Rockwell Analogue Encoder

Installation Instructions
Analog Encoder (AE) Servo Module

(Catalog Number 1756-M02AE)
The Analog Encoder (AE) Servo Module mounts in a ControlLogix™ chassis
and uses a removable terminal block (RTB) to connect all field-side wiring.
Before you install your module you should have:
• installed and grounded a 1756 chassis and power supply.
• ordered and received an RTB and its components for your
application.
page:
Preventing Electrostatic Discharge 2
Removing and Inserting Under Power (RIUP) 3
Understanding Compliance to the European Union Directive 3
Determining the Power Requirements 4
Identifying Module Components 4
Installing the Module 6
Keying the Removable Terminal Block 8
Wiring a Removable Terminal Block 10
Wiring Examples 13
Assembling the Removable Terminal Block and Housing 22
Installing the Removable Terminal Block onto the Module 23
Checking the LED Indicators 24
Removing the Removable Terminal Block from the Module 29
Removing the Module from the Chassis 31
Module Specifications 32
Installation Environment 34
Publication 1756-IN047D-EN-P - March 2001

2 Analog Encoder (AE) Servo Module
Preventing Electrostatic Discharge
Electrostatic discharge can damage the servo board if

WARNING
you touch the circuitry or connector pins without taking
!
precautions. Follow these guidelines when you handle
the servo board:
• Touch a grounded object to discharge potential
static.
• Wear an approved grounding wrist strap.
• Do not touch the connector or connector pins on
the servo board.
• Do not touch circuit components inside the servo
board.
• If available, use a static-safe work station.

Analog Encoder (AE) Servo Module 3
Removing and Inserting Under Power (RIUP)
This module is designed so you can remove and insert it

WARNING
under backplane power and field-side power. When you
!
remove or insert a module while field-side power is
applied, you can cause an electrical arc. An electrical arc
can cause personal injury or property damage because it
can:
• Send an erroneous signal to your system field
devices causing unintended machine motion or loss
of process control.
• Cause an explosion in a hazardous environment.
Repeated electrical arcing causes excessive wear to
contacts on both the module and its mating connector.
Worn contacts can create electrical resistance. For
additional information on RIUP, please contact your
local Allen-Bradley sales representative.
Understanding Compliance to the European Union Directive

If this product bears the CE marking, it is approved for installation within the
European Union and EEA regions. It has been designed and tested to meet
the following directives.
EMC Directive
This product is tested to meet Council Directive 89/336/EEC

Electromagnetic Compatibility (EMC) and the following standards, in whole
or in part, documented in a technical construction file:
• EN 50081-2EMC - Generic Emission Standard, Part 2 - Industrial
Environment
• EN 50082-2EMC - Generic Immunity Standard, Part 2 - Industrial
Environment
This product is intended for use in an industrial environment.

Low Voltage Directive
This product is tested to meet Council Directive 73/23/EEC Low Voltage, by

applying the safety requirements of EN 61131-2 Programmable Controllers,
Part 2 - Equipment Requirements and Test.
For specific information required by EN 61131-2, see the appropriate
sections in this publication, as well as the following Allen-Bradley
publications:
• Industrial Automation Wiring and Grounding Guidelines publication
1770-4.1
• Automation Systems Catalog, publication B111
This equipment is classified as open equipment and must be installed
(mounted) in an enclosure during operation as a means of providing safety
protection.
Determining the Power Requirements

This module receives power from the 1756 chassis power supply and requires
two sources of power: 700mA at 5V and 2.5 mA at 24V from the backplane.
Add this current to the requirements of all other modules in this chassis to
prevent overloading the backplane power supply.
Identifying Module Components

You received two components with your order:
• 1756-M02AE module
• RTB door label

Figure 1 1756-M02AE Module

1756-M02AE module RTB door label
2 1
+OUT-0 +OUT-1
2 Axis Servo
4 3
-OUT-0 -OUT-1
6 5
+ENABLE-0 +ENABLE-1
8 7
-ENABLE-0 -ENABLE-1
10 9
DRVFLT-0 DRVFLT-1
12 11
CHASSIS CHASSIS
14 13
IN_COM IN_COM
16 15
HOME-0 HOME-1
18 17
REG24V-0 REG24V-1
20 19
REG5V-0 REG5V-1
22 21
+OK -OK
24 23
CHASSIS CHASSIS
26 25
+CHA-0 +CHA-1
28 27
-CHA-0 -CHA-1
30 29
+CHB-0 +CHB-1
32 31
Side view Front view -CHB-0 -CHB-1

34 33
+CHZ-0 +CHZ-1
36 35
-CHZ-0 -CHZ-1
1756-MO2AE
2 AXIS
ENCODER/ANALOG
SERVO
If you did not receive these components, contact your local Allen-Bradley
representative.
Removable Terminal Block and Housing
A separately-ordered RTB connects field-side wiring to the module. You

cannot use your module without an RTB and its components.
Use one of the following RTBs with your module:

• 1756-TBCH 36-position cage clamp RTB
• 1756-TBS6H 36-position spring clamp RTB
You received the following components with your RTB:
• 1756-TBH standard-depth RTB housing
• wedge-shaped keying tabs and U-shaped keying bands
• RTB door label
Installing the Module
When you remove or insert an RTB with field-side

WARNING
power applied, unintended machine motion or loss of
!
process control can occur. Exercise extreme caution
when power is applied. Failure to observe this caution
can cause personal injury.
To install the AE module:
1. Align the module circuit board with the top and bottom chassis
guides.

Figure 2 Circuit Board Alignment
POWER
Printed circuit board
2. Push evenly and firmly to seat the module in the chassis. It is seated
when the top and bottom locking tabs have snapped into place.

Figure 3 Module Locking Tabs
Locking
tab
POWER
Note: The 1756 chassis provides grounding for your module.
Keying the Removable Terminal Block

To identify the RTB that belongs with each module, you can use a module
keying pattern. First, you can create a unique keying pattern for your module
using the U-shaped keying bands that you received with your RTB. Then you
can use the keying tabs to key the RTB with the same pattern as the module.
To prevent confusion, use a unique keying pattern to each module.
To key the module:
1. Insert the U-shaped keying band with the longer side near the
terminals.

Figure 4 Keying Band
POWER
U-shaped
keying band
2. Push the keying band onto the module until it snaps into place.
To key your removable terminal block:
1. With the rounded edge first, insert the wedge-shaped keying tab on
the RTB.
Note: Insert the wedge-shaped keying tabs in positions that

correspond to unkeyed positions on the module

Figure 5 Keying Tab.
Wedge-shaped
keying tab
Bottom of RTB
2. Push the keying tab onto the RTB until it stops.

Note: To use the RTB in future module applications, you can reposition
the keying tabs on the RTB.
Wiring a Removable Terminal Block

There are two types of RTBs:
• spring clamp
• cage clamp
This section describes how to wire each type of RTB and shows wiring
examples for the AE module.
Wire the RTB before installing it onto the module. Use a 1/8 inch (3.2mm)
maximum flat-bladed screwdriver.

Wiring a Spring Clamp RTB
To wire a spring clamp RTB:
1. Strip a maximum of 7/16 inch (11mm) of insulation from the end of

your wire.
2. Insert the screwdriver into the outer hole of the RTB.
3. Insert the wire into the open terminal and remove the screwdriver.
Figure 6 Strain Relief Area
Strain Relief Area
4. After you complete field-side wiring, secure the wires in the strain
relief area with a cable-tie.
Wiring a Cage Clamp RTB
To wire a cage clamp RTB:
1. Strip 5/16 - 3/8 inch (8 - 9.5mm) of insulation from the end of your
wire.
2. Insert the screwdriver into the open terminal.

3. Turn the screw clockwise to close the terminal on the wire. Use
5 lb-in. (0.5 Nm) maximum torque
Figure 7 Closing Wire Terminal.
Strain Relief Area
4. After you complete field-side wiring, secure the wires in the strain
relief area with a cable-tie.

Wiring Examples
Figure 8 Wiring to a servo module RTB
2 1
+OUT-0 +OUT-1 General Cable To servo drive
4 3 C0720
-OUT-0 -OUT-1
6 5
+ENABLE-0 +ENABLE-1
8 7
-ENABLE-0 -ENABLE-1 General Cable To servo drive
10 9 C0721
DRVFLT-0 DRVFLT-1
12 11
CHASSIS CHASSIS
14 13
IN_COM IN_COM General Cable To home
16 15 C0720 limit switch
HOME-0 HOME-1
18 17
REG24V-0 REG24V-1 General Cable To registration
20 19 C0720 sensor
REG5V-0 REG5V-1
22 21
+OK -OK
24 23
CHASSIS CHASSIS
26 25
+CHA-0 +CHA-1
28 27
-CHA-0 -CHA-1
30 29
+CHB-0 +CHB-1 General Cable
To encoder
32 31 C0722
-CHB-0 -CHB-1
34 33
+CHZ-0 +CHZ-1
36 35
-CHZ-0 -CHZ-1
General Cable
To E-stop relay coil
C0720
Note: This is a general wiring example illustrating Axis 1 wiring only.

Other configurations are possible with Axis 0 wiring identical to Axis 1.

Figure 9 Wiring to a 1394 Servo Drive (in Torque Mode only)

Servo Module RTB
+OUT 0 +OUT 1 RED
-OUT 0 -OUT 1 BLK
+ENABLE 0 +ENABLE 1 WHT
-ENABLE 0 -ENABLE 1 BLK A
DRVFLT 0 DRVFLT 1 RED
CHASSIS CHASSIS BLK
IN_COM IN_COM
HOME 0 HOME 1
REG24V 0 REG24V 1
REG5V 0 REG5V 1
-OK 1756-M02AE 1394CCAExx
+OK
CHASSIS CHASSIS
+CHA 0 +CHA 1 WHT
-CHA 0 -CHA 1 BLK
+CHB 0 +CHB 1 RED
-CHB 0 -CHB 1 BLK
+CHZ 0 +CHZ 1 GRN
-CHZ 0 -CHZ 1 BLK
RED OK+
To fault
OK BLK OK- string
5V DC +5V DC RED
Field Power +5 COM BLK ENC. PWR -1
Supply
1394 Servo Drive

24V DC W2 24V DC
24V DC
Field Power 24V COM W1 24V COM
Supply TB2 15
24V ENABLE COM
WHT +ENABLE 1
BLK -ENABLE 1 TB2 7 A1 ENABLE
ENA/DR OK 1 RED DRVFLT 1 TB2 19 DROK
BLK IN_COM TB2 18 DROK
A 1394CCAExx
Axis 1 AQB1
Note: The wiring diagram illustrates Axis 1 wiring only. Other

configurations are possible.
Note: The 1394CCAExx cable is wired to connect to torque command
reference input pins.
Note: An external +5V power supply is required to power the encoder
driver circuit of the 1394 servo drive. Because this connection is shared by all
four axis encoder driver circuits, only one connection is needed to the +5V
field supply.
Note: The xx in the cable number is the length of the cable. Options are
5, 10, 25, and 50 feet.

Figure 10 The 1394-CFLAExx Cable Wiring Diagram

ENABLE/DRIVE FAULT - AXIS 0 Individually Jacketed Pairs
7 1
3.0 in. AXIS 0 1394-CFLAE
12 6
1756-M02AE 5V ENC PWR - AXIS 0
M02AE - OK
1.0 in.
5.0 in.
Note: The 1394-CFLAE cable is available in 1, 3, 8, and 15 meter lengths.

Figure 11 Pinouts for the 1394-CFLAE

RED 22GA
+5V 3
BLACK 22GA
+5VCOM 9
DRAIN
ORANGE 22GA
CHANNEL A HIGH 4
WHT/ORG 22GA
CHANNEL A LOW 10
YELLOW 22GA
CHANNEL B HIGH 5
WHT/YEL 22GA
CHANNEL B LOW 11
GREEN 22GA
CHANNEL Z HIGH 6
WHT/GRN 22GA
CHANNEL Z LOW 12
DRAIN
VREF+ 1
BLUE 22GA
TREF+ 2
WHT/BLU 22GA
VREF- 7
DRAIN
TREF- 8
VIOLET 22GA
(DROK-0)
WHT/VIO 22GA
(24V EN COM)
GRAY 22GA
(24V)
WHT/GRY 22GA
(AX_-ENABLE)
DRAIN
RED 22GA
TO SYSTEM
BLACK 22GA
FAULT STRING
DRAIN

Figure 12 Wiring to an Ultra 100 Series Drive

J1 to 50-pin
Terminal Block Ultra 100 Series
(Kit P/N 9109-1391) Digital Servo Drive
24 VDC J1-5 24VDC

24 VDC J1-26 24VDC
Field Power Supply J1-24 READY+
24 VCOM J1-6 24VCOM
J1-13 24VCOM
+OUT J1-22 COMMAND+

General Cable P/N 9109-1369-003
From
C0720 -OUT J1-23 COMMAND-
1756-M02AE
+ENABLE
J1-20 ENABLE Interface
-ENABLE J1
General Cable Cable
From
C0721 DRVFLT J1-25 READY-
1756-M02AE
IN_COM
+CHA J1-7 AOUT+
-CHA J1-8 AOUT-
+CHB J1-9 BOUT+

General Cable
From
C0722 -CHB J1-10 BOUT-
1756-M02AE
+CHZ J1-11 IOUT+
-CHZ J1-12 IOUT-
Note: This is a general wiring example only. Other configurations are

possible. For more information, refer to the Ultra 100 Series Installation Manual,
publication number 1398-5.2.

Figure 13 Wiring to an Ultra 200 Series Drive

J1 to 50-pin
Terminal Block Ultra 200 Series
(Kit P/N 9109-1391) Digital Servo Drive
J1-5 24VDC
J1-24 READY+
J1-6 or 13 24VCOM
+OUT J1-22 COMMAND+

General Cable
From P/N 9109-1369-003
C0720 -OUT J1-23 COMMAND-
1756-M02AE
+ENABLE
J1-20 ENABLE Interface
General Cable -ENABLE J1
From Cable
C0721 DRVFLT J1-25 READY-
1756-M02AE
IN_COM
+CHA J1-7 AOUT+
-CHA J1-8 AOUT-
+CHB J1-9 BOUT+

General Cable
From
C0722 -CHB J1-10 BOUT-
1756-M02AE
+CHZ J1-11 IOUT+
-CHZ J1-12 IOUT-
Note: This is a general wiring example only. Other configurations are

possible. For more information, refer to the Ultra 200 Series Installation Manual,
publication number 1398-5.0.
Figure 14 1398-CFLAExx Cable Diagram
1.0 in.
Individually Jacketed pairs
24V
BRAKE
RESET
1398-CFLAE J1
5.0 in.
Note: The 1398-CFLAE Cable is available in 10, 25, and 50 foot lengths.

Figure 15 Pinouts for1398-CFLAExx Cable

WHT/ORG 22GA
49 BRAKE +
WHT/YEL 22GA
50 BRAKE -
DRAIN
TAN 28GA
21 RESET
Wires DRAIN
Stripped
Back WHT/RED 22GA
5 24VDC
.25 in. WHT/BLK 22GA
6 24VCOM
DRAIN
WHT/GRN 22GA
22 COMMAND +
WHT/BLU 22GA
23 COMMAND -
DRAIN
26 24VDC
BROWN 28GA
24 READY +
RED 28GA
20 ENABLE
ORANGE 28GA
25 READY -
YELLOW 28GA
13 24VCOM
DRAIN
Wires
Terminated
GREEN 28GA
with 7 AOUT +
BLUE 28GA
Ferrules 8 AOUT -
VIOLET 28GA
9 BOUT +
GRAY 28GA
10 BOUT -
WHITE 28GA
11 IOUT +
BLACK 28G
12 IOUT -
DRAIN

Wiring Registration Sensors
The registration inputs to the servo module can support 24V or 5V

registration sensors. These inputs must be wired to receive source current
from the sensor. Only use sourcing type registration sensors. Current sinking
sensor configurations are not allowed because the registration input common
(IN_COM) is shared with the other 24V servo module inputs.
Figure 16 24V Registration Sensor
24 VDC
Field Power
Supply 24 Volt
+ - Sourcing Type
Registration
Sensor
Supply
General Cable REG24V Output

From
C0720 IN_COM Common
1756-M02AE
Figure 17 5V Registration Sensor
5 VDC
Field Power
Supply 5 Volt
+ - Sourcing Type
Registration
Sensor
Supply
General Cable REG5V Output

From
C0720 IN_COM Common
1756-M02AE

Wiring the Home Limit Switch Input
The home limit switch inputs to the servo module are designed for 24V
nominal operation. These inputs should be wired for current sourcing
operation.
Figure 18 Home Limit Switch
24 VDC
Field Power
Supply
+ -
General Cable HOME

From 1756-M02AE
C0720 IN_COM
Wiring the OK Contacts
A set of isolated solid-state OK relay contacts is provided for optional

interface to an E-stop string, which controls power to the associated drives.
The OK contacts are rated for pilot duty and can drive an external 24V relay
(for example, Allen-Bradley 700-HA32Z24) whose contacts can be
incorporated into the E-Stop string as shown below.

Figure 19 OK Relay Pilot Duty Application Wiring
24 VDC
Field Power
Supply
+ -
OK Relay
General Cable +OK
From 1756-M02AE
C0720
-OK
OK Relay
Contacts Start
CR1
+ +OK -OK
Stop
24 VDC CR1
Field Power CR1
To User's circuitry
Supply
M1
-
When the OK Relay is loaded with an inductive load,

IMPORTANT
use a counter-EMF suppression diode across the load.
The maximum rating of the OK relay contacts must not
exceed 60V DC.
Assembling the Removable Terminal Block and Housing

To assemble the removable terminal block and housing:
1. Align the grooves at the bottom of each side of the housing with the
side edges of the RTB.
2. Slide the RTB into the housing until it snaps into place

Figure 20 RTB and Housing.
Groove
Side edge of RTB
Groove
Side edge of RTB Strain relief area
1756-TBCH RTB shown for reference
Installing the Removable Terminal Block onto the Module
A shock hazard exists. If the RTB is installed onto the

WARNING
module while the field-side power is applied, the RTB is
!
electrically live. Do not touch the RTB terminals. Failure
to observe this caution can cause personal injury.
When you connect or disconnect the RTB with field

WARNING
side power applied, an electrical arc can occur. This
!
could cause an explosion in hazardous location
installations. Be sure that all sources of power are
removed or the area is nonhazardous before proceeding.
Before installing the RTB, make certain:

• field-side wiring of the RTB has been completed.
• the RTB housing is snapped into place on the RTB.
• the RTB housing door is closed.
• the locking tab at the top of the module is unlocked.
To install the removable terminal block onto the module:
1. Align the top, bottom, and left side guides of the RTB with the guides
on the module.
Figure 21 Aligning RTB
Top
guide
POWER
Bottom
guide Left side
guides
2. Press quickly and evenly to seat the RTB on the module until the
latches snap into place.
3. Slide the locking tab down to lock the RTB onto the module.

Figure 22 Locking Tabs
POWER
Locking
tab
Checking the LED Indicators

The module provides bi-colored LED indicators to show individual drive and
feedback status for both axes and a single bi-colored LED for module OK.

Figure 23 1756-M02AE Module LEDs
2 AXIS SERVO
CH 0 CH 1
FDBK FDBK
DRIVE DRIVE
OK
During power up, the module completes an indicator test. The OK indicator
turns red for 1 second and then turns to flashing green if the module passes
all its self tests.
This completes the installation of the module.
Understanding Module Status Using the OK Indicator
If the OK LED Then the module status Take this action:

displays: is:
Off The module is not operating. • Apply chassis power.
• Verify the module is completely
inserted into the chassis and
backplane.
Flashing green The module has passed • None, if you have not
light internal diagnostics, but it is configured the module.
not communicating axis • If you have configured the
data over the backplane. module, check the slot number
in the 1756-M02AE Properties
dialog box.

If the OK LED Then the module status Take this action:

displays: is:
Steady green • Axis data is being None. The module is ready for action.
light exchanged with
the module.
• The module us in
the normal
operating state.
Flashing red • A major If an NVS update is in progress,
light recoverable failure complete the NVS update.
has occurred. If an NVS update is not in progress:
• A communication • Check the Servo Fault word for
fault, timer fault, the source of the error.
or NVS update is • Clear the servo fault condition
in progress. using the Motion Axis Fault
• The OK contact Reset instruction.
has opened. • Resume normal operation.
• If the flashing persists,
reconfigure the module.
Solid red light • A potential • Reboot the module.
nonrecoverable • If the solid red persists, replace
fault has occurred. the module.
• The OK contact
has opened.
Understanding Module Status Using the FDBK Indicator
If the FDBK Then the module status Take this action:

LED displays: is:
Off The axis is not used. • None, if you are not using this
axis.
• If you are using this axis, make
sure the module is configured
and an axis tag has been
associated with the module.
Flashing green The axis is in the normal None. The servo axis state can be
light servo loop inactive state. changed by executing motion
instructions.

If the FDBK Then the module status Take this action:

LED displays: is:
Steady green The axis is in the normal None. The servo can may be changed by
light servo loop active state. executing motion instructions.
Flashing red The axis servo loop error • Correct the source of the
light tolerance has been problem.
exceeded. • Clear the servo fault condition
using the Motion Axis Fault
Reset instruction.
• Resume normal operation.
Solid red light An axis encoder feedback • Correct the source of the
fault has occurred. problem by checking the
encoder and power
connections.
• Clear the servo fault condition
Reset instruction.
Understanding Module Status Using the DRIVE Indicator
If the DRIVE Then the module status Take this action:

LED displays: is:
Off • The axis is not • None, if the axis is not used or
used. is a position-only type.
• The axis is a • Otherwise, make sure the
position-only axis module is configured, an axis
type. tag has been associated with
the module, and the axis type is
servo.
Flashing green The axis drive is in the None. The servo axis state can be
light normal disabled state. changed by executing motion
instructions.

If the DRIVE Then the module status Take this action:

LED displays: is:
Steady green The axis drive is in the None. The servo axis state can be
light normal enabled state. changed by executing motion
instructions.
Flashing red The axis drive output is in • Check for faults that may have
light the shutdown state. generated this state.
• Execute the Shutdown Reset
motion instruction.
Solid red light The axis drive is faulted. • Check the drive status.
• Clear the Drive Fault condition
at the drive.
• Clear the servo fault condition
Reset instruction.
• Check the configuration for the
Drive Fault.
- If configured to be normally
open and there is no voltage,
this is the normal condition.
- If configured to be normally
closed and 24V is applied,
this is the normal condition.
Removing the Removable Terminal Block from the Module
A shock hazard exists. If the RTB is removed from the

WARNING
module while the field-side power is applied, the module
!
is electrically live. Do not touch the RTBs terminals.
Failure to observe this caution can cause personal injury.

When you connect or disconnect the RTB with field

WARNING
side power applied, an electrical arc can occur. This
!
could cause an explosion in hazardous location
installations. Be sure that all sources of power are
removed or the area is nonhazardous before proceeding.
You must remove the RTB before you can remove the module.
To remove the RTB from the module:
1. Unlock the locking tab at the top of the module.
2. Open the RTB door using the bottom tab.
3. Hold the spot marked PULL HERE and pull the RTB toward you and
off the module.
Figure 24 Removing RTB
D
A
N
G
E
R POWER
P
U
L
L
H D
A
E N
G
R E
R
E
P
U
L
L
H
E
R
E

Removing the Module from the Chassis

To remove the module from the chassis:
1. If the RTB is on the module, unlock the RTB and remove it. For
more information, refer to Removing the Removable Terminal Block from the
Module.
2. Push in and hold the top and bottom locking tabs on the module.
Figure 25 Hold Locking Tabs
POW ER
3. Pull the module out of the chassis.

Figure 26 Pulling Module Out
POWER
Module Specifications
Number of axes 2 axes maximum

Servo loop
Type Nested PI digital position and velocity servo
Gain resolution 32-bit floating point
Absolute position range ±1,000,000,000 encoder counts
Rate 5 kHz
Module location 1756 ControlLogix chassis
Module keying Electronic
Power dissipation 5.5W maximum
Backplane current 5.1V dc @ 700 mA and 24V dc @ 2.5 mA
Encoder input
Type Incremental AB quadrature with marker
Mode 4X quadrature
Rate 4 MHz counts per second maximum
Electrical interface Optically isolated 5V differential
Voltage range
On state 3.4V to 5.0V
Off state 0V to 1.8V
Input impedance 531 Ohms differential

Registration inputs
Type Optically isolated, current sinking input
24V input voltage +24V dc nominal
Maximum 26.4V
Minimum on 18.5V
Maximum off 3.5V
5V input voltage +5V dc nominal
Maximum 5.5V
Minimum on 3.7V
Maximum off 1.5V
Input impedance
24V input 9.5 kOhms
5V input 1.2 kOhms
Response time 1µs
(position latched)
All other inputs
Type Optically isolated, current sinking input
Input voltage +24V dc nominal
Maximum 26.4V
Minimum on 17.0V
Maximum off 8.5V
Input impedance 7.5 kOhms
Servo output
Type Analog voltage
Isolation 200 kOhms
Voltage range ±10V
Voltage resolution 16 bits
Load 5.6 kOhms resistive minimum
Maximum offset 25 mV
Gain error ±4%
All other outputs
Type Solid-state isolated relay contacts
Operating voltage +24V dc nominal (Class 2 source)
Maximum 26.4V
Operating current 75 mA
RTB keying User-defined
Field wiring arm 36-position RTB (1756-TBCH or -TBS6H)1
RTB screw torque (cage clamp) 5 lb-in. (0.5 Nm) maximum
Conductors
Wire size 22 AWG to 14 AWG copper1
3/64 inch (1.2 mm) insulation maximum
Category
12,3
Screwdriver blade width for RTB 1/8 inch (3.2 mm) maximum

Environmental conditions
Operating temperature 0 to 60ºC (32 to 140ºF)
Storage temperature -40 to 85ºC (-40 to 185ºF)
Relative humidity 5 to 95% noncondensing
Agency Certifications
When product is marked Listed Industrial Control Equipment
Certified Process Control Equipment

Certified Class I, Division 2, Group A, B, C, D
Marked for applicable directives
Marked for all applicable acts

N223
1) Maximum wire size will require the extended depth RTB housing (1756-TBE).
2) Use this conductor category information for planning conductor routing as described in the system
level installation manual.
3) Refer to Industrial Automation Wiring and Grounding Guidelines, publication number 1770-4.1.
Installation Environment
This product must be mounted within a suitable system enclosure to prevent
personal injury resulting from accessibility to live parts. The interior of this
enclosure must be accessible only by the use of a tool.
This industrial control equipment is intended to operate in a Pollution Degree
2 environment, in overvoltage category II applications, (as defined in IEC
publication 664A) at altitudes up to 2000 meters without derating.
The following information applies when operat-

ing this equipment in hazardous locations:
Products marked “CL I, DIV 2, GP A, B, C, D” are suitable for use in Class I
Division 2 Groups A, B, C, D, Hazardous Locations and nonhazardous
locations only. Each product is supplied with markings on the rating
nameplate indicating the hazardous location temperature code. When
combining products within a system, the most adverse temperature code
(lowest “T” number) may be used to help determine the overall temperature

code of the system. Combinations of equipment in your system are subject to

investigation by the local Authority Having Jurisdiction at the time of
installation.
WARNING
EXPLOSION HAZARD –
• Do not disconnect equipment unless power has
!
been removed or the area is known to be
nonhazardous.
• Do not disconnect connections to this equipment
unless power has been removed or the area is
known to be nonhazardous. Secure any external
connections that mate to this equipment by using
screws, sliding latches, threaded connectors, or
other means provided with this product.
• Substitution of components may impair suitability
for Class I, Division 2.
• If this product contains batteries, they must only be
changed in an area known to be nonhazardous.
Informations sur l’utilisation de cet équipement

en environnements dangereux:
Les produits marqués «CL I, DIV 2, GP A, B, C, D» ne conviennent qu’à une
utilisation en environnements de Classe I Division 2 Groupes A, B, C, D
dangereux et non dangereux. Chaque produit est livré avec des marquages sur
sa plaque d’identification qui indiquent le code de température pour les
environnements dangereux. Lorsque plusieurs produits sont combinés dans
un système, le code de température le plus défavorable (code de température
le plus faible) peut être utilisé pour déterminer le code de température global
du système. Les combinaisons d’équipements dans le système sont sujettes à
inspection par les autorités locales qualifiées au moment de l’installation.

Informations sur l’utilisation de cet équipement

en environnements dangereux:
RISQUE D’EXPLOSION –
• Couper le courant ou s’assurer que l’environnement
est classé non dangereux avant de débrancher
l'équipement.
• Couper le courant ou s'assurer que l’environnement
est classé non dangereux avant de débrancher les
connecteurs. Fixer tous les connecteurs externes
reliés à cet équipement à l'aide de vis, loquets
coulissants, connecteurs filetés ou autres moyens
fournis avec ce produit.
• La substitution de composants peut rendre cet
équipement inadapté à une utilisation en
environnement de Classe 1, Division 2.
• S’assurer que l’environnement est classé non
dangereux avant de changer les piles.

NOTES:

NOTES:

NOTES:

ControlLogix is a trademark of Allen-Bradley Company, Inc., a Rockwell
International company.
Publication 1756-IN047D-EN-P - March 2001 PN957536-48

Supersedes Publication 1756-IN047C-EN-P - November 2000 © 2001 Rockwell International Corporation. Printed in USA

Rockwell Analogue Encoder

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Installation Instructions

Analog Encoder (AE) Servo Module

Publication 1756-IN047D-EN-P - March 2001

Preventing Electrostatic Discharge

Electrostatic discharge can damage the servo board if

Publication 1756-IN047D-EN-P - March 2001

Removing and Inserting Under Power (RIUP)

This module is designed so you can remove and insert it

Understanding Compliance to the European Union Directive

This product is tested to meet Council Directive 89/336/EEC

Publication 1756-IN047D-EN-P - March 2001

Low Voltage Directive

This product is tested to meet Council Directive 73/23/EEC Low Voltage, by

Determining the Power Requirements

Identifying Module Components

Publication 1756-IN047D-EN-P - March 2001

Figure 1 1756-M02AE Module

Side view Front view -CHB-0 -CHB-1

Removable Terminal Block and Housing

A separately-ordered RTB connects field-side wiring to the module. You

Publication 1756-IN047D-EN-P - March 2001

• 1756-TBCH 36-position cage clamp RTB

• 1756-TBS6H 36-position spring clamp RTB

You received the following components with your RTB:

• 1756-TBH standard-depth RTB housing

• wedge-shaped keying tabs and U-shaped keying bands

• RTB door label

Installing the Module

When you remove or insert an RTB with field-side

To install the AE module:

Publication 1756-IN047D-EN-P - March 2001

Figure 2 Circuit Board Alignment

Printed circuit board

Publication 1756-IN047D-EN-P - March 2001

Figure 3 Module Locking Tabs

Note: The 1756 chassis provides grounding for your module.

Keying the Removable Terminal Block

Publication 1756-IN047D-EN-P - March 2001

Figure 4 Keying Band

Note: Insert the wedge-shaped keying tabs in positions that

Publication 1756-IN047D-EN-P - March 2001

Figure 5 Keying Tab.

2. Push the keying tab onto the RTB until it stops.

Wiring a Removable Terminal Block

Publication 1756-IN047D-EN-P - March 2001

Wiring a Spring Clamp RTB

To wire a spring clamp RTB:

1. Strip a maximum of 7/16 inch (11mm) of insulation from the end of

2. Insert the screwdriver into the outer hole of the RTB.

Strain Relief Area

Wiring a Cage Clamp RTB

To wire a cage clamp RTB:

2. Insert the screwdriver into the open terminal.

Publication 1756-IN047D-EN-P - March 2001

Figure 7 Closing Wire Terminal.

Strain Relief Area

Publication 1756-IN047D-EN-P - March 2001

Figure 8 Wiring to a servo module RTB

Note: This is a general wiring example illustrating Axis 1 wiring only.

Publication 1756-IN047D-EN-P - March 2001

Figure 9 Wiring to a 1394 Servo Drive (in Torque Mode only)

1394 Servo Drive

Note: The wiring diagram illustrates Axis 1 wiring only. Other

Publication 1756-IN047D-EN-P - March 2001