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1. OOOOOOOOOOOOOOOO O000000000000000 OO00000000000000 M pa DOOOOOOOOOOOOOOOO DOOOOOOOOOOOOOOOO DOOO0000000000000 OOO00000000000000 OO00000000000000 Q COOOO000000000000 COOOOOOOOOOOOOOOOO EJ 24V Note All modules must be pulse frequency or TC RTD mV modules for this configuration Wiring when total current draw is less than 10A Individual Digital Input incremental encoder Digital Input Digital Output Module Module Module Module O000000000000000 0000000000000000 0000000000000000 OOO0000000000000 papocoooooooooooooo poooooooooooooooo 20000000000000000 90000000900000000 OO00000000000000 9200000000000000 0 ROOO0000000000090 0 ROOOOOOOOOOOOOOO O E EJ 24V dc 24V dc DAV d Note Use this configuration if using any noisy dc digital I O modules in your system incremental encoder Module wiring separate from digital wiring Wiring when total current draw is greater than 10A Combination incremental encoder incremental encoder TC RTD mV incremental encoder Module Module Module Module 9 OOOOOOOOOOOOOOOO OOOOOOCOOOCOOOOOO OOOOOOOOOCOOOCOOOCO OOOOOOOCOOOOOOOOCO OOOCOOOCOOOOOCOOOCO DOOOCOOOOCOOOOO000 00000000000000000 OOO00000000000000 OOOOOOOOOOOOOO OOOOOOCOOOOOCOOOC OOOOOOOOOCOOOO00 OO0000000000000 O 24V dc 24V dc Note All modules powered by the same power supply must be pulse frequency or TC RTD mV modules for t
2. 6 5 Incremental Encoder Module 1794 102 Image Table Mapping 6 6 Bit Word Definitions for Block Transfer Read Words for the Pulse Counter Module 6 6 Chapter 7 Chapter Objective 7 1 Calibrating Your Module 7 1 Calibration Method 1 7 2 Calibration Method 2 7 3 Chapter 8 What This Chapter Contains 8 1 Status IndicalofS u cesta asss asas yaaa pasa 8 1 Whats Next yasa qaku 8 2 spese MP TC A 1 Publication 1794 UM015B EN P May 2001 iv Table of Contents Publication 1794 UM015B EN P May 2001 What This Chapter Contains How You Use the incremental encoder Module Chapter 1 Overview of the Incremental Encoder Module Read this chapter to familiarize yourself with the 1794 ID2 module For information on See page How You Use the incremental encoder Module 1 1 What the incremental encoder Module Does 1 2 Input Capabilities 1 3 How the incremental encoder 1 4 The 1794 ID2 module is an intelligent I O module designed to perform high speed pulse counting The module provides 2 pulse transmitter interfaces each with 4 optocoupled inputs Each input has and inputs for conn
3. ATTENTION If the module ambient temperature is expected to continuously exceed 40 C you must limit the input voltage using an external resistor on each input A 1K resistor effectively limits a 24V sensor signal to about 15V at the input Do not limit the input to less than 6V 2 Connect the associated input common to the corresponding odd numbered terminal on row C for each input as indicated in the table below 3 Connect 24V dc to terminal 34 on row C 4 Connect 24V dc common to terminal 16 on row B 5 If continuing power to the next terminal base unit connect a jumper from terminal 51 24V dc on this base unit to terminal 34 on the next base unit 6 If continuing common to the next terminal base unit connect a jumper from terminal 33 24V dc common on this base unit to terminal 16 on the next base unit Even Numbered Terminals 0 thru 14 SISISISISISISISISIS SISISISISISISISISIS Odd Numbered Terminals 1 thru 15 1794 TBN TBNF 16 0 2 4 6 8 10 12 14 33 B 34 1 3 5 7 9 11 13 15 51 Publication 1794 UM015B EN P May 2001 How to Install Your Incremental Encoder Module Wiring connections for the 1794 ID2 incremental encoder Module Terminal Base Units Terminal Base Units 1794 TB3 TB3S 1794 TBN TBNF ws Sms incremental Channel 0 incremental Channel 1 12 13 Terminals 16 and 33 1794 2 Terminals 16 and 33 Termina
4. Chapter 8 Troubleshoot the Incremental Encoder Module Use this chapter to troubleshoot the incremental encoder module by interpreting the indicators The module contains indicators for each of the following Allen Bradley 2 CH INCREMENTAL ENCODER MODULE w A Powerfstatus indicator indicates power applied to module and status of module Insertable label for writing individual assignments C Status Indicators A Status of input A B Status of input B Z Status of input Z G Status of input G Positive count detected Negative count detected Publication 1794 UM015B EN P 2001 8 2 Troubleshoot the Incremental Encoder Module What s Next Publication 1794 UM015B EN P May 2001 Indicator A OK Explanation Yellow Input A active Input A not active Yellow Input B active Input B not active Yellow Input Z active Input Z not active Yellow Input G active Input G not active Yellow On when a positive pulse is detected turns off on negative pulse Yellow On when a negative pulse is detected turns off on positive pulse Red during initialization after power turned on e s Ei E gt 3 2 a When an input indicator yellow is lighted it indicates that a valid signal active high or active low is present at one of the Input termin
5. System throughput from incremental encoder to backplane is a function of the configured minimum frequency sample time the number of channels actually configured for connection to a specific sensor 0 or 1 You can set the minimum frequency time during module configuration The selection influences the sample data rate thus affecting system throughput The number of channels included in each input scan also affects system throughput FLEX I O incremental encoder module data table mapping is shown below Incremental Encoder Module 1794 102 Image Table Mapping Module Image C Fk ce neo Publication 1794 UM015B EN P May 2001 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter Octal Bit Dec Bit Word Block Transfer Read Word Assignments for the Incremental Encoder Module 1794 ID2 sepe pese e e ps 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Read s Te Ta S 2 w 2 Where i O oJ wf ro 8 A0 Status of input A channel 0 bit 1 when input is on B0 Status of input B channel 0 bit 1 when input is on Z0 Status of input Z channel 0 bit 1 when input is on GO Status of input G channel 0 bit 1 when input is on G1 Status of input G channel 1 bit 1 when input is on A1 Status of input A channel 1 bit 1 when input is on B1
6. As Allen Bradley FLEX 2 Input Incremental User Encoder Module Man ual Cat No 1794 ID2 Series B 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 example Since there are many variables and requirements associated with any particular installation Allen Bradley does not assume responsibility or liability to include intellectual property liability for actual use based upon the examples shown in this publication Allen Bradley publication SGI 1 1 Safety Guidelines For The Application Installation and Maintenance of Solid State Control available from your local Allen Bradley office describes some important differences between solid state equipment and electromechanical devices which 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 Allen Bradley Company Inc is prohibited Throughout this
7. May 2001 6 10 Input Output and Configuration Files for Analog Modules when used with ControlNet Configuration Word Definition Word 0 Channel 0 Control Word Control word for setting the function of counter 0 Bits 00 02 0 ot foo Mode Selection bits ojojo Counting on positive rising edge of input signal A Up dwn counting determined B Quadrature encoder X1 Quadrature encoder X2 t Quadrature encoder X4 Ur Counting up on the positive edge of input signal A and down on positive edge of input signal B count function 1 1 0 No count function No count function Bit 03 Preset Reset bit A positive edge on this bit moves the value in Preset X to Counter X independent of Preset Enable NOTE To use Preset as Reset use a count value of 0000 in the Preset value word Bit 04 Enable Z Preset bit When this bit is set 1 a positive edge on Z preloads Counter X Preset X independent of Cal Enable NOTE If Z is configured to do Store and Preset Reset the Store will occur first Bit 05 Count Enable bit When this is set 1 the pulse counter is enabled Bits 06 08 Calibration Control bits bits 06 07 and 08 06 10 106 Enable bit When this bit is set 1 the counter be calibrated 07 Direction bit When this bit set 1 calibration is performed in a negative direction when reset 0 calibration is performed in a positive directio
8. Mode Selection bits Counting on positive rising edge of input signal Up dwn counting determined by B ft Quadrature encoder X1 o1 jo Quadrature 2 Quadrature 4 1 Counting the positive edge of input signal A down positive edge of input signal B fi fo No count function fi ft No count function ppp No count function Bit 03 Preset bit A positive edge on this bit moves the value in Preset X to Counter X independent of Preset Enable Bit 04 Preset Enable bit When this bit is set 1 a positive edge on Z preloads Counter X Preset X independent of Cal Enable Bit 05 Count Enable bit When this is set 1 the pulse counter is counting Bits 06 08 Calibration Control bits bits 06 07 and 08 06 10 106 Enable bit When this bit is set 1 the counter can be calibrated 07 Direction bit When this bit set 1 calibration is performed in a negative direction when reset 0 calibration is performed in a positive direction ii Reset bit Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit Bits 09 10 10 09 Gate Control bits gate function G Counting only if G is high active Counting only if G is low inactive Calibration if G is high active and 29 Bits 11 12 E Store Control bits These bits will trigger a Store only if the c
9. incorrect module inserted in a slot position the slot is empty the slot contains a non discrete module The ControlNet adapter provides storage for alternate module output data during communication faults or processor idle state This safe state data assures that a known output will be applied to the output devices to maintain a previously designated safe operating condition during the previously mentioned failure modes The processor or scanner software must include the means to specify this safe state data for each module If applicable this data is sent in the configuration block see Image Table Mapping later in this chapter Device actions include communication fault behavior idle state behavior input data behavior upon module removal Input Output and Configuration Files for Analog Modules when used with ControlNet 6 5 Communication Fault Behavior You can configure the adapter response to a communication fault for each I O module in its system Upon detection of a communication fault the adapter can leave the module output data in its last state hold last state reset the module output data to zero reset apply safe state data to the module output Idle State Behavior The ControlNet adapter can detect the state of the controlling processor or scanner Only 2 states can be detected run mode or program mode idle When run mode is detected the adapter copies the output data received
10. job aids and workstations training needs analysis Repair and Exchange Services your only authorized source current revisions and enhancements worldwide exchange inventory local support Publication 1794 UM015B EN P May 2001 g Rociwell Automation Allen Bradley a Rockwell Automation Business has been helping its customers improve productivity and quality for more than 90 years We design manufacture and support a broad Allen Bradley range of automation products worldwide They include logic processors power and motion control devices operator interfaces sensors and a variety of software Rockwell is one of the world s leading technology companies Worldwide representation J Argentina e Australia Austria e Bahrain e Belgium e Brazil e Bulgaria e Canada e Chile China PRC e Colombia e Costa Rica e Croatia e Cyprus Czech Republic Denmark Ecuador e Egypt El Salvador e Finland e France e Germany e Greece e Guatemala e Honduras e Hong Kong Hungary e Iceland e India Indonesia Ireland Israel Italy e Jamaica Japan e Jordan e Korea e Kuwait Lebanon Malaysia e Mexico e Netherlands e New Zealand e Norway e Pakistan e Peru Philippines e Poland e Portugal e Puerto Rico e Qatar e Romania Russia CIS e Saudi Arabia e Singapore e Slovakia e Slovenia e South Africa Republic e Spain Sweden e Switzerland e Taiwan Thailand e Turkey e United Arab Emirates e
11. out of phase The minimum stable input condition is 2us The following paragraphs detail operation of the incremental encoder module Each of the 2 counters has a 16 bit counter register a preset register and a latch register Variables Communication between the counter module and the control system uses variables accessible in the control system program These variables include acounter register Counter a preset register PresetValue alatch register LatchValue Signal registers and control words are used to set parameters for the counter configuration The control word sent to the incremental encoder module can be read back to the control system allowing verification that one I O scan been performed since the cycle has been initiated Start Counting The control bit CounterEnable enables counting It must be set to 1 to enable counting and all other functions Selecting the incremental encoder and up down counting Depending on the incremental encoder the module can be set in different counter modes The parameter is set using a 3 digit code in write word 1 or 2 depending on the channel control word Mode Selection Bit o for o Mode Selection bits Counting on positive rising edge of input signal A Up dwn counting determined by B Quadrature encoder X1 Quadrature encoder X2 i Quadrature encoder X4 Counting up on the positive edge of input signal A and down on positive edge of input si
12. 1 when an error is detected in slot position 0 This bit is set 1 when an error is detected in slot position 1 This bit is set 1 when an error is detected in slot position 2 e This bit is set 1 when an error is detected in slot position 3 Module Fault This bit is set 1 when an error is detected in slot position 4 This bit is set 1 when an error is detected in slot position 5 This bit is set 1 when an error is detected in slot position 6 7 This bit is set 1 when an error is detected in slot position 7 This bit is set 1 when the node address switch setting has been changed since power up Bit 0 idle Bit 1 run 10thru 15 Not used sent as zeroes Node Address Changed I O State Possible causes for an I O Module Fault are transmission errors on the Flex I O backplane failed module module removed from its terminal base incorrect module inserted in a slot position the slot is empty The node address changed bit is set when the node address switch setting has been changed since power up The new node address does not take affect until the adapter has been powered down and then powered back up Publication 1794 UM015B EN P May 2001 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter 5 3 System Throughput Mapping Data into the Image Table Image Input Size 1 to 8 Words Output Size 0 to 7 Words
13. 6 6 walllpanel mounting 2 6 example 6 2 wiring methods of 2 3 lanation 6 2 expanaton 8 wiring connections 2 9 1794 ID2 2 12 word assignments block transfer read 4 3 5 4 block transfer write 4 5 5 4 Message instructions 6 2 module fault 5 2 module installation 2 7 mounting on terminal base 2 7 mounting kit cat no 1794 NM1 2 6 MSGs See Message instructions 0 optimal defaults 5 8 P panel wall mounting 2 6 PLC 2 family processor block transfer programming 3 2 PLC 5 family processor block transfer programming 3 2 polled I O structure 5 1 6 3 power defaults 5 8 R removing and replacing under power RIUP 2 8 sample program PLC 5 3 2 software DeviceNetManager 5 1 status indicators 2 14 system throughput 5 3 T terminal bases compatible 2 9 troubleshooting 8 1 Allen Bradley ZU Publication Problem Report If you find a problem with our documentation please complete and return this form Pub 2 Channel Incremental Encoder Module User Manual Cat _ 1794 102 Pub _ 1794 0 015 Pub Date May 2001 Part Check Problem s Describe Problem s Internal Use Only Technical Accuracy C text illustration Completeness procedure step illustration definition info in manual What information is missing L
14. BTR STATUS B3 5 1 BTR DONE BIT CHECK BTR STATUS B3 0 B3 5 U 13 1 BTR ERROR B3 0 12 Meus COP FILE 0 SOURCE M1 1 200 DEST B3 10 LENGTH 4 CHECK BTW STATUS B3 15 1 BTW DONE BIT CHECK BTW STATUS B3 10 B3 15 U 13 1 BTW ERROR BIT B3 10 12 Programming Your Incremental Module 3 5 Program Action BTR E BIT COP 0005 FILE 13 SOURCE M1 1 110 When a BTR successfully completes and the DEST N7 0 done bit is detected the BTR data is copied LENGTH 8 into the N7 0 to N7 7 area BTR PENDING B3 5 U 0 BTR ENABLE BIT B3 100 U 15 CHECK BTR STATUS B3 5 L 1 BTR a BIT MOV Whe a BTR error occurs the error code is 0006 MOVE moved to N7 9 12 SOURCE M1 1 103 6 DEST N7 6 0 lt BTR PENDING B3 5 U 0 BTR ENABLE BIT B3 100 U 15 CHECK BTR STATUS B3 5 L 1 BTW DONE BIT BTW PENDING B3 10 B3 15 0007 When a BTW successfully completes and the done bit is detected the BTR data is copied into the N7 0 to N7 7 area 0 BTW ENABLE BIT B3 110 U 15 CHECK BTW STATUS B3 15 L 1 To next page Publication 1794 UM015B EN P 2001 3 6 Programming Your Incremental Encoder Module Program Action BIW ERROR BIT MOV B3 10 0008 MOVE When a BTW occurs the error code is moved 12 SOURCE M1 1 203 to N7 17 6 DEST N7 17 0 lt BTW PENDING B3 15 U 0 BTW ENABLE BIT B3 110 U 15 CHECK BTW STATUS B3 15 L 1 BTR ENABLE BIT BTR DONE BIT BTR ERROR BIT BTR PE
15. United Kingdom e United States e Uruguay Venezuela e Yugoslavia Allen Bradley Headquarters 1201 South Second Street Milwaukee WI 53204 USA Tel 1 414 382 2000 Fax 1 414 382 4444 Publication 1794 UM015B EN P May 2001 Supersedes publication 1794 6 5 15 December 1998 Copyright 2001 Allen Bradley Company Inc Printed in USA
16. calibrated reset by CalReset C1 Cal 1 when bit is set counter 1 has been calibrated reset by CalReset 0 Stored 0 when bit is set counter 0 value has been saved in Store 0 reset by StoreReset 1 Stored 1 when bitis set counter 1 value has been saved in Store 1 reset by StoreReset Once a Store occurs 10 and L1 are on until cleared by StoreReset counter word bit 14 PRO Preset 0 reached when bit is set counter 0 has reached value of preset reset by PresetReset PR1 Preset 1 reached when bit is set counter 1 has reached value of preset reset by PresetReset Bit Word Definitions for Block Transfer Read Words for the Incremental Encoder Module a Definition Bit 00 Status for input A pulse transmitter 0 This bit when set indicates a signal at A Status for input B pulse transmitter 0 This bit when set indicates a signal at B T Bit 02 Status for input Z pulse transmitter 0 This bit when set indicates a signal at Z or Bit 03 Status for input G pulse transmitter 0 This bit when set indicates a signal at G Bit 04 Status for input A pulse transmitter 1 This bit when set indicates a signal at A Bit 05 Status for input B pulse transmitter 1 This bit when set indicates a signal at B Publication 1794 UM015B EN P May 2001 4 4 Writing Configuration to and Reading Status from Your Module with a Remote Adapter Read Word Definition Bit 06 Status for input Z pulse transm
17. chapter you learned about the incremental encoder module block transfer communication and details of how the module functions Now you can install the module 2 Install the ID2 Module Publication 1794 UM015B EN P May 2001 Chapter 2 What This Chapter Contains Before You Install Your Input Module European Union Directive Compliance How to Install Your Incremental Encoder Module In this chapter we tell you about For information on See page Before You Install Your Module 2 1 European Union Directives 2 1 Power Requirements ecl ne 2 2 Installing the Module 2 4 OmaDINTAI 1 netta erm d 2 4 onawallpanel 2 6 the terminal 2 7 Connecting Wiring 0 eee eee eee eee 2 9 Module Indicators 2 14 Before installing your incremental encoder module in the FLEX I O system You need to As described under Calculate the power requirements of all modules in each FLEX system Power Requirements page 2 2 Position the keyswitch on the terminal base Installing the Module page 2 4 ATTENTION The incremental encoder module does not receive power from the backplane 24V dc power must be applied to your module before installation If power is not applied the module position will appear t
18. code Publication 1794 UM015B EN P May 2001 5 6 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter Write 0 15 0 17 Control 0 Control word for setting the function of counter 0 Word 1 Bits 00 02 02 01 foo Mode Selection bits ojojo Counting on positive rising edge of input signal A Up dwn counting determined by B o 0 Quadrature encoder X1 Quadrature encoder X2 Quadrature encoder X4 1 o Counting up on the positive edge of input signal A and down on positive edge of input signal B aop No count function count function Pa a a No count function Bit 03 Preset Reset bit A positive edge on this bit moves the value in Preset X to Counter X independent of Preset Enable NOTE To use Preset as Reset use a count value of 0000 in the Preset value word Bit 04 Enable Z Preset bit When this bit is set 1 a positive edge on Z preloads Counter X Preset X independent of Cal Enable NOTE If Z is configured to do Store and Preset Reset the Store will occur first Count Enable bit When this is set 1 the incremental is enabled Bits 06 08 Calibration Control bits bits 06 07 and 08 06 10 06 Enable bit When this bit is set 1 the counter can be calibrated 07 Direction bit When this bit set 1 calibration is performed in a negative direction when reset 0 calibration is performed in a p
19. counter value on the negative edge of G if Stored X 0 afi Save the counter value on the positive edge and negative edge of G if Stored X 0 Rollover bit When set 1 the counter counts up to the preset and then restarts at 0 If this bit is reset 0 not rollover the rollover preset value FFFF hex 65535 decimal Bit 14 16 Store Reset bit A positive edge on this bit resets Stored X in Signals Bit 15 17 Store Reset bit A positive edge this bit resets Preset Reached in Signals Write Bits 00 15 Preset 0 Value to load or compare with counter 0 Word 3 00 17 Write Bits 00 15 Preset 1 Value to load or compare with counter 1 Word 4 00 17 Publication 1794 UM015B EN P May 2001 5 8 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter Word Definition Word5 Filter Selection Bit 00 Filter AO enable When this bit is set 1 anda counter 0 is in mode 000 pulse counting signal A0 is filtered by a digital low pass filter with selectable filter constant Filter 1 enable When this bit is set 1 anda counter 1 is in mode 000 pulse counting signal 1 is filtered by a digital low pass filter with selectable filter constant Bit 02 07 Unused Bits 08 09 09 n Filter Constant bits This constant is common to both counters 10 11 ojo 73 5kHZ or minimum 0 007ms pulsewidth 37 8kHz or minimum 0 013 5 pulsewidth EBEN 12 8kHz o
20. example guideline L feature accessibility C explanation other _ info not in manual Clarity What is unclear L Sequence What is not in the right order L Other Comments Use back for more comments Your Name Location Phone Return to Technical Communications Rockwell Automation 1 Allen Bradley Drive Mayfield Hts OH 44124 6118 Phone 440 646 3176 FAX 440 646 3525 Publication ICCG 5 21 August 1995 PN 955107 82 PLEASE FASTEN HERE DO NOT STAPLE Other Comments PLEASE FOLD HERE POSTAGE WILL PAID THE ADDRESSEE Rockwell Automation Allen Bradley 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124 9705 Publication 1794 UM015B EN P May 2001 NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES PLEASE REMOVE Support Services At Allen Bradley customer service means experienced representatives at Customer Support Centers in key cities throughout the world for sales service and support Our value added services include Technical Support SupportPlus programs telephone support and 24 hour emergency hotline software and documentation updates technical subscription services Engineering and Field Services application engineering assistance integration and start up assistance field service maintenance support Technical Training lecture and lab courses self paced computer and video based training
21. u de RT cet 5 3 Mapping Data into the Image Table 5 3 Incremental Encoder Module 1794 ID2 Image Table Mapping 5 3 Block Transfer Read Word Assignments for the Incremental Encoder Module 1794 ID2 5 4 Block Transfer Write Word Assignments for the Incremental Encoder Module 1794 102 5 4 Bit Word Definitions for the incremental encoder Module 1794 ID2 5 5 Ee RN 5 8 Input Output and Configuration Files for Analog Modules when used with ControlNet Calibrating Your Incremental Encoder Module Troubleshoot the Incremental Encoder Module Specifications Table of Contents ili Chapter 6 Chapter Objectives 6 1 About the ControlNet 6 1 Scheduled Data Transfer 6 2 Unscheduled Data Transfer 6 2 Module I O 6 2 VO Structure 6 3 Adapter Input Status Word 6 3 Safe State Data ECRXRAZT ERA DAR RC RR 6 4 Device Actions 0 cece 6 4 Communication Fault Behavior 6 5 Idle State Behavior 6 5 Input Data Behavior upon Module Removal
22. via the DeviceNet network You must understand how DeviceNetManager software works in order to add a device to the network Refer to the DeviceNetManager Software User Manual publication 1787 6 5 3 Output data is received by the adapter in the order of the installed modules The Output data for Slot 0 is received first followed by the Output data for Slot 1 and so on up to slot 7 The first word of input data sent by the adapter is the Adapter Status Word This is followed by the input data from each slot in the order of the installed I O modules The Input data from Slot 0 is first after the status word followed by Input data from Slot 2 and so on up to slot 7 DeviceNet Adapter Read Data Adapter Status Slot 0 Input Data Network READ Slot 1 Input Data Slot 7 Input Data gt Write Data Slot 0 Output Data Slot 1 Output Data Slot 7 Output Data Publication 1794 UM015B EN P May 2001 5 2 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter Adapter Input Status Word The input status word consists of e 1 O module fault bits 1 status bit for each slot node address changed 1 I O status 1 bit 1 0 Module Fault Bits ere se eh Bit 15 10 through 15 8 7 2 a 1 ws State Bit Node Address Changed Bit The adapter input status word bit descriptions are shown in the following table Bit Description Explanation This bit is set
23. 0 at startup Bit 15 17 0 last pulse decreased counter value 1 last pulse increased counter value Word 1 Bits 00 15 Store 0 Saved counter value on channel 0 00 17 Word 2 Bits 00 15 Store 1 Saved counter value on channel 1 00 17 Word 3 posta Channel 0 Current Counter Value Current value in counter 0 Word 4 j Channel 1 Current Counter Value Current value in counter 1 Bits 00 15 Word 5 00 17 Channel 0 Readback Counter word readback last value written to write word 0 Bits 00 15 Word 6 00 17 Channel 0 Readback Counter word readback last value written to write word 1 Word 7 Bits 00 15 Revision Read identification of latest software version code 00 17 Publication 1794 UM015B EN P May 2001 Writing Configuration to and Reading Status from Your Module with a Remote Adapter 4 5 Block Transfer Write Word Assienments for the Incremental Encoder Module oao w e 6 e w Tv T Dec Bit 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Word Write 0 Channel 0 Control Word Sets the function of counter 0 1 Channel 1 Control Word Sets the function of counter 1 2 Channel 0 Preset value to load or compare with counter 0 3 Channel 1 Preset value to load or compare with counter 1 4 Control Word 2 Sets the filter function for both counters Bit Word Definitions for the Block Transfer Write Words for the Incremental Encoder Module Write Word Definition
24. 5 10 Summary This preface gave you information on how to use this manual efficiently The next chapter introduces you to the frequency module Publication 1794 UM015B EN P May 2001 4 Using This Manual Publication 1794 UM015B EN P May 2001 Overview of the Incremental Encoder Module How to Install Your Incremental Encoder Module Table of Contents Chapter 1 What This Chapter Contains 1 1 How You Use the Incremental Encoder Module 1 1 What the Incremental Encoder Does 1 2 Typical Applicati fiS 1 3 Input CapablliliBS ede ewes 1 3 How the Incremental Encoder Operates 1 4 TM 1 4 Start COUn NJ 1 4 Selecting the incremental encoder and up down counting 1 4 Up Down Counting Controlled by B Input 1 5 Up Down Counting using Pulses at Inputs AandB 1 5 Count Pulses from Incremental Encoders 1 6 Preset FUNCOM ate dee cua ea ee eda aces 1 7 aq 1 7 Gale Function EE uda 1 7 Store PUNCHON ao oorr repperi dam 1 8 Limit ation PF uuu ua ba 1 8 Chapter SUmmary paqaspa saam sa giaa 1 9 Chapter 2 What This Chapter C
25. G 1 and all other conditions are fulfilled refer to Calibrating the Module chapter Gate Control 1 Example G 1 ATLL The counter is counting if G 1 Counter Register Publication 1794 UM015B EN P May 2001 1 8 Overview of the Incremental Module Publication 1794 UM015B EN P May 2001 Word 1 or 2 Store Function Use the store function to copy the value in the counter register Counter to the latch register StoreValue The StoreControl parameter determines the store function Execution occurs on either the positive or negative of input signals G and Z respectively see table The parameter 15 2 bit binary code in write word 1 bits 11 and 12 Bits Binay 12 11 Store Control bits TAE _ Save the counter value the positive edge of Z if Stored X 0 1 Save the counter value on the positive edge of G if Stored X 0 2 1 Save the counter value on the negative edge of G if Stored X 0 3 1 Save the counter value on both the positive edge and negative edge of G if Stored X 0 The parameter Stored must be reset 0 Stored is set 1 when the operation is completed Reset after the operation with StoreReset Example Store Control 1 Counter Register Stored 0 The counter value is copied to the store register on the positive edge input signal G Latched 1 Store Register Limitation Function If the contr
26. Information The vibration specifications for this module have been updated The specification is as follows Environmental Conditions Operational Temperature 0 to 55 C 32 to 131 F Note Do not connect maximum input voltage simultaneously to all inputs if the module ambient temperature is expected to exceed 40 40 to 85 C 40 to 185 5 to 90 noncondensing operating 5 to 80 noncondensing nonoperating 300 peak acceleration 11 1 ms pulse width 50g peak acceleration 11 1 ms pulse width Tested 50g 10 500Hz per IEC 68 2 6 Storage Temperature Relative Humidity Shock Operating Nonoperating Vibration Publication 1794 UM015B EN P May 2001 soc ii Summary of Changes Publication 1794 UM015B EN P May 2001 Purpose of this Manual Audience Vocabulary Manual Organization Preface Using This Manual This manual shows you how to use your FLEX I O pulse counter module with Allen Bradley programmable controllers The manual helps you install program and troubleshoot your module You must be able to program and operate an Allen Bradley programmable controller to make efficient use of your FLEX I O module In particular you must know how to program block transfers We assume that you know how to do this in this manual If you do not refer to the appropriate programming and operations manual before you attempt to program your modules In this manual we refer to the pulse counter mo
27. NDING B3 100 B3 0 B3 5 0009 L This rung executes BTRs continuously as fast 15 13 12 0 as possible BTR ENABLE BIT B3 100 L 15 TRIGGER BTW BTW FOR ENABLE DONE ERROR COP BIW BIT BIT COPY FILE B7 20 B3 110 B3 10 B3 10 SOURCE N7 10 000 e E E DEST M1 1 210 One BTW is triggered at power up Four words of 0 15 13 12 LENGTH 7 data starting at N7 10 is sent to the 1794 ID2 module BTW ENABLE BIT B3 110 t 15 BTW PENDING B3 15 L 0 To next page Publication 1794 UM015B EN P May 2001 Program Action This BTR control word is moved to the M0 file for the scanner module while the BTR is in progress until the enable done and error bits are turned off This BTW control word is moved to the file for the scanner module while the BTW is in progress until the enable done and error bits are turned off 0011 0012 0013 Programming Your Incremental Encoder Module 3 7 BTR CONTROL BIR 5 MOV MOVE 15 SOURCE B3 100 00000001000000 lt BTR DONE BIT DEST M0 1 100 B3 0 13 BTR ERROR BIT B3 0 BTW CONTROL MOV BTW ENABLE BIT B3 110 MOVE 15 SOURCE B3 110 00000000000000 BTW DONE BIT DEST 0 1 200 7 lt B3 10 13 BTW ERROR BIT B3 10 Publication 1794 UM015B EN P May 2001 3 8 Programming Your Incremental Encoder Module Cha pter Summary In this chapter you learned how to program your 102 incremental encoder
28. NFIG Addendum utility to configure this module IOCONFIG Addendum uses menu based screens for configuration without having to set individual bits in particular locations Refer to your 6200 software literature for details Important It is strongly recommended that you use IOCONFIG Addendum to configure this module The IOCONFIG Addendum utility greatly simplifies configuration If the IOCONFIG Addendum is not available you must enter data directly into the data table Use this chapter as a reference when performing this task Publication 1794 UM015B EN P May 2001 4 2 Writing Configuration to and Reading Status from Your Module with a Remote Adapter During normal operation the processor transfers from 1 to 4 words to the module when you program a BTW instruction to the module s address Reading Data From Your Read programming moves status and data from the frequency input Module module to the processor s data table in one I O scan The processor s user program initiates the request to transfer data from the incremental encoder module to the processor Mapping Data for the The following read and write words and bit word descriptions Module describe the information written to and read from the incremental encoder module The module uses up to 8 words of input data and up to 5 words of output data Each word is composed of 16 bits Incremental Encoder Module 1794 ID2 Image Table Mapping Module Image yom Probe
29. Preset Reached 1 PRO When this bit is set 1 in all configuration modes the counter 1 value equals the preset 1 value either in a positive or negative direction This bit is reset by PresetReset1 and can only be set again after at least 1 more pulse Not used set to 0 Store 0 Saved counter value on channel 0 Store 1 Saved counter value on channel 1 Channel 0 Current Counter Value Current value in counter 0 Channel 1 Current Counter Value Current value in counter 1 Channel 0 Readback Counter word readback Channel 0 Readback Counter word readback Software identification Publication 1794 UM015B EN P May 2001 6 8 Input Output and Configuration Files for Analog Modules when used with ControlNet Output Word K Definition Word 0 Channel 0 Control Word Control word for setting the function of counter 0 Bits 00 02 0 or Mode Selection bits ojojo Counting on positive rising edge of input signal A Up dwn counting determined by Quadrature encoder X1 0 Quadrature encoder 2 ofif Quadrature encoder X4 1 0 o Counting up on the positive edge of input signal A and down on positive edge of input signal B aop count function count function No count function Bit 03 Preset Reset bit A positive edge on this bit moves the value in Preset X to Counter X independent of Preset Enable NOTE To use Preset as Reset use a count value of 0000 i
30. Status of input B channel 1 bit 1 when input is on Z1 Status of input Z channel 1 bit 1 when input is on Channel 0 Stored counter value on channel 0 Channel 1 Stored counter value on channel 1 Channel 0 current counter value on channel 0 Channel 1 current counter value on channel 1 Channel 0 Counter word 0 readback Channel 1 Counter word 1 readback Revision read software version code Cal 0 when bit is set counter 0 has been calibrated reset by CalReset C1 Cal 1 when bit is set counter 1 has been calibrated reset by CalReset S0 Stored 0 when bit is set counter 0 value has been saved in Store 0 reset by StoreReset 1 Stored 1 when bit is set counter 1 value has been saved in Store 1 reset by StoreReset Once a Store occurs 10 and L1 are on until cleared by StoreReset counter word bit 14 PRO Preset 0 reached when bit is set counter 0 has reached value of preset reset by PresetReset PR1 Preset 1 reached when bit is set counter 1 has reached value of preset reset by PresetReset Block Transfer Write Word Assignments for the Incremental Encoder Module 1794 ID2 seme asus wae feo a rm Word 1 Q cJ 6 7 Publication 1794 UM015B EN P May 2001 Write Channel 0 Control Word control word for setting the function of counter 0 Channel 1 Control Word control word for setting the function of counter 1 Channel 0 Preset value to load or comp
31. V dc to terminal 34 on the 34 51 row C 5 Connect dc return to terminal 16 on the 16 33 row B ATTENTION reduce susceptibility to noise power frequency modules and digital modules from separate power supplies Do not exceed a length of 33 ft 10m for dc power cabling 6 If continuing power to the next terminal base unit connect a jumper from terminal 51 24 dc on this base unit to terminal 34 on the next base unit 7 If continuing common to the next terminal base unit connect a jumper from terminal 33 common on this base unit to terminal 16 on the next base unit ATTENTION Do not daisy chain power or ground from this terminal base unit to any ac or dc digital module terminal base unit ATTENTION This module does not receive power from the backplane 24V dc power must be applied to your module before operation If power is not applied the module position will appear to the adapter as an empty slot in your chassis If the adapter does not recognize your module after installation is completed cycle power to the adapter How to Install Your Incremental Encoder Module 2 11 Wiring to a 1794 TBN or TBNF Terminal Base Unit 1 Connect individual input wiring A B Z Z G G to the even numbered terminals on row B as indicated in the table below ATTENTION Do not connect maximum input voltage simultaneously to all inputs if the module ambient temperature is expected to exceed 40 C
32. What This Chapter Contains 3 1 Enter Block Transfer Instructions 3 1 PLC 2 Family Processor 3 2 PLC 5 Family Processor 3 2 SLC 5 Programming 3 3 Chapter Summary 3 8 Chapter 4 What This Chapter Contains 4 1 Configuring Your Incremental 4 1 Reading Data From Your Module 4 2 Mapping Data for the Module 4 2 Incremental Encoder Module 1794 102 Image Table Mapping 4 2 Block Transfer Read Word Assignments for the Incremental Encoder Module 1794 102 4 3 Bit Word Definitions for Block Transfer Read Words for the Incremental Encoder Module 4 3 Block Transfer Write Word Assignments for the Incremental Encoder Module esce cas wea a eR EUER HR 4 5 Bit Word Definitions for the Block Transfer Write Words for the Incremental Encoder Module 4 5 Chapter Summary 4 7 Chapter 5 What This Chapter Contains 5 1 About DeviceNetManager Software 5 1 Polled SIDICTIB 5 1 Adapter Input Status Word 5 2 System MMOUQNPUL ul u u
33. Write 0 15 0 17 Channel 0 Control Word Control word for setting the function of counter 0 Word 0 e es Bits 00 02 0 or foo Mode Selection bits ojojo Counting on positive rising edge of input signal A Up dwn counting determined by B ojoj Quadrature encoder X1 oO Quadrature encoder X2 Quadrature 4 Counting up on the positive edge of input signal A and down on positive edge of input signal count function Pi 1 jo No count function Pa ft it No count function Bit 03 Preset Reset bit A positive edge on this bit moves the value in Preset X to Counter X independent of Preset Enable NOTE To use Preset as Reset use a count value of 0000 in the Preset value word Bit 04 Enable Z Preset bit When this bit is set 1 a positive edge on Z preloads Counter X Preset X independent of Cal Enable NOTE If Z is configured to do Store and Preset Reset the Store will occur first Bit 05 Count Enable bit When this is set 1 the incremental encoder is enabled Bits 06 08 Calibration Control bits bits 06 07 and 08 06 10 106 Enable bit When this bit is set 1 the counter be calibrated 07 Direction bit When this bit set 1 calibration is performed in a negative direction when reset 0 calibration is performed in a positive direction 08 Reset Calibration is acknowledged and new calibration is enabled on a positive edg
34. al encoder module and your PLC processor you must enter block transfer Instructions into your ladder logic program Use this chapter to enter the necessary block transfer instructions into your ladder logic program To edit your ladder logic you See page Enter Block Transfer Instructions 3 1 PLC 2 Family Processors 3 2 PLC 5 Family Processors 3 2 SLC 5 Processors 3 3 The incremental encoder module communicates with the PLC processor through bidirectional block transfers This is the sequential operation of both read and write block transfer instructions Before you configure the module you need to enter block transfer instructions into your ladder logic The following example programs illustrate the minimum programming required for communication to take place between the module and a PLC processor These programs can be modified to suit your application requirements A configuration block transfer write BTW is initiated when the module is first powered up and subsequently only when the programmer wants to enable or disable features of the module The configuration BTW sets the bits which enable the programmable features of the module such as scalars and alarm values etc Block transfer reads are performed to retrieve information from the module Block transfer read BTR programming moves status and data from the module to the
35. als To find out more about the ID2 module See appendix A A For Specifications gt specifications on the ID2 module Appendix A Specifications Specifications 1794 ID2 2 Input Incremental Encoder Module Input Specifications Number of Counters Number of Inputs per Counter Input Pulse Width minimum Counting Frequency Input Range Input ON Input OFF Input Current typical General Specifications Module Location Isolation Voltage Flexbus Current Power Supply Current consumption from external power supply Power Dissipation Thermal Dissipation Indicators field side driven logic side indication Keyswitch Position Dimensions Inches Millimeters 2 4 inputs A B Z G Each signal condition must be stable for at least 2us to be recognized 100KHz maximum Maximum 26 4V dc 24V dc 41096 Minimum 6V dc Maximum 3V dc Minimum 26 4V dc 3mA 6V dc 9mA 9 12V dc 15mA 9 24V dc Cat No 1794 TB3 TB3S TBN TBNF Terminal Base 500V dc 0 9 5V dc 12 24V dc 10 150mA 9 12V dc 75mA 24V dc 5W maximum 9 26 4V dc Maximum 17 1 BTU hr 9 26 4V dc 1 green red power status indicator 12 yellow status indicators logic side 1 1 8H x 3 7W x 2 10 45 7 x 94 0 x 53 3 Specifications continued on next page Publication 1794 UM015B EN P May 2001 2 Specifications Publication 1794 UM015B EN P May 2001 Specifications 1794 ID2 2 Input Inc
36. are with counter 0 Channel 1 Preset value to load or compare with counter 1 Control Word 2 control word for setting the filter function of boath counters Not used Word Read Word 1 Read Word 2 Read Word 3 Read Word 4 Read Word 5 Read Word 6 Read Word 7 Read Word 8 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter 5 5 Bit 00 Bit 02 Bit 03 Bit 04 Bit 05 Bit 06 Bit 07 Bit 08 10 Bit 09 11 Bit 10 12 Bit 11 13 Bit 12 14 Bit 13 15 Bit 14 15 16 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Bit Word Definitions for the incremental encoder Module 1794 ID2 Definition Status for input A pulse transmitter 0 This bit when set indicates a signal at A Status for input B pulse transmitter 0 This bit when set indicates a signal at B Status for input Z pulse transmitter 0 This bit when set indicates a signal at Z Status for input G pulse transmitter 0 This bit when set indicates a signal at G Status for input A pulse transmitter 1 This bit when set indicates a signal at A Status for input B pulse transmitter 1 This bit when set indicates a signal at B Status for input Z pulse transmitter 1 This bit when set indicates a signal at Z Status for input G pulse transmitter 1 Th
37. ble for explanations of the degrees of protection provided by different types of enclosure The wiring of the terminal base unit is determined by the current draw through the terminal base Make certain that the current draw does not exceed 10A ATTENTION Total current draw through the terminal base unit is limited to 10 Separate power connections may be necessary How to Install Your Incremental Encoder Module Methods of wiring the terminal base units are shown in the illustration below Wiring the Terminal Base Units 1794 TB3G shown ATTENTION Do not daisy chain power or ground from the terminal base unit to any or dc digital module terminal base unit Daisy chaining incremental incremental TC RTD mV incremental encoder Module Module Module Module
38. ceNetManager software to configure your adapter refer to the DeviceNetManager Software User Manual publication 1787 6 5 3 Publication 1794 UM015B EN P May 2001 5 10 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter Publication 1794 UM015B EN P May 2001 Chapter 6 Input Output and Configuration Files for Analog Modules when used with ControINet Chapter Objectives In this chapter you will learn about ControlNet Adapter I O structure safe state data communication fault data idle state behavior input data behavior upon module removal About the ControlNet The FLEX I O ControlNet adapters cat no 1794 ACNIS and Adapter ACNR15 interfaces up to 8 FLEX I O modules and a ControlNet processor or scanner The adapter can support ControINet real time data connections to individual modules or module groups Each connection is independent of the others and can be from different processors or scanners Communication Over the One 1794 ACNI5 ACNR15 ControlNet adapter can interface FLEX I O Backplane up to eight terminal base units with installed FLEX I O modules forming a FLEX I O system of up to eight slots The adapter communicates to other network system components typically one or more controllers or scanners and or programming terminals over the ControINet network The adapter communicates with its I O modules over the backplane 1 0 Module 1 0 Modu
39. cremental encoder module has one status indicator PWR that is on when power is applied to the module and one input status indicator for each input 12 in all wy Flex Allen Bradley 1794 ID2 2 CH INCREMENTAL ENCODER MODULE A Power status indicator indicates power applied to module and status of module B Insertable label for writing individual I O assignments Status Indicators A Status of input A B Status of input B 7 Status of input Z Status of input Positive count detected Negative count detected Indicator A OK Explanation Yellow Input A active Input A not active Yellow Input B active Input B not active Yellow Input Z active Input Z not active Yellow Input G active Input G not active Yellow On when a positive pulse is detected turns off on negative pulse Yellow On when a negative pulse is detected turns off on positive pulse Red during initialization after power turned on O e z o 5 Ei N gt 3 a In this chapter we told you how to install your incrementa encoder module in an existing programmable controller system and how to wire to the terminal base units What This Chapter Contains Enter Block Transfer Instructions Chapter 3 Programming Your Incremental Encoder Module To initiate communication between the increment
40. dule as the input module the Programmable Controller as the controller This manual is divided into seven chapters The following chart lists each chapter with its corresponding title and a brief overview of the topics covered in that chapter 1 Overview of FLEX 1 0 and the Describes FLEX pulse counter modules features and Pulse Counter Module how they function How to Install Your Pulse Counter How to install and wire the module Module Module Programming Explains block transfer programming sample programs Writing Configuration to and Explains how to configure your modules and read status Reading Status From with a information from your modules when using a remote I O Remote I O Adapter adapter How Communication Takes Place Explains how you communicate with your modules and and 1 0 Image Table Mapping how the I O image is mapped when using a DeviceNet with the DeviceNet Adapter adapter Input Output and Configuration Explains how you communicate with your modules and files for Analog Modules using how the I O and configuration files are mapped when using ControlNet ControlNet adapter Calibrating Your Pulse Counter How to calibrate the module Module Troubleshoot Your Pulse Counter How to use the indicators to troubleshoot your module Module Publication 1794 UM015B EN P May 2001 2 Using This Manual A Specifications Specifications for the pulse counter module Conventions We us
41. e on this bit Bits 09 10 10 09 Gate Control bits 1 12 gate function input G 1 Counting only if G is high active EMEN Counting only if G is low inactive EMEN The counter can be calibrated when G is high active Publication 1794 UM015B EN P May 2001 4 6 Writing Configuration to and Reading Status from Your Module with a Remote Adapter Write Word Write Bits 11 12 Store Control bits These bits will trigger a Store only if the channel Store status bit LO or L1 is Definition Word 0 13 14 cleared 0 conned Save the counter value the positive edge of Z if Stored X 0 Save the counter value the positive edge of G if Stored X 0 Save the counter value on the negative edge of G if Stored X 0 Save the counter value the positive edge and negative edge of G if Stored X 0 Bit 13 15 Rollover bit When set 1 the counter counts up to the preset and then restarts at 0 If this bit is reset 0 not rollover the rollover preset value FFFF hex 65535 decimal Bit 14 16 Store Reset bit A positive edge on this bit resets Store X in Signals Bit 15 17 Preset Reset bit A positive edge on this bit resets Preset Reached in Signals Write Channel 1 Control Word Control word for setting the function of counter 1 Word 1 Bits 00 02 mor foo Mode Selection bits 0 Counting on positive rising edge of input
42. e synchronization Process calibration of the counter synchronizes the control system with the machinery where the incremental encoder is mounted The counter 15 set to a preset value when a reference pulse is received Use input Z to activate calibration The input to Z can be a zero pulse integrated with an incremental encoder Or input Z can come from another transmitter independent of the pulse transmitter Calibration 15 performed at the first positive edge of input signal Z and is independent of the signal duration Calibration is enabled if CalEnable 1 or if GateControl 3 and G input 1 The counter direction must coincide with CalDirection and Calibrated must be 0 acknowledged by a positive edge on CalReset When calibration is activated the counter is given the value in PresetValue and Calibrated will be set The counter value can be saved in Store Value if StoreControl 0 and Stored 0 Note that the condition for the latch function is not dependent on the direction and therefore does not automatically occur on that edge of Z which activates calibration Publication 1794 UM015B EN P May 2001 7 2 Calibrating Your Incremental Encoder Module Publication 1794 UM015B EN P May 2001 Calibration Method 1 Calibration is enabled by the flag CalEnable which is enabled by the control system The preset value is copied to the counter register at a positive edge on input Z The old counter register value is saved in the st
43. e these conventions in this manual In this manual we show Like this that there is more information about a topic in another chapter in this manual that there is more information about the topic in another manual For Additional Information For additional information on FLEX I O systems and modules refer to the following documents Publications see Voltage Description Installation User Instructions Manual 1794 ASB2 B 1794 6 5 13 1794 OB8 24V de 1794 5 31 1794 IB16 24V de 1794 5 4 1794 16 24V dc 1794 5 3 1794 IV16 24V dc 1794 5 28 1794 0V16 24V dc 1794 5 29 1794 OB8EP 24V dc 1794 5 20 1794 IB8S 24V de 1794 5 7 Table continued on next page Publication 1794 UM015B EN P May 2001 Using This Manual P 3 Publications seat Voltage Description Installation User Instructions Manual 1794 IE4XOE2 24Vdc 4 Input 2 Output Analog Module 1794 5 15 1794 6 5 2 1794 4 24V dc 4 Output Isolated Analog Module 1794 5 37 1794 IF4 24V 4 Input Isolated Analog Module 1794 5 38 1794 6 5 8 1794 IF2XOF2 24V dc 2 Input 2 Output Isolated Analog Module 1794 5 39 1794 IR8 24V 8 Input Analog Module 1794 5 22 1794 6 5 4 1794 IT8 24V 8 Thermocouple Input Module 1794 5 21 1794 6 5 7 1794 IRT8 24V dc 8 Thermocouple RTD Input Module 1794 5 50 1794 6 5 12 1794 1J2 24V 2 Frequency Input Module 1794 5 49 1794 6 5 11 1794 1 8 120V 8 Input Module 1794 5 9 1794 OA8 120V ac Output Module 1794
44. ection to transmitters with complementary and noncomplementary signals The pulse inputs can accept frequencies up to 100KHz The module accepts and returns binary data The module s primary use is accurate high speed counting of pulse from pulse transmitters or incremental encoders with 1 or 2 pulse trains This includes quantity counting positioning and speed calculations The module has 2 up down counters each individually programmable The number of edges to be counted can be multiplied by 1 20r 4 x1 x2 x4 Pulse transmitters can be complementary or noncomplementary Publication 1794 UM015B EN P May 2001 1 2 Overview of the Incremental Module Optocouplers i x 0 2 9 i Preset Register Counter Register Latch Register Signal Register Control Word 8 i z Ses 1 Y A O i 5 i B I 7 Latch Register 2 7 z i Control Word Z i o G Gavanically Isolated O 12 24V dc Muerto raw de dc dc Converter OV What the Incremental The incremental encoder module performs high speed scalin gh sp g Encoder Module Does calculation operations for various industrial applications The module interfaces with FLEX family adapter which then communicates with a programmable controller processor that has bloc
45. ector C is fully retracted into the base unit Publication 1794 UM015B EN P May 2001 How to Install Your Incremental Encoder Module 2 5 6000 406606066666 0 000000000000 SOG 00000000 e ere Slide the terminal base unit over tight against the adapter Make sure the hook on the terminal base slides under the edge of the adapter and the flexbus connector is fully retracted Press down on the terminal base unit to lock the terminal base on the DIN rail If the terminal base does not lock into place use a screwdriver or similar device to open the locking tab press down on the terminal base until flush with the DIN rail and release the locking tab to lock the 30077 M base in place m 1 asal ecl OOOOOOOC 0060000 200000600 Wan 22 Gently push the flexbus connector into the side of the adapter to complete the backplane connection Publication 1794 UM015E EN P May 2001 2 6 How to Install Your Incremental Encoder Module 5 Repeat the above steps to install the next terminal base Panel Wall Mounting Installation on a wall or panel consists of laying out the drilling points on the wall or panel e drilling the pilot holes for the mounting screws mounting the adapter mounting plate installing the terminal base
46. ed at top of wiring area EERHBRBBHHEBEBBTHEERRB 888888888888888888 AAAAAAAAAAAAAAAAAA 34 and 50 24V dc 35 and 51 common 16 and 33 chassis ground 40 thru 45 chassis ground Connecting Wiring using a 1794 TB3 and TB3S Terminal Base Units 1 Connect individual input wiring B Z Z G G to numbered terminals on the 0 15 row A as indicated in the table below ATTENTION Do not connect maximum input voltage simultaneously to all inputs if the module ambient temperature is expected to exceed 40 C ATTENTION If the module ambient temperature is expected to continuously exceed 40 C you must limit the input voltage using an external resistor on each input A 1KQ resistor effectively limits a 24V sensor signal to about 15V at the input Do not limit the input to less than 6V 2 Connect the associated input common 3 wire devices only to the corresponding terminal on the 16 33 row B for each input as indicated in the table below Commons are internally connected together Publication 1794 UM015B EN P May 2001 2 10 How to Install Your Incremental Module Publication 1794 UM015B EN P May 2001 3 Terminate shields to terminals 16 or 33 on row or 40 through 45 on row C 4 Connect 24
47. er can be calibrated 07 Direction bit When this bit set 1 calibration is performed in a negative direction when reset 0 calibration is performed in a positive direction Reset bit Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit Bits 09 10 10 09 Gate Control bits function input G Counting only if G is high active Counting only if G is low inactive Calibration if G is high active Bits 11 12 12 11 Store Control bits These bits will trigger a Store only if the channel Store status bit LO or L1 is 13 14 cleared 0 KEE Save the counter value on the positive edge of Z if Store X 0 Save the counter value the positive edge of G if Store X 0 ijo Save the counter value on the negative edge of G if Store X 0 EREN Save the counter value on the positive edge and negative edge of G if Store X 0 Rollover bit When set 1 the counter counts up to the preset and then restarts at 0 If this bit is reset 0 not rollover the rollover preset value FFFF hex 65535 decimal Store Reset bit A positive edge on this bit resets Store X in Signals Store Reset bit A positive edge on this bit resets Preset Detected in Signals Word 2 Preset 0 Value to load or compare with counter 0 Word 3 Bits 00 15 Preset 1 Value to load or compare with counter 1 Publication 1794 UM015B EN P
48. er counts up to the preset and then restarts at 0 If this bit is reset 0 not rollover the rollover preset value FFFF hex 65535 decimal Bit 14 16 Store Reset bit A positive edge on this bit resets Store X in Signals Bit 15 17 Preset Reset bit A positive edge on this bit resets Preset Reached in Signals Publication 1794 UM015B EN P May 2001 Input Output and Configuration Files for Analog Modules when used with ControlNet 6 9 mE Definition Word 1 Channel 1 Control Word Control word for setting the function of counter 1 Bits 00 02 o or foo Mode Selection bits ojojo Counting on positive rising edge of input signal A Up dwn counting determined by B Quadrature encoder X1 Quadrature encoder X2 t Quadrature encoder X4 Counting up the positive edge of input signal and down positive edge of input signal B aop count function count function count function Bit 03 Preset bit positive edge on this bit moves the value in Preset X to Counter X independent of Preset Enable Bit 04 Preset Enable bit When this bit is set 1 a positive edge on Z preloads Counter X Preset X independent of Cal Enable Bit 05 Count Enable bit When this is set 1 the pulse counter is counting Bits 06 08 Calibration Control bits bits 06 07 and 08 06 10 06 Enable bit When this bit is set 1 the count
49. from the processor to the corresponding module output When program mode is detected the adapter can be configured to leave the module output data in its last state hold last state reset the module output data to zero reset apply safe state data to the module output Input Data Behavior upon Module Removal I O module input data sent by the adapter upon module removal is configurable The adapter can reset the module output data to zero reset leave the module output data in the last state before module removal hold last state Publication 1794 UM015B EN P May 2001 6 6 Input Output and Configuration Files for Analog Modules when used with ControlNet Incremental Encoder Module 1794 ID2 Image Table Mapping Module Image C nee em Configuration File Size Bit Word Definitions for Block Transfer Read Words for the Pulse Counter Module Input Word Definition Bit 00 Status for input A pulse transmitter 0 This bit when set indicates a signal at A Status for input B pulse transmitter 0 This bit when set indicates a signal at B Input Word Bit 02 Status for input 7 pulse transmitter 0 This bit when set indicates a signal at 7 0 Bit 03 Status for input G pulse transmitter 0 This bit when set indicates a signal at G Bit 04 Status for input A pulse transmitter 1 This bit when set indicates a signal at A Bit 05 Status for input B pulse tran
50. gnal A Up dwn counting determined by B 0 t Quadrature encoder X1 0 Quadrature 2 Quadrature encoder X4 E Counting up on the positive edge of input signal A and down on positive edge of input signal B No count function count function HHE No count function Preset bit A positive edge on this bit moves the value in Preset X to Counter X independent of Preset Enable Preset Enable bit When this bit is set 1 a positive edge on Z preloads Counter X Preset X independent of Cal Enable Bit 05 Count Enable bit When this is set 1 the incremental encoder is counting Bits 06 08 Calibration Control bits bits 06 07 and 08 06 10 106 Enable bit When this bit is set 1 the counter be calibrated 07 Direction bit When this bit set 1 calibration is performed in a negative direction when reset 0 calibration is performed in a positive direction EJ Reset bit Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit Bits 09 10 10 09 Gate Control bits 11 12 ofo No gate function on input G ofi Counting only if G is high active Hug Counting only if G is low inactive HH Calibration if G is high active and Bits 11 12 11 Latch Control bits 13514 ofo Save the counter value on the positive edge of Z if Stored X 0 ofi Save the counter value on the positive edge of G if Stored X 0 ifo Save the
51. gnal B No count function No count function No count function Overview of the Incremental Encoder Module 1 5 Up Down Counting Controlled by B Input Pulse Counting Mode 000 Up Down counting controlled by input B The positive edge of the pulses are counted at input A If input B 0 the counter counts up if B 1 the counter counts down Counter Mode 0 A B 0 1 Counter Register Up Down Input B 0 Input A H ee _ Counter Value 1 2 Counting Up Counting Down UplDown Counting using Pulses at Inputs A and B Pulse Counting Mode 100 UplDown Counting using pulses at the inputs of A and B The counter counts up on the positive edge of the pulses at input A and counts down on the positive edge of input B Counter Mode 4 Counter Register AJ Up Down B Input Input B 0 8 LU Counter Value 1 1 2 1 Publication 1794 UM015B EN P May 2001 1 6 Overview of the Incremental Encoder Module Count Pulses from Incremental Encoders Pulse Counting Mode 001 010 011 Up Down Counting using pulses at the inputs of A and B If countermode 1 2 or 3 then 1 2 or 4 edges of the pulse train will be counted The count direction up down is determined by the phase difference of the input signals A and B Counter Mode 1 2 or 3 B LILI Counter Register Up Down Input B Counter Value 1 2 3 C
52. hannel Store status bit LO or L1 13 14 is cleared 0 0 Save the counter value on the positive edge of Z if Store X 0 Save the counter value on the positive edge of G if Store X 0 EBEN Save the counter value on the negative edge of G if Store X 0 413 Save the counter value on the positive edge and negative edge of G if Store X 0 Rollover bit When set 1 the counter counts up to the preset and then restarts at 0 If this bit is reset 0 not rollover the rollover preset value FFFF hex 65535 decimal Store Reset bit A positive edge on this bit resets Store X in Signals Store Reset bit A positive edge on this bit resets Preset Detected in Signals Word 2 Preset 0 Value to load or compare with counter 0 Word 3 Bits 00 15 Preset 1 Value to load or compare with counter 1 Publication 1794 UM015B EN P May 2001 6 12 Input Output and Configuration Files for Analog Modules when used with ControlNet Publication 1794 UM015B EN P May 2001 Chapter Objective Calibrating Your Module Chapter 7 Calibrating Your Incremental Encoder Module In this chapter we tell you how to set up your system to calibrate the incremental encoder The incremental encoder module does not require calibration However you must synchronize the module with the process you are monitoring You must have your Incremental encoder module installed in an operating FLEX I O system in order to complet
53. his configuration Total current draw through any base unit must not be greater than 10A Publication 1794 UM015B EN P May 2001 2 4 How to Install Your Incremental Encoder Module Installing the Module Installation of the incremental encoder module consists of mounting the terminal base unit installing the module into the terminal base unit installing the connecting wiring to the terminal base unit If you are installing your module into a terminal base unit that is already installed proceed to Mounting the incremental encoder Module on the Terminal Base on page 2 7 Mounting the Terminal Base Unit on a DIN Rail ATTENTION Do not remove or replace a terminal base unit when power is applied Interruption of the flexbus can result in unintended operation or machine motion 1 Remove the cover plug if used in the male connector of the unit to which you are connecting this terminal base unit 2 Check to make sure that the 16 pins in the male connector on the adjacent device are straight and in line so that the mating female connector on this terminal base unit will mate correctly 3 Position the terminal base on the 35 x 7 5mm DIN rail A A B pt no 199 DR1 46277 3 Proceed as follows ZZZzZZ 9 ZZZZZZZZZZXZ Position terminal base at a slight angle and hooked over the top ofthe DIN rail 4 Make certain that the female flexbus conn
54. ht angle and engage the top of the mounting plate in the indention on the rear of the adapter module 5 Press the adapter down flush with the panel until the locking lever locks 6 Position the terminal base unit up against the adapter and push the female bus connector into the adapter 7 Secure to the wall with two 6 self tapping screws 8 Repeat for each remaining terminal base unit Note The adapter is capable of addressing eight modules Do not exceed a maximum of eight terminal base units in your system Mounting the Incremental Encoder Module on the Terminal Base Unit The incremental encoder module mounts on a 1794 TB3 TB3S TBN or TBNF terminal base unit 1 Rotate the keyswitch 1 on the terminal base unit 2 clockwise to position 1 as required for the incremental encoder module Publication 1794 UM015B EN P May 2001 2 8 How to Install Your Incremental Module Publication 1794 UM015B EN P May 2001 C V E 5 2 Make certain the flexbus connector 3 is pushed all the way to the left to connect with the neighboring terminal base adapter You cannot install the module unless the connector is fully extended 3 Make sure that the pins on the bottom of the module are straight so they will align properly with the connector in the terminal base unit ATTENTION Remove field side power before removing or inserting the module This module is designed s
55. igh active and Bits 11 12 Store Control bits These bits will trigger a Store only if the channel Store status bit L0 or L1 is 13 14 cleared 0 Save the counter value the positive edge of Z if Store X 0 Save the counter value the positive edge of G if Store X 0 Save the counter value the negative edge of G if Store X 0 EMEN Save the counter value on the positive edge and negative edge of G if Store X 0 Rollover bit When set 1 the counter counts up to the preset and then restarts at 0 If this bit is reset 0 not rollover the rollover preset value FFFF hex 65535 decimal 8114 Store Reset bit A positive edge on this bit resets Store X in Signals Store Reset bit A positive edge on this bit resets Preset Reached in Signals Word 2 Preset 0 Value to load or compare with counter 0 Word 3 Preset 1 Value to load or compare with counter 1 Word 4 Bit 00 Filter AO enable When this bit is set 1 anda counter 0 is in mode 000 pulse counting signal 0 is filtered by a digital low pass filter with selectable filter constant Filter A1 enable When this bit is set 1 anda counter 1 is in mode 000 pulse counting signal A1 is filtered by a digital low pass filter with selectable filter constant Bit 02 07 Unused 08 Filter Constant bits This constant is common to both counters 11 10 73 5kHZ or minimum 0 007ms pulsewidth 37 8
56. ious example Differences occur in the implementation of block transfers due to the use of files in the SLC system Configuration data for the FLEX I O incremental encoder module and the 1747 SN scanner must be in place before executing the following programs Chapter 4 contains information on module configuration For more information on using the 1747 SN scanner module and block transfer programming refer to publication 1747 6 6 Remote Scanner User Manual Publication 1794 UM015B EN P May 2001 3 4 Programming Your Incremental Encoder Module Figure 3 1SLC Programming for the 1794 4 Isolated Analog Output Module i BTR CONTROL Program Action PowerUp Bit 921 COP FILE 0000 This rung configures the block transfer operation type length and RIO address at power up Bit B3 100 7 must be set to 1 to indicate a BTR and bit B3 110 7 must be 0 to indicate a BTW 0001 BTR status is copied to the B3 0 area when a BTR is in progress 0002 Unlatch the bit that continues to check the BTR status 0003 BTW status is copied to the B3 100 area when a BTW is in progress 0004 Unlatch the bit that continues to check the BTW status To next page Publication 1794 UM015B EN P May 2001 15 SOURCE B3 100 DEST M0 1 100 LENGTH 3 BTW_CONTROL COP COPY FILE SOURCE B3 110 DEST M0 1 200 LENGTH 3 BTR FILE 0 SOURCE M1 1 100 DEST B3 0 LENGTH 4 CHECK
57. is bit when set indicates a signal at G Cal 0 This bit when set 1 indicates that counter 0 has been calibrated This bit is reset by CalReset Cal 1 This bit when set 1 indicates that counter 1 has been calibrated This bit is reset by CalReset Store 0 This bit when set 1 indicates a counter value is saved in store 0 This bit is reset by StoreReset Store 1 This bit when set 1 indicates a counter value is saved in store 1 This bit is reset by StoreReset Preset Reached 0 PRO When this bit is set 1 in all configuration modes the counter 0 value equals the preset 0 value either in a positive or negative direction This bit is reset by PresetReset0 and can only be set again after at least 1 more pulse Preset Reached 1 PR1 When this bit is set 1 in all configuration modes the counter 1 value equals the preset 1 value either in a positive or negative direction This bit is reset by PresetReset1 and can only be set again after at least 1 more pulse Not used set to 0 Store 0 Saved counter value on channel 0 Store 1 Saved counter value on channel 1 Channel 0 Current Counter Value Current value in counter 0 Channel 1 Current Counter Value Current value in counter 1 Counter 0 Readback Counter word readback last value written to write word 1 Counter 1 Readback Counter word readback last value written to write word 2 Revision Read identification of latest software version
58. itter 1 This bit when set indicates a signal at Z Bit 07 Status for input G pulse transmitter 1 This when set indicates a signal at G Bit 08 10 Cal 0 This bit when set 1 indicates that counter 0 has been calibrated This bit is reset CalReset Bit 09 11 Cal 1 This bit when set 1 indicates that counter 1 has been calibrated This bit is reset by CalReset Bit 10 12 Store 0 This bit when set 1 indicates a counter value is saved in store 0 This bit is reset by StoreReset Bit 11 13 Store 1 This bit when set 1 indicates a counter value is saved in store 1 This bit is reset by StoreReset Preset Reached 0 PRO When this bit is set 1 in all configuration modes the counter 0 value equals the Word 0 Bit 12 14 preset 0 value either in a positive or negative direction This bit is reset by PresetReset and can only be set continued again after at least 1 more pulse Preset Reached 1 PR1 When this bit is set 1 in all configuration modes the counter 1 value equals the Bit 13 15 preset 1 value either in a positive or negative direction This bit is reset by PresetReset1 and can only be set again after at least 1 more pulse CTD 0 Count direction Increase decrease counter value of counter 0 set to 0 at startup Bit 14 16 0 last pulse decreased counter value 1 last pulse increased counter value CTD 1 Count direction Increase decrease counter value of counter 1 set to
59. k transfer capability and external I O devices The adapter power supply transfers data to the module block transfer write and from the module block transfer read using BTW and BTR instructions in your ladder diagram program These instructions let the adapter read input values and status from the module and let you write output values and configure the module s mode of operation The following illustration describes the communication process Publication 1794 UM015B EN P May 2001 The adapter transfers your configuration data Overview of the Incremental Encoder Module Hee Typical Applications Your ladder program can use and or move the data if valid to the module using a BTW Flexbus Allen Bradley Hex Z0 uu us Your ladder program instructs the adapter to perform a BTR of the values and stores them in a data table 5 The adapter and module determine that the transfer was made without error and input values are within specified range before it is written over by the transfer of new data in a subsequent transfer 0 Your ladder program performs BTWs to the module when you power it up and any time you wish to reconfigure the module Input Capabilities 2 External devices
60. kHz or minimum 0 013ms pulsewidth EMEN 12 8kHz or minimum 0 04ms pulsewidth EMEN 1 2kHz or minimum 0 4ms pulsewidth Bits 10 15 Reserved set to 0 12 17 Chapter Summary In this chapter you learned how to configure your module s features and enter your data Publication 1794 UM015B EN P May 2001 4 8 Writing Configuration to and Reading Status from Your Module with a Remote Adapter Publication 1794 UM015B EN P May 2001 What This Chapter Contains About DeviceNetManager Software Polled Structure Chapter 5 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter In this chapter we tell you about For information on See page About DeviceNetManager Software 5 1 Polled Structure 5 1 Adapter Input Status Word 5 2 System Throughput asas ass Qk eee eee 5 3 Mapping Data into the Image Table 5 3 Incremental Encoder Module 1794 ID2 Image Table Mapping 5 3 Block Transfer Read Word Assignments 5 4 Block Transfer Write Word Assignments 5 4 Word Bit Descriptions 5 5 Defaulls sa a 5 9 DeviceNetManager software is tool used to configure your FLEX DeviceNet adapter and its related modules This software tool can be connected to the adapter
61. le 1 0 Module ControlNet Network Adapter Outputs Write Configuration Words Configuration Configuration 15 Slot 0 Slot 1 Slot 7 Data is exchanged scheduled when mapped or unscheduled using CIO instructions 6 2 Input Output and Configuration Files for Analog Modules when used with ControlNet Scheduled Data Transfer Scheduled data transfer iscontinuous is asynchronous to the ladder logic program scan occurs at the actual rate displayed in the Actual Packet Interval field on the programming software ControINet I O mapping monitor screen Unscheduled Data Transfer Unscheduled operations include unscheduled non discrete I O data transfers through ControlNet I O Transfer CIO instructions peer to peer messaging through Message MSQ instructions messaging from programming devices Unscheduled messaging on a ControlNet network is non deterministic Your application and your configuration number of nodes application program NUT amount of scheduled bandwidth used etc determine how much time there 1s for unscheduled messaging Module I O Mapping The I O map for a module is divided into read words and write words Read words consist of input and status words and write words consist of output and configuration words The number of read words or write words can be 0 or more The length of each I O module s read words and write words vary in size depe
62. ls 16 thru 33 1794 TB3 TB3S p owe se N NE X 11 12 13 15 12 24V dc Terminals 34 thru 51 1794 TB3 3S Terminals 34 and 51 1 Auxiliary terminal blocks are required when using these terminal base units ATTENTION Total current draw through the terminal base unit is limited to 10 Separate power connections to the terminal base unit may be necessary Publication 1794 UM015B EN P May 2001 How to Install Your Incremental Module 2 13 Example of Pulse Transmitter Wiring incremental encoder Channel 0 Signal for counter gate Signal for counter calibra tion preset Signal for up down counting Signal Inputs Del External Power OV dc Supply 12 24V dc 12 24V dc Example of pulse transmitter with 1 pulse train For connection of channel 1 refer to wiring table Note Dotted lines indicate signals not always used Example of Incremental Encoder Wiring incremental encoder Channel 0 124v 12 24V dc S S S S S S S S Example of incremental encoder with 2 pulse trains with or without reference and or gate function For connection of channel 1 refer to wiring table Note Dotted lines indicate signals not always used Publication 1794 UM015B EN P May 2001 2 14 How to Install Your Incremental Encoder Module Module Indicators Chapter Summary Publication 1794 UM015B EN P May 2001 The in
63. manual we make notes to alert you to possible injury to people or damage to equipment under specific circumstances ATTENTION Identifies information about practices or circumstances that can lead to personal injury or death property damage or economic loss Attention helps you identify a hazard avoid the hazard recognize the consequences Important Identifies information that is especially important for successful application and understanding of the product Important We recommend you frequently backup your application programs on appropriate storage medium to avoid possible data loss DeviceNet DeviceNetManager and RediSTATION are trademarks of Allen Bradley Company Inc PLC 2 PLC 3 and PLC 5 are registered trademarks of Allen Bradley Company Inc Windows is a trademark of Microsoft Microsoft is a registered trademark of Microsoft IBM is a registered trademark of International Business Machines Incorporated All other brand and product names are trademarks or registered trademarks of their respective companies Summary of Changes Summary of Changes The information contained in this manual pertains to the series B version of the 1794 ID2 frequency input module New Information This version of this publication contains information on control word 2 for setting the filter function for the counters This filter information is contained in chapter 1 and identified in chapters 4 and 5 Updated
64. mmed A different block transfer control file is used for the read and write instructions for your module PLC 5 Processor Program Example Rung 2 0 Programming Your Incremental Encoder Module 3 3 The 102 module is located in rack 1 I O group 0 slot 0 The integer control file starts at N17 0 The data sent by the PLC 5 processor to the ID2 module starts at N18 0 and is 4 words long At power up in RUN mode or when the processor is first switched from PROG to RUN the user program enables a block transfer write to configure the module First scan of 1 2 BTW ladder or SFC Control File S 1 BTW E BLOCK TRANSFER WRITE EN 15 Module Type Generic BT Rack 001 DN roup 0 Slot 0 ER Control N17 0 Data File N18 0 Length 4 Continuous N Rung 2 1 The ID2 module is located in rack 1 group 2 slot 0 The integer control file starts at N17 10 The data obtained by the PLC 5 processor from the ID2 module is placed in memory starting at N18 10 and is 8 words long IThe program continuously performs read block transfers to read data from the module ID2 BTR Enable Bit N17 10 15 SLC 5 Programming ID2 BTR Control File BTR BLOCK TRANSFER READ ENH Module Type Generic BT Rak n 001 DN J Group 0 Slot 0 HER Control N17 10 Data File N18 10 Length 8 Continuous N The SLC 5 programs using the 1747 SN scanner follow the same logic as the PLC 5 family programs in the prev
65. module using block transfer instructions and ladder logic Now you can configure your module 4 Configure the 102 Module 22 Publication 1794 UM015B EN P May 2001 What This Chapter Contains Configuring Your Incremental Encoder Module Chapter lt Writing Configuration to and Reading Status from Your Module with a Remote I O Adapter In this chapter we tell you about For information on See page Configuring Your Module 4 1 Reading Data from Your Module 4 2 Mapping Data for the Module 4 2 Incremental Encoder Module 1794 ID2 Image Table Mapping 4 2 Block Transfer Read Word Assignments 4 3 Bit Word Definitions for Block Transfer Read Words 4 3 Block Transfer Write Word Assignments 4 5 Bit Word Definitions for the Block Transfer Write Words 4 5 The incremental encoder module is configured using a group of data table words that are transferred to the module using a block transfer write instruction Some of the software configurable features available are number of inputs encoder multiplier e gate function latch function rollover Configure your module for its intended operation by means of your programming terminal and write block transfers Note Programmable controllers that use 6200 software release 4 2 or higher programming tools can take advantage of the IOCO
66. n bit Bits 09 10 10 09 Gate Control bits 11 12 0 0 function input G Counting only if G is high active EBEN Counting only if G is low inactive EBEN The counter can be calibrated when G is high active Bits 11 12 Store Control bits These bits will trigger a Store only if the channel Store status bit LO L1 Reset Calibration is acknowledged and a new calibration is enabled a positive edge on this 13 14 is cleared 0 0 Save the counter value on the positive edge of Z if Latched X 0 Save the counter value the positive edge of G if Latched X 0 EBEN Save the counter value on the negative edge of G if Latched X 0 HH Save the counter value on the positive edge and negative edge of G if Latched X 0 Rollover bit When set 1 the counter counts up to the preset and then restarts at 0 If this bit is reset 0 not rollover the rollover preset value FFFF hex 65535 decimal Bit 14 16 Store Reset bit A positive edge on this bit resets Store X in Signals Bit 15 17 Preset Reset bit A positive edge this bit resets Preset Detected in Signals Publication 1794 UM015B EN P May 2001 Input Output and Configuration Files for Analog Modules when used with ControlNet 6 11 Definition Word 1 fF Channel 1 Control Word Control word for setting the function of counter 1 Bits 00 02 Bt o2 foo
67. n the Preset value word Bit 04 Enable Z Preset bit When this bit is set 1 a positive edge on Z preloads Counter X Preset X independent of Cal Enable NOTE If Z is configured to do Store and Preset Reset the Store will occur first Count Enable bit When this is set 1 the pulse counter is enabled Bits 06 08 Calibration Control bits bits 06 07 and 08 06 10 Enable bit When this bit is set 1 the counter be calibrated 07 Direction bit When this bit set 1 calibration is performed in a negative direction when reset 0 calibration is performed in a positive direction Reset bit Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit Bits 09 10 10 09 Gate Control bits 11 12 No gate function input G Counting only if G is high active Counting only if G is low inactive EREN The counter can be calibrated when G is high active Bits 11 12 12 11 Store Control bits These bits will trigger a Store only if the channel Store status bit LO or L1 is 13 14 cleared 0 ojo Save the counter value on the positive edge of Z if Stored X 0 ofi Save the counter value on the positive edge of G if Stored X 0 ERE Save the counter value on the negative edge of G if Stored X 0 Save the counter value the positive edge and negative edge of G if Stored X 0 Bit 13 15 Rollover bit When set 1 the count
68. nding on module complexity Each I O module will support at least 1 input word or 1 output word Status and configuration are optional depending on the module For example a 16 point discrete input module will have up to 2 read words and 1 write word ControlNet Image Module Image a 16 point Discrete Input Module SS 0 or t Word gt Check the I O map for each module for the exact mapping Publication 1794 UM015B EN P May 2001 Input Output and Configuration Files for Analog Modules when used with ControlNet 6 3 Structure Output data is received by the adapter in the order of the installed I O modules The Output data for Slot 0 is received first followed by the Output data for Slot 1 and so on up to slot 7 The first word of input data sent by the adapter is the Adapter Status Word This is followed by the input data from each slot in the order of the installed I O modules The Input data from Slot O is first after the status word followed by Input data from Slot 2 and so on up to slot 7 ControlNet Adapter Read Data Adapter Status Slot 0 Input Data Network READ Slot 1 Input Data Slot 7 Input Data Output Data Adapter Input Status Word The input status word consists of O module fault bits 1 status bit for each slot node address changed 1 bit created by PLC 5 controller I O status 1 bit created by PLC 5 controller 1 0 Module Fa
69. nments 4 3 5 4 block transfer write 3 1 bit word assignments 4 5 word assignments 4 5 5 4 C ClOs See ControlNet I O Transfer instructions communication block transfers 3 1 compatible terminal bases 2 9 configurable features 4 1 connecting wiring 2 9 considerations pre installation 2 1 ControlNet I O unscheduled non discrete I O data transfer 6 2 unscheduled operations ladder rung messages 6 2 messaging from programming devices peer to peer messaging 6 2 ControlNet I O Transfer CIO instructions 6 2 Index curent draw through base units 2 2 D daisy chaining wiring 2 3 default values 5 8 DeviceNetManager software 5 1 DIN rail mounting 2 4 E European Union Directive compliance 2 1 F frequency input module how it works 1 2 input capabilities 1 3 typical applications 1 3 using 1 1 ControlNet unscheduled non discrete I O data transfer 6 2 unscheduled operations messaging from programming devices 6 2 non discrete I O data transfer 6 2 peer to peer messaging 6 2 I O module fault 5 2 indicators states 2 14 status 2 14 troubleshooting 8 1 input mapping 4 2 5 3 6 6 input status word 5 2 6 3 installation module 2 7 K keyswitch positions 2 7 Publication 1794 UM015B EN P May 2001 Index Publication 1794 UM015B EN P May 2001 L U ladder rung messaging 6 2 unscheduled non discrete I O data transfer 6 2 M W mapping 1794 ID2 4 2 5 3
70. o the adapter as an empty slot in your chassis If this product has the CE mark it is approved for installation within the European Union and EEA regions It has been designed and tested to meet the following directives EMC Directive This product is tested to meet Council Directive 89 336 EEC Electromagnetic Compatibility EMC and the following standards in whole or in part documented in a technical construction file EN 50081 2EMC Generic Emission Standard Part 2 Industrial Environment e EN 50082 2 Generic Immunity Standard Part 2 Industrial Environment This product is intended for use in an industrial environment Publication 1794 UM015B EN P May 2001 2 2 How to Install Your Incremental Encoder Module Power Requirements Publication 1794 UM015B EN P May 2001 Low Voltage Directive This product is tested to meet Council Directive 73 23 EEC Low Voltage by applying the safety requirements of EN 61131 2 Programmable Controllers Part 2 Equipment Requirements and Tests For specific information required by EN 61131 2 see the appropriate sections in this publication as well as Allen Bradley publication 1770 4 1 Industrial Automation Wiring and Grounding Guidelines Open style devices must be provided with environmental and safety protection by proper mounting in enclosures designed for specific application conditions See NEMA Standards publication 250 and IEC publication 529 as applica
71. o you can remove and insert it under backplane power When you remove or insert a module with field side power applied an electrical arc may occur An electrical arc can cause personal injury or property damage by sending an erroneous signal to your system s field devices causing unintended machine motion causing an explosion in a hazardous environment Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector Worn contacts may create electrical resistance 4 Position the module 4 with its alignment bar 5 aligned with the groove 6 on the terminal base 5 Press firmly and evenly to seat the module in the terminal base unit The module is seated when the latching mechanism 7 is locked into the module 6 Repeat the above steps to install the next module in its terminal base unit Connecting Wiring for Your incremental encoder Module 1794 TB3 34 and 50 24V dc 35 and 51 common 16 and 33 chassis ground 40 45 chassis ground How to Install Your Incremental Encoder Module 2 9 Wiring to the module is made through the terminal base unit on which the module mounts Compatible terminal base units are Module 1794 TB3 1794 TB3S 1794 TBN 1794 TBNF 1794 ID2 Yes Yes Yes Yes 1794 TB3S 0 1 2 3 4 56 7 8 910 11 12 13 14 15 161718 1920 21 22 2324 25 26 27 28 29 30 31 3233 3435 36 37 38 39 40 4142 43 44 4546 47 48 49 5051 Label plac
72. ol bit RangeLimited 1 the counter counts up to the preset value and restarts at 0 Counting down the counter reaches the preset value on the next pulse if the current counter value 0 RangeLimited 0 corresponds to RangeLimited 1 if the preset value FFFF in hex 65535 in decimal The flag PresetReached is set when the counter is equal to the preset value Use PresetReset to reset the flag Overview of the Incremental Encoder Module 1 9 Count Up pulse Value 0 RangeLimited 1 Logic Counter PresetValue Counter Register Count Down pulse Preset Register RangeLimited 1 Counter 0 Counter Register Note If the preset register value 0 the counter retains the value 0 Filter Function The filter function is only valid during mode 000 pulse counting You enable the filter function by setting bits in Control word 2 Each counter can be individually filtered by enabling its associated filter control bit However the filter is common to both counters When a counter is in mode 000 and its filter is enabled signal A is internally sampled at a rate 8 times higher than the filter constant A change of state in A has to be valid during 4 samples before it reaches the counter Output from Filter Sample Clock ree RANA gt C Publication 1794 UM015B EN P 2001 1 10 Overview of the Incremental Module Cha pter Summary In this
73. ontains 2 1 Before You Install Your Input Module 2 1 European Union Directive Compliance 2 1 EMC t rehni eneren onnsa 2 1 Low Voltage Directive esee sasa wasa 2 2 Power Requirements 2 2 Wiring the Terminal Base Units 1794 TB3G shown 2 3 Installing the Module 2 4 Mounting the Terminal Base Unit on a DIN Rail 2 4 Panel Wal Mounting 2 6 Mounting the Incremental Encoder Module on the Terminal Base Dn P POS 2 7 Connecting Wiring for Your incremental encoder Module 2 9 Wiring to a 1794 TBN or TBNF Terminal Base Unit 2 11 Wiring connections for the 1794 ID2 incremental encoder Module 2 12 Example of Pulse Transmitter Wiring 2 13 Example of Incremental Encoder Wiring 2 13 Module Indicators 2 14 Chapter Summary 2 14 Publication 1794 UM015B EN P May 2001 ii Table of Contents Programming Your Incremental Encoder Module Writing Configuration to and Reading Status from Your Module with a Remote I O Adapter How Communication Takes Place and 1 0 Image Table Mapping with the DeviceNet Adapter Publication 1794 UM015B EN P May 2001 Chapter 3
74. ore register for evalution Calibration direction is determined by CalDirection 0 positive direction 1 negative direction Reset Calibrated Stored and PresetReached after calibration with CalReset StoreReset and PresetReset CalEnable 1 CalDirection Direction of the latest count pulse Calibrated 0 2 Calibrated 1 Pw PresetReached 1 Counter Register StoreControl 0 Stored 0 Counter Register MW Stored 1 Latched Register Calibrating Your Incremental Encoder Module 7 3 Calibration Method 2 Calibration is enabled by input G if GateControl 3 and Calibrated 0 The preset value is copied to the counter register at a positive edge on input signal Z The old counter register value is saved in the store register for evalution Calibration direction is determined by CalDirection 0 positive direction 1 negative direction Reset Calibrated Stored and PresetReached after calibration with CalReset StoreReset and PresetReset GateControl 3 CalDirection Direction of the latest count pulse Calibrated 0 G 1 Calibrated 1 PresetReached 1 Counter Register StoreControl 0 Stored 0 Counter Register We Stored 1 Stored Register Publication 1794 UM015B EN P May 2001 7 4 Calibrating Your Incremental Encoder Module Publication 1794 UM015B EN P May 2001 What This Chapter Contains Status Indicators
75. ositive direction Word Definition EJ Reset bit Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit Bits 09 10 10 09 Gate Control bits 11 12 ojo No gate function on input G Counting only if G is high active Hug Counting only if G is low inactive The counter can be calibrated when G is high active Bits 11 12 11 Store Control bits 13214 ojo Save the counter value on the positive edge of Z if Stored X 0 ofi Save the counter value on the positive edge of G if Stored X 0 Save the counter value the negative edge of G if Stored X 0 Save the counter value the positive edge and negative edge of G if Stored X 0 Rollover bit When set 1 the counter counts up to the preset and then restarts at 0 If this bit is reset 0 not rollover the rollover preset value FFFF hex 65535 decimal Bit 14 16 Store Reset bit A positive edge on this bit resets Stored X in Signals Bit 15 17 Preset Reset bit A positive edge on this bit resets Preset Detected in Signals Publication 1794 UM015B EN P May 2001 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter 5 7 Word Definition Write Channel 1 Control Word Control word for setting the function of counter 1 Word 2 Bits 00 02 Bi o2 o Mode Selection bits jojo Jo Counting on positive rising edge of input si
76. ounter Value 1 2 3 4 5 4 3 2 Counting Up Counting Down Counter Value 1 2 3 4 56 Counting Up Counting Down as as wo Publication 1794 UM015B EN P May 2001 Overview of the Incremental Encoder Module 1 7 Preset Function Use the preset function to copy a value from the preset register to the counter register Preset Register pe PresetReached 1 Counter Register Preset Register P PresetReached 1 Counter Register Method 1 Preset Method 2 PresetEnable 1 The flag PresetReached is set when the counter register and the preset register are equal if the counter preset is reached or if the counter has been loaded with the preset value This flag is reset on a positive edge of PresetReset after the operation and can only be set after at least one additional counting pulse Gate Function Use the gate function to determine when counting starts and stops You can use this function to measure distance The parameter GateControl determines the gate function The gate signal is connected to input G It is 2 bit binary code in write word 1 or 2 bits 09 and 10 Word Gate Control Function 1or2 Bits Binary Gate Control bits FAULA ss _ o jojo gate function input G Count is independent 1 fo t G 1 2 1 0 Counting only if G 0 inactive 3 1 1 Calibration if
77. processor s data table The processor user program initiates the request to transfer data from the module to the processor The transferred words contain module status channel status and input data from the module Your program should monitor status bits block transfer read and block transfer write activity Publication 1794 UM015B EN P May 2001 3 2 Programming Your Incremental Encoder Module Publication 1794 UM015B EN P May 2001 PLC 2 Family Processor The 1794 incremental encoder module is not recommended for use with PLC 2 family programmable controllers due to the number of digits needed for high resolution Important incremental encoder module functions with reduced performance in PLC 2 systems Because the module does not support BCD and the PLC 2 processor is limited to values of 4095 12 bit binary many values returned in the BTR file may not provide meaningful data to the PLC 2 processor PLC 5 Family Processor Block transfer instructions with the PLC 5 processor use a control file and a data file The block transfer control file contains the data table section for module location the address of the block transfer data file and other related data The block transfer data file stores data that you want transferred to the module when programming a BTW or from the module when programming a BTR The programming terminal prompts you to create a control file when a block transfer instruction is being progra
78. r minimum 0 04ms pulsewidth 1 2kHz or minimum 0 4 pulsewidth Write Bits 00 15 Not used set to 0 Words 00 17 6 7 Publication 1794 UM015B EN P May 2001 How Communication Takes Place and I O Image Table Mapping with the DeviceNet Adapter 5 9 Defaults Each I O module has default values associated with it At default each module will generate inputs status and expect outputs configuration Module Defaults for Real Time Size Factory Defaults Catalog Input Output Input Output Number Default Default Default Default 1794 ID2 incremental encoder Module 3 zT Factory defaults are the values assigned by the adapter when you first power up the system and no previous stored settings have been applied For incremental encoder modules the defaults reflect the actual number of input words output words For example for the incremental encoder module you have 9 input words and 7 output words You can change the I O data size for a module by reducing the number of words mapped into the adapter module as shown in real time sizes Real time sizes are the settings that provide optimal real time data to the adapter module The incremental encoder modules have 15 words assigned to them This is divided into input words output words You can reduce the I O data size to fewer words to increase data transfer over the backplane For information on using Devi
79. remental Encoder Module Environmental Conditions Operational Temperature Storage Temperature Relative Humidity Shock Operating Nonoperating Vibration Input Conductors Wire Category Length max Agency Certification when product is marked Installation Instruction 0 to 55 C 32 to 131 F Note Do not connect maximum input voltage simultaneously to all inputs if the module ambient temperature is expected to exceed 40 C 25 to 70 C 13 to 158 F 5 to 90 noncondensing operating 5 to 80 noncondensing nonoperating 30 g peak acceleration 11 1 ms pulse width 50 g peak acceleration 11 1 ms pulse width Tested 2 0 10 500Hz per IEC 68 2 6 Belden 8761 21 10008 304 8 CUL certified e CUL listed Class Division 2 Groups A B C D e UL listed CE marked for all applicable directives Publication 1794 5 63 1 Usethis conductor category information for planning conductor routing Refer to publication 1770 4 1 Industrial Automation Wiring and Grounding Guidelines for Noise Immunity Numbers 1794 ID2 troubleshoot 8 1 A adapter input status word 5 1 6 3 applications typical 1 3 bit word definitions block transfer write 4 5 bit Word descriptions 4 5 bit word descriptions block transfer read 4 3 5 5 6 6 block transfer read 1 2 write 1 2 block transfer programming PLC 2 family processor 3 2 PLC 5 family processor 3 2 block transfer read 3 1 4 2 word assig
80. s of reeves Code for identification of software version ESP Control Word 2 Sets filter function for both counters Output Size Publication 1794 UM015B EN P May 2001 Writing Configuration to and Reading Status from Your Module with a Remote Adapter 4 3 Block Transfer Read Word Assienments for the Incremental Encoder Module 1794 ID2 s e e Dec Bit 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Word Read eer pror s or eer eue a pee 1 Channel 0 Stored counter value on channel 0 e Channel 1 Stored counter value on channel 1 Channel 0 current counter value on channel 0 2 3 4 Channel 1 current counter value on channel 1 5 Channel 0 Counter word readback 6 Channel 1 Counter word readback 7 Revision read software version code Where A0 Status of input A channel 0 bit 1 when input is on B0 Status of input B channel 0 bit 1 when input is on Z0 Status of input Z channel 0 bit 1 when input is on GO Status of input G channel 0 bit 1 when input is on G1 Status of input G channel 1 bit 1 when input is on A1 Status of input A channel 1 bit 1 when input is on B1 Status of input B channel 1 bit 1 when input is on Z1 Status of input Z channel 1 bit 1 when input is on CO Cal 0 when bit is set counter 0 has been
81. signal Up dwn counting determined by Quadrature encoder 1 Quadrature 2 Des pe Quadrature encoder X4 10 Counting the positive edge of input signal down positive of input signal count function count function count function Bit 03 Preset bit positive edge on this bit moves the value in Preset X to Counter X independent of Preset Enable Bit 04 Preset Enable bit When this bit is set 1 a positive edge on Z preloads Counter X Preset X independent of Cal Enable Count Enable bit When this is set 1 the incremental encoder is counting Publication 1794 UM015B EN P May 2001 Writing Configuration to and Reading Status from Your Module with a Remote Adapter 4 7 wits ER Definition Word 1 Bits 06 08 Calibration Control bits bits 06 07 and 08 continued 06 10 06 Enable bit When this bit is set 1 the counter can be calibrated 07 Direction bit When this bit set 1 calibration is performed in a negative direction when reset 0 calibration is performed in a positive direction Reset bit Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit Bits 09 10 10 09 Gate Control bits 0 0 No gate function on input G E Counting only if G is high active Counting only if G is low inactive EE Calibration if G is h
82. smitter 1 This bit when set indicates a signal at B Publication 1794 UM015B EN P May 2001 Input Output and Configuration Files for Analog Modules when used with ControlNet 6 7 Input Word Word 0 continued Word 1 Word 2 Word 3 Word 4 Word 5 Word 6 Word 7 Bit 06 Bit 07 Bit 08 10 Bit 09 11 Bit 10 12 Bit 11 13 Bit 12 14 Bit 13 15 Bit 14 15 16 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Bits 00 15 00 17 Definition Status for input Z pulse transmitter 1 This bit when set indicates a signal at Z Status for input G pulse transmitter 1 This bit when set indicates a signal at G Cal 0 This bit when set 1 indicates that counter 0 has been calibrated This bit is reset by CalReset Cal 1 This bit when set 1 indicates that counter 1 has been calibrated This bit is reset by CalReset Store 0 This bit when set 1 indicates a counter value is saved in store 0 This bit is reset by StoreReset Store 1 This bit when set 1 indicates a counter value is saved in store 1 This bit is reset by StoreReset Preset Reached 0 PRO When this bit is set 1 in all configuration modes the counter 0 value equals the preset 0 value either in a positive or negative direction This bit is reset by PresetReset0 and can only be set again after at least 1 more pulse
83. transmit frequency signals to the module Flex 10 Allen Bradley 2 CH INCREMENTAL ENCODER 1794 02 111 OOOOOOOOOOOOOOOO OOOOOOOOOOOOOOOOO rit OOOOOOOOOOO0000 rtf The module converts frequency signals into integer format and stores these values until the adapter requests their transfer You can use the 1794 ID2 module in the power management automotive food and beverage and oil and gas industries for various flow and or turbine metering applications Some sample applications include e automotive e turbine shaft speed monitoring paint booths brewery flow monitoring petrochemical flow and custody transfer The incremental encoder module has 2 identical input channels Each of the input channels may accept these input signals A4 and and B Z4 and Z and G The pulse inputs can accept frequencies up to 100KHz The module accepts and returns binary data Publication 1794 UM015B EN P May 2001 1 4 Overview of the Incremental Encoder Module How the incremental encoder Operates Publication 1794 UM015B EN P May 2001 The counter module handles up down counting and detection of selectable number of edges X1 X2 4 for incremental encoders with 2 pulse trains nominal 90
84. ult Bits Wr Bit 15 10 through 15 98765432 10 cO MoI 5 15 5 5 5 5 5 5 Not Used ALD HD DD HD HD Created by PLC 5 controller I O State Bit ode Address Changed Bit The adapter input status word bit descriptions are shown in the following table Publication 1794 UM015B EN P May 2001 6 4 Input Output and Configuration Files for Analog Modules when used with ControlNet Bit Description Explanation This bit is set 1 when error is detected slot position 0 This bit is set 1 when error is detected in slot position 1 This bit is set 1 when an error is detected in slot position 2 This bit is set 1 when error is detected in slot position 3 This bit is set 1 when error is detected in slot position 4 5 This bit is set 1 when error is detected in slot position 5 6 This bit is set 1 when error is detected in slot position 6 This bit is set 1 when an error is detected in slot position 7 This bit is set 1 when the node address switch setting has been controller changed since power up I O State Created by NN Bit 0 idle PLC 5 controller Bit 1 run Not used set to 0 Safe State Data Device Actions Publication 1794 UM015B EN P May 2001 Possible causes for an Module Fault are transmission errors on the FLEX I O backplane afailed module amodule removed from its terminal base
85. units and securing them to the wall or panel If you are installing your module into a terminal base unit that is already installed proceed to Mounting the incremental encoder Module on the Terminal Base on page2 7 Use the mounting kit Cat No 1794 NMI for panel wall mounting lt 14 5 1794 NM1 Mounting Kit i 35 5 Contents 1 Mounting Plate for Adapter 2 18 6 self tapping screws 2 for the adapter and 2 each for up to 8 modules Adapter Module 7 not included 8 g Terminal Base Unit not included To install the mounting plate on a wall or panel 1 Lay out the required points on the wall panel as shown in the drilling dimension drawing Publication 1794 UM015B EN P May 2001 How to Install Your Incremental Module 2 7 Drilling Dimensions for Panel Wall Mounting of FLEX I O 1 4 2 3 1 4 2 3 1 4 lt gt lt lt gt lt Inches 85 5 58 5 85 5 58 5 35 5 Millimeters 5 83 21 922 2 Drill the necessary holes for the 6 self tapping mounting screws 3 Mount the mounting plate 1 for the adapter module using two 6 self tapping screws 18 included for mounting up to 8 modules and the adapter Important Make certain that the mounting plate is properly grounded to the panel Refer to Industrial Automation Wiring and Grounding Guidelines publication 1770 4 1 4 Hold the adapter 2 at a slig

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