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 www.baumerivo.com 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 www.baumerivo.com 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