Rockwell Automation Publication 842E-UM001C-EN-P - September 2016 35
EtherNet/IP Overview Chapter 3
Attribute ID
(dec)
Attribute ID
(hex)
Access
rule
(1)
NV /
V
(2)
Name Data type Description Min. / Max.
(default)
1 1 Get V Number of attributes INT Number of supported attributes in this
class
0x0039
2 2 Get V Attribute list ARRAY
of byte
List of supported attributes –
10 A Get V Position value signed DINT Current position value (32 Bits) none
11 B Get NV Position sensor type
(see following table, encoder ID)
INT Device Type
0x01: Single-turn absolute encoder
0x02: Multi-turn absolute encoder
Min 0x00 01
Max 0x00 02
(0x00 02)
12 C Set NV Direction counting toggle, code
sequence (CS)
BOOL Definition of direction of incrementing
counts (10)
0: CW
1:CCW
(0: CW)
13 D Set NV Commissioning diagnostic
control (encoder position test)
BOOL ON: 1 Encoder diagnostics possible
OFF: 0 No diagnostics implemented
(OFF: 0)
14 E Set NV Scaling function control (SFC) BOOL ON: 1 calc. value (from 16+42)
OFF: 0 phys. resolution [steps]
(OFF: 0)
15 F Set NV Position format ENG
UNIT
Format of position value
(for example, arcsec or steps)
Engineering unit: 0x1001 (counts)
(0x1001)
16 10 Set NV Counts per range DINT Number of requested steps per
revolution.
Min 0x00 00 00 01
Max 0x00 04 00 00
(0x00 04 00 00)
17 11 Set NV Total measuring range DINT Total resolution Min / Max
0x00 00 00 01 /
Max. 2
n
* Attr.16
18 12 Set NV Position measuring increment DINT Minimum resolution in steps (is always
0x00 01)
(0x00 00 00 01)
19 13 Set NV Preset value DINT The preset value is set to the current
position value
Min / Max
0x00 00 00 00 /
Attr.17 - 1
(0x00 00 00 00)
21 15 Get V Position status register BYTE State of the software limit switch
Bit 0: Out of range
Bit 1: Range overflow
Bit: 2: Range underflow
Bit 3…7 reserved
(0x00)
22 16 Set NV Position low limit DINT Lower limit for position 0x00 00 00 00
23 17 Set NV Position high limit DINT Upper limit for position 0x3F FF FF FF
24 18 Get V Velocity value DINT Current velocity (32 Bits) Format (25) and (26)
25 19 Set NV Velocity format ENG
INT
Format of velocity value
0x1F04 counts/s
0x1F0E revs/s
0x1F0F revs/min
(0x1F0F)
26 1A Set NV Velocity resolution DINT Minimum resolution of velocity value
(24)
(0x00 00 00 01)
27 1B Set NV Minimum velocity setpoint DINT Minimum velocity setpoint for setting
warning flag (47)
(0x00 00 00 00)
28 1C Set NV Maximum velocity setpoint DINT Maximum velocity setpoint for setting
warning flag (47)
(0x3F FF FF FF)
29 1D Get V Acceleration value DINT Current acceleration (32 Bits) Format (30) and (31)
Table 17 - Instance Attributes of the Position Sensor Object
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