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Manual
Absolute Encoder with EtherCAT,
Power over EtherCAT (PoE)
(with bus cover)
Firmware version 3.01 and up
Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 (0)7720 942-0
Fax +49 (0)7720 942-900
11.10 · 174.02.045/7
info.de@baumerivo.com
Subject to modification in technic and design.
www.baumer.com
Errors and omissions excepted.
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Summary of Contents for Baumer GBAMW
- Page 1 Manual Absolute Encoder with EtherCAT, Power over EtherCAT (PoE) (with bus cover) Firmware version 3.01 and up Baumer IVO GmbH & Co. KG Dauchinger Strasse 58-62 DE-78056 Villingen-Schwenningen Phone +49 (0)7720 942-0 Fax +49 (0)7720 942-900 11.10 · 174.02.045/7 info.de@baumerivo.com Subject to modification in technic and design.
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Page 2: Table Of Contents
Initialising under TwinCAT system manager 6.2.2 Terminal assignment Display elements 6.3.1 State indicator 6.3.2 Link/Activity indicator Bus cover Power over EtherCAT (PoE) **TwinCAT is a trademark of the company BECKHOFF Industrie Elektronik Manual_EtherCAT_PoE_BIDE_EN.doc 2/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 3: Introduction
For the above mentioned products there are 2 XML files available: BAUMER IVO GxxMW_H encoder.xml (10 Byte PDO) BAUMER IVO FAST GxxMW_H encoder.xml (4 Byte PDO) See also chapter „PDO (Process Data Object)“. Manual_EtherCAT_PoE_BIDE_EN.doc 3/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 4: Safety And Operating Instructions
In case of earth loop problems, earth at least on one side. Failure to observe these instructions can result in malfunctions, material damage or personal injury! Manual_EtherCAT_PoE_BIDE_EN.doc 4/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 5: Product Families
Profinet, Power over EtherCAT (PoE), Powerlink, SAE J1939, SSI. Except for encoders with fiber-optic interface, all encoders enable parameterization by bus interface. Functional principle: bus cover complete encoder basic encoder J1939 Manual_EtherCAT_PoE_BIDE_EN.doc 5/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 6: Encoder Operating Parameters
These are ROM default parameters upon delivery. Firmware version (0x100A) V4.00 provides a scaling function for customer-specific parameterization of resolution, total measuring range, direction of rotation and preset. Refer also to chapter SDO, object 0x6000. Manual_EtherCAT_PoE_BIDE_EN.doc 6/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 7: Encoder Data
UDINT Actual absolute encoder position value. For value range please refer to chapter „Encoder operating parameters“ Device identification in the TwinCAT system environment as „BAUMER IVO FAST EtherCAT encoder“. Shorter clock cycles (up to 125 µs) are possible. Manual_EtherCAT_PoE_BIDE_EN.doc 7/19 Baumer IVO GmbH &... -
Page 8: Sdo (Service Data Object)
With short cycle times in Distributed Clocks Mode this may imply that not in every Sync cycle a new position is detected. Manual_EtherCAT_PoE_BIDE_EN.doc 8/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... - Page 9 Object 0x1010 is utilized to save device-specific objects (0x6000..0x6FFF) out of RAM into non-volatile memory (EEPROM). To prevent inadvertent saving operations the signature „save“ must be written into object 0x1010 Subindex 0. Signature ISO 8859 character 0x65 0x76 0x61 0x73 Manual_EtherCAT_PoE_BIDE_EN.doc 9/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany...
- Page 10 4 = Maximum supported subIndex SubIndex Data type Unsigned 32 Access ReadOnly Default EEPROM Significance VendorID for Baumer IVO GmbH & Co. assigned by CiA Values 0xEC (in the Internet under www.can-cia.de) SubIndex Data type Unsigned 32 Access ReadOnly Default 0x0A GXMMW_H ;...
- Page 11 Please note that with enabled scaling the input data (TxPDO) are generated considerably more slowly since the encoder requires additional processing time for scaling calculations. In other words, the programmed PLC cycle times for encoder readout have to be correspondingly prolonged. Manual_EtherCAT_PoE_BIDE_EN.doc 11/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany...
- Page 12 In this operation an offset value is calculated and saved in object 0x6509. Werte 0..actual total measuring range (0x6002) -1 Entries ≠ default values are only effective with enabled scaling function (0x6000). Manual_EtherCAT_PoE_BIDE_EN.doc 12/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany...
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Page 13: Free Run Mode (Default)
Access ReadOnly Default EEPROM Significance Value is calculated upon writing on object Preset (0x 6003) Values Free Run Mode (default) Encoder generates process data in a cyclic asynchronous manner. Manual_EtherCAT_PoE_BIDE_EN.doc 13/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 14: Distributed Clocks Mode
Afterwards E/A devices reload (F4) is mandatory Network management The encoder state machine can be switched over by online in the TwinCAT system manager (similar to network management at CANopen) Manual_EtherCAT_PoE_BIDE_EN.doc 14/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 15: Terminal Assignment And Commissioning
- An optimized connection between encoder case and the braiding shield of the supply cable is only achieved by a complete and close fit of the bus cover onto the basic encoder (interlock). Manual_EtherCAT_PoE_BIDE_EN.doc 15/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 16: Initialising Under Twincat System Manager
The included XML file must be copied into the respective directory: ..\TwinCAT\Io\EtherCAT • Start TwinCAT system manager • Then proceed as described below. Now EtherCAT devices should respond as shown above! Manual_EtherCAT_PoE_BIDE_EN.doc 16/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 17: Terminal Assignment
2 x M12 connector (female), D-coded Assignment Assignment UB (10...30 VDC) TxD+ N.C. RxD+ TxD- N.C. RxD- Bus cover Power over EtherCAT (PoE) 1 x M12 connector (female), D-coded Assignment TxD+ RxD+ TxD- RxD- Manual_EtherCAT_PoE_BIDE_EN.doc 17/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 18: Display Elements
One LED each for input and output. Link Activity State of Link/Activity indicator Flickering Not applicable Note: All LED´s are “off“ if the encoder is under power supply but not yet connected to Ethernet. Manual_EtherCAT_PoE_BIDE_EN.doc 18/19 Baumer IVO GmbH & Co. KG 11.11.10 Villingen-Schwenningen, Germany... -
Page 19: Bus Cover Power Over Ethercat (Poe)
Bus cover Power over EtherCAT (PoE) Based on the IEEE-standard 802.3af, the Baumer EtherCAT encoder with PoE bus cover is interacting as PD (Powered Device) with a corresponding PSE (Power Sourcing Equipment) module. Signal and power transmission is by 4-wire standard EtherCAT/Ethernet cable (for example CAT-5). The PSE will identify the encoder as PD after poweron by the procedure specified in IEEE standard 802.3af.