Rockwell Automation Allen-Bradley Kinetix 5700 - Encoder Phasing Definitions

Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 115
Chapter 4 Connector Data and Feature Descriptions
You can add and configure the Allen-Bradley Bulletin 842E-CM Integrated
Motion on EtherNet/IP™ absolute encoder into your Studio 5000 Logix
Designer® application to function as a feedback-only CIP Motion axis in the
Logix 5000 controller.
The Allen-Bradley Bulletin 843ES CIP Safety™ absolute network encoder is
designed for safety applications that require speed, direction, or position
monitoring safety functions.
Refer to the Kinetix Motion Accessories Technical Data, publication
KNX-TD004
, for more information on these Allen-Bradley encoders.
Encoder Phasing Definitions
For TTL encoders, the drive position increases when A leads B. Clockwise
motor rotation is assumed, when looking at the shaft.
Figure 68 - TTL Encoder Phasing
For Sin/Cos encoders (Hiperface and EnDat), the drive position increases
when Cosine (B) leads Sine (A). Clockwise motor rotation is assumed, when
looking at the shaft.
Table 62 - Allen-Bradley 842E-CM Absolute Network Encoders
Cat. No. Description
842E-CM-Mxxxx (30-bit multi-turn)
842E-CM-Sxxxx (18-bit single-turn)
• Support for the standard motion instruction set in the Studio 5000 Logix
Designer application
• EtherNet/IP interface compliant with IEEE 1588
• Support for linear, ring, and star Ethernet topologies
• IP67 environmental rating
• Available with solid and hollow shaft
Table 63 - Allen-Bradley 843ES Absolute Network Encoders
Cat. No. Description
843ES-MIPxBAx (12-bit multi-turn)
843ES-SIPxBAx (18-bit standard,
15-bit safety resolution single-turn)
• Rated up to and including SIL 3 according to IEC 61800-5-2, IEC 620261,
and IEC 61508-1
• Rated up to and including PLe, Cat. 3, according to ISO 13849-1
• Clamping, synchro, and square flange options for solid shaft
• Blind-hollow shaft available with stator coupling
• Feather-key solid shaft to prevent relative rotation
• Dual Ethernet ports with embedded EtherNet/IP switch for linear
networks and Device Level Ring topologies
• IP67 washdown rating
A
/A
90°
90°
90° 90°
360°
B
/B
Z
/Z