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'"& !%$ "$ " % $ ' "# Important User Information Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards. The illustrations, charts, sample programs and layout examples shown in this guide are intended solely for example. Since there are many variables and requirements associated with any particular installation, Allen-Bradley does not assume responsibility or liability (to include intellectual property liability) for actual use based upon the examples shown in this publication. Allen-Bradley publication SGI–1.1, “Safety Guidelines For The Application, Installation and Maintenance of Solid State Control” (available from your local Allen-Bradley office) describes some important differences between solid-state equipment and electromechanical devices which should be taken into consideration when applying products such as those described in this publication. Reproduction of the contents of this copyrighted publication, in whole or in part, without written permission of Allen–Bradley Company, Inc. is prohibited. Throughout this manual we make notes to alert you to possible injury to people or damage to equipment under specific circumstances. ! ATTENTION: Identifies information about practices or circumstances that can lead to personal injury or death, property damage, or economic loss. Attention helps you: • identify a hazard • avoid the hazard • recognize the consequences Important: Identifies information that is especially important for successful application and understanding of the product. Important: We recommend you frequently backup your application programs on appropriate storage medium to avoid possible data loss. DeviceNet, DeviceNetManager, and RediSTATION are trademarks of Allen-Bradley Company, Inc. PLC, PLC–2, PLC–3, and PLC–5 are registered trademarks of Allen-Bradley Company, Inc. Windows is a trademark of Microsoft. Microsoft is a registered trademark of Microsoft IBM is a registered trademark of International Business Machines, Incorporated. All other brand and product names are trademarks or registered trademarks of their respective companies. The information contained in this manual pertains to the series B version of the 1794-ID2 frequency input module. New Information Updated Information This version of this publication contains information on control word 2, for setting the filter function for the counters. This filter information is contained in chapter 1 and identified in chapters 4 and 5. The vibration specifications for this module have been updated. The specification is as follows: 07,310/(05$. 10',5,104 2(3$5,10$. !(/2(3$563( 513$*( !(/2(3$563( (.$5,7( 6/,',5: +1&- 2(3$5,0* 1012(3$5,0* #,%3$5,10 51 1 51 1 Note: 1 015 &100(&5 /$9,/6/ ,0265 71.5$*( 4,/6.5$0(164.: 51 $.. ,02654 ,) 5+( /1'6.( $/%,(05 5(/2(3$563( ,4 (92(&5(' 51 (9&((' 1 51 1 51 1 51 010&10'(04,0* 12(3$5,0* 51 010&10'(04,0* 01012(3$5,0* * 2($- $&&(.(3$5,10 /4 26.4( 8,'5+ * 2($- $&&(.(3$5,10 /4 26.4( 8,'5+ !(45(' * ; 2(3 << 6%.,&$5,10 " $: soc–ii Summary of Changes Preface Using This Manual Purpose of this Manual Audience This manual shows you how to use your FLEX I/O pulse counter module with Allen-Bradley programmable controllers. The manual helps you install, program and troubleshoot your module. You must be able to program and operate an Allen-Bradley programmable controller to make efficient use of your FLEX I/O module. In particular, you must know how to program block transfers. We assume that you know how to do this in this manual. If you do not, refer to the appropriate programming and operations manual before you attempt to program your modules. Vocabulary In this manual, we refer to: – the pulse counter module as the “input module” – the Programmable Controller as the “controller” Manual Organization This manual is divided into seven chapters. The following chart lists each chapter with its corresponding title and a brief overview of the topics covered in that chapter. Chapter Title Contents 1 4%04)%5 .& !-$ 2(% 3+1% .3-2%0 .$3+% %1#0)"%1 /3+1% #.3-2%0 ,.$3+%1 &%!230%1 !-$ (.5 2(%7 &3-#2).- 2 .5 2. -12!++ .30 3+1% .3-2%0 .$3+% .5 2. )-12!++ !-$ 5)0% 2(% ,.$3+% 3 .$3+% 0.'0!,,)-' 6/+!)-1 "+.#* 20!-1&%0 /0.'0!,,)-' 1!,/+% /0.'0!,1 4 0)2)-' .-&)'30!2).- 2. !-$ %!$)-' 2!231 0., 5)2( ! %,.2% $!/2%0 6/+!)-1 (.5 2. #.-&)'30% 7.30 ,.$3+%1 !-$ 0%!$ 12!231 )-&.0,!2).- &0., 7.30 ,.$3+%1 5(%- 31)-' ! 0%,.2% !$!/2%0 5 .5 .,,3-)#!2).- !*%1 +!#% !-$ ,!'% !"+% !//)-' 5)2( 2(% %4)#%%2 $!/2%0 6/+!)-1 (.5 7.3 #.,,3-)#!2% 5)2( 7.30 ,.$3+%1 !-$ (.5 2(% ),!'% )1 ,!//%$ 5(%- 31)-' ! %4)#%%2 !$!/2%0 6 -/32 32/32 !-$ .-&)'30!2).&)+%1 &.0 -!+.' .$3+%1 31)-' .-20.+%2 6/+!)-1 (.5 7.3 #.,,3-)#!2% 5)2( 7.30 ,.$3+%1 !-$ (.5 2(% !-$ #.-&)'30!2).- &)+%1 !0% ,!//%$ 5(%- 31)-' ! .-20.+%2 !$!/2%0 7 !+)"0!2)-' .30 3+1% .3-2%0 .$3+% .5 2. #!+)"0!2% 2(% ,.$3+% 8 0.3"+%1(..2 .30 3+1% .3-2%0 .$3+% .5 2. 31% 2(% )-$)#!2.01 2. 20.3"+%1(..2 7.30 ,.$3+% 3"+)#!2).- 8 !7 P–2 Using This Manual Appendix A Title .$"(%(" 1(-,0 Conventions Contents .$"(%(" 1(-,0 %-/ 1'$ .2*0$ "-2,1$/ +-#2*$ We use these conventions in this manual: In this manual, we show: Like this: 1' 1 1'$/$ (0 +-/$ (,%-/+ 1(-, !-21 1-.(" (, ,-1'$/ "' .1$/ (, 1'(0 + ,2 * 1' 1 1'$/$ (0 +-/$ (,%-/+ 1(-, !-21 1'$ 1-.(" (, ,-1'$/ + ,2 * For Additional Information More For additional information on FLEX I/O systems and modules, refer to the following documents: Catalog Number Publications Voltage Description Installation Instructions /-#2"1 1 5 5 #" -,1/-*$1 # .1$/ 5 5 #" $#2,# ,1 $#( -,1/-*$1 # .1$/ 5 5 #" -,1/-*$1 # .1$/ 5 5 #" $#2,# ,1 $#( -,1/-*$1 # .1$/ 5 5 #" $3("$$1 # .1$/ 5 User Manual 5 5 #" $+-1$ # .1$/ 5 5 5 #" 5*-1 $+-1$ # .1$/ 5 5 5 #" /-%(!20 # .1$/ 5 5 5 #" (,) ,.21 -#2*$ 5 5 #" -2/"$ 21.21 -#2*$ 5 5 #" (,) ,.21 -#2*$ 5 5 #" -2/"$ 21.21 -#2*$ 5 5 #" -2/"$ ,.21 -#2*$ 5 5 #" (,) 21.21 -#2*$ 5 5 #" *$"1/-,(" **4 20$# 21.21 -#2*$ 5 5 #" $,0-/ ,.21 -#2*$ 5 5 #" ,.21 21.21 -#2*$ 5 5 #" $*$"1 !*$ , *-& ,.21 -#2*$ 5 5 #" $*$"1 !*$ , *-& 21.21 -#2*$ 5 Table continued on next page 2!*(" 1(-, 5 4 5 5 Using This Manual Catalog Number Voltage 9 # " '& 9 Publications Description Installation Instructions User Manual .054 54054 .$,/) /'5,( 9 9 " '& 54054 3/,$4(' .$,/) /'5,( 9 9 " '& .054 3/,$4(' .$,/) /'5,( 9 9# " '& .054 54054 3/,$4(' .$,/) /'5,( 9 9 " '& .054 .$,/) /'5,( 9 9 9 " '& *(2-/&/50,( .054 /'5,( 9 9 9 " '& *(2-/&/50,( .054 /'5,( 9 9 9 " '& 2(15(.&8 .054 /'5,( 9 9 9 " $& .054 /'5,( 9 9 " $& 54054 /'5,( 9 9 9 96+2( (2-+.$, $3( 96+2( (2-+.$, $3( 9 9 (2-+.$, $3( !.+4 9 9 53(' (2-+.$, $3( !.+4 (-0(2$452( (2-+.$, $3( !.+4 9 9 02+.) ,$-0 (2-+.$, $3( !.+4 9 9 02+.) ,$-0 (-0(2$452( $3( !.+4 9 (2-+.$, $3( !.+4 9 9 9 9 9 " '& 9 9 9 9 Summary P–3 9 02+.) ,$-0 (2-+.$, $3( !.+4 9 74(.'(2 $%,(3 9 /5.4+.) +4 9 /6(2 500,8 9 This preface gave you information on how to use this manual efficiently. The next chapter introduces you to the frequency module. 5%,+&$4+/. 9! $8 P–4 Using This Manual Table of Contents Overview of the Incremental Encoder Module Chapter 1 How to Install Your Incremental Encoder Module Chapter 2 $-&7 !-.6 -&37*5 217&.16 2: %28 "6* 7-* 1(5*0*17&/ 1(2)*5 2)8/* $-&7 7-* 1(5*0*17&/ 1(2)*5 2)8/* 2*6 !<3.(&/ 33/.(&7.216 1387 &3&'./.7.*6 2: 7-* 1(5*0*17&/ 1(2)*5 3*5&7*6 #&5.&'/*6 7&57 2817.1, */*(7.1, 7-* .1(5*0*17&/ *1(2)*5 &1) 83)2:1 (2817.1, "32:1 2817.1, 21752//*) '< 1387 "32:1 2817.1, 86.1, 8/6*6 &7 13876 &1) 2817 8/6*6 +520 1(5*0*17&/ 1(2)*56 5*6*7 81(7.21 &7* 81(7.21 725* 81(7.21 .0.7&7.21 81(7.21 -&37*5 800&5< $-&7 !-.6 -&37*5 217&.16 *+25* %28 167&// %285 1387 2)8/* 8523*&1 "1.21 .5*(7.9* 203/.&1(* .5*(7.9* 2: #2/7&,* .5*(7.9* 2:*5 *48.5*0*176 $.5.1, 7-* !*50.1&/ &6* "1.76 =! 6-2:1 167&//.1, 7-* 2)8/* 2817.1, 7-* !*50.1&/ &6* "1.7 21 & &./ &1*/$&// 2817.1, 2817.1, 7-* 1(5*0*17&/ 1(2)*5 2)8/* 21 7-* !*50.1&/ &6* "1.7 211*(7.1, $.5.1, +25 %285 .1(5*0*17&/ *1(2)*5 2)8/* $.5.1, 72 & =! 25 =! !*50.1&/ &6* "1.7 $.5.1, (211*(7.216 +25 7-* .1(5*0*17&/ *1(2)*5 2)8/* ;&03/* 2+ 8/6* !5&160.77*5 $.5.1, ;&03/* 2+ 1(5*0*17&/ 1(2)*5 $.5.1, 2)8/* 1).(&7256 -&37*5 800&5< 8'/.(&7.21 =" &< ii Table of Contents Programming Your Incremental Encoder Module Chapter 3 Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter Chapter 4 How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter Chapter 5 4#,*$"3*/. 8 "7 )"3 )*2 )"03&1 /.3"*.2 .3&1 ,/$+ 1".2'&1 .2314$3*/.2 8 "-*,7 1/$&22/1 8 "-*,7 1/$&22/1 8 1/(1"--*.( )"03&1 4--"17 )"3 )*2 )"03&1 /.3"*.2 /.'*(41*.( !/41 .$1&-&.3", .$/%&1 /%4,& &"%*.( "3" 1/- !/41 /%4,& "00*.( "3" '/1 3)& /%4,& .$1&-&.3", .$/%&1 /%4,& 8 -"(& "#,& "00*.( ,/$+ 1".2'&1 &"% /1% 22*(.-&.32 '/1 3)& .$1&-&.3", .$/%&1 /%4,& 8 *3 /1% &'*.*3*/.2 '/1 ,/$+ 1".2'&1 &"% /1%2 '/1 3)& .$1&-&.3", .$/%&1 /%4,& ,/$+ 1".2'&1 1*3& /1% 22*(.-&.32 '/1 3)& .$1&-&.3", .$/%&1 /%4,& *3 /1% &'*.*3*/.2 '/1 3)& ,/$+ 1".2'&1 1*3& /1%2 '/1 3)& .$1&-&.3", .$/%&1 /%4,& )"03&1 4--"17 )"3 )*2 )"03&1 /.3"*.2 #/43 &5*$&&3"."(&1 /'36"1& /,,&% 314$341& %"03&1 .043 3"342 /1% 723&- )1/4()043 "00*.( "3" *.3/ 3)& -"(& "#,& .$1&-&.3", .$/%&1 /%4,& 8 -"(& "#,& "00*.( ,/$+ 1".2'&1 &"% /1% 22*(.-&.32 '/1 3)& .$1&-&.3", .$/%&1 /%4,& 8 ,/$+ 1".2'&1 1*3& /1% 22*(.-&.32 '/1 3)& .$1&-&.3", .$/%&1 /%4,& 8 *3 /1% &'*.*3*/.2 '/1 3)& *.$1&-&.3", &.$/%&1 /%4,& &'"4,32 iii Table of Contents Input, Output and Configuration Files for Analog Modules when used with ControlNet Chapter 6 *#25'3 $,'%5+7'4 $165 5*' 10531.'5 '3 %*'&6.'& #5#:3#04('3 04%*'&6.'& #5#:3#04('3 1&6.' #22+0) 536%563' '3 0265 5#564 !13& #(' 5#5' #5# '7+%' %5+104 1//60+%#5+10 #6.5 '*#7+13 &.' 5#5' '*#7+13 0265 #5# '*#7+13 6210 1&6.' '/17#. 0%3'/'05#. 0%1&'3 1&6.' : /#)' #$.' #22+0) +5!13& '(+0+5+104 (13 .1%- 3#04('3 '#& !13&4 (13 5*' 6.4' 1605'3 1&6.' Calibrating Your Incremental Encoder Module Chapter 7 Troubleshoot the Incremental Encoder Module Chapter 8 Specifications Appendix A *#25'3 $,'%5+7' #.+$3#5+0) "163 1&6.' #.+$3#5+10 '5*1& #.+$3#5+10 '5*1& !*#5 *+4 *#25'3 105#+04 5#564 0&+%#5134 !*#54 '85 2'%+(+%#5+104 6$.+%#5+10 : #9 Table of Contents Overview of the Incremental Encoder Module What This Chapter Contains How You Use the incremental encoder Module Read this chapter to familiarize yourself with the 1794–ID2 module. For information on See page #) #( & ' "%!"' "#% #( ' ' "%!"' "#% #( #& "$(' $ '& #) ' "%!"' "#% $%'& The 1794–ID2 module is an intelligent I/O module designed to perform high speed pulse counting. The module provides: • 2 pulse transmitter interfaces, each with 4 optocoupled inputs Each input has + and – inputs for connection to transmitters with complementary and noncomplementary signals. The pulse inputs can accept frequencies up to 100KHz. The module accepts and returns binary data. The module’s primary use is accurate, high-speed counting of pulse from pulse transmitters or incremental encoders with 1 or 2 pulse trains. This includes quantity counting, positioning and speed calculations. The module has 2 up/down counters, each individually programmable. The number of edges to be counted can be multiplied by 1, 2 or 4 (x1, x2, x4). Pulse transmitters can be complementary or noncomplementary. ( '#" + * 1–2 Overview of the Incremental Encoder Module %($$)%"&' &'( !'(& !#"!'(& + &'( !'(& Z+ Z- $! ( !'(& A+ A- + $)#(& !'(& B+ BZ+ ZG+ G- $#(&$" $& Internal +5V dc What the Incremental Encoder Module Does B+ B- G+ G- $#(&$" $& !#"!'(& )'#(& &!")' ( !'(& $! $)#(& !'(& A+ A- *#!""+ '$"( $#*&(& 12-24V dc 0V The incremental encoder module performs high-speed scaling calculation operations for various industrial applications. The module interfaces with a FLEX family adapter which then communicates with a programmable controller processor that has block-transfer capability and external I/O devices. The adapter/power supply transfers data to the module (block transfer write) and from the module (block transfer read) using BTW and BTR instructions in your ladder diagram program. These instructions let the adapter read input values and status from the module, and let you write output values and configure the module’s mode of operation. The following illustration describes the communication process. )"!(!$# , + Overview of the Incremental Encoder Module 1–3 !-* &)&37*5 75&16+*56 <285 (21+.,85&7.21 )&7& 72 7-* 02)8/* 86.1, & !$ ;7*51&/ )*9.(*6 75&160.7 +5*48*1(< 6.,1&/6 72 7-* 02)8/* /*;'86 ! 1 ! !# "! "! # $ "% ! = %285 /&))*5 352,5&0 .16758(76 7-* &)&37*5 72 3*5+250 & ! 2+ 7-* 9&/8*6 &1) 6725*6 7-*0 .1 & )&7& 7&'/* !-* 02)8/* (219*576 +5*48*1(< 6.,1&/6 .172 .17*,*5 +250&7 &1) 6725*6 7-*6* 9&/8*6 817./ 7-* &)&37*5 5*48*676 7-*.5 75&16+*5 !-* &)&37*5 &1) 02)8/* )*7*50.1* 7-&7 7-* 75&16+*5 :&6 0&)* :.7-287 *5525 &1) .1387 9&/8*6 &5* :.7-.1 63*(.+.*) 5&1,* %285 /&))*5 352,5&0 (&1 86* &1)25 029* 7-* )&7& .+ 9&/.) '*+25* .7 .6 :5.77*1 29*5 '< 7-* 75&16+*5 2+ 1*: )&7& .1 & 68'6*48*17 75&16+*5 %285 /&))*5 352,5&0 3*5+2506 !$6 72 7-* 02)8/* :-*1 <28 32:*5 .7 83 &1) &1< 7.0* <28 :.6- 72 5*(21+.,85* 7-* 02)8/* Typical Applications You can use the 1794–ID2 module in the power management, automotive, food and beverage, and oil and gas industries for various flow and/or turbine metering applications. Some sample applications include: • • • • Input Capabilities turbine shaft speed monitoring automotive paint booths brewery flow monitoring petrochemical flow and custody transfer The incremental encoder module has 2 identical input channels. Each of the input channels may accept these input signals: • • • • A+ and A– B+ and B– Z+ and Z– G+ and G– The pulse inputs can accept frequencies up to 100KHz. The module accepts and returns binary data. 8'/.(&7.21 =" &< 1–4 Overview of the Incremental Encoder Module How the incremental encoder Operates The counter module handles up/down counting and detection of selectable number of edges (X1, X2, X4) for incremental encoders with 2 pulse trains, nominal 90o out of phase. The minimum stable input condition is 2µs.The following paragraphs detail operation of the incremental encoder module. Each of the 2 counters has a 16–bit counter register, a preset register and a latch register. Variables Communication between the counter module and the control system uses variables accessible in the control system program. These variables include: • a counter register (Counter) • a preset register (PresetValue) • a latch register (LatchValue). Signal registers and control words are used to set parameters for the counter configuration. The control word sent to the incremental encoder module can be read back to the control system, allowing verification that one I/O scan been performed since the cycle has been initiated. Start Counting The control bit CounterEnable enables counting. It must be set to 1 to enable counting and all other functions. Selecting the incremental encoder and up/down counting Depending on the incremental encoder, the module can be set in different counter modes. The parameter is set using a 3 digit code in write word 1 or 2 (depending on the channel) control word. Mode Selection "* +#"*"&% / . & #*"&% "*) &+%*"% &% '&)"*", (")"% & "%'+* )" %# '-% &+%*"% *($"% . +(*+( %&( +(*+( %&( +(*+( %&( &+%*"% +' &% *! '&)"*", & "%'+* )" %# % &-% &% '&)"*", & "%'+* )" %# & &+%* +%*"&% & &+%* +%*"&% & &+%* +%*"&% Overview of the Incremental Encoder Module 1–5 Up/Down Counting Controlled by B Input Pulse Counting (Mode 000) Up/Down counting controlled by input B %$'!(!* $ ( %)"'' & $)#( ( !#%)( !#%)( ( $)#(& $)#(' )% ! ( $)#(& $)#(' $+# Counter Mode = 0 Logic Counter Register A %$+# B = 0/1 Input A Input B 0 Counter Value 1 2 Counting Up 3 2 1 Counting Down Up/Down Counting using Pulses at Inputs A and B Pulse Counting Mode (100) Up/Down Counting using pulses at the inputs of A and B $)#(& $)#(' )% $# ( %$'!(!* $ ( %)"'' ( !#%)( # $)#(' $+# $# ( %$'!(!* $ !#%)( Counter Mode = 4 Counter Register Logic A %$+# B Input A Input B 0 Counter Value 1 0 1 2 1 )"!(!$# - , 1–6 Overview of the Incremental Encoder Module Count Pulses from Incremental Encoders Up/Down Counting using pulses at the inputs of A and B Pulse Counting Mode (001, 010. 011) ',&+)%' ') +"& ') !* ' +" (,$* +)#& -#$$ ',&+ " ',&+ #)+#'& ,('-& #* +)%#& . +" ("* # )& ' +" #&(,+ *#!&$* & Counter Mode = 1, 2 or 3 Logic Counter Register A ('-& B Example 1 - Counter Mode = 1 (x1) Input A Input B Counter Value 1 2 Counting Up 3 2 1 Counting Down 0 3 4 Counting Up 5 4 3 2 1 Counting Down 0 Example 2 - Counter Mode = 2 (x2) Input A Input B Counter Value 1 2 Example 3 - Counter Mode = 3 (x4) Input A Input B Counter Value ,$#+#'& / . 1 2 3 4 5 6 7 8 9 Counting Up 8 7 6 5 4 3 2 1 0 Counting Down Overview of the Incremental Encoder Module 1–7 Preset Function Use the preset function to copy a value from the preset register to the counter register. Method 1 +","- "$&,-"+ ).(-"+ "$&,-"+ Method 2 +","- "$&,-"+ )$& ).(-"+ "$&,-"+ The flag PresetReached is set when the counter register and the preset register are equal (if the counter preset is reached, or if the counter has been loaded with the preset value). This flag is reset on a positive edge of PresetReset after the operation and can only be set after at least one additional counting pulse. Gate Function Use the gate function to determine when counting starts and stops.You can use this function to measure distance. The parameter GateControl determines the gate function. The gate signal is connected to input G. It is a 2–bit binary code in write word 1 or 2, bits 09 and 10 )+! )+ Gate Control Function &-, &(+0 -" )(-+)' &-, ) $-" #.( -&)( )( &(*.- ).(- &, &(!"*"(!"(- ).(-&($ )('0 &# -&/" ).(-&($ )('0 &# &( -&/" '&+-&)( &# (! '' )-%"+ )(!&-&)(, +" #.'#&''"! +"#"+ -) '&+-&($ -%" )!.'" %*-"+ Example Gate Control = 1 G=1 Logic Counter Register A %" ).(-"+ &, ).(-&($ &# .'& -&)( 1 0 1–8 Overview of the Incremental Encoder Module Store Function Use the store function to copy the value in the counter register (Counter) to the latch register (StoreValue). The StoreControl parameter determines the store function. Execution occurs on either the positive or negative edge of input signals G and Z respectively (see table). The parameter is a 2–bit binary code in write word 1 (bits 11 and 12) ') ') $+* $&). +') '&+)'% $+* - +# ',&+ ) -%, '& +# ('*$+$$! +') " '! - +# ',&+ ) -%, '& +# ('*$+$$! +') " '! - +# ',&+ ) -%, '& +# & "+$$! +') - +# ',&+ ) -%, '& '+# +# ('*$+$& & "+$- " '! $! +') " '! " The parameter Stored must be reset (0). Stored is set (1) when the operation is completed. Reset after the operation with StoreReset. Example Store Control = 1 Stored = 0 G Counter Register Logic Latched = 1 Store Register # ',&+ ) -%, $* '($ +' +# *+') ) "$*+ ) '& +# ('*$+$- " '! $&(,+ *$"&% Limitation Function If the control bit RangeLimited = 1, the counter counts up to the preset value and restarts at 0. Counting down, the counter reaches the preset value on the next pulse if the current counter value = 0. RangeLimited = 0 corresponds to RangeLimited = 1 if the preset value = FFFF in hex = 65535 in decimal. The flag PresetReached is set when the counter is equal to the preset value. Use PresetReset to reset the flag. ,%$+$'& / . Overview of the Incremental Encoder Module 1–9 Count Up pulse (+) %- (!# (-',* *+,%- (-',* !#+,* Count Down pulse (-) *+, !#+,* (-',* (!# (-',* !#+,* Note: ," )*+, *!#+,* .%- ," (-',* *,#'+ ," .%- Filter Function The filter function is only valid during mode 000 (pulse counting). You enable the filter function by setting bits in Control word 2. Each counter can be individually filtered by enabling its associated filter control bit. However the filter is common to both counters. When a counter is in mode 000 and its filter is enabled, signal A is internally sampled at a rate 8 times higher than the filter constant. A change of state in A has to be valid during 4 samples before it reaches the counter. -,)-, *(& #%,* &)% %($ ',*'% (-',* 0 1 2 3 0 1 2 3 0 1 2 3 -%#,#(' 0 / 1–10 Overview of the Incremental Encoder Module Chapter Summary In this chapter, you learned about the incremental encoder module, block transfer communication, and details of how the module functions. Now you can install the module. How to Install Your Incremental Encoder Module What This Chapter Contains Before You Install Your Input Module In this chapter, we tell you about: For information on See page !"*-! *0 )./'' *0- * 0'! 0-*+!) )%*) %-!/%1!. *2!- !,0%-!(!)/. )./''%)# /$! * 0'! *) -%' *) 2''+)!' *) /$! /!-(%)' .! *))!/%)# %-%)# * 0'! ) %/*-. Before installing your incremental encoder module in the FLEX I/O system: You need to: As described under: '0'/! /$! +*2!- -!,0%-!(!)/. *" '' (* 0'!. %) !$ .3./!( *2!- !,0%-!(!)/. +#! 4 *.%/%*) /$! &!3.2%/$ *) /$! /!-(%)' .! )./''%)# /$! * 0'! +#! ! European Union Directive Compliance ATTENTION: The incremental encoder module does not receive power from the backplane. +24V dc power must be applied to your module before installation. If power is not applied, the module position will appear to the adapter as an empty slot in your chassis. If this product has the CE mark it is approved for installation within the European Union and EEA regions. It has been designed and tested to meet the following directives. EMC Directive This product is tested to meet Council Directive 89/336/EEC Electromagnetic Compatibility (EMC) and the following standards, in whole or in part, documented in a technical construction file: • EN 50081-2EMC – Generic Emission Standard, Part 2 – Industrial Environment • EN 50082-2EMC – Generic Immunity Standard, Part 2 – Industrial Environment This product is intended for use in an industrial environment. 0'%/%*) 4 3 2–2 How to Install Your Incremental Encoder Module Low Voltage Directive This product is tested to meet Council Directive 73/23/EEC Low Voltage, by applying the safety requirements of EN 61131–2 Programmable Controllers, Part 2 – Equipment Requirements and Tests. For specific information required by EN 61131-2, see the appropriate sections in this publication, as well as Allen-Bradley publication 1770-4.1, Industrial Automation Wiring and Grounding Guidelines. Open style devices must be provided with environmental and safety protection by proper mounting in enclosures designed for specific application conditions. See NEMA Standards publication 250 and IEC publication 529, as applicable, for explanations of the degrees of protection provided by different types of enclosure. Power Requirements The wiring of the terminal base unit is determined by the current draw through the terminal base. Make certain that the current draw does not exceed 10A. ! ATTENTION: Total current draw through the terminal base unit is limited to 10A. Separate power connections may be necessary. How to Install Your Incremental Encoder Module 2–3 Methods of wiring the terminal base units are shown in the illustration below. Wiring the Terminal Base Units (1794ĆTB3G shown) ! ATTENTION: Do not daisy chain power or ground from the terminal base unit to any ac or dc digital module terminal base unit. DaisyĆchaining $'+ & '-% '( + (.% $'+ & '-% '( + (.% & (.% $'+ & '-% '( + (.% Note: %% &(.% , &.,- ).%, !+ *. '0 (+ & &(.% , !(+ -#$, ('!$".+-$(' Wiring when total current draw is less than 10A Individual $"$-% ').(.% $'+ & '-% '( + (.% $"$-% ').(.% $"$-% .-).(.% Note: , -#$, ('!$".+-$(' $! .,$'" '0 1'($,0 $"$-% &(.% , $' 0(.+ ,0,- & incremental encoder Module wiring separate from digital wiring. Wiring when total current draw is greater than 10A Combination $'+ & '-% '( + (.% $'+ & '-% '( + (.% & (.% $'+ & '-% '( + (.% Note: %% &(.% , )(/ + 0 -# ,& )(/ + ,.))%0 &.,- ).%, !+ *. '0 (+ & &(.% , !(+ -#$, ('!$".+-$(' Total current draw through any base unit must not be greater than 10A .%$-$(' 2 0 2–4 How to Install Your Incremental Encoder Module Installing the Module Installation of the incremental encoder module consists of: • mounting the terminal base unit • installing the module into the terminal base unit • installing the connecting wiring to the terminal base unit If you are installing your module into a terminal base unit that is already installed, proceed to “Mounting the incremental encoder Module on the Terminal Base” on page 2–7. Mounting the Terminal Base Unit on a DIN Rail ! ATTENTION: Do not remove or replace a terminal base unit when power is applied. Interruption of the flexbus can result in unintended operation or machine motion. 1. Remove the cover plug (if used) in the male connector of the unit to which you are connecting this terminal base unit. 2. Check to make sure that the 16 pins in the male connector on the adjacent device are straight and in line so that the mating female connector on this terminal base unit will mate correctly. 3. Position the terminal base on the 35 x 7.5mm DIN rail A (A-B pt. no. 199-DR1; 46277-3). Proceed as follows: C A B A #$ $" # $ #$ &" $ $ ! $ " 4. Make certain that the female flexbus connector C is fully retracted into the base unit. %$ ( ' How to Install Your Incremental Encoder Module 2–5 & &$ ! % '!& "($ && !%& & #&$ %'$ & "" "! & &$ ! % %% '!$ & " & #&$ ! & *'% "!!&"$ % '+ $&$& $%% ")! "! & &$ ! % '!& &" " & &$ ! % "! & $ & &$ ! % "% !"& " !&" # '% %$)$($ "$ % $ ( &" "#! & "! & #$%% ")! "! & &$ ! % '!& '% )& & $ ! $% & "! & &" " & % ! # 30077–M #'% & *'% "!!&"$ !&" & % " & #&$ &" " #& & #! "!!&"! '&"! , + 2–6 How to Install Your Incremental Encoder Module 5. Repeat the above steps to install the next terminal base. Panel/Wall Mounting Installation on a wall or panel consists of: • • • • laying out the drilling points on the wall or panel drilling the pilot holes for the mounting screws mounting the adapter mounting plate installing the terminal base units and securing them to the wall or panel If you are installing your module into a terminal base unit that is already installed, proceed to “Mounting the incremental encoder Module on the Terminal Base” on page2–7. Use the mounting kit Cat. No. 1794-NM1 for panel/wall mounting. 1794ĆNM1 Mounting Kit (', ',+ (-',$'" %, !(* ), * + %!0,))$'" +* .+ !(* ,# ), * ' # !(* -) ,( &(-% + ), * (-% '(, $'%- *&$'% + '$, '(, $'%- To install the mounting plate on a wall or panel: 1. Lay out the required points on the wall/panel as shown in the drilling dimension drawing. -%$,$(' 0 / How to Install Your Incremental Encoder Module 2–7 Drilling Dimensions for Panel/Wall Mounting of FLEX I/O Inches (Millimeters) 2. Drill the necessary holes for the #6 self-tapping mounting screws. 3. Mount the mounting plate (1) for the adapter module using two #6 self-tapping screws (18 included for mounting up to 8 modules and the adapter). Important: More Make certain that the mounting plate is properly grounded to the panel. Refer to “Industrial Automation Wiring and Grounding Guidelines,” publication 1770-4.1. 4. Hold the adapter (2) at a slight angle and engage the top of the mounting plate in the indention on the rear of the adapter module. 5. Press the adapter down flush with the panel until the locking lever locks. 6. Position the terminal base unit up against the adapter and push the female bus connector into the adapter. 7. Secure to the wall with two #6 self-tapping screws. 8. Repeat for each remaining terminal base unit. Note: The adapter is capable of addressing eight modules. Do not exceed a maximum of eight terminal base units in your system. Mounting the Incremental Encoder Module on the Terminal Base Unit The incremental encoder module mounts on a 1794-TB3, TB3S, -TBN or -TBNF terminal base unit. 1. Rotate the keyswitch (1) on the terminal base unit (2) clockwise to position 1 as required for the incremental encoder module. 2–8 How to Install Your Incremental Encoder Module 2. Make certain the flexbus connector (3) is pushed all the way to the left to connect with the neighboring terminal base/adapter. You cannot install the module unless the connector is fully extended. 3. Make sure that the pins on the bottom of the module are straight so they will align properly with the connector in the terminal base unit. ! ATTENTION: Remove field-side power before removing or inserting the module. This module is designed so you can remove and insert it under backplane power. When you remove or insert a module with field-side power applied, an electrical arc may occur. An electrical arc can cause personal injury or property damage by: • sending an erroneous signal to your system’s field devices causing unintended machine motion • causing an explosion in a hazardous environment Repeated electrical arcing causes excessive wear to contacts on both the module and its mating connector. Worn contacts may create electrical resistance. 4. Position the module (4) with its alignment bar (5) aligned with the groove (6) on the terminal base. 5. Press firmly and evenly to seat the module in the terminal base unit. The module is seated when the latching mechanism (7) is locked into the module. 6. Repeat the above steps to install the next module in its terminal base unit. How to Install Your Incremental Encoder Module Connecting Wiring for Your incremental encoder Module 2–9 Wiring to the module is made through the terminal base unit on which the module mounts. Compatible terminal base units are: Module 1794ĆTB3 1794ĆTB3S 1794ĆTBN 1794ĆTBNF 1794-ID2 Yes Yes Yes Yes 1794ĆTB3 1794ĆTB3S 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 A 0 -15 A B 16-33 B C 34-51 C 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 # & &"# " ($! $ ! ! " "! ! %%% $"'! &$' %%% $"'! ! ! " "! ! %%% $"'! &$' %%% $"'! Connecting Wiring using a 1794ĆTB3 and ĆTB3S Terminal Base Units 1. Connect individual input wiring (A+, A–, B+, B–, Z+, Z–, G+, G–) to numbered terminals on the 0–15 row (A) as indicated in the table below. ! ! ATTENTION: Do not connect maximum input voltage simultaneously to all inputs if the module ambient temperature is expected to exceed 40oC. ATTENTION: If the module ambient temperature is expected to continuously exceed 40oC, you must limit the input voltage using an external resistor on each input. A 1KΩ resistor effectively limits a 24V sensor signal to about 15V at the input. Do not limit the input to less than 6V. 2. Connect the associated input common (3-wire devices only) to the corresponding terminal on the 16-33 row (B) for each input as indicated in the table below. (Commons are internally connected together.) '&"! * ) 2–10 How to Install Your Incremental Encoder Module 3. Terminate shields to terminals 16 or 33 on row B, or 40 through 45 on row C. 4. Connect +24V dc to terminal 34 on the 34-51 row (C). 5. Connect dc return to terminal 16 on the 16–33 row (B). ! ATTENTION: To reduce susceptibility to noise, power frequency modules and digital modules from separate power supplies. Do not exceed a length of 33 ft (10m) for dc power cabling. 6. If continuing power to the next terminal base unit, connect a jumper from terminal 51 (+24V dc) on this base unit to terminal 34 on the next base unit. 7. If continuing common to the next terminal base unit, connect a jumper from terminal 33 (common) on this base unit to terminal 16 on the next base unit. ! ! ATTENTION: Do not daisy chain power or ground from this terminal base unit to any ac or dc digital module terminal base unit. ATTENTION: This module does not receive power from the backplane. +24V dc power must be applied to your module before operation. If power is not applied, the module position will appear to the adapter as an empty slot in your chassis. If the adapter does not recognize your module after installation is completed, cycle power to the adapter. How to Install Your Incremental Encoder Module 2–11 Wiring to a 1794ĆTBN or ĆTBNF Terminal Base Unit 1. Connect individual input wiring (A+, A–, B+, B–, Z+, Z–, G+, G–) to the even numbered terminals on row (B) as indicated in the table below. ATTENTION: Do not connect maximum input voltage simultaneously to all inputs if the module ambient temperature is expected to exceed 40oC. ! ATTENTION: If the module ambient temperature is expected to continuously exceed 40oC, you must limit the input voltage using an external resistor on each input. A 1KΩ resistor effectively limits a 24V sensor signal to about 15V at the input. Do not limit the input to less than 6V. ! 2. Connect the associated input common to the corresponding odd numbered terminal on row (C) for each input as indicated in the table below. 3. Connect 24V dc to terminal 34 on row (C). 4. Connect 24V dc common to terminal 16 on row (B). 5. If continuing power to the next terminal base unit, connect a jumper from terminal 51 (24V dc) on this base unit to terminal 34 on the next base unit. 6. If continuing common to the next terminal base unit, connect a jumper from terminal 33 (24V dc common) on this base unit to terminal 16 on the next base unit. $ # ! " # # ! " # 16, 0, 2, 4, 6, 8, 10, 12, 14, 33 B 34, 1, 3, 5, 7, 9, 11, 13, 15, 51 C 1794ĆTBN, ĆTBNF #" & % 2–12 How to Install Your Incremental Encoder Module Wiring connections for the 1794-ID2 incremental encoder Module Terminal Base Units 1794-TB3, -TB3S Signal 0V dc Terminal Base Units 1794-TBN, -TBNF1 12/24V dc Signal Input '+".$*$+0 ) $+",#$. & ++$) '+".$*$+0 ) $+",#$. & ++$) #" $.*'+ )/ +# $.*'+ )/ 0&.1 5 5 $.*'+ )/ +# #" $.*'+ )/ 0&.1 $.*'+ )/ +# 13')' .4 0$.*'+ ) !),"(/ .$ .$-1'.$# 2&$+ 1/'+% 0&$/$ 0$.*'+ ) ! /$ 1+'0/ ! 1!)'" 0',+ 5 4 ATTENTION: Total current draw through the terminal base unit is limited to 10A. Separate power connections to the terminal base unit may be necessary. How to Install Your Incremental Encoder Module 2–13 Example of Pulse Transmitter Wiring incremental encoder Channel 0 #!&$ ') ',&+) !+ G + #!&$ ') ',&+) $#)0 +#'&()*+ Z + B + #!&$ ') ,('-& ',&+#&! A + #!&$ &(,+* .+)&$ '-) ,(($/ .%($ ' (,$* +)&*%#++) -#+" (,$* +)#& ') '&&+#'& ' "&&$ ) ) +' -#)#&! +$ Note: '++ $#&* #&#+ *#!&$* &'+ $-/* ,* Example of Incremental Encoder Wiring incremental encoder Channel 0 G + Z + B + A + #!&$ &(,+* .+)&$ '-) ,(($/ .%($ ' #&)%&+$ &') -#+" (,$* +)#&* -#+" ') -#+"',+ ) )& &') !+ ,&+#'& ') '&&+#'& ' "&&$ ) ) +' -#)#&! +$ Note: '++ $#&* #&#+ *#!&$* &'+ $-/* ,* ,$#+#'& 0 / 2–14 How to Install Your Incremental Encoder Module Module Indicators The incremental encoder module has one status indicator (PWR) that is on when power is applied to the module, and one input status indicator for each input (12 in all). 1794-ID2 2 CH INCREMENTAL ENCODER MODULE A B Z G + - C A B Z 1 G B + - A A = Power/status indicator – indicates power applied to module and status of module. B = Insertable label for writing individual I/O assignments. C = Status Indicators – A = Status of input A B = Status of input B Z = Status of input Z G = Status of input G + = Positive count detected – = Negative count detected Indicator Indication Explanation A Yellow Input A active Off Input A not active Yellow Input B active Off Input B not active Yellow Input Z active Off Input Z not active Yellow Input G active Off Input G not active + Yellow On when a positive pulse is detected; turns off on negative pulse. - Yellow On when a negative pulse is detected; turns off on positive pulse. OK Red Red during initialization after power turned on Green Green when initialization is completed B Z G Chapter Summary In this chapter, we told you how to install your incrementa encoder module in an existing programmable controller system and how to wire to the terminal base units. Programming Your Incremental Encoder Module What This Chapter Contains To initiate communication between the incremental encoder module and your PLC processor, you must enter block transfer instructions into your ladder logic program. Use this chapter to enter the necessary block transfer instructions into your ladder logic program. To edit your ladder logic you !%# " #!$# !$%#&%"!$ ( ' #"$$"#$ ( ' #"$$"#$ ( #"$$"#$ Enter Block Transfer Instructions See page The incremental encoder module communicates with the PLC processor through bidirectional block transfers. This is the sequential operation of both read and write block transfer instructions. Before you configure the module, you need to enter block transfer instructions into your ladder logic. The following example programs illustrate the minimum programming required for communication to take place between the module and a PLC processor. These programs can be modified to suit your application requirements. A configuration block transfer write (BTW) is initiated when the module is first powered up, and subsequently only when the programmer wants to enable or disable features of the module. The configuration BTW sets the bits which enable the programmable features of the module, such as scalars and alarm values, etc. Block transfer reads are performed to retrieve information from the module. Block transfer read (BTR) programming moves status and data from the module to the processor’s data table. The processor user program initiates the request to transfer data from the module to the processor. The transferred words contain module status, channel status and input data from the module. Your program should monitor status bits, block transfer read and block transfer write activity. &%"! ( ' 3–2 Programming Your Incremental Encoder Module PLCĆ2 Family Processor The 1794 incremental encoder module is not recommended for use with PLC-2 family programmable controllers due to the number of digits needed for high resolution. Important: The incremental encoder module functions with reduced performance in PLC-2 systems. Because the module does not support BCD and the PLC-2 processor is limited to values of 4095 (12 bit binary), many values returned in the BTR file may not provide meaningful data to the PLC-2 processor. PLCĆ5 Family Processor Block transfer instructions with the PLC-5 processor use a control file and a data file. The block transfer control file contains the data table section for module location, the address of the block transfer data file and other related data. The block transfer data file stores data that you want transferred to the module (when programming a BTW) or from the module (when programming a BTR). The programming terminal prompts you to create a control file when a block transfer instruction is being programmed. A different block transfer control file is used for the read and write instructions for your module. Programming Your Incremental Encoder Module 8 1/$&22/1 1/(1"- 6"-0,& 3–3 4.( )& -/%4,& *2 ,/$"3&% *. 1"$+ (1/40 2,/3 )& *.3&(&1 $/.31/, '*,& 23"132 "3 )& %"3" 2&.3 #7 3)& 8 01/$&22/1 3/ 3)& -/%4,& 23"132 "3 ".% *2 5/1%2 ,/.( 3 0/5&1 40 *. -/%& /1 5)&. 3)& 01/$&22/1 *2 '*123 25*3$)&% '1/- 3/ 3)& 42&1 01/(1"- &."#,&2 " #,/$+ 31".2'&1 51*3& 3/ $/.'*(41& 3)& -/%4,& *123 2$". /' ,"%%&1 /1 ! /.31/, *,& ! ! /%4,& 70& "$+ 1/40 ,/3 /.31/, "3"*,& &.(3) /.3*.4/42 &.&1*$ 4.( )& -/%4,& *2 ,/$"3&% *. 1"$+ (1/40 2,/3 )& *.3&(&1 $/.31/, '*,& 23"132 "3 )& %"3" /#3"*.&% #7 3)& 8 01/$&22/1 '1/- 3)& -/%4,& *2 0,"$&% *. -&-/17 23"13*.( "3 ".% *2 5/1%2 ,/.( ,)& 01/(1"$/.3*.4/42,7 0&1'/1-2 1&"% #,/$+ 31".2'&12 3/ 1&"% %"3" '1/- 3)& -/%4,& ."#,& *3 SLCĆ5 Programming /.31/, *,& /%4,& 70& "$+ 1/40 ,/3 /.31/, "3"*,& &.(3) /.3*.4/42 &.&1*$ The SLC-5 programs (using the 1747-SN scanner) follow the same logic as the PLC-5 family programs in the previous example. Differences occur in the implementation of block transfers due to the use of “M” files in the SLC system. Configuration data for the FLEX I/O incremental encoder module and the 1747-SN scanner must be in place before executing the following programs. Chapter 4 contains information on module configuration. For more information on using the 1747-SN scanner module and block transfer programming, refer to publication 1747-6.6, “Remote I/O Scanner User Manual.” 4#,*$"3*/. 8 "7 3–4 Programming Your Incremental Encoder Module Figure 3.1SLC Programming for the 1794ĆOF4I Isolated Analog Output Module Program Action 0000 39*5"4.7 !-.6 582, (32+.,85*6 7-* '03(/ 75&26+*5 34*5&7.32 7;4* 0*2,7- &2) &))5*66 &7 439*5<84 .7 1867 '* 6*7 73 73 .2).(&7* & ! &2) '.7 1867 '* 73 .2).(&7* & !# 0001 ! 67&786 .6 (34.*) 73 7-* &5*& 9-*2 & ! .6 .2 453,5*66 ! !%! $ " ! ! !#%! $ " ! ! $ " ! ! ! !!" ! !!" !! 0002 "20&7(- 7-* '.7 7-&7 (327.28*6 73 (-*(/ 7-* ! 67&786 " !! 0003 !# 67&786 .6 (34.*) 73 7-* &5*& 9-*2 & !# .6 .2 453,5*66 !# $ " ! ! !# !!" 0004 "20&7(- 7-* '.7 7-&7 (327.28*6 73 (-*(/ 7-* !# 67&786 !#! !#! !3 2*:7 4&,* 8'0.(&7.32 <" &; !# !!" " Programming Your Incremental Encoder Module 3–5 Program Action 0005 #!# &/,3 ( #! 79**,77-911< *4251,8,7 (3+ 8/, +43, )08 07 +,8,*8,+ 8/, #! +(8( 07 *450,+ 0384 8/, 84 (6,( ' "$! "# # #! $ #!# $ #!"##$" &/, ( #! ,6646 4**967 8/, ,6646 *4+, 07 24:,+ 84 0006 #!!!!# % % "$! "# #! $ #!# $ #!"##$" &/,3 ( #& 79**,77-911< *4251,8,7 (3+ 8/, +43, )08 07 +,8,*8,+ 8/, #! +(8( 07 *450,+ 0384 8/, 84 (6,( 0007 #&# #4 3,;8 5(., #& $ #&# $ #&"##$" 9)10*(8043 =$ (< 3–6 Programming Your Incremental Encoder Module Program Action When a BTW occurs, the error code is moved to N7:17. 0008 BTW ERROR BIT B3:10 MOV MOVE SOURCE 12 #M1:1.203 6 #N7:17 0< DEST BTW PENDING B3:15 U 0 BTW ENABLE BIT B3:110 U 15 CHECK BTW STATUS B3:15 L 1 0009 BTR ENABLE BIT B3:100 BTR DONE BIT B3:0 15 This rung executes BTRs continuously, as fast as possible. BTR ERROR BIT B3:0 13 12 BTR PENDING B3:5 L 0 BTR ENABLE BIT B3:100 L 15 0010 One BTW is triggered at power up. Four words of data starting at N7:10 is sent to the 1794ĆID2 module. TRIGGER FOR BTW B7:20 0 BTW ENABLE BIT B3:110 15 BTW DONE BIT B3:10 13 BTW ERROR BIT B3:10 12 COP COPY FILE SOURCE DEST LENGTH #N7:10 #M1:1.210 7 BTW ENABLE BIT B3:110 L 15 BTW PENDING B3:15 L 0 To next page. Publication 1794ĆUM015B-EN-P - May 2001 Programming Your Incremental Encoder Module 3–7 Program Action 0011 ()0 #-,1/-* 4-/$ )0 +-3%$ 1- 1(% &)*% &-/ 1(% 0#!,,%/ +-$2*% 4()*% 1(% )0 ), ./-'/%00 2,1)* 1(% %,!"*% $-,% !,$ %//-/ ")10 !/% 12/,%$ -&& 0012 ()0 #-,1/-* 4-/$ )0 +-3%$ 1- 1(% &)*% &-/ 1(% 0#!,,%/ +-$2*% 4()*% 1(% )0 ), ./-'/%00 2,1)* 1(% %,!"*% $-,% !,$ %//-/ ")10 !/% 12/,%$ -&& 0013 2"*)#!1)-, 6 !5 3–8 Programming Your Incremental Encoder Module Chapter Summary In this chapter, you learned how to program your ID2 incremental encoder module using block transfer instructions and ladder logic. Now, you can configure your module. ! ! ! # " Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter What This Chapter Contains Configuring Your Incremental Encoder Module In this chapter, we tell you about: For information on See page *)"%#/,%)# */, * /'! ! %)# . ",*( */, * /'! ++%)# . "*, .$! * /'! ),!(!).' )* !, * /'! 1 (#! '! ++%)# '*& ,)-"!, ! *, --%#)(!).- %.*, !"%)%.%*)- "*, '*& ,)-"!, ! *, - '*& ,)-"!, ,%.! *, --%#)(!).- %.*, !"%)%.%*)- "*, .$! '*& ,)-"!, ,%.! *, - The incremental encoder module is configured using a group of data table words that are transferred to the module using a block transfer write instruction. Some of the software configurable features available are: • • • • • number of inputs encoder multiplier gate function latch function rollover Configure your module for its intended operation by means of your programming terminal and write block transfers. Note: Programmable controllers that use 6200 software (release 4.2 or higher) programming tools can take advantage of the IOCONFIG Addendum utility to configure this module. IOCONFIG Addendum uses menu–based screens for configuration without having to set individual bits in particular locations. Refer to your 6200 software literature for details. Important: It is strongly recommended that you use IOCONFIG Addendum to configure this module. The IOCONFIG Addendum utility greatly simplifies configuration. If the IOCONFIG Addendum is not available, you must enter data directly into the data table. Use this chapter as a reference when performing this task. /'%.%*) 1 0 4–2 Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter During normal operation, the processor transfers from 1 to 4 words to the module when you program a BTW instruction to the module’s address. Reading Data From Your Module Mapping Data for the Module Read programming moves status and data from the frequency input module to the processor’s data table in one I/O scan. The processor’s user program initiates the request to transfer data from the incremental encoder module to the processor. The following read and write words and bit/word descriptions describe the information written to and read from the incremental encoder module. The module uses up to 8 words of input data and up to 5 words of output data. Each word is composed of 16 bits. Incremental Encoder Module (1794ĆID2) Image Table Mapping Module Image I/O Image R PR1 PR0 S1 S0 C1 C0 G1 Z1 B1 A1 G0 Z0 Input Size Store 0 - Stored Counter Value on channel 0 Store 1 - Stored Counter Value on channel 1 B0 A0 Channel 0 - current counter value Channel 1 - current counter value Channel 0 - Counter word readback Channel 1 - Counter word readback Code for identification of software version Channel 0 Control Word - Sets the function of counter 0 Channel 1 Control Word - Sets the function of counter 1 Output Size Channel 0 Preset - value to load or compare with counter 0 Preset 1 - value to load or compare with counter 1 Control Word 2 - Sets filter function for both counters Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter 4–3 Block Transfer Read Word Assignments for the Incremental Encoder Module (1794-ID2) (Octal Bit⇒) 17 16 15 14 13 12 11 10 07 06 05 04 03 02 01 00 Dec. Bit ⇒ 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 " " Word⇓ Read *#//'- 402'& %05/4'2 6#-5' 0/ %*#//'- *#//'- 402'& %05/4'2 6#-5' 0/ %*#//'- *#//'- %522'/4 %05/4'2 6#-5' 0/ %*#//'- *#//'- %522'/4 %05/4'2 6#-5' 0/ %*#//'- *#//'- 05/4'2 702& 2'#&$#%, *#//'- 05/4'2 702& 2'#&$#%, '6+3+0/ 2'#& 30(47#2' 6'23+0/ %0&' !*'2' 4#453 0( +/154 %*#//'- $+4 7*'/ +/154 +3 0/ 4#453 0( +/154 %*#//'- $+4 7*'/ +/154 +3 0/ " 4#453 0( +/154 " %*#//'- $+4 7*'/ +/154 +3 0/ 4#453 0( +/154 %*#//'- $+4 7*'/ +/154 +3 0/ 4#453 0( +/154 %*#//'- $+4 7*'/ +/154 +3 0/ 4#453 0( +/154 %*#//'- $+4 7*'/ +/154 +3 0/ 4#453 0( +/154 %*#//'- $+4 7*'/ +/154 +3 0/ " 4#453 0( +/154 " %*#//'- $+4 7*'/ +/154 +3 0/ #- 7*'/ $+4 +3 3'4 %05/4'2 *#3 $''/ %#-+$2#4'& 2'3'4 $8 #-'3'4 #- 7*'/ $+4 +3 3'4 %05/4'2 *#3 $''/ %#-+$2#4'& 2'3'4 $8 #-'3'4 402'& 7*'/ $+4 +3 3'4 %05/4'2 6#-5' *#3 $''/ 3#6'& +/ 402' 2'3'4 $8 402''3'4 402'& 7*'/ $+4 +3 3'4 %05/4'2 6#-5' *#3 $''/ 3#6'& +/ 402' 2'3'4 $8 402''3'4 /%' # 402' 0%%523 #/& #2' 0/ 5/4+- %-'#2'& $8 402''3'4 %05/4'2 702& $+4 2'3'4 2'#%*'& 7*'/ $+4 +3 3'4 %05/4'2 *#3 2'#%*'& 6#-5' 0( 12'3'4 2'3'4 $8 2'3'4'3'4 2'3'4 2'#%*'& 7*'/ $+4 +3 3'4 %05/4'2 *#3 2'#%*'& 6#-5' 0( 12'3'4 2'3'4 $8 2'3'4'3'4 Bit/Word Definitions for Block Transfer Read Words for the Incremental Encoder Module Read Word !02& Bit Definition +4 Status for input A 15-3' 42#/3.+44'2 *+3 $+4 7*'/ 3'4 +/&+%#4'3 # 3+)/#- #4 +4 Status for input B 15-3' 42#/3.+44'2 *+3 $+4 7*'/ 3'4 +/&+%#4'3 # 3+)/#- #4 +4 Status for input Z 15-3' 42#/3.+44'2 *+3 $+4 7*'/ 3'4 +/&+%#4'3 # 3+)/#- #4 " +4 Status for input G 15-3' 42#/3.+44'2 *+3 $+4 7*'/ 3'4 +/&+%#4'3 # 3+)/#- #4 +4 Status for input A 15-3' 42#/3.+44'2 *+3 $+4 7*'/ 3'4 +/&+%#4'3 # 3+)/#- #4 +4 Status for input B 15-3' 42#/3.+44'2 *+3 $+4 7*'/ 3'4 +/&+%#4'3 # 3+)/#- #4 5$-+%#4+0/ 9 #8 4–4 Read Word Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter Bit Definition +5 Status for input Z 16-4' 53#/4.+55'3 *+4 $+5 8*'/ 4'5 +/&+%#5'4 # 4+)/#- #5 " +5 Status for input G 16-4' 53#/4.+55'3 *+4 $+5 8*'/ 4'5 +/&+%#5'4 # 4+)/#- #5 +5 Cal 0 *+4 $+5 8*'/ 4'5 +/&+%#5'4 5*#5 %06/5'3 *#4 $''/ %#-+$3#5'& *+4 $+5 +4 3'4'5 $9 #-'4'5 +5 Cal 1 *+4 $+5 8*'/ 4'5 +/&+%#5'4 5*#5 %06/5'3 *#4 $''/ %#-+$3#5'& *+4 $+5 +4 3'4'5 $9 #-'4'5 +5 Store 0 *+4 $+5 8*'/ 4'5 +/&+%#5'4 # %06/5'3 7#-6' +4 4#7'& +/ 4503' *+4 $+5 +4 3'4'5 $9 503''4'5 +5 Store 1 *+4 $+5 8*'/ 4'5 +/&+%#5'4 # %06/5'3 7#-6' +4 4#7'& +/ 4503' *+4 $+5 +4 3'4'5 $9 503''4'5 +5 Preset Reached 0 (PR0) !*'/ 5*+4 $+5 +4 4'5 +/ #-- %0/(+)63#5+0/ .0&'4 5*' %06/5'3 7#-6' '26#-4 5*' 13'4'5 7#-6' '+5*'3 +/ # 104+5+7' 03 /')#5+7' &+3'%5+0/ *+4 $+5 +4 3'4'5 $9 3'4'5'4'5 #/& %#/ 0/-9 $' 4'5 #)#+/ #(5'3 #5 -'#45 .03' 16-4' +5 Preset Reached 1 (PR1) !*'/ 5*+4 $+5 +4 4'5 +/ #-- %0/(+)63#5+0/ .0&'4 5*' %06/5'3 7#-6' '26#-4 5*' 13'4'5 7#-6' '+5*'3 +/ # 104+5+7' 03 /')#5+7' &+3'%5+0/ *+4 $+5 +4 3'4'5 $9 3'4'5'4'5 #/& %#/ 0/-9 $' 4'5 #)#+/ #(5'3 #5 -'#45 .03' 16-4' +5 06/5 &+3'%5+0/ /%3'#4'&'%3'#4' %06/5'3 7#-6' 0( %06/5'3 4'5 50 #5 45#3561 -#45 16-4' &'%3'#4'& %06/5'3 7#-6' -#45 16-4' +/%3'#4'& %06/5'3 7#-6' +5 06/5 &+3'%5+0/ /%3'#4'&'%3'#4' %06/5'3 7#-6' 0( %06/5'3 4'5 50 #5 45#3561 -#45 16-4' &'%3'#4'& %06/5'3 7#-6' -#45 16-4' +/%3'#4'& %06/5'3 7#-6' !03& +54 Store 0 #7'& %06/5'3 7#-6' 0/ %*#//'- !03& +54 Store 1 #7'& %06/5'3 7#-6' 0/ %*#//'- !03& +54 Channel 0 Current Counter Value 633'/5 7#-6' +/ %06/5'3 !03& +54 Channel 1 Current Counter Value 633'/5 7#-6' +/ %06/5'3 !03& +54 Channel 0 Readback 06/5'3 803& 3'#&$#%, -#45 7#-6' 83+55'/ 50 83+5' 803& !03& +54 Channel 0 Readback 06/5'3 803& 3'#&$#%, -#45 7#-6' 83+55'/ 50 83+5' 803& !03& +54 Revision Read +&'/5+(+%#5+0/ 0( -#5'45 40(58#3' 7'34+0/ %0&' !03& %0/5+/6'& 6$-+%#5+0/ : #9 Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter 4–5 Block Transfer Write Word Assignments for the Incremental Encoder Module (Octal Bit) ⇒ 17 16 15 14 13 12 11 10 07 06 05 04 03 02 01 00 Dec. Bit ⇒ 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Word⇓ Write .'33+1 438641 $46* !+87 8.+ ,93)8/43 4, )4938+6 .'33+1 438641 $46* !+87 8.+ ,93)8/43 4, )4938+6 .'33+1 6+7+8 :'19+ 84 14'* 46 )425'6+ ;/8. )4938+6 .'33+1 6+7+8 :'19+ 84 14'* 46 )425'6+ ;/8. )4938+6 438641 $46* !+87 8.+ ,/18+6 ,93)8/43 ,46 (48. )4938+67 Bit/Word Definitions for the Block Transfer Write Words for the Incremental Encoder Module Write Word Bit $6/8+ $46* Channel 0 Control Word - 438641 ;46* ,46 7+88/3- 8.+ ,93)8/43 4, )4938+6 /87 4*+ !+1+)8/43 (/87 4938/3- 43 547/8/:+ 6/7/3- +*-+ 4, /3598 7/-3'1 #5*;3 )4938/3- *+8+62/3+* (< 9'*6'896+ +3)4*+6 % 9'*6'896+ +3)4*+6 % 9'*6'896+ +3)4*+6 % 4938/3- 95 43 8.+ 547/8/:+ +*-+ 4, /3598 7/-3'1 '3* *4;3 43 547/8/:+ +*-+ 4, /3598 7/-3'1 4 )4938 ,93)8/43 4 )4938 ,93)8/43 4 )4938 ,93)8/43 Definition /8 Preset (Reset) bit - 547/8/:+ +*-+ 43 8./7 (/8 24:+7 8.+ :'19+ /3 6+7+8 % 84 4938+6 % /3*+5+3*+38 4, 6+7+8 3'(1+ " "4 97+ 6+7+8 '7 +7+8 97+ ' )4938 :'19+ 4, /3 8.+ 6+7+8 :'19+ ;46* /8 Enable Z Preset bit - $.+3 8./7 (/8 /7 7+8 ' 547/8/:+ +*-+ 43 & 56+14'*7 4938+6 % 6+7+8 % /3*+5+3*+38 4, '1 3'(1+ " , & /7 )43,/-96+* 84 *4 !846+ '3* 6+7+8 +7+8 8.+ !846+ ;/11 4))96 ,/678 /8 Count Enable bit - $.+3 8./7 /7 7+8 8.+ /3)6+2+38'1 +3)4*+6 /7 +3'(1+* /87 /87 Calibration Control bits - (/87 '3* Enable bit - $.+3 8./7 (/8 /7 7+8 8.+ )4938+6 )'3 (+ )'1/(6'8+* Direction bit - $.+3 8./7 (/8 7+8 )'1/(6'8/43 /7 5+6,462+* /3 ' 3+-'8/:+ */6+)8/43 ;.+3 6+7+8 )'1/(6'8/43 /7 5+6,462+* /3 ' 547/8/:+ */6+)8/43 Reset bit - '1/(6'8/43 /7 ')034;1+*-+* '3* ' 3+; )'1/(6'8/43 /7 +3'(1+* 43 ' 547/8/:+ +*-+ 43 8./7 (/8 Gate Control bits 4 -'8+ ,93)8/43 43 /3598 4938/3- 431< /, /7 ./-. ')8/:+ 4938/3- 431< /, /7 14; /3')8/:+ ".+ )4938+6 )'3 (+ )'1/(6'8+* ;.+3 /7 ./-. ')8/:+ 9(1/)'8/43 =# '< 4–6 Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter Write Word Bit "3-5) "13( '105-06)( -54 "3-5) "13( Definition Store Control bits - ,)4) &-54 8-.. 53-++)3 % 513) 10.: -* 5,) ',%00). 513) 45%564 &-5 13 -4 '.)%3)( %7) 5,) '1605)3 7%.6) 10 5,) 214-5-7) )(+) 1* $ -* 513)( # %7) 5,) '1605)3 7%.6) 10 5,) 214-5-7) )(+) 1* -* 513)( # %7) 5,) '1605)3 7%.6) 10 5,) 0)+%5-7) )(+) 1* -* 513)( # %7) 5,) '1605)3 7%.6) 10 5,) 214-5-7) )(+) %0( 0)+%5-7) )(+) 1* -* 513)( # -5 Rollover bit - ",)0 4)5 5,) '1605)3 '16054 62 51 5,) 23)4)5 %0( 5,)0 3)45%354 %5 * 5,-4 &-5 -4 3)4)5 015 31..17)3 5,) 31..17)3 23)4)5 7%.6) ,)9 ()'-/%. -5 Store Reset bit - 214-5-7) )(+) 10 5,-4 &-5 3)4)54 513) # -0 -+0%.4 -5 Preset Reset bit - 214-5-7) )(+) 10 5,-4 &-5 3)4)54 3)4)5 )%',)( -0 -+0%.4 Channel 1 Control Word - 10531. 813( *13 4)55-0+ 5,) *60'5-10 1* '1605)3 -54 Mode Selection bits 1605-0+ 10 214-5-7) 3-4-0+ )(+) 1* -0265 4-+0%. !2(80 '1605-0+ ()5)3/-0)( &: 6%(3%563) )0'1()3 # 6%(3%563) )0'1()3 # 6%(3%563) )0'1()3 # 1605-0+ 62 10 5,) 214-5-7) )(+) 1* -0265 4-+0%. %0( (180 10 214-5-7) )(+) 1* -0265 4-+0%. 1 '1605 *60'5-10 1 '1605 *60'5-10 1 '1605 *60'5-10 -5 Preset bit - 214-5-7) )(+) 10 5,-4 &-5 /17)4 5,) 7%.6) -0 3)4)5 # 51 1605)3 # -0()2)0()05 1* 3)4)5 0%&.) -5 Preset Enable bit - ",)0 5,-4 &-5 -4 4)5 % 214-5-7) )(+) 10 $ 23).1%(4 1605)3 # 3)4)5 # -0()2)0()05 1* %. 0%&.) -5 Count Enable bit - ",)0 5,-4 -4 4)5 5,) -0'3)/)05%. )0'1()3 -4 '1605-0+ 6&.-'%5-10 ;! %: Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter Write Word Bit %57+ *54904:,+ 098 4–7 Definition Calibration Control bits - )098 (4+ Enable bit - %/,4 9/08 )09 08 8,9 9/, *5:49,7 *(4 ), *(20)7(9,+ Direction bit - %/,4 9/08 )09 8,9 *(20)7(9054 08 6,7-573,+ 04 ( 4,.(90;, +07,*9054 </,4 7,8,9 *(20)7(9054 08 6,7-573,+ 04 ( 658090;, +07,*9054 Reset bit - (20)7(9054 08 (*145<2,+.,+ (4+ ( 4,< *(20)7(9054 08 ,4()2,+ 54 ( 658090;, ,+., 54 9/08 )09 098 098 Gate Control bits 5 .(9, -:4*9054 54 046:9 5:4904. 542> 0- 08 /0./ (*90;, 5:4904. 542> 0- 08 25< 04(*90;, (20)7(9054 0- 08 /0./ (*90;, (4+ Store Control bits - "/,8, )098 <022 970..,7 ( !957, 542> 0- 9/, */(44,2 !957, 89(9:8 )09 57 08 *2,(7,+ !(;, 9/, *5:49,7 ;(2:, 54 9/, 658090;, ,+., 5- ' 0- !957, & !(;, 9/, *5:49,7 ;(2:, 54 9/, 658090;, ,+., 5- 0- !957, & !(;, 9/, *5:49,7 ;(2:, 54 9/, 4,.(90;, ,+., 5- 0- !957, & !(;, 9/, *5:49,7 ;(2:, 54 9/, 658090;, ,+., (4+ 4,.(90;, ,+., 5- 0- !957, & 09 Rollover bit - %/,4 8,9 9/, *5:49,7 *5:498 :6 95 9/, 67,8,9 (4+ 9/,4 7,89(798 (9 - 9/08 )09 08 7,8,9 459 75225;,7 9/, 75225;,7 67,8,9 ;(2:, /,= +,*03(2 09 Store Reset bit - 658090;, ,+., 54 9/08 )09 7,8,98 !957, & 04 !0.4(28 09 Store Reset bit - 658090;, ,+., 54 9/08 )09 7,8,98 7,8,9 ,(*/,+ 04 !0.4(28 %57+ 098 Preset 0 $(2:, 95 25(+ 57 *536(7, <09/ *5:49,7 %57+ 098 Preset 1 $(2:, 95 25(+ 57 *536(7, <09/ *5:49,7 %57+ 09 Filter A0 enable - %/,4 9/08 )09 08 8,9 (4+( *5:49,7 08 04 35+, 6:28, *5:4904. 80.4(2 08 -029,7,+ )> ( +0.09(2 25< 6(88 -029,7 <09/ 8,2,*9()2, -029,7 *5489(49 09 Filter A1 enable - %/,4 9/08 )09 08 8,9 (4+( *5:49,7 08 04 35+, 6:28, *5:4904. 80.4(2 08 -029,7,+ )> ( +0.09(2 25< 6(88 -029,7 <09/ 8,2,*9()2, -029,7 *5489(49 09 @ #4:8,+ 098 @ @ 1' 57 30403:3 38 6:28,<0+9/ 1? 57 30403:3 38 6:28,<0+9/ 1? 57 30403:3 38 6:28,<0+9/ 1? 57 30403:3 38 6:28,<0+9/ 098 @ @ Chapter Summary Filter Constant bits - "/08 *5489(49 08 *53354 95 )59/ *5:49,78 ,8,7;,+ 8,9 95 In this chapter, you learned how to configure your module’s features and enter your data. :)20*(9054 @# (> 4–8 Writing Configuration to and Reading Status from Your Module with a Remote I/O Adapter How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter What This Chapter Contains In this chapter, we tell you about: About DeviceNetManager Software For information on See page */. !0%!!.)#!, *".1,! *''! .,/./,! +.!, )+/. ../- *, 2-.!( $,*/#$+/. ++%)# . %).* .$! (#! '! ),!(!).' )* !, * /'! 3 (#! '! ++%)# '*& ,)-"!, ! *, --%#)(!).- '*& ,)-"!, ,%.! *, --%#)(!).- *, %. !-,%+.%*)- !"/'.- DeviceNetManager software is a tool used to configure your FLEX I/O DeviceNet adapter and its related modules. This software tool can be connected to the adapter via the DeviceNet network. You must understand how DeviceNetManager software works in order to add a device to the network. Refer to the DeviceNetManager Software User Manual, publication 1787-6.5.3. Polled I/O Structure Output data is received by the adapter in the order of the installed I/O modules. The Output data for Slot 0 is received first, followed by the Output data for Slot 1, and so on up to slot 7. The first word of input data sent by the adapter is the Adapter Status Word. This is followed by the input data from each slot, in the order of the installed I/O modules. The Input data from Slot 0 is first after the status word, followed by Input data from Slot 2, and so on up to slot 7. DeviceNet Adapter Read Data Network READ +.!, ../'*. )+/. . '*. )+/. . '*. )+/. . Write Data ,%.! I/O Module I/O Module Slot 0 Slot 1 I/O Module Slot 7 '*. /.+/. . '*. /.+/. . Network WRITE ! '*. /.+/. . /'%.%*) 3 2 5–2 How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter Adapter Input Status Word The input status word consists of: • I/O module fault bits – 1 status bit for each slot • node address changed – 1 bit • I/O status – 1 bit *#/($ /(. '.(*. (*. (*. *. -$# (*. (*. (*. .&,*/%& (*. (*. '. . .$ '. *#$ ##,$-- & )%$# '. The adapter input status word bit descriptions are shown in the following table. Bit Description Bit Explanation &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) *#$ ##,$-- & )%$# &'- !'. '- -$. 0&$) .&$ )*#$ ##,$-- -0'."& -$..')% & - !$$) "& )%$# -')"$ +*0$, /+ . .$ '. '#($ '. ,/) *#/($ /(. .&,/ *. /-$# -$). - 2$,*$- Possible causes for an I/O Module Fault are: • • • • • transmission errors on the Flex I/O backplane a failed module a module removed from its terminal base incorrect module inserted in a slot position the slot is empty The node address changed bit is set when the node address switch setting has been changed since power up. The new node address does not take affect until the adapter has been powered down and then powered back up. /!('" .'*) 3 1 How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter System Throughput 5–3 System throughput, from incremental encoder to backplane, is a function of: • the configured minimum frequency sample time • the number of channels actually configured for connection to a specific sensor (0 or 1) You can set the minimum frequency time during module configuration. The selection influences the sample data rate, thus affecting system throughput. The number of channels included in each input scan also affects system throughput. Mapping Data into the Image Table FLEX I/O incremental encoder module data table mapping is shown below. Incremental Encoder Module (1794ĆID2) Image Table Mapping Module Image I/O Image R PD1 PD0 S1 S0 C1 C0 G1 Z1 B1 A1 G0 Z0 Input Size Store 0 - Saved Counter Value on channel 0 Store 1 - Saved Counter Value on channel 1 B0 A0 Channel 0 - current counter value on channel 0 Channel 1 - current counter value on channel 1 Channel 0 - Counter word readback Channel 1 - Counter word readback Code for identification of software version Channel 0 Control Word- sets the function of counter 0 Channel 1 Control Word - sets the function of counter 1 Output Size Channel 0 Preset - value to load or compare with counter 0 Channel 1 Preset - value to load or compare with counter 1 Control Word 2 - Sets filter function for both channels Not used Not used 5–4 How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter Block Transfer Read Word Assignments for the Incremental Encoder Module (1794-ID2) (Octal Bit⇒) 17 16 15 14 13 12 11 10 07 06 05 04 03 02 01 00 Dec. Bit ⇒ 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Word⇓ Read .2 31%$ (!--%+ 2.0%$ #.3-2%0 4!+3% .- #(!--%+ (!--%+ 2.0%$ #.3-2%0 4!+3% .- #(!--%+ (!--%+ #300%-2 #.3-2%0 4!+3% .- #(!--%+ (!--%+ #300%-2 #.3-2%0 4!+3% .- #(!--%+ (!--%+ .3-2%0 5.0$ 0%!$"!#* (!--%+ .3-2%0 5.0$ 0%!$"!#* %4)1).- 0%!$ 1.&25!0% 4%01).- #.$% (%0% 2!231 .& )-/32 #(!--%+ ")2 5(%- )-/32 )1 . 2!231 .& )-/32 #(!--%+ ")2 5(%- )-/32 )1 . 2!231 .& )-/32 #(!--%+ ")2 5(%- )-/32 )1 . 2!231 .& )-/32 #(!--%+ ")2 5(%- )-/32 )1 . 2!231 .& )-/32 #(!--%+ ")2 5(%- )-/32 )1 . 2!231 .& )-/32 #(!--%+ ")2 5(%- )-/32 )1 . 2!231 .& )-/32 #(!--%+ ")2 5(%- )-/32 )1 . 2!231 .& )-/32 #(!--%+ ")2 5(%- )-/32 )1 . !+ 5(%- ")2 )1 1%2 #.3-2%0 (!1 "%%- #!+)"0!2%$ 0%1%2 "6 !+%1%2 !+ 5(%- ")2 )1 1%2 #.3-2%0 (!1 "%%- #!+)"0!2%$ 0%1%2 "6 !+%1%2 2.0%$ 5(%- ")2 )1 1%2 #.3-2%0 4!+3% (!1 "%%- 1!4%$ )- 2.0% 0%1%2 "6 2.0%%1%2 2.0%$ 5(%- ")2 )1 1%2 #.3-2%0 4!+3% (!1 "%%- 1!4%$ )- 2.0% 0%1%2 "6 2.0%%1%2 -#% ! 2.0% .##301 !-$ !0% .- 3-2)+ #+%!0%$ "6 2.0%%1%2 #.3-2%0 5.0$ ")2 0%1%2 0%!#(%$ 5(%- ")2 )1 1%2 #.3-2%0 (!1 0%!#(%$ 4!+3% .& /0%1%2 0%1%2 "6 0%1%2%1%2 0%1%2 0%!#(%$ 5(%- ")2 )1 1%2 #.3-2%0 (!1 0%!#(%$ 4!+3% .& /0%1%2 0%1%2 "6 0%1%2%1%2 Block Transfer Write Word Assignments for the Incremental Encoder Module (1794-ID2) (Octal Bit) ⇒ 17 16 15 14 13 12 11 10 07 06 05 04 03 02 01 00 Dec. Bit ⇒ 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00 Word⇓ Write (!--%+ .-20.+ .0$ #.-20.+ 5.0$ &.0 1%22)-' 2(% &3-#2).- .& #.3-2%0 (!--%+ .-20.+ .0$ #.-20.+ 5.0$ &.0 1%22)-' 2(% &3-#2).- .& #.3-2%0 (!--%+ 0%1%2 4!+3% 2. +.!$ .0 #.,/!0% 5)2( #.3-2%0 (!--%+ 0%1%2 4!+3% 2. +.!$ .0 #.,/!0% 5)2( #.3-2%0 .-20.+ .0$ #.-20.+ 5.0$ &.0 1%22)-' 2(% &)+2%0 &3-#2).- .& ".!2( #.3-2%01 .2 31%$ 3"+)#!2).- 7 !6 How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter 5–5 Bit/Word Definitions for the incremental encoder Module (1794-ID2) Word Bit Definition #" ,/" '1 Status for input A -2)0# 1/+0*'11#/ &'0 '1 4&#+ 0#1 '+"'!1#0 0'%+) 1 '1 Status for input B -2)0# 1/+0*'11#/ &'0 '1 4&#+ 0#1 '+"'!1#0 0'%+) 1 '1 Status for input Z -2)0# 1/+0*'11#/ &'0 '1 4&#+ 0#1 '+"'!1#0 0'%+) 1 '1 Status for input G -2)0# 1/+0*'11#/ &'0 '1 4&#+ 0#1 '+"'!1#0 0'%+) 1 '1 Status for input A -2)0# 1/+0*'11#/ &'0 '1 4&#+ 0#1 '+"'!1#0 0'%+) 1 '1 Status for input B -2)0# 1/+0*'11#/ &'0 '1 4&#+ 0#1 '+"'!1#0 0'%+) 1 '1 Status for input Z -2)0# 1/+0*'11#/ &'0 '1 4&#+ 0#1 '+"'!1#0 0'%+) 1 '1 Status for input G -2)0# 1/+0*'11#/ &'0 '1 4&#+ 0#1 '+"'!1#0 0'%+) 1 '1 Cal 0 &'0 '1 4&#+ 0#1 '+"'!1#0 1&1 !,2+1#/ &0 ##+ !)' /1#" &'0 '1 '0 /#0#1 5 )#0#1 '1 Cal 1 &'0 '1 4&#+ 0#1 '+"'!1#0 1&1 !,2+1#/ &0 ##+ !)' /1#" &'0 '1 '0 /#0#1 5 )#0#1 '1 Store 0 &'0 '1 4&#+ 0#1 '+"'!1#0 !,2+1#/ 3)2# '0 03#" '+ 01,/# &'0 '1 '0 /#0#1 5 1,/##0#1 '1 Store 1 &'0 '1 4&#+ 0#1 '+"'!1#0 !,2+1#/ 3)2# '0 03#" '+ 01,/# &'0 '1 '0 /#0#1 5 1,/##0#1 '1 Preset Reached 0 (PR0) &#+ 1&'0 '1 '0 0#1 '+ )) !,+$'%2/1',+ *,"#0 1&# !,2+1#/ 3)2# #.2)0 1&# -/#0#1 3)2# #'1&#/ '+ -,0'1'3# ,/ +#%1'3# "'/#!1',+ &'0 '1 '0 /#0#1 5 /#0#1#0#1 +" !+ ,+)5 # 0#1 %'+ $1#/ 1 )#01 *,/# -2)0# '1 Preset Reached 1 (PR1) &#+ 1&'0 '1 '0 0#1 '+ )) !,+$'%2/1',+ *,"#0 1&# !,2+1#/ 3)2# #.2)0 1&# -/#0#1 3)2# #'1&#/ '+ -,0'1'3# ,/ +#%1'3# "'/#!1',+ &'0 '1 '0 /#0#1 5 /#0#1#0#1 +" !+ ,+)5 # 0#1 %'+ $1#/ 1 )#01 *,/# -2)0# '1 ,1 20#" 0#1 1, #" ,/" '10 Store 0 3#" !,2+1#/ 3)2# ,+ !&++#) #" ,/" '10 Store 1 3#" !,2+1#/ 3)2# ,+ !&++#) #" ,/" '10 Channel 0 Current Counter Value 2//#+1 3)2# '+ !,2+1#/ #" ,/" '10 Channel 1 Current Counter Value 2//#+1 3)2# '+ !,2+1#/ #" ,/" '10 Counter 0 Readback ,2+1#/ 4,/" /#" !( )01 3)2# 4/'11#+ 1, 4/'1# 4,/" #" ,/" '10 Counter 1 Readback ,2+1#/ 4,/" /#" !( )01 3)2# 4/'11#+ 1, 4/'1# 4,/" #" ,/" '10 Revision Read '"#+1'$'!1',+ ,$ )1#01 0,$14/# 3#/0',+ !,"# 2 )'!1',+ 6 5 5–6 How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter Word Bit Definition Write Word 1 0-15 (0-17) Control 0 - Control word for setting the function of counter 0. Bits 00-02 02 01 00 Mode Selection bits 0 0 0 Counting on positive (rising) edge of input signal A. (Up/dwn counting determined by B.) 0 0 1 Quadrature encoder X1 0 1 0 Quadrature encoder X2 0 1 1 Quadrature encoder X4 1 0 0 Counting up on the positive edge of input signal A, and down on positive edge of input signal B. 1 0 1 No count function. 1 1 0 No count function. 1 1 1 No count function. Bit 03 Preset (Reset) bit - A positive edge on this bit moves the value in Preset X to Counter X, independent of Preset Enable. NOTE: To use Preset as Reset, use a count value of 0000 in the Preset value word. Bit 04 Enable Z Preset bit - When this bit is set (1), a positive edge on Z preloads Counter X = Preset X, independent of Cal Enable. NOTE: If Z is configured to do Store and Preset (Reset), the Store will occur first. Bit 05 Count Enable bit - When this is set (1), the incremental encoder is enabled. Bits 06-08 (06 10) (06-10) Bits 09-10 (11 12) (11-12) Bits 11-12 (13 14) (13-14) Calibration Control bits - bits 06, 07 and 08 06 Enable bit - When this bit is set (1), the counter can be calibrated. 07 Direction bit - When this bit set (1), calibration is performed in a negative direction; when reset (0), calibration is performed in a positive direction. 08 Reset bit - Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit. 10 09 Gate Control bits 0 0 No gate function on input G 0 1 Counting only if G is high (active) 1 0 Counting only if G is low (inactive) 1 1 The counter can be calibrated when G is high (active). 12 11 Store Control bits 0 0 Save the counter value on the positive edge of Z (if Stored X = 0) 0 1 Save the counter value on the positive edge of G (if Stored X = 0) 1 0 Save the counter value on the negative edge of G (if Stored X = 0) 1 1 Save the counter value on the positive edge and negative edge of G (if Stored X = 0) Bit 13 (15) Rollover bit - When set (1), the counter counts up to the preset and then restarts at 0. If this bit is reset (0) (not rollover), the rollover preset value = FFFF (hex = 65535 (decimal). Bit 14 (16) Store Reset bit - A positive edge on this bit resets Stored X in Signals. Bit 15 (17) Preset Reset bit - A positive edge on this bit resets Preset Detected in Signals. Publication 1794ĆUM015B-EN-P - May 2001 How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter Word $6/8+ $46* Bit 5–7 Definition Channel 1 Control Word 438641 ;46* ,46 7+88/3- 8.+ ,93)8/43 4, )4938+6 /87 /8 Mode Selection bits 4938/3- 43 547/8/:+ 6/7/3- +*-+ 4, /3598 7/-3'1 "5*;3 )4938/3- *+8+62/3+* (= 9'*6'896+ +3)4*+6 % 9'*6'896+ +3)4*+6 % 9'*6'896+ +3)4*+6 % 4938/3- 95 43 8.+ 547/8/:+ +*-+ 4, /3598 7/-3'1 '3* *4;3 43 547/8/:+ +*-+ 4, /3598 7/-3'1 4 )4938 ,93)8/43 4 )4938 ,93)8/43 4 )4938 ,93)8/43 /8 Preset bit - 547/8/:+ +*-+ 43 8./7 (/8 24:+7 8.+ :'19+ /3 6+7+8 % 84 4938+6 % /3*+5+3*+38 4, 6+7+8 3'(1+ /8 Preset Enable bit - $.+3 8./7 (/8 /7 7+8 ' 547/8/:+ +*-+ 43 & 56+14'*7 4938+6 % 6+7+8 % /3*+5+3*+38 4, '1 3'(1+ /8 Count Enable bit - $.+3 8./7 /7 7+8 8.+ /3)6+2+38'1 +3)4*+6 /7 )4938/3- /87 /87 /87 Calibration Control bits - (/87 '3* Enable bit - $.+3 8./7 (/8 /7 7+8 8.+ )4938+6 )'3 (+ )'1/(6'8+* Direction bit - $.+3 8./7 (/8 7+8 )'1/(6'8/43 /7 5+6,462+* /3 ' 3+-'8/:+ */6+)8/43 ;.+3 6+7+8 )'1/(6'8/43 /7 5+6,462+* /3 ' 547/8/:+ */6+)8/43 Reset bit - '1/(6'8/43 /7 ')034;1+*-+* '3* ' 3+; )'1/(6'8/43 /7 +3'(1+* 43 ' 547/8/:+ +*-+ 43 8./7 (/8 Gate Control bits 4 -'8+ ,93)8/43 43 /3598 4938/3- 431= /, /7 ./-. ')8/:+ 4938/3- 431= /, /7 14; /3')8/:+ '1/(6'8/43 /, /7 ./-. ')8/:+ '3* Latch Control bits !':+ 8.+ )4938+6 :'19+ 43 8.+ 547/8/:+ +*-+ 4, & /, !846+* % !':+ 8.+ )4938+6 :'19+ 43 8.+ 547/8/:+ +*-+ 4, /, !846+* % !':+ 8.+ )4938+6 :'19+ 43 8.+ 3+-'8/:+ +*-+ 4, /, !846+* % !':+ 8.+ )4938+6 :'19+ 43 8.+ 547/8/:+ +*-+ '3* 3+-'8/:+ +*-+ 4, /, !846+* % /8 Rollover bit - $.+3 7+8 8.+ )4938+6 )49387 95 84 8.+ 56+7+8 '3* 8.+3 6+78'687 '8 , 8./7 (/8 /7 6+7+8 348 64114:+6 8.+ 64114:+6 56+7+8 :'19+ .+< *+)/2'1 /8 Store Reset bit - 547/8/:+ +*-+ 43 8./7 (/8 6+7+87 !846+* % /3 !/-3'17 /8 Store Reset bit - 547/8/:+ +*-+ 43 8./7 (/8 6+7+87 6+7+8 +').+* /3 !/-3'17 $6/8+ $46* /87 Preset 0 #'19+ 84 14'* 46 )425'6+ ;/8. )4938+6 $6/8+ $46* /87 Preset 1 #'19+ 84 14'* 46 )425'6+ ;/8. )4938+6 9(1/)'8/43 >" '= 5–8 Word )+ +$)+, How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter Bit Definition Filter Selection $- Filter A0 enable - # ( -#$, $- $, , - ( ).(- + $, $( ') *.&, ).(-$(" ,$"(& $, !$&- + 0 $"$-& &)/ *,, !$&- + /$-# , & -& !$&- + )(,-(- $- Filter A1 enable - # ( -#$, $- $, , - ( ).(- + $, $( ') *.&, ).(-$(" ,$"(& $, !$&- + 0 $"$-& &)/ *,, !$&- + /$-# , & -& !$&- + )(,-(- $- 2 (., $-, 2 2 Filter Constant bits - #$, )(,-(- $, )'')( -) )-# ).(- +, % )+ '$($'.' ', *.&, /$-# %1 )+ '$($'.' ', *.&, /$-# %1 )+ '$($'.' ', *.&, /$-# %1 )+ '$($'.' ', *.&, /$-# $-, )- ., , - -) .&$-$)( 2 0 How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter Defaults 5–9 Each I/O module has default values associated with it. At default, each module will generate inputs/status and expect outputs/configuration. Module Defaults for: Catalog Number Description Factory Defaults Real Time Size Input Default Output Default Input Default Output Default Factory defaults are the values assigned by the adapter when you: • first power up the system, and • no previous stored settings have been applied. For incremental encoder modules, the defaults reflect the actual number of input words/output words. For example, for the incremental encoder module, you have 9 input words, and 7 output words. You can change the I/O data size for a module by reducing the number of words mapped into the adapter module, as shown in “real time sizes.” Real time sizes are the settings that provide optimal real time data to the adapter module. The incremental encoder modules have 15 words assigned to them. This is divided into input words/output words. You can reduce the I/O data size to fewer words to increase data transfer over the backplane. For information on using DeviceNetManager software to configure your adapter, refer to the DeviceNetManager Software User Manual, publication 1787-6.5.3. 5–10 How Communication Takes Place and I/O Image Table Mapping with the DeviceNet Adapter Input, Output and Configuration Files for Analog Modules when used with ControlNet Chapter Objectives In this chapter you will learn about: • • • • • • About the ControlNet Adapter Communication Over the FLEX I/O Backplane ControlNet Adapter I/O structure safe state data communication fault data idle state behavior input data behavior upon module removal The FLEX I/O ControlNet adapters (cat. no. 1794–ACN15 and –ACNR15) interfaces up to 8 FLEX I/O modules and a ControlNet processor or scanner. The adapter can support ControlNet real–time data connections to individual modules or module groups. Each connection is independent of the others and can be from different processors or scanners. One 1794-ACN15 and -ACNR15 ControlNet adapter can interface up to eight terminal base units with installed FLEX I/O modules, forming a FLEX I/O system of up to eight slots. The adapter communicates to other network system components (typically one or more controllers or scanners, and/or programming terminals) over the ControlNet network. The adapter communicates with its I/O modules over the backplane. I/O Module Network ControlNet Adapter Slot 0 I/O Module I/O Module Slot 1 Slot 7 Data is exchanged scheduled (when mapped) or unscheduled (using CIO instructions). 6–2 Input, Output and Configuration Files for Analog Modules when used with ControlNet Scheduled DataĆTransfer Scheduled data transfer: • is continuous • is asynchronous to the ladder-logic program scan • occurs at the actual rate displayed in the Actual Packet Interval field on the programming software ControlNet I/O mapping (monitor) screen Unscheduled DataĆTransfer Unscheduled operations include: • unscheduled non-discrete I/O data transfers—through ControlNet I/O Transfer (CIO) instructions • peer-to-peer messaging—through Message (MSG) instructions • messaging from programming devices Unscheduled messaging on a ControlNet network is non-deterministic. Your application and your configuration—number of nodes, application program, NUT, amount of scheduled bandwidth used, etc.—determine how much time there is for unscheduled messaging. Module I/O Mapping The I/O map for a module is divided into read words and write words. Read words consist of input and status words, and write words consist of output and configuration words. The number of read words or write words can be 0 or more. The length of each I/O module’s read words and write words vary in size depending on module complexity. Each I/O module will support at least 1 input word or 1 output word. Status and configuration are optional, depending on the module. For example, a 16 point discrete input module will have up to 2 read words and 1 write word. ControlNet Image # ! ! Input Size Configuration Size Module Image Inputs Not used Not used Delay Time Delay Time Check the I/O map for each module for the exact mapping. ! # " Input, Output and Configuration Files for Analog Modules when used with ControlNet I/O Structure 6–3 Output data is received by the adapter in the order of the installed I/O modules. The Output data for Slot 0 is received first, followed by the Output data for Slot 1, and so on up to slot 7. The first word of input data sent by the adapter is the Adapter Status Word. This is followed by the input data from each slot, in the order of the installed I/O modules. The Input data from Slot 0 is first after the status word, followed by Input data from Slot 2, and so on up to slot 7. ControlNet Adapter Read Data # +.$, . ./(*. )+/. . Network READ (*. )+/. . (*. )+/. . Output Data $ # I/O Module I/O Module Slot 0 Slot 1 ,'.$ I/O Module Slot 7 (*. /.+/. . (*. /.+/. . Network WRITE (*. /.+/. . Adapter Input Status Word The input status word consists of: • I/O module fault bits – 1 status bit for each slot • node address changed – 1 bit (created by PLC–5 controller) • I/O status – 1 bit (created by PLC–5 controller) *#/($ /(. '.- ,$ .$# !0 "*).,*(($, (*. (*. (*. (*. *. -$# (*. (*. .&,*/%& (*. (*. '. . .$ '. *#$ ##,$-- & )%$# '. The adapter input status word bit descriptions are shown in the following table. /!('" .'*) 1 0 6–4 Input, Output and Configuration Files for Analog Modules when used with ControlNet Bit Description Bit Explanation &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) &'- !'. '- -$. 0&$) ) $,,*, '- #$.$".$# ') -(*. +*-'.'*) *#$ ##,$-- & )%$# ,$ .$# !1 "*).,*(($, &'- !'. '- -$. 0&$) .&$ )*#$ ##,$-- -0'."& -$..')% & - !$$) "& )%$# -')"$ +*0$, /+ . .$ ,$ .$# !1 "*).,*(($, '. '#($ '. ,/) *#/($ /(. .&,/ *. /-$# -$. .* Possible causes for an I/O Module Fault are: • • • • • • Safe State Data Device Actions transmission errors on the FLEX I/O backplane a failed module a module removed from its terminal base incorrect module inserted in a slot position the slot is empty the slot contains a non–discrete module The ControlNet adapter provides storage for alternate module output data during communication faults or processor idle state. This “safe state data” assures that a known output will be applied to the output devices to maintain a previously designated safe operating condition during the previously mentioned failure modes. The processor or scanner software must include the means to specify this safe state data for each module. If applicable, this data is sent in the configuration block (see Image Table Mapping later in this chapter). Device actions include: • communication fault behavior • idle state behavior • input data behavior upon module removal /!('" .'*) 2 1 Input, Output and Configuration Files for Analog Modules when used with ControlNet 6–5 Communication Fault Behavior You can configure the adapter response to a communication fault for each I/O module in its system. Upon detection of a communication fault, the adapter can: • leave the module output data in its last state (hold last state) • reset the module output data to zero (reset) • apply safe state data to the module output Idle State Behavior The ControlNet adapter can detect the state of the controlling processor or scanner. Only 2 states can be detected: run mode, or program mode (idle). When run mode is detected, the adapter copies the output data received from the processor to the corresponding module output. When program mode is detected, the adapter can be configured to: • leave the module output data in its last state (hold last state) • reset the module output data to zero (reset) • apply safe state data to the module output Input Data Behavior upon Module Removal I/O module input data sent by the adapter upon module removal is configurable. The adapter can: • reset the module output data to zero (reset) • leave the module output data in the last state before module removal (hold last state) 6–6 Input, Output and Configuration Files for Analog Modules when used with ControlNet Incremental Encoder Module (1794ĆID2) Image Table Mapping Module Image ControlNet Files R PD1 PD0 S1 Input File Size S0 C1 C0 G1 Z1 B1 A1 G0 Z0 B0 A0 Store 0 - Stored Counter Value on channel 0 *& &() Store 1 - Stored Counter Value on channel 1 Channel 0 - current counter value Channel 1 - current counter value Channel 0 - Counter word readback Channel 1 - Counter word readback Code for identification of software version Output File Size Channel 0 Control Word - Sets the function of counter 0 *& &() Channel 1 Control Word - Sets the function of counter 1 Channel 0 Preset - value to load or compare with counter 0 Channel 1 Preset - value to load or compare with counter 1 Configuration File Size *& &() Channel 0 Control Word - Sets the function of counter 0 Channel 1 Control Word - Sets the function of counter 1 Channel 0 Preset - value to load or compare with counter 0 Channel 1 Preset - value to load or compare with counter 1 Bit/Word Definitions for Block Transfer Read Words for the Pulse Counter Module Input Word Input p Word 0 Bit Definition "* Status for input A '+#) *(%)$"**( !") "* ,!% )* "%"*) )" %# * "* Status for input B '+#) *(%)$"**( !") "* ,!% )* "%"*) )" %# * "* Status for input Z '+#) *(%)$"**( !") "* ,!% )* "%"*) )" %# * "* Status for input G '+#) *(%)$"**( !") "* ,!% )* "%"*) )" %# * "* Status for input A '+#) *(%)$"**( !") "* ,!% )* "%"*) )" %# * "* Status for input B '+#) *(%)$"**( !") "* ,!% )* "%"*) )" %# * +#"*"&% . - Input, Output and Configuration Files for Analog Modules when used with ControlNet Input Word Bit Definition &0 Status for input Z ,1(/" 0.*/)&00". %&/ &0 3%"* /"0 &*!& 0"/ /&$*( 0 &0 Status for input G ,1(/" 0.*/)&00". %&/ &0 3%"* /"0 &*!& 0"/ /&$*( 0 &0 Cal 0 %&/ &0 3%"* /"0 &*!& 0"/ 0%0 +1*0". %/ ""* (&.0"! %&/ &0 &/ ."/"0 4 ("/"0 &0 Cal 1 %&/ &0 3%"* /"0 &*!& 0"/ 0%0 +1*0". %/ ""* (&.0"! %&/ &0 &/ ."/"0 4 ("/"0 &0 Store 0 %&/ &0 3%"* /"0 &*!& 0"/ +1*0". 2(1" &/ /2"! &* /0+." %&/ &0 &/ ."/"0 4 0+.""/"0 &0 Store 1 %&/ &0 3%"* /"0 &*!& 0"/ +1*0". 2(1" &/ /2"! &* /0+." %&/ &0 &/ ."/"0 4 0+.""/"0 &0 Preset Reached 0 (PR0) %"* 0%&/ &0 &/ /"0 &* (( +*#&$1.0&+* )+!"/ 0%" +1*0". 2(1" "-1(/ 0%" ,."/"0 2(1" "&0%". &* ,+/&0&2" +. *"$0&2" !&." 0&+* %&/ &0 &/ ."/"0 4 ."/"0"/"0 *! * +*(4 " /"0 $&* #0". 0 ("/0 )+." ,1(/" &0 Preset Reached 1 (PR0) %"* 0%&/ &0 &/ /"0 &* (( +*#&$1.0&+* )+!"/ 0%" +1*0". 2(1" "-1(/ 0%" ,."/"0 2(1" "&0%". &* ,+/&0&2" +. *"$0&2" !&." 0&+* %&/ &0 &/ ."/"0 4 ."/"0"/"0 *! * +*(4 " /"0 $&* #0". 0 ("/0 )+." ,1(/" &0 +0 1/"! /"0 0+ +.! &0/ Store 0 2"! +1*0". 2(1" +* %**"( +.! &0/ Store 1 2"! +1*0". 2(1" +* %**"( +.! &0/ Channel 0 Current Counter Value 1.."*0 2(1" &* +1*0". +.! &0/ Channel 1 Current Counter Value 1.."*0 2(1" &* +1*0". +.! &0/ Channel 0 Readback +1*0". 3+.! ."! ' +.! &0/ Channel 0 Readback +1*0". 3+.! ."! ' +.! &0/ Software identification +.! +*0&*1"! 6–7 1(& 0&+* 5 4 6–8 Output Word Input, Output and Configuration Files for Analog Modules when used with ControlNet Bit Definition Channel 0 Control Word - Control word for setting the function of counter 0. Word 0 Bits 00-02 02 01 00 Mode Selection bits 0 0 0 Counting on positive (rising) edge of input signal A. (Up/dwn counting determined by B.) 0 0 1 Quadrature encoder X1 0 1 0 Quadrature encoder X2 0 1 1 Quadrature encoder X4 1 0 0 Counting up on the positive edge of input signal A, and down on positive edge of input signal B. 1 0 1 No count function. 1 1 0 No count function. 1 1 1 No count function. Bit 03 Preset (Reset) bit - A positive edge on this bit moves the value in Preset X to Counter X, independent of Preset Enable. NOTE: To use Preset as Reset, use a count value of 0000 in the Preset value word. Bit 04 Enable Z Preset bit - When this bit is set (1), a positive edge on Z preloads Counter X = Preset X, independent of Cal Enable. NOTE: If Z is configured to do Store and Preset (Reset), the Store will occur first. Bit 05 Count Enable bit - When this is set (1), the pulse counter is enabled. Bits 06-08 (06 10) (06-10) Bits 09-10 (11 12) (11-12) Bits 11-12 (13-14) Calibration Control bits - bits 06, 07 and 08 06 Enable bit - When this bit is set (1), the counter can be calibrated. 07 Direction bit - When this bit set (1), calibration is performed in a negative direction; when reset (0), calibration is performed in a positive direction. 08 Reset bit - Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit. 10 09 Gate Control bits 0 0 No gate function on input G 0 1 Counting only if G is high (active) 1 0 Counting only if G is low (inactive) 1 1 The counter can be calibrated when G is high (active). 12 11 Store Control bits - These bits will trigger a Store only if the channel Store status bit (L0 or L1) is cleared (0). 0 0 Save the counter value on the positive edge of Z (if Stored X = 0) 0 1 Save the counter value on the positive edge of G (if Stored X = 0) 1 0 Save the counter value on the negative edge of G (if Stored X = 0) 1 1 Save the counter value on the positive edge and negative edge of G (if Stored X = 0) Bit 13 (15) Rollover bit - When set (1), the counter counts up to the preset and then restarts at 0. If this bit is reset (0) (not rollover), the rollover preset value = FFFF (hex = 65535 (decimal). Bit 14 (16) Store Reset bit - A positive edge on this bit resets Store X in Signals. Bit 15 (17) Preset Reset bit - A positive edge on this bit resets Preset Reached in Signals. Publication 1794ĆUM015B-EN-P - May 2001 Input, Output and Configuration Files for Analog Modules when used with ControlNet Output Word Bit Word 1 6–9 Definition Channel 1 Control Word - Control word for setting the function of counter 1. Bits 00-02 02 01 00 Mode Selection bits 0 0 0 Counting on positive (rising) edge of input signal A. (Up/dwn counting determined by B.) 0 0 1 Quadrature encoder X1 0 1 0 Quadrature encoder X2 0 1 1 Quadrature encoder X4 1 0 0 Counting up on the positive edge of input signal A, and down on positive edge of input signal B. 1 0 1 No count function. 1 1 0 No count function. 1 1 1 No count function. Bit 03 Preset bit - A positive edge on this bit moves the value in Preset X to Counter X, independent of Preset Enable. Bit 04 Preset Enable bit - When this bit is set (1), a positive edge on Z preloads Counter X = Preset X, independent of Cal Enable. Bit 05 Count Enable bit - When this is set (1), the pulse counter is counting. Bits 06-08 (06 10) (06-10) Bits 09-10 Bits 11-12 (13-14) Calibration Control bits - bits 06, 07 and 08 06 Enable bit - When this bit is set (1), the counter can be calibrated. 07 Direction bit - When this bit set (1), calibration is performed in a negative direction; when reset (0), calibration is performed in a positive direction. 08 Reset bit - Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit. 10 09 Gate Control bits 0 0 No gate function on input G 0 1 Counting only if G is high (active) 1 0 Counting only if G is low (inactive) 1 1 Calibration if G is high (active) and ??? 12 11 Store Control bits - These bits will trigger a Store only if the channel Store status bit (L0 or L1) is cleared (0). 0 0 Save the counter value on the positive edge of Z (if Store X = 0) 0 1 Save the counter value on the positive edge of G (if Store X = 0) 1 0 Save the counter value on the negative edge of G (if Store X = 0) 1 1 Save the counter value on the positive edge and negative edge of G (if Store X = 0) Bit 13 Rollover bit - When set (1), the counter counts up to the preset and then restarts at 0. If this bit is reset (0) (not rollover), the rollover preset value = FFFF (hex = 65535 (decimal). Bit 14 Store Reset bit - A positive edge on this bit resets Store X in Signals. Bit 15 Store Reset bit - A positive edge on this bit resets Preset Detected in Signals. Word 2 Bits 00-15 Preset 0 - Value to load or compare with counter 0 Word 3 Bits 00-15 Preset 1 - Value to load or compare with counter 1 Publication 1794ĆUM015B-EN-P - May 2001 6–10 Configuration Word Input, Output and Configuration Files for Analog Modules when used with ControlNet Bit Definition Channel 0 Control Word - Control word for setting the function of counter 0. Word 0 Bits 00-02 02 01 00 Mode Selection bits 0 0 0 Counting on positive (rising) edge of input signal A. (Up/dwn counting determined by B.) 0 0 1 Quadrature encoder X1 0 1 0 Quadrature encoder X2 0 1 1 Quadrature encoder X4 1 0 0 Counting up on the positive edge of input signal A, and down on positive edge of input signal B. 1 0 1 No count function. 1 1 0 No count function. 1 1 1 No count function. Bit 03 Preset (Reset) bit - A positive edge on this bit moves the value in Preset X to Counter X, independent of Preset Enable. NOTE: To use Preset as Reset, use a count value of 0000 in the Preset value word. Bit 04 Enable Z Preset bit - When this bit is set (1), a positive edge on Z preloads Counter X = Preset X, independent of Cal Enable. NOTE: If Z is configured to do Store and Preset (Reset), the Store will occur first. Bit 05 Count Enable bit - When this is set (1), the pulse counter is enabled. Bits 06-08 (06 10) (06-10) Bits 09-10 (11 12) (11-12) Bits 11-12 (13-14) Calibration Control bits - bits 06, 07 and 08 06 Enable bit - When this bit is set (1), the counter can be calibrated. 07 Direction bit - When this bit set (1), calibration is performed in a negative direction; when reset (0), calibration is performed in a positive direction. 08 Reset bit - Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit. 10 09 Gate Control bits 0 0 No gate function on input G 0 1 Counting only if G is high (active) 1 0 Counting only if G is low (inactive) 1 1 The counter can be calibrated when G is high (active). 12 11 Store Control bits - These bits will trigger a Store only if the channel Store status bit (L0 or L1) is cleared (0). 0 0 Save the counter value on the positive edge of Z (if Latched X = 0) 0 1 Save the counter value on the positive edge of G (if Latched X = 0) 1 0 Save the counter value on the negative edge of G (if Latched X = 0) 1 1 Save the counter value on the positive edge and negative edge of G (if Latched X = 0) Bit 13 (15) Rollover bit - When set (1), the counter counts up to the preset and then restarts at 0. If this bit is reset (0) (not rollover), the rollover preset value = FFFF (hex = 65535 (decimal). Bit 14 (16) Store Reset bit - A positive edge on this bit resets Store X in Signals. Bit 15 (17) Preset Reset bit - A positive edge on this bit resets Preset Detected in Signals. Publication 1794ĆUM015B-EN-P - May 2001 Input, Output and Configuration Files for Analog Modules when used with ControlNet Configuration Word Bit Word 1 6–11 Definition Channel 1 Control Word - Control word for setting the function of counter 1. Bits 00-02 Bit 02 01 00 Mode Selection bits 0 0 0 Counting on positive (rising) edge of input signal A. (Up/dwn counting determined by B.) 0 0 1 Quadrature encoder X1 0 1 0 Quadrature encoder X2 0 1 1 Quadrature encoder X4 1 0 0 Counting up on the positive edge of input signal A, and down on positive edge of input signal B. 1 0 1 No count function. 1 1 0 No count function. 1 1 1 No count function. Bit 03 Preset bit - A positive edge on this bit moves the value in Preset X to Counter X, independent of Preset Enable. Bit 04 Preset Enable bit - When this bit is set (1), a positive edge on Z preloads Counter X = Preset X, independent of Cal Enable. Bit 05 Count Enable bit - When this is set (1), the pulse counter is counting. Bits 06-08 (06 10) (06-10) Bits 09-10 Bits 11-12 (13-14) Calibration Control bits - bits 06, 07 and 08 06 Enable bit - When this bit is set (1), the counter can be calibrated. 07 Direction bit - When this bit set (1), calibration is performed in a negative direction; when reset (0), calibration is performed in a positive direction. 08 Reset bit - Calibration is acknowledged and a new calibration is enabled on a positive edge on this bit. 10 09 Gate Control bits 0 0 No gate function on input G 0 1 Counting only if G is high (active) 1 0 Counting only if G is low (inactive) 1 1 Calibration if G is high (active) and ??? 12 11 Store Control bits - These bits will trigger a Store only if the channel Store status bit (L0 or L1) is cleared (0). 0 0 Save the counter value on the positive edge of Z (if Store X = 0) 0 1 Save the counter value on the positive edge of G (if Store X = 0) 1 0 Save the counter value on the negative edge of G (if Store X = 0) 1 1 Save the counter value on the positive edge and negative edge of G (if Store X = 0) Bit 13 Rollover bit - When set (1), the counter counts up to the preset and then restarts at 0. If this bit is reset (0) (not rollover), the rollover preset value = FFFF (hex = 65535 (decimal). Bit 14 Store Reset bit - A positive edge on this bit resets Store X in Signals. Bit 15 Store Reset bit - A positive edge on this bit resets Preset Detected in Signals. Word 2 Bits 00-15 Preset 0 - Value to load or compare with counter 0 Word 3 Bits 00-15 Preset 1 - Value to load or compare with counter 1 Publication 1794ĆUM015B-EN-P - May 2001 6–12 Input, Output and Configuration Files for Analog Modules when used with ControlNet Calibrating Your Incremental Encoder Module Chapter Objective Calibrating Your Module In this chapter, we tell you how to set up your system to calibrate the incremental encoder. The incremental encoder module does not require calibration. However, you must synchronize the module with the process you are monitoring. You must have your incremental encoder module installed in an operating FLEX I/O system in order to complete synchronization. Process calibration of the counter synchronizes the control system with the machinery where the incremental encoder is mounted. The counter is set to a preset value when a reference pulse is received. Use input Z to activate calibration. The input to Z can be a zero pulse integrated with an incremental encoder. Or input Z can come from another transmitter independent of the pulse transmitter. Calibration is performed at the first positive edge of input signal Z and is independent of the signal duration. Calibration is enabled if CalEnable = 1 or if GateControl = 3 and G input = 1. The counter direction must coincide with CalDirection and Calibrated must be = 0 (acknowledged by a positive edge on CalReset). When calibration is activated, the counter is given the value in PresetValue and Calibrated will be set. The counter value can be saved in StoreValue if StoreControl = 0 and Stored = 0. Note that the condition for the latch function is not dependent on the direction and therefore does not automatically occur on that edge of Z which activates calibration. 7–2 Calibrating Your Incremental Encoder Module Calibration Method 1 Calibration is enabled by the flag CalEnable, which is enabled by the control system. The preset value is copied to the counter register at a positive edge on input Z. The old counter register value is saved in the store register for evalution. Calibration direction is determined by CalDirection (0 = positive direction, 1 = negative direction). Reset Calibrated, Stored and PresetReached after calibration with CalReset, StoreReset and PresetReset. CalEnable = 1 CalDirection = #%! ! % %$% !& % "&$ Calibrated = 0 #$% $%# ! Calibrated = 1 PresetReached = 1 !& %# $%# StoreControl = 0 Stored = 0 !& %# $%# ! &%! ( ' Stored = 1 % $%# Calibrating Your Incremental Encoder Module 7–3 Calibration Method 2 Calibration is enabled by input G if GateControl = 3 and Calibrated = 0. The preset value is copied to the counter register at a positive edge on input signal Z. The old counter register value is saved in the store register for evalution. Calibration direction is determined by CalDirection (0 = positive direction, 1 = negative direction). Reset Calibrated, Stored and PresetReached after calibration with CalReset, StoreReset and PresetReset. GateControl = 3 CalDirection = %' #" # ' !'&' #("' $(!& Calibrated = 0 %&' &'% # PresetReached = 1 #("'% &'% StoreControl = 0 Stored = 0 #("'% &'% # Calibrated = 1 Stored = 1 '#% &'% (! ' #" * ) 7–4 Calibrating Your Incremental Encoder Module Troubleshoot the Incremental Encoder Module What This Chapter Contains Use this chapter to troubleshoot the incremental encoder module by interpreting the indicators. Status Indicators The module contains indicators for each of the following: 1794-ID2 2 CH INCREMENTAL ENCODER MODULE A B Z G + - C A B B Z 1 G + - A A = Power/status indicator – indicates power applied to module and status of module. B = Insertable label for writing individual I/O assignments. C = Status Indicators – A = Status of input A B = Status of input B Z = Status of input Z G = Status of input G + = Positive count detected – = Negative count detected 8–2 Troubleshoot the Incremental Encoder Module Indicator Indication Explanation A Yellow Input A active Off Input A not active Yellow Input B active Off Input B not active Yellow Input Z active Off Input Z not active Yellow Input G active Off Input G not active + Yellow On when a positive pulse is detected; turns off on negative pulse. - Yellow On when a negative pulse is detected; turns off on positive pulse. OK Red Red during initialization after power turned on Green Green when initialization is completed B Z G When an input indicator (yellow) is lighted, it indicates that a valid signal (active high or active low) is present at one of the Input terminals. What's Next To find out more about the ID2 module: See appendix A ! "! $ # For ! ! " Specifications - 1794ĆID2 2 Input Incremental Encoder Module Input Specifications !=5,/: 70 7=6</:; !=5,/: 70 68=<; 8/: 7=6</: 368=<; * 68=< #=4;/ )3.<2 53635=5 +-2 ;316+4 -76.3<376 5=;< ,/ ;<+,4/ 07: +< 4/+;< µ; <7 ,/ :/-7163B/. 7=6<361 :/9=/6-A B 5+@35=5 68=< $+61/ 68=< "! +@35=5 ( .- ( .- 3635=5 ( .+@35=5 ( .3635=5 ( .- 68=< " 68=< =::/6< <A83-+4 5 ( .5 ( .5 ( .- General Specifications 7.=4/ 7-+<376 +< !7 C& C&% C&! C&! &/:536+4 +;/ ;74+<376 (74<+1/ ( .- 4/@,=; =::/6< 5 ( .- #7?/: %=884A ( .- =::/6< -76;=58<376 0:75 /@</:6+4 87?/: ;=884A 5 ( .5 ( .- #7?/: 3;;38+<376 ) 5+@35=5 ( .- &2/:5+4 3;;38+<376 +@35=5 &'2: ( .- 6.3-+<7:; 03/4. ;3./ .:3>/6 4713- ;3./ 36.3-+<376 1://6:/. 87?/:;<+<=; 36.3-+<7: A/447? ;<+<=; 36.3-+<7:; 4713- ;3./ /A;?3<-2 #7;3<376 35/6;376; 6-2/; 34435/</:; @ ) @ @ @ Specifications continued on next page. #=,43-+<376 C' !# +A A–2 Specifications Specifications - 1794ĆID2 2 Input Incremental Encoder Module Environmental Conditions Operational Temperature Shock Operating Nonoperating Vibration 0 to 55oC (32 to 131oF) Note: Do not connect maximum input voltage simultaneously to all inputs if the module ambient temperature is expected to exceed 40oC. -25 to 70oC (-13 to 158oF) 5 to 90% noncondensing (operating) 5 to 80% noncondensing (nonoperating) 30 g peak acceleration, 11(+1)ms pulse width 50 g peak acceleration, 11(+1)ms pulse width Tested 2 g @ 10-500Hz per IEC 68Ć2Ć6 Input Conductors Wire Category Length (max) Belden 8761 21 1000ft (304.8m) Storage Temperature Relative Humidity Agency Certification (when product is marked) • • • • Installation Instruction Publication 1794Ć5.63 CUL certified CUL listed - Class I, Division 2 Groups A, B, C, D UL listed CE marked for all applicable directives 1 Use this conductor category information for planning conductor routing . Refer to publication 1770Ć4.1, Industrial Automation Wiring and Grounding Guidelines for Noise Immunity." Publication 1794ĆUM015B-EN-P - May 2001 Index Numbers 6 1/,2 )#0&,,1 A "-1#/ '+-21 01120 4,/" --)'!1',+0 15-'!) 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NO POSTAGE NECESSARY IF MAILED IN THE UNITED STATES BUSINESS REPLY MAIL FIRST-CLASS MAIL PERMIT NO. 18235 CLEVELAND OH POSTAGE WILL BE PAID BY THE ADDRESSEE 1 ALLEN BRADLEY DR MAYFIELD HEIGHTS OH 44124-9705 *#")"&% , + )! ' &$$ %)( Support Services At Allen-Bradley, customer service means experienced representatives at Customer Support Centers in key cities throughout the world for sales service and support. Our value-added services include: Technical Support • • • • SupportPlus programs telephone support and 24-hour emergency hotline software and documentation updates technical subscription services Engineering and Field Services • • • • application engineering assistance integration and start-up assistance field service maintenance support Technical Training • • • • lecture and lab courses self-paced computer and video-based training job aids and workstations training needs analysis Repair and Exchange Services • • • • your only “authorized” source current revisions and enhancements worldwide exchange inventory local support 55/7D;+.5/B + #8-4@/55 >=86+=387 ><37/<< 2+< ,//7 2/59371 3=< -><=86/;< 369;8?/ 9;8.>-=3?3=B +7. :>+53=B 08; 68;/ =2+7 B/+;< (/ ./<317 6+7>0+-=>;/ +7. <>998;= + ,;8+. ;+71/ 80 +>=86+=387 9;8.>-=< @8;5.@3./ %2/B 37-5>./ 5813- 9;8-/<<8;< 98@/; +7. 68=387 -87=;85 ./?3-/< 89/;+=8; 37=/;0+-/< </7<8;< +7. + ?+;3/=B 80 <80=@+;/ #8-4@/55 3< 87/ 80 =2/ @8;5.< 5/+.371 =/-278581B -869+73/< (8;5.@3./ ;/9;/</7=+=387 ;1/7=37+ • ><=;+53+ • ><=;3+ • +2;+37 • /513>6 • ;+C35 • >51+;3+ • +7+.+ • 235/ • 237+ !# • 8586,3+ • 8<=+ #3-+ • ;8+=3+ • B9;>< • C/-2 #/9>,53- • /76+;4 • ->+.8; • 1B9= • 5 $+5?+.8; • 375+7. • ;+7-/ • /;6+7B • ;//-/ • >+=/6+5+ • 87.>;+< • 871 871 • >71+;B • -/5+7. • 7.3+ • 7.87/<3+ • ;/5+7. • <;+/5 • =+5B • +6+3-+ • +9+7 • 8;.+7 • 8;/+ • >@+3= • /,+787 • +5+B<3+ • /A3-8 • /=2/;5+7.< • /@ */+5+7. • 8;@+B • !+43<=+7 • !/;> • !23539937/< • !85+7. • !8;=>1+5 • !>/;=8 #3-8 • "+=+; • #86+73+ • #><<3+$ • $+>.3 ;+,3+ • $371+98;/ • $58?+43+ • $58?/73+ • $8>=2 0;3-+ #/9>,53- • $9+37 • $@/./7 • $@3=C/;5+7. • %+3@+7 • %2+35+7. • %>;4/B • &73=/. ;+, 63;+=/< • &73=/. 371.86 • &73=/. $=+=/< • &;>1>+B • '/7/C>/5+ • )>18<5+?3+ 55/7D;+.5/B /+.:>+;=/;< $8>=2 $/-87. $=;//= 35@+>4// ( &$ %/5 D +A D !>,53-+=387 D& ! +B $>9/;</./< 9>,53-+=387 D /-/6,/; !>,53-+=387 D& ! +B 89B;312= 55/7D;+.5/B 869+7B 7- !;37=/. 37 &$