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Posital Fraba IXARC OCD-EEC1B-1213-C12V-PRM User Manual

Rotary encoder with ethernet/ip interface
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ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE
IXARC ABSOLUTE ROTARY ENCO DER WITH ETHERNET/IP INTERFACE
IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/IP INTERFACE
IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/I P INTERFACE
Version 2020-12-02
IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/IP INTERFACE
USER MANUAL
USER MANUAL
USER MANUAL
USER MANUAL
Page 1
UME-xCx-EEC1

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Summary of Contents for Posital Fraba IXARC OCD-EEC1B-1213-C12V-PRM

  • Page 1 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL IXARC ABSOLUTE ROTARY ENCO DER WITH ETHERNET/IP INTERFACE USER MANUAL IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/IP INTERFACE USER MANUAL IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/I P INTERFACE USER MANUAL Version 2020-12-02 Page 1 UME-xCx-EEC1 IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/IP INTERFACE...
  • Page 2 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Imprint Disclaimer of Warranty POSITAL GmbH POSITAL GmbH makes no representations or Zeppelinstraße 2, warranties, either express or implied, by or with D-50667 Köln respect to anything in this manual. Furthermore, Telefon +49 (0) 221 96213-0 POSITAL shall not be liable for any implied war- +49 (0) 221 96213-20...

  • Page 3: Table Of Contents

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL IXARC Absolute ROTARY ENCODER WITH ETHERNET/IP Interface ________________ 1 3 Diagnostics ________________________ 27 1. Introduction ________________________ 5 4 Programmable Parameters ___________ 29 1.1 Control and Information Protocol (CIP) ____ 5 4.1 Direction Counting ___________________ 29 1.2 Object model ________________________ 6 4.2 Scaling Function Control _______________ 29...
  • Page 4 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL List of Tables Table 32: Velocity Format Table 1: Communication Messages Table 33: Velocity Filter Table 2: I/O Assembly Instances Table 34: Endless Shaft Table 3: Data Attribute Format Table 35: Reserved Error! Bookmark not defined.

  • Page 5: Introduction

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 1. Introduction Absolute rotary encoders provide a definite value The protocol supports the programming of the for every possible position. All these values are following additional functions in several ways: reflected on either code discs, either Hall-effect Code sequence (complement) sensors, depending on the used technology.

  • Page 6: Control And Information Protocol (Cip)

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 1.1 Control and Information Protocol (CIP) Figure 2: CIP OSI Layers The EtherNet/IP specification defines the Applica- CIP (Common Industrial Protocol) make for the user tion Layer and the Physical Layer. The Data Link available four essential functions: layer is based on the CAN-specification.

  • Page 7: Object Model

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 1.2 Object model EtherNet/IP describes all data and functions of a functions (read or write access of a single attrib- device considering an object model. By means ute) as well as by its defined behaviors. The of that object-oriented description, a device can absolute rotary encoder supports the Encoder be completely defined with single objects.

  • Page 8: Data Transmission

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2. Data Transmission The data transmission within the EtherNet/IP net- connection-based versions. Unconnected mes- work is realized by implicit or explicit messaging. sages will be used by EtherNet/IP scanners. Explicit messages are split in unconnected and Figure 4: Data Transmission in Ethernet/IP Version 2020-12-02 Page 6...

  • Page 9: Implicit Messaging I/O Connection

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Input Only It is possible to open 5 implicit and 15 explicit connections with the encoder. Input Only connections can only work if all of the parameters are set in the PLC accordingly to the encoder parameters. Assembly Config Output Instance...

  • Page 10: I/O Assembly Instances

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.1 Implicit Messaging I/O Connection Provide dedicated, special-purpose communica- purpose of moving application-specific data. This tion paths between a producing application and is often referred to as implicit messaging. Class one or more consuming applications for the 0 and 1 are supported.

  • Page 11: Data Mapping

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Position Value (low Byte) Position Value (high Byte) Velocity Value (low Byte) Velocity Value (high Byte) Acceleration Value (low Byte) Acceleration Value (high Byte)

  • Page 12: Data Mapping (Parameter)

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.1.3 Data Mapping (Parameter) On every Forward Open Request, the following encoder. parameters will be sent from the controller to the Configuration Parameter Class Instance Attribute Number Name Name Number Name Number Direct Counting Toggle...

  • Page 13: Connection Path

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.1.4 Connection Path Is made of a byte stream that defines the appli- This path will be sent to the encoder during cation object to which a connection instance power up. For some tools it is necessary to use applies.

  • Page 14: Explicit Messaging

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.2 Explicit Messaging Provide generic, multi-purpose communication Explicit Messages provide typical paths between two devices. These connections quest/response-oriented network communications. often are referred to as just Messaging Connec- Class 2 and 3 are supported. tions.

  • Page 15: Position Sensor Objects

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.2.2 Position Sensor Objects Instance Attributes (Get: read, Set: write + read) // Class Code: 23 Attrib. ID Access Name Data Type Description Position Value Unsigned DINT Unscaled position (32 bits) Direction Counting Toggle Boolean Controls the code sequence...

  • Page 16: Tcp/Ip Interface Object

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.3 TCP/IP Interface Object example to read or write the device’s IP Address The TCP/IP Interface Object provides the mech- anism to configure a device’s TCP/IP network and Network Mask. interface.

  • Page 17: Status Instance Attribute

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.3.1 Status Instance Attribute (01 Bit(s) Called Definition 0 = The Interface Configuration attribute has not been configured. 1 = The Interface Configuration attribute contains Interface Indicates the status of the valid configuration obtained from BOOTP, DHCP or Configuration Interface...

  • Page 18: Configuration Instance Attribute

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.3.2 Configuration Instance Attribute (02 Bit(s) Called Definition BOOTP Cli- 1 (TRUE) indicates that the device is capable of obtaining its network configura- tion via BOOTP. DNS Client Not Supported DHCP Client Not Supported DHCP-DNS...

  • Page 19: Physical Link Object

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.3.4 Physical Link Object (05 This attribute identifies the object associated with the ration attributes. If the CIP port associated with the underlying physical communication interface (e.g., TCP/IP Interface Object has an Ethernet physical an 802.3 interface).

  • Page 20: Ethernet Link Object

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.4 Ethernet Link Object Class Code: F6 Attribute Access Name Data Type Description Semantics of Values The minimum value is 1. Shall be 2 or greater if instance attribute 6 is Revision UINT Revision of this object...

  • Page 21: Instance Attributes

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.4.0 Instance Attributes ID Access Name Data Type Description of Attribute Semantics of Values Interface speed currently Speed in Mbps (e.g., 10, 100 Interface Speed UINT in use Interface Flags DWORD Interface status flags See chapter 2.4.1...
  • Page 22 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL ID Access Name Data Type Description of Attribute Semantics of Values STRUCT Media Counters Media-specific counters Frames received that are not an Alignment Errors UDINT integral number of octets in length Frames received that do not pass FCS Errors UDINT...
  • Page 23 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL ID Access Name Data Type Description of Attribute Semantics of Values 1 = The interface is internal to the device, i.e. in the case of an Interface Type USINT Type of interface embedded switch 2 = Twisted-pair (e.g.

  • Page 24: Control Bits

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Control Bits Bit(s) Called Definition 802.3 link Auto-negotiation: 0 = disabled, 1 = enabled (standard) Auto-negotiate If Auto-negotiation is disabled then the device shall use the settings indi- cated by the Forced Duplex Mode and Forced Interface Speed bits. If Auto-negotiation bit = 0 the Forced Duplex Mode bit indicates whether Forced Duplex the interface shall operate in full or half duplex mode.

  • Page 25: Interface Flags

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.4.1 Interface Flags Bit(s) Called Definition Indicates whether the Ethernet 802.3 communications interface is con- nected to an active network. 0 indicates an inactive link; 1 indicates an active link. The determination of link status is specific to the implementa- Link Status tion.

  • Page 26: Link Object Instances

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.4.3 Link Object Instances Instance Description Internal interface Intern switch Port 1 Intern switch Port 2 Table 22: Link Object Instances 2.5 Setting parameters with scanners Several external scanners exist for EtherNet/IP IP address (192.168.1.70) is read out of the available.

  • Page 27: Read Out Position Value

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.5.1 Read out position value Get Single Attribute Position sensor value: Class: 0x23 (Position sensor object) Instance: 0x01 Attribute: 0x03 (Position Value) 2.5.2 Set preset value Set Single Attribute Position Preset Value to 1 Class: 0x23 (Position sensor object) Instance: 0x01...

  • Page 28: Get Preset Value

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 2.5.3 Get preset value Get Single Attribute Position Value Class: 0x23 (Position sensor object) Instance: 0x01 Attribute: 0x13 (Preset Value) Version 2020-12-02 Page 26 UME-xCx-EEC1...

  • Page 29: Diagnostics

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 3 Diagnostics Color EtherNet/IP name Description Active1 Yellow Network Status Indicator 1 Details in Table 24 Link1 Green Active2 Yellow Network Status Indicator 2 Details in Table 24 Link2 Green Stat1 Green Module Status Indicator...

  • Page 30: Table 24: Network Status Indicator Stat2

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Summary Requirements Steady Off No power, no If the device does not have an IP address or is powered off IP address Steady Connected If the device has at least one established connection (even to Green the Message router) Flashing...

  • Page 31: Programmable Parameters

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 4 Programmable Parameters 4.1 Direction Counting This operating parameter can be used to select the Configuration Assembly and Explicit Messaging. code sequence. The parameter can be set via Attribute ID Default value Value range Data Type...

  • Page 32: Total Resolution

    ABSOLUTE IXA RC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 4.4 Total Resolution This value is used to program the desired num- Please note the value written on the type label. ber of measuring steps over the total measuring The parameter can be set via Configuration range.

  • Page 33: Velocity Format

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 4.6 Velocity Format Default value for Velocity Format is steps per figuration Assembly or Explicit Messaging. second. This parameter can be set via Con- Attribute ID Default value Value range Data length 1F04 Steps per 100 milliseconds...

  • Page 34: Parameter Control Priority

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Figure 7: Endless Shaft Note: The internal software routine only works if the routine will not work without power supply). There- encoder is in operation. If it is necessary to turn the fore, the rule ahead should be observed for new encoder shaft more than 1,024 revolutions without devices.

  • Page 35: Device Level Ring

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Attribute ID Default value Value range Description Data Type Bit 0: Position error Bit 1: Diagnostic error WORD Bit 2-15: Reserved 0 = No, 1 = Yes Table 36: Alarms Attribute ID Default value Value range...

  • Page 36: Installation

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 5. Installation 5.1 Electrical connection The rotary encoder is connected by a 4 pin M12 tion. connector for the power supply and two 4 pins, The encoder uses a second D-coded connector and D-coded M12 connectors for Ethernet communica- provides integrated switch functionality.

  • Page 37: Power On

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 6 Power On After power on the LED’s on the absolute rotary en- coder will flash between green and red or yellow. 7 Installation 7.1 Rockwell configuration tools 7.1.1 Setting IP-Address (BOOTP/DHCP) To set the IP Address there are special tools with no answer the frequency of requests available.
  • Page 38 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL After setting the IP-Address with this tool the IP- If the IP-Address is not known and BOOTP and Address will be available only after the next DHCP are deactivated it is possible with the tool BOOTP request.

  • Page 39: Table 44: Rotary Switches Allowed Ip Addresses

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL IP address Meaning - The encoder gets its IP address from a DHCP server or BOOTP and save the TCP parameters in non-volatile memory. - DHCP/BOOTP is always activated and cannot deactivated via server.

  • Page 40: Configuration Rslinx Classic

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 7.1.2 Configuration RSLinx Classic™ RSLinx™ is a complete communication server To start a new project add first a new RSLinx Driver providing plant-floor device connectivity for a Classic™ EtherNet/IP under wide variety of Rockwell Software applications Communications Configuration Drivers and input such as RSLogix™, RSNetWorx™,…...
  • Page 41 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Use Browse Local Subnet to find the EtherNet/IP finish this configuration. components in the network. The status should be “Running”. Then push the Close button to Version 2020-12-02 Page 39 UME-xCx-EEC1...

  • Page 42: Rsnetworx

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 7.1.3 RSNetWorx™ RSNetWorx™ products provide design and software interface. This definition can take place configuration management services for Ether- offline using drag and drop operations or online Net/IP. The program defines and configures the by using RSLinx®...
  • Page 43 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL The Wizard finds all EDS files that are discarded in the choosing path and operates a test to check the EDS files on errors. In the next step pictures can be selected for the using nodes. With the button weiter the installation can be continued and finished.
  • Page 44 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Load a saved *.enet file or start a new project. work line and set the IP-Address. Add the devices per Drag and Drop to the net Optionally, browse the network with all devices is not necessary to set the IP-Address manually.

  • Page 45: Configuration Rslogix 5000

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 7.1.4 Configuration RSLogix 5000 The RSLogix 5000 Series environment offers an many types of applications. It supports relay ladder, easy-to-use, IEC61131-3 compliant interface, structured text, function block diagram, symbolic programming with structures and arrays, sequential function chart editors for you to develop and a comprehensive instruction set that serves application programs.
  • Page 46 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 3. Look for the connection path to the encoder (1) Click on Download In the pop-up window (2) Select the encoder The empty program will be loaded to the PLC. (3) and Click on Go Online (4).
  • Page 47 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Add the EDS file Click on EDS Hardware Installation Tool Next -> Register an EDS -> Next -> Browse to the EDS file location -> Next -> OK Add a new module Look for your encoder Version 2020-12-02 Page 45...
  • Page 48 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL Set Name and IP address 10. Select the relevant input assembly Do not forget to select the right size and format 11. Configure Cycle Time, Multicast/Unicast, Input 12. Download the configuration on the PLC Trigger You can change the Input Assembly later by Going Offline ->...
  • Page 49 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 13. In the Controller Tags window, you can see Position and Velocity 14. In the Controller Tags Window, you can set the following parameters: DirectionCountingToogle, ScalingFunctionControl, MeasuringUnitPerSpan,TotalMeasuringRange,VelocityFormat, VelocityFilter,PrmCtrlPriority Version 2020-12-02 Page 47 UME-xCx-EEC1...
  • Page 50 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 15. You can see Acceleration, Temperature and Warning Flags by selecting the Input Assembly 121 as instance (see point 10 and note The values of the different Bytes are then visible in the Controller Tags window 16.
  • Page 51 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL In the Configuration Tab, set Service Type, Code, Class, Attribute, Instance, Source Element and Length as below: In the Communication tab, Browse (1) for the encoder (2) Click on Apply and OK Download the configuration In the Controller Tags window: Set the Preset_value as desired...
  • Page 52 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL See value changed. Please note that Preset_start is back to “0” 17. Set Auto-negotiate and Half/Full Duplex Mode Define User Type as follows: Create the following Ladder Program: You can now change the parameters in the Controller Tags window Version 2020-12-02 Page 50 UME-xCx-EEC1...

  • Page 53: Vlan Configuration Over A Layer 3 Switch

    ABSOLUTE IXA RC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 7.2 VLAN Configuration over a Layer 3 Switch Some applications require the use of a Layer 3 establich a connection between the PLC and the Switch. When this switch is placed between the encoder, you have to make sure that the encoder encoder and the PLC, these ones will be in different and PLC are set as VLAN-Members of the same...

  • Page 54: Faq

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 8 FAQ 8.1 Problem: I replaced a rotary encoder in the machine and now the controller cannot start the applica- tion. Additionally, the Stat LED is flashing with 4 Hz (4 flashes per seconds). Solution: Start the BOOTP/DHCP server to set the IP-Address and deactivate BOOTP and DHCP.

  • Page 55: Glossary

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL ple project from our website. 8.9 Problem: What is the fastest possible cycle time (RPI) on our EtherNet/IP encoder? Answer: 1ms. 8.10 Problem: How can an encoder be replaced by a new one without having to set the IP address? Answer: If a star topology is in use, the Rockwell switch will get the IP address from the DHCP switch and send it to the encoder.
  • Page 56 ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL 100Base-T Transmission line with 100 Mbit data transmission rate Auto-crossing Allow to use straight or crossover wiring Auto-negotiation Is an Ethernet procedure by which two connected devices choose common transmission parameters, such as speed and duplex mode Baudrate Transmission rate: it displays the transmission bits per second Big Endian...

  • Page 57: Revision Index

    ABSOLUTE IXARC ROTARY ENCODER W ITH ETHERNET/IP INTERFACE USER MANUAL ferred in a reliable way. Table 45: Glossary We do not assume responsibility for technical inaccuracies or omissions. Specifications are subject to change without notice. 10 Revision index Revision Date Revision First release 2020-08-09...

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