Rockwell Automation Publication 750-PM001N-EN-P - February 2017 505
Integrated Motion on EtherNet/IP Application Appendix F
If there are two ways to wire an encoder to a feedback module, “Channel A” is
used for one set of terminals, and “Channel B” is used for the other set of
terminals.
Tab le 28
identifies the allowed Integrated Motion on EtherNet/IP Feedback
types and the correct encoder connection terminals when the feedback module is
a
20-750-ENC-1.
Tab le 29
shows the allowed Integrated Motion on EtherNet/IP Feedback types
and the correct encoder connection terminals when the feedback module is a
20-750-DENC-1.
Tab le 30
lists the allowed Integrated Motion on EtherNet/IP Feedback types and
the correct encoder connection terminals when the feedback module is a
Universal Feedback module, 20-750-UFB-1. It also identifies how the two
“Device Select” parameters on the 20-750-UFB-1 module are configured in each
case.
When a 20-750-UFB-1 module is used in an Integrated Motion on EtherNet/IP
system, the “FB0” parameters are always used for configuration and status of
Channel A and the “FB1” parameters are always used for configuration and status
of Channel B.
Tab le 30
identifies that, for some Integrated Motion on EtherNet/IP Feedback
Types, there are two possible connection schemes using RSLogix 5000. If
Channel A is selected, one scheme is used. If Channel B is selected, the other
scheme is used. Conversely, for the other Integrated Motion on EtherNet/IP
Feedback Types, there is only one possible connection scheme.
The “Digital AqB” Feedback Type is a special case. If only one of the channels on
a particular 20-750-UFB-1 module is configured to “Digital AqB”, then the A, B,
and Z terminals are used, regardless of whether this type is assigned to Channel A
or Channel B. If both channels are configured to “Digital AqB”, then Channel A
uses the A, B, Z terminals, and Channel B uses the terminals that are labeled
“Sine” and “Cosine”. In this case, they are expected to carry normal AqB encoder
signals. These two cases are included in the table.
Table 28 - Single Incremental-encoder Feedback Type and Connections
Integrated Motion on EtherNet/IP Feedback Type 20-750-ENC-1: Channel A Terminals
Not Specified (0) N/A
Digital AqB (1) A (NOT), A, B (NOT), B, Z (NOT), Z
Table 29 - Dual Incremental-encoder Feedback Type and Connections
Integrated Motion on EtherNet/
IP Feedback Type
20-750-DENC-1: Channel A
Terminals
20-750-DENC-1: Channel B
Terminals
Not Specified (0) N/A N/A
Digital AqB (1) Encoder 0: A (NOT), A, B (NOT), B, Z
(NOT), Z
Encoder 1: A (NOT), A, B (NOT), B, Z
(NOT), Z
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