G0P5H Datasheet, PDF (3/4 Pages) Baumer IVO GmbH & Co. KG – Absolute encoders - bus interfaces

Absolute encoders - bus interfaces
Hollow shaft max. ø14 mm
Optical multiturn encoders 13 bit ST / 16 bit MT, CANopen
G0P5H - CANopen
Terminal significance
UB
Encoder voltage supply
GND B
Encoder ground connection relating to UB
CAN_L
CAN bus signal (dominant Low)
CAN_H
CAN bus signal (dominant High)
CAN_GND
GND relating to CAN interface.
Depending on model separated from
GND B either by galvanic isolation or by
inductive earthing.
CANopen features
Bus protocol
CANopen
Device profile
CANopen - CiA DSP 406, V 3.0
(Device Class 2, CAN 2.0B)
Operating modes Event-triggered / Time-triggered
Remotely-requested
Sync (cyclic) / Sync (acyclic)
Preset
Parameter for setting the encoder to a
requested position value assigned to a
defined shaft position of the system. The
offset of encoder zero point and mecha-
nical zero point is stored in the encoder.
Rotating direction Parameter for defining the rotating direc-
tion in which there have to be ascending
or descending position values.
Scaling
Parameter defining the steps per turn as
well as the total resolution.
Diagnosis
The encoder supports the following error
warnings:
- Position and parameter error
- Lithium battery voltage control
(Multiturn)
Node Monitoring Heartbeat or Nodeguarding
Default
50 kbit/s, Node ID 1
Terminal assignment
M12-connector
Connector Core colour
Pin 1
brown
Pin 2
white
Pin 3
blue
Pin 4
black
Pin 5
grey
Assignment
GND B
UB
CAN_GND
CAN_H
CAN_L
4
3
5
1
2
Please use cores twisted in pairs
(for example CAN_H / CAN_L) for
extension cables of more than 10 m
length.
M23-connector
Connector Core colour
Pin 1
brown/green
Pin 2
white/green
Pin 3
pink
Pin 4
grey
Pin 5
white
Pin 6-12 –
Assignment
UB
GND B
CAN_L
CAN_H
CAN_GND
–
8 91
7 ^{12 10} 2
6
3
5 ¹¹ 4
Please use cores twisted in pairs
(for example CAN_H / CAN_L) for
extension cables of more than 10 m
length.
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