Absolute encoders - bus interfaces Solid shaft with clamping or synchro flange Optical multiturn encoders 13 bit ST / 16 bit MT, CANopen® GXP5W - CANopen® Features –– Encoder multiturn / CANopen® –– Optical sensing method –– Resolution: singleturn 13 bit, multiturn 16 bit –– Clamping or synchro flange –– LED status indicator –– CANopen® Profile CIA DSP 406 / DSP 417 Lift –– Permanent check of code continuity –– Maximum resistant against magnetic fields Optional Technical data - electrical ratings Technical data - mechanical design Voltage supply Size (flange) ø58 mm Shaft type ø10 mm solid shaft (clamping flange) ø6 mm solid shaft (synchro flange) Flange Clamping or synchro flange Protection DIN EN 60529 IP 54 (without shaft seal), IP 65 (with shaft seal) 10...30 VDC Reverse polarity protection Yes ≤50 mA (24 VDC) Initializing time typ. 250 ms after power on Interfaces CANopen®, CANopen®-Lift Function Multiturn Transmission rate 10...1000 kBaud Profile conformity CANopen® CiA DSP 406 V 3.0 CANopen® CiA DSP 417 Lift Operating speed ≤10000 rpm (mechanical) ≤6000 rpm (electric) Operating mode Event-triggered / Time-triggered Remotely-requested Sync (cyclic) / Sync (acyclic) Starting acceleration ≤1000 U/s² Starting torque Identifier 11 bit ≤0.015 Nm (+25 °C, IP 54) ≤0.03 Nm (+25 °C, IP 65) Steps per turn ≤8192 / 13 bit Rotor moment of inertia 20 gcm² Number of turns ≤65536 / 16 bit Admitted shaft load ≤20 N axial ≤40 N radial Absolute accuracy ±0.025 ° Materials Sensing method Optical Housing: steel Flange: aluminium Code Binary Operating temperature Code sequence CW/CCW programmable -25...+85 °C -40...+85 °C (optional) Output stages CAN bus standard ISO / DIS 11898 Relative humidity 95 % non-condensing Resistance Interference immunity DIN EN 61000-6-2 Emitted interference DIN EN 61000-6-4 DIN EN 60068-2-6 Vibration 10 g, 16-2000 Hz DIN EN 60068-2-27 Shock 200 g, 6 ms Programmable parameters Operating modes Total resolution Scaling Rotation speed monitoring Weight approx. 500 g Connection Diagnostic functions Position or parameter error Multiturn sensing Connector M12, 5-pin Connector M23, 12-pin Connector D-SUB, 9-pin Status indicator DUO-LED integrated in housing Approval UL approval / E63076 1 www.baumer.com/motion 14/6/2016 · Consumption w/o load · Subject to modification in technic and design. Errors and omissions excepted. –– Corrosion protection for offshore applications GXP5W with clamping flange Absolute encoders - bus interfaces Solid shaft with clamping or synchro flange Optical multiturn encoders 13 bit ST / 16 bit MT, CANopen® GXP5W - CANopen® Part number Connectors and cables 10 A3 D3 M1 M2 M3 Z 148.001 Female connector M23, 12-pin, without cable Interface 05 CANopen® Lift DSP 417 / galvanically isolated 06 CANopen® DSP 406 / galvanically isolated 15 CANopen® Lift DSP 417 / not 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, A-coded, 2 m cable Z 180.005 Female connector M12, 5-pin, A-coded, 5 m cable Z 180.007 Female connector M12, 5-pin, A-coded, 10 m cable Connection Connector M23, 12-pin, radial Connector D-SUB, 9-pin, radial Connector M12, 5-pin, radial Connector 2 x M12, 5-pin axial Connector 2 x M12, 5-pin radial Z 181.005 Cable connector M12, 5-pin, A-coded, 5 m cable, CANopen®, connection continuative bus Mounting accessories Voltage supply 10 10...30 VDC 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 adaptor for clamping flange (M3) Z 119.035 Bearing flange for encoders with synchro flange · Subject to modification in technic and design. Errors and omissions excepted. Eccentric fixing, single · 0 A 1 B Flange / Solid 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 www.baumer.com/motion 14/6/2016 GXP5W. Accessories Absolute encoders - bus interfaces Solid shaft with clamping or synchro flange Optical multiturn encoders 13 bit ST / 16 bit MT, CANopen® GXP5W - CANopen® Terminal significance Terminal assignment UB Encoder voltage supply Connector M12 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 4 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) Connector D-SUB 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 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. Connector M23 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 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 · Diagnosis Parameter defining the steps per turn as well as the total resolution. 3 www.baumer.com/motion 14/6/2016 Scaling Please use cores twisted in pairs (for example CAN_H / CAN_L) for extension cables of more than 10 m length. · Subject to modification in technic and design. Errors and omissions excepted. CANopen® features Absolute encoders - bus interfaces Solid shaft with clamping or synchro flange Optical multiturn encoders 13 bit ST / 16 bit MT, CANopen® GXP5W - CANopen® Dimensions GXP5W - clamping flange and connector M23 48±0.1 M3x7 (3x120°) 9 GXP5W - clamping flange, 2 x connector M12, radial 48±0.1 M3x7 (3x120° 57 10 20 15 3 3 40° GXP5W - clamping flange, 2 x connector M12, axial 48±0.1 M3x7 (3x120°) 10 3 3 · Subject to modification in technic and design. Errors and omissions excepted. 12 9 9 58 ø10 h6 ø36 f8 ø53 ø58 10 20 15 ø10 h6 ø36 f8 ø53 ø58 57 3 3 16 GXP5W - clamping flange and D-SUB 48±0.1 M3x7 (3x120°) 10 20 15 59 9 59 3 3 16 57 ø10 h6 ø36 f8 ø53 ø58 10 20 15 57 ø10h6 ø36 f8 ø53 ø58 48±0.1 M3x7 (3x120°) GXP5W - clamping flange and connector M12 GXP5W - connector dimensions 10 20 15 59 ø36f8 ø53 ø58 9 15 16 ø10h6 57 3 3 GXP5W - synchro flange ¡I ¡K ¡ ¡ · 4 www.baumer.com/motion 14/6/2016 0[[