EN

Manual
Absolute Encoder with CANopen
Firmware version from 1.00
Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 7720 942-0
Fax +49 7720 942-900
[email protected]
www.baumer.com
11.12 · 174.02.030/9
Subject to modification in technic and design.
Errors and omissions excepted.
Contents
Page
1. Introduction
3
1.1.
1.2.
3
3
Scope of delivery
Product assignment
2. Safety and operating instructions
4
3. CAN bus and CANopen communication
5
3.1.
3.1.1.
3.2.
3.3.
3.3.1.
3.3.2.
3.3.3.
3.3.4.
3.3.5.
3.3.6.
3.4.
3.4.1.
3.4.2.
CAN bus
CAN bus characteristics
CANopen
CANopen communication
Communication profile
CANopen message structure
Service data communication
Process data communication
Emergency service
Network management services
Encoder profile
Overview of encoder objects
Detailed object list (DS-301)
5
5
6
7
7
7
8
9
11
12
19
19
23
4. Diagnosis and useful information
39
4.1.
4.2.
4.3.
39
39
40
Error diagnosis field bus communication
Error diagnosis via field bus
Useful information relating to the sensor
5. Applications
41
5.1.
5.2.
5.3.
5.4.
41
42
43
45
Setting and reading objects
Configuration
Operation
Use the encoder via CAN interface
6. Terminal assignment and commissioning
47
6.1.
6.2.
6.2.1.
6.2.2.
6.2.3.
6.3.
47
47
47
47
48
48
Mechanical mounting
Electrical connection
Contact description
Pin assignment M12 connector
Pin assignment D-SUB connector
Display elements (status display)
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Disclaimer of liability
The present manual was compiled with utmost care, errors and omissions reserved. For this reason
Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual.
Baumer IVO nor the author will accept any liability for direct or indirect damages resulting from the use of the
present information.
At any time we should be pleased receiving your comments and proposals for further improvement of the
present document.
1. Introduction
1.1. Scope of delivery
Please check the delivery upon completeness prior to commissioning.
Depending on encoder configuration and part number delivery is including:
Encoder
CD with describing file and manual (also available as download in the Internet)
1.2. Product assignment
Shaft encoders
Product
Product code
Device name
Eds file
Product family
GBP5W
0x18
GBP5
GBP5_406.eds
Multiturn
GBU5W
0x19
GBU5
GBU5_406.eds
Singleturn
GXP5W
0x14
GXP5
GXP5_406.eds
Multiturn
GXU5W
0x15
GXU5
GXU5_406.eds
Singleturn
X 700
0x14
GXP5
GXP5_406.eds
Multiturn
End shaft encoders
Product
Product code
Device name
Eds file
Product family
GBP5S
0x18
GBP5
GBP5_406.eds
Multiturn
GBU5S
0x19
GBU5
GBU5_406.eds
Singleturn
GXP5S
0x14
GXP5
GXP5_406.eds
Multiturn
GXU5S
0x15
GXU5
GXU5_406.eds
Singleturn
Hollow shaft encoders
Product
Product code
Device name
Eds file
Product family
G0P5H
0x14
GXP5
GBP5_406.eds
Multiturn
GBP5H
0x18
GBP5
GBP5_406.eds
Multiturn
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2. Safety and operating instructions
Supplementary information
This manual is intended as a supplement to already existing documentation (catalogues, product
information or assembly instructions).
The manual must be read without fail before initial commissioning of the equipment.
Intended purpose of the equipment
The encoder is a precision measurement device. It is used to determine angular positions and
revolutions, and to prepare and supply measured values in the form of electrical output signals for the
follow-on device systems. The encoder may only be used for this purpose.
Commissioning
The encoder may only be installed and assembled by suitably qualified experts.
Observe the operating instructions of the machine manufacturer.
Safety remarks
Prior to commissioning the equipment, check all electrical connections.
If installation, electrical connection or any other work performed at the encoder or at the equipment is not
correctly executed, this can result in a malfunction or failure of the encoder.
Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating
equipment as a result of encoder failure or malfunction by providing suitable safety precautions.
Encoders must not be operated outside the specified limited values (see detailed product documentation).
Failure to comply with the safety remarks can result in malfunctions, personal injury or damage to property.
Transport and storage
Only ever transport or store encoders in their original packaging.
Never drop encoders or expose them to major vibrations.
Assembly
Avoid impacts or shocks on the housing and shaft / hollow shaft
Avoid any twist or torsion on the housing.
Never make rigid connections between the encoder shaft and drive shaft.
Do not open the encoder or make any mechanical changes to it.
The shaft, ball bearings, glass pane or electronic components can be damaged. In this case, safe and reliable
operation cannot be guaranteed.
Electrical commissioning
Do not make any electrical changes at the encoder.
Do not carry out any wiring work when the encoder is live.
Never plug or unplug the electrical connection when the encoder is live.
Ensure that the entire plant is installed in line with EMC requirements. The installation environment and
wiring affect the electromagnetic compatibility of the encoder. Install the encoder and supply cables
separately or at a long distance from cables with high interference emissions (frequency converters,
contactors etc.)
Where working with consumers which have high interference emissions, make available a separate
power supply for the encoder.
Completely shield the encoder housing and connecting cable.
Connect the encoder to the protective earth (PE) conductor using shielded cable. The braided shield must
be connected to the cable gland or plug. Ideally, aim at bilateral connection to protective earth (PE), the
housing via the mechanical assembly, the cable shield via the downstream connected devices. In case of
earth loop problems, earth on one side only as a minimum requirement.
Failure to observe these instructions can result in malfunctions, material damage or personal injury.
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3. CAN bus and CANopen communication
3.1. CAN bus
The CAN bus (CAN: Controller Area Network) was originally developed by Bosch and Intel as a means of
fast, low-cost data transmission in automotive applications. The CAN bus is used today also in industrial
automation applications.
The CAN bus is a field bus (the standards are defined by the CAN in Automation (CiA) Association) through
which devices, actuators and sensors from different manufacturers can communicate with each other.
3.1.1. CAN bus characteristics
• Data rate of 1 MBaud with network expansion up to 40 m
• Network connected on both sides
• The bus medium is a twisted-pair cable
• Real time capability: Defined maximum waiting time for high-priority messages.
• Theoretically 127 users at one bus, but physically only 32 are possible (due to the driver).
• Ensures data consistency across the network. Damaged messages are notified as faulty for all network
nodes.
• Message-oriented communication
The message is identified by a message identifier. All network nodes use the identifier to test whether the
message is of relevance for them.
• Broadcasting, multicasting
All network nodes receive each message simultaneously. Synchronization is therefore possible.
• Multimaster capability
Each user in the field bus is able to independently transmit and receive data without being dependent upon
the priority of the master. Each user is able to start its message when the bus is not occupied. When
messages are sent simultaneously, the user with the highest priority prevails.
• Prioritization of messages
The identifier defines the priority of the message. This ensures that important messages are transmitted
quickly via the bus.
• Residual error probability
Safety procedures in the network reduce the probability of an undiscovered faulty data transmission to
-11
below 10 . In practical terms, it is possible to ensure a 100% reliable transmission.
• Function monitoring
Localization of faulty or failed stations. The CAN protocol encompasses a network node monitoring function.
The function of network nodes which are faulty is restricted, or they are completely uncoupled from the
network.
• Data transmission with short error recovery time
By using several error detection mechanisms, falsified messages are detected to a high degree of
probability. If an error is detected, the message transmission is automatically repeated.
In the CAN Bus, several network users are connected by means of a bus cable. Each network user is able to
transmit and receive messages. The data between network users is serially transmitted.
Examples of network users for CAN bus devices are:
• Automation devices such as PLCs
• PCs
• Input and output modules
• Drive control systems
• Analysis devices, such as a CAN monitor
• Control and input devices as Human Machine Interfaces (HMI)
• Sensors and actuators
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3.2. CANopen
Under the technical management of the Steinbeis Transfer Centre for Automation, the CANopen profile was
developed on the basis of the Layer 7 specification CAL (CAN Application Layer). In comparison with CAL,
CANopen only contains the functions suitable for this application. CANopen thus represents only a partial
function of CAL optimized for the application in hand, so permitting a simplified system structure and the use
of simplified devices. CANopen is optimized for fast data exchange in real time systems.
The organization CAN in Automation (CiA) is responsible for the applicable standards of the relevant profiles.
CANopen permits:
• Simplified access to all device and communication parameters
• Synchronization of several devices
• Automatic configuration of the network
• Cyclical and event-controlled process data communication
CANopen comprises four communication objects (COB) with different characteristics:
• Process data objects for real time data (PDO)
• Service data objects for parameter and program transmission (SDO)
• Network management (NMT, Heartbeat)
• Pre-defined objects (for synchronization, emergency message)
All device and communication parameters are subdivided into an object directory. An object directory
encompasses the name of the object, data type, number of subindexes, structure of the parameters and the
address. According to CiA, this object directory is subdivided into three different parts. Communication profile,
device profile and a manufacturer-specific profile (see object directory).
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3.3. CANopen communication
3.3.1. Communication profile
Communication between the network users and the Master (PC / Control) takes place by means of object
directories and objects. The objects are addressed via a 16 bit index. The CANopen communication profile
DS 301 standardizes the various communication objects. They are accordingly divided into several groups:
• Process data objects PDO for real time transmission of process data
• Service data objects SDO for read/write access to the object directory
• Objects for synchronization and error display of CAN users:
SYNC object (synchronization object) for synchronization of network users
EMCY object (emergency object) for error display of a device or its peripherals
• Network management NMT for initialization and network control
• Layer Setting Services LSS for configuration by means of serial numbers, revision numbers etc. in the
middle
of an existing network
3.3.2. CANopen message structure
The first part of a message is the COB ID (Identifier).
Structure of the 11-bit COB ID :
Function code
4-bit function code
Node ID
7-bit node ID
The function code provides information on the type of message and priority
The lower the COB ID, the higher the priority of the message
Broadcast messages:
Function code
NMT
SYNC
COB ID
0
80h
Peer to peer messages:
Function code
Emergency
1)
PDO1 (tx)
1)
PDO2 (tx)
1)
SDO (tx)
1)
SDO (rx)
Heartbeat
1)
LSS (tx)
1)
LSS (rx)
COB ID
80h + Node ID
180h + Node ID
280h + Node ID
580h + Node ID
600h + Node ID
700h + Node ID
7E4h
7E5h
1): (tx) and (rx) from the viewpoint of the encoder
The node ID can be freely selected by means of the CANopen bus between 1 and 127 (if encoder = 0).
The encoders are supplied with the Node ID 1.
This can be changed with the service data object 2101h or using LSS.
A CAN telegram is made up of the COB ID and up to 8 bytes of data:
COB ID DLC
Xxx
x
Byte 1
xx
Byte 2
xx
Byte 3
xx
Byte 4
xx
Byte 5
xx
Byte 6
xx
Byte 7
xx
Byte 8
xx
The precise telegram is outlined in more detail at a later point.
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3.3.3. Service data communication
The service data objects correspond to the standards of the CiA. It is possible to access an object via index
and subindex. The data can be requested or where applicable written into the object.
General information on the SDO
Structure of an SDO telegram:
COB ID
DLC
Command
Object L
Object H
Subindex Data 0
Data 1
Data 2
Data 3
An SDO-COB ID is composed as follows:
Master -> Encoder
: 600h + Node ID
Encoder -> Master
: 580h + Node ID
DLC (data length code) describes the length of the telegram. This is composed as follows:
1 byte command + 2 bytes object + 1 byte subindex + no. of data bytes (0 - 4).
The command byte defines whether data is read or set, and how many data bytes are involved.
SDO command
22h
23h
2Bh
2Fh
Description
Download request
Download request
Download request
Download request
Data length
Max. 4 Byte
4 byte
2 byte
1 byte
60h
40h
Download response
Upload request
-
Confirms receipt to master
Requests parameter from encoder
42h
43h
4Bh
4Fh
Upload response
Upload response
Upload response
Upload response
Max. 4 byte
4 byte
2 byte
1 byte
Parameter to master with max. 4 byte
80h
Abort message
-
Encoder signals error code to master
Transmits parameter to encoder
An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The object
and subindex are those of the requested object. The error code is contained in bytes 5 – 8.
ID
DLC
580h + Node ID 8
Byte 1
80h
Byte 2
Object L
Byte 3
Object H
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3
Byte 8..5 results in the SDO abort message (byte 8 = MSB).
The following messages are supported:
05040001h
06010000h
06010001h
06010002h
06020000h
06090011h
06090030h
06090031h
08000000h
08000020h
08000021h
: Command byte is not supported
: Incorrect access to an object
: Read access to write only
: Write access to read only
: Object is not supported
: Subindex is not supported
: Value outside the limit
: Value too great
: General error
: Incorrect save signature
: Data cannot be stored
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SDO examples
Request of a value by the master from the slave
A frequent request will be a request for position.  Object 6004h
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
04h
60h
0
40h
x
Data
1
x
Data
2
x
Data
3
x
Data
1
b
Data
2
c
Data
3
d
Data
1
b
Data
2
c
Data
3
d
Data
1
0
Data
2
0
Data
3
0
Response by the slave to the request for a value
The position is 4 bytes long, the precise values can be found under object 6004h.
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
04h
60h
0
43h
a
Writing of a value by the master into the slave
Position setting can be performed with preset.  Object 6003h
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
03h
60h
0
22h
a
Slave's response to the writing of a value
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
03h
60h
0
60h
0
3.3.4. Process data communication
Process data objects are used for real time data exchange for process data, for example position or operating
status. PDOs can be transmitted synchronously or cyclically (asynchronously). The encoder supports the
PDO1 and the PDO2. Both PDOs supply the current position of the encoder and are defined in the objects
1800h, 1801h, 1A00h, 1A01, 2800h, 2801h and 6200h.
Synchronous
In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into
the object 1800h / 1801h Subindex 2. If the value is 3, the PDO is transmitted on every third sync telegram (if
the value 1 is entered, transmission takes place on every sync telegram), as long as there is a 0 written into
the object 2800h / 2801h. If it contains for example a 5, the PDO will continue to be written as before on every
third Sync telegram, but only a total of 5 times. Accordingly, the last PDO is written on the 15th sync
telegram. The counter for the number of PDOs to be transmitted is reset in the event of a position change or
NMT reset, i.e. unless it is changed, the position is transmitted five times. If the position changes, it is
transmitted a further five times.
In synchronous operation, the PDO is requested by the master via the Sync telegram.
Byte 0
COB ID = 80
Byte 1
0
Cyclical (asynchronous)
If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 1800h / 1801h
Subindex 2. In addition, the cycle time in milliseconds must be entered in the same object subindex 5. The
entered time is rounded off to 1 ms. If the value is stored for 0 ms, the PDOs are not transmitted. The function
is switched off.
The object 2800h / 2801h offers another possibility: If the value is 0, cyclical transmission runs as described
above. If the value is 1, a cyclical test is performed as to whether a change of the value has occurred. If not,
no transmission takes place. If the value is 4, the PDO is transmitted four times with each cycle if there is a
change.
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Overview
In the following table, the different transmission modes for PDOs are summarized:
1800h
Sub2
Sub5
FEh
3ms
FEh
5ms
FEh
0ms
FEh
0ms
3
xxx
3
xxx
2800h
0
2
0
xxx
0
2Bh
Summarized description
Cyclical transmission every 3 ms
Every 5 ms, the PDO is sent twice if there is a change
Transmit PDO switched off
Transmit PDO switched off
Transmit with every third sync telegram
On every third sync telegram, but only 43 times in total (=2Bh).
PDO (Position)
PDO1 telegram structure:
ID
181h
DLC
4
ID
Length
Byte1 - 4
Byte 1
Xx
Byte 2
Xx
Byte 3
Xx
Byte 4
Xx
: 180h + node ID
: 4 DataByte
: Current position in increments
PDO2 telegram structure:
ID
281h
ID
Length
Byte1 - 4
DLC
4
Byte 1
Xx
Byte 2
Xx
Byte 3
Xx
Byte 4
Xx
: 280h + node ID
: 4 DataByte
: Current position in increments
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3.3.5. Emergency service
Internal device error or bus problems initiate an emergency message:
COB-ID
DLC Byte0 Byte 1
80h+Node-ID
8
Error Code
00h
01h
Byte 2
Errorregister
1001h
Byte 3
Byte 4
Alarms 6503h
Byte 5
Byte 6
Warning 6505h
Byte 7
-
Byte 0..1: Error Codes
Error Code (hex) Meaning
0000
Error Reset or No Error
1000
Generic Error
5530
EEPROM error (from V1.04+)
6010
Software reset (Watchdog) (from V1.04+)
7320
Position error (from V1.04+)
7510
Internal communication error (from V1.04+)
8130
Life Guard error or Hearbeat error (from V1.04+)
FF00
Battery low (from V1.04+)
Byte 2: Error-Register
Bit
Meaning
0
Generic Error
4
Communication error (V1.04)
7
manufacturer specific (V1.04)
Byte 3..4 Alarms
Bit
0
Meaning
Position error aktiv
Byte 5..6 Warning
Bit
Meaning
2
CPU watchdog status
4
Battery charge
Wert = 0
Nein
Wert = 1
Ja
Wert = 0
OK
OK
Wert = 1
Reset done
Battery low
Byte 7: not used
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3.3.6. Network management services
Network management can be divided into two groups.
Using the NMT services for device monitoring, bus users can be initialized, started and stopped.
In addition, NMT services exist for connection monitoring.
Description of the NMT command
The commands are transmitted as unconfirmed objects and are structured as follows:
Byte 0
COB ID = 0
Byte 1
Command byte
Byte 2
Node number
The COB ID for NMT commands is always zero. The node ID is transmitted in byte 2 of the NMT command.
Command byte
Command byte
01h
02h
80h
81h, 82h
Description
Start remote node
Stop remote node
Enter pre-operational mode
Reset remote node
In state event drawing
1
2
3
4, 5
The node number corresponds to the node ID of the required users. With node number = 0, all users are
addressed.
NMT state event
Following initialization, the encoder is in the pre-operational mode. In this status, SDO parameters can be
read and written. In order to request PDO parameters, the encoder must first be moved to the operational
mode status.
Powerononoder
or hardware
Power
Hardware reset
Reset
Init
BootUp Message
4/5
4/5
Pre-Operational
3
2
1
3
Stopped/Prepared
4/5
1
Operational
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The various NMT statuses
Init
Following initalization, the encoder logs on to the CAN bus with a BootUp message. The encoder then goes
automatically to the pre-operational mode status.
The COB ID of the BootUp message is made up of 700h and the node ID.
COB ID
Byte 0
700h + node ID 00
Pre-operational mode
In the pre-operational mode, SDOs can be read and written.
Operational mode
In the operational mode, the encoder transmits the requested PDOs. In addition, SDOs can be read and
written.
Stopped or prepared mode
In the stopped mode, only NMT communication is possible. No SDO parameters can be read or set. LSS is
only possible in the stopped mode.
Status change
Start remote node (1)
With the start command, the encoder is switched to the operational mode status.
COB ID
0
Command byte
1h
Node number
0..127
Stop remote node (2)
With the stop command, the encoder is switched to the stopped or prepared mode status.
COB ID
0
Command byte
2h
Node number
0..127
Enter pre-operational mode (3)
Change to the pre-operational mode status.
COB ID
0
Command byte
80h
Node number
0..127
Reset remote node (4) or reset communication (5)
With the reset command, the encoder is re-initialized.
Reset remote node (4):
COB ID
0
Command byte
81h
Node number
0..127
Reset communication (5):
COB ID
0
Command byte
82h
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0..127
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Node and Life Guarding
The „CAN in Automation“ association CiA
recommend to use the new heartbeat protocol
(see next chapter).
To use the node guarding instead of heartbeat
protocol bit 5 of object 2110h has to be set.
To detect absent devices (e.g. because of
bus-off) that do not transmit PDOs regularly,
the NMT Master can manage a database,
where besides other information the expected
states of all connected devices are recorded,
which is known as Node Guarding. With cyclic
node guarding the NMT master regularly polls
its NMT slaves. To detect the absence of the
NMT master, the slaves test internally,
whether the Node Guarding is taking place in
the defined time interval (Life Guarding). The
Node Guarding is initiated by the NMT Master
in Pre-Operational state of the slave by
transmitting a Remote Frame.
The NMT Master regularly retrieves the actual
states of all devices on the network by a
Remote Frame and compares them to the
states recorded in the network database.
Mismatches are indicated first locally on the
NMT Master through the Network Event
Service. Consequently the application must
take appropriate actions to ensure that all
devices on the bus will got to a save state
"Communication error Object 1029h-1h".
Example for a nodeguarding protocol:
COB-ID
701h
701h
701h
701h
Data/ Remote
r
d
r
d
Byte 0
00h (0d)
FFh (255d)
00h (0d)
7Fh (127d)
Possible NMT node states:
0:
BootUp-Event
4:
Stopped
5:
Operational
127:
Pre-operational
in other words, the encoder is in the pre-operational mode (7Fh = 127).
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Heartbeat protocol
The optional heartbeat protocol should
substitute the life/node guarding protocol.
Heartbeat ist aktiv, wenn im Objekt 2110h Bit5
auf '0' ist. It is highly recommend to implement
for new device designs the heartbeat protocol.
A Heartbeat Producer transmits the Heartbeat
message cyclically with the frequency defined
in Heartbeat producer time object. One or
more Heartbeat Consumer may receive the
indication. The relationship between producer
and consumer is configurable via Object
Dictionary entries. The Heartbeat Consumer
guards the reception of the Heartbeat within
the Heartbeat consumer time. If the Heartbeat
is not received within this time a Heartbeat
Event will be generated "Communication error
object 1029h-1h".
Example for a heartbeat protocol
COB-ID
701h
Data/Remote
d
Byte 0
7Fh (127d)
The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied.
0:
4:
5:
127:
BootUp-Event
Stopped
Operational
Pre-operational
in other words, the encoder is in the pre-operational mode (7Fh = 127).
Attention : Only one each of the above node guarding mechanism can be set.
Default:
Optional:
Heartbeat
NodeGuarding (see object 2110)
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Layer Setting Services
In the spring of 2000, CiA drafted a new protocol intended to ensure standardized occurrence. The procedure
is described under
Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
The encoder is supplied by us as standard with the node ID 1 and a baud rate of 50 kBaud. Several encoders
can be connected to the bus system with the same node ID. To allow individual encoders to be addressed,
LSS is used.
Each encoder is fitted with its own unique serial number and is addressed using this number. In other words,
an optional number of encoders with the same node ID can be connected to one bus system, and then
initialized via LSS. Both the node ID and also the baud rate can be reset. LSS can only be executed in the
Stopped Mode.
Message structure
COB ID:
Master  Slave
: 2021 = 7E5h
Master  Slave
: 2020 = 7E4h
After the COB ID, an LSS command specifier is transmitted.
This is followed by up to seven attached data bytes.
COB ID cs
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Switch Mode Global
7E5h  04h
Mode
Mode
reserved
: 0  Operation mode
1  Configuration mode
Selective switch mode
The following procedure can be used to address a certain encoder in the bus system.
7E5h  40h
Vendor ID
reserved
7E5h  41h
Product code
reserved
7E5h  42h
Revision number
reserved
7E5h  43h
Serial number
reserved
7E4h  44h
Mode
reserved
Vendor ID
Product code
Revision number
Serial number
Mode
: ECh
: Internal product code for the respective encoder
: Current revision number of the encoder
: Unique, consecutive serial number
: The encoder's response is the new mode (0=operating mode; 1=configuration mode)
Setting the node ID
7E5h  11h
Node ID
reserved
7E4h  11h
ErrCode
Spec error
Node ID
Error code
Specific error
reserved
: The encoder's new node ID
: 0=OK; 1=Node ID outside range; 2..254=reserved; 255Specific error
: If Error code=255  application-specific error code.
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Setting the bit timing
7E5h  13h
tableSel tableInd
7E4h  13h
ErrCode
TableSel
reserved
SpecError
reserved
: Selects the bit timing table
TableInd
Error code
Specific error
0
: Standard CiA bit timing table
1..127 : Reserved for CiA
128..255 : Manufacturer-specific tables
: Bit timing entry in selected table (see table below).
: 0=OK; 1=Bit timing outside range; 2..254=reserved; 255Specific error
: If Error code=255  Application-specific error code.
Standard CiA table
Baud rate
1000 kBaud
800 kBaud
500 kBaud
250 kBaud
125 kBaud
100 kBaud
50 kBaud
20 kBaud
10 kBaud
Table Index
0
1
2
3
4
5
6
7
8
Saving the configuration protocol
This protocol saves the configuration parameters in the EEPROM.
7E5h  17h
reserved
7E4h  17h
ErrCode
Error code
Specific error
SpecError
reserved
: 0=OK;1=Saving not supported;2=Access error;3..254=reserved;255Specific error
: If error code=255  Application-specific error code.
Activate bit timing parameters
The new bit timing parameters are activated with the command specifier 15h.
7E5h  15h
Switch Delay
Switch delay
reserved
: Reset delay in the slave in ms.
After the delay, the encoder logs on with the new baud rate.
Request vendor ID
Requesting the vendor ID of a selected encoder
7E5h  5Ah
reserved
7E4h  5Ah
32 bit vendor ID
Vendor ID
reserved
: = ECh
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Request product code
Request product code of a selected encoder
7E5h  5Bh
reserved
7E4h  5Bh
Product code
Product code
reserved
: Manufacturer-dependent product code
Request revision number
Request revision number of a selected encoder
7E5h  5Ch
reserved
7E4h  5Ch
32 bit revision number
Revision number
reserved
: Current revision
Request serial number
Request serial number of a selected encoder
7E5h  5Dh
reserved
7E4h  5Dh
32 bit serial number
Serial number
reserved
: Unique consecutive serial number of the encoder
Range request
Encoders can also be searched for within a certain range. For this purpose, the following objects are sent in
sequence:
7E5h  46h
Vendor ID
reserved
7E5h  47h
Product code
reserved
7E5h  48h
7E5h  49h
Revision number LOW
Revision number HIGH
reserved
reserved
7E5h  4Ah
7E5h  4Bh
Serial number LOW
Serial number HIGH
reserved
reserved
Each encoder with the relevant parameters logs on with the following message:
7E4h  4Fh
reserved
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3.4. Encoder profile
3.4.1. Overview of encoder objects
According to CiA (CAN in Automation), objects are subdivided into three groups:
Standard objects:
1000h, 1001h, 1018h
Manufacturer-specific objects:
2000h - 5FFFh
Device-specific objects:
All other objects from 1000h - 1FFFh, 6000h - FFFFh
The following table provides a summary of all SDO objects supported by the encoder.
Object Object number in Hex
Name
--Type
U/I = Unsigned/Integer , No. = no of bits, ARR = Array
Attr
ro = read only, wo = write only, rw = read write
Default Default value on first init
EE
1 = is stored in the EEPROM
Info
Additional info
Object
Name
1000h Device type
Type Attr
U32 ro
1001h
1003h
00h
01h
U8
ARR
U8
U32
Error register
Predefined error field
Biggest subindex
Last entry
ro
rw
ro
..
08h
1005h
1008h
..
Oldest entry
Sync COB ID
Device name
..
U32
U32
U32
..
ro
rw
ro
1009h
100Ah
100Ch
100Dh
1010h
00h
01h
02h
03h
04h
1011h
00h
Hardware version
Software version
Guard Time
Life Time factor
Store parameters
Biggest subindex
Save all parameters
Communication parameters
Application parameters
Manuf. specific parameters
Restore default parameters
Biggest subindex
U32
U32
U16
U8
ARR
U8
U32
U32
U32
U32
ARR
U8
ro
ro
rw
rw
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Default
EE
Info
00020196h
Multiturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =2 (Multiturn, absolute)
00010196h
Singleturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =1 (Singleturn, absolute)
0h
Bit0=Generic Error
Contains the last 8 errors or warnings
0h
Number of stored messages (0 - 8)
Error or warning
..
80h
"GBP5"
"GBU5"
"GXP5"
"GXU5"
actual value
actual value
0h
0h
1
1
1
1
1000h Generic Error
5530h EEPROM Error
6010h Software Reset (Watchdog)
7320h Positions-Error
7510h Interner Kommunikations-Error
8130h Life Guard Error or Heartbeat Error
FF00h Battery low
..
Error or warning
COB ID of the sync object
"GBP5" multiturn
"GBU5" singleturn
"GXP5" multiturn
"GXU5" singleturnn
Hardware version in ASCII
Software version in ASCII
Node Guarding Timer
Multiplicator of Guard Time
ro
rw
rw
rw
rw
4h
No. of save possibilities 4
=“save“ (0x73617665) to save
=“save“ (0x73617665) to save
=“save“ (0x73617665) to save
=“save“ (0x73617665) to save
ro
4h
No. of reset possibilities = 4
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01h
02h
03h
04h
=“load“ (0x6C6F6164) to load
=“load“ (0x6C6F6164) to load
=“load“ (0x6C6F6164) to load
=“load“ (0x6C6F6164) to load
All parameters
Communication parameters
Application parameters
Manufacturer specific
parameters
1014h Emergency COB ID
1016h Consumer heart beat time
00h Biggest subindex
01h Consumer heartbeat time
U32
U32
U32
U32
rw
rw
rw
rw
U32
ARR
rw
80h +Node ID
1
COB ID of the emergency object
U32
ro
rw
1h
10000h
1
1017h
1018h
00h
01h
02h
Producer heartbeat time
Identity object
Biggest subindex
Vendor ID
Product Code
U16
U32
U8
U32
U32
rw
ro
ro
ro
ro
0h
1
Bit0..15 Consumer Heartbeat time in ms
Bit16..23 Node-ID
Producer Heartbeat time in ms
03h
04h
1029h
00h
01h
Revision number
Serial number
Error behavior
Biggest subindex
Communication error
U32
U32
ARR
U8
U8
ro
ro
4h
ECh
18h
19h
14h
15h
Actual value
xyz
ro
rw
1h
1h
1
0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node
1800h
00h
01h
02h
05h
1801h
00h
01h
02h
05h
1A00h
00h
01h
1A01h
00h
01h
2100h
Transmit PDO1 parameter
Biggest subindex
COB ID
PDO type
Event timer
Transmit PDO2 parameter
Biggest subindex
COB ID
PDO type
Event timer
Transmit PDO1 mapping
Biggest subindex
Content of PDO1
Transmit PDO2 mapping
Biggest subindex
Content of PDO2
Baud rate
REC
U8
U32
U8
U16
REC
U8
U32
U8
U16
ARR
U8
U32
ARR
U8
U32
U8
ro
rw
rw
rw
5h
180h+id
FEh
203h
1
1
1
PDO ID = 180h + node ID
FEh=User defined, cyclical
Cycle time in ms
ro
rw
rw
rw
5h
280h+id
2h
100h
1
1
1
PDO ID = 280h + Node ID
2h= synchronous operation
Cycle time in ms
ro
ro
1h
60040020h
ro
ro
rw
1h
60040020h
2h
1
2101h
Node ID
U8
rw
1h
1
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1
Vendor no. issued by CiA
18h = GBP5 Multiturn
19h = GBU5 Singleturn
14h = GXP5 Multiturn
15h = GXU5 Singleturn
Current revision
Unique consecutive serial number
(V1.04+)
Read only, although from CiA as read write
Read only, although from CiA as read write
After setting the baud rate, the EEPROM must
be saved and reinitialized
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
Node number 1 -127 possible
After setting the baud rate, the EEPROM must
be saved and reinitialized.
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
2110h
Manufactures_Options
U32
rw
1h
1
2201h
00h
01h
02h
03h
REC
U8
U32
U32
U32
ro
ro
ro
ro
3h
0h
0h
0h
1
1
1
ARR
U8
U16
U16
U16
U16
U16
U16
U16
U16
U8
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
8h
0h
0h
0h
0h
0h
0h
0h
0h
0h
1
1
1
1
1
1
1
1
1
Repeat counter for PDO1
U8
rw
0h
1
Repeat counter for PDO2
6000h
Statistics
Biggest subindex
No. of position errors
Time in seconds
Number timer reset
watchdog
Customer EEPROM range
Biggest subindex
Data0
Data1
Data2
Data3
Data4
Data5
Data6
Data7
PDO1 addition / event
trigger
PDO2 addition (event
trigger)
Operating parameter
U16
rw
4h
1
6001h
Resolution
U32
rw
Bit0=Sense of rotation
Bit2=Scaling function
Resolution in steps / revolution:
13Bit = 8192 = GXP5, GXU5
18Bit = 262144 = = GBP5, GBU5
Overall measuring range in increments
32Bit = GBP5 Multiturn
18Bit = GBU5 Singleturn
29Bit = GXP5 Multiturn
13Bit = GXU5 Singleturn
Preset in increments  Offset
Position value including offset in increments
In ms, identical object 1800h, subindex 5
Bit0=Sense of rotation
Bit2=Scaling function
Max. resolution in steps / revolution:
13Bit = 8192 = GXP5, GXU5
18Bit = 262144 = = GBP5, GBU5
2300h
00h
01h
02h
03h
04h
05h
06h
07h
08h
2800h
2801h
Overall measuring range in
increments
U32
6003h
6004h
6200h
6500h
Preset value in increments
Position in increments
Cyclic timer for PDO1
Operating status
U32
U32
U16
U16
rw
ro
rw
ro
6501h
Max. resolution
U32
ro
1
rw
1
(1)00000000h
40000h
20000000h
2000h
0h
203h
4h
2000h
40000h
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No. of subindexes
Position control
Time since last reset
Timer watchdog
Optional data can be stored in this object
2000h
40000h
6002h
Bit1 = Code sequence (object 6000h Bit0)
0 Not inverted
1 Inverted
Bit2 = scaling function (object 6000h Bit2)
0 enabled
1 disabled
Bit3 = 0 BusOFF not removed
1 reinitate bus after BusOFF
Bit5 = 0 Heartbeat-Protocol enabled
1 Nodeguarding-Protocol enabled
Bit6 = 0 normal SYNC- response
1 fast SYNC- response (see Bit 7)
Bit7 = 0
alle PDO Modes enabled
1 only SYNC- Mode enabled
 lowest Jitter
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0 1800h-5h = 6200h
1 1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(Version from V1.08)
Bit10 =Response by Reset Node (from V 1.09)
0 HW Reset
1 Init NMT state
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6502h
Overall measuring range in
increments
U32
ro
6503h
Alarms
U16
ro
(1)00000000h
40000h
20000000h
2000h
0h
6504h
Supported alarms
U16
ro
1h
6505h
Warnings
U16
ro
0h
6506h
Supported warnings
U16
ro
14h
04h
6507h
Profile & software version
U32
ro
01000201h
6508h
6509h
650Bh
Operating time
Offset
Serial number
U32
U32
U32
ro
ro
ro
0h
0h
xyz
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1
1
Overall measuring range in increments:
32Bit = GBP5 Multiturn
18Bit = GBU5 Singleturn
29Bit = GXP5 Multiturn
13Bit = GXU5 Singleturn
The following alarms are evaluated:
Bit0=Position error
The following alarms are supported:
Bit0=Position error
The following warnings are evaluated:
Multiturn encoder:
Bit2 = CPU watchdog status
Bit4 = Battery charge
Singleturn encoder:
Bit2 = CPU watchdog status
The following warnings are supported:
Multiturn encoder:
Bit2 = CPU watchdog status
Bit4 = Battery charge
Singleturn encoder:
Bit2 = CPU watchdog status
Byte 0..1:
Profile version =2.01 = 0201h
Byte 2..3:
Software version = 1.05 = 0105h
Time in 1/10 hours since last reset
Offset calculated from preset  6003h
Linked with serial number object 1018-4
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
3.4.2. Detailed object list (DS-301)
Object 1000
Device type
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
Multiturn: 00020196h
Singleturn: 00010196h
No
Information on device profile and device type
Data0 = Profile LOW Data1 = Profile HIGH Data2 = Type Data3
96
01
02
00
Multiturn:
Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder
Data 2, 3 = 02h 00h = multiturn, absolute
Singleturn:
Data0 = Profile LOW Data1 = Profile HIGH Data2 = Type Data3
96
01
02
00
Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder
Data 2, 3 = 01h 00h = singleturn, absolute
Object 1001
Error Register
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1003
0
Unsigned 8
Read only
0h
No
Current error code
Bit 0
1 = Generic Error
Bit 4
1 = Communication error (overrun, error state)
Bit 7
1 = manufacturer specific
Predefined error field
CiA (CAN in Automation) defines around 200 different error codes here. In this document, only the
error codes of relevance for the sensor are described. This object saves the last occurred errors or
warnings.
Subindex
Data type
Access
Default
EEPROM
Description
Values
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read write
0
No
Read: Number of errors or warnings
Write 0: Reset error
0..8
1..8
Unsigned 32
Read only
0
No
Error or warning occurred, whereby subindex 1 is the ultimate, subindex
2 the penultimate entry etc.
Not yet defined
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Object 1005
COB ID SYNC message
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1008
Manufacturer Device Name
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1009
0
Unsigned 32
Read only
"GXP5", GBP5
"GXU5", GBU5
No
Device name in ASCII
Data 0..3:
"GBP5" = 47h 42h 50h 35h
"GBU5" = 47h 42h 55h 35h
"GXP5" = 47h 58h 50h 35h
"GXU5" = 47h 58h 55h 35h
 GBP5 Multiturn
 GBU5 Singleturn
 GXP5 Multiturn
 GXU5 Singleturn
Manufacturer hardware version
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 100A
0
Unsigned 32
Read write
80h
Yes
Defined COB ID of the synchronization object (SYNC)
Bit 31
not defined
Bit 30
1=Sensor generates SYNC messages, 0=generates no
SYNC message
Bit 29
1=29 bit SYNC COB ID (CAN 2.0B), 0=28 bit SYNC COB ID
(CAN 2.0A)
Bit 28..11 Bit 28..11 of the 29 bit SYNC COB ID
Bit 10..0 Bit 10..0 of the SYNC COB ID
0
Unsigned 32
Read only
No
Hardware version in ASCII
Data 0..3 example:
31h 2Eh 30h 30h
= "1.00“
Manufacturer software version
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
No
Software version in ASCII
Data 0..3 see product label exa.: 31h 2Eh 30h 30h
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= "1.00“
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 100C
Guard Time
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 100D
0
Unsigned 16
Read write
0h
Yes
Timer for Node Guarding in ms
0...65535
Life Time Factor
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read write
0h
Yes
This factor multiplied by the guard time will equal the life time.
0...256
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Object 1010
Save parameters
Saving the objects below in the non-volatile memory (EEPROM) is initiated via object 1010h.
In order to prevent unintentional saving, the message "save" must be written in subindex 1.
COB ID
DLC Command
Object L
Object H Subindex
Data 0
600h+node ID
8
10h
10h
73h 's'
23h
01
Data
Data
Data
1
2
3
61h 'a' 76h 'v' 65h 'e'
Objects stored in the EEPROM:
Object
1005h
1008h
Subindex Description
0h
Sync ID
0h
Device name
100Ch
100Dh
1014h
1016h
1017h
1018h
1018h
0h
0h
0h
1
0h
1h
2h
Guard Time
Life Time Factor
Emergency COB ID
Consumer heartbeat time
Producer heartbeat time
Vendor ID
Product code
1018h
1029h
1800h
1800h
1800h
1801h
1801h
1801h
2100h
2101h
2110h
2201h
2201h
2201h
2300h
2300h
2300h
2300h
2300h
2300h
2300h
2300h
2800h
2801h
6000h
6001h
4h
1h
1h
2h
5h
1h
2h
5h
0h
0h
0h
1h
2h
3h
1h
2h
3h
4h
5h
6h
7h
8h
0h
0h
0h
0h
Serial Number
Error Behavior
PDO1 ID
PDO1 type
PDO1 event timer asynchronous mode
PDO2 ID
PDO2 type
PDO2 refresh time for cyclical transmission
Baud rate
Node ID
Manufacturer_Options
No. of position errors
Total operating time in seconds
No. of timer resets by the watchdog
Customer-specific EEPROM range data0
Customer-specific EEPROM range data1
Customer-specific EEPROM range data2
Customer-specific EEPROM range data3
Customer-specific EEPROM range data4
Customer-specific EEPROM range data5
Customer-specific EEPROM range data6
Customer-specific EEPROM range data7
PDO1 addition (event trigger)
PDO2 addition (event trigger)
Operating parameter
No. of steps per revolution
6002h
0h
Total measuring range in increments
6003h
6200h
6509h
650Bh
0h
0h
0h
0h
Preset value in increments
Cyclical timer for PDO1
Offset
Serial number
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Default Value (after object 1011)
80h
"GBP5"  GBP5 Multiturn
"GBU5"  GBU5 Singleturn
"GXP5"  GXP5 Multiturn
"GXU5"  GXU5 Singleturn
0h
0h
80h+node ID
10000h
0h (disabled)
Ech
18h  GBP5 Multiturn
19h  GBU5 Singleturn
14h  GXP5 Multiturn
15h  GXU5 Singleturn
xyz
1
180h+node ID
FEh -> asynchronous, cyclical
203h ms
280h+node ID
2h -> synchronous
100h ms
2h = 50 kBaud
1h
0x00000008
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0h
0004h
2000h  GXP5, GXU5
40000h  GBP5, GBU5
(1)00000000h  GBP5 Multiturn
40000h  GBU5 Singleturn
20000000h  GXP5 Multiturn
2000h  GXU5 Singleturn
0h
203h (see Object 1800-5)
0h
xyz (see Object 1018-4)
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Object 1011
Restore parameters
The values in the RAM are overwritten by the default values (see object 1010h) by the object 1011h. In
addition, the content of the EEPROM is marked as invalid. This means that until the next data save
routine in the EEPROM, the default values are loaded in each case.
In order to prevent unintentional overwriting, the message "load" must be written in subindex 1.
COB ID
DLC Command
Object L
Object H
Subindex
Data 0
600h+node ID
8
11h
10h
01
6Ch 'l'
Object 1014
0
Unsigned 32
Read write
80h+node ID
Yes
Defines COB ID of the emergency object
80h + Node ID
Consumer heartbeat time
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
1
No
Biggest supported subindex
1 = Biggest supported subindex
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read write
10000h
Yes
Consumer heartbeat time
Bit 0..15 Consumer heartbeat time in ms
Bit 16..23 Node ID
Object 1017
Data
Data
2
3
61h 'a' 64h 'd'
COB ID emergency message
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 1016
23h
Data
1
6Fh
'o'
Producer heartbeat time
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 16
Read write
0h
Yes
Defines repeat time of the heartbeat watchdog service
0 = Disabled
1..65535 = Repeat time in ms
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Object 1018
Identity Object
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
4
No
Biggest supported subindex
4 = Biggest supported subindex
Subindex
Data type
Access
Default
EEPROM
Description
Values
Subindex
Data type
Access
Default
1
Unsigned 32
Read only
ECh
Yes
Vendor ID issued by CiA for IVO GmbH & Co. KG
ECh (in the Internet under www.can-cia.de)
2
Unsigned 32
Read only
18h
 GBP5 Multiturn
19h
 GBU5 Singleturn
14h
 GXP5 Multiturn
15h
 GXU5 Singleturn
Yes
Product code
18h
 GBP5 Multiturn
19h
 GBU5 Singleturn
14h
 GXP5 Multiturn
15h
 GXU5 Singleturn
EEPROM
Description
Values
Subindex
Data type
Access
Default
EEPROM
Description
Values
3
Unsigned 32
Read only
No
Revision number of the sensor
Data 0 = Sequ. Data 1 = Sequ. Data 2 =
Data 3 =
number LOW
number HIGH
Version LOW
Version HIGH
00
00
01
00
Version of the current = xxyy (xx=Version, yy=Sequence number)
(see product label)
Subindex
Data type
Access
Default
EEPROM
Description
Values
4
Unsigned 32
Read only
0
Yes
Consecutive unique serial number of the sensor
Is defined in the factory during final testing
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Objekt 1029
Error Behavior (V1.04+)
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
ReadOnly
1
No
Biggest supported subindex
1
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 8
ReadWrite
1
Yes
Behavior after communication error
0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node
Object 1800
PDO1 parameters
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
5
No
Biggest supported subindex
5
Subindex
Data type
Access
Default
EEPROM
Description
Values
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read write
180h + Node ID
Yes
COB ID of the PDO
180h + Node ID
2
Unsigned 8
Read write
FEh
Yes
PDO type
1..n..F0h = PDO has synchronous characteristics (the PDO is
transmitted to each nth SYNC telegram)
FEh =
PDO has asynchronous characteristics (PDOs are
transmitted cyclically depending on the event timer and
event trigger)
Subindex
Data type
Access
Default
EEPROM
Description
Values
5
Unsigned 16
Read write
203h
Yes
Event timer for process data object
0=
Cyclical transmission switched off
1..n..65535 =Repeat time cyclical transmission equals n ms.
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Object 1801
PDO2 parameters
See object 1800h, with the exception of subindex1, here COB ID is 280h + node ID
Object 1A00
PDO1 mapping
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
0
No
Biggest supported subindex
1
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only
60040020h
No
Describes the content of the PDO1 message
6004h = Position
Object 1A01
PDO2 mapping
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
0
No
Biggest supported subindex
1
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only (defined by CiA as read write)
60040020h
No
Describes the content of the PDO2 message
6004h = Position
Object 2100
Baud rate
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read write
2 = 50 kBaud
Yes
Read or reset the sensor baud rate.
 After setting, parameters must be stored in the EEPROM with the
object 1010h and then the sensor re-initialized.
0
10 kBaud
1
20 kBaud
2
50 kBaud
3
100 kBaud
4
125 kBaud
5
250 kBaud
6
500 kBaud
7
800 kBaud
8
1000 kBaud
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Object 2101
Node ID
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 2110
Manufacturers Options
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read write
1
Yes
Read or reset the node ID of the sensor.
 After setting, parameters must be stored in the EEPROM with the
object 1010h and then the sensor re-initialized
1..127
0
Unsigned 32
Read write
8h
Yes
To guarantee compatibility with older sensors some options could be
defined here.
This object is not supported by EDS File.
Modification should be done only by vendor.
Modification by customers very carefully according following table
Bit1 = Code sequence (Objekt 6000h Bit0)
0
Not inverted
1
Inverted
Bit2 = scaling function (Objekt 6000h Bit2)
2
enabled
3
disabled
Bit3 = 0
BusOFF not removed
1
reinitate bus after BusOFF
Bit5 = 0 Heartbeat-Protokoll enabled
1 Nodeguarding-Protokoll enabled
Bit6 = 0 normal SYNC- response
1
fast SYNC- response (see Bit 7)
Bit7 = 0
alle PDO Modes enabled
1 only SYNC- Mode enabled
 lowest Jitter
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0
1800h-5h = 6200h
2 1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(Version from V1.08)
Bit10 =Response by Reset Node (from V 1.09)
0 HW Reset
1 Init NMT state
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Object 2201
Statistics
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
3h
No
Biggest supported subindex
3
Subindex
Data type
Access
Default
EEPROM
Description
Values
1
Unsigned 32
Read only
0h
Yes
No. of position errors overall
0...4294967295
Subindex
Data type
Access
Default
EEPROM
Description
Values
2
Unsigned 32
Read only
0h
Yes
Total operating time in seconds (Object 6508h time since last reset)
0... 4294967295
Subindex
Data type
Access
Default
EEPROM
Description
Values
3
Unsigned 32
Read only
0h
Yes
Watchdog timer reset counter
0... 4294967295
Object 2300
Customer EEPROM range
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 8
Read only
8h
No
Any optional data can be stored in this object
8
Subindex
Data type
Access
Default
EEPROM
Description
1...8
Unsigned 16
Read write
0h
Yes
For each subindex, a 16 bit value can be stored
(Save in the EEPROM via object 1010h)
0
Values
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Object 2800
PDO1 addition (event trigger)
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 2801
PDO2 addition (event trigger)
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6000
0
Unsigned 8
Read write
0h
Yes
The event trigger value determines how often the same PDO value is
transmitted
0=
PDO counter is switched off  Continuous transmission
(time basis from the event timer)
1..n..255 = The same PDO value is transmitted n times (time basis
from event timer)
0
Unsigned 8
Read write
0h
Yes
The event trigger value determines how often the same PDO value is
transmitted
0=
PDO counter is switched off  continuous transmission
(time basis from the event timer)
1..n..255 = The same PDO value is transmitted n times (time basis
from event timer)
Operating parameter
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 16
Read write
4
Yes
Operating parameter
Bit 0 sense of rotation = 0
 clockwise; 1  counterclockwise
Bit 2 scaling function = 0
 max. resolution; 1  saved resolution
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Object 6001
Resolution
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6002
Overall measurement range
Subindex
Data type
Access
Default
EEPROM
Description
Preset value
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read write
(1)00000000h = 4294967296 = 32Bit  GBP5 Multiturn
40000h = 262144 = 18Bit
 GBU5 Singleturn
20000000h = 536870912 = 29Bit
 GXP5 Multiturn
2000h = 8192 = 13Bit
 GXU5 Singleturn
Yes
Overall measurement range freely selectable in increments.
Formula:
Number of turns = total measuring range
resolution
Note regarding multiturn encoder operation:
n
If the number of turns programmed is uneven 2
(1, 2, 4,...65536) the encoder will have to be programmed anew upon
having passed the zero point in powerless state.
1..n.. overall measurement range in increments (see object 6502)
1..n.. 4294967296
 GBP5 Multiturn
1..n.. 262144
 GBU5 Singleturn
1..n..536870912
 GXP5 Multiturn
1..n..8192
 GXU5 Singleturn
Values
Object 6003
0
Unsigned 32
Read write
2000h = 8192 = 13Bit
 GXP5 / GXU5
40000h = 262144 = 18Bit
 GBP5 / GBU5
Yes
No. of steps per revolution freely selectable.
! Offset value is reset when changing the resolution!
1..n.. Max. no. of steps per revolution (see object 6501)
1..n..8192  GXP5 / GXU5
1..n..262144  GBP5 / GBU5
0
Unsigned 32
Read write
0h
Yes
Freely selectable position value. Preset and internal position result in
offset ( Object 6509h)
0..current overall measurement range -1 (Object 6002h)
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Object 6004
Position in increments
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6200
0
Unsigned 16
Read write
302h
Yes
Event timer for process data object (see object 1800-5)
0=
Cyclical transmission switched off
1..n..65535 = Repeat time cyclical transmission amounts to n ms.
Operating Status
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6501
No
Current position including offset
0..Current overall measurement range -1 (Object 6002h)
Cyclic Timer for PD01
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6500
0
Unsigned 32
Read only
0
Unsigned 16
Read only
4h
No
Operating data which is written with object 6000h
Bit 0 sense of rotation = 0
 Clockwise; 1  Counterclockwise
Bit 2 scaling function = 0
 max. resolution; 1  saved resolution
Max. resolution in increments
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
2000h = 8192 = 13Bit
 GXP5 / GXU5
40000h = 262144 = 18Bit
 GBP5 / GBU5
No
Maximum singleturn resolution in increments
2000h = 8192 = 13Bit
 GXP5 / GXU5
40000h = 262144 = 18Bit
 GBP5 / GBU5
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Object 6502
Max. overall measurement range in increments
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6503
Alarms
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6504
0
Unsigned 16
Read only
0h
No
Alarm messages as per object 6504h
Bit 0 = 1  Position error active
Supported alarms
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6505
0
Unsigned 32
Read only
(1)00000000h = 4294967296 = 32Bit  GBP5 Multiturn
40000h = 262144 = 18Bit
 GBU5 Singleturn
20000000h = 536870912 = 29Bit
 GXP5 Multiturn
2000h = 8192 = 13Bit
 GXU5 Singleturn
No
Maximum measurement range (the data type U32 in this object does
not correspond to the CiA profile)
(1)00000000h = 4294967296 = 32Bit  GBP5 Multiturn
40000h = 262144 = 18Bit
 GBU5 Singleturn
20000000h = 536870912 = 29Bit
 GXP5 Multiturn
2000h = 8192 = 13Bit
 GXU5 Singleturn
0
Unsigned 16
Read only
1h
No
Alarm messages supported by object 6503
Bit 0 = Position error
Warnings
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 16
Read only
0h
No
Warnings as per object 6506h
Multiturn:
Bit 2 = 1  CPU watchdog reset
Bit 4 = 1  Battery charge too low
Singleturn:
Bit 2 = 1  CPU Watchdog reset
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Object 6506
Supported warnings
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 6507
0
Unsigned 16
Read only
Multiturn:
14h
Singleturn:
04h
No
Warnings supported by object 6505h
Multiturn:
Bit 2 = CPU watchdog status
Bit 4 = Battery charge
Singleturn:
Bit 2 = CPU watchdog status
Profiles and software versions
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read Only
01000201h
No
Version of the profile and the current software
Data0 = Profile
version LOW
Data1 = Profile
version HIGH
Data2 =
Software
version LOW
01
02
00
Version of the current software = xxyy
(xx = Software version, yy = Profile version)
Data3 =
Software
version HIGH
01
Data 0,1 = 01h 02h = 0201h = Profile version
Data 2,3 = 00h 01h = 0100h = Software version
(see product lable)
Object 6508
Operating time
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
0h
No
Operating time in 1/10 hours, since the last sensor reset
0..n..4294967295 = n * 6 minutes operating time without reset
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Object 6509
Offset
Subindex
Data type
Access
Default
EEPROM
Description
Values
Object 650B
0
Unsigned 32
Read only
0h
Yes
Calculated from preset ( Object 6003h)
0..current overall measurement range -1
Serial number
Subindex
Data type
Access
Default
EEPROM
Description
Values
0
Unsigned 32
Read only
xyz
Yes
Progressive serial number
0..4294967295 = Is directly linked with the serial number of the end
test (see object 1018-4)
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4. Diagnosis and useful information
4.1. Error diagnosis field bus communication
If the encoder cannot be addressed via the CANopen bus, first of all check the terminals.
If the terminals are not in order, field bus operation should be tested next. For this purpose, a CAN monitor
is required which records CANopen communication and shows the telegrams.
The encoder should now place a BootUp message when switching the power supply off and on again.
Should no BootUp message appear, check whether the baud rates of the encoder, the CAN monitor and
the bus system are in agreement.
If you have difficulty in establishing the connection to the user, check the node number and baud rate.
The baud rate must be set the same throughout. The node number (node ID, node address) must be
between 1 and 127. Each bus user must be unambiguously assigned a node ID, i.e. it is strictly prohibited
to assign the same node ID more than once.
The node ID and baud rate can also be set conveniently using the LSS service.
4.2. Error diagnosis via field bus
The encoder has at its disposal several objects and messages which transcribe the status or error status of
the encoder.
Object 1001h: This object is an error register for the device error status.
Object 1003h: In this object, the last eight error codes and warnings are stored.
Object Emergency (80h + Node ID): High-priority error message of a user with error code and error
register.
SDO abort message: If SDO communication does not run correctly, the SDO response contains an abort
code.
Object 1001h error register
The existence of a device error and its type are indicated in this register.
See separate Object descriptions
Object 1003h predefined error field
In this object, the eight last occurring error codes from objects 6503h and 6505h are saved, whereby the
latest error is stored in subindex 1 and the oldest error in subindex 8.
Object emergency
Error message of a user.
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SDO abort message
If SDO communication is not running smoothly, an abort code is transmitted as the SDO response:
05040001h
06010000h
06010001h
06010002h
06020000h
06090011h
06090030h
06090031h
08000000h
08000020h
: Command byte is not supported
: Incorrect access to an object
: Read access to write only
: Write access to read only
: Object is not supported
: Subindex is not supported
: Value outside limits
: Value too great
: General error
: Incorrect save signature ("save")
4.3. Useful information relating to the sensor
Resetting the node ID
1. The node ID is reset using the Baumer IVO specific object 2101h.
2. After setting the node ID, this must be saved in the EEPROM with object 1010h.
3. On next initialization, the sensor logs on with the new node ID.
Resetting the baud rate
1. The baud rate is reset with the Baumer IVO specific object 2100h.
2. After setting the baud rate this must be saved in the EEPROM with object 1010h.
3. On next initialization, the sensor logs on with the new baud rate.
4. ! DO NOT FORGET TO SET THE MASTER TO THE NEW BAUD RATE !
Shielding
As the encoder is not always connected to a defined earth potential depending on its mounting position, the
encoder flange should always be additionally linked to earth potential. The encoder should always on
principle be connected to a shielded conductor.
If possible the cable shield should be in place at both ends. Ensure that no equalizing currents are
discharged via the encoder.
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5. Applications
5.1. Setting and reading objects
In order to overwrite an object (SDO) or to read it, two telegrams always have to be transmitted.
Object setting
First, the master transmits the value to be set. The encoder then transmits the confirmation.
Value (ba) is transmitted:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
00h
23h
3h
2Bh
a
Data
1
b
Data
2
x
Data
3
x
Confirmation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
00h
23h
3h
60h
0
Data
1
0
Data
2
0
Data
3
0
Read object
First the master transmits a request for the required object. Then the encoder transmits the requested value.
Request from master:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
04h
60h
0h
40h
x
Data
1
x
Data
2
x
Data
3
x
Data
1
b
Data
2
c
Data
3
d
Response (dcba) of the encoder to the request:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
04h
60h
0h
43h
a
Commissioning
When the encoder is connected to the bus, it logs on with a BootUp message. The encoder must now be
adjusted to its environment and configured.
Changing the node ID and baud rate with LSS
The node ID and baud rate can be changed without having to use these to address the encoder. With the
LSS service, the sensors are addressed and configured via the product code, revision no., vendor ID and
serial number.
Changing the node ID (node no.)
The node ID can be changed in object 2101h between 1 and 127. A save routine should then be executed
using object 1010h. On the next initialization, the encoder logs on with the new node ID.
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Changing the baud rate
The baud rate can be changed in the object 2100h. An index is written into the object, not the effective baud
rate.
Baud rate
10 kBaud
20 kBaud
50 kBaud
100 kBaud
125 kBaud
250 kBaud
500 kBaud
800 kBaud
1000 kBaud
0
1
2
3
4
5
6
7
8
The baud rate now still has to be saved using object 1010-1. On next initialization, the encoder logs on to the
new baud rate. However, before this the baud rate of the master should be changed.
5.2. Configuration
Position setting
The value is transmitted:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
03h
60h
0h
23h
a
Data
1
b
Data
2
c
Data
3
d
Data
1
0
Data
2
0
Data
3
0
Conformation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
03h
60h
0h
60h
0
Changing the sense of rotation and scaling
The sense of rotation can be set to CW (clockwise) or CCW (counterclockwise). In addition, the scaling can
be switched on or off in the same object (6000h). With the scaling switched on, the set resolutions are used.
However, if the scaling is switched off, the encoder works with the maximum resolution settings (6501h and
6502h).
Bit 0:
Bit 2:
0 -> CW (clockwise)
1 -> CCW (counterclockwise)
0 -> Scaling off
1 -> Scaling on
Value: 0
Value: 1
Value: 0
Value: 4
Counterclockwise rotation and scaling on:
COB ID
DLC Command
Object L
600h+node ID
8
00h
23h
Object H Subindex Data 0 Data
1
60h
0h
5h
x
Data
2
x
Data
3
x
Confirmation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
00h
60h
0h
60h
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0
Data
1
0
Data
2
0
Data
3
0
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Changing singleturn resolution
In object 6001h, the singleturn resolution can be configured. For example 1024 (10bit) steps per revolution
(1024 = 400h):
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
01h
60h
0h
23h
00
Data
1
04
Data
2
00
Data
3
00
Data
1
0
Data
2
0
Data
3
0
Confirmation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
01h
60h
0h
60h
0
Changing the overall resolution
In object 6002h, the overall resolution can be set. The overall resolution and the singleturn resolution result in
the number of revolutions. Example: The singleturn resolution is set at 10 bit (1024 steps) and the overall
resolution at 22 bit (4194304), resulting in 4096 (12bit) revolutions of 1024 (10bit) steps each.
Setting the overall resolution to 4194304 (4194304 = 400000h)
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
02h
60h
0h
23h
00
Data
1
00
Data
2
40
Data
3
00
Data
1
0
Data
2
0
Data
3
0
Confirmation:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
02h
60h
0h
60h
0
Saving the setting in the EEPROM
Object 1010h initiates the save routine for the objects below in the non-volatile memory (EEPROM). In order
to prevent unintentional saving, the message "Save" must be written in Subindex 1.
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
10h
10h
01h
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
10h
10h
01h
23h
60h
73 's’
0
Data
1
61 'a’
Data
2
76 'v’
Data
3
65 'e’
Data
1
0
Data
2
0
Data
3
0
5.3. Operation
NMT statuses
Once the encoder has been initialized, it is then in the Pre-operational mode. In this mode, SDO can be
read and written.
In order to start PDO communication, you must transmit an NMT start. The encoder is then in the
Operational mode. Any required PDOs are then transmitted. SDOs can also be read and written.
If the encoder is stopped with an NMT stop, the encoder is then in the stopped mode. In this mode, only
NMT communication is the possible, i.e. also heartbeat.
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By means of an NMT reset the encoder is re-initialized and is then once again in the pre-operational mode.
Reading the position
Request from the master:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
600h+node ID
8
04h
60h
0
40h
0
Data
1
0
Data
2
0
Data
3
0
Data
1
b
Data
2
c
Data
3
d
Response (dcba) of the encoder to the request:
COB ID
DLC Command
Object L
Object H
Subindex Data 0
580h+node ID
8
04h
60h
0
43h
a
Configuring PDOs
The PDOs can be configured in accordance with the following table:
1800h
Sub2
Sub5
FEh
3ms
FEh
5ms
FEh
0ms
FEh
0ms
3
xxx
3
xxx
2800h
0
2
0
xxx
0
2Bh
Summarized description
Cyclical transmission every 3 ms
Every 5ms the PDO is sent double if a change has occurred.
Transmit PDO switched off
Transmit PDO switched off
Transmit with each third sync telegram
With each sync telegram but in total only 43 times (=2Bh).
Defining heartbeat time
In order to monitor communication capability, the heartbeat time must be defined in object 1017h with
"Producer heartbeat time". As soon as the value has been confirmed, the service begins transmission.
Example:
Every 100 ms, the encoder should transmit a heartbeat (100 = 64h):
COB ID
DLC Command
Object L
Object H
600h+node ID
8
17h
10h
2Bh
Subindex Data
0
0h
64h
Data 1
Subindex Data
0
0h
0
Data 1
0h
Confirmation:
COB ID
DLC Command
Object L
Object H
580h+node ID
8
17h
10h
COB ID
701h
60h
0
Data/ Remote Byte 0
d
7Fh
The heartbeat messages are made up of the COB ID and one byte. IN this byte, the NMT status is supplied.
0:
4:
5:
127:
BootUp-Event
Stopped
Operational
Pre-operational
i.e. the encoder is in the pre-operational modus (7Fh = 127).
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5.4. Use the encoder via CAN interface
Easy use of the CANopen encoder as CAN device via CAN (Layer 2)
Example: Encoder Node ID 1
Used Tool: CANAnalyser32 by Fa. IXXAT
= 0x100000
= 0x1000
works after next
Power Off/On
Load DefaultParameter values
see chapter
Network
management
services
COB ID = 0x600 + Node ID
SDO Command
Object Index 6002
Object Subindex 00
Data 0x10000000
For more detailed description see chapter ‚service data communication’
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Trace view of CAN-telegrams to and from encoder
(commands see page before)
Boot up after Power on
SDO request to encoder
COB ID = 0x600+Node ID
SDO response from encoder
COB ID = 0x580+Node ID
Encoder in state Operational
Run, transmitting cyclic Position-Data
COB ID = 0x180 + Node ID
Encoder in state Pre-operational
Encoder in state Stopped
Encoder Reset
Boot up Message
COB ID = 0x700+Node iD
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6. Terminal assignment and commissioning
6.1. Mechanical mounting
Shaft encoders
Mount the encoder with the help of the mounting holes and three screws (square flange: 4 screws)
provided at the encoder flange. Observe thread diameter and depth.
There is an alternative mounting option in any angular position by eccentric fixings, see under
accessories.
Connect drive shaft and encoder shaft by using an appropriate coupling. The shaft ends must not touch
each other. The coupling must compensate temperature and mechanical tolerances. Observe the
maximum permitted axial or radial shaft load. For appropriate couplings please refer to accessories.
Tighten the mounting screws firmly.
End shaft/hollow shaft encoders
Mounting by clamping ring
Prior to mounting the encoder open the clamping ring completely. Push encoder onto the drive shaft and
tighten the clamping ring firmly.
Adjusting element with rubber buffer
Push the encoder onto the drive shaft and insert the cylindrical pin into the adjusting element (customermounted) and the rubber buffer.
Mounting angle
Push the encoder onto the drive shaft. Insert adjusting angle into the encoder’s rubber buffer and fasten
the mounting angle at the contact surface.
Stud screw
Push the encoder onto the drive shaft and insert the stud screw (customer-mounted) into the encoder’s
rubber buffer.
Spring washer
Fasten the spring washer at the mounting holes of the encoder housing using screws. Push the encoder
onto the drive shaft and mount the spring washer to the contact surface.
6.2. Electrical connection
6.2.1. Contact description
Pin
CAN_L
CAN_H
UB
GND B
CAN_GND
Assignment
CAN bus signal (dominant Low)
CAN bus signal (dominant High)
Supply voltage 10...30 VDC
Ground terminal for UB
Optional: GND for CAN Interface
6.2.2. Pin assignment M12 connector
Pin
1
2
3
4
5
Assignment
GND B
UB
CAN_GND
CAN_H
CAN_L
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6.2.3. Pin assignment D-SUB connector
Pin
1
2
3
4
5
6
7
8
9
Assignment
-CAN_L
CAN_GND
--GND B
CAN_H
-UB
6.3. Display elements (status display)
A dual LED is integrated at the back of the bus cover.
LED green
Off
Flashing
On
On
Off
Off
LED red
Off
Off
Off
On
Flashing
On
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Status
Power supply not connected
Pre-operational mode
Operational mode
Stopped/Prepared mode
Warning
Error
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