EN

Manual
Absolute encoder with EtherNet/IP
(with bus cover)
Firmware Version 1.01 and up
www.baumer.com
03.16 · 174.02.060/10
Subject to modification in technic and design.
Errors and omissions excepted.
Content
1.
Page
Introduction
1.1.
1.2.
4
Scope of delivery
Product allocation
4
4
2.
Safety precautions and operating instructions
5
3.
Bus cover – functional principle
6
4.
Device profile
7
4.1.
4.2.
4.3.
4.4.
4.5.
4.6.
4.7.
5.
Introduction
Object model
Identity Object – 01hex
Position Sensor Object – 23hex
Assembly Object – 04hex
Assembly Instances
Parameter Object – 0Fhex
EtherNet/IP-specific objects
5.1.
5.2.
5.3.
6.
31
Mechanical mounting
Electrical connection
Cabling
Connecting the bus cover
Operating display (multi-colour LED)
Activity display (green LEDs)
31
31
31
32
34
34
IP address allocation
35
EtherNet/IP bus cover with HEX rotary switches: IP-assignment after Power On
Allocate IP address with BOOTP/DHCP configuration tool
RSLinx Classic Lite
RSWho
Device configuration
8.1.
8.2.
8.3.
8.4.
9.
24
25
27
Commissioning
7.1.
7.2.
7.3.
7.4.
8.
24
Introduction
Ethernet Link Object – F6hex
TCP/IP Interface Object – F5hex
6.1.
6.2.
6.2.1.
6.2.2.
6.3.
6.4.
7.
7
8
9
12
17
18
20
38
Introduction
Using the parameter object
Application of the configuration assembly instance 105
Direct application of the position sensor object
RSLogix5000 project example
9.1.
9.1.1.
9.2.
9.2.1.
9.2.2.
9.2.3.
35
36
37
37
38
38
41
43
45
Reading in the input data
Configure Generic Ethernet Module
Explicit Messaging, PLC Program Example, Set Preset
Create program tags
Create Controller Tags
Configuration of the message tag
45
46
48
48
49
50
10. Used abbreviations and terms
51
11. FAQ‘s
51
11.1.
51
Device not responding / IP address unknown
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Disclaimer of liability
The present manual was compiled with utmost care, errors and omissions reserved. For this reason
Baumer rejects any liability for the information compiled in the present manual.
Baumer nor the author will accept any liability for direct or indirect damages resulting from the use of the
present information.
At any time we should be pleased receiving your comments and proposals for further enhancement of the
present manual.
Created by:
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Registered Trademarks
TM
TM
TM
RSLinx , RSNetWorx und RSLogix5000 are registered trademarks of Rockwell Automation. The
EtherNet/IP logo is a registered trademark of ODVA, Inc. This and other trademarks referred to in the present
manual which at the same time might be registered trademarks bear no corresponding mark. Having omitted
the respective mark does not necessarily implicate the conclusion of a free brand name, nor does it refer to
any existing patents and protected patented designs.
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1. Introduction
1.1. Scope of delivery
Please check the delivery upon completeness prior to commissioning.
Depending on encoder configuration and part number delivery is including:
Basic encoder, bus cover and CD with describing file and manual (also available as download)
1.2. Product allocation
Product mecanics
Solid / Hollow shaft / Kit
E-IP Product- EDS-File
Code
Description
BMMV / BMMH / BMMK
32
Baumer_EIP_Encoder_BMMx_24I.eds
MT, MAGRES
BMSV / BMSH / BMSK
33
Baumer_EIP_Encoder_BMSx_24I.eds
ST, MAGRES
GBMMW / GBMMS / GBMMH
34
Baumer_EIP_Encoder_GBMMx_8EA2.eds
MT, Optical, 18 bit ST
GBAMW / GBAMS / GBAMH
35
Baumer_EIP_Encoder_GBAMx_8EA2.eds
ST, Optical, 18 bit ST
GXMMW / GXMMS / G0MMH
30
Baumer_EIP_Encoder_GXMMx_8EA2.eds
MT, Optical, 13 bit ST
GXAMW / GXAMS / G0AMH
31
Baumer_EIP_Encoder_GXAMx_8EA2.eds
ST, Optical, 13 bit ST
Explanation:
MT
ST
MAGRES
18 Bit ST
13 Bit ST
Multiturn encoder
Singleturn encoder
Extremely robust encoder with magnetic sensing principle
18
High resolution encoder – up to 18 bit physical singleturn resolution, i.e. 2 steps / revolution
13
Max. 13 bit physical singleturn resolution, i.e. 2 steps / revolution
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2. Safety and operating instructions
Supplementary information
 The present manual is intended as a supplement to already existing documentation (catalogues, product
data sheets and mounting instructions).
 The manual must be studied carefully prior to initial commissioning of the equipment.
Intended purpose of the equipment
 The encoder is a precision sensing device. It is utilized to determine angular positions and revolutions,
and to prepare and supply measured values in the form of electrical output signals for the downstream
device. Encoders must not be used for any other purpose.
Commissioning
 The encoder must be initialised and mounted only by a qualified expert.

Observe the operating instructions of the machine manufacturer.
Safety instructions
 Check all electrical connections prior to commissioning of the equipment.
 If mounting, electrical connections or any other work performed at the encoder and the equipment is not
correctly executed this can result in malfunction or failure of the encoder.
 Corresponding safety precautions must be provided and observed to exclude any risk of personal injury,
damage to material or operating equipment as a result of encoder failure or malfunction.
 The encoder must not be operated beyond the limits (see supplementary documentation).
Failure to observe these safety instructions can result in malfunctions, material damage or personal injury.
Transport and storing
 Only ever transport or store the encoder in its original packaging.
 Never drop the encoder nor expose it to major shocks.
Mounting
 Avoid impacts or shocks on housing and shaft/hollow shaft.
 Avoid any twist or torsion on the housing.
 Never provide rigid connections between encoder shaft and drive shaft.
 Do not open the encoder or carry out any mechanical modifications.
Shaft, ball bearings, glass disc or electronic components can be damaged thereby and a safe and reliable
operation is no longer ensured.
Electrical commissioning
 Do not carry out any electrical modifications at the encoder.
 Do not carry out any wiring work while encoder is live.
 Never plug or unplug connector while encoder is live (the bus cover however may be removed or docked
to the basic encoder when live).
 Ensure that the entire system is installed in line with EMC/EMI requirements. Operating environment and
wiring have an impact on the electromagnetic compatibility of the encoder. Install encoder and supply
cables separately or far away from sources with high emitted interference (frequency converters,
contactors, etc).
 When working with consumers with high emitted interference provide separate encoder supply voltage.
 Completely shield encoder housing and connecting cables..
 Connect encoder to protective earth (PE) using shielded cables. The braided shield must be connected to
the cable gland or connector. Ideally, aim at dual connection to protective earth (PE), i.e. housing by
mechanical assembly and cable shield by the downstream devices. In case of earth loop problems, earth
at least on one side.
Failure to observe these instructions can result in malfunctions, material damage or personal injury!!
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3. Bus cover – functional principle
The product family architecture is modular. Depending on what is required from the encoder, the basic
encoder and bus covers can be combined at will with the selected bus system.
The basic encoders differ in terms of accuracy, ambient conditions and the utilized sensing principle.
Bus cover
The bus cover accommodates the entire electronics for measured value processing and for Ethernet
communication.
The bus covers differ by the respectively integrated bus interface.
Available bus interfaces: CANopen®, DeviceNet, EtherCAT, Ethernet/IP, Profibus-DP, Profinet, Powerlink,
Power over EtherCAT, SAE J1939, SSI.
All encoders enable parameterization by bus interface.
Functional principle:
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4. Device profile
4.1. Introduction
As an application layer, EtherNet/IP uses the Common Industrial Protocol (CIP) released by the ODVA. CIP
is transmitted as an “encapsulated” protocol in the data section of standard Ethernet frames. Depending on
the assignment and type of connection, the data transmission mechanisms UDP/IP or TCP/IP are used.
Fig. 1: EtherNet/IP and CIP levels in accordance with the OSI reference model
CIP is an object-oriented protocol. The device characteristics are described by objects (such as a parameter
object) which have one or more instances. Each instance in turn has one or more attributes. Attributes
describe individual characteristics of objects (such as parameter value or parameter unit).
In device profiles, the ODVA defines which CIP objects and attributes have to be supported by a certain
device class. In addition, optional and manufacturer-defined objects and attributes are also possible.
Baumer encoders with Baumer EtherNet/IP bus cover support the Encoder Device Profile, device type 22 hex
in accordance with the “Common Industrial Protocol Specification”, Volume 1 of the ODVA, Edition 3.7,
November 2009.
Data transmission of CIP messages in EtherNet/IP networks takes place by means of implicit and explicit
messages.
Typically, implicit messages are smaller data packages for time-critical data transmissions. When transmitting
I/O data, implicit connections with long-term viability are generally involved. I/O data is transmitted by means
of UDP and uses port 2222.
Non time-critical data is transmitted by means of explicit messages. Examples of explicit messages are
configuration or information data, which use the TCP/IP transmission mechanism.
More detailed information on the Common Industrial Protocol (CIP) or on EtherNet/IP can be obtained from
the ODVA (www.odva.org).
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4.2. Object model
The object model describes the used object classes of the encoder and their mutual relationship. This
is defined in the 22Hex device profile of the ODVA for encoder devices and depicted in the diagram
below. Objects made available by the Baumer bus cover but which are only an optional component of
the device profile are shaded in grey in this diagram.
Fig. 2: Object model of the encoder device profile as a component of the Baumer bus cover
The following table indicates the object classes and the number of instances available in each class.
Object class
Number of instances
01h: Identity Object
1
02h: Message Router Object
1
04h: Assembly Object
6, the instances present are
1, 2, 3, 100, 105, 110
06h: Connection Manager
Object
1
0Fh: Parameter Object
14
23h: Position Sensor Object
1
F4h: Port Object
2
F5h: TCP/IP Interface Object
1
F6h: Ethernet Link Object
3
Table 3: Available objects
The characteristics of these objects are described in the following sections and/or the relevant EDS file.
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4.3. Identity Object – 01hex
The identity object is implemented in accordance with the Common Industrial Protocol Specification. The
object revision is 1, and the class code is 01h.
Table 4 lists the available class attributes. Class attributes are addressed via instance 0.
For the class attributes of the identity object, the services
- 01h Get Attribute all
- 0Eh Get Attribute single
are supported.
Attribute
ID
1
2
Access
Name
Data type
Description
Values
read
read
Revision
Max Instance
UINT
UINT
1
1
3
read
UINT
4
read
Number of
Instances
Optional attribute
list
number of attributes
optional attributes
ARRAY of
UINT
UINT
Object revision
Highest instance number
existing in this class
Number of existing
instances
List of supported optional
instance attributes
Number of supported
optional instance attributes
Number of optional
instance attribute numbers
Attribute number of last
class attribute
Attribute number of last
instance attribute
12
6
read
7
read
Maximum ID
Number Class
Attributes
Maximum ID
Number Instance
Attributes
STRUCT of
UINT
UINT
1
2
11, 12
7
Table 4: Class attributes of the identity object
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The table below contains all supported instance attributes of the identity object.
Attribute
ID
1
Access
Name
Data type
Description
Values
read
Vendor ID
UINT
Manufacturer identification
2
read
Device Type
UINT
3
read
Product Code
UINT
4
read
5
read
Revision
Major Revision
Minor Revision
Status
STRUCT of
USINT
USINT
WORD
Product type identification
(device profile)
Identification of a
manufacturer’s part product
Product revision
468 =
Baumer
Vendor ID
34 =
22hex
6
7
read
read
Serial Number
Product Name
11
read /
write
Active Language
UDINT
SHORT_ST
RING
STRUCT of
Supported
Language List
USINT
USINT
USINT
ARRAY of
STRUCT of
12
read
USINT
USINT
USINT
Summarized device status
(see description below the
table)
Device serial number
Readable product
identification
Language currently
supported by the device
Field 1 of STRINGI type
Field 2 of STRINGI type
Field 3 of STRINGI type
List of supported languages
as field of individual
elements as described in
attribute 11
Field 1 of STRINGI type
Field 2 of STRINGI type
Field 3 of STRINGI type
Based on
ISO 6392/T)
STRINGI
Data type
Table 5: Identity object, instance attributes
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The status attribute (attribute number 5) is defined as a bit string. The meanings of the individual bits are
described in Table 6.
Bit(s)
0
Name
Owned
1
2
Configured
3
4-7
8
9
10
11
Extended Device
Status
Minor Recoverable
Fault
Minor Unrecoverable
Fault
Major Recoverable
Fault
Major Unrecoverable
Fault
12-15
meaning
= 1: at least 1 object of the device has an owner.
The bit is set if at least a class 1 or a class 3 connection is in the
“established status”.
Reserved, value = 0
= 1: at least 1 application attribute has been changed as against
the default settings.
The bit is set if at least 1 writable attribute of the position sensor
object has been changed.
Reserved, value = 0
= 0000: Self test
= 0001: Firmware update is active
= 0010: At least 1 I/O connection is in Error status
(timeout detected)
= 0011: There are no I/O connections in the Established status.
This bit refers to Class 1 connections.
= 0100: The saved configuration is defective.
This bit is set if errors are detected when reading the
data saved in the internal flash.
= 0101: A serious error has been detected. Bit 10 or Bit 11 is
additionally set
= 0110: There is at least 1 I/O connection in the Run status
(active). The bit refers to Class 1 connections.
= 0111: There is at least 1 I/O connection in the Established
status, but all connections are in the Idle Mode. Display
of this status is not supported.
All other bit combinations are reserved for manufacturer-defined
information. These bit combinations are not used.
The device has detected a non-serious and reparable fault. This
bit is set if a class 1 I/O connection has detected a timeout.
This fault category is not supported by the device.
This bit is set if
- an error is detected when reading the internal flash memory
- an inadmissible jump of the position value has occurred
(Position Error).
This bit is set if no connected base encoder is detected when
switching on the bus cover.
Reserved, value = 0
Table 6: Status attribute description
For the instance attributes of the identity object, the following services are supported:
- 01h Get Attribute all
- 05h Reset Service
The parameter values 0 and 1 are supported. After completed service, both parameter values
bring about a reset of all connection configurations. No reset of application parameters to factory
default takes place!
- 0Eh Get Attribute single
- 10h Set Attribute single
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4.4. Position Sensor Object – 23hex
The position sensor object is implemented in accordance with the Common Industrial Protocol Specification.
The object revision is 2 and the class code is 23h.
In Table 7 the available class attributes are listed. Class attributes are addressed via the instance 0.
For the class attributes of the position sensor object, the services
- 0Eh Get Attribute single
are supported.
Attribute
ID
1
2
Access
Name
Data type
Description
Values
read
read
Revision
Max Instance
UINT
UINT
2
1
3
read
UINT
4
read
Number of
Instances
Optional Attribute
List
Number of
Attributes
Optional Attributes
Object revision
Highest instance number
existing in this class
Number of existing
instances
List of supported optional
instance attributes
Number of supported
optional instance attributes
Number of optional
instance attribute numbers
Maximum ID
Number Class
Attributes
Maximum ID
Number Instance
Attributes
UINT
Attribute number of last
class attribute
UINT
Attribute number of last
instance attribute
6
read
7
read
STRUCT of
UINT
ARRAY of
UINT
1
18
1,2, 11,
16, 17,
19, 24,
42, 43,
44, 45,
46, 47,
48, 49,
51,100,
101
7
101
Table 7: Class attributes of the position sensor object
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The following table contains all supported instance attributes of the position sensor object.
For a detailed description of individual instance attributes, see the table.
Attribute
ID
1
2
Access
Name
Data type
Description
Values
read
read
Number of Attributes
Attribute List
USINT
Array of
USINT
Number of supported attributes
List of supported attributes
20
1,2, 10, 11,
12, 16, 17,
19, 24,
42, 43, 44,
45, 46, 47,
48, 49,
51,100,
101
10
11
12
read
read
read / write
DINT
UINT
BOOL
16
read/ write
17
read/ write
19
read / write
Position Value Signed
Position Sensor Type
Direction Counting
Toggle
Measuring Units per
Span
Total Measuring
Range in Measuring
Units
Preset Value
24
42
read
read
Velocity Value
Physical Resolution
Span
DINT
UDINT
43
read
Number of Spans
UINT
44
read
Alarms
WORD
45
read
Supported Alarms
WORD
46
read
Alarm Flag
BOOL
47
48
read
read
Warnings
Supported Warnings
WORD
WORD
49
51
read
read
Warning Flag
Offset Value
BOOL
DINT
100
Read /
write
Read /
write
Velocity Sample Rate
USINT
Current position value
Specifies the sensor type
Defines the sense of rotation in
which the position value rises.
Number of required measuring
units per revolution
Number of required measuring
units over the entire measuring
range
Position value is set to the
reset value
Current speed value
Number of maximum
distinguishable measuring units
per revolution
Maximum number of
revolutions
Indicates a detected error
which can result in an incorrect
position value or requires user
intervention
Information on supported
alarms
Indicates whether an alarm has
occurred.
Indicates any existing warnings
Information about supported
warnings
Indicates if a warning is active
The offset is calculated with the
preset function. The actually
measured position is displaced
by this value.
Velocity sample rate in ms
Velocity Filter
USINT
101
UDINT
UDINT
DINT
Number of samples for
calculating moving average
value
CW = 0
CCW = 1
1..255
1..255
Table 8: Position sensor object, instance attributes
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Position Value Signed – attribute 10
Absolute position of the sensor. Zero correction of the preset function is taken into consideration in the
displayed value. The unit of measurement for the position value is increments or scanning steps or counts.
Position Sensor Type – attribute 11
Depending on the used base encoder, one of the following values is displayed:
01 – Singleturn absolute encoder
02 – Multiturn absolute encoder
Direction Counting Toggle – attribute 12
Behaviour of the position data depending on the sense of rotation of the encoder when rotating the encoder
shaft seen looking at the flange.
Setting CW (clockwise) = rising values when rotating clockwise
Setting CCW (counterclockwise) = rising values when rotating counterclockwise
The parameter value is saved in a non-volatile memory in case of changes.
Measuring Units per Span – attribute 16
The attribute defines the number of distinguishable steps per revolution of the sensor.
The value is an indication of the required single turn resolution (“measuring units per revolution“).
Values between 1 and the maximum resolution of the encoder per revolution (attribute 42) are admissible.
Reparameterization can result in a change of attribute 17 to the value of the equations (1) or (2), if the value
of attribute 17 is smaller than the minimum value or greater than the maximum value.
Reparameterization deletes the previous offset value (attribute 51), so that the previous position reference is
lost. The parameter value is saved in a non-volatile memory in the event of a change.
Total Measuring Range in Measuring Units – attribute 17
This attribute defines the total number of distinguishable steps over the entire measurement range.
The minimum setting value is calculated as:
Minimum value attr.. 17 = Set value attr. 16
(1)
The maximum setting value is calculated as:
Maximum value attr. 17 = Set value attr. 16 x value attr. 43
(2)
n
If the number of revolutions is programmed to a value unequal to 2 (1, 2, 4, - 65536) then after traversing the
sensor zero in a de-energized status, reparameterization must be carried out.
The number of counted revolutions is calculated as:
Number of counted revolutions = Set value attr. 17 ÷ Set value attr. 16
(3)
Reparameterization deletes the previous offset value (attribute 51), so that the previous position reference is
lost. The parameter value is stored in a non-volatile memory in the event of a change.
Preset value – attribute 19
Offset value – attribute 51
The preset function supports adjustment of the encoder zero at the mechanical zero point of the system. In
the event of a “set attribute” at attribute 19, the current position of the encoder is set to the preset value. The
internal offset value (attribute 51) is calculated and stored in the encoder.
The following rule applies:
Preset value (attribute 19) = position value (attribute 10) + offset value (attribute 51)
(4)
Note: The preset function should only be used when the encoder is at a standstill.
A preset must always be carried out after the following attributes have been changed:
 Measuring units per span – attribute 16,
 Total measuring range in measuring units – attribute 17
When carrying out the preset function, an offset value (attribute 51) is internally calculated and stored as a
non-volatile value in the flash memory, ensuring that the encoder retains the same unchanged position after
switching off and back on. The flash memory is typically rewritable 100,000 times. However, despite the high
number of possible write cycles, frequent program or event-controlled setting of the preset could foreshorten
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the service life. When configuring the control software, a certain amount of care is consequently called for
here. The preset can be selected in a range between zero and a value smaller than the set overall
measurement range (attribute 17).
Velocity Value – attribute 24
The current velocity value of the encoder. The velocity value is read out in the unit “counted scanning steps /
second”.
Physical Resolution Span – attribute 42
Using this attribute, the physical resolution of the encoder can be read out in the form of scanning steps per
revolution.
Number of Spans – attribute 43
Maximum number of distinguishable revolutions. The physical measurement range is made up of:
Physical measurement range = attribute 42 (Physical Resolution Span) x attribute 43 (Number of Spans) (5)
Alarms – attribute 44
Supported Alarms – attribute 45
Alarm Flag – attribute 46
Attribute 44 delivers alarm messages. An alarm is set if the encoder has detected a status which can result in
an incorrect encoder position. As soon as an alarm status is detected, the relevant bit is set to logical high.
The alarm is automatically reset after 5 seconds. The alarm flag (attribute 46) is also set with each alarm.
The following alarms are supported:
0001 - Bit 0: Position error
0002 - Bit 1: Diagnostic error
1000 - Bit 12: Illegal jump detected in the position value. (Jump between 2 position values corresponds
to an inadmissible velocity of more than 6200 revolutions/minute)
4000 - Bit 14: Flash error (unable to read saved data)
8000 - Bit 15: No encoder is detected
The alarm messages of bits 12, 14 and 15 are defined on a manufacturer-specific basis.
Warnings – attribute 47
Supported Warnings – attribute 48
Warning Flag – attribute 49
Attribute 47 delivers warning messages. Warnings are signalled by the encoder if internal parameters of the
encoder are out of tolerance. In contrast to alarm messages, warnings do not indicate an incorrect position.
Warnings are reset as soon as the parameter which was out of tolerance is restored to the correct value. The
warning flag (attribute 49) is also set with each warning.
The following warnings are supported:
0010 - Bit 4: Battery voltage is low. Battery exchange is recommended.
2000 – Bit 13: The encoder is operating with default settings. No valid encoder data was found in the
flash.
The warning message of bit 13 is defined on a manufacturer-specific basis.
Velocity Sample Rate – attribute 100
Min Value: 1
Max Value: 255
Default Value: 1
Time in ms between two measuring samples (delta Steps and delta Time)
Velocity Filter – attribute 101
Min Value: 1
Max Value: 255
Default Value: 1
Number of sampled values for calculating moving average value
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The position sensor object supports the following instance services:
Code
Service
Description
0Eh
Get_Attribute_Single
Supplies the content of a selected attribute
10h
Set_Attribute_Single
Changes the value of a selected attribute.
If the value can be stored, it is filed in the non-volatile memory.
Table 9: Position sensor object supported attribute services
Note: Attributes with “write” access rights are stored as non-volatile data immediately subject to
valid write access.
Product
BMSx
BMMx
GXAMx, G0AMx
GXMMx, G0MMx
GBAMx
GBMMx
Measuring Units per Span
Decimal
16384
16384
8192
8192
262144
262144
Hex
4000
4000
2000
2000
40000
40000
Bit
14
14
13
13
18
18
Number of Spans
Decimal
1
65536
1
65536
1
8192
Hex
1
10000
1
10000
1
2000
Total Measuring Range in
Measuring Units
Bit
Decimal
Hex
0
16384
4000
16
1073741824 40000000
0
8192
2000
16
536870912 20000000
0
262144
40000
13
2147483648 80000000
Bit
14
30
13
29
18
31
Table 9a: Encoder resolution default
Product configurations of the same product family come with identical default settings.
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4.5. Assembly Object – 04hex
The assembly object is created in accordance with the Common Industrial Protocol Specification. The object
revision is 2. The class code is 04h.
The provided class attributes are listed in table 10. Class attributes are addressed via the instance 0.
All instances of the assembly object are static instances. Dynamic instances are not supported.
The service
- 0Eh Get Attribute single
can be applied on the class attributes of the assembly object.
Attribute
ID
1
2
Access
Name
Data type
Description
Values
read
read
Revision
Max Instance
UINT
UINT
2
110
3
read
UINT
4
read
Number of
Instances
Optional attribute
list
number of attributes
optional attributes
ARRAY of
UINT
UINT
Object revision
Highest instance number
existing in this class
Number of existing
instances
List of supported optional
instance attributes
Number of supported
optional instance attributes
List of optional instance
attribute numbers
Attribute number of last
class attribute
Attribute number of last
instance attribute
4
6
read
7
read
Maximum ID
Number Class
Attributes
Maximum ID
Number Instance
Attributes
STRUCT of
UINT
UINT
6
1
4
7
Table 10: Class attributes of the assembly object
The following table contains all supported instance attributes of the assembly object.
Attribute
ID
3
Access
Name
read
Data
4
read
Size
Data
type
ARRAY
of BYTE
UINT
Description
Values
Data of the assembly
instance
Number of bytes in attribute
3
See table
13
Table 11: Assembly object, instance attribute
The service
- 0Eh Get Attribute single
can be applied on the instance attributes of the assembly object.
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4.6. Assembly Instances
The encoder supports 6 I/O assembly instances.
I/O assembly instances are also called connection points. A distinction is made between the following
connection point types:
- Originator -> Target (O->T). These connection points represent output assembly instances for the encoder
from the viewpoint of the network.
- Target -> Originator (T->O). These connection points represent input assembly instances for the encoder
from the viewpoint of the network. These instances contain for instance the position value of the encoder.
For cyclical reading of the encoder input data, from the viewpoint of an EtherNet/IP scanner, the following
connection types can be used:
-
Exclusive owner uses O->T connection point 100. (max. 1 simultaneous connection is
allowed).
Input Only, uses the O->T connection point 254.
Listen Only, uses the O->T connection point 255.
The requirement for construction of listen-only connections is that at least 1 exclusive owner
or one input only connection exists for the required T->O connection point.
The encoder supports up to 128 simultaneous connections. These connections can be implemented as class
1 or class 3 connections.
Note Instance class 1 connections can only be generated to one input assembly simultaneously.
According to the Encoder Device Profile, assembly instances 1, 2 and 3 are provided for input data. The
input data of the Baumer-defined assembly instances 110 can also be used.
The object instance 105 is defined as the configuration assembly instance. Use of this assembly instance
when establishing class 1 connections is one possibility for configuration of the encoder (see also section 8,
Device configuration).
The output assembly instance 100 is implemented for use in exclusive owner connections.
The following table compiles all assembly instances defined in the encoder.
Instance
Typ
Name
Size /Byte
1
Input
Position Value
4
2
Input
Position Value & Warning Flag
5
3
Input
Position Value & Velocity
8
110
Input
Vendor specific: Pos,Velocity,Warning,Alarm
9
100
Output
EIPScan
0
105
Configuration
Configuration
10
Table 12: Baumer bus cover – assembly instances
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The data formats of the assembly instances are listed in the table below.
Byte
1
0
Position LSB
1
Position
2
Bit7
Bit6
Bit5
Bit4
Bit3
2
Position
3
Position MSB
0
Position LSB
1
Position
2
Position
3
Position MSB
Bit2
3
110
0
Position LSB
1
Position
2
Position
3
Position MSB
4
Velocity LSB
5
Velocity
6
Velocity
7
Velocity MSB
0
Position value LSB
1
Position value
2
Positionswert
3
Positionswert MSB
4
Velocity LSB
5
Velocity
6
Velocity
7
Velocity MSB
8
Bit7
Bit6
Bit5
Bit4
Bit3
Bit0
Warn
Flag
Alarm
Flag
Warn
Flag
Alarm
Flag
Bit1
Bit0
Input Assembly Instances
4
Bit1
Instance
Byte
Bit2
105
0
Measuring Units per Span LSB
1
Measuring Units per Span
2
Measuring Units per Span
3
Measuring Units per Span MSB
4
Total Measuring Range LSB
5
Total Measuring Range
6
Total Measuring Range
7
Total Measuring Range MSB
8
Direction Counting Toggle
9
reserved
Configuration Assembly Instance
Instance
Table 13: Assembly instance data formats.
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4.7. Parameter Object – 0Fhex
The parameter object is implemented in compliance with the CIP Specification.
The object revision is 1. The class code is 0Fh.
In Table 14, the provided class attributes are listed. Class attributes are addressed via instance 0.
The service
- 0Eh Get Attribute single
can be applied on the class attributes of the parameter object.
Attribute
ID
1
2
Access
Name
Data type
Description
Values
read
read
Revision
Max Instance
UINT
UINT
1
16
3
read
UINT
4
read
Number of
Instances
Optional attribute
list
Number of
attributes
Optional attributes
Object revision
Highest instance number
existing in this class
Number of existing
instances
List of supported optional
instance attributes
Number of supported
optional instance attributes
Number of optional
instance attribute numbers
Bit information which
describes the parameters
Instance number of the
configuration assembly
instance
8
read
9
read
Parameter Class
Descriptor
Configuration
Assembly Instance
STRUCT of
UINT
ARRAY of
UINT
WORD
UINT
16
0
0
0x000B
105
Table 14: Class attributes of the parameter object
The class attribute 8 Parameter Class Descriptor provide the following bit information:
Bit 0: =
Bit 1: =
Bit 2:=
Bit 3: =
1 A parameter object instance is available for each parameter.
1 Each parameter instance contains all attributes.
0 Automatic data saving upon writing of error-free response
1 Non-volatile saving of all parameters
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The following table contains all supported instance attributes of the parameter object.
Attribute
ID
1
Access
Name
Data type
Description
read / write
Parameter Value
2
read
Link Path Size
Defined in
attributes 4, 5
and 6
USINT
Current value of the parameter. The
attribute is read only if bit 4 of
attribute 4 is set.
Size of the link path (attribute 3)
3
read
Link Path
Packed
EPATH
4
read
Descriptor
WORD
5
6
read
read
Data Type
Data Size
EPATH
USINT
7
read
8
read
Parameter Name
String
Units String
SHORT
STRING
SHORT
STRING
9
read
Help String
10
read
Minimum Value
11
read
Maximum Value
12
read
Default Value
13
14
15
16
17
read
read
read
read
read
Scaling Multiplier
Scaling Divisor
Scaling Base
Scaling Offset
Multiplier Link
SHORT
STRING
Defined in
attributes 4, 5
and 6
Defined in
attributes 4, 5
and 6
Defined in
attributes 4, 5
and 6
UINT
UINT
UINT
INT
UINT
CIP path to object, instance and
attribute from which the parameter
value is received
Description of parameter object
instance characteristics
Data type code
No. of bytes of the parameter value
(attribute 1)
ASCII string with prefixed length of
the parameter name
ASCII string with prefixed length of
the parameter unit (00 if the
parameter value has no unit)
ASCII string with prefixed length of
the help description
Minimum value on which the
parameter can be set
18
read
Divisor Link
UINT
19
read
Base Link
UINT
20
read
Offset Link
UINT
21
read
Decimal Precision
USINT
Values
No. of
bytes
Maximum value on which the
parameter can be set
Default value of the parameter if no
change has been carried out
Value for scaling factor
Divisor for scaling calculation
Basis for scaling calculation
Offset for scaling formula
Parameter Instance of the multiplier
value (0, if no parameter)
Parameter instance of the divisor
values (0, if no parameter)
Parameter instance of the basis
values (0, if no parameter)
Parameter instance of the offset
values (0, if no parameter)
Specifies the number of decimal
places where an integer value has to
be interpreted with decimal places in
the used unit.
1
1
1
0
0
0
0
0
0
Table 15: Parameter object, instance attribute
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The services
- 01h Get Attribute all
- 0Eh Get Attribute single
-10h Set Attribute single
can be used on the instance attributes of the parameter object
The following bits of the instance attribute 4, descriptor can be set in the parameter instances of the Baumer
bus cover and have the following meaning:
Bit 4: The parameter value is read only and can only be read.
Bit 5: The parameter value is updated in real time by the device.
Note
Writable parameter values are saved as non-volatile data in the device after a successful write
access. Writing to the internal flash takes place when the new parameter value is distinguished from
the old one and is accepted by the system as valid.
By means of the scaling attributes (instance attributes 13 to 16 and 21), integer parameter values can be
displayed in other formats. The following formula applies for calculation of the value to be depicted:
( Actual Value (Attr. 1) + Offset (Attr. 16) ) x Mult (Attr. 13) x Base (Attr. 15)
Value to be depicted =
(6)
Div (Attr. 14) x 10
Precision (Attr. 21)
Note
In the current firmware, only the default units (C = Count for position values) and CPS = Counts per
second for velocity values) are supported by the encoder. Consequently the formula (6) always
results in: Value to be depicted = Actual value (attr. 1)
Parameter instances always contain attributes from instances of other objects (for path see parameter
instance attribute 3) as a source. In table 16, the individual parameter instances are named with their sources
and important characteristics.
The functional significance of the parameter values corresponds to the functional description of the respective
instance attributes of the source objects and is described in the relevant sections of the manual.
.
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Parameter
instance
1
Source object
Source
instance
Source
attribute
Parameter name
Minimum
value
Maximum
value
Default
value
Position
Sensor Object
Position
Sensor Object
Position
Sensor Object
Position
Sensor Object
1
12
DirCountToggle
0
1
0
1
16
MeasUnitsPerSpan
1
See table 9.a
1
17
TotMeasRangeinUn
See table 9.a
1
19
PresetValue
See table
9.a
0
See table
9.a
See table
9.a
0
5
Position
Sensor Object
1
10
PositionValue
0
6
Position
Sensor Object
Position
Sensor Object
Position
Sensor Object
Position
Sensor Object
(23h)
Position
Sensor Object
Position
Sensor Object
Position
Sensor Object
(23h)
Position
Sensor Object
Position
Sensor Object
Position
Sensor Object
Position
Sensor Object
1
42
PhysResolSpan
1
43
NumberOfSpan
1
46
AlarmFlag
See table
9.a
See table
9.a
0
1
44
Alarms
1
45
1
2
3
4
7
8
9
10
11
12
13
14
15
16
Smaller than
set overall
measure-ment
range (see
parameter
instance 3)
Set overall
measure-ment
range (see
parameter
instance 3)
See table 9.a
0
1
See table
9.a
See table
9.a
0
0
D003hex
0
SupportedAlarms
D003hex
D003hex
D003hex
49
WarningFlag
0
1
0
1
47
Warnings
0
2010hex
0
1
48
SupportedWarnings
2010hex
2010hex
2010hex
1
24
Velocity
0
FFFFFFFFhex
0
1
100
Velocity Sample Rate
1
255
1
1
101
Velocity Filter
1
255
1
See table 9.a
Table 16: Parameter object instances - characteristics
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5. EtherNet/IP-specific objects
5.1. Introduction
The Baumer bus cover has two physical Ethernet ports P1 and P2 with integrated switch technology.
Both physical ports use a common MAC address and a common IP address.
Both ports support autonegotiation and automatically set the duplex mode and the interface speed.
The EtherNet/IP-specific objects existing in the bus cover and their mutual relationships.
Fig. 3: Illustration of the existing EtherNet/IP-specific objects
Writing to the communication interface of the Baumer bus cover is carried out by an instance of the TCP / IP
interface object and a total of 3 instances of the Ethernet link object.
Writing to the two physical Ethernet ports P1 and P2 is carried out by the instances 2 and 3 of the Ethernet
link object. Instance 1 of the Ethernet link object is required for writing to the internal device port of the
integrated switch.
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5.2. Ethernet Link Object – F6hex
The Ethernet link object is created in accordance with the Common Industrial Protocol Specification. The
object revision is 3. The class code is F6h.
In Table 17, the available class attributes are listed. Class attributes are addressed via the instance 0.
The services
- 01h Get Attribute all
- 0Eh Get Attribute single
can be applied on the class attributes of the Ethernet link object.
Attribute
ID
1
2
Access
Name
Data type
Description
Values
read
read
Revision
Max Instance
UINT
UINT
3
3
3
read
UINT
4
read
Number of
Instances
Optional attribute
list
number of attributes
optional attributes
ARRAY of
UINT
UINT
Object revision
Highest instance number
existing in this class
Number of existing
instances
List of supported optional
instance attributes
Number of supported
optional instance attributes
Number of optional
instance attribute numbers
Attribute number of last
class attribute
Attribute number of last
instance attribute
10
6
read
7
read
Maximum ID
Number Class
Attributes
Maximum ID
Number Instance
Attributes
STRUCT of
UINT
UINT
3
3
7, 8, 10
7
Table 17: Class attributes of the Ethernet link object
Instances of the Ethernet link Object
Instance
1
2
3
Significance
intern
Port P1
Port P2
Table 17.a: Instances of the Ethernet link Object
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The following table contains all supported instances of the Ethernet link object.
Attribute
ID
1
Access
Name
read
Interface Speed
Data
type
UDINT
2
read
Interface Flags
DWORD
3
read
Physical Address
7
read
Interface Type
ARRAY
of 6
USINT
USINT
8
read
Interface State
USINT
10
read
Interface Label
SHORT_
STRING
Description
Values
Current speed of the
interface
Interface status flags, see
also the description below
MAC address
Interface type, see also the
description below
General interface status,
see also the description
below
Readable interface
identification
Table 18: Ethernet link object, instance attributes
Instance attribute 2 (interface flags) has the following meaning:
Bit 0:
Bit 1:
Link Status:
Half/Full Duplex:
Bits 2-4: Status Negotiation:
=1
=0
=1
=0
=1
=2
=3
=4
Bit 5
Manual Settings required Reset:
=0
Bit 6:
Local Hardware Fault
=0
=1
Active link exists
Half duplex
Full duplex
Auto negotiation in execution
Error in auto negotiation and speed detection.
Default values are used.
Error in auto negotiation but speed detected.
The default value for the duplex mode is used.
Auto negotiation successfully completed. Duplex
Mode and speed detected.
Auto negotiation not completed. Values for speed
and duplex mode forced.
The interface can automatically adopt changes of
attributes of the Ethernet link objects and does not
require a reset for activation
No hardware error detected
Hardware error detected
Bits 7-31: reserved
The interface type (instance attribute 7) has the value 1 for internal interfaces (corresponds to instance 1 of
the Baumer bus cover) or the value 2 (twisted pair interface for object instances 2 and 3).
The interface state attribute (instance attribute 8) has the following meaning:
0: The interface status is unknown
1: The interface is ready to transmit and receive data
2: The interface is switched off
3: The interface is in the test mode
4-256: reserved
The services
- 0Eh Get Attribute single
- 01h Get Attribute all
can be applied on the instance attribute of the Ethernet link object.
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5.3. TCP/IP Interface Object – F5hex
Das TCP/IP interface object is created in accordance with the CIP Specification.
The object revision is 1. The class code is F5h.
In Table 19, the available class attributes are listed. Class attributes are addressed via the instance 0.
The services
- 0Eh Get Attribute single
- 01h Get Attribute all
can be applied on the class attributes of the Ethernet interface object.
Attribute
ID
1
2
Access
Name
Data type
Description
Values
read
read
Revision
Max Instance
UINT
UINT
1
1
3
read
UINT
4
read
Number of
Instances
Optional attribute
list
number of attributes
optional attributes
ARRAY of
UINT
UINT
Object revision
Highest instance number
existing in this class
Number of existing
instances
List of supported optional
instance attributes
Number of supported
optional instance attributes
List of optional instance
attribute numbers
Attribute number of last
class attribute
Attribute number of last
instance attribute
9
6
read
7
read
Maximum ID
Number Class
Attributes
Maximum ID
Number Instance
Attributes
STRUCT of
UINT
UINT
1
2
8, 9
7
Table 19: Class attributes of the TCP/IP interface object
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The following table contains all supported instance attributes of the TCP/IP interface object.
Attribute
ID
1
Access
Name
read
Status
2
read
Configuration
Capability
DWORD
3
read /
write
Configuration
Control
DWORD
4
read
Physical Link Object
STRUCT
of
Path size
UINT
Path
Interface
configuration
IP Address
Padded
EPATH
STRUCT
of
UDINT
Network Mask
UDINT
Gateway Address
UDINT
Name Server
UDINT
Name Server 2
UDINT
Domain Name
STRING
5
read /
write
Data
type
DWORD
Description
Interface status,
see also the
description below
Interface
characteristics, see
also the description
below
Interface control
flags, see also the
description below
Path to the
physical link object
Size of the path
(number 16 bit
words in the path)
Path
TCP/IP network
configuration
IP address of the
device
Network mask of
the device
Gateway address
of the device
Primary name
server of the
device
Secondary name
server of the
device
Default domain
name
6
read /
write
Host Name
STRING
Host name of the
device
8
read /
write
TTL Value
USINT
TTL (Time to live)
value for EtherNet
/IP multicast
frames
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Values
14hex
Path to the
Ethernet link
object, instance 1
2
20 F6 24 01
0 = No network
mask configured
0 = no gateway
address configured
0 = No primary
name server
configured
0 = No secondary
name server
configured
ASCII characters,
maximum length =
48 characters
Is padded to an
even number of
characters
ASCII characters,
maximum length =
64 characters
Is padded to an
even number of
characters
www.baumer.com
9
read
Mcast Config
STRUCT
of
Alloc Control
USINT
reserved
USINT
Num Mcast
UINT
Mcast Start Addr
UDINT
IP Multicast
address
configuration, see
also description
below
Multicast address
allocation control
word, determines
how addressed are
allocated
ODVA, reserved
for possible future
upgrades
Number of IP
multicast
addresses
allocated for
EtherNet/IP
Start address from
which the multicast
addresses are
allocated (class D
address)
0
Table 20: TCP/IP interface object, instance attributes
Attribute 1 (status) has the following meaning:
Bits 0 - 3:
Interface configuration Status:
= 0:
= 1:
= 2:
Bit 4:
Mcast Pending:
= 3-15:
=1
The interface configuration attribute (attribute
5) has not been configured.
The interface configuration attribute (attribute
5) contains valid values taken from the BOOTP,
DHCP or from the internal flash memory.
The interface configuration attribute (attribute 5)
contains valid values taken from the
hardware settings (HEX Rotary-switches).
reserved
This bit is set if the TTL value attribute
(attribute 8) or the mcast config attribute
(attribute 9) has been changed and is deleted
on the next device start. The configuration
changes carried out are stored in the device.
Bits 5 – 31: reserved
Attribute 2 (configuration capability) has the following meaning:
The device returns the value 14hex, which means:
04 hex: The bus cover has DHCP client functionality and can acquire the network configuration
via DHCP.
10 hex: The interface configuration attribute is writable.
Note
The device does not have a DNS client and does not transmit the host name in the DHCP request.
Using attribute 3 (configuration control) it is possible to set how the device acquires the initial setting of the
interface configuration attribute (attribute 5). A change of attribute 3 (configuration control) without error
message is immediately stored in the device’s internal flash memory. The following values can be set:
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0: The device reads its configuration from the internal flash memory
or from Hardware-Rotary switches.
2: The device acquires its configuration via DHCP (default setting).
Note
When changing the attribute value from 2 to 0, the interface configuration setting (attribute 5) is also
stored in the internal flash memory of the device. For this reason, the attribute value 0 is only
accepted if the interface configuration (attribute 5) contains valid values at this point in time.
The value of alloc control as a component of the mcast config (attribute 9) has the following meaning:
0: For generation of the multicast addresses, the specified allocation algorithm is used. If this value
is written, the values for Num Mcast and Mcast Start Addr of the Attribute in the set access must
be transferred with 0.
1: The multicast addresses are allocated in accordance with the value for Num Mcast and Mcast Start
Addr of the attribute.
2: Reserved
The services
- 0Eh Get Attribute single
- 01h Get Attribute all
- 10h Set Attribute single
- 02h Set Attribute all
can be applied on the instance attributes TCP/IP interface object.
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6. Commissioning
6.1. Mechanical mounting
Shaft encoders
 Mount the encoder with the help of the mounting holes and three screws (square flange: 4 screws)
provided at the encoder flange. Observe thread diameter and depth.
 There is an alternative mounting option in any angular position by eccentric fixings, see under
accessories.
 Connect drive shaft and encoder shaft by using an appropriate coupling. The shaft ends must not touch
each other. The coupling must compensate temperature and mechanical tolerances. Observe the
maximum permitted axial or radial shaft load. For appropriate couplings please refer to accessories.
 Tighten the mounting screws firmly.
Blind or through hollow shaft encoders
 Mounting by clamping ring
Prior to mounting the encoder open the clamping ring completely. Push encoder onto the drive shaft and
tighten the clamping ring firmly.
 Adjusting element with rubber buffer
Push the encoder onto the drive shaft and insert the cylindrical pin into the adjusting element (customermounted) and the rubber buffer.
 Mounting angle
Push the encoder onto the drive shaft. Insert adjusting angle into the encoder’s rubber buffer and fasten
the mounting angle at the contact surface.
 Stud screw
Push the encoder onto the drive shaft and insert the stud screw (customer-mounted) into the encoder’s
rubber buffer.
 Spring washer
Fasten the spring washer at the mounting holes of the encoder housing using screws. Push the encoder
onto the drive shaft and mount the spring washer to the contact surface.
6.2. Electrical connection
Ever store and transport the bus cover in the ESD bag only.
For electrical connection remove the bus cover as follows:
 Release the fastening screws of the bus cover
 Carefully loosen the bus cover and lift off in an axial direction
6.2.1. Cabling
EtherNet/IP utilizes Fast Ethernet cable (100MBit, Cat 5) composed of four wires AWG22 (white, yellow, blue
and orange).
There are three types of EtherNet/IP cables:



Type A – for fix or rigid cabling
Type B – for occasional movements or vibrations (flexible)
Type C – for permanent movements (highly flexible).
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6.2.2. Connecting the bus cover
The bus cover provides three M12 connectors.
Two M12 connectors (D-coded, according IEC 61076-2-101) serve for EtherNet/IP implementation.
Shaft / blind hollow shaft encoder
L/A
P1
Duo-LED
Indicating the operating state
green-red
P2
HEX rotary
switches for
IP address
(only shaft
encoder)
Activity LEDs (green)
Indicating the bus activities
on Port1, Port2
Fig. 4a: Bus cover shaft / blind hollow shaft – electrical assignment and LED
Through hollow shaft encoder
Duo-LED
Indicating the operating
state green-red
Fig. 4b: Bus cover hollow shaft– electrical assignment and LED



For voltage supply use A-coded M12 connector only.
For the bus lines both D-coded M12 connectors may be used at will.
Seal up the unused cable gland using a sealing bolt (included in the delivery).
The IP address can be set via two HEX rotary switches (only shaft encoder) inside the bus cover (see
section 7). There is no need to carry out further manual settings inside the bus cover.
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Pin assignment
Supply voltage
EtherNet/IP (data line)
1 x M12 (connector)
A-coded
2 x mating M12 (female)
D-coded
Pin
1
2
3
4
Pin
1
2
3
4
Assignment
UB (10...30 VDC)
N.C.
GND
N.C.
Assignment
TxD+
RxD+
TxDRxD-
Assembly of basic encoder and bus cover



Carefully plug the bus cover onto the D-SUB connector of the basic encoder, then press it over the seal
and take care not to tilt.
Tighten both fastening screws firmly in the same direction.
The bus cover must fully rest on the housing of the basic encoder and be firmly screwed on.
The encoder housing and braided shield of the connecting cable are only ideally connected if the bus cover is
resting fully on the basic encoder (form-locking)..
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6.3. Operating display (multi-colour LED)
A DUO LED (green and red) is located in the bus cover. This reflects the machine status of the position
sensor object in accordance with Ethernet/IP specifications and provides information on the encoder status.
LED status
Status
Description
Off
Green flashing
Not connected
Device is active and online, no
connection exists
Green
Device is active and online
Connections have been
established
Critical device fault or critical
communication error
Recoverable fault
Self test
No power supply
The device is operating under normal conditions and
is online. No connection has been established to a
scanner.
- Encoder has not yet been configured by the
scanner
- Configuration not complete or faulty
The device is operating under normal conditions and
is online, connections are in the Established status
Red
Red flashing
2 Hz green/red
The device is in an irreparable error status
I/O connections are in the time-out status
Immediately on connection of supply voltage, the
device carries out a self-test.
Table 22: LED operating display statuses
6.4. Activity display (green LEDs)
In the bus cover, another two green LEDs are integrated. These indicate data traffic at the two ports P1 and
P2. In case of occasional data traffic (e.g. during ramp-up), the LEDs flash intermittently, but in the event of
fast cyclical data exchange can appear as if permanently on.
Immediately after connection of the supply voltage, both LEDs carry out a self test with a frequency of 2 Hz.
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7. IP address allocation
For operation of the EtherNet/ IP encoder, the device must be allocated an IP address. This can be issued
statically once only, or can be allocated again dynamically every time the device is switched on.
Devices featuring two HEX rotary switches will be allocated their IP address by the following procedure:
7.1. EtherNet/IP bus cover with HEX rotary switches: IP-assignment after Power On
Power ON
F5 1 3 TCP/IP Interface Object
Bits 0 - 3: Startup configuration
HEX rotary
*1
* 16
0: The device reads its configuration from the internal
flash memory or from HEX rotary sw itches
2: The device acquires its configuration via DHCP
(default factory setting) or from HEX rotary sw itches.
Example: nnn = B5hex = 181dez
Default settings (configuration via
DHCP): 00hex
F5 1 3 TCP/IP Interface
Object
==0
configuration control ==2
n
y
IP-Address =
HEX rotary
sw itch ==
(0x00 || 0xFF)
192.168.1.nnn
n
y
nnn= Value from HEX
rotary sw itches
n
HEX rotary
sw itch ==
(0x00 || 0xFF)
y
DHCP-Request to DHCP Server
read IP Address from
flash memory
w aiting for IP Address assign from
DHCPServer
device IP Address
ready configured
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7.2. Allocate IP address with BOOTP/DHCP configuration tool
Factory Device default is mode „IP Address over DHCP-Request“
The IP address must be allocated by a DHCP server.
This DHCP server (software) can be obtained as freely available software from the Allen-Bradley Rockwell
website.
www.ab.com/networks/ethernet/bootp.html
The DHCP server must be in the same network as the encoder.
Carry out the relevant settings
under Tools, Network Settings
After installation, a connected Ethernet/IP encoder registers as follows:
MAC address of the Ethernet/IP encoder,
see label on the bus cover housing
This IP address is allocated by
the DHCP Server
Fig. 5:DHCP server tool
Using the Disable BOOT/DHCP button (answer on successful execution: Command successful) this IP
address can be statically allocated, i.e. the next time the encoder is switched on and off, no further request is
sent to the DHCP Server. The encoder operates from now on with the previously assigned IP address. „IP
address out of internal flash“.
Note:
Please carefully put down any updated IP address in the field provided on the product label (to
prevent any future problems in operation in other networks, refer also to annex FAQs.)
Example: Product label with handwritten IP address
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Instance attributes 3 of TCP/IP object, class code: F5Hex holds IP Addressing Mode
Class ID
0xF5
Attribut
e ID
3
Access
Name
Data type
Description
read/
write
Configuration
Attribute
DWORD
Determines how the device receives its
initial configuration after switching on
Table 23: Attribute 3 TCP/IP object
Values
0 = Interface configuration out of non-volatile memory or by Hardware (HEX rotary switch)
2 = Interface configuration via DHCP server (factory setting)
7.3. RSLinx Classic Lite
RSLinx Classic Lite for Rockwell Automation networks and devices is an operating communication solution
for a large number of Rockwell Software and Allen-Bradley applications.
RSLinx Classic Lite has the minimum functionality required to support RSLogix and RSNetWorx.
This version is not commercially available, but is included in the scope of supply of products which only
require direct access to RSLinx classic network drivers.
RSLinx classic lite can be used for the following processes:
 Programming of contact plan logic with the aid of RSLogixp products.
 Network and device configuration and diagnosis with the aid of RSNetWorx.
 Configuration of Ethernet modules / devices (e.g. 1756-ENET, 1756-DHRIO etc.).
 Browsing networks and scanning device information (e.g. firmware version number).
7.4. RSWho
RSWho is the main window of RSLinx Classic Lite and is similar to the graphic display of networks and
devices in the Windows Explorer.
The left-hand window area of RSWho is the directory control area which displays networks and devices.
In this example, the encoder previously configured with the DHCP server in the network is shown alongside
the IP address.
Fig. 6: View under RSLinx Classic Lite
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8. Device configuration
8.1. Introduction
On principle, the encoder with the parameters preset in the factory is ready for operation. Despite this, after
setting the IP address as described in section 7, it will be necessary to adjust the encoder configuration for
the relevant application.
The encoder properties which will require adjusting include:
- Sense of rotation / definition of the counting direction
- Measurement range within a rotation
- Total measurement range of the encoder
- Matching the encoder coordinate system with the coordinate system of the application (preset
value)
All the specified characteristics are saved immediately following an error-free transmission as non-volatile
values in the device. However, the save process is only initiated if a value is changed. A repeat transmission
of identical values does not initiate a save routine.
There are 3 independent mechanisms with identical rights available which can be used but which do not each
individually have to be used. It makes sense and may be necessary to combine several different mechanisms
(please observe the following note regarding setting the preset value).
The next 3 sections describe examples of the encoder configuration for each of these mechanisms.
Note
Matching the coordinate systems using the preset value is not possible in the case of the
configuration assembly instance, as transmission of the configuration assembly instance takes
place with the Forward Open Frames function while establishing communication.
Setting the position value is not customarily linked to the time at which a cyclical connection is
established.
The preset value can be set for instance by using the parameter object, while all other settings are
carried out using the configuration assembly instance.
8.2. Using the parameter object
When using the parameter object (class code 0Fhex), configuration takes place over the set attribute single
service of the instance attribute (parameter value).
In order to check the required setting value, the admissible setting range of the parameter can be previously
determined by reading the minimum value (instance attribute 10) and the maximum value (instance attribute
11).
As the setting limits of the encoder’s total measurement range are calculated at a certain time from the
currently set measurement range within a revolution, the measurement range should be set within a
revolution before the encoder’s total measurement range. Fig. 7 illustrates the schematic sequence of
encoder configuration using the parameter object.
If invalid setting values are written (e.g. setting value outside the setting range of the parameter), the encoder
rejects the value with an error message (see Fig. 8, status = 0x03hex).
If the set attribute single service is performed without errors, the status 0x00 hex is returned.
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Step 1
Setting the measurement range within a revolution
Object code
= 0x0Fhex
Instance
=2
Attribute number= 1
Service: CIP Set Attribute Single = 0x10hex
Encoder: CIP Success
Step 2
Setting definition of the complete setting range of the encoder
Object code
= 0x0Fhex
Instance
=3
Attribute number= 1
Service: CIP Set Attribute Single = 0x10hex
Encoder: CIP Success
Step 3
Setting definiton of the counting direction
Object code
= 0x0Fhex
Instance
=1
Attribute number= 1
Service: CIP Set Attribute Single = 0x10hex
Encoder: CIP Success
Encoder is placed at the preset position
Step 4
Setting the preset value (matching the coordinate systems)
Object code
= 0x0Fhex
Instance
= 4
Attribute number= 1
Service: CIP Set Attribute Single = 0x10hex
Note: The preset value should be set at a standstill!
Otherwise inaccuracies can occur!
Fig. 7: Encoder configuration with the parameter object
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Fig. 8: Record of a faulty set attribute single service
From the viewpoint of the encoder, configuration of the setting values (steps 1-4 in Fig. 7) can only be carried
out only once.
From the point of view of the application, it can also make sense to execute steps 1-3 for instance after
switching on the encoder.
The parameter object also offers the possibility of reading out text strings for the parameter names, the
parameter unit and a help text from the encoder in compliance with the “Common Industrial Protocol
Specification”. The language used is English.
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8.3. Application of the configuration assembly instance 105
When using configuration assembly instance 105, configuration of the encoder takes place with transmission
in the Forward Open Frame while establishing the connection (see Fig. 9).
Fig. 9: Configuration assembly instance 105 in the Forward Open Frame
As only one exclusive owner connection is accepted at any time by the bus cover (see also section 4.6), this
connection type can be used, for example, in order to transmit the configuration assembly instance.
The data structure of the assembly instance 105 is shown in table 13 on page 22. The data is taken
individually from the bus cover in the following sequence:
1. Setting the measurement range within a revolution (measuring units per span)
2. Setting the total measurement range of the encoder (total measuring range in measuring units)
3. Setting the definition of the counting direction (direction counting toggle)
Transfer of the configuration data takes place internally in the device via the parameter object. This ensures
that the transfer of configuration values takes place after the same checks as with direct utilization of the
parameter object (see section 8.2).
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If an error is detected in the data of the configuration assembly instance, no connection is established. The
connection is rejected on the part of the encoder with a connection failure frame (see Fig. 10, status = 0x01,
additional status = 0x0118).
Fig. 10: Connection failure frame due to incorrect value in the assembly instance 105
Note
Even with incorrect data in assembly instance 105, a part of the configuration data may have become
effective!
If for instance an incorrect value were written for the counting direction, but the values for setting
the measurement range within a revolution and for setting the total measurement range of the
sensor were still valid, then these two values would already have been accepted by the encoder
before the connection was rejected.
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When setting the preset value (matching the coordinate systems), note that the preset value has to be
performed again with each change of the measurement range setting within a revolution, or of the encoder’s
total measurement range (see section 4.4).
For this reason, when using the assembly instance 105 for encoder configuration, ensure that before first
setting the preset value (matching the coordinate system) error-free transmission of the assembly instance
105 has taken place at least once.
From the point of view of the encoder, it is also the case for utilization of the configuration assembly instance
that the encoder configuration only has to be transmitted once.
From the point of view of the application, transmission must take place at least with each exclusive owner
connection.
8.4. Direct application of the position sensor object
The procedure for direct utilization of the position sensor object to configure the encoder only differs
marginally from utilization of the parameter object (see section 8.2).
Configuration takes place by means of the set attribute single service of the relevant instance attribute of the
position sensor object (23hex).
Direct writing of the position sensor object uses the same control functions for data checking as the
parameter object.
If invalid setting values are written (e.g. setting value outside the setting range of the attribute), the sensor
rejects the value with an error message. (See also Fig. 8, status = 0x03hex).
In the event of error-free execution of the set attribute single service, the status 0x00 hex is returned.
From the point of view of the encoder, the configuration of setting values (steps 1 – 4 in Fig. 11) only needs to
be performed once.
However, from the point of view of the application, it may make sense for example to carry out steps 1- 3
every time the encoder is switched on.
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Step 1
Setting the measurement range within a revolution
Object code
= 0x23hex
Instance
=1
Attribute number= 16
Service: CIP Set Attribute Single = 0x10hex
Encoder: CIP Success
Step 2
Setting the total measurement range of the encoder
Object code
= 0x23hex
Instance
=1
Attribute number= 17
Service: CIP Set Attribute Single = 0x10hex
Encoder: CIP Success
Step 3
Setting definition of the counting direction
Object code
= 0x23hex
Instance
=1
Attribute number= 12
Service: CIP Set Attribute Single = 0x10hex
Encoder: CIP Success
Encoder is placed at the preset position
Step 4
Setting the preset value (matching the coordinate systems)
Object code
= 0x23hex
Instance
=1
Attribute number= 19
Service: CIP Set Attribute Single = 0x10hex
Note: The preset value should be set at a standstill!
Otherwise inaccuracies can occur!
Fig. 11: Encoder configuration with the position sensor object
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9. RSLogix5000 project example
9.1. Reading in the input data



Create a new project under RSLogix5000
Select New Module
Select ETHERNET MODULE Generic Ethernet
Fig. 12: Generic Ethernet Module
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9.1.1.
Configure Generic Ethernet Module
Select assembly instance (see chapter I/O assembly instances)
Fig. 13: Configuration assembly instances
Select requested packet interval
Fig. 14: Define cycle time inputs
Min. cycle time: 2 ms
Max. cycle time: 3200 ms
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Select the network path by clicking on the symbol
Go Online
With Download, start transmission to the PLC and start the PLC program with RUN.
Fig. 15: Select network path
Observe encoder position (input data) with monitor tags
Fig. 16: Monitor tags position data
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9.2.
Explicit Messaging, PLC Program Example, Set Preset
Here: Set attribute single to class 0x23, instance 1, attribute 0x13
Fig. 17: Ladder logic depiction
9.2.1.
Create program tags
Create Msg_activate_SET for activation of the preset command
Fig. 18: Structure of Msg_activate_SET
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9.2.2.
Create Controller Tags
1. MESSAGE-type tag for the preset set command
2. DINT-type tag for input of the required values
Fig. 19: Controller tags
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9.2.3.
Configuration of the message tag
Fig. 20: Set Attribute Single message configuration
After downloading and running the PLC program, the preset command can now be executed with the button
combination STRG-T.
Fig. 21: Activation of the preset command
Here, the current position of the encoder is set to the preset value.
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10. Used abbreviations and terms
ARRAY
Attr.
BOOL
BYTE
CIP
DINT
DWORD
EMC
ERTEC
h
hex
I/O
IP
OSI reference model
ODVA
Packed EPATH
PE
SHORT_STRING
STRING
STRINGI
STRUCT
TCP
UDINT
UDP
UINT
USINT
WORD
Field data tape
Attribute
Data type which can only accept the values TRUE or FALSE
Data type – 8 bit
Common Industrial Protocol
Signed 32-bit integer value
Bit field – 32 bits
Electromagnetic compatibility
Enhanced Real-Time Ethernet Controller
Abbreviation for hexadecimal representation
Abbreviation for hexadecimal representation
Input / output
Internet protocol in conjunction with EtherNet/IP but industrial protocol
Open Systems Interconnection Reference Model
Open Device-Net Vendor Association
Data type – CIP path segments
Potential earth
Character string (1 byte per character, 1 byte length indicator) – Data type
Data type -.character string (1 byte per character)
International character string
Structure - data type
Transmission Control Protocol
Unsigned 32-bit integer value
User Datagram Protocol
Unsigned 16-bit integer value
Unsigned 8-bit integer value
Bit field – 16 bits
11. FAQ‘s
11.1. Device not responding / IP address unknown
Device operation mode „IP address out of internal flash“.
The IP address is saved in the flash but unknown.
Encoder is not recognised in RSLinx. (Device not responding to PING command)
Troubleshooting:
 Disconnect device from power supply (device power off).
 Carefully undock the bus cover.
 At bus cover power-on (when undocked from basic encoder) the activity indicator (Duo- LED) is red
continuous.
 Bus cover operational in mode „IP address via DHCP request“.
 In the NIC (network card) configuration, set „dynamic“ (DHCP enable).
 Run bus cover and NIC at BOOTP/DHCP server.
 NIC and bus cover IP address to be allocated within the same network.
 Bus cover now appears as bus user under RSLinx (device name: ERR_ see illustration below).
 Address bus cover as described under 7.2.
 Press button „Enable DHCP“.
 Device logs on with message „Command successful“.
 Disconnect bus cover from power supply.
 Dock bus cover onto basic encoder again.
 After power on, the device is operational in mode „IP address via DHCP request“.
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IP addressing in operation „bus cover without basic encoder“ to RSlinx and BOOTP/DHCP server
Devices with rotary switches:
 Carefully undock bus cover from basic encoder.
 Rotary switch setting unequally 00, for example 22.
 Device now in mode „IP address by HEX rotary switch“.
 In the present example, the encoder will respond again to address 192.168.1.22.
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