turck RM105 Instructions For Use Manual

Encoders with ethernet/ip interface

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Your Global Automation Partner

Encoders

with EtherNet/IP Interface

Instructions for Use

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Page 1 Your Global Automation Partner Encoders with EtherNet/IP Interface Instructions for Use...
Page 2: Table Of Contents
Implicit Protection Mode and Explicit Protection Mode Features Description 5.7.1 Address Conflict Detection (ACD) Feature 5.7.2 Device Level Ring (DLR)-Feature Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 3 Subnet mask in conjunction with the IP address Decimal / Hexadecimal conversion table Conversion table Data types Contact Glossary Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 4: Document
Subject to errors and changes. The stated product features and technical data shall not constitute any guarantee declaration. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 5: General Information
The device must be stored at a dry and dust-free location, in compliance with the technical data, see chapter Technical Data [6]. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 6: Product Description
43 bit default 30 bit Scaling Supports USF Supports gear factor Accuracy ± 0,0137° (over the whole temperature range) Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 7: Supported Standards And Protocols
QoS (Quality of Service) possible ACD (Address Conflict Detection) Multicast and Unicast ability Connection to up to 5 controllers Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 8: Interface Description Ethernet/Ip
1) with the attributes Position, Velocity, Acceleration, etc. The compilation of the objects forms the data infrastructure for the network. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 9: Ethernet/Ip And Cip
(e.g. preset value) or to modify its configuration (e.g. IP address configuration, encoder configuration, etc.) as often as necessary. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 10: Installation
Voltage supply Signal Male, A-coded Link 2 - Ethernet Port IN / OUT Signal TxD+ RxD+ TxD- RxD- Female, D-coded Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 11 Class A. to Class B. Radiation Is achieved with an unshielded Is achieved with a shielded line. line. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 12: Network Topologies
Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 13 100 m. In the event of line lengths exceeding 100 m, the single devices must be coupled through suitable switches. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 14: Commissioning And Operation
The ENC LED displays the current status of the encoder. The (all) statuses are listed in the ENC LED table. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 15: Encoder Rotary Switches
The three rotary switches of the encoder (switch x1, x10, x100) form a three-digit decimal number with the units, the tens and the hundreds. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 16: Quick Start Guide
Turn the rotary switches to the desired position, see chapter Encoder Rotary Switches [15]. d) Re-start the encoder. ð After the new start, the encoder can communicate using the address set. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 17: Resetting The Encoder
Set the rotary switches to the position desired for operation, e.g. 000. g) Connect the encoder to the power supply. ð The encoder is now reset. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 18: Configuration
Under Windows, call the menu “Control panel / Network and Sharing Center“. c) Open the menu “Properties” of the used network interface. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 19 Select “Internet Protocol Version 4“ and click on “Properties”. e) Input the following exemplary values: IP address: 192.168.1.111, subnet mask 255.255.255.0. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 20 RM105/106 IMG-ID: 318137227 g) Below the “Ethernet” node, select the menu item “New Module”. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 21 Input the desired name of the new encoder (here: RM-105_106_MT V2.1_Encoder) and its IP address (here: 192.168.1.30). RM-105/106 A3 EIP MT Turck RM-105/106 IMG-ID: 318142987 Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 22 IMG-ID: 318146827 ð You can now change the configuration values of the encoder under “Controller Tags / RM- 105_106_MT V2.1:C.“. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 23 RM-105_106_MT V2.1: I1.Data[0] RM-105_106_MT V2.1: I1.Data[1] IMG-ID: 318308747 b) Then let the PLC establish the connection to the encoder. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 24 IMG-ID: 319207307 a) Press the button with the three points to open the configuration dialog of the MSG block. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 25 Class: 23 (Hex) (Position Sensor Object) e) Attribute: 13 (Hex) (Preset Value) f) Source Element: PresetValue g) Source Length: 4 Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 26 Input the desired preset value in bytes 4-7 of Output assembly No. 781. d) Then set the “Preset Trigger Command“ bits to 2 (designated in the EDS file as “SetPresetValueFromOutputAssembly”). Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 27: Setting The Direction Of Rotation
ð Changing the value of the “Direction Counting Trigger“ bits leads to the change of the direction of rotation. The “Direction Counting Trigger“ bits can then be set to 0 again. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 28 Enter the direction of rotation in bit 0 of byte 0 of Configuration Assembly No. 779 (designated in the EDS File as “DirectionCounting”). Meaning: Value 0 = “Clockwise” (CW) Value 1 = “Counterclockwise” (CCW) Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 29: Protocol Features Cip
Get Attribute Returns the content of the attribute. Single 0x10 Set Attribute Modifies the value of the attribute. Single Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 30: Configuration Assemblies
Acceleration Unit LSB Acceleration Unit MSB Velocity Minimum Setpoint LSB Velocity Minimum Setpoint Velocity Minimum Setpoint Velocity Minimum Setpoint MSB Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 31: Ethernet/Ip Attributes
(default) Position Current position value UDINT Value Unsigned Position 0x0001 = Singleturn UINT Sensor 0x0002 = Multiturn Type Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 32 17 - 1 (0x3FFFFFFF) Velocity Current velocity DINT Value The format is defined by attributes25 and 26. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 33 If the acceleration (-1,668,860,536) ≤ attribute 33. becomes lower than this value, the warning flag (attribute 47) is set. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 34 Velocity Filter Bandwidth of the low- UDINT 0 … First-order low-pass Bandwitdth passfilter in Hz.0 = disabled filter. (100) Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 35 The encoder forms the position value as follows: Bits 0–17 Bits 18-29 18 bits singleturn position 12 bits multiturn position Description of the position calculation: Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 36 When undershooting the value 0, the next value is TMR -1 and when exceeding the value TMR -1, the next value is 0. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 37: Process Data Description
Position + Velocity not used not used Status + Position + Velocity + Accelera- not used not used tion Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 38: Input Assemblies
Device Faults MSB Position LSB Position Position Position MSB Velocity LSB Velocity Velocity Velocity MSB Acceleration LSB Acceleration Acceleration Acceleration MSB Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 39: Position Sensor Warnings
The acceleration exceeds the upper limit value configured with attribute 33. The position is outside of the range configured with attributes 22 and 23. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 40: Position Sensor Alarms
Replace the device. Sensor error. Replace the device. Memory error. Replace the device. General internal fault. Replace the device. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 41: Implicit Protection Mode And Explicit Protection Mode
End the connection Rotary switches: 300 / 555 Functions: Reset Change Ethernet settings FW update Read attributes Write attributes Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 42: Features Description
Set the PLC e.g. as ring supervisor and set the network topology to “Ring”. ð The encoder now supports a ring topology. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 43: Annex
1st octet 2nd octet 3rd octet 4th octet 192. The standard subnet mask is 255.255.255.0, thus allowing 254 network participants. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 44: Decimal / Hexadecimal Conversion Table
0x4E 0x81 0xB4 0xE7 0x1C 0x4F 0x82 0xB5 0xE8 0x1D 0x50 0x83 0xB6 0xE9 0x1E 0x51 0x84 0xB7 0xEA Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 45: Conversion Table Data Types
SINT Integer Integer DINT Integer UINT Integer LINT Integer REAL Floating point number 32 LREAL Floating point number 64 Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 46: Contact
USA-MN 55441 Minneapolis Phone: (+ 1) (763) 553 7300 Fax: (+ 1) (763) 553 0708 Email: turckusa@turck.com Website: www.turck.us Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 47: Glossary
Related to the direction of rotation. The position value increases for clockwise shaft rotation (looking at the shaft from the flange side). Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 48 The ODVA defines and publishes the documentation relating to the CIP and EtherNet/ IP standards. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 49 WORD Data type. A WORD includes 2 bytes, each of them including 8 bits. Turck Inc. | 3000 Campus Drive, Minneapolis, MN 55441 | T +1 763 553-7300 | F +1 763 509-7709 | www.turck.com...
Page 50 30 subsidiaries and over 60 representations worldwide! Printed in USA ©2024 by Turck Inc. All rights reserved. No part of the www.turck.com 100013 04/24 publication may be reproduced without written permission.

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