 devices Ethemet devices 01784 for DH DH 485 devices 1784 KTC X for ControlNet devices DF1 Polling Master Driver 1784 PCC for ControlNet devices Configure 1784 PCIC S for ControlNet devices 1747 PIC AIC Driver x DF1 S
16. ckwell Ele Edit Network Device Diagnostics Tools Help Hardware EE DeviceNet ED Category AC Drive 2 Barcode Scanner Communication Adapter DPI to DeviceNet DeviceNet to SCANport 8840 Dodge EZLINK General Purpose Discrete Options What task do you want to complete 28 hely jeak Ger 2 Rockwell Software s EDS Wizard xj Generic Device Human Machine Interface Inductive Proximity Swite Limit Switch V Motor Overload Photoelectric Sensor 8 Urregister a device Rockwell Automation mis 23 SCANport Adapter Smart specialty jo Vendor 8705 Rockwell Automation Al Rockwell Automation C Create an EDS file our database Rockwell Automation Ek Rockwell Automation Re device Rockwell Automation Sprt B m E 2 E ES 9 9 This option will remove a device that has been registered by an EDS from 8 C Change device s graphic image This option allows you to replace the graphic image icon file associated with device This option creates a new EDS file that allows our software to recognize your lt Zur ck Abbrechen Description 2 21 49 A FPdevicenet Rsvetwor 1 1 EDS Wizard Version 05 09 Page 22 Offline 34449 10 35 UMUS OCD D2_05_09 doc 9 ITAL F RA B A DEVICENET USER MANUAL To install
17. e1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 7 41C 10 23 01 6F X of the MAC ID Encoder to Master Confirmation CAN ID MAC ID Service Code Byte1 41B 0A 90 7 2 6 Baudrate Master to encoder Set Parameter CAN ID MAC ID Service Class Instance Attribute Data Code ID ByteO Byte1 Byte 2 Byte 5 Byte 6 Byte 7 41C 0A 10 23 01 6E X E X Value of the Baudrate X Baudrate o 125kbaud 1 250kbaud 2 500kbaud Encoder to Master Confirmation CAN ID MAC ID Service Code Byte1 41B 90 Version 05 09 Page 21 UMUS OCD D2 05 09 doc POSI TAL FRA A DEVICENET USER MANUAL 7 2 7 Parameter Saving Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Service Code Class ID Instance ID ByteO Byte1 Byte 2 Byte 3 32 23 01 If the transfer has been successful the absolute rotary encoder responds after 3 4s with the Du plicate MAC ID After that the master must reallo cate the slave 8 RsNetworx 8 1 EDS Wizard The EDS File contains information about device specific parameters as well as possible operating modes of the encoder With this file you have a DeviceNet RSNetWorx for DeviceNet If the transfer is not successful an error message will be sent The service code used to save the parameter set is manufacturer specific data sheet in an electronic format which can be used to configure the device in the network for example with RsNetworx from Ro
18. for technical inaccuracies or omissions Specifications are subject to change without notice Version 05 09 Page 29 UMUS OCD D2_05_09 doc
19. is chapter are 0A hex and for the slave 03 hex The following numbers are given in hexadecimal The changeable values are written in an italics 7 2 1 Operating Parameter Master to absolute rotary encoder Set Parameter CAN ID MAC ID Service Class Instance Attribute Data Code ID Byte 0 Byte1 Byte 2 41C 0A 10 23 X 1hexfor CW Default Byte 5 Byte 6 Byte 7 X E 0 hex for COW Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID Service Code Byte 1 41B 90 7 2 2 Resolution per revolution Master to Absolute Rotary Encoder Set Parameter CAN ID MAC D Service Code Class Instance ID Attribute ID Data ID Byte 0 Byte 1 Byte2 4 Byte 5 Byte 6 Byte 7 41C 0A 10 23 01 2C X X X desired resolution per revolution Version 05 09 Page 18 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL Absolute rotary encoder to master Confirmation CAN ID MAC ID Service Code Byte1 90 41B 7 2 3 Total resolution A fragmented transmission is needed when the total resolution must be sent to the encoder So here are more messages necessary Master to Absolute Rotary Encoder Set Parameter CAN ID MAC ID Fragment Service Class Instance Attribute Code ID ID ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 41C 8A 00 10 23 01 2D Absolute Rotary Encoder to Master Confirmation CAN ID MAC ID Byte 1 Byte2 CO 00 41B Master to Absolute Rotary
20. lave Driver startup 5 5 50 502 for devices Virtual Backplane SoftLogix58xx Start DeviceNet Drivers 1784 PCD PCIDS 1770 KFD SDNPT drivers PLC 5 DH Emulator driver SLC 500 DH485 Emulator driver Stop SoftLogix5 driver Remote Devices via Ling Gateway Delete 1 4 Cofigure Drivers If the suitable driver is chosen it can be configured In the next step a requested name can be regis in the window Driver Configuration In this step the tered correct baudrate has to be registered picture 1 5 Allen Bradley 1770 KFD Driver Configuration E 31 Q Allen Bradley 1770 KFD Driver Driver Revision 2 06 Copyright 1998 Allen Bradley Company Division of Rockwell Automation KFD Driver Setup Serial Port Setup DeviceNet Port Setup Port Select Nodedcress 0 1 57600 Data Rate 250K Modem Setup Use Modem Dialer RETE Configure Dialer Display Info This port is not currently in use Cancel Help 1 5 Driver Configuration Version 05 09 Page 25 UMUS OCD D2 05 09 doc 8 3 Network Connection POSITAL FRABA DEVICENET USER MANUAL This chapter will explain how to switch a network online and how to parametrise a encoder In the menu Network Online the window Browse for network will be opened If the driver 1770 KFD DeviceNet RSNetWorx for DeviceNet has been choosen this is explained in chapter
21. plicit messaging With Implicit Messaging e Unique allocation of messaging becoming data exchanged in realtime and with e Common knowledge base Explicit Messaging becoming data exchanged to configure a device Version 05 09 Page 5 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 1 2 Object modell DeviceNet describes all data and functions of a device considering as object model By means of that object oriented description a device can be defined complete with single objects A object is defined across the centralization by associated attributes e g processdata his functions read or write access of a single attribute as well as by the defined behaviour DeviceNet distinction is drawn between three different objects e Communication object Define the exchange messages over DeviceNet and becoming designated as Connection Objects DeviceNet Object Message Router Object Connection Object Acknowledge Handler Object e System objects Define common DeviceNet specific data and functions Identity Object Parameter Object e Applications specific objects Define device specific data and functions Application Object Assembly Object Version 05 09 Page 6 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 2 Data Transmission The data transmission in the DeviceNet network is CAN ID realised by message telegrams Basically these 11 Bit telegrams can be divided into the CAN ID and 8 following b
22. sage Range 1 0 Destination MAC 1 1 0 Group 2 Only Unconnected Explicit Request ID Message reserved Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 41E 0A 4B 03 01 03 0A 1 Setting the Expected packet rate of the Explicit Message Connection on 0 Definition CAN ID 10 1987654321110 Identity Usage Range 1 0 Destination MAC 1 0 ID Master s Explicit Request Message Version 05 09 Page 12 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C 0A 10 05 01 09 00 00 1 Setting the Expected packet rate of the Polling Connection on 0 n Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C 0A 10 05 02 09 00 00 Release Master Slave Connection Set Release Polling Byte Offset Bit 7 Bie Bits Bi Bito Frag 0 MAC ID R R 0 Service 4C Class ID 03 Instance ID 01 Release Choice 03 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 41E 0A 4C 03 01 03 Version 05 09 Page 13 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 4 2 Change of State Mode The absolute rotary encoder sends data without position value is not changing This results in a any request from the host when the actual process reduced bus loading value is changing No telegram will occur when the Allocate Ma
23. sedan eer Ren 17 6 3 17 Power 18 7 1 Operating Mode 18 7 2 Programming sene 18 7 2 1 Operating 18 7 2 3 Total resolution ceecee 19 7 2 4 Preset Value 20 7 2 5 enint rite te tn 21 7 2 6 21 8 RsNetWorx 22 8 1 EDS Wizard deett 22 8 2 Driver 24 8 3 Network 26 Version 05 09 Page 3 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 1 Introduction Absolute rotary encoders provide a definite value for every possible position All these values are reflected on one or more code discs The beams of infrared LEDs are sent through code discs and detected by Opto Arrays The output signals are electronically amplified and the resulting value is transferred to the interface The absolute rotary encoder has a maximum reso lution of 65536 steps per revolution 16 Bit The Multi Turn version can detect up to 16384 revolu tions 14 Bit Therefore the largest resulting resolu tion is 30 1 073 741 82
24. ster Slave Connection Set Allocate COS Bit 7 Bit 6 Bit5 Bt4 Bt2 Bito Frag 0 XID ID R R 0 Service 4B Class ID 03 Instance ID 01 Allocation Choice 51 Byte Offset 0 Allocator MAC ID Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 41E 0A 4B 03 01 51 0A 2 Setting Expected packet rate of the Explicit Message Connection on 0 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C 0A 10 05 01 09 00 00 3 Setting Expected packet rate of the Change of State Connection on 0 Example CAN ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 41C 0A 10 05 04 09 00 00 Version 05 09 Page 14 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL Release Master Slave Connection Set Release COS Byte Offset Bit 7 Frag 0 XID R R 0 Service 4C Class ID 03 Instance ID 01 Release Choice 51 Bit 6 MAC ID Example CAN ID Byte 0 Byte 1 41E 0A 4C 03 4 3 Saving Parameter The parameters of the absolute rotary encoder are saved in a non volatile FLASH memory Because of a limited number of writing cycles 1 000 it is useful to transmit the modified parameter in the first step only in the RAM area After adjusting and ex Byte Bit 4 Offset 0 1 Frag 0 R R 0 Class ID 23 Instance ID 01 Service 32 Example MAC ID Master 0A hex MAC I
25. the attribute Ob hex 3 1 2 Resolution per revolution The parameter resolution per revolution is used to program the encoder to set a desired number of Attribute ID Default value 2C hex Value range see type shield Maximum resolution 12 24 Bit Encoder 1 000 hex 4096 13 25 Bit Encoder 2 000 hex 8192 When the value is set larger than 4096 8192 for a 13 25 Bit encoder the process value of the en coder will not be single stepped and values will be Version 05 09 Value range 0 hex 1hex Ohex 2000hex Page 9 Data Type Boolean Bit 0 Drehrichtung Ausgabecode Steigend Fallend 0 CCW steps per revolution Each value between 1 and the maximum see type shield can be realised Data Type Unsigned Integer16 So it is recom mended to keep the measuring steps per revolu tion below 4096 8192 measuring steps skipped while rotating the shaft UMUS OCD D2_05_09 doc POSITAL FRABA DEVICENET USER MANUAL 3 1 3 Total resolution This value is used to program the desired number of measuring steps over the total measuring range This value must not exceed the total resolution of the encoder with 24 bit 16 777 216 steps Attribute ID 2D hex Default value see type shield Maximum total resolution 24 Bit Encoder 1 000 000 hex 25 Bit Encoder 2 000 000 hex Attention The following formula letters will be used PGA Physical total resolution of the encoder
26. ved by 2 turn switches in the connection cap Possible ad dresses lie between 0 and 63 whereby every ad dress can only be used once 2 LEDs on the back side of the connection cap show the operating status of the encoder DeviceNet Devices BCD coded rotary switches Device adress 0 63 X1 Setting CAN node number x10 xBd Setting of the baud rate UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 6 2 Setting of the baudrate Baudrate in kBit s BCD coded rotary switches 125 0 250 1 500 2 125 3 reserved 4 9 6 3 Cabel Pin Signal Description Color 1 GND Black 2 CAN L CAN Bus signal dominant low Blue 3 CAN H CAN Bus signal dominant high White 4 V External voltage supply Vcc Red 6 3 Connector Pin Signal Description Color 2 V External voltage supply Vcc Red 3 GND Black 4 CAN H CAN Bus signal dominant high White 5 CAN L CAN Bus signal dominant low Blue Version 05 09 4 2 j NES N 5 connector 17 UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 7T Power On 7 1 Operating Mode After power on the absolute rotary encoder sends two times his MAC ID telegram on the bus 7 2 Programming If some parameters should not be modified you can format In the examples the CAN ID and MAC ID Skip over th
27. ytes as shown in the table below 2 1 The Object Dictionary Instance Attribute of the Position Sensor Objects Class Code Attribute 6F hex Get Set Version 05 09 23 hex Access Get Get Get Get Set Get Set Get Set Get Set Get Set Get Set Name Number of Attributes Attribute Position value Code sequence resolution per revolution total resolution preset value Baudrate MAC ID read write Data Type USINT Array of USINT DINT Boolean INT DINT DINT Page 7 Message Header Message Body 1 Byte 7 Byte Description Number of supported Attributes List of supported Attribute current position Controls the code sequence clockwise or counterclockwise resolution for one revolution total measurable resolution setting a defined position value Adjustment of the Baudrate Adjustment of the MAC ID UMUS OCD D2 05 09 doc POSITAL FRABA DEVICENET USER MANUAL 2 2 Definition of the CAN ID DeviceNet is based on the standard CAN protocol and used a 11Bit 2048 specifiable messages messages identifier For the identification of a device in a DeviceNet network are 6Bit enough the Message Group Message ID and the MAC ID of the device By our absolute rotary encoder it is a matter of a Group 2 Messages In the table below a user can because a network belongs 64 nodes That nodes see the importance
Download Pdf Manuals
Related Search