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GXP5W Datasheet, PDF (3/4 Pages) Baumer IVO GmbH & Co. KG – Absolute encoders - bus interfaces | |||
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Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Optical multiturn encoders 13 bit ST / 16 bit MT, CANopen
GXP5W - 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 proï¬le
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
deï¬ned 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 deï¬ning the rotating direc-
tion in which there have to be ascending
or descending position values.
Scaling
Parameter deï¬ning 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
Connector M12
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
3
4
5
2
1
Please use cores twisted in
pairs (for example CAN_H /
CAN_L) for extension cables
of more than 10 m length.
Connector D-SUB
Connector Assignment
Pin 1
â
Pin 2
CAN_L
Pin 3
CAN_GND
Pin 4
â
Pin 5
â
Pin 6
GND B
Pin 7
CAN_H
Pin 8
â
Pin 9
UB
Please use cores twisted in
pairs (for example CAN_H /
CAN_L) for extension cables
of more than 10 m length.
Connector M23
Connector Core colour
Pin 1
brown/green
Pin 2
white/green
Pin 3
pink
Pin 4
grey
Pin 5
white
Pin 6-12 â
Assignment
UB
GND B
CAN_L
CAN_H
CAN_GND
â
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.
3
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