OPERATING INSTRUCTIONS

AFS60 EtherNet/IP
AFM60 EtherNet/IP
Absolute Encoder
 Described product
AFS60/AFM60 EtherNet/IP

Manufacturer
SICK STEGMANN GmbH
Dürrheimer Str. 36
78166 Donaueschingen
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK STEGMANN GmbH. Reproduction of this document or parts of this
document is only permissible within the limits of the legal determination of Copyright
Law. Any modification, expurgation or translation of this document is prohibited without
the express written permission of SICK STEGMANN GmbH.
The trademarks stated in this document are the property of their respective owner.
© SICK STEGMANN GmbH. All rights reserved.

Original document
This document is an original document of SICK STEGMANN GmbH.

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 CONTENTS

Contents

1 About this document ................................................................................ 6

1.1 Function of this document.......................................................................... 6
1.2 Target group................................................................................................ 6
1.3 Information depth....................................................................................... 6
1.4 Scope.......................................................................................................... 7
1.5 Abbreviations used ..................................................................................... 7
1.6 Symbols used.............................................................................................. 8

2 On safety..................................................................................................... 9
2.1 Authorised personnel.................................................................................. 9
2.2 Correct use ................................................................................................. 9
2.3 General safety notes and protective measures ........................................ 10
2.4 Environmental protection ......................................................................... 10

3 Product description.................................................................................11
3.1 Special features........................................................................................ 11
3.2 Operating principle of the encoder ........................................................... 12
3.2.1 Scaleable resolution................................................................ 12
3.2.2 Preset function ........................................................................ 12
3.2.3 Round axis functionality .......................................................... 13
3.3 Integration in EtherNet/IP......................................................................... 14
3.3.1 EtherNet/IP architecture ......................................................... 14
3.3.2 EtherNet/IP communication.................................................... 15
3.4 CIP object model....................................................................................... 17
3.4.1 Supported classes................................................................... 18
3.4.2 Identity Object.......................................................................... 19
3.4.3 Assembly Object ...................................................................... 22
3.4.4 Position Sensor Object ............................................................ 28
3.5 Integration and configuration options....................................................... 36
3.5.1 Integration in EtherNet/IP ....................................................... 36
3.5.2 Configuration........................................................................... 36
3.6 Configurable functions.............................................................................. 37
3.6.1 Saving configuration and resetting.......................................... 37
3.6.2 IP address................................................................................ 40
3.6.3 Slave Sign of Life..................................................................... 40
3.6.4 Code sequence........................................................................ 40
3.6.5 Scaling..................................................................................... 40
3.6.6 Steps per revolution ................................................................ 40
3.6.7 Total resolution/measuring range ........................................... 41
3.6.8 Preset function ........................................................................ 41
3.6.9 Velocity measuring unit ........................................................... 42
3.6.10 Round axis functionality .......................................................... 42
3.7 Controls and status indicators.................................................................. 43

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4 Commissioning........................................................................................44
4.1 Electrical installation................................................................................. 44
4.1.1 Connections of the AFS60/AFM60 EtherNet/IP...................... 44
4.2 Settings on the hardware.......................................................................... 45
4.2.1 Setting the IP address ............................................................. 46
4.2.2 Triggering a preset value using the preset button ................... 47

5 Configuration with the aid of a PLC......................................................48

5.1 Default delivery status.............................................................................. 48
5.2 IP address of the encoder......................................................................... 48
5.2.1 Without DHCP server ............................................................... 48
5.2.2 IP address assignment via DHCP ............................................ 48
5.2.3 Freezing the IP address assigned............................................ 50
5.2.4 Checking the integration in EtherNet/IP via
RSLinx-Classic.......................................................................... 50
5.3 Creating a project in the controller software............................................. 50
5.4 Integration of the encoder as a generic module....................................... 53
5.4.1 Module settings....................................................................... 54
5.4.2 Download the configuration to the control system .................. 55
5.4.3 Checking the communication.................................................. 56
5.5 Integration and configuration with the aid of an EDS file ......................... 56
5.5.1 Prerequisites ........................................................................... 56
5.5.2 Establishing communication ................................................... 56
5.5.3 Configuration........................................................................... 59
5.6 Installation of the ladder routine .............................................................. 59
5.6.1 Importing the ladder routine.................................................... 61
5.6.2 Integrating in the MainRoutine as a SubRoutine..................... 66
5.6.3 Using the SubRoutine.............................................................. 67
5.6.4 Reading and changing the parameters of the encoder ........... 68
5.7 Function block .......................................................................................... 71
5.7.1 Prerequisites ........................................................................... 71
5.7.2 Importing and connecting........................................................ 71
5.8 Program examples.................................................................................... 71
5.8.1 Reading temperature .............................................................. 72
5.8.2 Setting preset value................................................................. 79

6 Configuration with the aid of the integrated web server ..................87

6.1 Home ........................................................................................................ 88
6.1.1 Device...................................................................................... 88
6.1.2 Position.................................................................................... 88
6.1.3 Velocity .................................................................................... 88
6.1.4 Temperature............................................................................ 88
6.1.5 Timer ....................................................................................... 89

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6.2 Parameterization ...................................................................................... 89

6.2.1 Overview .................................................................................. 90
6.2.2 Units ........................................................................................ 91
6.2.3 Triggering preset...................................................................... 91
6.2.4 Scaling..................................................................................... 92
6.2.5 Round axis functionality .......................................................... 93
6.2.6 Changing preset value............................................................. 93
6.2.7 Limits....................................................................................... 94
6.2.8 Reset ....................................................................................... 94
6.3 Diagnostics ............................................................................................... 95
6.3.1 Status ...................................................................................... 95
6.3.2 Velocity .................................................................................... 96
6.3.3 Temperature............................................................................ 96
6.3.4 Time......................................................................................... 96
6.3.5 Cycles ...................................................................................... 96
6.3.6 Heartbeat ................................................................................ 96
6.4 Tools ......................................................................................................... 97
6.4.1 EDS.......................................................................................... 97
6.4.2 Ladder routine......................................................................... 97
6.4.3 Update..................................................................................... 97
6.4.4 Address switches..................................................................... 98
6.4.5 Fault header information......................................................... 98
6.5 Test notes ................................................................................................. 99

7 Fault diagnosis...................................................................................... 100

7.1 In the event of faults or errors ................................................................ 100
7.2 SICK STEGMANN support ....................................................................... 100
7.3 Diagnostics ............................................................................................. 100
7.3.1 Error and status indications on the LEDs .............................. 100
7.3.2 Self-test via EtherNet/IP........................................................ 102
7.3.3 Warnings, alarms and errors via EtherNet/IP........................ 102
7.3.4 Error messages from the Allen-Bradley control system ......... 105

8 Annex ..................................................................................................... 107

8.1 EU declaration of conformity................................................................... 107

9 List of figures ........................................................................................ 108

10 List of tables.......................................................................................... 112

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1 ABOUT THIS DOCUMENT

1 About this document

Please read this chapter carefully before working with this documentation and the
AFS60/AFM60 EtherNet/IP Absolute Encoder.

1.1 Function of this document

These operating instructions are designed to address the technical personnel of the
machine manufacturer or the machine operator in regards to correct configuration,
electrical installation, commissioning, operation and maintenance of the
AFS60/AFM60 EtherNet/IP Absolute Encoder.

1.2 Target group

The operating instructions are addressed at the planners, developers and operators of
systems in which one or more AFS60/AFM60 EtherNet/IP Absolute Encoders are to be
integrated. They also address people who initialize the use of the
AFS60/AFM60 EtherNet/IP or who are in charge of servicing and maintaining the
device.
These instructions are written for trained persons who are responsible for the instal-
lation, mounting and operation of the AFS60/AFM60 EtherNet/IP in an industrial
environment.

1.3 Information depth

These operating instructions contain information on the AFS60/AFM60 EtherNet/IP
Absolute Encoder on the following subjects:
• product features • fault diagnosis and troubleshooting
• electrical installation • conformity
• commissioning and configuration
These operating instructions do not contain any information on the mounting of the
AFS60/AFM60 EtherNet/IP. You will find this information in the mounting instructions
included with the device.
They also do not contain any information on technical specifications, dimensional
drawings, ordering information or accessories. You will find this information in the data
sheet for the AFS60/AFM60 EtherNet/IP.
Planning and using measurement systems such as the AFS60/AFM60 EtherNet/IP also
requires specific technical skills beyond the information in the operating instructions
and mounting instructions. The information required to acquire these specific skills is
not contained in this document.
When operating the AFS60/AFM60 EtherNet/IP, the national, local and statutory rules
and regulations must be observed.
Further information
• www.odva.org

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 ABOUT THIS DOCUMENT 1

1.4 Scope
NOTE
These operating instructions apply to the AFS60/AFM60 EtherNet/IP Absolute Encoder
with the following type codes:
• Singleturn encoder = AFS60A-xxIx262144
• Multiturn encoder = AFM60A-xxIx018x12

1.5 Abbreviations used

CIP Common Industrial Protocol
CMR Counts per Measuring Range
CNR_D Customized Number of Revolutions, Divisor = divisor of the customized number of
revolutions
CNR_N Customized Number of Revolutions, Nominator = dominator of the customized number
of revolutions
CPR Counts Per Revolution
DHCP Dynamic Host Control Protocol
DLR Device Level Ring
EADK EtherNet/IP adapter developers kit = development environment for EtherNet/IP
devices
EDS Electronic Data Sheet
EEPROM Electrically Erasable Programmable Read-only Memory
FPGA Field Programmable Gate Array = electronic component that can be programmed to
provide an application-specific circuit
I/O Input and Output Data (from the point of view of the master)
IP in EtherNet/IP Industrial Protocol
IP in TCP/IP Internet Protocol
MAC Media Access Control
ODVA Open DeviceNet Vendor Association
PLC Programmable Logic Controller
TCP Transmission Control Protocol
UDP User Datagram Protocol = connectionless network protocol

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1 ABOUT THIS DOCUMENT

1.6 Symbols used

NOTE
Refer to notes for special features of the device.

O, Ö, o LED symbols describe the state of a diagnostics LED. Examples:

O The LED is illuminated constantly.
Ö The LED is flashing.
o The LED is off.
► Take action … Instructions for taking action are shown by an arrow. Read carefully and follow the
instructions for action.
WARNING
Warning!
A warning indicates an actual or potential risk or health hazard. They are designed to
help you to prevent accidents.
Read carefully and follow the warning notices.

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 ON SAFETY 2

2 On safety
This chapter deals with your own safety and the safety of the equipment operators.
b Please read this chapter carefully before working with the
AFS60/AFM60 EtherNet/IP or with the machine or system in which the
AFS60/AFM60 EtherNet/IP is used.

2.1 Authorised personnel

The AFS60/AFM60 EtherNet/IP Absolute Encoder must only be installed, commis-
sioned and serviced by authorized personnel.
NOTE
Repairs to the AFS60/AFM60 EtherNet/IP are only allowed to be undertaken by trained
and authorized service personnel from SICK STEGMANN GmbH.

The following qualifications are necessary for the various tasks:

Activity Qualification
Mounting • Basic technical training
• Knowledge of the current safety regulations in the
workplace
Electrical installation and • Practical electrical training
replacement • Knowledge of current electrical safety regulations
• Knowledge on the use and operation of devices in the
related application (e.g. industrial robots, storage and
conveyor technology)
Commissioning, operation • Knowledge on the current safety regulations and the use
and configuration and operation of devices in the related application
• Knowledge of automation systems (e.g. Rockwell
ControlLogix Controller)
• Knowledge of EtherNet/IP
• Knowledge of the usage of automation software (e.g.
Rockwell RSLogix)
Table 1: Authorised personnel

2.2 Correct use

The AFS60/AFM60 EtherNet/IP Absolute Encoder is a measuring device that is manu-
factured in accordance with recognized industrial regulations and meets the quality
requirements as per ISO 9001:2008 as well as those of an environment management
system as per ISO 14001:2009.
An encoder is a device for mounting that cannot be used independent of its foreseen
function. For this reason an encoder is not equipped with immediate safe devices.
Considerations for the safety of personnel and systems must be provided by the con-
structor of the system as per statutory regulations.
Due to its design, the AFS60/AFM60 EtherNet/IP can only be operated within an
EtherNet/IP network. It is necessary to comply with the EtherNet/IP specifications and
guidelines for setting up an EtherNet/IP network.
In case of any other usage or modifications to the AFS60/AFM60 EtherNet/IP, e.g.
opening the housing during mounting and electrical installation, or in case of modifica-
tions to the SICK software, any claims against SICK STEGMANN GmbH under warranty
will be rendered void.

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2 ON SAFETY

2.3 General safety notes and protective measures

WARNING
Please observe the following procedures in order to ensure the correct and safe use
of the AFS60/AFM60 EtherNet/IP!
The encoder is to be installed and maintained by trained and qualified personnel with
knowledge of electronics, precision mechanics and control system programming. It is
necessary to comply with the related standards covering the technical safety stipula-
tions.
The safety regulations are to be met by all persons who are installing, operating or
maintaining the devices:
• The operating instructions must always be available and must always be followed.
• Unqualified personnel are not allowed to be present in the vicinity of the system
during installation and maintenance.
• The system is to be installed in accordance with all applicable safety regulations
and the mounting instructions.
• All work safety regulations of the applicable countries are to be followed during
installation.
• Failure to follow all applicable health and safety regulations may result in injury or
damage to the system.
• The current and voltage sources in the encoder are designed in accordance with
all applicable technical regulations.

2.4 Environmental protection

Please note the following information on disposal.
Assembly Material Disposal
Packaging Cardboard Waste paper
Shaft Stainless steel Scrap metal
Flange Aluminium Scrap metal
Housing Aluminium die cast Scrap metal
Electronic assemblies Various Electronic waste
Table 2: Disposal of the assemblies

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 PRODUCT DESCRIPTION 3

3 Product description
This chapter provides information on the special features and properties of the
AFS60/AFM60 EtherNet/IP. Absolute EncoderIt describes the construction and the
operating principle of the device.
b Please read this chapter before mounting, installing and commissioning the
device.
NOTE
SICK uses standard IP technology in its products. The focus is on the availability of the
products and services. SICK always assumes that the integrity and confidentiality of
data and the rights related to the usage of the aforementioned products will be ad-
dressed by the customer. In any case suitable security measures, e.g. network separa-
tion, firewalls, anti-virus protection, patch management etc. are always to be implemen-
ted by the customer to suit the situation.

3.1 Special features

Singleturn encoder

Multiturn encoder
Properties
Absolute Encoder in 60 mm design C C
Robust nickel coded disk for harsh environments C C
High precision and reliability C C
Large ball bearing spacing of 30 mm C C
High level of resistance to vibration C C
Optimal rotational accuracy C C
Compact design C C
Face mount flange, servo flange and blind hollow C C
shaft
18 bit singleturn resolution C C
(1 to 262,144 steps)
30 bit total resolution C
12 bit multiturn resolution C
(1 to 4,096 revolutions)
Round axis functionality C
EtherNet/IP interface (according to IEC 61784-1) C C
Supports the encoder profile 22h defined in the CIP C C
(Common Industrial Protocol)
Device Level Ring (DLR) C C
Table 3: Special features of the encoder variants

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3 PRODUCT DESCRIPTION

3.2 Operating principle of the encoder

The AFS60/AFM60 EtherNet/IP acquires the position and velocity of rotating axes and
outputs the position in the form of a unique digital numeric value. Optical acquisition of
the rotary position value is from an internal coded disk.
The AFS60 EtherNet/IP is a singleturn encoder
Singleturn encoders are used if the absolute position of the shaft for one revolution is
required.
The AFM60 EtherNet/IP is a multiturn encoder
Multiturn encoders are used if more than one shaft revolution must be acquired
absolutely.

3.2.1 Scaleable resolution

The steps per revolution and the total resolution can be scaled and adapted to the
related application.
The steps per revolution can be scaled from 1 … 262,144 as an integer. The total
resolution of the AFM60 EtherNet/IP must be 2ⁿ times the steps per revolution. This
restriction is not relevant if the round axis functionality is activated.

3.2.2 Preset function

The position value for an encoder can be set with the aid of a preset value. I.e. the
encoder can be set to any position within the measuring range. In this way, e.g., the
encoder’s zero position can be adjusted to the machine’s zero point.
1 2
Actual position
value

Offset
Offset

Position value Position value after

after preset switching back on

Figure 1: Setting a preset value

1 = Setting a preset value

2 = On switching back on

On switching off the encoder, the offset, the delta between the real position value and
the value defined by the preset, is saved. On switching back on the new preset value is
formed from the new real position value and the offset. Even if the position of encoder
changes while it is switched off, this procedure ensures the correct position value is
still output.

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 PRODUCT DESCRIPTION 3

3.2.3 Round axis functionality

The encoder supports the function for round axes. During this process, the steps per
revolution are set as a fraction (see section 3.6.10 on page 42). As a result, the total
resolution does not have to be configured to 2ⁿ times the steps per revolution and can
also be a decimal number (e.g. 12.5).
NOTE
The output position value is adjusted with the zero point correction, the code sequence
set and the gearbox parameters entered.

Example with transmission ratio

A rotary table for a filling system is to be controlled. The steps per revolution are pre-
defined by the number of filling stations. There are nine filling stations. For the precise
measurement of the distance between two filling stations, 1000 steps are required.

Rotary table with nine filling stations

125

10
Encoder

Figure 2: Example position measurement on a rotary table with transmission ratio

The number of revolutions is pre-defined by the transmission ratio = 12.5 of the rotary
table gearing.
The total resolution is then 9 × 1000 = 9000 steps, to be realized in 12.5 revolutions
of the encoder. This ratio cannot be realized via the steps per revolution and the total
resolution, as the total resolution is not 2ⁿ times the steps per revolution.
The application problem can be solved using the round axis functionality. Here the
steps per revolution are ignored. The total resolution as well as the nominator and
divisor for the number of revolutions are configured.
9000 steps are configured as the total resolution.
For the nominator for the number of revolutions 125 is configured, 10 as the divisor
(125/10 = 12.5).
After 12.5 revolutions (that is after one complete revolution of the rotary table) the
encoder reaches the total resolution of 9000.

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3 PRODUCT DESCRIPTION

Example without transmission ratio

Rotary table with nine filling stations

1000 steps

Encoder

Figure 3: Example position measurement on a rotary table without transmission ratio

The encoder is mounted directly on the rotary table. The transmission ratio is 1:1.
The rotary table has 9 filling stations. The encoder must be configured such that it
starts to count with 0 at one filling station and counts to 999 on moving to the next
filling station position.
1000 steps are configured as the total resolution.
For the nominator for the number of revolutions 1 is configured, 9 as the divisor
(1/9 revolutions = 1000).
After 1/9 revolutions of the encoder shaft there are 1000 steps, then the encoder starts
to count at 0 again.

3.3 Integration in EtherNet/IP

3.3.1 EtherNet/IP architecture

EtherNet/IP and therefore also the AFS60/AFM60 EtherNet/IP use Ethernet for the
transmission technology.
The network components are generally integrated into a star or line topology.

Switch HMI

PLC

Encoder Encoder
Figure 4: Example of an EtherNet/IP network in a star topology.

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 PRODUCT DESCRIPTION 3

The system can also be integrated in a Device Level Ring (DLR) in order to achieve a
higher reliability and less wiring effort.

HMI
PLC

Encoder Encoder
Figure 5: Example of an EtherNet/IP network in a Device Level Ring

The AFS60/AFM60 EtherNet/IP supports Device Level Ring.

3.3.2 EtherNet/IP communication

MAC address
Each AFS60/AFM60 EtherNet/IP has a factory-assigned worldwide unique MAC
address for device identification. It is used for the identification of the Ethernet node.
This 6 byte device identification can not be changed and comprises the following
components:
• 3 bytes manufacturer ID
• 3 bytes device ID
TCP/IP and UDP/IP
EtherNet/IP uses TCP/IP or UDP/IP for the communication.
For identification the IP address is required. A fixed address is assigned to the encoder
using the address switches or the address is obtained from a DHCP server.
If the IP address is configured fix, only the least significant byte can be configured.
192.168.1.xxx is preset permanently.
Additionally the subnet mask (default = 255.255.255.0) and if required a gateway
must be configured in the network.
For real-time communication between the controller and the encoder in EtherNet/IP
Implicit messaging is used. With implicit messaging, a connection is established bet-
ween two devices within the CIP to transfer, e.g., I/O data such as position, velocity etc.
from the encoder to the controller (see also section 3.4.4 “Position Sensor Object” on
page 28). Implicit messaging uses UDP/IP via port 2222. As a result a fast data rate is
used.
Explicit messaging is used in EtherNet/IP for communication that does not need to
take place in real time. Explicit messaging uses TCP/IP, it is used e.g. to transfer para-
meters from the controller to the encoder (see also section 3.4.3 “Assembly Object” on
page 22).

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3 PRODUCT DESCRIPTION

Common Industrial Protocol (CIP)

EtherNet/IP uses the CIP on the process layer. Similarly as e.g. FTP is used for the
transfer of files, this protocol is used for process control.

Process layer

Communication layers
Explicit Messaging Implicit Messaging

Physical layer

Figure 6: CIP and other services

The AFS60/AFM60 EtherNet/IP meets the requirements of the EtherNet/IP protocol

according to IEC 61784-1 and those of the encoder profile 22h.
The encoder is an I/O adapter in the EtherNet/IP. It receives and sends explicit mes-
sages and implicit messages either cyclic or on request (polled).

EtherNet/IP communication
EtherNet/IP is based on the standard Ethernet FRAME. This contains the Ethernet
header, the Ethernet data and the Ethernet trailer. The MAC addresses of the receiver
(destination address) and of the source (source address) are contained in the Ethernet
header.

Transmission sequence

Header Data Field Trailer

46 … 1500 Byte

Figure 7: Ethernet FRAME

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 PRODUCT DESCRIPTION 3

The Ethernet data field consists of several nested protocols:

• The IP datagram is transported in the user data of the Ethernet data field.
• The TCP segment or the UDP datagram are transported in the user data of the IP
datagram.
• The CIP protocol is transported in the user data of the TCP segment or of the UDP
datagram.

TCP/UDP
IP header header CIP header CIP data

CIP protocol
TCP segment or UDP datagram
IP datagram

Figure 8: Ethernet data field

3.4 CIP object model

EtherNet/IP uses a so-called object model for network communication wherein all
functions and data of a device are defined.
The most important terms are as follows:
Class A class contains related objects of a device, organized in instances.
Instance An instance consists of different attributes that describe the properties of this instance.
Different instances of a class have the same services and the same attributes. They
can, however, have different attribute values.
Attribute The attributes represent the data a device provides over EtherNet/IP. These include the
current values of, for example, a configuration or an input. Typical attributes are confi-
guration or status information.
Service Services are used to access classes or the attributes of a class or to generate specific
events. These services execute defined actions such as the reading of attributes.
Class Instance Attribute Value
Code 23h 1h 0Ah 3FFFFFFFh
Designation Position Sensor Class has one Current position Example
Object instance value
Table 4: Example CIP object model

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3 PRODUCT DESCRIPTION

3.4.1 Supported classes

The AFS60/AFM60 EtherNet/IP supports the following classes of the 22h encoder
profile:

48h QoS 47h DLR

23h Position Sensor 01h Identity

02h
Message
Router
04h Assembly
F4h
F5h
F6h
Network

06h Connection Manager

Figure 9: Supported classes

Class code Class Description Access Instances

01h Identity Object Includes all device specific data (e.g. Get 1
ID, device type, device status etc.)
02h Message Includes all supported class codes of Get 1
Router Object the encoder and the maximum num-
ber of connections
04h Assembly Assembles the data of several ob- Get 7
Object jects to one single object. Supplies
(for example) the position value of
the encoder
06h Connection Includes connection specific attri- Get 1
Manager butes for triggering, transport,
Object connection type etc.
23h Position Includes all attributes for the pro- Set/Get 1
Sensor Object gramming of the encoder parame-
ters such as the scaling
F4h Port Object Includes the available ports, port Get 1
name and node address
F5h TCP/IP Includes the attributes for TCP/IP Set/Get 1
Interface such as IP address, subnet mask
Object and gateway or acquisition of the
IP address via DHCP or hardware
switches

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 PRODUCT DESCRIPTION 3

Class code Class Description Access Instances

F6h Ethernet link Includes connection specific Get 3
object attributes such as transmission
speed, interface status and the MAC
address
47h Device Level Includes status attributes and Get 1
Ring (DLR) configuration attributes of the DLR
Object protocol
48h Quality of Contains mechanisms for processing Get 1
Service (QoS) data streams with different priorities
Object
Table 5: Supported classes

3.4.2 Identity Object

The device information and device parameters are opened via the instances.

48h QoS 47h DLR

23h Position Sensor 01h Identity

02h
Message
Router

04h Assembly
F4h
F5h
F6h
Network

06h Connection Manager

Figure 10: Connections for the Identity Object

Service code Service Description

01h Get_Attribute_All Returns the values of all attributes
0Eh Get_Attribute_Single Returns the values of one attribute
Table 6: Class services of the Identity Object

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Attribute ID Access Description Data type Default value

1 Get Object revision index UINT 0001h
2 Get Highest instance number UINT 0001h
within this class
3 Get Number of object instances in UINT 0001h
this class
4 Get Optional attribute list STRUCT –
6 Get Highest existing class attribute UINT 0007h
ID
7 Get Highest implemented instance UINT 0075h
attribute
Table 7: Class attributes of the Identity Object

NOTE
Class attribute 5 is not implemented.

Service code Service Description

01h Get_Attribute_All Returns the values of all attributes
0Eh Get_Attribute_Single Returns the values of one attribute
05h Reset Resets the device:
0 = The device is re-initialized (power on).
1 = The device is re-initialized (power on) and reset
to the factory settings.
Table 8: Instance Services of the Identity Object

Attribute Access Name Description Data type Default value

ID
01h Get Vendor ID Manufacturer ID UINT 0328h
0328h = SICK
02h Get Device Device profile UINT 0022h
Type
22h = Encoder
03h Get Product Vendor specific product code UINT
Code
03h = Singleturn
04h = Multiturn
04h Get Revision Contains the firmware revi- STRUCT
sion number in the format
XX.XX
Get Major First part of the revision UINT 01h
Revision number, e.g. 01
(depending on the release)
Get Minor Last part of the revision UINT 02h
Revision number, e.g. 02
(depending on the release)
05h Get Status Device status flags WORD See Table 10

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Attribute Access Name Description Data type Default value

ID
06h Get Serial Serial number in the format UDINT 0E340001h
Number
YY.WW.xxxx
Y = Year
W = Week
x = Sequential number
e. g. 0E.34.0001
(depending on the release)
07h Get Product Product name Short_ AFx60A-
Name String Eth/IP
68h Get Vendor Firmware version in the FPGA UDINT 00010200h
(e. g. 1.2.0)
Table 9: Instance attributes of the Identity Object

Bit Name Description Default value

0 Owned 0 = No connection to the master 0
1 = Connection to the master established
1 – Reserved 0
2 Configured 0 = Device with standard configuration 0
1 = No standard configuration
3 – Reserved 0
4…7 Extended Device Vendor specific status bits See Table 11
Status field
8 Minor 0 = No error 0
Recoverable
Status 1 = Recoverable error (device not in error
status)
9 Minor 0 = No error 0
Unrecoverable
Status 1 = Recoverable error (device not in error
status)
10 Major 0 = No serious error 0
Recoverable
Status 1 = Serious error that can be reset (device
in error status)
11 Major 0 = No serious error 0
Unrecoverable
Status 1 = Serious error that cannot be reset
(device in error status)
12 … 15 – Reserved 0000
Table 10: Bits of the instance attribute “Status”

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Possible combinations Description

Bit 4 … 7
0000 Device in self test
0001 Firmware update in progress
0010 At least one connection error
0011 No I/O connection established
0100 Configuration in non-volatile memory (EEPROM) failed
0101 Serious error, bit 10 or bit 11 = 1
0110 At least one connection in the “Run” operating mode
0111 At least one connection exists, all in “Idle” operating mode
1000 … 1111 Reserved
Table 11: Bits 4 to 7 of the instance attribute “Status”

3.4.3 Assembly Object

The Assembly Object allows assembling of data attributes of other objects in one single
object. The AFS60/AFM60 EtherNet/IP supports only static assemblies of attributes.
For this reason the number of instances is fixed.
Service code Service Description
01h Get_Attribute_All Returns the values of all attributes
0Eh Get_Attribute_Single Returns the values of one attribute
Table 12: Class services of the Assembly Object

Attribute ID Access Description Data type Default value

1 Get Object revision index UINT 0002h
2 Get Highest instance number UINT 006Ah
within this class
3 Get Number of object instances UINT 0007h
in this class
6 Get Highest existing class UINT 0007h
attribute ID
7 Get Highest implemented UINT 0004h
instance attribute
Table 13: Class attributes of the Assembly Object

NOTE
Class attributes 4 and 5 are not implemented.

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The encoder supports only “Input” and “Listen Only” connections.

Service code Service Description
01h Get_Attribute_All Returns the values of all attributes
0Eh Get_Attribute_Single Returns the values of one attribute
Table 14: Instance Services of the Assembly Object

Instance Attribute Access Description Bits Bytes

ID
1 3 Get Position value 32 4
2 3 Get Position value 32 5
Warning and alarm flags 8
3 3 Get Position value 32 8
Velocity 32
4…5 – – – – –
100 3 Set/Get Configuration data 224 28
101 3 Get Error 32 8
Position value 32
102 3 Get Error 32 9
Position value 32
Warning and alarm flags 8
103 3 Set/Get Error 32 12
Position value 32
Velocity 32
101WS 3 Get Error 32 8
Position value 32
102WS 3 Get Error 32 9
Position value 32
Warning and alarm flags 8
103WS 3 Set/Get Error 32 12
Position value 32
Velocity 32
110 3 Set/Get Dummy instance for the configuration 0 0
data of a “Listen-only” connection
Table 15: Instance attributes of the Assembly Object

NOTE
• Instances 4 and 5 from the encoder profile 22h are not implemented.
• The instances 100 to 110 are manufacturer-specific assemblies.
• If the instances 101, 102 and 103 are used, then configuration assembly 100 is
activated. If the instances 101WS, 102WS and 103WS are used, then configura-
tion assembly 100 is not activated.

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I/O Assembly
The I/O data are retrieved/output via instances.

48h QoS 47h DLR

23h Position Sensor 01h Identity

02h
Message
Router
04h Assembly

F4h
F5h
F6h
Network

06h Connection Manager

Figure 11: Connections for the I/O assembly

Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1 0 Position value (least significant byte)
1 Position value
2 Position value
3 Position value (most significant byte)
2 0 Position value (least significant byte)
1 Position value
2 Position value
3 Position value (most significant byte)
4 Warning Alarm
3 0 Position value (least significant byte)
1 Position value
2 Position value
3 Position value (most significant byte)
4 Velocity value (least significant byte)
5 Velocity value
6 Velocity value
7 Velocity value (most significant byte)

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Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
101/ 0 Fault header (least significant byte, see Table 30 on page 103)
101WS
1 Fault header
2 Fault header
3 Fault header (most significant byte)
4 Position value (least significant byte)
5 Position value
6 Position value
7 Position value (most significant byte)
102/ 0 Fault header (least significant byte)
102WS
1 Fault header
2 Fault header
3 Fault header (most significant byte)
4 Position value (least significant byte)
5 Position value
6 Position value
7 Position value (most significant byte)
8 Warning Alarm
103/ 0 Fault header (least significant byte, see Table 30 on page 103)
103WS
1 Fault header
2 Fault header
3 Fault header (most significant byte)
4 Position value (least significant byte)
5 Position value
6 Position value
7 Position value (most significant byte)
8 Velocity value (least significant byte)
9 Velocity value
10 Velocity value
11 Velocity value (most significant byte)
Table 16: Data format of the attributes of the I/O assembly

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Configuration Assembly
The encoder can be configured via the configuration assembly.

48h QoS 47h DLR

23h Position Sensor 01h Identity

02h
Message
Router

04h Assembly
F4h
F5h
F6h
Network

06h Connection Manager

Figure 12: Connections for the configuration assembly

NOTE
• If you integrate the encoder as a generic module, then you can activate or not ac-
tivate the configuration assembly independent of the I/O assembly instances.
• If you use the EDS file (electronic data sheet) for the encoder, then the configu-
ration assembly is activated or not activated depending on the I/O assembly
instances:
○ active with instances 101, 102 and 103
○ not active with instances 101WS, 102WS and 103WS
• If the configuration assembly is activated, then it is not allowed to be empty.
Otherwise in some circumstances the control system may output an error.

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Instance Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
100 0 Not used
1 Not used
2 Not used
3 Not used
4 Steps per revolution CPR (least significant byte)
5 CPR
6 CPR
7 CPR (most significant byte)
8 Total resolution CMR (least significant byte)
9 CMR
10 CMR
11 CMR (most significant byte)
12 Not used cw/
ccw 1)
13 Not used scf 2)
14 Not used raf 3)
15 Not used
16 Nominator for the number of revolutions CNR_N (least significant byte)
17 CNR_N
18 CNR_N
19 CNR_N (most significant byte)
20 Divisor for the number of revolutions CNR_D (least significant byte)
21 CNR_D
22 CNR_D
23 CNR_D (most significant byte)
24 Velocity measuring unit (least significant byte)
25 Velocity measuring unit (most significant byte)
26 Not used
27 Not used
Table 17: Data format for the attributes for the configuration assembly

NOTE
• The structure of the configuration assembly is fixed.
• During the initialization of the encoder, it reads the data from the control system.
• The “Heartbeat connection point” for PLC input connections, that is for the enco-
der output, must be set to 198 (see Figure 30 on page 54).
• The “Heartbeat connection point” for listen-only connections must be set to 199.

1)
cw = clockwise.
ccw = counterclockwise.
2)
scf = scaling function.
3)
raf = round axis functionality.

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3.4.4 Position Sensor Object

The Position Sensor Object contains all the attributes of the encoder. All parameters
can be retrieved or set using explicit messages.

48h QoS 47h DLR

23h Position Sensor 01h Identity

02h
Message
Router

04h Assembly
F4h
F5h
F6h
Network

06h Connection Manager

Figure 13: Connections for explicit messages to the Position Sensor Object

Service code Service Description

05h Reset Resets the encoder to the default factory settings
0Eh Get_Attribute_Single Returns the values of one attribute
15h Restore Restores all parameters last saved in non-volatile
memory
16h Save Saves parameters in the non-volatile memory (see
section 3.6.1 on page 37)
Table 18: Class services of the Position Sensor Object

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Attribute ID Access Description Data type Default value

1 Get Object revision index UINT 0002h
2 Get Highest instance number UINT 0001h
within this class
3 Get Number of object instances UINT 0001h
in this class
4 Get Optional attribute list STRUCT –
5 Get Optional services list STRUCT –
6 Get Highest existing class UINT 0064h
attribute ID
7 Get Highest implemented UINT –
instance attribute
100 Get Firmware version Array AFx_aa.bb.
dd.mm.yy
Table 19: Class attributes of the Position Sensor Object

Service code Service Description

0Eh Get_Attribute_Single Returns the values of one attribute
10h Set_Attribute_Single Sets the value of an attribute
Table 20: Instance services of the Position Sensor Object

Attribute Access V/NV 4) Name Description Data Min.

ID type Max.
(default value)
01h Get V Number of Number of attributes UINT 0000h
Attributes in this class FFFFh
02h Get V Attribute List of the supported Array of –
List attributes Bytes
0Ah Get V Position Current position DINT –
Value value
Signed
0Bh Get NV Position 01h = Singleturn UINT 0001h
Sensor 02h = Multiturn 0002h
Type (0002h)
0Ch Set NV Direction Code sequence BOOL (0)
Counting 0 = Clockwise
1 = Counterclockwise
0Dh Set NV Commis- Encoder self-test BOOL (0)
sioning 0 = Off
Diagnostic 1 = On
Control
0Eh Set NV Scaling Scaling BOOL (0)
Function 0 = Off
Control 1 = On
0Fh Set NV Position Format of the posi- ENG (1001h)
Format tion measurement UINT
1001h = Steps

4)
V = volatile, NV = non-volatile.

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Attribute Access V/NV 4) Name Description Data Min.

ID type Max.
(default value)
10h Set NV Counts Number of steps per UDINT 00000001h
per Range revolution (CPR) 00040000h
(00040000h)
11h Set NV Total Total resolution UDINT 00000001h
Measuring (CMR) 40000000h
Range (4,096 ×
attribute 10h)
12h Set NV Position Minimum resolution UDINT 00000001h
Measuring (always 1) 00000001h
Increment
13h Set NV Preset Preset value DINT 00000000h
Value Attribute
11h – 1
(00000000h)
15h Get NV Position Indicates whether Byte (00h)
Status the limit set by the
Register attributes 16h and
17h is dropped
below/exceeded.
Bit 0 = Out of range
Bit 1 = Over range
Bit 2 = Under range
Bit 3 … 7 = Reserved
16h Set NV Position Lower limit for the DINT 00000000h
low limit position 5) 3FFFFFFFh
(00000000h)
17h Set NV Position Upper limit for the DINT 00000000h
high limit position 5) 3FFFFFFFh
(3FFFFFFFh)
18h Get V Velocity Current velocity. The DINT 00000000h
Value format is defined by XXXXXXXXh 6)
the attributes 19h
and 1Ah.
19h Set NV Velocity Velocity unit ENG (1F0Fh)
Format 1F04h = counts/s UINT
1F05h = counts/ms
1F0Eh = turns/s
1F0Fh = turns/min
1F10h = turns/h
1Ah Set NV Velocity Minimum resolution DUINT (00000001h)
Resolution of the velocity
measurement

5)
Using the lower and upper limit for the position you can realize range monitoring. This is not an electronic cam.
6)
The maximum velocity is dependent on the mechanical interface used, “solid shaft” or “blind hollow shaft” (see data sheet).

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Attribute Access V/NV 4) Name Description Data Min.

ID type Max.
(default value)
1Bh Set NV Minimum Lower/upper limit for DINT (–12,000)
Velocity the velocity in
Setpoint turns/min 7). If the
velocity drops
1Ch Set NV Maximum DINT (+12,000)
below/exceeds this
velocity value, the warning
setpoint flag (attribute 2Fh) is
set.
1Dh Get V Accelera- Current acceleration. DINT 00000000h
tion value The format is defined FFFFFFFFh
by the attributes 1Eh
and 1Fh.
1Eh Set NV Accelera- Acceleration unit ENG (0810h)
tion 0810h = counts/ms² UINT
format 0811h = counts/s²
0812h = turns/s²
0813h = rad/s²
1Fh Set NV Accelera- Minimum resolution DUINT (1)
tion of the acceleration
resolution measurement
20h Set NV Minimum Lower/upper limit for DINT (C0000001h)
Accelera- the acceleration in
tion counts/ms² 8). If the
Setpoint acceleration drops
below/exceeds this
21h Set NV Maximum DINT (3FFFFFFFh)
value, the warning
accelera- flag (attribute 2Fh) is
tion set.
setpoint
29h Get V Operating Operating status of Byte
Status the encoder
Bit 0: Direction
0 = Counting up
1 = Downward
counting
Bit 1: Scaling
0 = Off
1 = On
Bit 2 … 4: Reserved
Bit 5: Diagnostics
on/off
0 = Off
1 = On
Bit 6, 7: Reserved
2Ah Get NV Physical Physical resolution UDINT (40000h)
Resolution per revolution =
Span 18 bits

7)
The unit changes with the velocity format (attribute ID 19h). The limits must then be converted correspondingly, e.g. 12,000 turns/min =
200 turns/s.
8)
The unit changes with the acceleration format (attribute ID 1Eh). The limits must then be converted correspondingly, e.g. 2 counts/ms² =
2,000,000 counts/s².

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Attribute Access V/NV 4) Name Description Data Min.

ID type Max.
(default value)
2Bh Get NV Physical Physical number of UINT (0001h)
Resolution revolutions or
(1000h)
Number of 0001h = Singleturn
Span 1000h = Multiturn
2Ch Get V Alarms Bit field with flags for WORD –
alarms and errors
(see Table 31:
Alarms on page 104)
2Dh Get NV Supported Supported alarms WORD 3003h
Alarms and errors
2Eh Get V Alarm flag 0 = No alarm/error BOOL –
1 = Alarm/error
2Fh Get V Warnings Bit field with flags for WORD –
warnings (see
Table 32: Warnings
on page 105)
30h Get NV Supported Supported warnings WORD 67C3h
Warnings
31h Get V Warning 0 = No warning BOOL –
Flag 1 = Warning
32h Get NV Operating Saved operating time UDINT 0
Time in 0.1 h = 6 min
33h Get NV Offset Offset value is calcu- DINT 00000000h
Value lated on the initiali-
zation of the preset
function
64h Get V Tempera- Current temperature INT F060h
ture Value with ±5 accuracy 2710h
–40 to +100 °C or
–40 to +212 °F
65h Set NV Tempera- Temperature unit ENG (1200h)
ture Value 1200h = °C (Celsius) UINT
Format 1201h = °F (Fahren-
heit)
66h Set NV Tempera- Lowest resolution for UDINT (00000064h)
ture the temperature
Resolution (°C/100 or °F/100)
67h Set NV Minimum Lower/upper limit for INT F060h
Tempera- the temperature in –
ture °C 9). (F060h =
Setpoint If the temperature –4,000)
drops below/exceeds
68h Set NV Maximum this value, the war- INT –
Tempera- 2710h
ning flag (attribute
ture (2710h =
2Fh) is set.
Setpoint +10,000)
or
(52D0h =
+21,200)

9)
The unit changes with the temperature value format (attribute ID 65h). The limits must then be converted correspondingly.

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Attribute Access V/NV 4) Name Description Data Min.

ID type Max.
(default value)
69h Get V Fault See Table 30 on DWORD (00000000h)
header page 103
6Ah Set V Special Bit field with flags for DWORD (00000500h)
Encoder special encoder
Function- functions
alities
Bit 0: Slave Sign of
Life (on/off)
Bit 1 … 7: Not used
Bit 8 … 15: Update
factor (2 … 127)
Bit 16 … 31: Not
used
6Bh Get NV Encoder Saved motion time in UDINT –
Motion seconds (is in-
Time creased in case of
movement)
6Ch Get NV Encoder Saved operating time UDINT –
Operating in seconds (is in-
Time creased as soon as
the encoder is in
operation)
6Dh Get NV Max. Highest velocity that UDINT –
velocity the encoder has
reached since start-
up 10)
6Eh Get NV Max. Highest acceleration UDINT –
accelera- that the encoder has
tion reached since start-
up 11)
6Fh Get NV Max. temp Highest operating UDINT –4,000
temperature reached
in C°/100
70h Get NV Min. Lowest operating UDINT 10,000
Temp temperature reached
in C°/100
71h Get NV Number of Number of times the UDINT –
Start-ups encoder has been
commissioned
(powered on)
72h Get V LED Actual internal LED UINT 200
Current current of the sensor 25,000
Value in µA (0)
73h Get NV Max. Maximum internal UINT 200
current LED current for the
value sensor in µA
74h Get NV Min. Minimum internal UINT 25,000
Current LED current in the
Value sensors in µA

10)
The value is output in the format defined in attribute ID 19h.
11)
The value is output in the format defined in attribute ID 1Eh.

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Attribute Access V/NV 4) Name Description Data Min.

ID type Max.
(default value)
75h Get V Direction Number of changes UDINT 0
change in the direction of
counter rotation
(The counter incre-
ments if the encoder
changes direction of
rotation.)
76h Get V Revolution Number of clockwise UDINT 0
counter starts (The counter is
forward increased if the en-
coder moves clock-
wise.)
77h Get V Revolution Number of counter- UDINT 0
counter clockwise starts (The
backwards counter is increased
if the encoder moves
counterclockwise.)
78h Get V Power Current operating UINT 9,500
Supply voltage in mV 30,500
Voltage (24,000)
79h Get V Max. Maximum operating UINT 0
power voltage in V (is saved 33
supply in EEPROM) (0)
voltage
7Ah Get V Preset Offset value calcula- DINT (00000000)
Offset ted from the preset
Value value 12)
7Dh Set NV Endless Activates round axis BOOL (0)
Shaft functionality
Function-
ality 0 = Off
1 = On
7Eh Set NV Number of Nominator for the UDINT 1
Revolu- number of 2,048
tions, revolutions (2,048)
Nominator
7Fh Set NV Number of Divisor for the UDINT 1
Revolu- number of 65,535
tions, revolutions (1)
Divisor
80h Set NV Velocity Number of measured UDINT 0
Filter values from which an 128
Integra- average value is (1)
tion Time formed
81h Set NV Velocity Bandwidth of the low UDINT 0
Filter pass filter in Hz 1000
Bandwidth (100)
0 = Deactivated
82h Set NV Accelera- Number of measured UDINT 0
tion filter values from which an 128
integration average value is (1)
time formed

12)
With normal scaling = physical position; for round axis functionality = physical position + range offset.

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Attribute Access V/NV 4) Name Description Data Min.

ID type Max.
(default value)
83h Set NV Accelera- Bandwidth of the low UDINT 0
tion filter pass filter in Hz 1000
bandwidth (100)
0 = Deactivated
84h Set NV Velocity Hysteresis for the UDINT 0
Hysteresis velocity limits (attri- 3FFFFFFF
butes 1Bh and 1Ch) (0)
The unit depends on
attribute ID 19h.
85h Set NV Accelera- Hysteresis for the UDINT 0
tion acceleration limits 3FFFFFFF
hysteresis (attributes 20h and (0)
21h)
The unit depends on
the attribute ID 1Eh.
86h Set V Motion Limit for the motion UDINT 00000000h
time limit time in seconds FFFFFFFFh
(630,720,000)
87h Set V Power Limit for the opera- UDINT 00000000h
time limit ting time in seconds FFFFFFFFh
(630,720,000)
88h Set V Direction Limit for the number UDINT 00000000h
changes of changes in the FFFFFFFFh
limit direction of rotation (1,000,000)
89h Set V Starts in Limit for the number UDINT 00000000h
cw limit of clockwise starts FFFFFFFFh
(1,000,000)
8Ah Set V Starts in Limit for the number UDINT 00000000h
ccw limit of counterclockwise FFFFFFFFh
starts (1,000,000)
8Bh Set V Reset Resets bit 15 in the Byte (00h)
fault fault header (see
header Table 30 on
bit 15 page 103)
Table 21: Instance attributes of the Position Sensor Object

Filter for the velocity (attribute 80h and 81h) or the acceleration (attribute 82h
and 83h)
The filters are used to smooth the raw velocity and acceleration values.
NOTE
The filters are applied in the following sequence:
• integration time filter for the velocity (80h) or acceleration (82h)
• low pass filter for the velocity (81h) or acceleration (83h)

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The filter with the attribute 80h forms an average value from the measured velocity
values. The filter with the attribute 82h forms an average value from the measured
acceleration values:
• With a configured value of 1 the average value is formed from 2 measured values.
• With a configured value of 128 the average value is formed from 129 measured
values.
The filter with the attribute 81h forms a low pass for the measured velocity values. The
filter with the attribute 83h forms a low pass for the measured acceleration values:
• From the factory this is configured to 100 Hz. I.e. only velocity and acceleration
values £ 100 Hz are taken into account.

3.5 Integration and configuration options

The encoder can be integrated in EtherNet/IP in various ways and configured depen-
ding on the integration.

3.5.1 Integration in EtherNet/IP

The encoder can be integrated in EtherNet/IP:
• as Generic Modules (see section 5.4 on page 53):
You enter all module settings manually.
• with the aid of an EDS file (see section 5.5 on page 56):
The module settings for the encoder AFS60/AFM60 EtherNet/IP are already
predefined.

3.5.2 Configuration
The following options are available to configure the encoder:
• the configuration assembly
• the controller tags in the controller organizer
• the web server integrated in the encoder
Case 1: On integration as a generic module
If you have integrated the encoder as a generic module, then you can configure it
depending on the Connection Parameters entered.
• If the configuration assembly is activated in Connection Parameters, then you
must use the configuration assembly for configuration (see section 5.4.1 on
page 54).
In addition you can configure the parameters that are not contained in the confi-
guration assembly using the web server integrated in the encoder.
• If the configuration assembly is not activated in Connection Parameters, you can
use the web server to configure all parameters (see chapter 6 on page 87).
NOTE
If the configuration assembly is active, all the parameters entered there overwrite the
parameters that have been configured using the web server.

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Case 2: On integration with the aid of the EDS file

If you have integrated the encoder with the aid of the EDS file, then you can configure it
depending on the selected I/O assembly instances (see Table 15 on page 23).
• If you use the instances 101, 102 or 103, then the configuration parameters can
be configured in the Controller Tags. In addition you can use the web server to
configure the parameters that are not contained in the configuration assembly.
• If you use the instances 101WS, 102WS or 103WS, then you can use the web
server to configure the parameters.
Case 3: On usage of the ladder routine for the configuration mapping
A ladder routine is available for mapping the configuration data for the
AFS60/AFM60 EtherNet/IP (see section 5.6 on page 59).
If the ladder routine is used for mapping, and you use the instances 101WS, 102WS or
103WS (see Table 15 on page 23), then the encoder can be configured from the con-
trol system (in the Controller Tags) and also with the aid of the web server.
NOTE
In cases 1 and 2 the parameters are configured offline and written to the encoder and
activated on changing to the online mode.
If the ladder routine is used (case 3), then changes to the configuration are effective
immediately also in the online mode!

Parameter changes via the web server are applied immediately on the control system
side and displayed. Parameter changes via the control system are applied immediately.
However, to display them in the web browser you must refresh the related page.
WARNING
Before changing the configuration, check whether there is a hazard from the
machine or system in which the encoder is integrated!
The ladder routine offers the possibility to change the parameter data during operation,
i.e. while the control system is in the online mode.
The change to the configuration therefore has immediate effects on the data output
from the encoder. This change could cause an unexpected reaction that may result in a
hazard for persons or damage to the system or other items.

3.6 Configurable functions

3.6.1 Saving configuration and resetting

The configuration memory in the AFS60/AFM60 EtherNet/IP is divided into three. The
following table shows the functions of the memory types.
Memory type Function
Volatile memory During operation the encoder operates with the values in the
volatile memory. Modified parameters are initially written to the
volatile memory. These data are lost on switching off.
Non-volatile memory On switching on, the encoder loads the values from the non-
volatile memory into the volatile memory.
Default factory settings Contains the pre-set values from the factory.
Table 22: Configuration memory — functions of the different types of memory

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Parameterization

Volatile memory Non-volatile memory Saved default

factory setting

Save

Restore

Acts on encoder Reset + Data 01h

Figure 14: Configuration memory

Reset: Reset to the default factory settings

b Set the address switches to 888 (see Figure 18 on page 46).
b Press the preset push-button for longer than 5 seconds.
Or:
b Use the class service Reset (service code 05h) in the Position Sensor Object (23h)
and set the data to 01h.
The parameters for the Position Sensor Object are reset to the factory settings.
Table 23 on page 39 shows which parameters are reset to which value.

Restore: Reset to the values in the non-volatile memory

Each time the encoder is switched on the values for the Position Sensor Object are
read from the non-volatile memory.
b Use the class service Restore (service code 15h) in the Position Sensor Object if
you want to read the parameters from the non-volatile memory during operation.
The parameters that have been changed since switching on but not yet saved are
lost.

Save: Save parameters in the non-volatile memory

b Use the class service Save (service code 16h) in the Position Sensor Object.
The parameters are saved in the non-volatile memory. Table 23 on page 39 shows
which parameters are saved.

Parameters that are saved or reset

Attribute ID in the Parameter Default factory setting
position sensor object
0Ch Code sequence cw
0Eh Scaling Off
10h Steps per revolution 262,144
11h Total resolution 1,073,741,824

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Attribute ID in the Parameter Default factory setting

position sensor object
13h Preset value 0
16h Lower limit for the position 0
17h Upper limit for the position 1,073,741,823
19h Velocity unit Turns/min
1Bh Lower limit for the velocity –12,000
1Ch Upper limit for the velocity 12,000
1Eh Acceleration unit Counts/ms²
20h Lower limit for the acceleration –1,073,741,823
21h Upper limit for the acceleration 1,073,741,823
65h Temperature unit °C
7Dh Round axis functionality Off
7Eh Nominator for the number of revolutions 2,048
7Fh Divisor for the number of revolutions 1
80h Number of measured values from which 1
an average value is formed
81h Bandwidth of the low pass filter 100
82h Number of measured values from which 1
an average value is formed
83h Bandwidth of the low pass filter 100
84h Hysteresis for the velocity limits 0
85h Hysteresis for the acceleration limits 0
86h Limit for the motion time in seconds 630,720,000
87h Limit for the operating time in seconds 630,720,000
88h Limit for the number of changes in the 1,000,000
direction of rotation
89h Limit for the number of clockwise starts 1,000,000
8Ah Limit for the number of counterclockwise 1,000,000
starts
Table 23: Parameters that are saved or reset

NOTE
The following parameters are not reset:
• motion time
• operating time
• lower limit for the temperature
• upper limit for the temperature
• maximum voltage supply

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3 PRODUCT DESCRIPTION

3.6.2 IP address
For identification of the encoder in the EtherNet/IP, the IP address is required. This
address is obtained for the encoder from a DHCP server (see section 5.2.2 on page 48)
or a fixed address is set using address switches (see section 4.2.1 on page 46).
• If the IP address is obtained via DHCP, then any address range is possible.
• If the IP address is set via address switches, the address range is defined as
192.168.1.xxx.

3.6.3 Slave Sign of Life

The AFS60/AFM60 EtherNet/IP supports Slave Sign of Life functionality.
It is transferred in bit 30 of the fault header. It is used so that the control system can
determine whether the encoder is in operation, even if the position data do not change
(e.g. at standstill).
The bit changes its value at the Update Cycle configured.
The update cycle is formed from the Requested Packed Interval (RPI) and an update
factor. The RPI can be between 5 and 750 ms:
update cycle = RPI × update factor × 6
The update factor is defined using attribute 6Ah in the Position Sensor Object (see
Table 21 on page 35).
The value supported is dependent on the RPI time for the encoder connection. The
update cycle should be at least twice as long as the RPI (at RPI = 750 ms therefore
1500 ms).

3.6.4 Code sequence

The code sequence defines the direction of rotation, viewed on the shaft, in which the
position value increases.
• clockwise = increasing position value on clockwise revolution of the shaft
• counterclockwise = increasing position value on counterclockwise revolution of
the shaft
3.6.5 Scaling

The scaling makes it possible to scale the steps per revolution and the total resolution.
NOTE
Only if the parameter Scaling (attribute ID 0Eh of the Position Sensor Object) is config-
ured to Enable, the values entered for the steps per revolution and the total resolution
are applied.

3.6.6 Steps per revolution

The resolution of the AFS60/AFM60 EtherNet/IP is max. 262,144 steps per revolution.
The resolution can be scaled from 1 … 262,144 as an integer.
NOTE
The parameter is not used if the round axis functionality (see section 3.6.10 on
page 42) is activated.

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3.6.7 Total resolution/measuring range

The total resolution, that is the measuring range of the AFM60 EtherNet/IP, is max.
1,073,741,824 steps. The total resolution must be 2ⁿ times the steps per revolution.
Steps per revolution n Total resolution
1,000 3 8,000
8,179 5 261,728
2,048 11 4,194,304
Table 24: Examples for total resolution

NOTE
This restriction is not relevant if the round axis functionality (see section 3.6.10 on
page 42) is activated.

3.6.8 Preset function

The preset function is used to set the encoder to a predefined start position. With the
aid of a preset value the encoder can be set to any position within the measuring
range.
The preset value can be set in the following manner:
• with the aid of the preset pushbutton
• using an acyclic explicit message
During this process the preset value is transferred as an attribute (13h) of the
Position Sensor Object.
• with the aid of the integrated web server and the ladder routine
NOTE
b Only set a preset value when the encoder is at standstill.

WARNING
Before triggering the preset function, check whether there is a hazard from the
machine or system in which the encoder is integrated!
The preset function results in an immediate change in the position value output by the
encoder. This change could cause an unexpected movement that may result in a haz-
ard for persons or damage to the system or other items.

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3 PRODUCT DESCRIPTION

3.6.9 Velocity measuring unit

Using this parameter you can define the units in which the velocity is transmitted.
Possible units are:
• counts/s 13)
• counts/ms 13)
• turns/s
• turns/min
• turns/h
The factory setting is turns/min.

3.6.10 Round axis functionality

NOTE
Only the multiturn encoder supports the round axis functionality.

The round axis functionality removes the restriction that the total resolution must be
2ⁿ-times the steps per revolution. The shaft is considered as an endless shaft.
The steps per revolution are not configured directly, instead the nominator and divisor
for the number of revolutions are defined.
The following requirements must be met:
• attribute ID 0Eh, Scaling must be set to 1.
• attribute ID 11h, Total resolution must be set to between 1 … 536,870,912.
• attribute ID 7Dh, Round axis functionality must be set to 1.
• attribute ID 7Eh, Nominator (CNR_N) must be set to 1 … 2,048.
• attribute ID 7Fh, Divisor (CNR_D) must be set to between 1 … 65,535.
Number of revolutions, divisor
The nominator can be scaled from 1 … 2,048 as an integer. The default factory setting
for the nominator is 2,048.

Number of revolutions, nominator

The divisor can be scaled from 1 … 65,535 as an integer. The default factory setting for
the divisor is 1.
Pay attention to the following restrictions:
• The total resolution of the round axis functionality is half the physical resolution
(PhysRes) of the encoder = 536,870,912.
• the total resolution ≤ CNR_N ¸ CNR_D × PhysRes
• 1 ≤ nominator ≤ ½ × 4,096
• 1 ≤ divisor ≤ 65,535
• (CNR_N ¸ CNR_D) ≤ ½ × 4,096

13)
Depending on the resolution configured.
Example: Resolution = 2,000 steps; the encoder rotates 0.5 times per second = 1.000 counts/s or 1 counts/ms.

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3.7 Controls and status indicators

The AFS60/AFM60 EtherNet/IP Absolute Encoder has five LEDs.
Three of the LEDs indicate the operating status (Net, Mod and Encoder), two the status
of the Ethernet interface (Link 1 and Link 2).

Net
Encoder
Mod
Link 2

Link 1

Screw cover

Figure 15: Position of the LEDs, the address switches and the preset pushbutton

The LEDs are multi-colored. Table 28 on page 101 and Table 29 on page 102 show the
meaning of the signals.
There are the following controls under the screw cover:
• address switches
• preset pushbutton

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4 COMMISSIONING

4 Commissioning
This chapter provides information on the electrical installation, configuration and
commissioning of the AFS60/AFM60 EtherNet/IP.
b Please read this chapter before mounting, installing and commissioning the
device.

4.1 Electrical installation

WARNING
Switch the power supply off!
The machine/system could unintentionally start up while you are connecting the
devices.
b Ensure that the entire machine/system is disconnected during the electrical
installation.

For the electrical installation you will need male and female connectors (see data sheet
for the AFS60/AFM60 EtherNet/IP).

4.1.1 Connections of the AFS60/AFM60 EtherNet/IP

The connections of the AFS60/AFM60 EtherNet/IP are on the back.

Voltage supply

Ethernet port 2
Ethernet port 1

Figure 16: Position of the connections of the AFS60/AFM60 EtherNet/IP

Ethernet port 1 Voltage supply Ethernet port 2

M12 × 4, female connector M12 × 4, plug M12 × 4, female connector
Figure 17: Connections of the AFS60/AFM60 EtherNet/IP

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NOTE
Two Ethernet connections are used if the AFS60/AFM60 EtherNet/IP is integrated in a
DLR or a line topology (see Figure 5 on page 15).

Pin Signal Wire color 14) Function

1 VS Brown Supply voltage 10 … 30 V DC
2 – White Do not use
3 GND Blue 0 V DC (ground)
4 – Black Do not use
Table 25: Pin assignment for the connection of the voltage supply

NOTE
Pin 2 and 4 are not allowed to be assigned, otherwise irreparable damage could be
caused to the AFS60/AFM60 EtherNet/IP.

Pin Signal Wire color 14) Function

1 TxD+ White/orange Ethernet
2 RxD+ White/gray Ethernet
3 TxD– Orange Ethernet
4 RxD– Green Ethernet
Table 26: Pin assignment for the Ethernet port 1 and 2 connections

NOTE
b Connect the shield to the encoder housing!
b Pay attention to the maximum cable lengths.
b Mount all cables with strain relief.

4.2 Settings on the hardware

There are the following controls for making settings under the screw cover:
• three address switches
• preset pushbutton
b Open the screw cover using a screwdriver for slot-head screws with a blade width
of min. 10.0 mm.

14)
On the usage of pre-wired cables.

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4 COMMISSIONING

4.2.1 Setting the IP address

Address switches
Tens

Hundreds Units

Preset pushbutton

Figure 18: Address switch an preset pushbutton

Value Meaning
888 The encoder obtains its IP address from a DHCP server.
001 … 254 Fixed IP address
Only the least significant byte (1 … 254) can be changed.
• Address range 192.168.1.xxx is preset permanently.
• Subnet mask 255.255.255.0 is preset permanently.
• Gateway address 0.0.0.0 is preset permanently.
000/999 On switching on, the encoder loads the IP address from the non-volatile
memory.
Table 27: Address switches — Meaning of the values that can be set

Fixed IP address via address switches

b Set the hundreds for the address using the left address switch.
b Set the decades for the address using the center address switch.
b Set the units for the address using the right address switch.

Acquiring the IP address via DHCP

b Turn the encoder off.
b Set the address switches to 888.
b Switch back on the encoder.
The encoder now obtains its IP address from a DHCP server and saves this
address in the non-volatile memory.
If necessary deactivate the DHCP function in the encoder (see section 5.2.3 on
page 50).
Using the following procedure you can ensure that the encoder retains the IP address
assigned via DHCP also after switching back on:
b Set the address switches to 000.
The encoder now loads the IP address from the non-volatile memory each time on
switching on.

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4.2.2 Triggering a preset value using the preset button

b To trigger the preset value, press the preset pushbutton 15).

The value from attribute 13h of the Position Sensor Object is used as a new
position value (see Table 21 on page 35).
NOTE
• Only set a preset value when the encoder is at standstill.
• The preset value must lie within the measuring range configured.

WARNING
Before triggering the preset function, check whether there is a hazard from the
machine or system in which the encoder is integrated!
The preset function results in an immediate change in the position value output by the
encoder. This change could cause an unexpected movement that may result in a haz-
ard for persons or damage to the system or other items.

15)
Under no circumstances press the Preset button for longer than 5 seconds, this action would reset the encoder to the factory settings.

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5 CONFIGURATION WITH THE AID OF A PLC

5 Configuration with the aid of a PLC

The AFS60/AFM60 EtherNet/IP can be integrated into both an Allen-Bradley control
system from Rockwell and into other systems with a control system that features an
EtherNet/IP communication interface.
NOTE
• All software notes are displayed in English.
• All software notes are related to RSLogix 5000 software.
For the following example project the Allen-Bradley control system “ControlLogix
Controller 1756-L61” with “RSLogix 5000” is used. It is a prerequisite that the
hardware has already been installed.

5.1 Default delivery status

The AFS60/AFM60 EtherNet/IP is supplied with the following parameters:
• code sequence = clockwise
• scaling = not activated
• steps per revolution = 262,144
• total resolution of the AFS60 EtherNet/IP = 262,144
• total resolution of the AFM60 EtherNet/IP = 1,073,741,824
• preset = 0
• velocity measuring unit = turns/min
• round axis functionality = not activated
• nominator for the number of revolutions (round axis functionality) = 2,048
• divisor for the number of revolutions (round axis functionality) = 1
• position of the address switches = 999 (DHCP activated)

5.2 IP address of the encoder

5.2.1 Without DHCP server

If you have entered the IP address of the encoder via the address switches (see sec-
tion 4.2.1 on page 46), then you must use this IP address in the control system.
NOTE
In this way the address range is limited to 192.168.1.xxx. Only if the IP address is ob-
tained via DHCP, any address range is possible.

5.2.2 IP address assignment via DHCP

If your control system has a DHCP server, then you can transfer an IP address to the
encoder via this DHCP server.
b Start the BOOTP/DHCP Server (as a rule on the Start menu on your PC/notebook
in Rockwell Software, BOOTP-DHCP Server, BOOTP-DHCP Server).

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Figure 19: MAC address in the BOOTP/DHCP server

In the program window for the BOOTP/DHCP server the AFS60/AFM60 EtherNet/IP
appears as a bus user with its MAC address, however without an IP address assigned.
Ö Green The Mod LED on the AFS60/AFM60 EtherNet/IP flashes green (the encoder does not
yet have an IP address).
b Open the encoder in the BOOTP/DHCP server by double-clicking.

Figure 20: Entry of the IP address in the BOOTP/DHCP server

b In the IP Address field type a valid, spare address and click OK.
b Click on Clear History.

Figure 21: Integration of the IP address in the BOOTP/DHCP server

After a delay the encoder appears both in Request History and in Relation List with
the IP address entered.
O Green The Mod LED on the AFS60/AFM60 EtherNet/IP illuminates green continuously (the
encoder now has a valid IP address).

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5.2.3 Freezing the IP address assigned

Using the following procedure you can ensure that the encoder retains the IP address
assigned via DHCP also after switching back on:
b Deactivate the DHCP function in the encoder.
Set attribute 3 of the TCP/IP Interface Object to 0. You can achieve this, e.g., in
Rockwell BOOTP/DHCP Server by clicking the Disable BOOTP/DHCP button.
b Then change the address switches on the encoder to the position “000” (see
section 4.2.1 on page 46).
After switching back on, the encoder starts with the previously assigned IP
address saved in the non-volatile memory.

5.2.4 Checking the integration in EtherNet/IP via RSLinx-Classic

With the aid of the tool RSLinx Classic you can again check whether the IP address set
is detected by the control system.
b Start RSLinx Classic (as a rule on the Start menu on your PC/notebook in
Rockwell Software, RSLinx, RSLinx Classic).
b Click on the RSWho button in the program.

Figure 22: RSWho button in RSLinx Classic

b Then open the path AB_ETHIP-1, Ethernet.

The encoder can be seen with its IP address.

Figure 23: Encoder on the path AB_ETHIP-1 in RSLinx Classic

5.3 Creating a project in the controller software

b Start the control software RSLogix 5000 (as a rule on the Start menu on your
PC/notebook in Rockwell Software, RSLogix 5000 Enterprise Series,
RSLogix 5000).
b On the File menu open a new project using the New... command.
b Configure the hardware.

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Figure 24: Configuring the hardware

Example:
• Type: 1756-L61 ControlLogix5561 Controller (dependent on the controller)
• Name: Test (name can be selected as required)
• Description: Install. AFM60 EIP (can be selected as required)
• Chassis Type: 1756-A4 4-Slot ControlLogix Chassis (depending on the housing)
• Create In: storage location (can be selected as required)
b Click OK.
The RSLogix 5000 [Name] window will open.
NOTE
Type and Chassis Type must match your control system.

Adding communication interface

b In the Controller Organizer click 1756 Backplane, 1756-A4 using the right
mouse button and select New Module....

Figure 25: Adding communication interface

The Select Module dialog box opens.

b In the Select Module dialog box select the By Category tab.

b In the tree in Communications select the module 1756-EN2TR.

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Figure 26: Selecting communication interface

b Click OK.
The New Module dialog box will open.
b On the General tab assign a name in the Name field, in the IP Address field the
IP address, and select the Slot.

Figure 27: Name of the communication interface

b Click OK.
In Controller Organizer in 1756 Backplane, 1756-A4 the selected module 1756-
EN2TR [with name] appears along with the symbol for Ethernet.
You can then integrate the encoder in the project in three ways and configure it:
• as Generic Modules (see section 5.4 on page 53)
• with the aid of an EDS file (see section 5.5 on page 56)
• with the aid of the function block (see section 5.7 on page 71)

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5.4 Integration of the encoder as a generic module

b Using the right mouse button click the Ethernet symbol and select the New
Module... command.

Figure 28: Integrating encoder

The Select Module dialog box opens.

b In the Select Module dialog box select the By Category tab.
b Open the Communication tree.
b In the tree in Communications select the module ETHERNET-MODULE (Generic
Ethernet Module).

Figure 29: Selecting module

b Click OK.
The Module Properties [module name] dialog box will open.

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5.4.1 Module settings

b In the Modules Properties [module name] dialog box enter the IP address
assigned to the encoder (see section 5.2 on page 48).
b Enter the settings for Input, Output, as well as Configuration.

Figure 30: Entering module properties

Example:
• Name: AFM60_Encoder (name can be selected as required)
• Comm Format: Input Data – DINT
• IP Address: 192.168.1.123
• Input: Assembly Instance: 103; Size: 3
In this way instance 103 of the Assembly Object is selected (see Table 15 on
page 23). The size is 3 × 32 Bit (= 12 Byte)
• Output: Assembly Instance: 198 16)
• Configuration: Assembly Instance: 100; Size: 28
In this way instance 100 of the Assembly Object is selected (see Table 15 on
page 23). The size is 28 × 8 Bit (= 28 Byte).
NOTE
Instance 100 of the Assembly Object represents the configuration assembly. If
this assembly is opened, it must never be empty. It is imperative you fill the con-
figuration assembly with data first (see Table 17 on page 27). Otherwise in some
circumstances the control system may output an error (see section 7.3.4 on
page 105).

b Click OK.

Example data for a configuration assembly

The data for the configuration assembly are transferred in the 28 bytes of instance 100
configured previously (see Table 17 on page 27).
You can see these data in Controller Tags in the Name column in the
AFM60_Encoder:C, AFM60_Encoder:C.Data item.
NOTE
The low byte is displayed before the high byte.

16)
As the encoder does not process an output assembly, the parameter output is set to 198 (Input only).

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Figure 31: Example data for a configuration assembly

• steps per revolution CPR = 4,096 = 1000h

C.Data[4] 00h and C.Data[5] 10h
• total resolution CMR = 32,768 = 8000h
C.Data[8] 00h and C.Data[9] 80h
• direction of rotation cw = 0
C.Data[12] 00h
• scaling on = 1h
C.Data[13] 01h
• velocity format = 1F0Fh
C.Data[24] 0Fh and C.Data[25] 1Fh

5.4.2 Download the configuration to the control system

b Load the configuration to the control system.

Figure 32: Loading configuration

The status indicators for Run Mode, Controller OK and I/O OK change to green.

Figure 33: Communication status

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5.4.3 Checking the communication

To check the communication between control system and encoder, the data the control
system receives from the encoder can be displayed.

Figure 34: Checking the communication

b In the Controller Organizer open the Controller Testaufbau folder, Controller

Tags.
b In the Controller Tags in the Name column open the AFM60_Encoder:I,
AFM60_Encoder:I.Data item.

Displayed data in the example in Figure 34:

• AFM60_Encoder:I.Data[0]: Fault header: 0
• AFM60_Encoder:I.Data[1]: Position: 122909258
• AFM60_Encoder:I.Data[2]: Velocity: –109 turns/min

5.5 Integration and configuration with the aid of an EDS file

The EDS file (electronic data sheet) contains all the information related to the parame-
ters as well as the operating modes of the AFS60/AFM60 EtherNet/IP. With the aid of
the EDS file you can configure and place in operation the AFS60/AFM60 EtherNet/IP.

5.5.1 Prerequisites

• You are using an Allen-Bradley control system with control software

“RSLogix 5000” from V22 (or another control system that facilitates integration
with the aid of an EDS file).
• The encoder is integrated into the EtherNet/IP network (see section 5.2 on
page 48).
• The EDS file is integrated in the control software via the Rockwell Hardware
Installation Tool.

5.5.2 Establishing communication

b Using the right mouse button click the Ethernet symbol and select the New
Module... command.

Figure 35: Integrating encoder using EDS

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The Select Module Type dialog box opens.

b Choose the corresponding encoder type on the Catalog tab.

Figure 36: Selecting module

Depending on the type connected, the following designation is displayed:

• AFS60A-Eth/IP for the AFS60 EtherNet/IP
• AFM60A-Eth/IP for the AFM60 EtherNet/IP
b Click OK.
The Module Properties [module name] dialog box will open.

Figure 37: Entering module properties

b In the Name field enter a name (can be selected as required) and enter the IP
address defined for the encoder in the IP Address field (see section 5.2 on
page 48).

In the Module Definition group box the default connection Input Only (101) is displayed
in Connections. This is instance 101 of the Assembly Object (see Table 15 on
page 23).

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b If you want to change this instance, click Change....

Figure 38: Changing connections

b Select e.g. Input Only 103. This instance contains errors, the position value and
the velocity for the encoder.

Figure 39: Changing data format

b In Size choose the data format DINT.

b Then click on OK.

Checking the communication

To check the communication between control system and encoder, the data the control
system receives from the encoder can be displayed.

Figure 40: Checking the communication

b In the Controller Organizer open the Controller test folder, Controller Tags.
b In the Controller Tags in the Name column open the point AFx60_EIP:I1,
AFx60_EIP:I1.Data.

Displayed data in the example:

• AFx60_EIP:I1.Data[0]: Fault header: 0
• AFx60_EIP:I1.Data[1]: Position: 1073741823
• AFx60_EIP:I1.Data[2]: Velocity: 0

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5.5.3 Configuration

Figure 41: Configuration of the encoder

b In the Controller Tags in the Name column open the point AFx60_EIP:C
b Enter the parameters for the encoder (see section 3.6 “Configurable functions” on
page 37).

5.6 Installation of the ladder routine

Two so-called ladder routines are available to integrate the web server. The configura-
tion data are mapped between the control system and web server with the aid of the
ladder routine.
Use the following ladder routine depending on the instance selected:
• SickAFx_A101WS_A103WS_FB_Enc1_GetSet.L5X for the instances 101WS and
103WS
or
• SickAFx_A102WS_FB_Enc1_GetSet.L5X for the instance 102WS
Prerequisites for the installation of the ladder routine are:
• the installation file for the ladder routine that you can download from the encoder
web server (see section 6.4.2 on page 97)
• the correct installation of the current EDS file (see section 5.5 on page 56)
• the selection of instance 101WS, 102WS or 103WS in the configuration of the
encoder module

Figure 42: Selection of language (in the example 103WS)

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• a correctly configured project with the AFS60/AFM60 EtherNet/IP in the

“RSLogix 5000”

Figure 43: Correctly configured project with two encoder modules

The following steps must be undertaken:

• The ladder routine must be imported and a few parameters must be configured
during the import.
• The ladder routine must be integrated in the MainRoutine of your project as a
SubRoutine.
• Then the encoder can be configured both from the control system (in the Control-
ler Tags) and with the aid of the web server.
NOTE
If you use several encoders, you must import the routine several times and give it a
dedicated unique so-called Final Name during the import. You must also uniquely
name the Tag References for each encoder.

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5.6.1 Importing the ladder routine

b From the MainProgram context menu select the Import Routine... command.

Figure 44: Selection of the Import Routine... command

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You must select the appropriate ladder routine depending on whether you use the
instance 101WS and 103WS or the instance 102WS of the Assembly Object (see
Table 15 on page 23).
b Select the file SickAFx_A101WS_A103WS_FB_Enc1_GetSet.L5X or the file
SickAFx_A102WS_FB_Enc1_GetSet.L5X and click Import....
The Import Configuration dialog box will open.

NOTE
b Only click OK once all configuration steps for the import have been completed. If
you inadvertently click OK, then you must restart the import as in Figure 43 on
page 60.

Figure 45: Dialog Import Configuration

b If necessary change the name of the routine in the Final Name field.
If you integrate several encoders into your project, then you must assign a unique
final name to the routine for each encoder.

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b Choose the point Other Components.

b In the Final Name column open the list box.
b Choose the encoder module for which you want to import the ladder routine.

Figure 46: Selection of the encoder

b In the Operation column choose the option Use Existing.

Figure 47: Selection of operation for the component

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b Choose in Import Content the point Tags.

b In the Final Name column open the list box.
b Choose the encoder module for which you want to modify the tags.

Figure 48: Selection of the tags for the instance used

b In the Operation column choose the option Use Existing.

Figure 49: Selection of the operation for the tag references

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b If necessary, in the Final Name column change the name of the Tags.
If you use several encoders in a project, then each final name is only allowed to be
assigned once. For example change the names from “…Enc1…” to “…Enc2…”.

Figure 50: Changing the tag names

b Click OK.
b The ladder routine is imported.

Figure 51: Project structure after the import

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5.6.2 Integrating in the MainRoutine as a SubRoutine

The ladder routine must be integrated in the MainRoutine of your project as a
SubRoutine.

Figure 52: MainRoutine without SubRoutine

b Integrate, as shown in the example, the SickAFx ladder routine as a SubRoutine

using the command JSR (Jump To Subroutine).

Figure 53: MainRoutine with SubRoutine

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5.6.3 Using the SubRoutine

b Switch the control system to the online mode.

Figure 54: Imported SickAFx ladder routine in the online mode

b Change in the MainProgram to SickAFx_A101WS_A103WS_FB_Enc1_GetSet.

Figure 55: Initializing and starting the SubRoutine

b On the context menu for SickAFxWS_Enc1_Init_GetSet activate the command

Toggle Bit.
In this way the connection is closed and the encoder can be configured both on the
control system side and via the web server.

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5.6.4 Reading and changing the parameters of the encoder

In Controller Tags you can read the parameters of the encoder in the node
SickAFxWS_Enc1_GetData.

Figure 56: Reading the parameters in GetData

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Parameters that you change in the web server are displayed in the control system.

Figure 57: Example for changing data in the web server and reading the parameters in the
control system

In Controller Tags you can change the encoder parameters in the node
SickAFxWS_Enc1_SetData.

Figure 58: Changing parameters in SetData

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Parameters that you change in the control system are displayed in the web server on
the Parameterization page.
NOTE
The web browser must be refreshed to display the modified data.

Figure 59: Example for changing data in the control system and reading in the web server

WARNING
Before changing the preset value, check whether there is a hazard from the ma-
chine or system in which the encoder is integrated!
As soon as you have entered the value and accepted the entry using the [Enter] key,
the value is applied as a position value (see Figure 109 on page 91)!

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5.7 Function block

For the communication between an Allen-Bradley control system and the
AFS60/AFM60 EtherNet/IP you can use a function block.

5.7.1 Prerequisites
• You will find the function block and the complete documentation on the SICK
homepage in the Internet: “EthernetIP function block – EtherNet/IP function block
for encoderspecific functions in RSLogix5000, included manual.”.
• The encoder must be integrated in the control system using an EDS file or as a
generic module.

5.7.2 Importing and connecting

To be able to use the function block in the RSLogix 5000 software, import the compo-
nent into a project as a so-called add-on instruction (file name: SICK_AFx60_Vxxx.L5X).
Then open the function block and connect it. Only with valid connection is it possible to
read parameters from the encoder or to write to the encoder.

Figure 60: Function block in the Rockwell control system

You will find a detailed description of how to connect in the operating instructions
“AFS60/AFM60 EtherNet/IP Add-On Instruction”. These operating instructions are
supplied with the function block as a PDF.

5.8 Program examples

The following examples show the configuration of two programs that read (tempera-
ture) and write (preset) acyclic data. For this purpose the programs are written in ladder
logic with the aid of the software RSLogix 5000 from Rockwell Automation.
NOTE
During programming the control system must be in the offline mode.

Figure 61: Control system in the offline mode

b First you must define and declare the variables for the program.
b Then add the program blocks to the ladder logic and assign the variables as
appropriate.
b After that you must download the program to the control system.
b Finally, you can test the program.

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5.8.1 Reading temperature

In the first example the temperature of the encoder is to be read with the aid of the
parameter 64h, Temperature Value.
Defining and declaring variables
As the initial step the variables TEMP_Trigger, TEMP_OneShot, TEMP_Value and
TEMP_Message must be defined and declared for the program.
First the variable TEMP_Trigger, which controls the reading process, is added.
b In the Controller Organizer, using the right mouse button click Controller Tags
and select New Tag.

Figure 62: Adding a new variable

The New Tag dialog box opens.

Figure 63: Definition of the variable TEMP_Trigger

b In the Name field enter TEMP_Trigger, in the Data Type field select the data type
BOOL and click OK.
To only trigger the action once, a further element, in this case an edge-sensitive ele-
ment, must be defined and declared. This element ensures that the action is only
triggered if an edge change from 0 to 1 occurs in the variable TEMP_Trigger.
b Select again New Tag.

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Figure 64: Definition of the variable TEMP_OneShot

b In the New Tag dialog box enter TEMP_OneShot in the Name field, in the Data
Type select the data type BOOL and click OK.
A further variable must be added that will then contain the temperature value later
(see Table 21 on page 35, attribute ID 64h, temperature value).
b Select again New Tag.

Figure 65: Definition of the variable TEMP_Value

b In the New Tag dialog box enter TEMP_Value in the Name field, select in the
Data Type field the data type INT and click OK.
Finally a further variable must be defined and declared that obtains the temperature
value from the control system.
b Select again New Tag.

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Figure 66: Definition of the variable TEMP_Message

b In the New Tag dialog box enter TEMP_Message in the Name field, select in the
Data Type field the data type MESSAGE and click OK.
Figure 67 shows the resulting variable structure for reading the temperature acyclically.

Figure 67: Variable structure for reading the temperature

Defining process sequence

After you have defined and declared the variables, the program blocks must be inser-
ted in the ladder logic and the variables assigned as appropriate.
In Tasks, Main Task, MainProgram open the MainRoutine window.

Figure 68: Opening MainRoutine

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For the first block an input is added that is to trigger the “read temperature” process.

Figure 69: Adding ExamineOn block

b On the Favorites tab select the ExamineOn block and add it to the MainRoutine.
The related variable must be assigned to this input, in our example the variable
TEMP_Trigger.

Figure 70: Allocation of the variable TEMP_Trigger to ExamineOn

b Click on the question mark.

A drop-down menu will open.
b Select the variable TEMP_Trigger.
The ONS block must be added for the edge sensitivity of the process sequence.

Figure 71: Adding ONS block

b On the Bit tab select the ONS block and add it to the MainRoutine.

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A variable must also be assigned to this block.

Figure 72: Allocation of the variable TEMP_OneShot to ONS

b Click on the question mark.

A drop-down menu will open.
b Select the variable TEMP_OneShot.
In the next step the message must be configured to read the temperature value from
the encoder.

Figure 73: Adding MSG block

b On the Input/Output tab select the MSG block and add it to the MainRoutine.

Figure 74: Allocation of the variable TEMP_Message to MSG

b In the Message Control field select the variable TEMP_Message.

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The MSG block must then be configured.

Figure 75: Opening configuration dialog box for the MSG block

b For this purpose click the button with the three dots.
The Message Configuration dialog box will open.

Figure 76: Configuration dialog box for the MSG block

b Configure the following parameters on the Configuration tab:

○ Service Type: Get Attribute Single (see Table 18 on page 28)
○ Instance: 1 (as only one device is connected to the control system)
○ Class: 23(h) (Position Sensor Object, see Table 5 on page 19)
○ Attribute: 64(h) (Temperature Value, see Table 21 on page 35)
○ Destination: TEMP_Value
NOTE
TEMP_Value is the fourth variable added. The value for the temperature is written to
this variable on executing the example program.

b Open the Communication tab.

Figure 77: Communication tab

b Beside the Path field click the Browse... button.

The Message Path Browser dialog box will open.

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b Select the encoder connected.

Figure 78: Selecting encoder

Figure 79: Selected encoder

The encoder is applied in the Path field.

b Close the Message Path Browser dialog box using OK.

Transferring program to the control system

Finally the program is transferred to the control system.
b From the Offline menu select the Download command.

Figure 80: Transferring the program to the control system

b Accept the next message.

Testing program
If the variable TEMP_Trigger is changed from 0 to 1 in the Controller Organizer, the
temperature value is displayed in the variable TEMP_Value (here: 39.00 °C).

Figure 81: Display of the temperature value in TEMP_Value

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5.8.2 Setting preset value

In the following example a preset value is to be set.

Defining and declaring variables

As the initial step the variables PRESET_Trigger, PRESET_OneShot, PRESET_Value and
PRESET_Message must be defined and declared for the program.
First the variable PRESET_Trigger is added, this variable controls the process.
b In the Controller Organizer, using the right mouse button click Controller Tags
and select New Tag.

Figure 82: Adding a new variable

The New Tag dialog box opens.

Figure 83: Definition of the variable PRESET_Trigger

b In the Name field enter PRESET_Trigger, in the Data Type select the data type
BOOL and click OK.
To only trigger the action once, a further element, in this case an edge-sensitive ele-
ment, must be defined and declared. This element ensures that the action is only
triggered if an edge change from 0 to 1 occurs in the variable PRESET_Trigger.

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b Select again New Tag.

Figure 84: Definition of the variable PRESET_OneShot

b In the New Tag dialog box enter PRESET_OneShot in the Name field, select in the
Data Type field the data type BOOL and click OK.
A further variable must be added that will then contain the preset value later (see
Table 21 on page 35, attribute ID 13h, preset value).
b Select again New Tag.

Figure 85: Definition of the variable PRESET_Value

b In the New Tag dialog box enter PRESET_Value in the Name field, select in the
Data Type field the data type DINT and click OK.

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Finally a further variable must be defined and declared that obtains the preset value
from the control system.
b Select again New Tag.

Figure 86: Definition of the variable PRESET_Message

b In the New Tag dialog box enter PRESET_Message in the Name field, select in the
Data Type field the data type MESSAGE and click OK.
Figure 87 shows the resulting variable structure for setting a preset value.

Figure 87: Variable structure for setting a preset value

Defining process sequence

After you have defined and declared the variables, the program blocks must be inser-
ted in the ladder logic and the variables assigned as appropriate.
In Tasks, Main Task, MainProgram open the MainRoutine window.

Figure 88: Opening MainRoutine

If the process sequence for writing a preset value is to run in parallel with the previous
example, then a new thread must be added.

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Figure 89: Adding Rung block

b On the Favorites tab select the Rung block and add it to the MainRoutine.
For the first block an input is added that is to trigger the “set preset value” process.

Figure 90: Adding ExamineOn block

b On the Favorites tab select the ExamineOn block and add it to the MainRoutine.
The related variable must be assigned to this input, in our example the variable
PRESET_Trigger.

Figure 91: Allocation of the variable PRESET_Trigger to ExamineOn

b Click on the question mark.

A drop-down menu will open.
b Select the variable PRESET_Trigger.

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The ONS block must be added for the edge sensitivity of the process sequence.

Figure 92: Adding ONS block

b On the Bit tab select the ONS block and add it to the MainRoutine.
A variable must also be assigned to this block.

Figure 93: Allocation of the variable PRESET_OneShot to ONS

b Click on the question mark.

A drop-down menu will open.
b Select the variable PRESET_OneShot.
In the next step the message must be configured to write the preset value to the
encoder.

Figure 94: Adding MSG block

b On the Input/Output tab select the MSG block and add it to the MainRoutine.

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Figure 95: Allocation of the variable PRESET_Message to MSG

b In the Message Control field select the variable PRESET_Message.

b The MSG block must then be configured.

Figure 96: Opening configuration dialog box for the MSG block

b For this purpose click the button with the three dots.
The Message Configuration dialog box will open.

Figure 97: Configuration dialog box for the MSG block

b Configure the following parameters on the Configuration tab:

○ Service Type: Set Attribute Single (see Table 18 on page 28)
○ Instance: 1 (as only one device is connected to the control system)
○ Class: 23(h) (Position Sensor Object, see Table 5 on page 19)
○ Attribute: 13(h) (Preset Value, see Table 21 on page 35)
○ Source Element: PRESET_Value
○ Source Length: 4

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NOTE
PRESET_Value is the fourth variable added. On executing the example program the
preset value is taken from this variable and written to the attribute 13h of the Position
Sensor Object.

b Open the Communication tab.

Figure 98: Communication tab

b Beside the Path field click the Browse... button.

The Message Path Browser dialog box will open.
b Select the encoder connected.

Figure 99: Selecting encoder

Figure 100: Selected encoder

The encoder is applied in the Path field.

b Close the Message Path Browser dialog box using OK.

Transferring program to the control system

Finally the program is transferred to the control system.
b From the Offline menu select the Download command.

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Figure 101: Transferring the program to the control system

b Accept the next message.

Testing program

Figure 102: Display of the preset value in PRESET_Value

b To test the example program, in the Controller Organizer enter a value (500 in
the example) in the variable PRESET_Value.
b Change the variable PRESET_Trigger from 0 to 1.
In the position data AFM60_EIP:I.Data[1] the value now changes to 500.

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6 Configuration with the aid of the integrated web server

A web server is integrated in the AFS60/AFM60 EtherNet/IP. Using the web server you
can monitor the status of the encoder, configure the encoder parameters and under-
take diagnostics.
NOTE
If you change parameters using the web server, then please pay attention to sec-
tion 3.5 “Integration and configuration options” on page 36.

Figure 103: Web server user interface

Prerequisites
• The encoder must be connected.
• The encoder must communicate with a browser-enabled device.
The web server supports Internet Explorer V8.0 64-bit and later, Google Chrome
V38.0 and later, Firefox V33.0.2 and later.
• The IP address of the encoder must be known (see section 5.2 on page 48).

Language
The web server starts in English.

Figure 104: Selection of language

You can change the user interface language to German in the Language list box.

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6.1 Home
NOTE
All values displayed are refreshed around once per second.

6.1.1 Device
This page lists the basic data on the encoder.

Figure 105: LED symbol

An LED symbol also indicates the following status:

O Green Encoder in the operational status (ready for operation, no alarms,
warnings or errors occurred)
Ö Green Incorrect scaling parameters
O Red The Alarm flag is set.
Ö Red The Warning flag is set.
You will find a detailed description of the alarms, warnings or errors that have occurred
on the web server Diagnostics page (see section 6.3 on page 95).

6.1.2 Position

This page shows the following parameters from the Position Sensor Object (see
Table 21 on page 35):
• current position value (attribute ID 0Ah)
• lower limit for the position (attribute ID 16h)
• upper limit for the position (attribute ID 17h)
You can change the limits as user “AuthorizedClient” (see section 6.2.7 on page 94).

6.1.3 Velocity

This page shows the following parameters from the Position Sensor Object (see
Table 21 on page 35):
• current velocity (attribute ID 18h)
The unit for the velocity is defined by the attributes 19h and 20h.
• lower limit for the velocity (attribute ID 1Bh)
• upper limit for the velocity (attribute ID 1Ch)
You can change the limits as user “AuthorizedClient” (see section 6.2.7 on page 94).

6.1.4 Temperature
This page shows the following parameters from the Position Sensor Object (see
Table 21 on page 35):
• current temperature (attribute ID 64h)
The temperature is indicated with ±5° accuracy.
• lower limit for the temperature (attribute ID 67h)
• upper limit for the temperature (attribute ID 68h)
You can change the limits as user “AuthorizedClient” (see section 6.2.7 on page 94).

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6.1.5 Timer
This page shows the following parameters from the Position Sensor Object (see
Table 21 on page 35):
• saved motion time in seconds (attribute ID 6Bh)
• saved operating time in seconds (attribute ID 6Ch)
You can change the limits as user “AuthorizedClient” (see section 6.2.7 on page 94).

6.2 Parameterization
With the aid of this page you can configure the encoder parameters. By configuring the
parameters you can set the attributes of the Position Sensor Object (see Table 21 on
page 35). The configuration options depend on whether you are logged in as a user.
After you have re-entered a parameter, press the [Enter] key. The parameter is saved
in the volatile memory of the encoder.
NOTE
Only the parameter last changed is written to the volatile memory when you press the
[Enter] key. If you want to change several values (e.g. the lower and the upper limit for
the velocity), then press the [Enter] key after each data entry.

The following configuration options are available without logging in:

• overview
• units
• preset
The following configuration options are available after logging in as user
“AuthorizedClient”:
• scaling
• round axis functionality
• changing preset value
• limits
• reset
Login
You can login for configuration using the following access data:
• user: AuthorizedClient
• password: enc123

Figure 106: Log on

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Changing the password

NOTE
Change the password to prevent unauthorized access to the encoder.

b In User click the link Change password.

Figure 107: Changing the password

The Change Password dialog box will open.

Figure 108: Changing the password

b Type the password used up to now in the Old password field.

b Type a new password in the New password field.
Type at least 1 character and a maximum of 16 characters 17).
b Type the new password again in the Enter new password again field.
b Click on Change password.
The new password is applied.
For technical reasons the password is transmitted unencrypted over the network.
Therefore take measures to prevent password sniffing.

6.2.1 Overview
This page shows an extract from the attributes of the Position Sensor Object (see
Table 21 on page 35).
• The Current column shows the parameters currently configured.
• The Default column shows the factory settings.
• The ID hex column shows the attribute IDs in the Position Sensor Object.

17)
All Unicode characters are permitted.

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6.2.2 Units
On this page you can configure the parameters for the units for direction, velocity, ac-
celeration and temperature from the Position Sensor Object (see Table 21 on page 35).
• code sequence (attribute ID 0Ch)
○ clockwise
○ counterclockwise
• velocity unit (attribute ID 19h)
○ counts/s
○ counts/ms
○ turns/s
○ turns/min
○ turns/h
• acceleration unit (attribute ID 1Eh)
○ counts/ms²
○ counts/s²
○ turns/s²
○ rad/s²
• temperature unit (attribute ID 65h)
○ °C (Celsius)
○ °F (Fahrenheit)

6.2.3 Triggering preset

WARNING
Before triggering the preset function, check whether there is a hazard from the
machine or system in which the encoder is integrated!

This page shows the current position value for the encoder and the preset value
(attribute ID 13h) from the Position Sensor Object.

Figure 109: Triggering preset

b Click on PRESET.
The position value is set to the preset value.
You can change the preset value as user “AuthorizedClient” (see Figure 106 on
page 89).

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6.2.4 Scaling
On this page you can configure the parameters for the scaling in the Position Sensor
Object (see Table 21 on page 35).
• Scaling (attribute ID 0Eh)
○ on
○ off
If you set the scaling to on, the following parameters are displayed:

Figure 110: Scaling

• CPR, number of steps per revolution (attribute ID 10h)

• Revolutions, number of revolutions of the total resolution (This is not a Position
Sensor Object attribute.)
Only the following values can be selected: 1, 2, 4, 8, 16, 32, 64, 128, 256, 512,
1,024, 2,048 and 4,096.
• The Total resolution (CMR) field indicates the value of attribute ID 11h “Total
Measuring Range, total resolution” in the Position Sensor Object (see Table 21 on
page 35).

Figure 111: Scaling with active round axis functionality

NOTE
If the round axis functionality is activated, it is not possible to set any scaling.

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6.2.5 Round axis functionality

You activate the round axis functionality and configure the parameters for nominator,
divisor and the total resolution (see Table 21 on page 35).
• round axis functionality (attribute ID 7Dh)
○ on
○ off

If you set the round axis functionality to on, the following parameters are displayed:

Figure 112: Round axis functionality

• Nominator for the number of revolutions (attribute ID 7Eh)

• Divisor for the number of revolutions (attribute ID 7Fh)
• Total resolution (CMR) (attribute ID 11h)
The prerequisites and restrictions for the parameters are described in section 3.6.10
on page 42.
NOTE
If you activate the round axis functionality, then on the Scaling page the scaling is set
to on. However, no scaling parameters are available (see Figure 111 on page 92).

6.2.6 Changing preset value

WARNING
Before changing the preset value, check whether there is a hazard from the ma-
chine or system in which the encoder is integrated!
As soon as you have entered the value and accepted the entry using the [Enter] key,
the value is applied as a position value (see Figure 109 on page 91)!

On this page you can configure the preset value in the Position Sensor Object
(attribute ID 13h, see Table 21 on page 35).

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6.2.7 Limits
On this page you can configure the limits for the position, velocity, acceleration and
temperature:
• lower limit for the position (attribute ID 16h)
• upper limit for the position (attribute ID 17h)
NOTE
Using the lower and upper limit for the position you can realize range monitoring. This is
not an electronic cam.

• lower limit for the velocity (attribute ID 1Bh)

• upper limit for the velocity (attribute ID 1Ch)
• lower limit for the acceleration (attribute ID 20h)
• upper limit for the acceleration (attribute ID 21h)
If these limits are exceeded, the consequence will be the following:
• The Warning flag (attribute ID 31h) in the Position Sensor Object is set (see
Table 21 on page 35).
• On the Device page the status LED flashes (see section 6.1.1 on page 88).
• The warning text is displayed on the Status page (see section 6.3.1 on page 95).
In addition other limits that are not included in the Position Sensor Object can be set:
• limit for the motion time in hours 18)
• limit for the operating time in hours 18)
• limit for the number of changes in the direction of rotation
• limit for the number of clockwise starts
• limit for the number of counterclockwise starts

6.2.8 Reset
On this page you can run the class service Reset and restart the encoder.
NOTE
After the restart the language will be reset to English and the user logged out.

Save parameters in the non-volatile memory

b Click on –S–.
The function uses the class service Save (service code 16h) in the Position Sensor
Object.
The parameters are saved in the non-volatile memory, the encoder is restarted.

18)
The motion time and the operating time are always calculated from the initial commissioning of the encoder. On configuring the limit,
note that encoder may already have a certain amount of motion time or operating time.

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Reset to the default factory settings

b Click on –D–.
The function uses the class service Reset (service code 05h) in the Position
Sensor Object (data = 01h).
The parameters are reset to the factory settings, the encoder restarted.
Restart
b Click on –R–.
The encoder is restarted.

6.3 Diagnostics
On the diagnostics pages you will find detailed information on possible alarms,
warnings and errors.

6.3.1 Status
The page shows a description of the error if a warning or an alarm has occurred.

Figure 113: Diagnostics status

• Current status
The last three messages since switching on 19) are displayed.
• Status memory
The texts for warnings, alarms and errors from the fault header are displayed (see
Table 30 on page 103). If a warning, alarm or error has not yet occurred, the text
displayed is No entries.
• Motion time of the encoder
Indicates whether the motion time is within the tolerated values (see section 6.2.7
on page 94).
• Operating time of the encoder
Indicates whether the operating time is within the tolerated values (see sec-
tion 6.2.7 on page 94).

19)
The memory is empty after switching off and on again.

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6.3.2 Velocity
This page shows the following values on the velocity from the Position Sensor Object
(see Table 21 on page 35):
• velocity unit (attribute ID 19h)
• current velocity (attribute ID 18h)
• highest velocity that the encoder has reached since start-up (attribute ID 6Dh)
• lower limit for the velocity (attribute ID 1Bh)
• upper limit for the velocity (attribute ID 1Ch)

6.3.3 Temperature
This page shows the following values on the temperature from the Position Sensor
Object (see Table 21 on page 35):
• temperature unit (attribute ID 65h)
• current temperature (attribute ID 64h)
• highest operating temperature reached (attribute ID 6Fh)
• lowest operating temperature reached (attribute ID 70h)
• lower limit for the temperature (attribute ID 67h)
• upper limit for the temperature (attribute ID 68h)

6.3.4 Time

This page shows the following values on the encoder motion time and operating time
from the Position Sensor Object (see Table 21 on page 35):
• saved motion time in seconds (attribute ID 6Bh)
• limit for the motion time in hours (see section 6.2.7 on page 94)
• saved operating time in seconds (attribute ID 6Ch)
• limit for the operating time in hours (see section 6.2.7 on page 94)

6.3.5 Cycles

This page shows the following values on the encoder cycles from the Position Sensor
Object (see Table 21 on page 35):
• number of changes in the direction of rotation (attribute ID 75h)
• number of clockwise starts (attribute ID 76h)
• number of counterclockwise starts (attribute ID 77h)
• limit for the number of changes in the direction of rotation (see section 6.2.7 on
page 94)
• limit for the number of clockwise starts (see section 6.2.7 on page 94)
• limit for the number of counterclockwise starts (see section 6.2.7 on page 94)

6.3.6 Heartbeat
The AFS60/AFM60 EtherNet/IP supports Slave Sign of Life functionality (see sec-
tion 3.6.3 on page 40).

Figure 114: Heartbeat

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If you set the heartbeat to on, the following symbols and parameters are displayed:
An LED symbol indicates the heartbeat:
O Green Active
O Gray Not active
NOTE
As the website is refreshed every second, the change between the status cannot be
displayed in real-time.

The Current RPI in ms column indicates the RPI.

Define the update factor in the Current update factor (2 … 127) field.
The Current update cycle in ms column indicates the heartbeat.

6.4 Tools

6.4.1 EDS
The EDS files for integrating the encoder in the PLC are saved in the encoder.
b Click Download EDS to download the files as a RAR archive.
The RAR archive contains the EDS files for the singleturn and the multiturn
encoder as well as their icon.

6.4.2 Ladder routine

The configuration data are mapped between the control system and the web server
with the aid of the ladder routine (see section 3.5.2 on page 36). The ladder routine is
saved in the encoder.
You must download the appropriate ladder routine depending on whether you use the
instance 101WS and 103WS or the instance 102WS of the Assembly Object (see
Table 15 on page 23).
b Choose the ladder routine to suit the instance used. Click Download Ladder-
Routine … to download the file as a RAR archive.

6.4.3 Update
You can update the firmware using FTP.
b If you are connected to the encoder using the web server, close the web browser.
b Start your FTP client and enter the IP address of the encoder.
b Use the following login data:
○ user name = host
○ password = enc123

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Figure 115: Example for the firmware update

b Open the folder FIRMWARE_UPDATE_DRIVE.

b Copy the update file (*.bin) to this folder.
The firmware update takes approx. 3 minutes.
• During the firmware update the Encoder LED initially flashes red.
• Then the Encoder LED illuminates red.
After the firmware update the encoder restarts.
• The Encoder LED then illuminates green.
NOTE
Make sure that the encoder is continuously supplied with power during the firmware
update. If the power is interrupted the encoder will either be reset to the state prior to
the update or, in the worst case, will no longer respond.

6.4.4 Address switches

This page shows the possible settings for the address switches (see Table 27 on
page 46).

6.4.5 Fault header information

The encoder has a fault header in which the alarms and warnings that have occurred
are displayed. The possible alarms and warnings are listed on the Fault header infor-
mation page.

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6.5 Test notes

WARNING
Commissioning requires a thorough check by authorized personnel!
Before you operate a system equipped with the AFS60/AFM60 EtherNet/IP for the first
time, make sure that the system is first checked and released by authorized personnel.
Please read the notes in chapter 2 “On safety” on page 9.

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7 FAULT DIAGNOSIS

7 Fault diagnosis
This chapter describes how to identify and rectify errors and malfunctions of the
AFS60/AFM60 EtherNet/IP Absolute Encoder.

7.1 In the event of faults or errors

WARNING
Cease operation if the cause of the malfunction has not been clearly identified!
Stop the machine if you cannot clearly identify or allocate the error and if you cannot
safely rectify the malfunction.

7.2 SICK STEGMANN support

If you cannot remedy an error with the help of the information provided in this chapter,
please contact your local SICK STEGMANN representative.

7.3 Diagnostics

7.3.1 Error and status indications on the LEDs

Net
Encoder
Mod
Link 2

Link 1

Screw cover

Figure 116: Position of the LEDs

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Status LEDs Mod, Net and Encoder

LED Mod shows the device status, LED Net shows the status of the CIP connection and
LED Encoder shows the status of the internal measuring device in the
AFS60/AFM60 EtherNet/IP.
Display Description
LED Mod
o Off No operating voltage
O Green Device in operation
Ö Green Stand-by/device not configured, no IP address assigned
Ö Red Warning, but device still operational
or
Firmware update in progress
O Red Error, device not operational
Ö Red/green Self-test at power-on
LED Net
o Off No operating voltage
or
No IP address
Ö Green No connection
The device has an IP address but no CIP connection.
O Green The device has an IP address and a CIP connection.
Ö Red Warning, connection timeout
Cleared by reset or a new connection
O Red Error
IP address has been assigned to another device already.
Ö Red/green Self-test at power-on
LED Encoder
o Off No operating voltage
or
No IP address
Ö Green Warning
Incorrect parameter
O Green Device in operation
Ö Red Warning, but device still operational
or
Firmware update in progress
O Red Error
Encoder error
or
Reboot after firmware update in progress
Ö Red/green Self-test at power-on
Table 28: Meaning of the status LEDs Mod, Net and Encoder

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7 FAULT DIAGNOSIS

Ethernet Link LEDs Link 1 and 2

The Ethernet Link LEDs Link 1 and Link 2 display the status of the physical connection
on the Ethernet interface.
Display Description
o Off No operating voltage
or
No Ethernet connection
O Green Ethernet connection established
O Yellow Interface port locked
Ö Green Data transmission TxD/RxD
Ö Yellow Data collisions
Table 29: Meaning of the LEDs Link 1 and Link 2

7.3.2 Self-test via EtherNet/IP

To check the sensors and the most important functions of the encoder, a self-test is
available.
NOTE
The self-test is only allowed to be undertaken with the encoder at standstill.

The self-test can be triggered via the diagnostics bit of attribute ID 0Dh in the Position
Sensor Object (see Table 21 on page 35). If an error occurs, bit 27 in the fault header
is set (see Table 30 on page 103).
After the self-test the diagnostic bit of attribute 13 is automatically reset to 0.

7.3.3 Warnings, alarms and errors via EtherNet/IP

Within EtherNet/IP warnings, alarms and errors can be retrieved using implicit mes-
sages and also explicit messages.
If connections are established via the I/O assembly, the fault header can be read using
the instances 101, 102 and 103 as well as the instances 101WS, 102WS and 103WS
(see Table 16 on page 25).
Alarms and warnings for the encoder can be read via the Position Sensor Object (see
Table 21 on page 35) with the aid of the attributes.
For errors, alarms and warnings the following applies:
Bit status = 0: no error, alarm or warning
Bit status = 1: error, alarm or warning present

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 FAULT DIAGNOSIS 7

Fault header
Byte Bit Description
0 0 Operating temperature of the microcontroller outside the permissible
range
1 Operating temperature of the encoder outside the permissible range
2 Permissible internal LED current in the sensors exceeded
3 Supply voltage outside the permissible range
4 Frequency error, maximum velocity has been exceeded
5 The upper/lower limit for the velocity configured using the attribute ID
1Bh and 1Ch has been dropped below/exceeded (see Table 21 on
page 35).
6 The upper/lower limit for the acceleration configured using the at-
tribute IDs 20h and 21h has been dropped below/exceeded (see
Table 21 on page 35).
7 The upper/lower limit for the position configured using the attribute
IDs 16h and 17h has been dropped below/exceeded (see Table 21 on
page 35).
1 8 Position error (amplitude error of the singleturn measurement)
9 Position error (amplitude error of the multiturn measurement)
10 Position error (vector error Sin² + Cos² of the singleturn measurement)
11 Position error (vector error Sin² + Cos² of the multiturn measurement)
12 … 14 Reserved
15 One parameter was changed.
2 16 Singleturn position error (error in the sensor)
17 Multiturn position error (synchronization MA single)
18 Multiturn position error (synchronization quad single)
19 Multiturn position error (internal interface)
20 Multiturn position error (FRAM)
21 Limit for the number of changes in the direction of rotation exceeded
22 Limit for the number of clockwise starts exceeded
23 Limit for the number of counterclockwise starts exceeded
3 24 Memory error (EEPROM Checksumme)
25 Memory error (EEPROM IRQ)
26 Error on start-up
27 Error during self-test
28 Limit for the motion time of the encoder has been exceeded
29 So-called “Sanity-check flag”. The flag is set if the encoder has detec-
ted an incorrect velocity or a position error. Is reset on switching back
on.
30 Slave Sign of Life. Active, if attribute ID 0Dh is set (see Table 21 on
page 35). The bit changes its value at the update cycle configured.
31 Limit for the operating time of the encoder has been exceeded
Table 30: Fault header

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7 FAULT DIAGNOSIS

Alarms
If, for example, the internal self-test detects that the position value has been incorrectly
calculated or an incorrect configuration value has been transferred to the encoder, the
alarm flag is set, (attribute 46, see Table 21 on page 35).

WARNING
It is imperative to evaluate the alarms in your application!
In case of a serious error, incorrect position values may be output. This change could
cause an unexpected movement that may result in a hazard for persons or damage to
the system or other items.

O Red In addition the Mod LED illuminates red continuously.

The alarm type is coded in a bit field of attributes 44 and 45.
Bit Description
0 Position error
1 Error during self-test
2 … 11 Reserved
12 Incorrect checksum (vendor specific)
4 Error on system start-up (vendor specific)
14 … 15 Reserved
Table 31: Alarms

Warnings
If, for example, the velocity or temperature drop below/exceed the limit values, the
warning flag is set (attribute ID 31h, see Table 21 on page 35).
Ö Red In addition the Mod LED flashes red.
The warning type is coded in a bit field of attribute IDs 2Fh and 30h.
NOTE
The position value will continue to be correctly calculated, the encoder is therefore still
ready for operation.

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 FAULT DIAGNOSIS 7

Bit Description
0 Maximum velocity exceeded
1 Permissible internal LED current in the sensors exceeded
2…5 Not supported
6 The lower limit for the velocity configured with attribute 1Bh has been dropped
below.
7 The upper limit for the velocity configured with attribute 1Ch has been exceeded.
8 The lower limit for the acceleration configured with attribute 20h has been
dropped below.
9 The upper limit for the acceleration configured with attribute 21h has been
exceeded.
10 The lower/upper limit for the position configured with attribute 16h and 17h has
been dropped below/exceeded.
11 … 12 Reserved
20)
13 The lower/upper limit for the temperature configured with attribute 67h and 68h
has been dropped below/exceeded.
14 20) The operating voltage has dropped below/exceeded the minimum/maximum
operating voltage.
Table 32: Warnings

7.3.4 Error messages from the Allen-Bradley control system

If the encoder is integrated into an Allen-Bradley control system, some error messages
may occur that have message text from which the cause is not immediately obvious.

Figure 117: Example of an error message in RSLogix

20)
Vendor specific warning.

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7 FAULT DIAGNOSIS

The following error messages stem from the RSLogix 5000 software.
Error code Message Possible cause
16#0108 Connection Request b Check whether the configuration assembly (in-
Error Connection Type stance 100 of the Assembly Object) is activated.
(Multicast/Unicast) If yes, check whether the configuration data are
not supported. correctly and fully configured in this assembly
(see Figure 31 on page 55).
16#0114 Electronic Keying b Check whether the wrong EDS file has been se-
Mismatched: Electro- lected (e.g. singleturn instead of multiturn or vice
nic keying product versa, see section 5.5 on page 56).
code and/or vendor
ID mismatched.
16#0127 Connection Request b Check whether the correct communication format
Error: Invalid output for the control system is used. The default value
size. in the control system is “Data-DINT”. The encoder
requires the communication format: “Input Data-
DINT”.
16#0204 Connection Request b Check the supply voltage on the encoder.
Error: Connection b Check the Ethernet cables for the encoder for
timed out. open circuit.
b Check whether the IP address of the encoder
matches the IP address saved in the control
system. Possible causes:
○ The address switches are not engaged
correctly (see Figure 18 on page 46).
○ The encoder has lost the IP address
assigned to it after switching back on
(see section 5.2.3 on page 50).
Table 33: Error messages from the RSLogix 5000 software

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 ANNEX 8

8 Annex

8.1 EU declaration of conformity

Figure 118: EU declaration of conformity

NOTE

You can obtain the complete EU declaration of conformity via the SICK homepage on
the Internet at: www.sick.com

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9 LIST OF FIGURES

9 List of figures
Figure 1: Setting a preset value ........................................................................ 12
Figure 2: Example position measurement on a rotary table with
transmission ratio .............................................................................. 13
Figure 3: Example position measurement on a rotary table without
transmission ratio .............................................................................. 14
Figure 4: Example of an EtherNet/IP network in a star topology....................... 14
Figure 5: Example of an EtherNet/IP network in a Device Level Ring ............... 15
Figure 6: CIP and other services........................................................................ 16
Figure 7: Ethernet FRAME ................................................................................. 16
Figure 8: Ethernet data field.............................................................................. 17
Figure 9: Supported classes.............................................................................. 18
Figure 10: Connections for the Identity Object .................................................... 19
Figure 11: Connections for the I/O assembly ...................................................... 24
Figure 12: Connections for the configuration assembly ...................................... 26
Figure 13: Connections for explicit messages to the Position Sensor Object...... 28
Figure 14: Configuration memory........................................................................ 38
Figure 15: Position of the LEDs, the address switches and the preset
pushbutton......................................................................................... 43
Figure 16: Position of the connections of the AFS60/AFM60 EtherNet/IP ......... 44
Figure 17: Connections of the AFS60/AFM60 EtherNet/IP................................. 44
Figure 18: Address switch an preset pushbutton................................................ 46
Figure 19: MAC address in the BOOTP/DHCP server .......................................... 49
Figure 20: Entry of the IP address in the BOOTP/DHCP server ........................... 49
Figure 21: Integration of the IP address in the BOOTP/DHCP server .................. 49
Figure 22: RSWho button in RSLinx Classic ........................................................ 50
Figure 23: Encoder on the path AB_ETHIP-1 in RSLinx Classic ........................... 50
Figure 24: Configuring the hardware................................................................... 51
Figure 25: Adding communication interface........................................................ 51
Figure 26: Selecting communication interface.................................................... 52
Figure 27: Name of the communication interface............................................... 52
Figure 28: Integrating encoder ............................................................................ 53
Figure 29: Selecting module................................................................................ 53
Figure 30: Entering module properties................................................................ 54
Figure 31: Example data for a configuration assembly ....................................... 55
Figure 32: Loading configuration......................................................................... 55
Figure 33: Communication status ....................................................................... 55
Figure 34: Checking the communication............................................................. 56
Figure 35: Integrating encoder using EDS........................................................... 56

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 LIST OF FIGURES 9

Figure 36: Selecting module................................................................................ 57

Figure 37: Entering module properties................................................................ 57
Figure 38: Changing connections........................................................................ 58
Figure 39: Changing data format......................................................................... 58
Figure 40: Checking the communication............................................................. 58
Figure 41: Configuration of the encoder.............................................................. 59
Figure 42: Selection of language (in the example 103WS) ................................. 59
Figure 43: Correctly configured project with two encoder modules..................... 60
Figure 44: Selection of the Import Routine... command...................................... 61
Figure 45: Dialog Import Configuration ............................................................... 62
Figure 46: Selection of the encoder .................................................................... 63
Figure 47: Selection of operation for the component.......................................... 63
Figure 48: Selection of the tags for the instance used........................................ 64
Figure 49: Selection of the operation for the tag references............................... 64
Figure 50: Changing the tag names .................................................................... 65
Figure 51: Project structure after the import....................................................... 65
Figure 52: MainRoutine without SubRoutine....................................................... 66
Figure 53: MainRoutine with SubRoutine............................................................ 66
Figure 54: Imported SickAFx ladder routine in the online mode ......................... 67
Figure 55: Initializing and starting the SubRoutine ............................................. 67
Figure 56: Reading the parameters in GetData................................................... 68
Figure 57: Example for changing data in the web server and reading the
parameters in the control system....................................................... 69
Figure 58: Changing parameters in SetData ....................................................... 69
Figure 59: Example for changing data in the control system and reading in
the web server.................................................................................... 70
Figure 60: Function block in the Rockwell control system................................... 71
Figure 61: Control system in the offline mode..................................................... 71
Figure 62: Adding a new variable ........................................................................ 72
Figure 63: Definition of the variable TEMP_Trigger ............................................. 72
Figure 64: Definition of the variable TEMP_OneShot .......................................... 73
Figure 65: Definition of the variable TEMP_Value ............................................... 73
Figure 66: Definition of the variable TEMP_Message.......................................... 74
Figure 67: Variable structure for reading the temperature.................................. 74
Figure 68: Opening MainRoutine......................................................................... 74
Figure 69: Adding ExamineOn block.................................................................... 75
Figure 70: Allocation of the variable TEMP_Trigger to ExamineOn...................... 75
Figure 71: Adding ONS block............................................................................... 75
Figure 72: Allocation of the variable TEMP_OneShot to ONS .............................. 76

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9 LIST OF FIGURES

Figure 73: Adding MSG block .............................................................................. 76

Figure 74: Allocation of the variable TEMP_Message to MSG............................. 76
Figure 75: Opening configuration dialog box for the MSG block ......................... 77
Figure 76: Configuration dialog box for the MSG block ....................................... 77
Figure 77: Communication tab ............................................................................ 77
Figure 78: Selecting encoder............................................................................... 78
Figure 79: Selected encoder ............................................................................... 78
Figure 80: Transferring the program to the control system ................................. 78
Figure 81: Display of the temperature value in TEMP_Value .............................. 78
Figure 82: Adding a new variable ........................................................................ 79
Figure 83: Definition of the variable PRESET_Trigger.......................................... 79
Figure 84: Definition of the variable PRESET_OneShot....................................... 80
Figure 85: Definition of the variable PRESET_Value............................................ 80
Figure 86: Definition of the variable PRESET_Message ...................................... 81
Figure 87: Variable structure for setting a preset value ...................................... 81
Figure 88: Opening MainRoutine......................................................................... 81
Figure 89: Adding Rung block.............................................................................. 82
Figure 90: Adding ExamineOn block.................................................................... 82
Figure 91: Allocation of the variable PRESET_Trigger to ExamineOn .................. 82
Figure 92: Adding ONS block............................................................................... 83
Figure 93: Allocation of the variable PRESET_OneShot to ONS........................... 83
Figure 94: Adding MSG block .............................................................................. 83
Figure 95: Allocation of the variable PRESET_Message to MSG ......................... 84
Figure 96: Opening configuration dialog box for the MSG block ......................... 84
Figure 97: Configuration dialog box for the MSG block ....................................... 84
Figure 98: Communication tab ............................................................................ 85
Figure 99: Selecting encoder............................................................................... 85
Figure 100: Selected encoder ............................................................................... 85
Figure 101: Transferring the program to the control system ................................. 86
Figure 102: Display of the preset value in PRESET_Value..................................... 86
Figure 103: Web server user interface .................................................................. 87
Figure 104: Selection of language......................................................................... 87
Figure 105: LED symbol......................................................................................... 88
Figure 106: Log on................................................................................................. 89
Figure 107: Changing the password...................................................................... 90
Figure 108: Changing the password...................................................................... 90
Figure 109: Triggering preset................................................................................. 91
Figure 110: Scaling................................................................................................ 92
Figure 111: Scaling with active round axis functionality........................................ 92

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 LIST OF FIGURES 9

Figure 112: Round axis functionality ..................................................................... 93

Figure 113: Diagnostics status.............................................................................. 95
Figure 114: Heartbeat ........................................................................................... 96
Figure 115: Example for the firmware update....................................................... 98
Figure 116: Position of the LEDs ......................................................................... 100
Figure 117: Example of an error message in RSLogix ......................................... 105
Figure 118: EU declaration of conformity ............................................................ 107

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10 LIST OF TABLES

10 List of tables
Table 1: Authorised personnel ........................................................................... 9
Table 2: Disposal of the assemblies ................................................................ 10
Table 3: Special features of the encoder variants ........................................... 11
Table 4: Example CIP object model.................................................................. 17
Table 5: Supported classes.............................................................................. 19
Table 6: Class services of the Identity Object................................................... 19
Table 7: Class attributes of the Identity Object ................................................ 20
Table 8: Instance Services of the Identity Object ............................................. 20
Table 9: Instance attributes of the Identity Object ........................................... 21
Table 10: Bits of the instance attribute “Status”................................................ 21
Table 11: Bits 4 to 7 of the instance attribute “Status” ..................................... 22
Table 12: Class services of the Assembly Object ............................................... 22
Table 13: Class attributes of the Assembly Object............................................. 22
Table 14: Instance Services of the Assembly Object.......................................... 23
Table 15: Instance attributes of the Assembly Object........................................ 23
Table 16: Data format of the attributes of the I/O assembly ............................. 25
Table 17: Data format for the attributes for the configuration assembly........... 27
Table 18: Class services of the Position Sensor Object...................................... 28
Table 19: Class attributes of the Position Sensor Object ................................... 29
Table 20: Instance services of the Position Sensor Object ................................ 29
Table 21: Instance attributes of the Position Sensor Object .............................. 35
Table 22: Configuration memory — functions of the different types of
memory .............................................................................................. 37
Table 23: Parameters that are saved or reset.................................................... 39
Table 24: Examples for total resolution.............................................................. 41
Table 25: Pin assignment for the connection of the voltage supply................... 45
Table 26: Pin assignment for the Ethernet port 1 and 2 connections................ 45
Table 27: Address switches — Meaning of the values that can be set............... 46
Table 28: Meaning of the status LEDs Mod, Net and Encoder......................... 101
Table 29: Meaning of the LEDs Link 1 and Link 2............................................ 102
Table 30: Fault header..................................................................................... 103
Table 31: Alarms .............................................................................................. 104
Table 32: Warnings .......................................................................................... 105
Table 33: Error messages from the RSLogix 5000 software............................ 106

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