Allen-Bradley Rockwell Automation 842E-SIP Series User Manual
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Allen-Bradley Rockwell Automation 842E-SIP Series User Manual

Ethernet/ip absolute encoder
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842E EtherNet/IP™Absolute Encoder
842E-SIP-xxx, 842E-MIP-xxx

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Summary of Contents for Allen-Bradley Rockwell Automation 842E-SIP Series

  • Page 1 User Manual 842E EtherNet/IP™Absolute Encoder 842E-SIP-xxx, 842E-MIP-xxx...
  • Page 2 Important User Information Because of the variety of uses for the products described in this publication, those responsible for the application and use of this control equipment must satisfy themselves that all necessary steps have been taken to assure that each application and use meets all performance and safety requirements, including any applicable laws, regulations, codes and standards.

  • Page 3: Table Of Contents

    Table of Contents About this document Who should use this manual ........iii Purpose of this manual .
  • Page 4 Table of Contents Chapter 5 Configuring the encoder for your Setting the IP Address ..........29 Assigning the last octet in an IP address scheme of 192.168.1.xxx using EtherNet/IP network the network address switches .

  • Page 5: About This Document

    M116 On-Machine Connectivity Catalog, An article on wire sizes and types for grounding electrical M116-CA001A equipment Allen-Bradley Industrial Automation Glossary, A glossary of industrial automation terms and abbreviations AG-7.1 The following conventions are used throughout this manual: Common techniques used in •...
  • Page 6 About this document Notes: Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...

  • Page 7: Safety

    Chapter Safety This chapter deals with your own safety and the safety of the equipment operators. Please read this chapter carefully before working with the 842E EtherNet/IP encoder or the machine or system in which the 842E EtherNet/IP encoder is used.

  • Page 8: General Safety Notes And Protective Measures

    Chapter 1 Safety An encoder is a device for mounting that cannot be used independently of its foreseen function. For this reason an encoder is not equipped with immediate safety devices. Considerations for the safety of personnel and systems must be provided by the operator of the system as per statutory regulations.

  • Page 9: Encoder Overview

    Chapter Encoder overview The 842E family of encoders uses EtherNet/IP technology to provide its data to a programmable controller. These encoders include an embedded EtherNet/IP switch to connect additional EtherNet/IP capable products in series and/or support a device level ring (DLR) topology for ethernet media redundancy. The 842E are ultra-high resolution encoders in single-turn and multi-turn versions.

  • Page 10: 842E Encoder Features

    Chapter 2 Encoder overview Multi-turn units assign a unique digital output for each shaft position across multiple shaft rotations and are capable of extremely high resolutions. Rockwell Automation absolute encoders are available with an enclosure rating of NEMA Type 4 and IP66, as well as a variety of mounting options. Applications include steel mills, overhead cranes, punch presses, transfer lines, oil rigs, wind mills, machine tools, and packaging.

  • Page 11: Configurable Parameters

    Encoder overview Chapter 2 Configurable parameters The EtherNet/IP technology allows for certain encoder parameters to be configured over the network. • Counting direction • Counts per revolution • Preset value • Velocity output • IP addressing The electronic data sheet file The electronic data sheet (EDS) file contains all the information related to the measuring-system-specific parameters as well as the operating modes of the 842E EtherNet/IP encoders.
  • Page 12 Chapter 2 Encoder overview 842E EtherNet/IP is firmware flash gradable using Control Flash. Special Features Encoder Properties Single-turn Multi-turn ■ ■ Absolute Encoder in 60 mm design ■ ■ Robust nickel coded disk for harsh environment ■ ■ High precision and reliability ■...

  • Page 13: Ethernet/Ip Overview

    Chapter EtherNet/IP overview Ethernet Industrial Protocol (EtherNet/IP) is a frame-based computer networking technology for local industrial area networks. It follows the seven layers of the Open Systems Interconnection model: OSI Model Layer Function 7. Application Network process to application Host 6.

  • Page 14: Tcp/Ip And Udp/Ip

    Chapter 3 EtherNet/IP overview The encoder is an I/O adapter in the EtherNet/IP. It receives and sends explicit and implicit messages either cyclic or on request (polled). TCP/IP and UDP/IP EtherNet/IP uses TCP/IP or UDP/IP for communication. (TCP is transmission control protocol and UDP is user datagram protocol.) Implicit messaging is used for real-time communication between a programmable logic controller (PLC) and the encoder in EtherNet/IP.

  • Page 15: Understanding The Producer/Consumer Model

    EtherNet/IP overview Chapter 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.

  • Page 16: Specifying The Requested Packet Interval

    Chapter 3 EtherNet/IP overview Specifying the requested The requested packet interval (RPI) is the update rate specified for a particular piece of data on the network. This value specifies how often to produce the data packet interval for that device. For example, if you specify an RPI of 50 ms, it means that every 50 ms the device sends its data to the controller or the controller sends its data to the device.

  • Page 17: Linear Topology

    EtherNet/IP overview Chapter 3 Linear topology The linear topology uses the embedded switching capability to form a daisy- chain style network that has a beginning and an end. Linear topology simplifies installation and reduces wiring and installation costs, but a break in the network disconnects all devices downstream from the break.
  • Page 18 Chapter 3 EtherNet/IP overview the precise measurement of the distance between two filling stations, 1000 steps are required. The number of revolutions is pre-defined by the transmission ratio = 12.5 of the rotary table gearing. The total resolution is then 9 × 1,000 = 9,000 steps, to be realized in 12.5 revolutions of the encoder.
  • Page 19 EtherNet/IP overview Chapter 3 Measuring Range Test Bi-Directional One Rev Measuring Rollover Test Distance Check One Rev Distance Numerator Denominator Range (CMR) Pass/Fail Test Accuracy (counts) NOTES Message Instruction Errors – this is expected operation Position does not change. This is the expected Pass Pass operation.
  • Page 20 Chapter 3 EtherNet/IP overview Numerator Test Bi-Directional One Rev Numerator Denominator Measuring Rollover Test Distance Check Distance Accuracy (CNR_N) (CNR_D) Range (CMR) Pass/Fail Test Pass/Fail (counts) NOTES Message Instruction Errors – this is expected 262,144 n /a n / a operation 262,144 Pass...
  • Page 21 EtherNet/IP overview Chapter 3 Denominator Test Bi-Directional One Rev Measuring Rollover Test Distance Check One Rev Distance Numerator Denominator Range (CMR) Pass/Fail Test Accuracy (counts) NOTES Message Instruction Errors – this is expected 262,144 Pass Pass operation I.Position doesn’t update and remains at zero. The is expected behavior as the CMR limit is 262,144 Pass...
  • Page 22 Chapter 3 EtherNet/IP overview Other Ratios Tested Bi-Directional One Rev Measuring Rollover Test Distance Check One Rev Distance Numerator Denominator Range (CMR) Pass/Fail Test Accuracy (counts) NOTES 4096 Pass Pass I.Position traverses 2 cyles / turn of the encoder 4096 Pass Pass with an unwind at 4096...

  • Page 23: Device Level Ring Topology

    EtherNet/IP overview Chapter 3 Device level ring topology A DLR network is a single-fault-tolerant ring network intended for the interconnection of automation devices. DLR topology is advantageous as it can tolerate a a break in the network. If a break is detected, the signals are sent out in both directions.
  • Page 24 Chapter 3 EtherNet/IP overview The 842E EtherNet/IP encoder supports the following classes of the encoder profile: Supported classes Number Class code Object class Description instances Identity object Contains information on the node within the network 1 0x01 Message router object Processes all messages and routes them to the appropriate objects 0x02...
  • Page 25 EtherNet/IP overview Chapter 3 Class services of the position sensor object Instance Service Name Description 0x05 Reset Reboot with all EEProm parameters of the encoder, reboot with the factory defaults 00: reboot Object– read all EEProm parameters 01: set and save factory defaults and reboot object– read all EEProm parameter 0x0E Get_Attribute_Single Returns value of attribute...
  • Page 26 Chapter 3 EtherNet/IP overview 1Instance attributes of the position sensor object Access NV / Attribute ID Attribute ID Data Min. / max (dec) (hex) rule Name type Description (default) Number of attributes Number of supported attributes in this 0x0039 class Attribute list ARRAY List of supported attributes...
  • Page 27 EtherNet/IP overview Chapter 3 Access NV / Attribute ID Attribute ID Data Min. / max (dec) (hex) rule Name type Description (default) Acceleration value DINT Current acceleration (32 Bit) Format (30) und (31) Acceleration format Format of acceleration value (0x0810) UNIT 0x0810: cps/s 0x0811: rpm/s...
  • Page 28 Chapter 3 EtherNet/IP overview Access NV / Attribute ID Attribute ID Data Min. / max (dec) (hex) rule Name type Description (default) Maximum temperature value Maximum temperature set-point 0x27 10 (+10000) setpoint (-40…100°C, -40…212°F) or 0x52D0 (+21200) Fault header DINT Flags of encoder sensor errors and 0x00 00 00 00 (see Sensor error table)

  • Page 29: Installation

    Chapter Installation Mechanical This chapter describes how to install the 842E EtherNet/IP Encoder. Also refer to the installation sheet provided in the box, Publication No. 100000169360. Shaft rotation direction When you view the encoder from the shaft side, the shaft rotation is clockwise (CW) or counterclockwise (CCW), as shown.

  • Page 30: Mounting With A Hollow Shaft

    Chapter 4 Installation 6. Rotate the machine slowly and verify that the flexible coupling is not deforming beyond specifications. 7. Align machine to its mechanical zero or home position. 8. Remove the screw cover on the back of the encoder and press the preset push button to change the preset value to the current shaft position value.

  • Page 31: Electrical

    Installation Chapter 4 Face mount flange 10 x 19 mm Servo flange 6 x 10 mm Blind hollow shaft 8, 19, 12, 15 mm and 1/4, 1/2, 3/8, 5/8 in. Electrical Switch off the power supply. The machine/system could unintentionally start while ATTENTION you are connecting the devices.

  • Page 32: Pin Assignments

    Chapter 4 Installation Pin assignments Voltage supply Signal Mating cable Function wire color Brown Supply voltage 10…30V DC White Do not use Blue 0V DC (ground) Black Do not use Ethernet Link Connections – Link 1 and Link 2 Signal Mating Cable Function Wire Color...

  • Page 33: Electrical Specifications

    Installation Chapter 4 Electrical specifications Operating voltage 10…30V DC Power consumption Load current 200 mA Resolution per revolution 262,144 Revolutions 4,096 Repeat accuracy ±0.002° Error limit ±0.03° Code direction CW or CCW programmable Interface EtherNet/IP per IEC 61784-1 Transmission speed 100 MBits/s Duplex Full or half...
  • Page 34 Chapter 4 Installation Notes: Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...

  • Page 35: Setting The Ip Address

    Chapter Configuring the encoder for your EtherNet/IP network Setting the IP Address The 842E encoder is shipped with the network address switches set to 888. You must assign it an IP address using one of the two methods outlined below. You can set the IP address of the 842E encoder using either one of the following methods: 1.

  • Page 36: Assigning The Ip Address Using Bootp/Dhcp

    Chapter 5 Configuring the encoder for your EtherNet/IP network Assigning the IP Address using BootP/DHCP: Verify that the encoder’s MAC ID is in the relationship list in the BootP Utility or DHCP server before attempting to assign the encoder an IP address using this procedure.
  • Page 37 Configuring the encoder for your EtherNet/IP network Chapter 5 5. Disable DHCP: click once on the encoder in the relation list to highlight it. Then click Disable BOOTP/DHCP. This instructs the 842E encoder to retain the IP address at the next power cycle. Wait for the status message to show that the command was successfully sent.
  • Page 38 Chapter 5 Configuring the encoder for your EtherNet/IP network Notes: Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...

  • Page 39: Example: Setting Up The Hardware

    Chapter Configuring the 842 E encoder using RSLogix 5000 This chapter guides you through the steps required to configure your encoder using RSLogix 5000 software. Note that the modules presented in this chapter are configured using RSLogix 5000 software, version 20. Example: setting up the In this example, a CompactLogix™...

  • Page 40: Configuring The Encoder

    Chapter 6 Configuring the 842 E encoder using RSLogix 5000 Configuring the encoder You must configure your encoder upon installation. The encoder will not work until it has been configured with at least the default configuration. RSLogix 5000 configuration software You must use RSLogix 5000, version 18 or later to set configuration for your encoder.

  • Page 41: Setting Up The Add-On Profile In Rslogix 5000

    Configuring the 842 E encoder using RSLogix 5000 Chapter 6 3. Then open the path AB_ETHIP1, ethernet. The encoder can be seen with its IP address. 4. Install the add-on profile according to the instructions in Appendix A, page 55. Before proceeding, install the add-on profile (see Appendix A, page 55).
  • Page 42 Chapter 6 Configuring the 842 E encoder using RSLogix 5000 3. Enter the new controller information. 4. Right-click on the ethernet port of the controller and select New Module. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...
  • Page 43 Configuring the 842 E encoder using RSLogix 5000 Chapter 6 5. Select the desired 842E encoder and click Create. 6. Close the select module type dialog box. 7. Continue to the next sections to complete the add-on profile. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...

  • Page 44: General Tab

    Chapter 6 Configuring the 842 E encoder using RSLogix 5000 General tab 1. Enter a name for the encoder. In this example, the name is Encoder_1. You may have multiple encoders or other modules, so be sure to give each a brief but descriptive name.

  • Page 45: Ethernet Address

    Configuring the 842 E encoder using RSLogix 5000 Chapter 6 Ethernet address When the controller is offline, the ethernet address can be set. You have three options: • When a private network is used, click on the Private Network radio button.

  • Page 46: Module Definition

    Chapter 6 Configuring the 842 E encoder using RSLogix 5000 Module definition The user should not have to make changes to the default values. If necessary, follow the steps below to change series, revision, electronic keying, connection, and/or input data. 1.

  • Page 47: Connection Tab

    Configuring the 842 E encoder using RSLogix 5000 Chapter 6 Connection tab You should not have to change any settings on the Connection tab. For reference, these are the settings: Requested Packet Interval: Specify the number of milliseconds between requests for information from the controller to the encoder. The encoder may provide data on a shorter interval, but if no data is received the controller asks the encoder for a status update.

  • Page 48: Module Info Tab

    Chapter 6 Configuring the 842 E encoder using RSLogix 5000 Module Info tab The Module Info tab contains read-only data that is populated when the controller goes on line (a program is downloaded or uploaded from the controller). The left panel, Identification, shows the vendor, product type, product code, revision level, serial number, and product name.

  • Page 49: Configuration Tab

    Configuring the 842 E encoder using RSLogix 5000 Chapter 6 Configuration tab The Configuration tab is used to configure the encoder scaling, direction, and set velocity units. Click the Enable Scaling checkbox to change the encoder resolution. Use the Direction drop down box to set the direction of the encoder (check the definition in the old user manual).

  • Page 50: Internet Protocol Tab

    Chapter 6 Configuring the 842 E encoder using RSLogix 5000 Internet Protocol tab For the purpose of this user manual, the user is expected to use a private address, that is, an address of 192.168.1.xxx. This window is automatically populated with the data.

  • Page 51: Network Tab

    Configuring the 842 E encoder using RSLogix 5000 Chapter 6 Network tab The Network tab contains read-only data that is populated when the controller goes online. Network Topology: This displays the current network topology as either linear/ star or ring. Network Status: This displays the current network status as normal, ring fault, or unexpected loop detected.

  • Page 52: Configuration

    Chapter 6 Configuring the 842 E encoder using RSLogix 5000 Configuration Default encoder settings The 842E EtherNet/IP encoder is supplied with the following parameters: • Direction = clockwise • Scaling = none • Steps per revolution = 262,144 • Total resolution = 1,073,741,823 •...

  • Page 53: Rslogix 5000 Controller Tags

    Configuring the 842 E encoder using RSLogix 5000 Chapter 6 RSLogix 5000 controller tags During the encoder installation the encoder tags are automatically loaded as controller tags. This makes the tags available for all programs. In the controller organizer, click on the Controller Tags. The categories of tags appear.
  • Page 54 Chapter 6 Configuring the 842 E encoder using RSLogix 5000 Enc_1:I.Fault: Fault status of the encoder. Enc_1:I.Position: Position status of the encoder. If position-status is selected from the input data selection in the encoder definition you will also see alarms and warning status.

  • Page 55: Status Indicators

    Chapter Diagnostics and troubleshooting This chapter describes the diagnostic process to correct and clear fault conditions on the 842E encoder. Cease operation if the cause of the malfunction has not been identified! ATTENTION Stop the machine if you cannot clearly identify the error and/or if you cannot safely rectify the malfunction.
  • Page 56 Chapter 7 Diagnostics and troubleshooting LED Net Description Red flashing Warning, connection time-out Cleared by reset or a new connection Error IP address has been assigned to another device already. Green/Red flash Self-test at power-on LED Mod Description No power Green Device operational Green flashing...

  • Page 57: Self-Test Via Ethernet/Ip

    Diagnostics and troubleshooting Chapter 7 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. Link 1 or Link 2 LED Description No link / power off Green solid Ethernet connection established Green flashing...

  • Page 58: Warnings

    Chapter 7 Diagnostics and troubleshooting Warnings Supported warnings (attribute 47+48) FALSE (0) TRUE (1) Warning Description (47) (47) Frequency exceeded Max. velocity exceeded Exceeded Light control reserve LED current critical Out of range CPU watchdog Not implemented Always 0 – Operating time limit warning Operating time limit reached Always 0...

  • Page 59: Errors

    Diagnostics and troubleshooting Chapter 7 Supported alarms (attribute 44+45) FALSE (0) TRUE (1) Description Description (44) (44) Position ERROR Position error ERROR Diagnostic ERROR Diagnostic error ERROR 2…11 Reserved by CIP – – – Vendor: checksum ERROR Checksum error ERROR Vendor: startup ERROR Startup error ERROR...
  • Page 60 Chapter 7 Diagnostics and troubleshooting Fault header FALSE TRUE Warning/ [byte] Bit Error Description Supported alarm Position Multi-turn position error error (synchronization MA single) Position Multi-turn position error error (synchronization quad single) Position Multi-turn position error (internal error interface) Position Multi-turn position error (FRAM) Always –...

  • Page 61: Introduction

    Appendix Installing the add-on profile Introduction This appendix shows how to install the add-on profile (AOP) of the encoder with the RSLogix 5000 program. Add-on profiles are files that users add to their Rockwell Automation library. These files contain the pertinent information for configuring a device that will be added to the Rockwell Automation network.
  • Page 62 Appendix A Installing the add-on profile 5. At the welcome screen click on Next. 6. Click the radio button to accept the licensing terms, then click Next. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...
  • Page 63 Installing the add-on profile Appendix A 7. Click the Install radio button and then click Next. 8. Click Install to begin the installation. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...
  • Page 64 Appendix A Installing the add-on profile 9. Click Next to install the add-on profile files. 10. Click Finish to complete the installation. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...

  • Page 65: Linear Scaling Example

    Appendix RSLogix 5000 sample code This appendix gives examples of using your encoder, including how to use RSLogix 5000 to set and read parameters. • “Linear scaling example, ” next section • “Setting up your project” on page 60 • “Using an explicit message configuration to set preset encoder value” on page 65 •...

  • Page 66: Setting Up Your Project

    Appendix B RSLogix 5000 sample code Set up the Configuration tab as follows. 1. Set Parameter Scaling to Enable. 2. Set Counts per Revolution to 200. 3. Total Measuring Range will be 51,200. 4. Position the slide/encoder to a known start position. 5.
  • Page 67 RSLogix 5000 sample code Appendix B 2. In the controller organizer, right-click Ethernet Communication Adapter and select Properties. 3. Configure the controller’s IP address, this example uses 192.168.1.100. Click Apply, then OK. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...
  • Page 68 Appendix B RSLogix 5000 sample code 4. Right-click Ethernet Network and select New Module. 5. Find the encoder add-on profiles under specialty modules. Select the add- on profile for either Multi-turn Encoder or Single-turn Encoder, then click Create. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...
  • Page 69 RSLogix 5000 sample code Appendix B 6. The encoder add-on profile configuration will then launch. Name the encoder (In this example it is My_842E). Configure the encoder’s IP address at 192.168.1.101. 7. Click the Configuration tab and set it up as shown per the linear scaling example on page 59.
  • Page 70 Appendix B RSLogix 5000 sample code 8. The encoder can now be seen as configured on the ethernet network in the controller organizer. 9. The project can then be downloaded to the controller. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...

  • Page 71: Using An Explicit Message Configuration To Set Preset Encoder Value

    RSLogix 5000 sample code Appendix B Using an explicit message The preset function results in a change of position reading. This can cause ATTENTION configuration to set preset unexpected motion which could result in personal injury and damage to the encoder value product or equipment.
  • Page 72 Appendix B RSLogix 5000 sample code 2. Add a new MSG instruction to the program and browse to the Preset_Message data type created in step 1. Then double-click the gray box on the message instruction to configure it. 3. Use the Position Sensor Object to find the values you want to use to send an explicit message.
  • Page 73 RSLogix 5000 sample code Appendix B 4. In the Communication tab, browse to the encoder on the ethernet network, then click OK. 5. The Tag tab will be populated for the Preset_Message Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...
  • Page 74 Appendix B RSLogix 5000 sample code 6. Add a normally open contact and a one-shot instruction to initialize the message instruction. 7. After you enter a value into the Preset_Value DINT and toggle the preset contact, the message instruction presets the encoder’s current count value. The position value is changed to the preset value you set.

  • Page 75: Using An Explicit Message Configuration To Read Preset Encoder Value

    RSLogix 5000 sample code Appendix B Using an explicit message 1. Create a new message data type named Read_Preset and a DINT named Preset_Value_Read. configuration to read preset encoder value 2. Add a new MSG instruction to the program and browse to the Read_Preset data type created in step 1.
  • Page 76 Appendix B RSLogix 5000 sample code 3. In the Configuration tab select: Message type: CIP generic Service type: Get attribute single Service code: (automatically populated) Source element: Preset_Value_Read (browse to this tag). Instance: 1 Class: 23* Attribute: 13* * hexadecimal values 4.
  • Page 77 RSLogix 5000 sample code Appendix B 5. The Tag tab will be populated for the Read_Preset. 6. Add a normally open contact and a one-shot instruction to initialize the message instruction. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...
  • Page 78 Appendix B RSLogix 5000 sample code 7. Toggle the Get_preset contact, the message instruction returns the preset value form the encoder into Preset_Value_Read DINT. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...

  • Page 79: Run-Time In Seconds

    RSLogix 5000 sample code Appendix B Using an explicit message This example is similar to the previous one, “Using an explicit message configuration to read preset encoder value” on page 69. configuration to obtain the encoder’s run-time in 1. Create a new message data type named Run_Time_Message and a DINT seconds named Run_Time Seconds.
  • Page 80 Appendix B RSLogix 5000 sample code 2. Add a new MSG function block to the program, browse to the Run_Time_Message data type created in step 1. Then double-click the grey box to configure the message instruction. 3. In the Configuration tab select: Message type - CIP Generic Service Type - Get Attribute Single Service Code - (Automatically populated)
  • Page 81 RSLogix 5000 sample code Appendix B 4. In the Communication tab, browse to the encoder on the ethernet network, then click OK. 5. The Tag tab will be populated f or the Run_Time_Message. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...
  • Page 82 Appendix B RSLogix 5000 sample code 6. Add a normally open contact and a one-shot instruction to initialize the message instruction. Toggling the Get_Run_Time contact initiates the message instruction and returns the current run time in seconds into Run_Time Seconds DINT. Rockwell Automation Publication 842E-UM001B-EN-P—April 2015...
  • Page 84 Your comments will help us serve your documentation needs better. If you have any suggestions on how to improve this document, complete this form, publication RA-DU002, available at http://www.rockwellautomation.com/literature/. Allen-Bradley, Rockwell Software, and Rockwell Automation are trademarks of Rockwell Automation, Inc. Trademarks not belonging to Rockwell Automation are property of their respective companies.

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