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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ADVANCED MICRO CONTROLS INC.
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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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ADVANCED MICRO CONTROLS INC.
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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
ADVANCED MICRO CONTROLS INC.
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–