Baumer EAL580 MT Series User manual

11.20· 174.02.072/6
Subject to modification in technic and design.
www.baumer.com Errors and omissions excepted.
Manual
Absolute encoders EAx with PROFINET interface
Firmware Version V1.2.0 and later

Baumer_EAx_PROFINET_EN_202011_MNL.docx 2/74 www.baumer.com
11.20
Contents Page
1. Introduction 7
1.1. Scope of delivery 7
1.2. Product classification 7
2. Safety and operating instructions 8
3. Commissioning 9
3.1. Mechanical mounting 9
3.2. Electrical connection 9
3.2.1. Cabling 9
3.2.2. Connecting 10
3.2.3. Push Button for Preset / Reset 11
4. Engineering (Siemens®Step7®) 12
4.1. Importing the GSDML file 12
4.2. Encoder integration into the project 14
4.3. Assigning the device name 14
4.3.1. Setting the device name in the Project 14
4.3.2. Automatic Name Assignment 14
4.3.3. User-operated name assignment 15
4.4. Real-Time Class Selection 17
4.4.1. Domain Management 17
4.4.2. Real-Time (RT) Class 1 18
4.4.2.1. Address assignment within the process image 18
4.4.2.2. Synchronization Setup 19
4.4.3. Isochronous Real-Time (IRT) Class 3 20
4.4.3.1. Address assignment within the process image 21
4.4.3.2. Synchronization Setup 21
4.4.3.3. IO system assignment to Synchronous Cycle Interrupts 23
4.5. Topology Planning 24
4.6. Parameterization 25
4.6.1. Encoder Class Selection 25
4.6.2. Compatibility Mode 25
4.6.3. Measuring Units per Revolution 26
4.6.4. Total measuring range 26
4.6.5. Code Sequence 26
4.6.6. Speed Measuring Unit 26
4.6.7. Speed Update Period 26
4.6.8. Speed Filter Depth 26
4.6.9. Scaling Functionality 26
4.6.10. Preset affects G1_XIST1 27
4.6.11. Alarm Channel Control 27
4.6.12. Maximum Master Sign-of-Life Failures 27
4.6.13. Gear factor: activation 27
4.6.14. Gear factor: numerator 28
4.6.15. Gear factor: denominator 28
4.6.16. Gear factor: parametrization 28
4.6.17. Important Note for Multiturn Encoder Operation 29
4.7. Implementation of system functions for alarm handling 30
4.7.1. I/O Point Fault OB (OB82) 30
4.7.2. Loss Of Rack Fault - OB 31
4.8. Compilation and load of hardware and software configuration 31
4.9. Restore Factory Defaults 31
4.9.1. Factory Setup using the Engineering Tool 31
4.9.2. Parameter reset using the optional push button 31
5. Engineering (Siemens®TIA Portal®) 32
5.1. Importing the GSDML file 32
5.2. Inserting the encoder into the network 34

Baumer_EAx_PROFINET_EN_202011_MNL.docx 3/74 www.baumer.com
11.20
5.3. Device name allocation 37
5.3.1. Device name allocation in the project 37
5.3.2. Automated name allocation 37
5.3.3. User-operated name allocation 38
5.4. Real-Time Class Selection 40
5.4.1. Domain Management 40
5.4.2. Real-Time (RT) Class 1 40
5.4.2.1. Address assignment within the process image 41
5.4.2.2. Selecting the update time 41
5.4.3. Isochronous Real-Time (IRT) Class 3 42
5.4.3.1. Address assignment within the process image 43
5.4.3.2. Selecting the update time 43
5.4.3.3. Encoder projecting as a technology object 43
5.5. Topology planning 47
5.6. Parameterization 48
5.7. Implementation of system functions for alarm handling 49
5.7.1. I/O Point Fault OB (OB82) 49
5.7.2. Loss Of Rack Fault OB (OB86) 49
5.8. Compilation and load of hardware and software configuration 49
5.9. Restore Factory Defaults 49
5.9.1. Factory Setup using the Engineering Tool 49
5.9.2. Parameter reset using the optional push button 51
6. PROFINET operation 52
6.1. PLC (IO Controller) 52
6.2. Operating status indicator (LEDs) 52
6.3. Link/Activity (L/A) LEDs 53
6.4. Input and output data 54
6.4.1. Telegram 870: 32 Bit I/O 54
6.4.2. Telegram 100: 32 Bit I/O + 16 Bit Speed 54
6.4.3. Telegram 101: 32 Bit I 54
6.4.4. Telegram 860: 32 bit I/O + 32 bit Speed 54
6.4.5. PROFIdrive telegram 81 55
6.4.6. PROFIdrive Telegram 82 55
6.4.7. PROFIdrive Telegram 83 56
6.4.8. Control Word STW2 56
6.4.9. Control Word G1_STW1 57
6.4.10. Status Word ZSW2 57
6.4.11. Status Word G1_ZSW1 58
6.5. Speed 59
6.5.1. Speed Measuring Unit 59
6.5.2. Speed Update Period 59
6.5.3. Speed Filter Depth 59
6.6. Preset function 60
6.6.1. Preset in standard telegrams 60
6.6.2. Preset in PROFIdrive telegrams 81 to 83 60
6.6.3. Preset using the Push Button 61
7. Acyclic parameters 62
7.1. Acyclic data communication 62
7.2. I&M functions (identification and maintenance) 62
7.3. Base Mode Parameter 62
7.3.1. Write access 62
7.3.2. Read access 62
7.3.3. Base Mode Parameter Access 63
7.4. Supported parameters 64
7.4.1. PROFIdrive Parameters 64
7.4.2. Interface Parameters 64
7.4.3. Encoder Parameters 64
7.4.4. Parameter 922: Telegram selection 64

Baumer_EAx_PROFINET_EN_202011_MNL.docx 4/74 www.baumer.com
11.20
7.4.5. Parameter 925: Number of Controller Sign-Of-Life failures which may be tolerated 65
7.4.6. Parameter 964: Drive Unit identification 65
7.4.7. Parameter 965: Profile identification number 66
7.4.8. Parameter 974: Base Mode Parameter Access service identification 66
7.4.9. Parameter 975: DO identification 66
7.4.10. Parameter 979: Sensor format 67
7.4.11. Parameter 980: Number list of defined parameter 67
7.4.12. Parameter 61000: NameOfStation 68
7.4.13. Parameter 61001: IpOfStation 68
7.4.14. Parameter 61002: MacOfStation 68
7.4.15. Parameter 61003: DefaultGatewayOfStation 68
7.4.16. Parameter 61004: SubnetMaskOfStation 68
7.4.17. Parameter 65000: Preset Value 69
7.4.18. Parameter 65001: Operating status 69
7.5. Vendor-specific parameters 70
7.5.1. Temperature 70
7.5.2. Serial number 70
8. Troubleshooting –Frequently Asked Questions –FAQ 71
8.1. FAQ: Project Work 71
8.1.1. Where do I get an encoder manual? 71
8.1.2. Where do I get the GSDML file? 71
8.2. FAQ: Operation 71
8.2.1. What is the significance of the LEDs provided at the encoder? 71
8.2.2. How to adapt the resolution? 71
8.3. FAQ: Troubleshooting 72
8.3.1. No encoder communication (BF LED active) 72
8.3.2. No encoder communication 72
8.3.3. No position data 73
8.3.4. PLC error LED is lit 73
9. Appendix A 74
9.1. Software Change Log (from firmware V1.2.2 to V1.3.0) 74

Baumer_EAx_PROFINET_EN_202011_MNL.docx 5/74 www.baumer.com
11.20
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 improvement of the
present manual.
Created by:
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Registered trademarks
SIEMENS®, SIMATIC®, Step7®, S7®, TIA®and „TIA Portal®“ are registered trademarks of Siemens®AG.
PROFINET, the PROFINET Logo and PROFIdrive are registered trademarks of the PROFIBUS user
organization respectively of PROFIBUS International (PI).These names mentioned in the present manual
and other names that may be registered trademarks are not marked correspondingly. Having omitted the
respective marking does not necessarily imply that the names are not registered trademarks or that there are
no existing patents and protected patented designs.
Change history
This document is subject to changes. The latest version is available at www.baumer.com.
Document
index
Date
Firmware
revision
Author
Changes
0001
05.18
1.2.0
div.
Initial version
(replaces all draft documents)
0002
09.20
1.3.0
div.
Important changes:
editorial changes and
revision of following chapters:
- 3.2.3 ("Push Button for Preset / Reset")
- 4.1 ("Importing the GSDML file")
- 4.3.2 ("Automatic Name Assignment")
- 4.6.4 ("Total measuring range")
- 4.6.13 to 4.6.16 (Getriebefaktor)
- 4.6.17 ("Important Note for Multiturn
Encoder Operation")
- 4.7.1 ("I/O Point Fault OB")
- 5.1 ("Importing the GSDML file")
- 5.3.2 ("Automated name allocation")
- 5.9.2 ("Parameter reset using the optional
push button")
- 6.3 ("Link/Activity (L/A) LEDs")
- 6.4.3 ("Telegram 101: 32 Bit I")
- 6.4.9 ("Control Word G1_STW1")
- 6.4.11 ("Status Word G1_ZSW1")
- 6.5 ("Speed")
- 6.6.2 ("Preset in PROFIdrive telegrams 81 to
83")
- 6.6.3 (“Preset using the Push Button”)
- 7.2 ("I&M functions (identification and
maintenance)")
- 7.3.3 ("Base Mode Parameter Access")
- 7.4.12 ("Parameter 61000: NameOfStation")
- 7.4.14 ("Parameter 61002: MacOfStation")

Baumer_EAx_PROFINET_EN_202011_MNL.docx 6/74 www.baumer.com
11.20
- 7.4.17 ("Parameter 65000: Preset Value")
- 7.4.18 ("Parameter 65001: Operating
status")
- 8 ("Troubleshooting –Frequently Asked
Questions –FAQ")
New chapters:
- 7.5 ("Vendor-specific parameters")
- 9 ("Appendix A")

Baumer_EAx_PROFINET_EN_202011_MNL.docx 7/74 www.baumer.com
11.20
1. Introduction
1.1. Scope of delivery
Please check the delivery upon completeness prior to commissioning.
Depending on encoder configuration and part number the delivery may include:
PROFINET encoder
Manual (also available under www.baumer.com)
1.2. Product classification
Product
Product family
Suitable entry in hardware catalog
EAL 580-xxx.xxPT-13160.x
optical - multiturn
EAL580 MT encoder ST13 MT16, optical
EAL 580-xxx.xxPT-18130.x
optical - multiturn
EAL580 MT encoder ST18 MT13, optical
EAM 580-xxx.xxPT-14160.x
magnetic - multiturn
EAM580 MT encoder ST14 MT16, magnetic
Placeholders marked “x” in the product reference number will not influence the selection.
GSDML file
The GSDML file is the same for all products mentioned above.
Please see chapter ”4.1 Importing the GSDML file”.

Baumer_EAx_PROFINET_EN_202011_MNL.docx 8/74 www.baumer.com
11.20
2. Safety and operating instructions
Intended use
The encoder is a precision measuring device that is used to record positions and speeds. It provides
measuring values as electronic output signals for the subsequently connected device. It must not be used
for any other purpose. Unless this product is specially labeled, it may not be used for operation in
potentially explosive environments.
Make sure by appropriate safety measures, that in case of error or failure of the encoder, no danger to
persons or damage to the system or operating facilities occurs.
Personnel qualification
Installation and assembly of this product may be performed only by a person qualified in electronics and
precision mechanics.
Maintenance
The encoder is maintenance-free and must not be opened up nor mechanically or electronically modified.
Opening up the encoder can lead to injury.
Disposal
The encoder contains electronic components. At its disposal, local environmental guidelines must be
followed.
Mounting
Solid shaft: Do not connect encoder shaft and drive shaft rigidly. Connect drive and encoder shaft with a
suitable coupling.
Hollow shaft: Open clamping ring completely before mounting the encoder. Foreign objects must be kept
at a sufficient distance from the stator coupling. The stator coupling is not allowed to have any contact to
the encoder or the machine except at the mounting points.
Electrical commissioning
Do not proceed any electrical modifications at the encoder.
Do not proceed any wiring work while encoder is live.
Do not remove or plug on connector whilst under power supply.
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.
Supplementary information
The present manual is intended as a supplement to already existing documentation (e.g. catalogues, data
sheets or mounting instructions).

Baumer_EAx_PROFINET_EN_202011_MNL.docx 9/74 www.baumer.com
11.20
3. Commissioning
3.1. Mechanical mounting
Shaft encoders
Mount the encoder by help of the mounting holes and three 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.
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 (customer-
mounted) and the 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.
3.2. Electrical connection
3.2.1. Cabling
PROFINET utilizes Fast Ethernet cable (100 MBit, Cat 5) composed of four wires AWG22 (white, yellow,
blue and orange).
There are three types of PROFINET cables:
Type A –for fix or rigid cabling
Type B –for occasional movements or vibrations (flexible)
Type C –for permanent movements (highly flexible).

Baumer_EAx_PROFINET_EN_202011_MNL.docx 10/74 www.baumer.com
11.20
3.2.2. Connecting
The encoder provides three M12 flange connectors.
Two M12 flange connectors (D-coding, according IEC 61076-2-101) serve for PROFINET connection.
For voltage supply use A-coded M12 connector only.
For the bus lines both D-coded M12 connectors may be used at will. However, together with a planned
topology it may be necessary to observe the correct assignment (P1/P2).
Seal up the unused cable gland using a sealing bolt (transport and dust protection).
No settings have to be done inside the encoder. In contrast to Profibus, there is no need for setting a node
ID or a terminating resistor. All settings required for encoder access are made in the engineering tool (e. g.
Siemens®Step7®or TIA®Portal).
Pin assignment
Supply voltage
PROFINET (Bus line)
1 x M12 flange connector (male)
2 x M12 flange connector (female)
A-coded
D-coded
Pin
Assignment
Pin
Assignment
1
UB (10...30 VDC)
1
TxD+
2
Do not connect
2
RxD+
3
GND
3
TxD-
4
Do not connect
4
RxD-
Port 1
Port 2
Power
Bus error
BF
P2 Link /
Activity
P1 Link /
Activity
Collective
error SF

Baumer_EAx_PROFINET_EN_202011_MNL.docx 11/74 www.baumer.com
11.20
3.2.3. Push Button for Preset / Reset
Depending on encoder the type the encoder may have a screw cap located where connectors and LEDs are
located as well. After removing the screw cap, the preset / reset push button is visible.
Depending on the current operating state the push button has a different functionality:
In the first 60 seconds after switching on the encoder the encoder performs a “Factory Reset“.
oUp to firmware version 1.2.x this only works if the encoder has no Ethernet connection.
oSince firmware version 1.3.0 this works with and without an Ethernet connection.
With active PROFINET operation the encoder performs a preset.
Note:
After having used the push button the screw cap must be screwed in again and tightened with a torque of 1.5
Nm.
For functionality details see 0 „
The preset value can be set to a value unequal 0. To do this no program, PLC function block or similar things
are necessary. If one of the PROFIdrive telegrams 81 to 83 is used and a preset is triggered (in operation)
the value in PNU 65000 is used as preset value.
This functionality is for example very useful if the desired preset value does not change during operation.
Preset using the Push Button“or 4.9 „Restore Factory Defaults“, respectively.
Preset / Reset
Button

Baumer_EAx_PROFINET_EN_202011_MNL.docx 12/74 www.baumer.com
11.20
4. Engineering (Siemens® Step7®)
The following examples relate to SIEMENS®PLCs using the engineering tool SIEMENS®Step7®. The
screenshots were taken from Step7®V5.5 SP3. Engineering with TIA Portal®is described in chapter 5. Of
course, the encoder will also accept engineering software of other manufacturers - in this case, proceed in
an analog way.
4.1. Importing the GSDML file
First, the GSDML file must be imported to enable implementation of the encoder in the engineering tool. The
file format is XML (“Extended Markup Language”). With reference to the Profibus GSD files, GSDML is the
common term.
The GSDML file is available for download at www.baumer.com.
Use this GSDML file:
GSDML-V2.32-Baumer-EAx580_PN-20170112.xml
for encoders with firmware V1.2.2 or later
GSDML-V2.32-Baumer-EAx580_PN-20190715.xml
for encoders with firmware V1.3.0 or later
Relevant difference of GSDML files:
From GSDML file «GSDML-V2.32-Baumer-EAx580_PN-20190715.xml“ onwards the usage of the
functionality “setting of the preset value (PNU 65000) in the module parameters“ is possible.
The revision can be seen in the date at the end of the file name. Here it has to be seen as an example.
The date has to be read in the format “YYYYMMDD” (Y: year, M: month, D: day). In the example above
the date is January 12th 2017.
The import operation is performed by Step7®software in the hardware window („HW Config” - „Options –
Install GSD File…“). As a prior step it may be necessary to close the actual hardware project („Station -
close“) to enable successful import. Based on the default settings any change is configured as described
below. The GSDML file itself is not modified.
In the following dialogue please select the directory where to find the GSDML file which shall be installed.
It is useful (but not necessary) to work with the program directory „…\Siemens\Step7®\S7Tmp“.
The file is displayed and can be selected. „Close” will finalize the operation. The same directory also includes
the corresponding bitmap file providing a small encoder image in the engineering tool. This file is
automatically installed in parallel.

Baumer_EAx_PROFINET_EN_202011_MNL.docx 13/74 www.baumer.com
11.20
The encoder now appears in the hardware catalog under „PROFINET IO“ – „Additional Field Devices“ –
„Encoders“ – „Baumer PROFINET Encoder“ - “EAx PROFINET Encoder “ – „EAx580…“ (x according to
encoder type).

Baumer_EAx_PROFINET_EN_202011_MNL.docx 14/74 www.baumer.com
11.20
4.2. Encoder integration into the project
Use the mouse to drag the basic module „EAx580 encoder“ from hardware catalog to bus rail.
In the next step, select the encoder module (for example "EAL580 MT encoder ST13 MT16 optical") and
drag from hardware catalog for drop in subslot 1.2 (bottom left) in the hardware window.
In the next step, select and drag the desired I/O telegram (e.g. telegram „860“) for drop in subslot 1.2.
4.3. Assigning the device name
Device identification in the network requires the worldwide unique MAC ID, the (statically or dynamically
assigned) IP address and third a unique device name in the PROFINET network. All three identifiers are
used during system bootup and during operation. Thus, engineering requires to assign the encoder’s device
name.
4.3.1. Setting the device name in the Project
Double-click on the encoder symbol in HW Config. window. The properties window opens with an input field
to enter the desired device name.
4.3.2. Automatic Name Assignment
The device name can be written automatically into the encoder. In the factory-provided state and after a
“factory reset” the device name in the encoder is empty.
Preconditions for automated name allocation:
A topology planning has been defined.
The previous device name has been deleted (e. g. by “factory reset”).
Option „Support device replacement without exchangeable medium“ (see following screenshot) is
enabled.
Automated name allocation is executed as soon as the encoder logs on the network where projected.

Baumer_EAx_PROFINET_EN_202011_MNL.docx 15/74 www.baumer.com
11.20
4.3.3. User-operated name assignment
To perform an I/O system network scan, go to „PLC“ –„Edit Ethernet Node“ –„Browse“. The scan provides
all bus nodes. In the example the encoder „encoder01“was found.
The MAC address ensures unique device recognition. Button „flash“ will start the identified user‘s SF LED
flashing for clear identification.
A double-click on the desired line (here: encoder “encoder01”) opens the window “Edit Ethernet Node”.
Enter the new name required for configuration in line “Device name“. Click “Assign name” to execute. After
this, the encoder will immediately be recognized with this name in the PROFINET network.

Baumer_EAx_PROFINET_EN_202011_MNL.docx 16/74 www.baumer.com
11.20
Notes:
- It is not possible to set the device name via the MPI interface.
- When specific device data (for example the station name) is written, the power supply may not be
switched off.

Baumer_EAx_PROFINET_EN_202011_MNL.docx 17/74 www.baumer.com
11.20
4.4. Real-Time Class Selection
The PROFINET encoder supports both real-time classes “Real-Time”(RT) and “Isochrone Real-Time”(IRT)
Class 3. Which one to use depends on the application and the PLC.
4.4.1. Domain Management
The Domain Management determines the PROFINET bus properties.
Enter the Domain Management by right-clicking the PROFINET bus rail in the hardware window.
In the following screen „Domain Management“ enter the „Sync domain”name or keep the default.
For IRT Class 3 only enter the send clock here.
For RT Class 1 open the property window of the PLC‘s PROFINET port (e. g. X2), see chapter 5.4.2.2.
The send clock applies to the IO Controller and to all IO Devices within this sync domain and is decisive for
the overall system performance.

Baumer_EAx_PROFINET_EN_202011_MNL.docx 18/74 www.baumer.com
11.20
4.4.2. Real-Time (RT) Class 1
In this class a typical cycle time of 100 ms or less is possible. The bus system allows for standard Ethernet
components.
Topology planning is not mandatory, but where implemented (e. g. for retrieving feature „Support device
replacement without exchangeable medium”), make sure ports P1/P2 are correctly assigned as planned.
4.4.2.1. Address assignment within the process image
Access to the encoder’s input and output data takes place via addresses within the PLC’s process image.
Assign these addresses according to the needs of the PLC software.
Go to the Step7®HW Config. window and click on the encoder symbol on the bus rail to select it. Bottom left
in the module window the various encoder modules are shown. A double click on submodule 1.2 (e. g.
"telegram 860") opens the property window with tab „addresses“.
Enter the start address of the respective address range or accept the system’s proposal. Identical or
overlapping addresses for input and output are possible.
The process image (PI) will be that of the cyclic main program OB1 (not synchronized).

Baumer_EAx_PROFINET_EN_202011_MNL.docx 19/74 www.baumer.com
11.20
4.4.2.2. Synchronization Setup
Go to the Step7®HW Config. window and click on the encoder symbol on the bus rail to select it. Bottom left
in the module window the various encoder modules are shown. Enter the interface properties with a double
click on the „Interface“ module.
The „Synchronization“ tab shows the assignment to a certain sync domain. Real-Time (RT) Class 1 mode is
„not synchronized“. Set the synchronization role accordingly.
Go to „RT class“ to select „RT (Class 1)“or „IRT“. „IRT Option“ is pre-assigned to „high performance“ (IRT
Class 3) which requires corresponding PLC configuration.
Properties Tab „IO Cycle“, area „Update Time“ offers settings for the requested update time. In relation to the
send clock a reduction ratio „factor“ applies. In case of a reduction ratio the encoder will not update and send
its position value each send clock cycle, but only every 2nd, 4th or 8th cycle. Not every application needs
being updated at the high send clock rate. At a high bus load this reduction may save bandwidth. Applicable
factors may vary with the real-time class and send clock and are offered in the drop down area.

Baumer_EAx_PROFINET_EN_202011_MNL.docx 20/74 www.baumer.com
11.20
4.4.3. Isochronous Real-Time (IRT) Class 3
Isochronous real-time considering signal delays
Typical cycle time: 1 ms or less
A topology planning is mandatory. Make sure ports P1/P2 at the encoder are correctly assigned as planned.