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 www.baumerivo.com 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 www.baumerivo.com 31/10/2008 59 ø4 fg6 3 58 20