Baumer GXP5W Manual
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Baumer GXP5W Manual

Absolute encoder with canopen lift protocol
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Manual
Absolute Encoder with CANopen Lift Protocol
Firmaware version from 1.00
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
05.11 · 174.02.035/4
info.de@baumerivo.com
Subject to technical and design modifications.
www.baumer.com
Errors and omissions excepted.

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  • Page 1 Manual Absolute Encoder with CANopen Lift Protocol Firmaware version from 1.00 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 05.11 · 174.02.035/4 info.de@baumerivo.com Subject to technical and design modifications.

  • Page 2: Table Of Contents

    6. Connection Assignment and Commissioning 6.1. Mechanical attachment 6.2. Electrical connection 6.2.1. Description of connections 6.2.2. Connection assignment of M12 plug 6.2.3. Connection assignment of D-SUB plug 6.3. Display elements (status display) Manual_GXP5_417_Lift_EN.doc 2/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 3: Introduction

    The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer IVO GmbH & Co. KG rejects any liability for the information compiled in the present manual. Baumer IVO nor the author will accept any liability for direct or indirect damages resulting from the use of the present information.

  • Page 4: Safety Precautions And Operating Information

    If problems occur with ground loops, grounding should be carried out on at least one end. Failure to observe the above can lead to malfunctions, damage and injuries! Manual_GXP5_417_Lift_EN.doc 4/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 5: Can Bus And Canopen Communication

    • Automation devices, e.g. PLC • PCs • Input/output modules • Drive controllers • Analysis devices, e.g. a CAN monitor • Operating and input devices as human-machine interface (HMI) • Sensors and actuators Manual_GXP5_417_Lift_EN.doc 5/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 6: Canopen

    SIG is the checking of the existing profiles for their suitability for lift construction and their expansion or redefinition. Within the SIG "Lift" various working groups for the individual profiles were specified. Manual_GXP5_417_Lift_EN.doc 6/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 7: Canopen Communication

    A CAN telegram consists of the COB-ID and up to 8 bytes of data: COB-ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 The exact telegrams will be listed in detail later. Manual_GXP5_417_Lift_EN.doc 7/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 8: Service Data Communication

    : Subindex is not supported 06090030h : Value outside limits 06090031h : Value too large 08000000h : General error 08000020h : Incorrect memory signature ("save") 08000021h : Data cannot be saved Manual_GXP5_417_Lift_EN.doc 8/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 9: Process Data Communication

    If the value is 1, it is cyclically checked whether a change has been made in the value. If not, no transmission takes place. If the value is 4, the PDO is transmitted 4 times per cycle if a change exists. Manual_GXP5_417_Lift_EN.doc 9/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 10: Emergency Service

    Position error active Byte 5..6 Warning Meaning Value = 0 Value = 1 CPU watchdog status Reset carried out Battery charge Charge too low Byte 7: Not in use Manual_GXP5_417_Lift_EN.doc 10/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 11: Network Management Services

    Following initialization the encoder is in the Pre-Operational mode. In this state SDO parameters can be read and written. To request PDO parameters, the encoder must first be run in the Operational Mode state. Power on or Hardware Reset Init BootUp Message Pre-Operational Stopped/Prepared Operational Manual_GXP5_417_Lift_EN.doc 11/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 12 With the Reset command the encoder is reinitialized. Reset Remote Node (4): COB-ID Command Byte Node Number 0 - 127 Reset Communication (5): COB-ID Command Byte Node Number 0 - 127 Manual_GXP5_417_Lift_EN.doc 12/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 13: Layer Setting Services

    With the following procedure a very specific encoder can be addressed in the bus system. 7E5h VendorID Reserved 7E5h ProductCode Reserved 7E5h RevisionNumber Reserved 7E5h SerialNumber Reserved 7E4h Mode Reserved Manual_GXP5_417_Lift_EN.doc 13/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 14 ErrCod SpecErro Reserved ErrorCode : 0=OK;1 = Saving not supported; 2 = access error; 3 - 254 = Reserved;255 specificError SpecificError : If ErrorCode = 255 Application-specific error code. Manual_GXP5_417_Lift_EN.doc 14/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 15 RevisionNumber : Current revision Request SerialNumber Request the SerialNumber of a selectable encoder 7E5h Reserved 7E4h 32-Bit Serial Number Reserved SerialNumber : Unique consecutive serial number of the encoder Manual_GXP5_417_Lift_EN.doc 15/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 16 RevisionNumber LOW Reserved 7E5h RevisionNumber HIGH Reserved 7E5h SerialNumber LOW Reserved 7E5h SerialNumber HIGH reserved Each encoder with the corresponding parameters responds by transmitting the following message: 7E4h Reserved Manual_GXP5_417_Lift_EN.doc 16/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 17: Canopen Lift Encoder According To Appl. Profile Dsp417

    Identity Object 00h Largest Subindex 01h VendorID Vendor number assigned by CiA 02h Product Code 03h Revision Number 00010000h Current revision number V1.00 04h Serial Number Unique consecutive serial number Manual_GXP5_417_Lift_EN.doc 17/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 18 Position Unit 3 Position Unit 4 6383h Position in Steps 00h Largest Subindex Position Unit 1 Position Unit 2 Position value incl. offset in steps Position Unit 3 Position Unit 4 Manual_GXP5_417_Lift_EN.doc 18/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 19 Position Unit 3 Position Unit 4 63C9h Offset Value 00h Largest Subindex Position Unit 1 Position Unit 2 Offset calculated from Preset 6382 h Position Unit 3 Position Unit 4 Manual_GXP5_417_Lift_EN.doc 19/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 20: Detailed Object Description

    ReadOnly Default EEPROM Description Errors or warnings which have occurred, whereby Subindex 1 is the last entry, Subindex 2 the next to the last etc. Values Not yet defined Manual_GXP5_417_Lift_EN.doc 20/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 21 = "1.00“ Object 100A Manufacturer Software Version Subindex Data Type Unsigned 32 Access ReadOnly Default EEPROM Description Software version in ASCII Values Data 0 - 3 See rating plate Manual_GXP5_417_Lift_EN.doc 21/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 22 Unit for Measuring Step: Multiple of 10 µm 6384h Encoder Measuring Step Setting Unit for Speed: Multiple of 0.1 mm/s 6384h Encoder Measuring Step Setting Unit for Acceleration: Multiple of 1 mm/s Manual_GXP5_417_Lift_EN.doc 22/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 23 4 = Largest supported Subindex Subindex Data Type Unsigned 32 Access ReadOnly Default EEPROM Description VendorID for IVO GmbH & Co. KG assigned by CiA Values ECh (on Internet at www.can-cia.de) Manual_GXP5_417_Lift_EN.doc 23/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 24 EEPROM Description Largest supported Subindex Values Subindex Data Type Unsigned 32 Access ReadWrite Default 18Ch EEPROM Description COB-ID of PDO Values 17Bh + Lift No * 10 + PosUnit Manual_GXP5_417_Lift_EN.doc 24/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 25 6383h = Position (Subindex 01, Length 0x20) Subindex Data Type Signed 16 Access ReadOnly Default 63900110h EEPROM Description Describes content of PDO1 message Values 6390h = Speed (Subindex 01, Length 0x10) Manual_GXP5_417_Lift_EN.doc 25/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 26 Object 2110 Manufacturer_Options Subindex Data Type Unsigned 32 Access ReadWrite Default EEPROM Description Settings for ensuring compatibility to older sensors Values Bit 3 =1 : Reset after Bus Off Manual_GXP5_417_Lift_EN.doc 26/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 27 Values Subindex 1 - 8 Data Type Unsigned 16 Access ReadWrite Default EEPROM Description One 16-bit value can be saved per Subindex (saving in EEPROM with Object 1010h) Values Manual_GXP5_417_Lift_EN.doc 27/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 28 Event Trigger value determines how often same PDO value is transmitted Values PDO counter is deactivated constant transmission (time basis from Event Timer) 1..n..255 = Same PDO value is transmitted n times (time basis from Event Timer) Manual_GXP5_417_Lift_EN.doc 28/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 29 Object 63C9h) Values 0 - 536870911 Object 6383 Position in Steps Subindex Data Type Unsigned 32 Access ReadOnly Default EEPROM Description Current position incl. offset Values 0 - 536870911 Manual_GXP5_417_Lift_EN.doc 29/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 30 Values Unit for speed: multiple of 0.1 mm/s Subindex Data Type Unsigned 16 Access ReadOnly Default EEPROM Description Acceleration measuring step Values Unit for acceleration: multiple of 1 mm/s Manual_GXP5_417_Lift_EN.doc 30/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 31 2000h = 8192 = 13-bit Object 63C2 Max. Rotations Subindex Data Type Unsigned 16 Access ReadOnly Default 10000h = 65536 = 16-bit EEPROM Description Maximum number of rotations Values 10000h = 65536= 16-bit Manual_GXP5_417_Lift_EN.doc 31/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 32 Bit 0 = Position error Object 63C7 Alarms Subindex Data Type Unsigned 16 Access ReadOnly Default EEPROM Description Alarm messages as per Object 63C6h Values Bit 0 = 1 Position error active Manual_GXP5_417_Lift_EN.doc 32/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 33 0..n..4294967295 = n * 6 minutes operating time without reset Object 63C9 Offset Subindex Data Type Unsigned 32 Access ReadOnly Default EEPROM Description Calculated from preset ( Object 6382h) Values 0 - current total measuring range - 1 Manual_GXP5_417_Lift_EN.doc 33/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 34: Diagnosis And Important Information

    In this object the last eight Error Codes which have occurred in the objects 63C5h and 63C7h are saved, whereby the last error is entered in Subindex1 and the oldest error in Subindex8. Object Emergency Error message of a node. Manual_GXP5_417_Lift_EN.doc 34/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 35: Important Information On Sensor

    If possible, the cable shield should be connected on both sides. It must be ensured that no transient currents are discharged via the encoder. Manual_GXP5_417_Lift_EN.doc 35/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 36: Applications

    The Node-ID can be changed in Object 2101h between 1 and 127. Then a save should be carried out with Object 1010h. During the next initialization the encoder then reports with the new Node-ID. Manual_GXP5_417_Lift_EN.doc 36/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 37: Configuration

    COB-ID DLC Command Object L Object H Subinde Data 0 Data Data Data 600h+Node-ID Confirmation: COB-ID DLC Command Object L Object H Subinde Data 0 Data Data Data 580h+Node-ID Manual_GXP5_417_Lift_EN.doc 37/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 38: Operation

    Subinde Data 0 Data Data Data 600h+Node-ID Response (dcba) of the encoder to the request: COB-ID DLC Command Object L Object H Subinde Data 0 Data Data Data 580h+Node-ID Manual_GXP5_417_Lift_EN.doc 38/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...
  • Page 39 The Heartbeat messages consist of the COB-ID and a byte. The NMT state is transmitted in this byte. BootUp event Stopped Operational 127: Pre-Operational This means the encoder is in the Pre-Operational mode (7Fh = 127). Manual_GXP5_417_Lift_EN.doc 39/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 40: Connection Assignment And Commissioning

    Supply voltage 10 - 30 VDC GND B Ground connection for UB CAN_GND Optional GND reference for CAN interface 6.2.2. Connection assignment of M12 plug Assignment GND B CAN_GND CAN_H CAN_L Manual_GXP5_417_Lift_EN.doc 40/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

  • Page 41: Connection Assignment Of D-Sub Plug

    Depending on the design, a DUO-LED may be integrated on the back of the encoder. LED green LED red Status Supply Voltage Not Connected flashing Preoperational Mode Operational Mode Stopped/Prepared Mode flashing Warning Error Manual_GXP5_417_Lift_EN.doc 41/41 Baumer IVO GmbH & Co. KG 04.05.11 Villingen-Schwenningen, Germany...

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