Rockwell Automation Allen-Bradley 842D, User Manual

Page 1: ...842D DeviceNet Encoder Catalog Numbers 842D 60131331BDA and 842D 60131331BXA Revision 4 001 User Manual...

Page 2: ...ublication Rockwell Automation publication SGI 1 1 Safety Guidelines for the Application Installation and Maintenance of Solid State Control available from your local Rockwell Automation office descri...

Page 3: ...pport P 5 Chapter 1 Overview Chapter Objectives 1 1 Overview of the Encoder 1 1 Features of the Encoder 1 1 Overview of Setting Up the Encoder 1 2 Chapter 2 Installation Chapter Objectives 2 1 Install...

Page 4: ...pment and Software 5 1 Operating Modes of the Encoder 5 1 Example DeviceNet Network 5 4 Setting Up the Scan List 5 4 Mapping the Product s Data in the Scanner 5 7 Saving the Configuration 5 8 Chapter...

Page 5: ...is manual if you are responsible for installing wiring programming or troubleshooting control systems that use the 842D encoder This manual is intended for qualified service personnel responsible for...

Page 6: ...vides instructions for configuring a PLC or SLC scanner to communicate with the encoder 6 Using DeviceNet Explicit Messaging Includes information you need to monitor and configure the encoder using ex...

Page 7: ...ists If explicit messages are programmed to frequently write parameterdatatothe842DEEPROM theEEPROMcan exceed its life cycle and cause the product to malfunction Do not create a program that frequentl...

Page 8: ...fter clearing with Offset ScF Preset Pos_num numerical position value numerical physical position value before clearing with Offset ScF Preset Data Types BOOL Boolean Bit BYTE Bit String 1 Byte 8 Bit...

Page 9: ...upport Rockwell Automation offers support services worldwide with more than 75 sales support offices more than 500 authorized distributors and more than 250 authorized systems integrators located thro...

Page 10: ...P 6 Using this Manual Notes...

Page 11: ...Features of the Encoder The DeviceNet network is an open global industry standard communication network designed to provide an interface through a single cable from a programmable controller directly...

Page 12: ...us termination resistance are selected via DIP switches under the removable cover on the back of the encoder Overview of Setting Up the Encoder To set up the 842D DeviceNet encoder you must perform th...

Page 13: ...ction Bulletin 842D DeviceNet encoders are available with a single 5 pin micro quick disconnect or two 5 pin quick disconnects one male and one female for daisy chain connections Pin configurations ar...

Page 14: ...lide the flexible coupling onto the shaft but do not tighten the set screws 4 Mount the encoder and tighten with three size M4 mounting screws not supplied 5 Center the flexible coupling and tighten t...

Page 15: ...must be configured by means of hardware settings Remote setting of the DIP switches via a Node Commissioning Tool is not supported at this time These features are Node Address Baud Rate and the Device...

Page 16: ...rmination resistor of the 842D should not be used and the bus termination DIP switches should be in the OFF position When 842D encoders are connected in a daisy chain configuration the internal termin...

Page 17: ...allocate a specific value to the mechanical rotary position of the 842D If the PRESET value is set by DeviceNet the value must be within the total working range currently configured steps per revoluti...

Page 18: ...3 4 Configuring the DeviceNet Encoder DIP Switches Notes...

Page 19: ...and procedures RSNetWorx supports online and offline commissioning of a DeviceNet system During offline commissioning the bus network is configured and parameters for the bus participants are set wit...

Page 20: ...to display the Configure Drivers dialog box Figure 4 1 Configure Drivers Dialog Box 2 In the Available Driver Types box select DeviceNet Drivers and then click Add New The DeviceNet Driver Selection d...

Page 21: ...river 6 Click Close to close the dialog box Leave RSLinx running 7 Start RSNetWorx for DeviceNet and then select Network Online If the Browse for Network dialog box appears RSLinx has drivers for mult...

Page 22: ...By selecting the 842D encoder you can begin downloading the 842D EDS file 1 Go to Tools EDS Wizard and click Next to start the process Figure 4 7 EDS Wizard 2 Follow the prompts to install the 842D ED...

Page 23: ...tor Enhanced Device Configuration The Enhanced Device Configuration is a more comfortable way to read and modify encoder parameters This mode can be used online and offline file access only In the Enh...

Page 24: ...rs Page in the Edit Dialog Box Parameters are displayed in numerical order in the Parameter column You can either scroll through the list or select a specific group of parameters in the Groups box for...

Page 25: ...he device in the graph window and click on Class Instance Editor in the Device menu Select the service Save 16hex of Class 2Fhex encoder object Instance 1 with the Send the attribute ID box unchecked...

Page 26: ...eset the parameters to the factory default values the service Reset 05hex of the encoder object is used This is done in the Class Instance Editor Select the service Reset 05hex of the object 2Fhex enc...

Page 27: ...re two fundamentally different DeviceNet protocols Explicit messaging I O messaging Explicit messaging Explicit messaging is used for modifying the device configurations reading diagnostic values prog...

Page 28: ...These attributes have to be configured with the number 1 n of the corresponding assembly instance containing the different data components By default this number is set to 1 Position Value Each of th...

Page 29: ...OS In addition a Cycle Time is used to trigger the transmission of the input data This is done after the internal Cycle Time period has elapsed no matter if the value of one of the data components has...

Page 30: ...e section in Chapter 4 2 Select Network Single Browse Path The devices on the network are displayed in the configuration view Figure 5 1 Configuration View Graph 3 Right click the DeviceNet scanner no...

Page 31: ...t the Automap on Add box a check mark will appear 7 Under Available Devices select the encoder and then click Right Arrow to add it to the scanlist Figure 5 3 Scanlist Page in the Scanner Module Dialo...

Page 32: ...an rate Click Help for more information 12 When using COS in high speed and or high resolution applications it may be necessary to limit how often the device will report to the master in order to less...

Page 33: ...will map the I O in the next section in this chapter Mapping the Product s Data in the Scanner Data from I O messages must be mapped in the scanner This mapping determines where a ladder logic program...

Page 34: ...aving the Configuration After configuring a scanner you must download it to the scanner You should also save it to a file on your computer 1 In the Scanner Module dialog box click Apply to save the co...

Page 35: ...ormation on these products Connected to and communicating with the controller Explicit Messaging Examples Explicit Messaging Preset Example for the 1747 SDN Scanner The SLC copies an Explicit Message...

Page 36: ...s the preset value sent in non volatile memory Storing the preset value applies the preset value to the encoder position value The following program fragment sends an explicit message and confirms the...

Page 37: ...1 2 3 4 5 6 7 N20 0 00 04 N20 10 02 01 00 0A 10 MacID 002F 0001 000A 00 00 00 00 N20 50 02 01 00 00 90 MacID Table 2 Preset set service Example to position 01 35 D0 B2h 20304050 decimal Offset 0 1 2...

Page 38: ...Invalid size specified 15 Error Connection busy MAC ID The DeviceNet network address of device where the transaction is sent This value can range from 0 to 63 The slave device must be listed in the s...

Page 39: ...pe tag Lsource is a UDINT type tag the value is preset to Ldest is a UDINT type tag that should always return with 0 Figure 6 2 Position Value Preset MSGY needs the service code set 10 the class code...

Page 40: ...NB is the name of the DeviceNet module 1756 DNB at a port from the 1756 L1 controller 2 to communicate with encoder at MACID where MACID is a variable SINT with the destination slave DeviceNet node ad...

Page 41: ...PROM Write Life Greater than 100 000 cycles Angular Acceleration 5 x 105 radians sec2 Moment of Inertia 35gcm2 5 0 x 10 4oz in sec2 Operating Speed 6000 RPM at max shaft loading Maximum Working Speed...

Page 42: ...8 1 09 105 8 4 16 X 15 5 0 61 76 2 99 13 0 51 Screw Cover for DIP Switches and Reset Button Angle Parallel Off Set Flexible Shaft Couplings 65 2 56 48 0 1 1 89 35 120 M4 3 Plcs 7 0 28 deep Diagnostic...

Page 43: ...ation about the device Class Attributes Not supported Instance Attributes Services Class Object Page 01hex Identity B 1 02hex Message Router B 2 03hex DeviceNet B 2 04hex Assembly B 3 05hex Connection...

Page 44: ...Object per physical network attachment Class Attributes Instance Attributes Services Attr ID Attribute Access Data Type Description 1 Revision Get UINT Revision 002 Attr ID Attribute Access Data Type...

Page 45: ...ce Attributes Services Attr ID Attribute Access Data Type Description 1 Revision Get UINT Revision 002 Instance ID Attr ID Attribute Access Data Type Description 1 3 Data Get ARRAY Position value 2 3...

Page 46: ...tt 12 2 3 0 0 0 0 0 0 MSB 4 reserved Warning flag Att 88 Alarm flag Att 85 3 0 LSB 1 Position value Att 12 2 3 0 0 0 0 0 0 MSB 4 LSB 5 Velocity value Not available in COS 6 7 MSB 4 0 LSB 1 Position va...

Page 47: ...cation s relationship A specific Connection Object Instance manages the communication specific aspects related to an end point A Connection Object on DeviceNet uses the services provided by a Link Pro...

Page 48: ...nnection path attribute 16 Consumed Cnxn Path Get ARRAY of UINT Specifies the application object to receive the data consumed by this application 17 Production inhibit time Get Set UINT Defines minimu...

Page 49: ...t UDINT The steps over total measuring range The number is automatically adjusted to a 2 0 2 13 multiple of RESOLUTION PER REVOLUTION Example if RESOLUTION PER REVOLUTION is set to 3600 then the possi...

Page 50: ...e state of 8 independent CAMs 1 8 See Designation of Cam Bits page B 10 1 cam state will be active outside of the cam limits 0 cam state will be active inside of the cam limits 42 CAM enable register...

Page 51: ...SURING RANGE 88 Warning flag Get BOOL Indicates if any of the WARNINGS are active This value will be reported if the INPUT ASSY is set to Position Flags as bit 1 of the 5th byte 90 Operating time Get...

Page 52: ...rved 12 15 Manufacturer specific not used Bit Description 0 Frequency exceeded 0 NO 1 YES 1 Light control reserve 0 Not reached 1 Error 2 CPU watchdog 0 OK 1 Reset 3 Operating time limit warning 0 NO...

Page 53: ...Configuration modes 4 5 Configure Drivers 4 2 Configuring a Scanner 5 1 Configuring the DIP Switches 3 1 Connection B 5 Conventions Used in this Manual P 5 COS 5 2 Cyclic 5 2 D Daisy chain connections...

Page 54: ...Modify encoder parameters 4 5 N Node Address 3 2 O Objects refer to DeviceNet objects Offline Integration 4 4 Operating Modes 5 1 Operating modes 5 2 Overview 1 1 P Parameter values 4 5 Parameters Pin...

Page 55: ...4 7 Setting the baud rate 3 2 Setting the Node Address 3 2 Setting Up the Encoder 1 2 SLC explicit messaging example 6 4 Specifications A 1 STATUS 6 3 T Technical support P 5 Termination resistor 3 2...

Page 56: ...I 4 Index Notes...

Page 57: ...n PLC and PLC 5 are registered trademarks of Rockwell Automation SLC and SLC 5 03 are registered trademarks of Rockwell Automation DeviceNet is a trademark of the Open DeviceNet Vendor Association Win...

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