AMCI NR60E2 User manual

MICRO CONTROLS INC.
ADVANCED
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Manual #: 940-0D161

ADVANCED MICRO CONTROLS INC.
GENERAL INFORMATION
Important User Information
The products and application data described in this manual are useful in a wide variety of different applica-
tions. Therefore, the user and others responsible for applying these products described herein are responsible
for determining the acceptability for each application. While efforts have been made to provide accurate infor-
mation within this manual, AMCI assumes no responsibility for the application or the completeness of the
information contained herein.
UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS, INC. BE RESPONSIBLE OR
LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING INDIRECT OR CONSEQUENTIAL DAM-
AGES OR LOSSES, ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS
MANUAL, OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN.
No patent liability is assumed by AMCI, with respect to use of information, circuits, equipment, or software
described in this manual.
The information contained within this manual is subject to change without notice.
This manual is copyright 2020 by Advanced Micro Controls Inc. You may reproduce this manual, in whole or
in part, for your personal use, provided that this copyright notice is included. You may distribute copies of this
complete manual in electronic format provided that they are unaltered from the version posted by Advanced
Micro Controls Inc. on our official website: www.amci.com. You may incorporate portions of this documents
in other literature for your own personal use provided that you include the notice “Portions of this document
copyright 2020 by Advanced Micro Controls Inc.” You may not alter the contents of this document or charge a
fee for reproducing or distributing it.
Standard Warranty
ADVANCED MICRO CONTROLS, INC. warrants that all equipment manufactured by it will be free from
defects, under normal use, in materials and workmanship for a period of [18] months. Within this warranty
period, AMCI shall, at its option, repair or replace, free of charge, any equipment covered by this warranty
which is returned, shipping charges prepaid, within eighteen months from date of invoice, and which upon
examination proves to be defective in material or workmanship and not caused by accident, misuse, neglect,
alteration, improper installation or improper testing.
The provisions of the "STANDARD WARRANTY" are the sole obligations of AMCI and excludes all other
warranties expressed or implied. In no event shall AMCI be liable for incidental or consequential damages or
for delay in performance of this warranty.
Returns Policy
All equipment being returned to AMCI for repair or replacement, regardless of warranty status, must have a
Return Merchandise Authorization number issued by AMCI. Call [phone] with the model number and
serial number (if applicable) along with a description of the problem during regular business hours, Monday
through Friday, 8AM - 5PM Eastern. An "RMA" number will be issued. Equipment must be shipped to AMCI
with transportation charges prepaid. Title and risk of loss or damage remains with the customer until shipment
is received by AMCI.
24 Hour Technical Support Number
24 Hour technical support is available on this product. If you have internet access, start at www.amci.com.
Product documentation and FAQ’s are available on the site that answer most common questions.
If you require additional technical support, call [phone]. Your call will be answered by the factory dur-
ing regular business hours, Monday through Friday, 8AM - 5PM Eastern. During non-business hours an auto-
mated system will ask you to enter the telephone number you can be reached at. Please remember to include
your area code. The system will page an engineer on call. Please have your product model number and a
description of the problem ready before you call.
Waste Electrical and Electronic Equipment (WEEE)
At the end of life, this equipment should be collected separately from any unsorted municipal waste.

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TABLE OF CONTENTS
General Information
Important User Information ..................... 2
Standard Warranty ................................... 2
Returns Policy .......................................... 2
24 Hour Technical Support Number ........ 2
WEEE Statement ..................................... 2
About this Manual
Audience .................................................. 7
Applicable Units ...................................... 7
Navigating this Manual ............................ 7
Manual Conventions ................................ 7
Trademarks Acknowledgements .............. 7
Revision Record ....................................... 8
Revision History ............................ 8
Manual Layout ......................................... 8
Reference: NR60E2 Specifications
Overview .................................................. 9
Connector Locations and Pinouts ........... 10
Mating Connectors and Cordsets ... 10
Status LED’s ............................................ 11
Network Status (NS) LED ............. 11
Module Status (MS) LED .............. 12
Link/Activity LED’s ...................... 12
IP Address Switches ................................ 13
Protocol Specific Behavior ............ 13
Position Reset Switch .............................. 13
Electrical Specifications .......................... 14
Mechanical Specifications ....................... 14
Environmental Specifications .................. 14
Part Number Description ......................... 15
Available Data ......................................... 15
Programmable Parameters ....................... 15
Count Direction ............................. 15
Scaling Function Control ............... 16
Counts per Turn ............................. 16
Total Measurement Range ............. 16
Velocity Format ............................. 19
Preset Value ................................... 19
Reference: Configuring Network 
Interfaces
Firewall Settings ...................................... 21
Disable All Unused Network Interfaces .. 21
Configure Your Network Interface .......... 21
Test Your Network Interface ................... 22
Task: Physical Installation
Installation Guidelines ............................. 23
Electrostatic Discharge 
Prevention ................................... 23
Suitable Environment ................... 23
Shaft Loading ................................ 23
A Note on Cable Direction ........... 23
Availability of CAD Drawings ................ 23
Outline Drawings ..................................... 24
Servo Mount, End Connect, 
Aluminum or SS Body ............... 24
Servo Mount, Side Connect, 
Aluminum Body Only ................ 24
Flange Mount, End Connect, 
Aluminum or SS Body ............... 25
Flange Mount, Side Connect, 
Aluminum Body Only ................ 25
Servo and Flange Shaft Details ..... 26
Hub Shaft Mount, End Connect, 
Aluminum or SS Body ............... 27
Hub Shaft Mount, Side Connect, 
Aluminum Body Only ................ 28
Task: Wire Power and Ethernet
Power Wiring Installation ........................ 29
Power Wiring Guidelines .............. 29
Connector Location and Pinout .... 29
Right Angle Cable 
Exit Direction ............................. 29
Mating Connectors and Cordsets .. 29
CNVL-2M Cable Specifications ... 30
Ethernet Wiring Installation ..................... 30
Signal Wiring Guidelines .............. 30
Connector Location and Pinout .... 31
Right Angle Cable Exit 
Direction ..................................... 31
TIA/EIA-568 Color Codes ............ 31
Mating Connectors and Cordsets .. 31
Sample Wiring Diagram ............... 32
Task: Set the IP Address and 
Protocol
General Guidelines ................................... 33
Web Server Guidelines ................. 33
Rotary Switch Guidelines ............. 33
Determine the Best Method for 
Setting the IP Address ............................ 34
Use Factory Default Settings ................... 34

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Task: Set the IP Address and

Protocol (continued)
Use the NR60E2 IP Address Switches ..... 35
Use the Embedded Web Server ................ 36
Use the AMCI NET 
Configurator Utility ................................ 39
Protocol Specific Information
Manual Sections ....................................... 43
Starting Pages ........................................... 43
EtherNet/IP protocol: Page 45 ...... 43
Modbus TCP protocol: Page 71 .... 43
PROFINET protocol: Page 75 ...... 43
Task: ImplicitCommunicationswith
an EDS
Obtain the EDS file .................................. 45
Install the EDS file ................................... 45
Start the EDS Hardware 
Installation Tool .......................... 45
Install the EDS File ....................... 46
Host System Configuration ...................... 48
Add the NR60E2 to Your Project ............ 48
NR60E2 Properties ................................... 49
General Tab ................................... 49
Connection Tab ............................. 49
EDS Data Formats .................................... 50
Input Data Format ......................... 50
Buffering the Input Data ............... 50
Output Data Format ...................... 51
Configuration Data Format ........... 51
Task: Implicit Communications
Without an EDS
Host System Configuration ...................... 53
Add the NR60E2 ...................................... 53
Check for Communication Errors ............ 56
Implicit Messaging Data Format .............. 56
Assembly Instance = 1 .................. 56
Assembly Instance = 3 .................. 57
Buffer Implicit Messaging Data ............... 57
Task: EtherNet/IP Explicit 
Messaging
Custom Assembly Instances .....................59
Read Assemblies ........................... 59
Write Assemblies .......................... 59
RSLogix 500 Configuration ..................... 60
Add the Read Message Instructions ......... 61
General Tab Settings ..................... 61
MultiHop Tab Settings .................. 62
Task: EtherNet/IP Explicit 
Messaging (continued)
Position and Velocity Data Formats ......... 62
Assembly Instance = 1 .................. 62
Assembly Instance = 3 .................. 62
Add the Write Message Instructions ........ 63
General Tab Settings ..................... 63
MultiHop Tab Settings .................. 64
Write Data Formats .................................. 64
Configure NR60E2 Data Format .. 64
Preset Position Instruction ............. 65
Save To Flash Instruction .............. 65
Restore From Flash Instruction ..... 65
Restore Factory 
Defaults Instruction ..................... 65
Reset Device Instruction ............... 65
Troubleshooting ........................................ 66
Reference: CIP Position Sensor 
Object
Common Industrial Protocol .................... 67
Supported Services ................................... 67
Supported Class Attributes ....................... 67
Supported Instance Attributes .................. 68
Supported Alarms ..................................... 69
Reference: Modbus TCP 
Configuration
NR60E2 Memory Layout ........................ 71
Supported Modbus Functions ................... 71
Supported Modbus Exceptions ................. 72
Multi-Word Format .................................. 72
Output Data Format .................................. 72
Command Word ............................ 73
Configuration Word ...................... 74
Input Data Format ..................................... 74
Reference: PROFINET Parameters
PROFINET Parameter Names .................. 75
Compatibility Mode ...................... 75
Class 4 Functionality ..................... 75
Code Sequence .............................. 75
Scaling Function Control .............. 75
Measurements Units per 
Revolution ................................... 75
Preset Control - G1_XIST1 ........... 75
Alarm Channel Control ................. 75
Sign-of-Life Failures ..................... 76
Factory Default Settings ........................... 76

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NR60E2UserManual TABLE OF CONTENTS
5
Reference: PROFINET Acyclic Data 
Formats
I&M Function .......................................... 77
P922 - Telegram Selection ....................... 77
P925 - Maximum life sign failures 
that may be tolerated .............................. 77
P964 - Device Identification .................... 78
P965 - Profile Identification .................... 78
P971 - Store local parameters to 
non-volatile memory .............................. 78
P974 - Base Mode Parameter Access 
Service Identification ............................. 79
P975 - DO Identification .......................... 79
P979 - Sensor Format .............................. 79
P980 - Number List of Defined 
Parameters .............................................. 80
P65000 - Preset Value .............................. 80
P65001 - Operating Status ....................... 81
P65001[1] - Operating Status ........ 81
P65001[2,3] - Supported Faults ..... 82
Reference: PROFINET Cyclic Data 
Formats
Sensor Control Word (G1_STW) ............ 83
Encoder Control Word (STW2_ENC) ..... 84
Sensor Status Word (G1_ZSW) ............... 84
Encoder Status Word 2 (ZSW2_ENC) .... 85
Position Data Formats .............................. 86
G1_XIST1and G1_XIST3 ............. 86
G1_XIST2 ..................................... 86
Velocity Data Format ............................... 86
Standard Telegram 81 .............................. 87
Output Data ................................... 87
Input Data ...................................... 87
Standard Telegram 82 .............................. 87
Output Data ................................... 87
Input Data ...................................... 87
Standard Telegram 83 .............................. 88
Output Data ................................... 88
Input Data ...................................... 88
Standard Telegram 84 .............................. 88
Output Data ................................... 88
Input Data ...................................... 88
AMCI Telegram 860 ................................ 89
G1_XIST_PRESET_A .................. 89
Output Data ................................... 89
Input Data ...................................... 89
Task: PROFINET Network 
Configuration
Basic Steps ............................................... 91
Download the GSDML file ...................... 91
GSDML File Installation .......................... 91
Configure the PROFINET Network ......... 91
Add the NR60E2 to the 
PROFINET Network .............................. 92
Set the Telegram ...................................... 94
Set the NR60E2 Parameters ..................... 95
Set the NR60 Device Name ..................... 96
Verify and Download the 
New Configuration ................................. 96
MRP Installations ..................................... 97
Configure the NR60E2 as an MRC .......... 97

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Notes

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ABOUT THIS MANUAL
Audience
This manual explains the installation and operation of AMCI’s NR60E2 Multi-Protocol Networked Resolver
Encoders. It is written for the engineer responsible for incorporating the NR60E2 into a design as well as the
engineer or technician responsible for its actual installation.
Applicable Units
This manual is applicable to all Ethernet NR60E2 units. Every NR60E2 supports EtherNet/IP and Modbus
TCP. Units sold after September 1st, 2019, most likely support the PROFINET protocol and have a built-in
webserver for IP address configuration. Contact AMCI if you require assistance in determining which proto-
cols are supported by your NR60E2.
Navigating this Manual
This manual is designed to be used in both printed and on-line forms. Its on-line form is a PDF document,
which requires Adobe Acrobat Reader version 7.0+ to open it. You are allowed to select and copy sections
for use in other documents and, if you own Adobe Acrobat version 7.0 or later, you are allowed to add notes
and annotations. If you decide to print out this manual, all sections contain an even number of pages which
allows you to easily print out a single chapter on a duplex (two-sided) printer.
Manual Conventions
Three icons are used to highlight important information in the manual:
NOTES highlight important concepts, decisions you must make, or the implications of those
decisions.
CAUTIONS tell you when equipment may be damaged if the procedure is not followed
properly.
WARNINGS tell you when people may be hurt or equipment may be damaged if the pro-
cedure is not followed properly.
The following table shows the text formatting conventions:
Trademarks Acknowledgements
The AMCI logo is a trademark of Advanced Micro Controls Inc. “PROFINET” is a registered trademark of
PROFIBUS & PROFINET International (PI). “CIP” is a trademark of Open DeviceNet Vendor Association,
Inc. “EtherNet/IP” is a trademark of ControlNet International, Ltd. under license by Open DeviceNet Vendor
Association, Inc. “Adobe” and “Acrobat” are registered trademarks of Adobe Systems Incorporated. All other
trademarks contained herein are the property of their respective holders.
Read this chapter to learn how to navigate through this manual and familiarize
yourself with the conventions used in it. The last section of this chapter high-
lights the manual’s remaining chapters and their target audience.
Format Description
Normal Font Font used throughout this manual.
Emphasis Font Font used for parameter names and the first time a new term is introduced.
Cross Reference When viewing the PDF version of the manual, clicking on a blue cross refer-
ence jumps you to referenced section of the manual.
HTML Reference When viewing the PDF version of the manual, clicking on a red cross reference
opens your default web browser to the referenced section of the AMCI website
if you have Internet access.

ABOUT THIS MANUAL NR60E2UserManual
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8
Revision Record
This manual, 940-0D161 is the second release of this manual. It adds information on the stainless steel ver-
sions of the NR60E2. It was first released on July 7th, 2020.
Revision History
940-0D160: 08/09/2019 Initial Release
Manual Layout
You will most likely read this manual for one of two reasons:
If you are curious about the NR60E2, this manual contains the information you need to determine if the
NR60E2 is the right product for your application. Chapter 1, NR60E2 Specifications, was written for
you. The chapter contains all of the information you will need to fully specify the NR60E2 product in
your application.
If you need to install and use the NR60E2, then the rest of the manual is written for you. To simplify
installation and configuration, the rest of the manual is broken down into tasks and references. The tasks
that are common to all protocols, such as installation, are at the beginning of the manual. e.
Chapter Title Starting
Page Chapter Description
NR60E2 Specifications 9Complete specifications of the NR60E2 products.
Configuring Network
Interfaces 21 Information on configuring network interfaces on your computer or
laptop to ensure easy communication with the NR60E2.
Physical Installation 23 Task instructions and information related to physically installing the
NR60E2 in your system.
Wire Power and Ethernet 29 Task instructions and information needed to wire power and ethernet
connections to the NR60E2. These instructions are applicable to
both bench top and machine wiring.
Set the IP Address and
Protocol 33 Task information on setting the IP address information and selecting
the proper protocol for the NR60E2.
Implicit Communica-
tions with an EDS 45 Task information on using an EDS file to configure implicit commu- nications with the NR60E2 using the EtherNet/IP protocol.
Implicit Communica-
tions Without an EDS 53 Task information on configuring the NR60E2 as a generic device for
implicit communications using the EtherNet/IP protocol.
EtherNet/IP Explicit
Messaging 59 Task information on using Message Instructions for explicit commu- nications with an NR60E2 encoder using the EtherNet/IP protocol
CIP Position Sensor
Object 67 Reference information on the EtherNet/IP CIP Position Sensor
Object definition supported by the NR60E2.
Modbus TCP
Configuration 71 Reference information on communicating with an NR60E2 that is
configured to use the Modbus TCP protocol.
PROFINET Parameters 75 Reference information on the additional parameters used by the
NR60E2 when it is configured to use the PROFINET protocol.
PROFINET Acyclic
Data Formats 77 Reference information on the format of data that can be written to
the NR60E2 using the acyclic PROFINET communications channel.
PROFINET Cyclic
Data Formats 83 Reference information on the telegrams that can be used to exchange
information with the NR60E2 using the cyclic PROFINET data
channel.
PROFINET Network
Configuration 91 Task information on adding an NR60E2 to a PROFINET system.

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REFERENCE 1
NR60E2 SPECIFICATIONS
Overview
The NR60E2 is a line of heavy-duty resolver based
encoder products from AMCI. The NR60E2 net-
worked resolver encoders communicate over a wired
Ethernet network using the EtherNet/IP, PROFINET,
or Modbus TCP communications protocol.
The NR60E2 resolver based encoder is a direct
upgrade for optical encoders. Instead of a glass disk
and associated optics, the primary position sensor in
an NR60E2 is an absolute resolver. Resolvers are
absolute, single turn position sensors that are con-
structed in a manner similar to rotary transformers.
They are manufactured from passive components,
with enameledcopper wire and metal laminations the
primary components. Additional information on the
workings of a resolver can be found on the AMCI
website at: https://www.amci.com/industrial-automation-resources/plc-automation-tutorials/what-resolver
The NR60E2 series is composed of absolute single- or multi-turn sensors in an IP67 rated, 60 mm diameter
package. All NR60E2 Networked Resolvers offer a maximum single turn position resolution of 16 bits, which
is programmable from 1 to 65,536 counts per turn. Two multi-turn units are available in addition to the single
turn NR60E2. One encodes 4,096 turns (12 bit + 16 bit = 28 bit encoder) and the other encodes 16,384 turns
(14 bit + 16 bit = 30 bit encoder). Multi-turn sensing is through an absolute magnetic encoder.
A flange mount unit with end connectors is shown in figure R1.1. The following mounting styles are avail-
able:
2.5 inch standard flange mount with 0.375", 0.250", or 10 mm shafts
58 mm standard servo mount with 6 or 10 mm shafts
63 mm standard blind shaft mount with 0.375", 0.250", 10 mm, or 12 mm diameter hubs
The body material is either aluminum with a powder coat finish, or stainless steel. Side and end connect ver-
sions of these mounting styles are available with aluminum bodies. Stainless steel bodies are only available in
end connect versions. Outline drawings of all of the packing options are available in the Outline Drawings
section of the manual starting on page 24.
Each NR60E2 encoder has two external network connections using industry standard M12 D-coded connec-
tors. These two ports are internally connected through an onboard, two port, 10/100 Mbps ethernet switch.
Every NR60E2 resolver based encoder is programmable over its Ethernet interface. Parameters allow you to
set the count direction, the number of counts per turn, the number of counts before returning to zero, the for-
mat of the velocity data, and preset the position data to any value within its range.
When configured as an EtherNet/IP device, the NR60E2 implements the Encoder Device Profile as defined
by the CIP Specification revision 2. Custom Assembly instances simplify working with the NR60E2, but the
encoder also supports the CIP Position Sensor Object. Its dual Ethernet ports allows the NR60E2 to partici-
pate in DLR networks as a Beacon-Based Ring Node that can process beacon packets every 400 microsec-
onds.
When configured as a Modbus TCP device, the NR60Es supports a variety of Modbus Functions to simplify
reading and writing the device.
When configured as a PROFINET device, the NR60E2 encoder fully supports the Class 3 V4.1 specification.
In addition, NR60E2 encoders support the Class 4 MUR, TMR, Code Sequence, and Preset parameters as
well as their additional control parameters. Its dual Ethernet ports allows the NR60E2 encoder to be used as
clients in PROFINET networks that support the Media Redundancy Protocol (MRP).
Figure R1.1 NR60E2 Resolver Based Encoder

NR60 SPECIFICATIONS NR60E2UserManual
ADVANCED MICRO CONTROLS INC.
10
Connector Locations and Pinouts
Figure R1.2 below shows the location of the power and Ethernet connectors on the end connect and side con-
nect units. It also shows the cable exit direction when right angle connectors are used with the NR60E2 units.
Figure R1.2 Connector Location and Pinout
Mating Connectors and Cordsets
The following mating connectors are available from AMCI. Note that any commercially available M12 con-
nectors with the proper coding and contacts can be used.
Table R1.1 Available Mating Connectors
AMCI offers the following cordsets for use with the NR60E2.
Table R1.2 Available Cordsets
AMCI # Description
MS-28 Mating connector for Ethernet port connector.  Screw terminal connections. 6 to 8 mm dia. cable.
Straight, IP67 rated when properly installed.
MS-29 Mating connector for Power connector. Screw terminal connections. 6 to 8 mm dia. cable. 18 AWG max.
Straight, IP67 rated when properly installed.
AMCI # Description
CNER-5M Molded cordset for Ethernet connector. 5 meters in length. Straight M12 4 pin D-coded to RJ-45 connector. 
IP67 rated when properly installed.
CNVL-2M Molded cordset for Power connector. 22 AWG wire, 2 meters in length. Straight A-coded connector to flying leads. IP67 rated when properly
installed.
12
3
4
12
34
12
34
12
3
4
NR60 Connector Placement
POWER: M12 - ACoded
Male Female
Pin 1:
12-48 Vdc
Pin 2:
N. C.
Pin 4:
N. C.
Pin 3:
GND
POWER
Exit Direction
of
Right Angle Cables
POWER
PORT 1
PORT 1
PORT 2
PORT 2
PORTS 1&2: M12 - D Coded
Pin 2:
RxD+
Pin 1:
TxD+
Pin 3:
TxD–
Pin 4:
RxD–

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11
Status LED’s
All NR60E2 resolver based encoders have four status LED’s to help you determine the state of the device.
These LED’s are always located on the back cover of the NR60E2.
Figure R1.3 Status LED Locations
Network Status (NS) LED
The Network Status LED is a bi-color red/green LED. The LED states depends upon the enabled communica-
tions protocol.
Table R1.3 Network Status LED States
LED State EtherNet/IP Definition Modbus TCP Definition PROFINET Definition
Off No Power No power or no TCP con-
nections
No power, duplicate IP
address on the network,
mismatch in Device Name,
or no connection to IO Con-
troller.
Alternating
Red/Green Power up Self-Test Power up Self-Test Power up Self-Test
Flashing
Green Ethernet connection, but no CIP connections
Indicates number of connec-
tions with 2 second delay
between group. The
SMD17E2 supports up to 5
concurrent connections.
On-line, Stop state. A con-
nection with the IO Control-
ler is established and it is in
its STOP state.
Steady Green Valid Ethernet network
and CIP connections Should not occur. LED
should always flash when
network is connected.
On-line, Run state. A con-
nection with the IO Control-
ler is established and it is in
its RUN state.
Flashing Red
If the MS LED is
steady green: Network 
Connection Timeout Not Implemented Not Implemented
If the Module Status LED is also flashing red, the IP Address or Network Protocol has
been changed. Cycle power to the unit to continue.
Steady Red Duplicate IP address on network. Not Implemented.
12
3
4
12
34
NR60 Rear Cover
E01 Rear Cover shown as example.
Status LED locations remain the same
regardless of cover type.
MODULE
STATUS
LINK/ACT
PORT2
PORT2
PORT1
LINK/ACT
PORT1
NETWORK
STATUS

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12
Status LED’s (continued)
Module Status (MS) LED
The Module Status LED is a bi-color red/green LED. The LED states depends upon the enabled communica-
tions protocol.
Table R1.4 Module Status LED States
Link/Activity LED’s
Each port has an orange Link/Activity LED. An LED is on when an Ethernet hardware connection exists on
the port and blinks when there is Ethernet activity on the network segment. Note that this LED shows the
hardware state of the network, and is not affected by the enabled protocol.
LED State EtherNet/IP Definition Modbus TCP Definition PROFINET Definition
Off No Power No Power No power
Alternating
Red/Green
Initializing: Power up Self-Test
Communications failure. There is a communications error between the main processor and
the ethernet co-processor within the unit. You must cycle power to the NR60E2 to attempt
to clear this fault.
Flashing
Green
Initializing: Waiting for valid physical connection to the
network.
Successful write to flash memory. Power must be cycled to the unit before additional 
commands can be written to it.
Steady Green Encoder and Network are
operational. Encoder and Network are operational. Device Name or IP Address are set.
Flashing Red
Initializing: IP Address Conflict Initializing: Device Name or
IP Address are not set.
If the Network Status LED is also flashing, the IP Address or Network Protocol has been
changed. Cycle power to the unit to continue. If the Network Status LED is in any other
state, a write to flash memory has failed. Cycle power to the unit to clear this fault.

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13
IP Address Switches
IP address switches are located on the back of the unit behind a sealed plug. Figure R1.4 shows the location of
the switches once the plug has been removed.
Figure R1.4 IP Address Switch Locations
When the IP Address Switches are set to a value of 001 through 254, the NR60E2 will use the IP
Address Switches to set the IP address to nnn.nnn.nnn.xxx, where ‘nnn.nnn.nnn’ is the last network
address stored in the nonvolatile memory of the NR60E2 and ‘xxx’ is the setting of the switches.
When the IP Address Switches are set to a value of 000, the NR60E2 will use the DHCP protocol to
request an address from a DHCP master. A DHCP master must be present on the network when using
this setting.
When the IP Address Switches are set to a value of 255-989, the NR60E2 will use the last IP address
saved in nonvolatile memory as its IP address.
1) Address 990 through 998 are used by the factory when testing the unit. The IP Address
Switches should not be set within this range by customers in the field.
2) Address 999 is used to set the NR60E2 to a known IP address. If the switches are set to
999, the NR60E2 will use the IP Address of 192.168.0.50 regardless of the value stored in
nonvolatile memory
Protocol Specific Behavior
How the NR60E2 uses these switches is dependant on the enabled protocol.
EtherNet/IP: The NR60E2 uses the switch settings for the protocol address and the internal webserver
address.
Modbus TCP: The NR60E2 uses the switch settings for the protocol address and the internal webserver
address.
PROFINET: The NR60E2 uses the switch settings for the address of the internal webserver address only.
The IP address used by the PROFINET protocol is typically assigned to the NR60E2 by the PROFIBUS
master when the NR60E2 attaches to the network.
Position Reset Switch
Figure R1.4 also shows the location of the Position Reset Switch. The NR60E2 will reset the reported posi-
tion to zero when this momentary contact switch is pressed. The resulting internal offset is automatically
stored in nonvolatile memory.
0
00
1
1
1
2
2
2
3
3
3
4
4
4
555
6
6
6
7
7
7
8
8
8
9
9
9
Default IP address of
192.168.0.xxx
Value of .247 shown
(Network subnet can be changed with software.)
POSITION
RESET
SWITCH
x100 x10 x1

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14
Electrical Specifications
Operating Voltage (External Supply)
12 Vdc to 48 Vdc nominal
11 Vdc to 54Vdc maximum
Power Requirements
2.5 W max.
100 mA @ 24 Vdc typical
Ethernet Capability
10/100 Mbit autosense with auto-switch capability.
Auto-switch eliminates the need of a crossover
cable in all applications.
Network Redundancy
(2) Switched Ethernet ports
Compatible with DLR installations in EtherNet/IP
environments. Compatible with MRP installa-
tions in PROFINET environments.
Maximum Cable Length
100 meters (330 feet), based on the Ethernet stan-
dard
Single Turn Resolution
Programmable from 1 to 65,536 counts per turn
(16 bit resolution max.)
Multi-turn Resolution
4,096 turns (12 bit) or 16,384 (14 bit)
Count Direction
Default of CW increasing when looking at the
shaft.
Programmable to CW or CCW increasing.
Preset Position
Position can be preset or offset to any value within
its range. The Internal Position Offset can be
stored in nonvolatile memory and retrieved on
power up.
Position can be reset to zero via momentary contact
switch. The resulting position offset is automati-
cally stored in nonvolatile memory.
Positional Accuracy
±10 arc-minutes
Mechanical Specifications
Package Style
60 mm housing with flange or servo mounting
Housing
Powder coated aluminum or stainless steel
Connector Location
Side or End for aluminum body. End for stainless
steel body
Housing
Powder coated aluminum
Shaft
Flange: 0.375", 0.250", or 10 mm.
Servo: 6 mm or 10 mm with flat on shaft
Max. Starting Torque @ 25°C
2.0 oz-in (1.41 N-cm)
Moment of Inertia
6.0 X 10-4 oz-in-sec2(43.2 X 10-6 kg-cm-sec2)
Max. Operating Speed
6000 RPM max.
Max. Shaft Loading
Axial: 20lbs. (89N)
Radial: 40lbs. (178N)
At specified max. loads, minimum bearing life is
2X109revolutions.
Environmental Specifications
Operating Temperature
–40°F to +185°F (–40°C to +85°C)
Shock
50g, 11 millisecond duration
Vibration
20g, 5 to 2000Hz
Enclosure Rating
IP67
Approximate Weight
1.3 lbs. (0.59 kg)

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
NR60E2UserManual NR60 SPECIFICATIONS
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Part Number Description
Figure R1.5 Part Number Description
Available Data
All NR60E2 encoders offer position and velocity data that can be scaled with the programmable parameters
as described in the following section. The position data can also be preset which allows you to align the posi-
tion data with your machine position without having to physically rotate the shaft.
Programmable Parameters
The following parameters are available on all NR60E2 encoders. Units configured for the PROFINET proto-
col, use encoder objects that are defined by these protocols. Therefore, these units have additional parameters
that are protocol specific. These parameters are explained in the PROFINET protocol section, PROFINET
Parameters starting on page 75.
Count Direction
This parameter is called Code Sequence in PROFINET systems. This parameter allows you to set the direc-
tion of shaft rotation needed to produce increasing counts. The default is CW when looking at the shaft.
Effects of Reversing Count Direction
Changing the Count Direction parameter changes the way the position value is calculated. When you reverse
the count direction, the position changes from your current position value to (Maximum number of counts –
current position value). For example, assume a 30 bit NR60E2 with its default of 65,536 counts per turn. If
the current position value is 100,000 and you change the Direction Counting Toggle parameter, the current
position will change to (230 – 100,000 = 1,073,741,824 – 100,000) = 1,073,641,824.
Most applications do not require you to change the count direction after the machine is setup, so the count
direction is typically set before the position value is preset.
Changing the count direction on your machine while maintaining the current position value is a three step
process. First, read and store the current position value from the NR60E2. Second, change the Count Direc-
tion value. Third, write the stored position value back to the NR60E2 as a preset value.
CONNECTOR TYPE
01 = M12 Connectors
(2) 4 pin Female D-Type: Network
(1) 4 pin MaleA-Type: Power
NR60E2
–
HOUSING
F1 = Square Flange
S1 = 58 mm Servo Mount
H1 = 63 mm Blind Shaft Mount
OUTPUT CONFIG.
1 = 16 bit Single Turn
2 = 28 bit (12+16) Multi-Turn
3 = 30 bit (14+16) Multi-Turn
–
SHAFT SEAL & BODY
B = Nitrile Seal, Aluminum Body
V = Viton Seal,Aluminum Body
C = Viton Seal,Stainless Steel Body
CONNECTOR
E = End Connector Location
S = Side Connector Location
†
†
Stainless Steel Body only available
with End Connector Location
SHAFT DIA.
Standard Shaft
1 = 0.375" Dia.
2 = 0.250" Dia.
3 = 6 mm Dia.
4 = 10 mm Dia.
1 = 0.375" Dia.
2 = 10 mm Dia.
4 = 0.500" Dia
Blind Shaft Hole
6 = 12 mm Dia.

NR60 SPECIFICATIONS NR60E2UserManual
ADVANCED MICRO CONTROLS INC.
16
Programmable Parameters (continued)
Scaling Function Control
This parameter determines if the position value reported in the network data is scaled to engineering units or
if it is reported at its full 16 bit resolution. Scaling is accomplished with the Counts per Turn and Total Mea-
surement Range parameters. (see below)
A value of “0” disables scaling. The position and velocity data is reported at 16 bit resolution.
A value of “1” enables scaling. The position and velocity data is reported in the engineering units set by
the Counts per Turn and Total Measurement Range parameters.
Velocity data is scaled by the Measuring Units per Revolution parameter if the parameter is
enabled. The exception is when velocity data is reported in revolutions per minute (RPM).
This parameter is forced into its disabled state when the Class 4 Functionality parameter is set
to its disabled state. Therefore, if the Class 4 Functionality parameter is set to its disabled state,
the Scaling Function Control, MUR, and TMR parameters are ignored and the NR60E2
reports position at its maximum resolution and number of turns.
Counts per Turn
This parameter is called Measuring Units Per Span in EtherNet/IP systems. This parameter is called Code
Sequence in PROFINET systems. This parameter is used to scale the position and/or velocity data. This
parameter is disabled when the Scaling Function Control parameter is set to its disabled state.
Values can range from 2 to 65,536 counts per turn for single turn NR60E2 units.
Values can range from 1 to 65,536 counts per turn for multi-turn NR60E2 units.
Changing the Counts per Turn parameter clears the internal position offset. The current posi-
tion reference will be lost. Changes to this parameter should be made before the position is
preset.
The number of turns encoded by the NR60E2 is not controlled with this parameter. The Total Measurement
Range parameter is used to control when the position data rolls over to zero, which controls the number of
turns encoded by the NR60E2.
Total Measurement Range
The Total Measurement Range parameter sets the total number of counts before the position value returns to
zero. It places an upper limit on the position value and the Preset Value parameter. This parameter is disabled
when the Scaling Function Control parameter is set to its disabled state.
The Total Measurement Range parameter has the following ranges:
Single Turn NR60E2: Range of 2 to 65,536
28 bit Multi-turn NR60E2: Range of 2 to 268,435,456
30 bit Multi-turn NR60E2: Range of 2 to 1,073,741,824
Changing the Total Measurement Range parameter clears the internal position offset. The cur-
rent position reference will be lost. Changes to this parameter should be made before the posi-
tion is preset.
Note that the value of the Counts Per Turn parameter does not limit the range of values that can be pro-
grammed into the Total Measurement Range parameter. There is no fixed relationship between the Total
Measurement Range and Counts per Turn parameters, which leads to interesting applications that use the two
parameters.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: [phone] Fax: [phone] http://www.amci.com
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Programmable Parameters (continued)
Total Measurement Range (continued)
Roll Over on Fractional Number of Turns
When the Total Measurement Range is less than the total counts available from the NR60E2, the position will
return to zero before the full mechanical travel is completed.
When the Scaling Function Control parameter disables the Counts Per Turn and Total Measurement
Range parameters, the total counts available equals 65,536 multiplied by the number of turns the
NR60E2 can encode.
When the Scaling Function Control parameter enables the Counts Per Turn and Total Measurement
Range parameters, the total counts available equals the value of the Counts per Turn parameter multi-
plied by the number of turns the NR60E2 can encode.
Figure R1.6 Fractional Turn Example 1
Figure R1.6 shows what occurs when the Total Measurement Range parameter is used to divide the total
counts available from the NR60E2 into equal parts. In this case, a twenty-eight bit NR60E2 has its 4,096
turns evenly divided into five cycles of 819.2 turns.
If the value of {Total Counts ÷ Total Measurement Range} is an integer, the NR60E2 remains
an absolute rotary sensor. You can remove power from the NR60E2, rotate it up to its maxi-
mum number of turns, re-apply power, and the NR60E2 will give you the correct position
value. Figure R1.6 is an example of this setup because the division of the two parameters
results in a quotient value of five.
28 bit NR60E2: 4096 Turns
Counts Per Turn = 1,000 Counts
Total Counts = 4,096,000
0
0000
0
Total Measurement Range = 819,200 Counts
NR60 outputs five cycles of counts from 0 to 819,199 over 4,096 turns

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Programmable Parameters (continued)
Total Measurement Range (continued)
Roll Over on Fractional Number of Turns (continued)
Figure R1.7 Fractional Turn Example 2
Figure R1.7 shows a single turn NR60E2 where the value of the Total Measurement Range parameter does
not divide the full range of travel into equal parts. In this case, the position value will roll over to zero after
225 degrees of rotation. In this example the value of {Total Counts Available ÷ Total Measurement Range}
is a real number, 1.6, instead of an integer.
When the {Total Counts Available ÷ Total Measurement Range} quotient is a real number, the 
NR60E2 will power up with the correct position value as long as the shaft is rotated less than
half of the complete span of the encoder while power was removed. In practical terms:
For 30-bit NR60E2 multi-turn encoders: If you remove power from the sensor and rotate the shaft less
than 8,192 turns from the point where you removed power, the position reading will be correct when
you re-apply power.
For 28-bit NR60E2 multi-turn encoders: If you remove power from the sensor and rotate the shaft less
than 2,048 turns from the point where you removed power, the position reading will be correct when
you re-apply power.
For 16-bit NR60E2 single turn encoders: If you remove power from the sensor and rotate the shaft less
than 180 degrees from the point where you removed power, the position reading will be correct when
you re-apply power.
If the point that you re-apply power at is greater than the limits listed above, the position value
from the NR60E2 will be off by at least ±1 turn.
Encoding Additional Turns
When the Scaling Function Control parameter enables the Counts Per Turn and Total Measurement Range
parameters, and the Counts Per Turn parameter is set to a value less than its maximum, the Total Measure-
ment Range parameter can be used to require additional rotations of the shaft before the position value
reaches the roll over count. For example, assume a single turn NR60E2 that has its Counts Per Turn parame-
ter set to 360 and its Total Measurement Range parameter set to 64,800. With this setup, the shaft of the
NR60E2 must rotate 180 turns, {64,800 ÷ 360}, before the position returns to zero. In this application, the
single turn NR60E2 acts as a 180 turn encoder with one degree position resolution.
The same trade off between resolution and number of turns encoded can be made with the multi-turn 
NR60E2 encoders. For example, if a 30-bit NR60E2 encoder has its Counts Per Turn parameter set to 360
and its Total Measurement Range parameter set to its maximum of 1,073,741,824, the NR60E2 will encode
2,982,616.17turns with one degree resolution.
In all of these applications, the NR60E2 has the same motion restrictions listed in the Roll Over on Frac-
tional Number of Turns section above. Exceeding these limits will result in a position value error of at least
±1 turn when power is re-applied.
One Rotation of a Single Turn NR60E2
Counts Per Turn = 36,000 Counts
0
0000
Total Measurement Range = 22,500 Counts
NR60 outputs one cycle of counts from 0 to 22,499 for every 225 degrees of rotation.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
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NR60E2UserManual NR60 SPECIFICATIONS
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Programmable Parameters (continued)
Velocity Format
The NR60E2 can transmit velocity data over the network in addition to position data. This parameter sets the
units of measure for the velocity data. The formats available depends on the enabled protocol.
EtherNet/IP and Modbus TCP: counts/second, counts/millisecond, counts/minute, RPM
PROFINET: counts/second, counts/100 milliseconds, counts/10 milliseconds, RPM
Except for RPM, velocity data is always scaled by the Counts Per Turn parameter.
Preset Value
This parameter allows you to preset the position to any value in its single or multi-turn range without rotating
the shaft. This value is not stored in memory. This value must be included in every Preset Position command.
The range of values depends on the state of the Scaling Function Control parameter and the value of the Total
Measurement Range parameter.
When the Scaling Function Control parameter is disabled, the Preset Value range is:
0 to 65,535 for single turn NR60E2 encoders
0 to 268,435,455 for 28 bit multi-turn NR60E2 encoders
0 to 1,073,741,823 for 30 bit multi-turn NR60E2 encoders
When the Scaling Function Control parameter is enabled:
0 to (value of Total Measurement Range parameter) - 1
The position reset switch on the back of the unit can be used to reset the Position Value to zero.
The position will always go to zero. See the Position Reset Switch section on page 13 for the
location of the switch.

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Notes