Accessories Modular bus covers CANopen® Shaft / end shaft encoders View inside bus cover Bus cover Termination 1 CAN_L CAN_H UB 2 DUO-LED Baud rate GND CAN_L CAN_H UB 3 Terminal connector GND User address Cable: 1, 2 = ø8-10 mm (-40-85 °C) / ø5-9 mm (-25-85 °C) Cable: 3 = ø4.5-6 mm (-40-85 °C) / ø3-6 mm (-25-85 °C) Connector M12 Features - CANopen® Terminal assignment Bus protocol CANopen® Pin 1 GND Ground connection relating to UB Device profile CANopen® - CiA DSP 406, V 3.0 (Device Class 2, CAN 2.0B) Pin 2 UB Voltage supply 10...30 VDC Event-triggered Time-triggered Remotely-requested Sync (cyclic) Sync (acyclic) Pin 3 GND Ground connection relating to UB Pin 4 CAN_H CAN bus signal (dominant High) Pin 5 CAN_L CAN bus signal (dominant Low) 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. 5 Rotating direction Parameter for defining the rotating direction in which there have to be ascending or descending position values. 3 3 4 1 2 2 1 Parameter defining the steps per turn as well as the total resolution. ON Diagnosis The encoder supports the following error warnings: - Position and parameter error - Lithium battery voltage control (Multiturn) 1 CANopen/Connector M12 10167266 CANopen/Connector M12 in stainless steel V2A without DUO-LED 11048898 CANopen/ATEX cable gland 8 7 10 kbit/s 20 kbit/s 50 kbit/s 125 kbit/s 250 kbit/s 500 kbit/s 800 kbit/s 1 MBit/s Dip switch position 1 2 3 OFF OFF OFF OFF OFF ON OFF ON OFF OFF ON ON ON OFF OFF ON OFF ON ON ON OFF ON ON ON If the user address is 00 the baud rate and Node ID are programmable via CAN bus. 4 www.baumer.com/motion Subject to modification in technic and design. 10167265 Baud rate 28.09.2012 1 2 3 Z 163.5PA2 CANopen/Connector M12 CANopen/Cable gland in stainless steel V2A without DUO-LED 6 7 5 6 4 Z 163.5P32 CANopen/Cable gland 10147370 Defined by rotary switch. Example: User address 23 Baud rate Part number CANopen/Cable gland 1 3 8 1 ON 10140832 0 9 9 0 2 50 kbit/s, Node ID 1 User address (identifier) 3 Default ON = final user OFF = user X 2 Heartbeat or Nodeguarding Connector M12 (male / female) A-coded Termination Scaling Node ID monitoring 5 4 5 Preset Terminals of the same significance are internally connected and identical in their functions. Max. load on the internal terminal connections UB-UB and GND-GND is 1 A each. 4 Operating mode Cable gland Accessories Modular bus covers DeviceNet Shaft / end shaft encoders View inside bus cover Bus cover Termination 1 CAN_L CAN_H DRAIN 2 Baud rate DUO-LED DRAIN CAN_L CAN_H UB Terminal connector GND User address Cable: 1, 2 = ø8-10 mm (-40-85 °C) / ø5-9 mm (-25-85 °C) Connector M12 Features - DeviceNet Terminal assignment Bus protocol DeviceNet Pin 1 DRAIN Shield Device profile Device Profile for Encoders V 1.0 Pin 2 UB Voltage supply 10...30 VDC Pin 3 GND Ground connection relating to UB Pin 4 CAN_H CAN bus signal (dominant High) Pin 5 CAN_L CAN bus signal (dominant Low) Operating modes I/O-Polling Cyclic Change of State 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. Terminals of the same significance are internally connected and identical in their functions. Max. load on the internal terminal connections UB-UB and GND-GND is 1 A each. 5 5 4 4 3 3 Rotating direction Parameter for defining the rotating direction 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) Default Cable gland 1 2 1 2 Connector M12 (male / female), A-coded Termination ON = final user OFF = user X ON 125 kbit/s, Mac ID 63 1 User address (identifier) DeviceNet/Connector M12 in stainless steel V2A without DUO-LED 6 ON 1 2 3 9 8 7 Baud rate 125 kBit/s 250 kBit/s 500 kBit/s 125 kBit/s* Dip switch position 1 2 3 X OFF OFF X OFF ON X ON OFF X ON ON X = w/o function * = This switch position is not defined, therefore internally set to default 125 kBit/s. 7 www.baumer.com/motion Subject to modification in technic and design. 10167273 Baud rate 28.09.2012 DeviceNet/Connector M12 6 7 10167269 5 DeviceNet/Cable gland in stainless steel V2A without DUO-LED 4 10147371 Defined by rotary switch. Example: User address 23 5 DeviceNet/Cable gland 1 3 Z 163.8PA2 DeviceNet/Connector M12 10140833 3 Z 163.8P22 DeviceNet/Cable gland 0 2 Part number 2 8 1 4 9 0 Accessories Modular bus covers Profibus-DPV0 Shaft / end shaft encoders View inside bus cover Bus cover Termination 1 A B DUO-LED UB 2 GND A Terminal connector B UB 3 GND User address Cable: 1, 2 = ø8-10 mm (-40-85 °C) / ø5-9 mm (-25-85 °C) Cable: 3 = ø4.5-6 mm (-40-85 °C) / ø3-6 mm (-25-85 °C) Connector M12 Features - Profibus-DPV0 Terminal assignment Bus protocol Connector M12 (male), A-coded Pin 1 UB Voltage supply 10...30 VDC Profibus-DPV0 Device profile Device Class 1 and 2 Cyclic data exchange Communication in line with DPV0 Pin 3 4 3 Input data Position value. In addition optionally speed signal parametering (output of current rotation speed). 1 Output data Preset Preset Parameter for setting the encoder to a requested position value assigned to a defined shaft position of the system. Storage non-volatile. 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) Default GND Ground connection relating to UB 2 Connector M12 (male / female), B-coded Pin 2 A Negative data line Rotating direction Parameter for defining the rotating direction in which there have to be ascending or descending position values. Scaling Cable gland Pin 4 5 4 B Positive data line 3 3 4 1 2 2 1 5 Terminals of the same significance are internally connected and identical in their functions. Max. load on the internal terminal connections UB-UB and GND-GND is 1 A each. Termination User address 00 Termination OFF both ON = final user both OFF = user X ON 10 9 8 7 6 8 7 6 Profibus-DPV0/ATEX cable gland 5 11048897 4 Profibus-DPV0/Connector M12 stainless steel V2A without DUO-LED 5 Profibus-DPV0/Connector M12 10167256 Defined by rotary switch. Example: User address 23 4 10167254 3 Profibus-DPV0/Cable gland stainless steel V2A without DUO-LED 1 2 10147369 0 3 Profibus-DPV0/Cable gland 1 2 Z 163.3PA2 Profibus-DPV0/Connector M12 10140831 0 9 Z 163.3P32 Profibus-DPV0/Cable gland www.baumer.com/motion 28.09.2012 User address (identifier) Part number Subject to modification in technic and design. 1 2 Accessories Modular bus covers Profibus-DPV2 Shaft / end shaft encoders View inside bus cover Bus cover Termination 1 A B DUO-LED UB 2 GND A Terminal connector B UB User address Cable: 1, 2 = ø8-10 mm (-40-85 °C) / ø5-9 mm (-25-85 °C) Cable: 3 = ø4.5-6 mm (-40-85 °C) / ø3-6 mm (-25-85 °C) Connector M12 Features - Profibus-DPV2 Terminal assignment Bus protocol Connector M12 (male), A-coded Pin 1 UB Voltage supply 10...30 VDC Profibus-DPV2 Position value. In addition optionally speed signal parametering (output of current rotation speed). Output data Preset Preset Parameter for setting the encoder to a requested position value assigned to a defined shaft position of the system. Storage non-volatile. Connector M12 (male / female), B-coded Pin 2 A Negative data line 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) 3 3 4 1 2 2 1 B Positive data line 5 Termination both ON = final user both OFF = user X ON 1 2 User address 00 Termination OFF User address (identifier) 0 9 Default Pin 4 5 4 Terminals of the same significance are internally connected and identical in their functions. Max. load on the internal terminal connections UB-UB and GND-GND is 1 A each. Rotating direction Parameter for defining the rotating direction in which there have to be ascending or descending position values. Scaling Ground connection relating to UB 2 8 8 7 3 6 2 7 1 3 Z 163.3V32 Profibus-DPV2/Cable gland 1 2 Part number 0 9 Input data 1 GND 6 I&M (Identification and Maintenance) Functions 5 Acyclic data exchange Pin 3 4 3 4 Communication by synchronous clock (IsoM) in line with DPV2 DXB (cross traffic): publisher function Defined by rotary switch. Example: User address 23 5 Device Class 3 and 4 Cyclic data exchange 4 Device profile Cable gland Z 163.3VA2 Profibus-DPV2/Connector M12 10167260 Profibus-DPV2/Cable gland 10167262 Profibus-DPV2/Cable gland stainless steel V2A without DUO-LED 10167281 Profibus-DPV2/Connector M12 10167263 Profibus-DPV2/Connector M12 stainless steel V2A without DUO-LED 11 www.baumer.com/motion Subject to modification in technic and design. GND 28.09.2012 3 Accessories Modular bus covers EtherCAT Shaft / end shaft encoders View inside bus cover Bus cover DUO-LED 287 /$ ,1 LED´s Link/Activity Features - EtherCAT Terminal assignment Bus protocol EtherCAT Device profile CoE (CANopen over EtherCAT) DSP406 Voltage supply Terminal Assigned Significance Pin 1 UB Voltage supply Features - 100 MBaud Ethernet - Automatic address designation - Distributed clock for precise synchronization. Optional device configuration as „Reference Clock“ - Default 10 byte PDO, configurable 4 byte PDO / 2 byte PDO for shorter cycle times Pin 2 N.C. Not assigned Pin 3 GND Ground Pin 4 N.C. Not assigned Cycle times Depending on sensor type, enabled scaling functionality and length of PDO. Min. cycle time: 62,5 µs Synchronization 1 2 1 x Connector M12 (male), A-coded EtherCAT (data line) Terminal Assigned Significance 0x00 Free Run, not synchronized 0x03 Distributed clocks DC, synchronized with SYNCO/SYNC1 Event Pin 1 TxD+ Transmission data+ Pin 2 RxD+ Receiving data+ Pin 3 TxD- Transmission data- Pin 4 RxD- Receiving data- 3 Part number Z 163.EPA6 Bus cover EtherCAT 4 2 1 2 x Connector M12 (female), D-coded Accessories 12 Z 185.E05 Connector M12, on both sides, CuZn nickelplated/TPU, 5 m cable PUR (data line) Z 185.P05 Connector M12, CuZn nickel-plated/TPU, 5 m cable PUR, 360º screen (voltage supply) www.baumer.com/motion Subject to modification in technic and design. Position value Warnings System time 3 28.09.2012 Process data 4 Accessories Modular bus covers PoE - Power over EtherCAT Shaft / end shaft encoders View inside bus cover Bus cover DUO-LED /$ LED Link/Activity Features - Power over EtherCAT Terminal assignment Bus protocol EtherCAT Terminal Assigned Device profile CoE (CANopen over EtherCAT) DSP406 Pin 1 TxD+ Transmission data+ - 100 MBaud Ethernet - Automatic address designation - Distributed clock for precise synchronization. Optional device configuration as „Reference Clock“ - Default 10 byte PDO, configurable 4 byte PDO / 2 byte PDO for shorter cycle times Pin 2 RxD+ Receiving data+ Pin 3 TxD- Transmission data- Pin 4 RxD- Receiving data- Position value Warnings System time Cycle times Depending on sensor type, enabled scaling functionality and length of PDO. Min. cycle time: 62,5 µs Synchronization 0x00 Free Run, not synchronized 0x03 Distributed clocks DC, synchronized with SYNCO/SYNC1 Event Function PoE Compliant to standard IEEE Std 802.3af Excess temperature Protection against excess temperature PoE mains unit Galvanically insulated Hot-Connect Connecting/disconnecting the device during operation 4 2 1 2 x Connector M12 (female), D-coded Power supply of PSE module (Power Sourcing Equipment) is also by these lines. Accessories Z 185.E05 Ethernet cable, connector M12 on both sides with 5 m cable Subject to modification in technic and design. Process data 3 Technical data - Power over EtherCAT Capacity class 1 (max. 4 W) Supply voltage 44…57 VDC Current consumption ≤50 mA (48 VDC) Cable length Max.100 m Part number Z 163.EEA2 Bus cover PoE - Power over EtherCAT 13 www.baumer.com/motion 28.09.2012 Features Significance Accessories Modular bus covers PROFINET Shaft / end shaft encoders View inside bus cover Bus cover DUO-LED operating conditions 3 /$ 3 LED´s activity Features - PROFINET Terminal assignment Bus protocol PROFINET Device profile Encoder Profile PNO 3.162 Voltage supply Terminal Assigned Significance Features - 100 MBaud Fast Ethernet - Automatic address designation - Realtime (RT) Class 1, IRT Class 2, IRT Class 3 Pin 1 UB Voltage supply Pin 2 N.C. Not assigned Pin 3 GND Ground Pin 4 N.C. Not assigned Process data Position value 32 bit input data 4 3 1 2 Part number Z 163.3EA2 Bus cover PROFINET 1 x Connector M12 (male), A-coded PROFINET (data line) Terminal Assigned Significance Pin 1 TxD+ Transmission data+ Pin 2 RxD+ Receiving data+ Pin 3 TxD- Transmission data- Pin 4 RxD- Receiving data- 3 4 15 Z 185.E05 Ethernet cable, connector M12 on both sides with 5 m cable (data line) Z 185.P05 Connector M12 with 5 m cable, 360º screen (current line) www.baumer.com/motion 28.09.2012 Accessories Subject to modification in technic and design. 2 1 2 x Connector M12 (female), D-coded Accessories Modular bus covers EtherNet/IP Shaft / end shaft encoders View inside bus cover Bus cover IP-address (only shaft encoder) DUO-LED 3 /$ 3 LED´s Link/Activity Features - EtherNet/IP Terminal assignment Bus protocol EtherNet/IP Device profile Encoder Device, type 22hex, according to CIP specification Voltage supply Terminal Assigned Significance Pin 1 UB Voltage supply Features - 100 MBaud Fast Ethernet - IP address programmable - Automatic IP address designation (DHCP) - Rotation direction, resolution, total resolution and preset are programmable according to CIP specification Pin 2 N.C. Not assigned Pin 3 GND Ground Pin 4 N.C. Not assigned Position value, Warning Flag, Alarmflag Assembly Instances 1 and 2 according to CIP spezification 3 1 2 1 x Connector M12 (male), A-coded EtherNet/IP (data line) Terminal Assigned Significance Part number Z 163.8EA2 Bus cover EtherNet/IP Pin 1 TxD+ Transmission data+ Pin 2 RxD+ Receiving data+ Pin 3 TxD- Transmission data- Pin 4 RxD- Receiving data- 3 4 IP address Defined by HEX rotary switch Example: IP address B5hex Configuration via DHCP: 00hex Accessories 17 Z 185.E05 Ethernet cable, connector M12 on both sides with 5 m cable (data line) Z 185.P05 Connector M12 with 5 m cable, 360º screen (current line) www.baumer.com/motion Subject to modification in technic and design. 2 1 2 x Connector M12 (female), D-coded 28.09.2012 Process data 4 Accessories Modular bus covers POWERLINK Shaft / end shaft encoders View inside bus cover Bus cover Node ID DUO-LED 3 /$ 3 LED´s Link/Activity Features - POWERLINK Terminal assignment Bus protocol Ethernet Powerlink 2.0 Device profile DSP406 Voltage supply Terminal Assigned Significance Address Free configurable via software or rotary switch Standard node 1 Standard IP 192.168.100.1 Pin 1 UB Voltage supply Pin 2 N.C. Not assigned Pin 3 GND Ground Pin 4 N.C. Not assigned Features Process data - 100 MBaud Ethernet - Response times <2 µs - Cycle times <200 µs - Jitter from Start of Cycle (SoC) to position detection <200 ns - Daisy Chain is possible - Rotation direction, resolution, total resolution and preset are programmable 4 3 1 2 1 x Connector M12 (male), A-coded POWERLINK (data line) Terminal Assigned Significance Position value Pin 1 TxD+ Transmission data+ Part number Pin 2 RxD+ Receiving data+ Z 163.5EA2 Bus cover POWERLINK Pin 3 TxD- Transmission data- Pin 4 RxD- Receiving data- Accessories 3 www.baumer.com/motion Subject to modification in technic and design. 8 7 6 Defined by rotary switch. Example: User address 23. If the rotary switch 00 the Node ID are programmable via bus. 28.09.2012 19 9 9 Ethernet cable, connector M12 on both sides with 5 m cable (data line) 1 8 160565 0 7 Connector M12 straight with 10 m cable, (current line) 1 6 135247 0 5 Connector M12 straight with 5 m cable, (current line) 4 133853 Node ID 5 Connector M12 straight with 2 m cable, (current line) 4 133852 2 1 2 x Connector M12 (female), D-coded 3 Connector M12 with 5 m cable, 360º screen (current line) 2 Z 185.P05 4 3 Ethernet cable, connector M12 on both sides with 5 m cable (data line) 2 Z 185.E05 Accessories Modular bus covers SAEJ1939 Shaft / end shaft encoders SAEJ1939 View inside bus cover Bus cover Termination &$1B/ &$1B+ 8% &$1B/ &$1B+ 8% 3 DUO-LED *1' Terminal connector *1' Cable: 1, 2 = ø8...10 mm / 3 = ø4.5...6 mm Without function Connector M12 Cable gland Features - SAE J1939 Terminal assignment Bus protocol SAE J1939 Pin 1 GND Ground connection relating to UB Device profile Industry Group 5, Industrial, Process control Pin 2 UB Voltage supply 10...30 VDC Operating mode Time-triggered, On Request Pin 3 – – 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 4 CAN_H CAN bus signal (dominant High) Pin 5 CAN_L CAN bus signal (dominant Low) Terminals of the same significance are internally connected and identical in their functions. Max. load on the internal terminal connections UB-UB and GND-GND is 1 A each. Rotating direction Parameter for defining the rotating direction in which there have to be ascending or descending position values. 5 5 4 3 3 4 1 2 2 1 Connector M12 (male / female) A-coded 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) J1939 Definitions (Default settings) Node ID monitoring Heartbeat or Nodeguarding Baud rate 250 kbit/s Cycle time Repetition rate for data: position, speed, diagnostic Address 172 (0xAC) Arbitrary adress capable 1 Industry Group 5 Vehicle System 0 Part number Z 163.5B32 SAEJ1939/Cable gland Z 163.5BA2 SAEJ1939/Connector M12 20 1 ON Termination ON = final user OFF = user X System Instance, ECU instance 0 Function 142 (0x8E) Function instance 0 Manufacturer 343 (0x157) Identity Number Device-individual PGN 65450: encoder position, speed, diagnostic Properitary B, Broadcast communication Transmission repetition rate 50 ms Data length 8 bytes PDU format PF 255 (0xFF) PDU specific PS 0xAA Default priority 6 Parameter group number PGN 65450 (0xFFAA) www.baumer.com/motion Subject to modification in technic and design. 2 Without function 28.09.2012 1