IVO GBP5W.010A316 Absolute encoders - bus interface Datasheet

Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5W - CANopen
Features
–– Encoder multiturn / CANopen
–– Optical sensing
–– Resolution: singleturn 18 bit, multiturn 14 bit
–– Clamping flange or synchro flange
–– 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
ø10 mm (clamping flange)
ø6 mm (synchro flange)
Flange
Clamping or synchro flange
Protection DIN EN 60529
IP 54 without shaft seal
IP 65 with shaft seal
Operating speed
≤10000 rpm (mechanical)
≤6000 rpm (electric)
Starting torque
≤0.015 Nm IP 54
≤0.03 Nm IP 65
Rotor moment of inertia
20 gcm²
Admitted shaft load
≤20 N axial
≤40 N radial
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 200 g, 6 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
±0.01°
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.
GBP5W with clamping flange
Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5W - CANopen
Part number
Connectors and cables (page %S)
10
A3
D3
M1
M2
M3
Z 148.001
Female connector M23, 12-pin, less cable
Interface
06 CANopen DSP 406 /
galvanically isolated
16 CANopen DSP 406 not
galvanically isolated
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
E-connection
Connector M23, 12-pin, radial
Connector D-SUB, 9-pin, radial
Connector M12, 5-pin, radial
2 x connector M12, 5-pin axial
2 x connector M12, 5-pin radial
Z 180.007
Female connector M12, 5-pin, 10 m cable
Z 181.005
Cable connector M12, 5-pin, 5 m cable
Connection M2 / M3, continuative bus
Mounting accessories (page %S)
Voltage supply
10 10...30 VDC
Eccentric fixing, single
Z 119.013
Adaptor plate for clamping flange for
modification into synchro flange
Z 119.015
Mounting adaptor for synchro flange
Z 119.017
Mounting angle for clamping flange
Z 119.035
Bearing flange for encoders with synchro
flange
Subject to modification in technic and design. Errors and omissions excepted.
0
A
1
B
Flange / Shaft
Clamping flange / ø10 mm IP 54
Clamping flange / ø10 mm IP 65
Synchro flange / ø6 mm IP 54
Synchro flange / ø6 mm IP 65
Z 119.006
2
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31/10/2008
GBP5W.
Accessories
Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5W - 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
Bus protocol
CANopen
1
Device profile
CANopen - CiA DSP 406, V 3.0
(Device Class 2, CAN 2.0B)
3
3
5
2
2
5
4
1
Operating modes Event-triggered / Time-triggered
Remotely-requested
Sync (cyclic) / Sync (acyclic)
D-SUB connector
Connector
Assignment
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 mechanical zero point is stored in the encoder.
Pin 1
–
Pin 2
CAN_L
Pin 3
CAN_GND
Pin 4
–
Rotating direction Parameter for defining the rotating direction in which there have to be ascending
or descending position values.
Pin 5
–
Pin 6
GND B
Pin 7
CAN_H
Pin 8
–
Pin 9
UB
Scaling
Diagnosis
Parameter defining the steps per turn as
well as the total resolution.
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
Please use cores twisted in
pairs (for example CAN_H /
CAN_L) for extension cables
of more than 10 m length.
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
Assignment
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
–
–
8
7
10
2
3
6
5
3
9 1
12
11
Please use cores twisted in
pairs (for example CAN_H /
CAN_L) for extension cables
of more than 10 m length.
4
www.baumerivo.com
Subject to modification in technic and design. Errors and omissions excepted.
4
31/10/2008
CANopen features
Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5W - CANopen
Dimensions
GBP5W clamping flange and M23 connector
48±0.1
M3x7 (3x120°)
9
GBP5W clamping flange, 2 x M12 connector, radial
57
10 20
15
9
9
58
3
3
40°
GBP5W clamping flange, 2 x M12 connector, axial
GBP5W connector dimensions
10 20
15
59
ø36f8
ø53
ø58
9
15 16
ø10h6
57
3
3
Subject to modification in technic and design. Errors and omissions excepted.
48±0.1
M3x7 (3x120°)
10
3
3
GBP5W synchro flange
4 10
9
ø6f8
ø50h7
ø52
ø58
3
5.5
42±0.1
M4x7 (3x120°)
3
4
www.baumerivo.com
31/10/2008
12
ø10 h6
ø36 f8
ø53
ø58
48±0.1
M3x7 (3x120°
10 20
15
ø10 h6
ø36 f8
ø53
ø58
57
3
3
16
GBP5W clamping flange and D-SUB
48±0.1
M3x7 (3x120°)
10 20
15
59
9
3
3
16
57
ø10 h6
ø36 f8
ø53
ø58
10 20
15
59
57
ø10h6
ø36 f8
ø53
ø58
48±0.1
M3x7 (3x120°)
GBP5W clamping flange and M12 connector
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