Baumer EAL580-T - EtherNet/IP Owner's manual

02.20· 174.02.080/3

Subject to modification in technic and design.

www.baumer.com Errors and omissions excepted.

Manual

Absolute encoders EAx with EtherNet/IP interface

Firmware version 1.003 and later

       
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Contents   Page 
 
 Introduction  6 
1.  Scope of delivery  6 
2.  Product classification  6 
 Safety and operating instructions  7 
 Commissioning  8 
1.  Mechanical mounting  8 
2.  Electrical connection  8 
2.1.  Cabling  8 
2.2.  Connecting  9 
2.3.  Rotary Switches  11 
 IP Address Configuration  12 
1.  Via BOOTP/DHCP Server  13 
2.  Via Rotary Switches  14 
2.1.  Position of rotary switches equal to 0  15 
2.2.  Position of rotary switches unequal to 0  15 
 Engineering (Allen Bradley Studio 5000)  16 
1.  Start Studio 5000  16 
2.  Create project  16 
3.  Import EDS file  16 
4.  Module configuration  18 
4.1.  Configuring an encoder module  18 
4.2.  Set network path and download configuration  20 
4.3.  View encoder data using controller tags  20 
5.  Module Configuration, Connections  21 
6.  Input Data  21 
7.  Configuration data  22 
8.  Module Configuration with configuration data  23 
9.  Programming example (preset)  24 
 EtherNet/IP cyclic operation  31 
1.  PLC (EtherNet/IP scanner)  31 
2.  Basics  31 
3.  Diagnostic LEDs  32 
3.1.  Link/Activity (L/A) LEDs  32 
3.2.  Network Status Indicator  32 
3.3.  Module Status Indicator  33 
4.  Mapping of process data  33 
5.  Speed  34 
5.1.  Speed measuring unit  34 
5.2.  Speed update period  34 
5.3.  Speed filter depth  34 
6.  Preset function  35 
6.1.  Preset via Position Sensor Object  35 
6.2.  Preset using the push button  35 
7.  Cycle time and supported functionality  35 
 EtherNet/IP acyclic operation  36 
1.  Introduction  36 
2.  Device Type 0x22 (encoder profile)  36 
3.  CIP Object Model  36 
4.  Standard objects  36 
5.  Profile-specific objects  36 
6.  Parameterization  37 
6.1.  Measuring units per revolution  37 
6.2.  Total measuring range  37 
6.3.  Code sequence  37 

       
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6.4.  Scaling functionality  37 
6.5.  Speed measuring unit  37 
6.6.  Speed update period  37 
6.7.  Speed filter depth  37 
6.8.  Gear factor: activation  38 
6.9.  Gear factor: numerator  39 
6.10.  Gear factor: denominator  39 
6.11.  Gear factor: parameterization  39 
6.12.  Important note for multiturn encoder operation  40 
6.13.  Preset  40 
6.14.  Parameterization sequence  40 
6.15.  Parameterization behaviour  41 
7.  Error Handling  42 
7.1.  Warning and alarm bits  42 
7.2.  Mapping table  42 
7.3.  Mapping of warning bits to device status  43 
7.4.  Mapping of alarm bits to device status  43 
7.5.  Device Status Prioritization  43 
8.  Firmware update via webserver  43 
9.  Identity Object (0x01)  44 
9.1.  Class Services  44 
9.2.  Class Attributes  45 
9.3.  Instance Services  45 
9.4.  Instance Attributes  46 
10.  Message Router Object (0x02)  48 
11.  Assembly Object (0x04)  48 
11.1.  Class Services  48 
11.2.  Class Attributes  48 
11.3.  Instance Services  49 
11.4.  Instance Attributes  49 
11.5.  Instances  49 
12.  Connection Manager Object (0x06)  54 
12.1.  Class Services  54 
12.2.  Class Attributes  54 
12.3.  Instance Services  54 
12.4.  Instance Attributes  54 
13.  Position Sensor Object (0x23)  55 
13.1.  Class Services  55 
13.2.  Class Attributes  56 
13.3.  Instance Services  56 
13.4.  Instance Attributes  57 
13.5.  Error codes (Position Sensor Object)  68 
14.  Device Level Ring Object (0x47)  70 
14.1.  Class Services  70 
14.2.  Class Attributes  70 
14.3.  Instance Services  70 
14.4.  Instance Attributes  71 
15.  Quality of Service Object (0x48)  72 
15.1.  Class Services  72 
15.2.  Class Attributes  72 
15.3.  Instance Services  72 
15.4.  Instance Attributes  73 
16.  TCP/IP Interface Object (0xF5)  74 
16.1.  Class Services  74 
16.2.  Class Attributes  74 
16.3.  Instance Services  74 
16.4.  Instance Attributes  75 
17.  Ethernet Link Object (0xF6)  78 
17.1.  Class Services  78 

       
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17.2.  Class Attributes  78 
17.3.  Instance Services  79 
17.4.  Instance Attributes  79 
 Troubleshooting – Frequently Asked Questions – FAQ  80 
1.  FAQ: Project Work  80 
1.1.  Where do I get an encoder manual?  80 
1.2.  Where do I get the applicable EDS file?  80 
2.  FAQ: Operation  80 
2.1.  What is the significance of the LEDs provided at the encoder?  80 
2.2.  How to adapt the resolution?  80 
 Appendix A  81 
1.  Software Change Log (from firmware V1.003 to V1.004)  81 
 
   

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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

Studio5000

®

and LogixDesigner

®

are registered trademarks of Allen-Bradley

®

.

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

09.18

1.003

div.

Initial version

(replaces all draft documents)

0002

02.20

1.004

div.

Important changes:

editorial changes and

revision of following chapters:

- 5.4.1 ("Configuring an encoder module")

- 5.7 ("Configuration data")

- 6.3 ("Diagnostic LEDs")

- 6.5 ("Speed")

- 7.6.8 to 7.6.11 (“gear factor”)

- 7.6.12 ("Important note for multiturn encoder

operation")

- 7.13 ("Position Sensor Object (0x23)")

- 7.13.4 (“Instance Attributes“)

- 7.13.5 ("Error codes (Position Sensor

Object)")

New chapters:

- 7.6.15 ("Parameterization behaviour")

- 9 ("Appendix A")

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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:

 EtherNet/IP encoder

 EDS files and manual (available at www.baumer.com)

1.2. Product classification

Product

Product family

Suitable input in hardware-catalog

EAL580-xxx.xxEN.13160.x

optical - multiturn

EAL580 MT encoder ST13 MT16, optical

EAL580-xxx.xxEN.18130.x

optical - multiturn

EAL580 MT encoder ST18 MT13, optical

EAM580-xxx.xxEN.14160.x

magnetic - multiturn

EAM580 MT encoder ST14 MT16, magnetic

Explanation

- Placeholders marked “x” in the product reference number will not influence the selection

- “MT” means “multiturn”

- “ST” means “singleturn”

- “ST13 MT16” means “13 bits physical singleturn resolution, 16 bits physical multiturn resolution”

EDS file

Several EDS files for different encoder types exist. The EDS files for an EAx580 EtherNet/IP encoder are

available for download at www.baumer.com.

EDS files for the following products are available:

- Baumer EAL 580 ST13MT16

- Baumer EAL 580 ST18MT13

- Baumer EAM 580 ST14MT16

For further information see chapter Import EDS File.

Supported Standards and Protocols

Common Industrial Protocol (CIP™) Vol1, Ed 3.21

EtherNet/IP Adaptation of CIP Vol2, Ed. 1.22, Nov 2016

Encoder Device Profile (Volume 1, 6.21)

ODVA Certification Test CT14 passed with firmware revision 1.002.

Firmware revisions 1.003 and later support Apply_Attributes, Restore and Save services for the Position

Sensor Object to make the configuration of the device more comfortable.

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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).

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3. Commissioning

3.1. Mechanical mounting

Shaft encoders

 Mount the encoder using the mounting holes in the encoder flange and fitting screws. Observe thread

diameter and depth.

 There is an alternative mounting option in any angular position by eccentric fixings available as an

accessory.

 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

EtherNet/IP utilizes Fast Ethernet cables (100 Mbit/s, Cat. 5).

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3.2.2. Connecting

The encoder provides three M12 flange connectors.

Two M12 flange connectors (D-coding, according IEC 61076-2-101) named “Port 1” and “Port 2” (see below)

serve for the connection.

 For voltage supply use an A-coded M12 connector only.

 The D-coded M12 connector “Port 1” and “Port 2“ may only be used to connect the encoder to the

EtherNet/IP network.

 Seal up any unused M12 connector using a screw cap (included in the delivery).

Port 1

Port 2

Power

Net

L/A

Mod

Hexadecimal Rotary

Switch X

(for IP address

configuration)

Hexadecimal Rotary

Switch Y

(for IP address

configuration)

Preset/Reset button

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Pin assignment

Voltage supply

EtherNet/IP (data line)

1 x M12 flange connector (male)

2 x M12 flange connector (female)

A-coded

D-coded

Assignment

1

UB / +Vs (10...30 VDC)

1

TxD+

2

Do not connect

2

RxD+

3

GND / 0 V

3

TxD-

4

Do not connect

4

RxD-

Preset/Reset button

The encoder may have a screw cap located where M12 connectors and LEDs are located as well. After

removing the screw cap the preset/reset button is visible.

The preset/reset button works in two modes:

Reset Mode: effective in the first 60 seconds after power-on

Pressing the button results in a “Type 1 Reset”. The encoder is reset to factory defaults. For details see

chapter Class Services of the Identity Object.

Caution: Even communication parameters (e.g. IP address) are reset to factory defaults.

Preset Mode: effective after more than 60 seconds after power-on

Pressing the button activates a preset with a value defined in Instance Attribute 107 - Preset Request Value

of the Position Sensor Object (value is 0 by default). The contained position value will be interpreted as

absolute value.

In order to perform a preset/reset the push button must be pressed for a duration of at least three seconds

(LEDs blinking red) and longest five seconds. The button has to be released when the LEDs change from

red blinking to green blinking.

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Note:

After having used the preset/reset button the screw cap must be screwed in again and tightened with a

torque of 1.5 Nm.

3.2.3. Rotary Switches

With the two rotary switches the address can be set to 192.168.1.xy where x and y are defined by the

hexadecimal values set by the rotary switches.

For detailed information see chapter Via Rotary Switches.

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4. IP Address Configuration

The IP address of the device has to be allocated before a communication with the device is possible. By

default the device expects to receive an IP address via DHCP. The methods to allocate an IP address to the

device are described below.

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4.1. Via BOOTP/DHCP Server

Open the BOOTP/DHCP Server tool from Rockwell (tested with version 2.3). At power-on the device sends a

request with its MAC address.

Double-click on the MAC address of the device and enter the desired IP address.

If a static IP address is desired click on “Disable BOOTP/DHCP” once the relation list entry is done.

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4.2. Via Rotary Switches

If the value read from the rotary switches is unequal to 00 the IP address is "192.168.1.XY". The value of XY

is calculated as follows.

X

Y

Value of rotary switch 1

Value of rotary switch 2

Open the screw cap to get access to the rotary switches. Set the rotary switches to the desired IP address.

An example is shown below.

In this example the rotary switches are set to X=0x04 and Y=0x02 which results to:

4 * 16 + 2 = 66 -> The IP address is set to 192.168.1.66.

In the following chapters the details about the functionality of the device depending on the value of the rotary

switches are described.

Generally the formula for the

value of the 4th octet (byte)

of the IP address is:

X * 16 + Y

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4.2.1. Position of rotary switches equal to 0

If the value of the rotary switches is equal to 0 the IP address currently used was either obtained from

BOOTP or DHCP or previously assigned and read from remanent storage. The table below shows the

behaviour of attributes 1, 3 and 5 of the TCP/IP Interface Object (0xF5) when the value of the rotary switches

is set to 0.

Instance Attribute of TCP/IP

Interface Object (0xF5)

Get

Set

Comment

1

Rejected (read-

only)

Interface Configuration Status

1 = obtained from BOOTP, DHCP

or non-volatile storage

3

0, 1, 2

Accepted

Configuration method

0 = statically

1 = BOOTP

2 = DHCP (default)

5

Current IP

configuration

Accepted

Current IP configuration

is the stored IP configuration.

4.2.2. Position of rotary switches unequal to 0

If the value read from the rotary switch is unequal to 0 the IP address is "192.168.1." plus the value of the

rotary switches which is used for the 4th octet (byte). The value of the 4th octet (byte) of the IP address is

defined by the values of the two rotary switches. See also Via Rotary Switches.

When the value of the rotary switches is unequal to 0 (zero) the IP address cannot be changed via the

TCP/IP Interface Object (0xF5). The table below shows the behaviour of attributes 1, 3 and 5 of the TCP/IP

Interface Object.

Instance Attribute of TCP/IP

Interface Object (0xF5)

Get

Set

Comment

1

2

Rejected (read-

only)

Valid configuration obtained by

hardware settings

3

0 = static

Rejected (0x0C

= Object State

Conflict)

Configuration method

0 = statically

1 = BOOTP

2 = DHCP (default)

5

Current IP

configuration

Rejected (0x0C

= Object State

Conflict)

Current IP configuration

is the stored IP configuration.

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5. Engineering (Allen Bradley Studio 5000)

The following examples relate to Allen Bradley PLCs using the engineering tool Studio 5000.

Of course the encoder will also accept PLCs and engineering software of other manufacturers. In this case

please proceed in an analog way.

5.1. Start Studio 5000

Start Studio 5000 for example from the Windows start menu.

5.2. Create project

- Create a new project

- Select the PLC type

- Insert the project name

5.3. Import EDS file

An EtherNet/IP adapter is described by a so-called “Electronic Data Sheet” (EDS) file.

The EDS file for an EAx580 EtherNet/IP encoder is available for download at www.baumer.com.

To provide the EDS file to Studio 5000 the following steps have to be done:

- Select „Tools“ -> „EDS Hardware Installation Tool“

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Register an EDS file:

Note:

The icon for “EAL580 ST13MT16” in the screenshot above is shown when an EAL580 EtherNet/IP encoder

is configured. If an EAM580 EtherNet/IP encoder is configured a different icon is displayed. Additionally

EAM580 EtherNet/IP encoders have different product codes.

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5.4. Module configuration

5.4.1. Configuring an encoder module

Right-click on Ethernet symbol in Controller Organizer window and click on “New Module”.

Search for “baumer” device and select “EAx580-x.xEN.XXXXx.x”:

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Click “Create”, insert name and set the IP address of the encoder. Click “Change …” to change the

configuration.

Select data type (column “Size”, not changeable for all connections).

By default connection 1 (Input Only) is selected. The position value is proposed and can be configured to the

desired connection.

The layout of the cyclic process data image and even the configuration data of the encoder is defined by the

type of the connection and can be changed at column “Name”. See chapter Module Configuration,

Connections for more details.

The requested packet interval (RPI) in milliseconds can be configured in tab “Connection”.

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5.4.2. Set network path and download configuration

Click on symbol to select the network path to the PLC.

Click “Download” to download the project to the PLC:

If the encoder is configured and running the following is shown.

5.4.3. View encoder data using controller tags

Double-click on “Controller Tags” and watch values at tab “Monitor Tags”:

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