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ControlNet 1756-CN2/CNB faults: status display messages, channel A/B indicators, keeper signature, NUT, UMAX

TDL Industrial Automation · Last updated:

Every 1756-CN2 and 1756-CNB status display message (NET ERR, Keeper: Signature Mismatch, DUPL NODE, BW >MAX…) and channel A/B indicator state with Rockwell's action, plus Module Fault in the I/O tree, keeper signature, rescheduling, NUT, SMAX and UMAX.

On a ControlNet network built with 1756-CN2, 1756-CN2R, 1756-CNB or 1756-CNBR modules, the first reading is on the module itself: the OK indicator, the status display and the channel A and B indicators. The installation instructions list every display message and indicator state: 1756-IN074C-EN-P for the 1756-CN2 family and 1756-IN066C-EN-P for the 1756-CNB family (pp. 8–9 in both). The controller shows a lost connection as a warning symbol in the Studio 5000 Logix Designer I/O tree, with the fault code on the module's Connection tab (CNET-UM001H-EN-P, pp. 64–66). The network itself is checked in RSNetWorx for ControlNet: keeper status, keeper signature and the schedule (pp. 18–20). Most problems the user manual describes come from the configuration: a network not scheduled or not rescheduled after a change, keepers that disagree, a node address above UMAX, an RPI faster than the NUT, or too many connections. The user manual still refers to the ControlNet Modules Installation Instructions, CNET-IN005, for installing these modules (p. 10); Rockwell has replaced that publication with 1756-IN066 and 1756-IN074. Rockwell lists the 1756-CNB and 1756-CNBR as discontinued; see the 1756-CNB and 1756-CNBR end-of-life pages.

Where a ControlNet fault shows up

  • I/O tree in Logix Designer. A warning symbol over the I/O Configuration folder means the controller cannot communicate with a device (p. 64). Work down the tree and take the fault at the module highest in the tree. Open its Properties, Connection tab, and read the Module Fault area. The manual sends you to Logix Designer Help (search "module fault") for the meaning of the code (pp. 65–66).
  • Fault bits in the I/O tags. With a direct connection, any break in the connection, such as a module fault or a module removed under power, sets fault bits in the module's data (p. 55).
  • Controller major fault. Only if "Major Fault On Controller If Connection Fails While In Run Mode" is checked; this setting covers the connection to the local communication module. If it is cleared, the controller keeps running and the manual says to monitor the connection in ladder logic (pp. 30, 34).
  • RSNetWorx for ControlNet. Network menu, Keeper Status (p. 20).
  • MSG instructions. If all unconnected buffers are in use when an instruction leaves the message queue, the instruction errors and transfers no data (p. 80).
  • Front of the module. The OK indicator with the status display, and the channel A and B indicators (1756-IN074C, pp. 8–9; 1756-IN066C, pp. 7–9).

Status display: 1756-CN2, CN2R, CN2RXT

1756-IN074C-EN-P covers the 1756-CN2, CN2R and CN2RXT and their conformal-coated K versions (pp. 8–9). Messages marked (R) appear only in ControlLogix enhanced redundancy systems. A dash means the table gives no action.

OK indicator Display Meaning Action
Off None Not communicating: power supply fault or internal fault Check the power supply, the cable connectors and that the module is seated; if the indicator stays off, replace the module
Steady red Reset Complete—Change Switch Settings Network address set to 00, which is not a valid ControlNet address Remove the module and set a valid address
Steady red FAIL Power-up test failed Replace the module
Steady red Backplane Init (R) Waiting for the redundant module to finish power-up —
Steady red Stop Service Received A non-redundant module in a redundant secondary chassis was stopped by the redundancy module (RM2/RM/SRM); or a 1756-CN2/CN2R running boot code sits in a chassis with a 1756-SRM or 1756-RM Replace it with the redundant module; or move it to a chassis without a 1756-SRM, RM or RM2 and update the firmware with ControlFLASH. In enhanced redundancy the 1756-CN2/B and CN2/C work with a 1756-RM or RM2, not with a 1756-SRM
Flashing red Image update Needed The boot image is running Update the firmware with ControlFLASH
Flashing red DUPLICATE NODE DETECTED Another module on the link has the same address Remove the module and set a unique address
Flashing red Flash in progress Firmware update running; the message stays if communication is lost during the update Remove power to recover, then repeat the update
Flashing red TEST Power-up test running Still shown after 45 s: the module has failed, replace it
Steady green OK Normal; at least one connection to or through the module —
Steady green INIT Initializing —
Steady green PASS Shown briefly after a successful power-up test —
Steady green CMPT (R) Secondary compatible with its partner —
Steady green DSNP (R) Secondary disqualified, no partner Check type and revision of the module in the same slot of the primary chassis
Steady green PwDS (R) Primary with a disqualified secondary Check the type and revision of the 1756-CN2/B
Steady green PQgS (R) Primary with a qualifying secondary —
Steady green PwQS (R) Primary with a qualified secondary —
Steady green PwNS (R) Primary with no secondary Check the same slot of the secondary chassis for the right module
Steady green QgS (R) Secondary qualifying —
Steady green QS (R) Secondary qualified —
Steady green A#xx Node address, xx from 01 to 99 —
Steady green MACID SWITCH ERROR Node address switch changed after the last power cycle Return the switches to their original setting or replace the module; it can point to a latent hardware fault
Steady or flashing green CPU=xx% CPU use from 0 to 99%; shown only above 80% —
Steady or flashing green OK Operating normally —
Flashing green OK Normal; no connections to or through the module —
Flashing green Invalid Network Configuration ControlNet configuration error Recheck the configuration; the module address must be equal to or below UMAX
Flashing green NET ERR Cabling error, or no other active node on the network Recheck the cabling; make sure another node is online
Flashing green Rev xx.xx Firmware revision, major.minor, shown briefly at start-up —
Any Keeper: Unconfigured The keeper's network data is erased or corrupted Download or update the keeper in RSNetWorx, or reset the module to factory settings
Any Keeper: Unconfigured (data format changed) The keeper data is in a format the current firmware cannot use Download or update the keeper in RSNetWorx, or reset the module to factory settings
Any Keeper: Unconfigured (slot changed) The module was moved to another slot after the keeper data was downloaded Return it to its slot, download or update the keeper, or reset to factory settings
Any Keeper: Unconfigured (net address changed) The address switches changed after the keeper data was downloaded Return the switches, download or update the keeper, or reset to factory settings
Any Keeper: Signature Mismatch The keeper data does not match the network; a valid active keeper exists Download or update the keeper in RSNetWorx, or reset the module to factory settings
Any Keeper: None Valid on Network The keeper data does not match the network and no valid active keeper exists Download or update the keeper in RSNetWorx; reinstalling the module does not help, because there is no keeper to crossload from

Status display: 1756-CNB, CNBR

1756-IN066C-EN-P covers the 1756-CNB and CNBR and their K versions (pp. 8–9). Here (R) means ControlLogix redundancy systems only.

OK indicator Display Meaning Action
Off None Not communicating: power supply fault or internal fault Check the power supply, the cable connectors and that the module is seated; if the indicator stays off, replace the module
Steady red FAULT: ADDRESS SWITCHES = 00, ILLEGAL (scrolling) Network address 00, which is not valid Remove the module and set a valid address
Steady red FAULT: ADDRESS SWITCHES = 99, ILLEGAL IN REDUNDANT SYSTEM (scrolling) Address 99 in a redundant chassis pair, not valid with enhanced redundancy Remove the module and set a valid address
Steady red BPA# ERR Slot address differs from the one latched at start-up; excessive backplane noise causes it Replace the chassis or the module
Steady red BPRX ERR Too many CRC errors at the backplane multicast receiver, so the receivers were shut off Replace the module
Steady red BPIC ERR Hardware fault inside the module Replace the module
Steady red CNIC ERR Hardware fault inside the module Replace the module
Steady red DUPL NODE Another module on the link has the same address; in enhanced redundancy it can be temporary during a switchover In enhanced redundancy wait 10 s first; if it stays, remove the module and set a unique address
Steady red RACK ERR The backplane EEPROM cannot be read, or the rack/slot address is wrong Replace the chassis
Steady red STOP The redundancy module stopped a 1756-CNB that is not redundancy-compliant, placed in a redundant secondary chassis Remove it and fit a redundant 1756-CNBR
Steady red WAIT RM or WAIT SRM (R) The 1756-CNB/E is waiting for the redundancy module to start —
Flashing red BOOT Firmware not valid Update the firmware with ControlFLASH
Flashing red ROM UPDT Firmware update in progress —
Flashing red SNGL KPR! Connected to a single-keeper ControlNet network, version 1.0 or 1.25 Update the firmware of the module at node address 01 and reschedule the network
Steady green OK Normal; at least one connection to or through the module —
Steady green INIT Initializing —
Steady green BW >MAX Network bandwidth exceeded: too much traffic, connections time out None needed, it is temporary; if it happens often, add a module and split the traffic
Steady green CMPT (R) Secondary 1756-CNB/E compatible with its partner —
Steady green DSNP (R) 1756-CNB/E disqualified, no partner Check type and revision in the same slot of the primary chassis
Steady green PwDS (R) Primary with a disqualified secondary Check the type and revision of the module
Steady green PwQg (R) Primary with a qualifying secondary —
Steady green PwQS (R) Primary with a qualified secondary —
Steady green PwNS (R) Primary with no secondary Check the same slot of the secondary chassis for the right module
Steady green Qfng (R) Secondary qualifying —
Steady green QS (R) Secondary qualified —
Steady green SW ERR Node address switch changed after start-up Return the switches to their original setting or replace the module; it can point to a latent hardware fault
Flashing green CNFG ERR Network configured incorrectly Recheck the ControlNet configuration
Flashing green NET ERR Cabling error, or no other active node on the network Recheck the cabling; make sure another node is online
Flashing green OK Normal; no connections to or through the module —
Steady green or off SO_1, SO_2, SO_3 (R) Old primary: switchover phase 1, 2 or 3 in progress Shown longer than 3 s: the 1756-CNB/E failed between redundancy phases; replace one or both redundancy modules
Steady green or off SN_1, SN_2, SN_3 (R) New primary: switchover phase 1, 2 or 3 in progress Shown longer than 3 s: the 1756-CNB/E failed between redundancy phases; replace one or both redundancy modules
Steady green or off ?Cpt (R) The 1756-CNB/E has not yet determined whether it is compatible Shown longer than 3 s: the 1756-CNB/E failed between redundancy phases; replace one or both redundancy modules
Steady green or off !Cpt (R) The 1756-CNB/E is not compatible Replace it with a 1756-CNB/E of the right type and revision

The same publication gives a power-up check (p. 7). At power-up the status indicator is red while the module runs its self-test and shows INIT, or WAIT SRM in a redundant control chassis pair; if it is not red, go straight to the table. If it stays red after the self-test, the self-test failed: read the message in the table, and the chart ends at replacing the module. If it turns to flashing green, initialization is complete; channel A and B flash alternately, then show the network state. A working module displays OK and its address, A#xx.

Channel A and B indicators

Both publications have two tables: states that indicators A and B show together, and states that A or B shows on its own (1756-IN074C, p. 9; 1756-IN066C, p. 9).

Indicators State 1756-CN2 family (1756-IN074C) 1756-CNB family (1756-IN066C)
A and B Off No power No power
A and B Steady red Module faulted: cycle power or reset the unit; if it persists, contact Rockwell Automation or the distributor Module faulted: cycle power; if it persists, contact Rockwell Automation or the distributor
A and B Alternating red/green Self-test Self-test
A and B Alternating red/off Node configured incorrectly: check the network address and other ControlNet parameters Node configured incorrectly, or a duplicate node address: check the node address and other module parameters
A or B Off Channel disabled: program the network for redundant media if needed Channel disabled: program the network for redundant media if needed
A or B Steady green Normal Normal
A or B Flashing green/off Temporary errors that the module corrects itself; or node not configured to go online: check that the keeper is present and working and the address is not above UMAX Temporary network errors: check for broken cables, loose connectors and missing terminators, then CNET-IN002 if it persists; or node not configured to go online: keeper present and working, address equal to or below UMAX
A or B Flashing red/off Media fault: check for broken cables, loose connectors and missing terminators; or no other nodes: add nodes to the network Media fault: check for broken cables, loose connectors and missing terminators, then CNET-IN002 if it persists; or no other nodes: add nodes to the network
A or B Flashing red/green Not listed Incorrect node address: set it equal to or below UMAX, then stop and restart the 1784-PCIC and 1784-PCICS cards in RSLinx; or network configured incorrectly: reconfigure so UMAX is equal to or above the node address

Where the two differ: only the 1756-CNB table lists flashing red/green, and it adds a duplicate node address to alternating red/off. For temporary errors (flashing green/off), the 1756-CN2 table says the module corrects them, while the 1756-CNB table sends you to check the media.

Reset to factory settings

Several keeper messages call for a reset to factory settings. Both publications give the same steps (1756-IN074C, p. 7; 1756-IN066C, p. 10). Remove chassis power, take the module out, set the address switches to 00, refit it and power up. When the display reads Reset Complete—Change Switch Settings, remove power, take the module out, set the final address, refit it and power up. Address 00 is only for this reset, never for normal operation. The steps remove power from the whole chassis: follow the plant's permit and lockout rules.

Symptoms and what the manual says

Symptom What the manual says What to check
I/O just added never becomes active Scheduled connections need RSNetWorx; it must be run whenever a scheduled connection is added, removed or changed (CNET-UM001H, pp. 18–19). Added I/O becomes active only after the network is rescheduled (p. 50) Reschedule the network in RSNetWorx
No connection opens in a remote chassis RSNetWorx is needed to enable any connection in a remote chassis (p. 19) Whether the network was ever scheduled
Network carries only unscheduled data The default parameters (NUT 100 ms, SMAX 1, UMAX 99) can send only unscheduled data (p. 20) Schedule the network with RSNetWorx
A node does not appear in RSLinx or FactoryTalk Linx Nodes above Max Unscheduled Address (UMAX) do not communicate on the network (pp. 45, 48) The node address against UMAX
Scheduled data fails, messaging still works A keeper that is not valid cannot perform scheduled communication; unscheduled communication continues (p. 20) Keeper Status: one active valid keeper, all other keepers valid, same keeper signature on all nodes
Hard to schedule, or to go online, after a module came from another network A keeper configured on one network carries conflicting information to the next (p. 41) Reset the keepers to an unconfigured state (RSNetWorx online help, p. 42)
The RPI cannot be set, or the API differs from the RPI The RPI cannot be faster than the NUT. The API is a binary multiple of the NUT, up to NUT × 128; if no rate fits, the network reports it cannot support the configuration (p. 18) NUT and RPI; rack-optimized RPI must be equal to or greater than the NUT (p. 34)
A module cannot open more connections Each module has a limit of packets per second; above it, no more connections open (p. 17) Raise the RPI; count the connections (table below)
Connection to an output module rejected Only one owner connection is allowed for an output module (p. 59) A second controller configured as owner
Connection to an input module rejected Extra owners need configuration and communication format identical to the first owner (p. 59) Configuration in each owner controller
Fault after replacing a module If electronic keying fails, a fault occurs (p. 36) Catalog number and revision against the project
I/O configured across a bridge never connects Bridging works for communicating with devices, not for controlling I/O; I/O control must start and end on the same physical network (p. 13) Network path of the I/O
Network errors after extending the cable or adding repeaters If the media configuration does not represent the maximum propagation delay between any two nodes, the network may experience errors (pp. 46, 49) Media Configuration tab in RSNetWorx
MSG errors, data not transferred The controller has 10⁠…⁠40 unconnected buffers, default 10; if all are in use when an instruction leaves the queue, it errors and transfers no data. More than 16 MSGs enabled at once can delay some (p. 80) No more than 16 messages enabled at once; no more than 10 uncached CIP data table, CIP generic, PLC-2/PLC-3/PLC-5/SLC or uncached block-transfer messages (p. 84)

Keeper, NUT, SMAX and UMAX

The keeper stores the network parameters and configures the network with them when it starts. Every ControlNet network needs at least one. The 1756-CN2, CN2R, CNB and CNBR are keeper-capable (p. 19). Among the valid multi-keeper-capable nodes, the one with the lowest node address becomes the active keeper. If it leaves the network, a valid backup keeper can take over (pp. 19–20). In the Keeper Status dialog there must be exactly one active valid keeper, all other keepers must be valid, and the keeper signature (hex) must be the same for all nodes (p. 20). Before scheduling online, all keepers must be unconfigured or must not conflict with the current network (p. 46).

The NUT (network update time) is the fastest rate for scheduled data; the minimum is 2 ms (p. 16). The node with the lowest address sends the maintenance information that keeps the other nodes synchronized (p. 17). SMAX is the highest node address that can use scheduled time; UMAX is the highest that can communicate at all, and must be equal to or higher than SMAX (pp. 20–21). The manual recommends UMAX equal to the highest node address on the network, because the default 99 wastes bandwidth, and SMAX three or four above the highest scheduled node (p. 21). RSNetWorx sets Max Scheduled Address; Rockwell recommends not changing it (p. 45). Node addresses run from 01 to 99 (p. 19).

Cable, terminators and redundant media

A segment is a section of trunk between two terminators. Its maximum length is 1000 m − 16.3 m × (number of taps − 2); the graph assumes 1786-RG6 cable. Repeaters add segments or length, and a network supports up to 99 nodes (pp. 23–24). Only the 1786-RPFRL and 1786-RPFRXL repeaters support a ring topology (p. 22). The specifications list the 1786-XT termination resistor, the 1786-TNCLXT4 IP67 termination resistor and the 1786-CP programming cable for the RJ45 port (1756-TD003R-EN-E, p. 35).

The R versions have two ControlNet BNC ports, A and B (1756-TD003R, p. 28). In RSNetWorx the Media Redundancy parameter states whether the network uses media redundancy (CNET-UM001H, pp. 45, 48). Both installation instructions warn that a reversed tap connection gives misleading status displays: check the label on the tap drop cable for its segment before connecting. The primary and partner modules of a redundant control chassis pair must be on the same network segment (1756-IN074C, p. 6; 1756-IN066C, p. 6). The channel indicator table above gives the checks for each channel state.

Module facts

Module ControlNet ports Logix connections Other port
1756-CN2 1 BNC 128 USB
1756-CN2R 2 BNC 128 USB
1756-CNB 1 BNC 40⁠…⁠48 NAP RJ45
1756-CNBR 2 BNC 40⁠…⁠48 NAP RJ45

Source: 1756-TD003R, pp. 27–28. All four run at 5 Mbps with up to 99 nodes. The USB port is for temporary local programming only; do not use it in hazardous locations (p. 28). The user manual adds: a 1756-CN2 or CN2R series B in the local chassis has 131 connections, 3 of them reserved for redundant control; a 1756-CNB or CNBR has 64, and Rockwell recommends no more than 40⁠…⁠48 scheduled connections (CNET-UM001H, p. 69). Each remote ControlNet module is limited to five rack-optimized connections (p. 56). An enhanced redundancy system needs a 1756-CNB, CNBR, CN2 series B or CN2R series B; series A of the CN2 and CN2R does not support it (p. 12).

Checks, step by step

  1. Before changing anything, record the OK indicator, the display message and the channel A and B indicators of each ControlNet module, the faulted modules in the I/O tree, the Module Fault text of the highest one, the Keeper Status window, the network parameters (NUT, SMAX, UMAX, media redundancy) and the node addresses.
  2. Display: look up the message in the table for the module family and do the action it gives (1756-IN074C, pp. 8–9; 1756-IN066C, pp. 8–9).
  3. I/O tree: start from the faulted module highest in the tree and look up its code in Logix Designer Help (CNET-UM001H, pp. 65–66).
  4. Keepers: one active valid keeper, all others valid, one keeper signature (CNET-UM001H, p. 20). On a 1756-CN2, a "Keeper:" message on the display says which keeper data is wrong (1756-IN074C, p. 9).
  5. Node address: every node at or below UMAX (CNET-UM001H, pp. 45, 48). No two modules on the same address; 01⁠…⁠99 in a standalone chassis, 01⁠…⁠98 in a redundant chassis, where the secondary module takes the same address as its primary (1756-IN074C, p. 5; 1756-IN066C, p. 5).
  6. Schedule: any connection added, removed or changed since the last schedule means rescheduling (CNET-UM001H, pp. 19, 50).
  7. Media: a channel flashing red/off means checking for broken cables, loose connectors and missing terminators (1756-IN074C, p. 9; 1756-IN066C, p. 9). If the network was extended or repeaters were added, check the media configuration (CNET-UM001H, pp. 45–46).
  8. Connections and RPI: RPI not faster than the NUT, connection counts within the module limits (CNET-UM001H, pp. 18, 69). If a 1756-CNB shows BW >MAX frequently, add another module and split the traffic between them (1756-IN066C, p. 8).

Rescheduling safely

The user manual's download procedure puts the controller in Program mode first (CNET-UM001H, p. 35). When saving a schedule, "Optimize and rewrite the schedule for all connections" is the preferred choice; with "Merge changes into existing schedule", controllers whose connections have not changed stay in Run mode rather than changing to Program mode (p. 50). Changing electronic keying online interrupts connections to the device and to devices connected through it, including connections from other controllers (p. 37). Rescheduling can move controllers to Program mode, and their I/O with them: follow the plant's permit and lockout rules.

Planning the replacement

The 1756-CNB end-of-life page and the 1756-CNBR end-of-life page record both modules as discontinued on 31/12/2024, with 1756-CN2 and 1756-CN2R named by Rockwell as replacements. The same pages note that Rockwell's lifecycle tool now lists the 1756-CN2 and 1756-CN2R as End of Life, with a discontinued date of 31/12/2028 and 1756-EN4TR as the Engineering Replacement (read 14/11/2026). The specifications call ControlNet a legacy network and point to the ControlNet to EtherNet/IP Migration Reference Manual, CNET-RM001 (1756-TD003R, p. 27). The user manual gives one compatible-keying example: a 1756-CN2R can replace a 1756-CNBR; release notes give the details (CNET-UM001H, p. 38). See DeviceNet to EtherNet/IP migration and the DeviceNet and ControlNet to EtherNet/IP migration service. For an engineer on site: breakdown support.

Frequently asked questions

Why does new I/O on ControlNet not come online after a download?

A scheduled connection that is added, removed or changed needs RSNetWorx for ControlNet to run again; I/O added to an existing network becomes active only after the network is rescheduled (CNET-UM001H-EN-P, pp. 19, 50).

What is the ControlNet keeper signature?

The keeper stores the network parameters. In RSNetWorx Keeper Status there must be one active valid keeper, all other keepers must be valid, and the keeper signature, shown in hex, must be the same for all nodes. A keeper that is not valid cannot perform scheduled communication (p. 20). On a 1756-CN2, the display shows Keeper: Signature Mismatch when the module's keeper data does not match the network while a valid active keeper exists; the fix is to download or update the keeper in RSNetWorx, or to reset the module to factory settings (1756-IN074C-EN-P, p. 9).

What do NUT, SMAX and UMAX mean on ControlNet?

NUT is the fastest rate for scheduled data, minimum 2 ms. SMAX is the highest node address that can use scheduled time and UMAX the highest that can communicate; the defaults are NUT 100 ms, SMAX 1 and UMAX 99 (CNET-UM001H-EN-P, pp. 16, 20).

Can a 1756-CN2R replace a 1756-CNBR?

The manual's compatible-keying section gives this replacement as an example and refers to the module release notes for details (p. 38). The 1756-CNBR end-of-life page names 1756-CN2R as Rockwell's replacement.

What do NET ERR and a flashing red channel indicator mean on a ControlNet module?

On both the 1756-CN2 and the 1756-CNB, NET ERR with a flashing green OK indicator means a cabling error or no other active node; recheck the cabling and make sure another node is online (1756-IN074C-EN-P, p. 8; 1756-IN066C-EN-P, p. 8). A channel A or B indicator flashing red/off means either a media fault, where the check is for broken cables, loose connectors and missing terminators, or that no other node is on the network (p. 9 in both).

Sources

  • Rockwell Automation, CNET-UM001H-EN-P, ControlNet Network Configuration User Manual, 03/2022 — pp. 10, 12–13, 16–24, 30, 34–38, 41–42, 45–50, 55–56, 59, 64–66, 69, 80, 84
  • Rockwell Automation, 1756-IN074C-EN-P, ControlLogix ControlNet Communication Modules Installation Instructions, 04/2023 — pp. 5–9
  • Rockwell Automation, 1756-IN066C-EN-P, ControlLogix ControlNet Scanner Module Installation Instructions, 06/2023 — pp. 5–10
  • Rockwell Automation, CNET-IN005, ControlNet Modules Installation Instructions — notice page naming the two publications that replace it
  • Rockwell Automation, 1756-TD003R-EN-E, 1756 ControlLogix Communication Modules Specifications Technical Data, 01/2025 — pp. 27–28, 35

Read 15 November 2026. This article paraphrases the sources and does not quote them; read the original documents before designing or working on a system. Links open the latest edition in Rockwell's literature library; page numbers refer to the edition cited.

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