IVO GBP5H.F10M106 Absolute encoders - bus interface Datasheet

Absolute encoders - bus interfaces
Hollow shaft max. ø14 mm
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5H - CANopen
Features
–– Encoder multiturn / CANopen
–– Optical sensing
–– Resolution: singleturn 18 bit, multiturn 14 bit
–– Hollow shaft max. ø14 mm
–– High resistance to shock and vibrations
–– LED status display
–– CANopen Profile CIA DSP 406
–– Permanent check of code continuity
Technical data - mechanical design
Voltage supply
Housing
ø58 mm
Shaft
ø12 mm hollow shaft
ø14 mm hollow shaft
Protection DIN EN 60529
IP 54
Operating speed
≤6000 rpm (mechanical)
≤6000 rpm (electric)
Starting torque
≤0.015 Nm IP 54
Rotor moment of inertia
20 gcm²
Materials
Housing: steel
Flange: aluminium
Operating temperature
-25...+85 °C
-40...+85 °C (optional)
Relative humidity
95 % non-condensing
Resistance
DIN EN 60068-2-6
Vibration 10 g, 16-2000 Hz
DIN EN 60068-2-27
Shock 100 g, 4 ms
Weight approx.
500 g
E-connection
Connector
10...30 VDC
Reverse polarity protection Yes
Consumption w/o load
≤50 mA (24 VDC)
Initializing time (typ.)
250 ms after power on
Interface
CANopen
Transmission rate
10...1000 kBaud
Profile conformity
CANopen CIA DSP 406 V 3.0
Operating mode
Event-triggered / Time-triggered
Remotely-requested
Sync (cyclic) / Sync (acyclic)
Identifier
11 bit
Steps per turn
262144 / 18 bit
Number of turns
16384 / 14 bit
Absolute accuracy
±0.025°
Sensing method
Optical
Code
Binary
Code sequence
CW/CCW programmable
Output circuit
CAN bus standard ISO / DIS
11898
Interference immunity
DIN EN 61000-6-2
Emitted interference
DIN EN 61000-6-4
Programmable
parameters
Operating modes
Total resolution
Scaling
Rotation speed monitoring
Diagnostic functions
Position or parameter error
Multiturn sensing
Status indicator
DUO-LED integrated in housing
Approval
UL approval / E63076
1
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31/10/2008
Technical data - electrical ratings
Subject to modification in technic and design. Errors and omissions excepted.
GBP5H with hollow shaft
Absolute encoders - bus interfaces
Hollow shaft max. ø14 mm
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5H - CANopen
Part number
Connectors and cables (page %S)
10
Interface
06 CANopen DSP 406 /
galvanically isolated
16 CANopen DSP 406 not
galvanically isolated
E-connection
A3 Connector M23, 12-pin, radial
M1 Connector M12, 5-pin, radial
Female connector M23, 12-pin, less cable
Z 148.003
Female connector M23, 12-pin, 2 m cable
Z 148.005
Female connector M23, 12-pin, 5 m cable
Z 148.007
Female connector M23, 12-pin, 10 m cable
Z 180.003
Female connector M12, 5-pin, 2 m cable
Z 180.005
Female connector M12, 5-pin, 5 m cable
Z 180.007
Female connector M12, 5-pin, 10 m cable
Mounting accessories (page %S)
Voltage supply
10 10...30 VDC
Hollow shaft
Hollow shaft ø12 mm without pin
Hollow shaft ø12 mm with pin 15 mm
Hollow shaft ø12 mm with pin 9.5 mm
Hollow shaft ø14 mm without pin
Hollow shaft ø14 mm with pin 15 mm
Hollow shaft ø14 mm with pin 9.5 mm
Z 119.024
Torque support and spring washer for
encoders with 9.5 mm pin
Z 119.041
Torque support by rubber buffer element for
encoders with 15 mm pin
Z 119.050
Spring coupling
Z 119.053
Spring coupling height 19.1 mm
Z 119.070
Spring coupling height 29.1 mm
Z 119.072
Spring coupling for encoders with ø58 mm
housing, hole distance 73 mm
Z 119.073
Spring coupling for encoders with ø58 mm
housing, hole distance 68 mm
Z 119.076
Spring coupling for encoders with ø58 mm
housing
Z 119.082
Spring coupling for encoders with ø58 mm
housing, hole distance 63 mm
Subject to modification in technic and design. Errors and omissions excepted.
0
1
B
4
5
F
Z 148.001
2
www.baumerivo.com
31/10/2008
GBP5H.
Accessories
Absolute encoders - bus interfaces
Hollow shaft max. ø14 mm
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5H - CANopen
Terminal significance
Terminal assignment
UB
Encoder voltage supply
M12-connector
GND B
Encoder ground connection relating to UB
Connector
Core colour
Assignment
CAN_L
CAN bus signal (dominant Low)
Pin 1
brown
GND B
CAN_H
CAN bus signal (dominant High)
Pin 2
white
UB
CAN_GND
GND relating to CAN interface.
Depending on model separated from
GND B either by galvanic isolation or by
inductive earthing.
Pin 3
blue
CAN_GND
Pin 4
black
CAN_H
Pin 5
grey
CAN_L
CANopen features
4
Bus protocol
CANopen
1
Device profile
CANopen - CiA DSP 406, V 3.0
(Device Class 2, CAN 2.0B)
Please use cores twisted in pairs
(for example CAN_H / CAN_L) for
extension cables of more than 10 m
length.
3
5
2
Operating modes Event-triggered / Time-triggered
Remotely-requested
Sync (cyclic) / Sync (acyclic)
M23-connector
Connector
Core colour
Assignment
Preset
Pin 1
brown/green
UB
Pin 2
white/green
GND B
Pin 3
pink
CAN_L
Pin 4
grey
CAN_H
Pin 5
white
CAN_GND
Pin 6-12
–
–
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 mechanical zero point is stored in the encoder.
Rotating direction Parameter for defining the rotating direction in which there have to be ascending
or descending position values.
8
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
7
9 1
10
12
2
3
6
5
11
Please use cores twisted in pairs
(for example CAN_H / CAN_L) for
extension cables of more than 10 m
length.
4
Subject to modification in technic and design. Errors and omissions excepted.
Diagnosis
Parameter defining the steps per turn as
well as the total resolution.
3
www.baumerivo.com
31/10/2008
Scaling
Absolute encoders - bus interfaces
Hollow shaft max. ø14 mm
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5H - CANopen
Dimensions
M
x6
15 (9.5)
49.5
(6
x) ø14 H7x30 (ø12 H7x30)
7.5
49.5
7.5
15°
LED
16
1
3.5
16
59
47
42
LED
6
Subject to modification in technic and design. Errors and omissions excepted.
30
4
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31/10/2008
59
ø4 fg6
3
58
20
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