Manual Ixarc Ocd em

ABSOLUTE IXARC ROTARY ENCODER
W ITH MODBUS/TCP INTE RFACE
User Manual
AMERICA EUROPE ASIA

FRABA Inc. FRABA GmbH FRABA Pte. Ltd.
1800 East State Street, Suite 148 Zeppelinstrasse 2 20 Kallang Avenue
Hamilton, NJ 08609-2020, USA D-50667 Köln, Germany Singapore 339411, Singapore
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www.posital.com, [email protected] www.posital.com, [email protected] www.posital.com/sg, [email protected]
Imprint Alteration of Specifications reserved

Technical specifications, which are described in
FRABA B.V. this manual, are subject to change due to our
Jan Campertstraat 11, permanent strive to improve our products.
NL-6416 SG Heerlen
T +49 221-96213-0 Document information
[email protected], www.fraba.com File name: UME-OCD-EM
Date: February 2016
Version number: 1.6
Copyright Author: Reiner Bätjer
The company POSITAL claims copyright on this
documentation. It is not allowed to modify, to ex- Service-Phone
tend, to hand over to a third party and to copy this For technical support, questions and suggestions
documentation without written approval by the for improving our products and documentations
company POSITAL. Nor is any liability assumed for call our telephone line: +49 221 96213-0
damages resulting from the use of the information
contained herein. Further, this publication and
features described herein are subject to change
without notice.
Version 2016-02-08 Page 2 UME-OCD-EM

5.6.2 Variables ______________________ 18

User Manual ______________________ 1
1 Introduction _____________________ 4 5.6.3 Encoder answers __________________ 20
1.1 Absolute IXARC Rotary Encoders _____ 4
6 Using UDP transmission____________ 20
1.2 Ethernet ________________________ 5
1.3 TCP/IP __________________________ 5 7 FAQ ____________________________ 21
1.4 Modbus/TCP _____________________ 5
8 Glossary ________________________ 24
1.5 OSI-Modell ______________________ 6
1.6 MODBUS frame __________________ 6 13 Revision index __________________ 25
2 Hardware Set-Up and Ethernet
Connection _______________________ 7
2.1 Network Topology ________________ 7
2.2 Connecting an Absolute Encoder _____ 8
2.3 Ethernet Cables __________________ 8
2.3.1 RJ45 – M12 crossed ______________ 8
2.3.2 RJ45 – M12 straight ______________ 8
2.3.3 M12 – M12 crossed _ Error! Bookmark
not defined.
2.4 Diagnostic LED’s __________________ 9
3 Data transmission _______________ 10
3.1 Values _________________________ 10
3.2 Format_________________________ 10
3.3 Function code 03 ________________ 10
3.4 Function code 16 ________________ 10
3.5 Modbus Mapping ________________ 11
4 Programming ___________________ 12
4.1 Programming of Parameters _______ 12
4.2 Operating by the integrated Web Server
__________________________________ 13
4.3 E-mail and Network Configuration __ 14
5 Operating by TCP/IP Commands____ 15
5.1 Introduction ____________________ 15
5.2 Installation _____________________ 15
5.3 PATH Variable ___________________ 15
5.3.1 MS-DOS, Win95, Win98, WinME __ 15
5.3.2 WinNT3.51, WinNT4, Win2000, WinXP
__________________________________ 16
5.4 Operating ______________________ 16
5.5 Advanced Functionality ___________ 16
5.6 Parameters _____________________ 17
5.6.1 Commands ____________________ 17

1 Introduction 1.1 Absolute IXARC Rotary Encoders
Absolute rotary encoders provide a definite value The encoder is able to provide three different kinds
for every possible rotary position. All these values of output data: the position value, a velocity value
are reflected on one or more code discs. The and a time stamp. These can be use in arbitrary
beams of infrared LEDs are sent through the code combinations for TCP transmitting.
discs and detected by Opto-Arrays. The output
signals are electronically amplified and the result- The following functions of the absolute rotary en-
ing value is transferred to the interface. coder can be programmed directly via the Ethernet
connection:
The absolute rotary encoder has a maximum reso- - Used scope of physical resolution
lution of 65,536 steps per revolution (16 Bit). The - Total scaled resolution
Multiturn version can detect up to 16,384 revolu- - Preset value
tions (14 Bit). Therefore the largest resulting reso- - Code sequence (Complement)
30
lution is 30 Bit = 2 = 1,073,741,824 steps. The
standard Singleturn version has 13 Bit, the stand- There is no specific software required for version
ard Multiturn version 25 Bit. A1 to initiate and use the absolute rotary encoder
because the sensor can be read out and pro-
The encoder sends the data in binary code via grammed by any standard web browser. For this
standard or fast Ethernet (10 Base T, 100 Base T). purpose the absolute rotary encoder contains a
At present it supports the following international web server, which provides HTML documents with
standardized protocols: TCP, IP (http and SMTP in embedded Java applets. These documents are a
version A1), UDP and Modbus. widely self-explanatory graphical user interface
(GUI) that is described in detail in chapter 4.2. The
automated data transfer with a control system is
done with TCP/IP by simple plain text commands
and data in ASCII format.
The encoder supports the communication with

Modbus/TCP-PLC’s and –IPC’s. With function
code 03 you can read out data. Function code 16
allows setting the parameters. More details see in
chapter 3.4.

1.2 Ethernet The IP protocol of layer 3 was developed in the

The present developments in the field of Industrial 70’s by the US military (MIL-STD 1777). It allows a
Ethernet are based on the vision of an integrated universal addressing independent of the hardware
access of all data of a company through a uniform involved in heterogeneous networks. It also man-
communication system. In higher levels of enter- ages the transfer of large packets by splitting them
prise communication Ethernet is the main medium up into smaller packets. The well-known TCP
of data transfers. Combined with other IT technol- protocol (MIL-STD 1778) ensures a reliable data
ogies it is internationally standardized. In the long transfer.
run automation engineers will benefit from the
rapid technological progress in the mass markets Http (RFC 2068) and SMTP (MIL-STD 1781) be-
of IT and web technologies. long to layer 7 of the OSI model and allow to trans-
fer data and documents via web browser or to
Ethernet technically provides a system with higher send e-mails.
data transfer rates than common field bus systems.
TCP/IP and UDP do have a statistical access 1.4 Modbus/TCP
method to access the medium thereby prohibiting MODBUS is an application layer messaging proto-
determined response times. Many developments col, positioned on level 7 of the OSI model, which
are intensely done on additional real time mecha- provides client/server communication between
nisms, e.g. Ethernet Powerlink, Ethernet/IP, devices connected on different types of buses or
Profinet or EtherCAT. However, you can already networks.
get access times that are sufficient for many appli- As an industry’s standard since 1979, MODBUS
cations when using TCP/IP or UDP. If you directly continues to enable millions of automation devices
connect the absolute encoder to a computer via a to communicate. Today, support for the simple and
100 Mbit network card, you will get a cycle time of elegant structure of MODBUS continues to grow.
less than 2 ms. In huge networks the cycle times The Internet community can access MODBUS at a
will depend on the utilization of the network. reserved system port 502 on the TCP/IP stack.
MODBUS is a request/reply protocol and offers
services specified by function codes.
MODBUS function codes are elements of
1.3 TCP/IP MODBUS request/reply PDUs. The objective of
Even though Ethernet and TCP/IP are often used this document is to describe the function codes
together and sometimes used interchanged, these used within the framework of MODBUS transac-
are three different kinds of terms and you should tions.
carefully separate them. The coherences are MODBUS is an application layer messaging proto-
based on the ISO/OSI reference model after col for clients.
ISO/IEC 7498 that is needed to basically under- For more information’s see www.modbus.org.
stand these terms.
Ethernet only describes layer 1 and 2 in this mod-

el, nevertheless the term is often used in error in
engineering as description of all layers between 1
and 7.

1.5 OSI-Modell
Layer
7 Application Modbus
Layer
Application
6
Mapping Layer Modbus <-> TCP
5
4 Transport Layer TCP
Data transport
3 Network Layer IP
2 Ethernet Mac
IEEE 802.3
Layer
1 Physical Layer Cable
1.6 MODBUS frame
Transaction Protocol Lenght MODBUS TCP

identification identification Frame Frame
MODBUS Adress Function Data

Frame Code

2 Hardware Set-Up and Ethernet Connection
2.1 Network Topology

Using Ethernet there are different kinds of topolo- “straight” network cable (not a crossover cable).
gies possible. The connection of the encoder can You need at least a cable of category 5 to get a
be made both directly to the computer with a net- data transfer rate up to 100 Mbit. If there is a net-
work card or indirectly with a switch, hub or com- work component in the network, which does not
pany network, see figure below. If you use a direct provide Fast Ethernet, the sensor will automatically
connection to a computer without network compo- switch down to 10 Mbit.
nents in between, you need to use a standard,
Connection to Switch or Hub Direct Connection to PC
Cat 5 Cable
Cat 5 Cable
Cat 5 Crossover Cables

2.2 Connecting an Absolute Encoder
The encoder is connected by a 5 pin M12 con-

nector for the power supply and one 4 pin,
D-coded M12 connector for Ethernet.
Connector power supply

Connector Ethernet 5 pin male, A-coded
4 pin female, D-coded
Pin Number Signal
Pin Number Signal 1 +24 V
1 Tx + 2 +24 V
2 Rx + 3 0V
3 Tx - 4 0V
4 Rx - 5 PE
Sketch on encoder view
2.3 Ethernet Cables
2.3.1 RJ45 – M12 crossed 2.3.3 M12 – M12 crossed

Signal RJ45 Pin M12 Pin Signal Signal M12 Pin M12 Pin Signal
Tx+ 1 2 Rx+ Tx+ 1 2 Rx+
Tx- 2 4 Rx- Tx- 3 4 Rx-
Rx+ 3 1 Tx+ Rx+ 2 1 Tx+
Rx- 6 3 Tx- Rx- 4 3 Tx-
2.3.2 RJ45 – M12 straight

Signal RJ45 Pin M12 Pin Signal
Tx+ 3 1 Tx+
Tx- 6 3 Tx-
Rx+ 1 2 Rx+
Rx- 2 4 Rx-

2.4 Diagnostic LED’s
LED Color Description for LED = on

Rx1 Yellow Incoming and outgoing
traffic for port 1
Link1 Green Link to another Ethernet
component for port 1
Power Green Power

3 Data transmission
3.1 Values register, the first byte contains the high order bits
Position values, velocity and a time stamp are and the second contains the low order bits. The
provided. Error check in ADU is for Modbus/TCP not
available, because TCP use a Error check. For
3.2 Format details see www.modbus.org.
Data type Sign 3.4 Function code 16

Position 32 bit integer unsigned 16 (0x10) Write Multiple registers
Velocity 32 bit integer signed This function code is used to write a block of
Time stamp 64 bit integer unsigned contiguous registers in a remote device. The
requested written values are specified in the
3.3 Function code 03 request data field. Data is packed as two bytes
03 (0x03) Read Holding Registers per register. The normal response returns the
This function code is used to read the contents function code, starting address, and quantity of
of a contiguous block of holding registers in a registers written.
remote device. The Request PDU specifies the Please take care that under all circum-
starting register address and the number of stances the encoder is not turned off while it
registers. In the PDU Registers are addressed is writing to the flash!
starting at zero. Therefore registers numbered
i.e. 1-8 are addressed as 0-7.
The register data in the response message are
packed as two bytes per register, with the binary
contents right justified within each byte. For each

3.5 Modbus Mapping

Start address: 0000 Register 10 to 18 are only in use to send the
Number of registers: 8 parameters to the encoder.
Register Data type Data Notify:

0 Position Bit 17-32  The write registers will not get an up-
1 “ Bit 1-16 date with changed parameters from the
2 Velocity Bit 17-32 Web applet or TCP commands.
3 “ Bit 1-16  The velocity value can be wrong during
4 Time stamp Bit 49-64 setting some parameters
5 “ Bit 33-48
6 “ Bit 17-32
7 “ Bit 1-16
8 Not in use -
9 Not in use -
10 UsedScopeOfPhysRes Bit 17-32
11 “ Bit 1-16
12 TotalScaledRes Bit 17-32
13 “ Bit 1-16
14 Preset Bit 17-32
15 “ Bit 1-16
16 Offset Bit 17-32
17 “ Bit 1-16
18 CountingDir Bit 1-16
CW = 0
CCW = 1
19 “ Bit 17-32

4 Programming
4.1 Programming of Parameters
The encoder is able to provide three different kinds of output data: the position value, a velocity value and
a time stamp. These can be used in arbitrary combinations.
Parameter Description
Used scope of physical resolution Specifies the part of the physical resolution used for the encoder in
(parameter 1) physical steps. If e.g. for an encoder with a resolution of 8192 steps
per revolution 16384 is chosen, the encoder will count 8192 steps
per revolution (if “Total scaled resolution” is set to the same value as
“Used scope of physical resolution”) and start with zero again after 2
revolutions. If this value is not set to a value which results in an inte-
ger division with the total physical resolution, the encoder value will
jump to zero when passing the physical zero point.
Total scaled resolution Specifies the scaled resolution which is used over the area of physi-
(parameter 2) cal steps defined by “Used scope of physical resolution”. If e.g. the
encoder is set as described above and “Total scaled resolution” is set
to 10, the encoder will count 10 steps over the physical steps defined
with “Used scope of physical resolution”, i.e. 5 steps per revolution.
Code sequence The code sequence (complement) can be programmed as an operat-
ing parameter. This parameter determines whether the output code
increases or decreases when the axis is turned clockwise.
Preset value The Preset value is the desired output value for the actual position of
the axis. The actual output value will be set to this preset value.
Please note the FAQ for important information!
Offset value The offset value can set the offset to physical position of the axis.
The html page, the programmable parameters, and the diagnostics of the encoder are described in the
next chapter.
Max. physical
position value
Max. needed
position value
(parameter 2.)
Wanted zero Physical zero

crossing crossing
(parameter 1.)

4.2 Operating by the integrated Web Server
The absolute rotary encoder can be addressed please open the page “Main Controller Site“ (see
by any web browser (e.g. Netscape, Internet image below). The other links on the starting
Explorer, Opera, etc.). Please enter the IP page, will open a html page showing all available
address of the encoder in the address field of commands („Information about Commands“) or
the browser. The factory setting for the IP the page to configure the network settings.
address is 10.10.10.10. Chapter 4.3 will deal Chapter 5 describes these commands in more
with changing the IP address. detail.
To read, for example, continuously the position
If the encoder has built up a connection to the values please set the desired cycle time and
browser, you can see its start page. To be able choose the cyclic mode. Each command to the
to parameterize the encoder encoder and messages from the encoder is
logged in the encoder message window.

4.3 E-mail and Network Configuration
The rotary encoder can be used either with the

wired IP 10.10.10.10 or the software IP address
which can be programmed. A switch to choose
either option is located in the connection cap. If
the switch 2 is in position “off”, the
programmable IP has been chosen. Both Hex
rotary switches and switch 1 are not in use for
this encoder. The configuration window can be
accessed via the “Main Controller Site” or the
start page.

5 Operating by TCP/IP Commands
5.1 Introduction
To use the absolute encoder with a control system standard gateway. The default IP address of the
platform independent commands and data in sensor is 10.10.10.10. You can check the
ASCII format can be exchanged by TCP/IP. To connection to the sensor with the command “ping
take a look at the commands and a short <IP-sensor>“.
description please see chapter 5.6. To find out how
to address the TCP/IP interface of your control or 5.2 Installation
operating system please refer to the
documentation for these devices To communicate with the Encoder using our
example tools tcpcl or updcl, a Java runtime
environment is required on your PC. If you have
not installed Java, you can get it from our CD (look
under the section “accessories”). You can also
download the latest version from
http://java.sun.com/products/j2se. Copy the
FRABA-Java programs which you can find on our
website
https://www.posital.com/media/fraba/productfinder/
posital/tools-ixarc-ocd-em-java_client.zip
onto your hard disk, e.g. in the folder
c:\fraba\ethernet.
Afterwards you need to set up the PATH variable

for the Java installation and the FRABA-Java
programs. For a convenient start we also provided
batch files to start the java files, depending on the
IP addresses you might need to modify them. For
TCP will be used port 6000.
If you use a Windows PC, you can try the following

5.3 PATH Variable
connection to the sensor: Go to the command
5.3.1 MS-DOS, Win95, Win98, WinME
prompt (DOS) and type in “ping <computer-name>”
or “ipconfig”. In response you get the IP address of
Please add the required paths to c:\Autoexec.bat
your computer. If the encoder IP address is not
behind the “Path” line. Example:
located within your subnet mask, you will need to
Path=c:\ms-dos; c:\Program Files\BC\BIN
prepare the data transfer to the encoder by
Path=%Path%;c:\fraba\ethernet\
entering the command “route add <IP-sensor> <IP-
Path=%Path%;c:\programme\java\bin
computer>“. Maybe are administrator rights
necessary. Otherwise your PC/control system will
try to reach the encoder via your computers

5.3.2 WinNT3.51, WinNT4, Win2000, WinXP
In Start – Settings – Control panel – System – required paths! Depending on the operating
Advanced – Environment Variables you can system used administrator rights might be
configure the variable “Path”. Please do not necessary.
change the other path settings, but only add the
5.4 Operating
After starting the batch file dos10.bat in tools- calculated offset from the encoder. You can see
ixarc-ocd-em-java_client.zip (subdirectory all available commands in the next chapter.
TCPIP+UDP-Client\TCPClient_Posital_Time\) If the encoder is running in cyclic mode, you can
the connection to the encoder with IP-Address see position values coming continuously from
10.10.10.10 will be built up. IF you need another the encoder. You can enter a command anyway,
IP-Address then you can change the batch file. although your input will be overwritten by new
Once you are connected, you can try e.g. “read position values, the command will still be sent
offset” (please note space) to read out the once you press enter.
The Java program can be finished with CTRL-C.
5.5 Advanced Functionality

In the subdirectory "advanced" in the Zip-file not contain ‘\0’ or ‘\n’. This can be switched
“Software Tools” there is a version of the TCP- by binary / ASCII, it will be automatically
client with enhanced functionality: switched when the encoder is switched
 the time from the command till the encoder from/to binary mode.
issues an answer can be measured in steps  Scrolling of the output can be turned on/off
of 10 ms. This can be switched on/off using via scroll / noscroll
time / notime.  'new' renews the connection to the encoder
 the binary values transmitted by the encoder  'exit' will close the TCPClient application
can be transferred to ASCII again, if it does

5.6 Parameters
5.6.1 Commands
Important: Please note spaces, upper and “Value“ means the output value. You can
lower case! <Value> means the parameter to change and read the settings of the encoder by
enter. All commands and parameters have to be using the following commands:
entered in one line and started with <ENTER>.
Commands Remarks
Run! This command will order the encoder to send a position value, regardless
of the time mode.
set <Variable>=<Value> This command will set a variable to a given value. If successful, the
encoder will answer in the form <Variable>=<Value>, else an error
message will be issued. All variables/modes are stored in the internal flash
a few seconds after they were set.
After the value was saved, the message "Parameters successfully written!"
is issued to all connected TCP-Clients. If the encoder is turned off while
writing to the flash, the process can damage the flash and destroy the
encoder program.
Please take care that under all circumstances the encoder is not
turned off while it is writing to the flash!
read <Variable> This command will read out a variable from the encoder. The encoder will
answer in the form <Variable>=<Value>.

5.6.2 Variables
Variables Remarks / Values

UsedScopeOfPhysRes Specifies the part of the physical resolution used for the encoder in physical
steps. If e.g. for an encoder with a resolution of 8192 steps per revolution
16384 is chosen, the encoder will count 8192 steps per revolution (if
TotalScaledRes is set to the same value as UsedScopeOfPhysRes) and
start with zero again after 2 revolutions. If this value is not set to a value
which results in an integer division with the total physical resolution, the
encoder value will jump to zero when passing the physical zero point.
Default value: Physical resolution of the type label. I.e. 4096 resolutions x
8192 steps per revolution = 33,554,432
TotalScaledRes Specifies the scaled resolution which is used over the area of physical
steps defined by UsedScopeOfPhysRes. If e.g. the encoder is set as
described above and TotalScaledRes is set to 10, the encoder will count 10
steps over the physical steps defined with UsedScopeOfPhysRes, i.e. 5
steps per revolution. Default value: Physical resolution of the type label. I.e.
4096 resolutions x 8192 steps per revolution = 33,554,432
CountingDir Specifies the direction to turn the axis which is associated with higher
values.
 CW: denotes that clockwise turning will increase the position value
 CCW: denotes that counterclockwise turning will increase the position
value
Preset When the preset is set, an internal offset will be calculated, which will be
saved and added to all position values afterwards. The value given for the
preset denotes the position value the encoder will show at the point where
the preset was set. Please note the FAQ for important information!
Offset This variable makes it possible to directly change the offset calculated and
set by the preset function.
TimeMode Possible time modes are:
 Polled: Encoder will only send output values if asked to do by "Run!"
 Cyclic: Encoder will send output values after time specified by
CycleTime.
 Change of state: The Encoder will send the output values only if either
the position or the velocity has changed. The values are checked
every 5 ms to reduce unwanted network traffic

Variables Remarks / Values

OutputMode Possible output modes are:
[Position_][Velocity_][Timestamp_]
where the components mean:
 Position: Encoder will send a scaled Position value.
 Velocity: Encoder will send a velocity Value (steps/s).
 Timestamp: Encoder will send a timestamp in microseconds, starting
with 0 at the startup of the encoder. As the counter is a 32 Bit value, the
timestamp will reach zero again after approx. 1.2 hours. This variable has
got no effect to the Modbus communication.
OutputType Possible output types are:
 ASCII: Encoder will send ASCII-letters in the form
"POSITION=<POSITION> VELOCITY=<VELOCITY>
TIMESTAMP=<TIME>"
 ASCII_SHORT: Encoder will send ASCII-numbers in the form
"<POSITION> <VELOCITY> <TIME>", separated by spaces
 BINARY: Encoder will send 32 bit binary values without any separator
between the values.
This variable has got no effect to the Modbus communication.
CycleTime States the time in ms for the cyclic time mode. Can have values between
1 ms and 999,999 ms. This variable has got no effect to the Modbus com-
munication.
IP Sets the IP-address of the encoder and must be a valid IP-address in the
form a.b.c.d, with a, b, c, d from 0 to 255.
Attention: The IP-address will only be activated after a new power-up
when switch 2 is in position “off”.
NetMask The net mask used by the encoder. Please take care that Encoder and
PLC/PC are within the same subnet or specify a working gateway.
Gateway Gateway to be used by the encoder, if own IP-address and destination
IP-address are not within the same subnet specified by the net mask.
OwnEmailAddr The email-address given as the sender in emails from the encoder.
RmtEmailAddr The email address emails will be send to.
SMTPServerIP The IP-address of the SMTP-server which the encoder will send the email
by.
Verbose Level of information output for tracer (0 = only errors, 1 = errors and warn-
ings, 2 = errors, warnings and clues)
AutoArpCacheUpdate Arp Cache will get an update rarely. For Hot-Plug-Swap applications the
Auto Arp Cache Update can be activate. 1=On, 0=Off (default)

5.6.3 Encoder answers
Encoder answers Remarks

<Variable>=<Value> If a variable was correctly set, the encoder will answer to all connected
TCP-clients with the variable and its new value. This indicates that the
Encoder understood the command and now uses the value, it does not
indicate that the value was already save to the internal Flash, please allow
some additional seconds for that.
ERROR: ... If something went wrong, the encoder will issue an error, e.g. if it did not
understand a command or if a value for a variable was not correct. It will
describe the error after the "ERROR:" tag.
WARNING: ... If a variable was set to a value, which is permitted, but which may result in
problems when certain conditions occur, the encoder will issue a warning.
This could for example happen, if the variable UsedScopeOfPhysRes is set
to a value which does not result in an integer division with the physical
resolution of the encoder when dividing the total physical resolution of the
encoder. The reason for the warning will be sent following the "WARNING:"
tag.
Parameters successfully If any variable was set, it is important to wait until the encoder dis-
written! plays this message before the encoder can be turned off, otherwise
the internal flash might be damaged.
6 Using UDP transmission

After starting the batch file “UDP_10101010.bat”, cyclically send will not be received by UDP cli-
which will start a UDP client on the PC and con- ents.
nect to the encoder, “run!” can be entered to The parameterization of the encoder can only be
read out the position value. As UDP is not con- changed by TCP-commands (see chapter 5). As
nection oriented as TCP is, only the POLLED UDP is not connection orientated. The encoder
mode is supported using UDP; encoder values allows UDP-connections to port 5000 only.

7 FAQ
1. Question: Why cannot set the Preset value more than one time?
Answer: The Preset value will save in the flash of the encoder. This flash has only writing
cycles of 100000 times. If the register 14+15 is in use to set the Preset value it could be
that thousands of cycles will safe in the flash and the life time of the encoder decrease
significant. So we fix it that it is not possible to save the same preset value for more than
one time. The next preset value must be different, but can use in the next but one. I.e.
Preset value is 0. Then set in the first time 0, in the second 1, in the next one 0, ...
2. Question: With which PLC can the encoder work too?

Answer: SEND/RECEIVE is an easy open protocol, that can be used by different PLC's
like Siemens (S7-1200), Hima, ...
3. Question: Physical zero point problems

Answer: You can set only the Preset value. The offset value is only the result. If you
would like to set the encoder position to the half of physical resolution you have to do the
following steps:
a. Set preset value to a value so that the offset value is zero.
b. Rotate the shaft i.e. to 16777216
c. Set the Preset value to the wished value.
4. Question: Minimum sensor update time

Answer: The internal sensor update time amounts ~2 ms. Temporary the update time was
between Version 4.2 and 4.5 only 10 ms. But this fast transmission time is only possible
with UDP. According the basic of TCP-IP and the network traffic this product cannot guar-
antee real time applications.
5. Question: How to use a redundant PLC?

Answer: If the encoder should work on a Hot-Plug-Swap application it is necessary to ac-
tivate the Auto Arp Cache update. Send to the encoder Set AutoArpCacheUpdate=1
But please note that this decrease the response time.
6. Question: Compatibility to OCD-ETA1B-…

Answer: OCD-EM… is the 1:1 replacement.

7. Question: Web applet doesn't open and an error message comes up

Answer: Open Java console to see Java error messages under
Start - Control Panel - Java (Windows 7):
In newer Java versions ~>7 Update 16 there are problems with the Certificates. But it is
possible to put the device on a white list:

Hint: With Internet Explorer and Google Chrome there should be a problem after switching
to another page. But with Firefox this works stable.
8. Question: Error message “Exception while opening stream with IP…”

Answer: Based on the security rules of Java 7 Update 16 this problem comes up based
on the Java configuration. Here are several solutions:
a.) Allow i.e. for IP address 10.10.10.10 c:\Program
Files\Java\jre1.8.0_40\lib\security\java.policy to open TCP/IP connections:
grant codeBase "http://10.10.10.10/webserver/-" {
permission java.net.SocketPermission "*","listen.connect.accept.resolve";
permission java.security.AllPermission;
};
/- at the end of the URLs means all files in this directory and subdirectories.
b.) Use an older JAVA version. But it could be that this is not allowed from you IT admin-
istration!
c.) In the most cases our customers use the web-applet only for the configuration.
Temporary they can use the JAVA tool from our website. See details in chapter 5.4.
Then they can send the commands with command line input. See chapter 5.6.

8 Glossary
Term Explanation
10 Base T Transmission line with 10 Mbit data transmission rate
100 Base T Transmission line with 100 Mbit data transmission rate
ADU Application Data Unit
ASCII American Standard Code for Information Interchange
ASCII describes as code the correlation from digital integers to a normal
font described character.
Batch file Script program for MS-DOS
Baud rate Transmission rate; it display the transmission bits per second
Binary Numeric system with value 0 or 1.
Browser Software program to display HTML-Sides on different operating systems
(Linux, Unix, Windows, ...)
CAT5 Terminations for transmission rates up to 100 Mbit.
CRC The cyclic redundancy check is a method from the information technol-
ogy to control a checksum for data, to reduce errors by the transmis-
sion.
EMC Electromagnetic compatibility, there are rules to verifying devices.
Ethernet Ethernet is a computer network technology based on frames.
Fast Ethernet Transmission technology with 100 Mbit transmission rate.
FCS-Bytes The Frame Check Sequenz-Bytes are a 32 Bit CRC-Checksum.
Flash Internal memory, saved data will be available after power down.
HTML The Hypertext Markup Language is a document format used in the
World Wide Web to be displayed by a browser
HTTP The Hypertext Transfer Protocol is a stateless transmission protocol for
data transmission.
Hub The hub connects different network segments e.g. in an Ethernet net-
work.
IP-Address IP-address allows a logic addressing from computer in a network.
IP-Protocol The Internet Protocol is widespread in computer networks. It is the im-
plementation of the internet layer of the TCP/IP-model
MODBUS Is an application layer messaging protocol, positioned at level 7 of the
OSI model, which provides client/server communication between devic-
es connected on different types of buses or networks
MODBUS/TCP The Internet community can access MODBUS at a reserved system port
502 on the TCP/IP stack.
Mbit Transmission rate or baud rate, million bits per second
OCD Acronym: OPTOCODE, name of an encoder series manufactured by
FRABA POSITAL.
OSI-Model The Open System Interconnection reference model is a open layer
model for the organization of a communication.
PDU Protocol Data Unit
PPP-Packet The Point-to-Point Protocol will be need for a connection establishment.
It enables the transmission between different network protocols.

SMTP Simple Mail Transfer Protocol managed the transmission of e-mails.

Switch A switch is an electronic device to connect computers e.g. network
segments in a local network. Unlike a hub, a switch uses stacks to avoid
network collisions.
TCP The Transmission Control Protocol is a connection orientated transmis-
sion protocol, in a network.
TCP-Client MS-DOS program available from FRABA to communicate with the en-
coder.
UDP User Datagram Protocol is utilized to send data that does not need to be
transferred in a reliable way.
13 Revision index
Revision Date Revision

Delete technical drawings + type key + accessories 2015-02-18 1.3
Changed table background from grey to transparent
Update Label and LED table
Add FAQ (Preset + Delete Arp Cache, …)
Add hint for FAQ 7 that Firefox works without problem 2015-05-20 1.4
Add FAQ 8: Error message "Exception while opening stream with IP…" 2015-12-17 1.5
Update FAQ 8 to a secure IT solution and add explanation to Java tool 2016-02-08 1.6
Address modifications and small spelling corrections
Disclaimer
© FRABA B.V., All rights reserved. We do not assume responsibility for technical inaccuracies or
omissions. Specifications are subject to change without notice.

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ABSOLUTE IXARC ROTARY ENCODER

W ITH MODBUS/TCP INTE RFACE

AMERICA EUROPE ASIA

Imprint Alteration of Specifications reserved

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5.6.2 Variables ______________________ 18

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1 Introduction 1.1 Absolute IXARC Rotary Encoders

The encoder supports the communication with

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1.2 Ethernet The IP protocol of layer 3 was developed in the

Ethernet only describes layer 1 and 2 in this mod-

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1.6 MODBUS frame

Transaction Protocol Lenght MODBUS TCP

MODBUS Adress Function Data

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2 Hardware Set-Up and Ethernet Connection

2.1 Network Topology

Connection to Switch or Hub Direct Connection to PC

Cat 5 Crossover Cables

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2.2 Connecting an Absolute Encoder

The encoder is connected by a 5 pin M12 con-

Connector power supply

Sketch on encoder view

2.3 Ethernet Cables

2.3.1 RJ45 – M12 crossed 2.3.3 M12 – M12 crossed

2.3.2 RJ45 – M12 straight

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2.4 Diagnostic LED’s

LED Color Description for LED = on

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Data type Sign 3.4 Function code 16

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3.5 Modbus Mapping

Register Data type Data Notify:

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4.1 Programming of Parameters

Wanted zero Physical zero

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4.2 Operating by the integrated Web Server

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4.3 E-mail and Network Configuration

The rotary encoder can be used either with the

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5 Operating by TCP/IP Commands

Afterwards you need to set up the PATH variable

If you use a Windows PC, you can try the following

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5.3.2 WinNT3.51, WinNT4, Win2000, WinXP

5.5 Advanced Functionality

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Variables Remarks / Values

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Variables Remarks / Values

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5.6.3 Encoder answers