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

Version 2020-12-02 Page 1 UME-xCx-EEC1
ABSOLUTE IXARC ROTARY ENCODER WITH ETHERNET/IP INTERFACE
USER MANUAL
IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/IP INTERFACE
USER MANUAL
IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/IP INTERFACE
USER MANUAL
IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/IP INTERFACE
USER MANUAL
IXARC ABSOLUTE ROTARY ENCODER WITH ETHERNET/IP INTERFACE

Version 2020-12-02 Page 2 UME-xCx-EEC1
ABSOLUTE IXARC ROTARY ENCODER WITH ETHERNET/IP INTERFACE
USER MANUAL
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POSITAL GmbH
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D-50667 Köln
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Internet http://www.posital.com
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of the information contained herein. Further, this
publication and features described herein are
subject to change without notice.
Alteration of Specifications reserved
Technical specifications, which are described in
this manual, are subject to change due to our
permanent strive to improve our products.
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respect to anything in this manual. Furthermore,
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Document information
File name: UME-xCx-EEC
Date: Version 2020-12-02
Version number: 1.2
Author: HBA
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ABSOLUTE IXARC ROTARY ENCODER WITH ETHERNET/IP INTERFACE
USER MANUAL
IXARC Absolute ROTARY ENCODER WITH
ETHERNET/IP Interface________________1
1. Introduction________________________ 5
1.1 Control and Information Protocol (CIP)____ 5
1.2 Object model ________________________ 6
2. Data Transmission ___________________ 6
2.1 Implicit Messaging I/O Connection_____ 7
2.1.1 I/O Assembly Instances_______________ 8
2.1.1.1 Data Attribute Format ______________ 8
2.1.2 Data Mapping ______________________ 9
2.1.3 Data Mapping (Parameter) ___________ 10
2.1.3.1 Data Offset ______________________ 10
2.1.4 Connection Path ___________________ 11
2.2 Explicit Messaging _________________ 12
2.2.1 CIP Common Services for Position Sensor
Objects (Class 0x23hex) __________________ 12
2.2.2 Position Sensor Objects _____________ 13
2.3 TCP/IP Interface Object_____________ 14
2.3.1 Status Instance Attribute (01hex)_______ 15
2.3.2 Configuration Instance Attribute (02hex) 16
2.3.3 Configuration Control Inst. Attribute (04hex)
_____________________________________ 16
2.3.4 Physical Link Object (05hex) ___________ 17
2.3.5 Interface Configuration (06hex) ________ 17
2.3.6 Host Name________________________ 17
2.4 Ethernet Link Object _______________ 18
2.4.0 Instance Attributes _________________ 19
Control Bits ____________________________ 22
Example ______________________________ 22
Use on Transmit data size double (4 bytes)
00000064 for Auto-negotiation = disable on 100
MBaud _______________________________ 22
2.4.1 Interface Flags _____________________ 23
2.4.2 Common Services __________________ 23
2.4.3 Link Object Instances _______________ 24
2.5 Setting parameters with scanners ____ 24
2.5.1 Read out position value _____________ 25
2.5.2 Set preset value____________________ 25
2.5.3 Get preset value ___________________ 26
3 Diagnostics________________________ 27
4 Programmable Parameters___________ 29
4.1 Direction Counting ___________________ 29
4.2 Scaling Function Control_______________ 29
4.3 Resolution per Revolution _____________ 29
4.4 Total Resolution _____________________ 30
4.5 Preset Value ________________________ 30
4.6 Velocity Format _____________________ 31
4.7 Velocity Filter _______________________ 31
4.8 Endless Shaft________________________ 31
4.9 Parameter Control Priority _____________ 32
4.10 Available Alarms and Warnings ________ 32
4.11 Device Level Ring ___________________ 33
5. Installation _______________________ 34
5.1 Electrical connection _________________ 34
5.2 Ethernet cables ______________________ 34
6 Power On_________________________ 35
7 Installation________________________ 35
7.1 Rockwell configuration tools ________ 35
7.1.1 Setting IP-Address (BOOTP/DHCP) _____ 35
7.1.2 Configuration RSLinx Classic™_________ 38
7.1.3 RSNetWorx™ ______________________ 40
7.1.4 Configuration RSLogix 5000 __________ 43
7.2 VLAN Configuration over a Layer 3 Switch
__________________________________ 51
8 FAQ _____________________________ 52
9 Glossary __________________________ 53
10 Revision index ____________________ 55

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List of Tables
Table 1: Communication Messages 7
Table 2: I/O Assembly Instances 8
Table 3: Data Attribute Format 9
Table 4: Data Mapping 9
Table 5: Assembly Instance Configuration: 7, size 14
Bytes 10
Table 6: Data Offset 10
Table 7: Connection Path 11
Table 8: CIP Position Sensor Objects –Save / Restore
12
Table 9: CIP Position Sensor Objects –Instance
Attributes 13
Table 10: TCP/IP Interface Objects Overview 14
Table 11: TCP/IP Interface Objects –Attribute 01hex
15
Table 12: TCP/IP Interface Objects –Attribute 02hex
16
Table 13: TCP/IP Interface Objects –Attribute 04hex
16
Table 14: TCP/IP Interface Objects –Attribute 05hex
17
Table 15: TCP/IP Interface Objects –Attribute 06hex
17
Table 16: TCP/IP Interface Objects –Host Name 17
Table 17: Ethernet Link Objects Overview 18
Table 18: Ethernet Link Objects –Instance Attributes
19
Table 19: Ethernet Link Objects –Control Bits 22
Table 20: Ethernet Link Objects –Interface Flags 23
Table 21: Ethernet Link Objects –Common Services
23
Table 22: Link Object Instances 24
Table 23: Module Status Indicator Stat1/Stat2 27
Table 24: Network Status Indicator Stat2 28
Table 25: Direction Counting 29
Table 26: Direction Counting Bits 29
Table 27: Scaling Function Control 29
Table 28: Scaling Function Control Bits 29
Table 29: Resolution per Revolution 29
Table 30: Total Resolution 30
Table 31: Preset Value 30
Table 32: Velocity Format 31
Table 33: Velocity Filter 31
Table 34: Endless Shaft 32
Table 35: Reserved Error! Bookmark not defined.
Table 36: Parameter Control Priority 32
Table 37: Alarms 33
Table 38: Warnings 33
Table 39: Data Pin Assignment 34
Table 40: Power Supply Pin Assignment 34
Table 41: Ethernet cable RJ45-M12 crossed 34
Table 42: Ethernet cable RJ45-M12 straight 34
Table 43: Ethernet cable M12-M12 crossed 34
Table 44: Rotary Switches Allowed IP Addresses 37
Table 45: Example of VLAN IP Addresses Allocation
51
Table 46: Glossary 55
Table 47: Revision Index 55
List of Figures
Figure 1: Setup of an Ethernet Data Package on Layer
2................................................................................. 5
Figure 2: CIP OSI Layers........................................... 5
Figure 3: Ethernet/IP Object Model............................ 6
Figure 4: Data Transmission in Ethernet/IP................ 6
Figure 5: Generic Module Communication Parameters
................................................................................... 7
Figure 6: Diagnostic LEDs.........................................27
Figure 7: Endless Shaft.............................................32
Figure 8: Device level Ring .......................................33
Figure 9: Ethernet Connector....................................34
Figure 10: Power Supply Connector .........................34
Figure 11: IP Address Rotary Switches.....................37
Figure 12: VLAN Setup .............................................51

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ABSOLUTE IXARC ROTARY ENCODER WITH ETHERNET/IP INTERFACE
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1. Introduction
Absolute rotary encoders provide a definite value
for every possible position. All these values are
reflected on either code discs, either Hall-effect
sensors, depending on the used technology. In the
case of an optical encoder, the beams of infrared
LEDs are sent through code discs and detected by
Opto-Arrays. For a magnetic one, a rotating mag-
net attached to the shaft creates a field whose
direction is measured by the Hall-effect sensor.
The output signals are electronically amplified, and
the resulting value is transferred to the interface.
The absolute rotary encoder has a maximum reso-
lution of 65,536 steps per revolution (16 bits). The
multiturn version can detect up to 16,384 revolu-
tions (14 bits). Therefore, the largest resulting
resolution is 30 bits = 1,073,741,824 steps. The
standard singleturn version is 13 bits, the standard
multiturn version 25 bits.
The integrated Ethernet interface of the absolute
rotary encoder supports all necessary EtherNet/IP
functions.
The protocol supports the programming of the
following additional functions in several ways:
1. Code sequence (complement)
2. Resolution per revolution
3. Total resolution
4. Preset value
5. IP-Address
6. DLR
The functioning of the absolute rotary encoders
under general aspects of the EtherNet/IP interface
is guaranteed. The data will be transmitted in a
standard Ethernet frame in the data section (see at
the bottom of this side the pink field with the blue
frame).
The MAC address of each encoder is available on
the type label.
The IP address can be programmed with DHCP or
BOOTP via the configuration tools of the PLC.
The physical interface support auto negotiation
and auto crossing.
General information’s about EtherNet/IP are avail-
able at:
www.ethernetip.de (German)
https://www.odva.org/technology-standards/key-
technologies/ethernet-ip/ (English)
EtherNet/IP data
Figure 1: Setup of an Ethernet Data Package on Layer 2

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ABSOLUTE IXARC ROTARY ENCODER WITH ETHERNET/IP INTERFACE
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1.1 Control and Information Protocol (CIP)
The EtherNet/IP specification defines the Applica-
tion Layer and the Physical Layer. The Data Link
layer is based on the CAN-specification. For the
optimal industrial control will be defined two different
messaging types. I/O messaging (Implicit Messag-
ing) and explicit messaging. With Implicit Messag-
ing, I/O data are exchanged in real time whereas
Explicit Messaging is mostly used for device config-
uration.
CIP (Common Industrial Protocol) make for the user
available four essential functions:
•Unique control service
•Unique communication service
•Unique allocation of messaging
•Common knowledge base
Figure 2: CIP OSI Layers

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1.2 Object model
EtherNet/IP describes all data and functions of a
device considering an object model. By means
of that object-oriented description, a device can
be completely defined with single objects. An
object is defined across the centralization by
associated attributes (e.g. process data), its
functions (read or write access of a single attrib-
ute) as well as by its defined behaviors. The
absolute rotary encoder supports the Encoder
Device Type: 22hex. This is programmable, see
chapter 4.1. All parameters will be used with Big
Endian notation.
Figure 3: Ethernet/IP Object Model

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

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Input Only
It is possible to open 5 implicit and 15 explicit connections with the encoder. Input Only connections can
only work if all of the parameters are set in the PLC accordingly to the encoder parameters.
Assembly
Config
Output Instance
Input Instance
Connection Manager
Config
Connection Point 1
Connection Point 2
Input Only
0x7Ahex (122)
0x69hex (105)
0x01 Position value
0x03 Position value + velocity
Table 1: Communication Messages
Figure 5: Generic Module Communication Parameters

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ABSOLUTE IXARC ROTARY ENCODER WITH ETHERNET/IP INTERFACE
USER MANUAL
2.1 Implicit Messaging I/O Connection
Provide dedicated, special-purpose communica-
tion paths between a producing application and
one or more consuming applications for the
purpose of moving application-specific data. This
is often referred to as implicit messaging. Class
0 and 1 are supported.
2.1.1 I/O Assembly Instances
Instance
Type
Name
1
Input
Position Value 32 bits unscaled
2
Input
Position Value 32 bits scaled and Warning Flag 8 bits
3
Input
Position Value 32 bits and Velocity 32 bits
120
Input
Position Value 32 bits, Velocity Value 32 bits, Acceleration Value 32 bits and
Warning Flag 8 bits
121
Input
Position Value 32 bits, Velocity Value 32 bits, Acceleration Value 32 bits, Tem-
perature Value 32 bits and Warning Flag 8 bits
122
Output
Direction Counting Toggle 8 bits, Scaling Function Control 8 bits, Measuring Units
per Revolution 32 bits, Total Measuring Range 32 bits, Velocity Format 16 bits,
Velocity Filter 8 bits, Parameter Control Priority 8 bits
Table 2: I/O Assembly Instances
2.1.1.1 Data Attribute Format
Instance
Byte
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
1
0
Position Value (low Byte)
1
2
3
Position Value (high Byte)
2
0
Position Value (low Byte)
1
2
3
Position Value (high Byte)
4
Warning
Alarm
3
0
Position Value (low Byte)
1
2
3
Position Value (high Byte)
4
Velocity Value (low Byte)
5
6
7
Velocity Value (high Byte)