Baumer G0-GB-GXP5W-S-H-GXU5W-S User Manual

Manual

Absolute Encoder with CANopen

Firmware version from 1.00

Baumer IVO GmbH & Co. KG

Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone [phone]
Fax [phone].12 · 174.02.030/9
[e-mail] Subject to modification in technic and design.
www.baumer.com Errors and omissions excepted.

Contents
Page

1. Introduction 3

1.1. Scope of delivery 3

1.2. Product assignment 3

2. Safety and operating instructions 4

3. CAN bus and CANopen communication 5

3.1. CAN bus 5

3.1.1. CAN bus characteristics 5

3.2. CANopen 6

3.3. CANopen communication 7

3.3.1. Communication profile 7

3.3.2. CANopen message structure 7

3.3.3. Service data communication 8

3.3.4. Process data communication 9

3.3.5. Emergency service 11

3.3.6. Network management services 12

3.4. Encoder profile 19

3.4.1. Overview of encoder objects 19

3.4.2. Detailed object list (DS-301) 23

4. Diagnosis and useful information 39

4.1. Error diagnosis field bus communication 39

4.2. Error diagnosis via field bus 39

4.3. Useful information relating to the sensor 40

5. Applications 41

5.1. Setting and reading objects 41

5.2. Configuration 42

5.3. Operation 43

5.4. Use the encoder via CAN interface 45

6. Terminal assignment and commissioning 47

6.1. Mechanical mounting 47

6.2. Electrical connection 47

6.2.1. Contact description 47

6.2.2. Pin assignment M12 connector 47

6.2.3. Pin assignment D-SUB connector 48

6.3. Display elements (status display) 48

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Disclaimer of liability

Product

Product code

Device name

Eds file

Product family

GBP5W

0x18

GBP5

GBP5_406.eds

Multiturn

GBU5W

0x19

GBU5

GBU5_406.eds

Singleturn

GXP5W

0x14

GXP5

GXP5_406.eds

Multiturn

GXU5W

0x15

GXU5

GXU5_406.eds

Singleturn

X 700

0x14

GXP5

GXP5_406.eds

Multiturn

Product

Product code

Device name

Eds file

Product family

GBP5S

0x18

GBP5

GBP5_406.eds

Multiturn

GBU5S

0x19

GBU5

GBU5_406.eds

Singleturn

GXP5S

0x14

GXP5

GXP5_406.eds

Multiturn

GXU5S

0x15

GXU5

GXU5_406.eds

Singleturn

Product

Product code

Device name

Eds file

Product family

G0P5H

0x14

GXP5

GBP5_406.eds

Multiturn

GBP5H

0x18

GBP5

GBP5_406.eds

Multiturn

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.

At any time we should be pleased receiving your comments and proposals for further improvement of the
present document.

1. Introduction

1.1. Scope of delivery

Please check the delivery upon completeness prior to commissioning.
Depending on encoder configuration and part number delivery is including:

Encoder
CD with describing file and manual (also available as download in the Internet)

1.2. Product assignment

Shaft encoders

End shaft encoders

Hollow shaft encoders

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2. Safety and operating instructions

Supplementary information

This manual is intended as a supplement to already existing documentation (catalogues, product

information or assembly instructions).

The manual must be read without fail before initial commissioning of the equipment.

Intended purpose of the equipment

The encoder is a precision measurement device. It is used to determine angular positions and

revolutions, and to prepare and supply measured values in the form of electrical output signals for the
follow-on device systems. The encoder may only be used for this purpose.

Commissioning

The encoder may only be installed and assembled by suitably qualified experts.
Observe the operating instructions of the machine manufacturer.

Safety remarks

Prior to commissioning the equipment, check all electrical connections.
If installation, electrical connection or any other work performed at the encoder or at the equipment is not

correctly executed, this can result in a malfunction or failure of the encoder.

Steps must be taken to exclude any risk of personal injury, damage to the plant or to the operating

equipment as a result of encoder failure or malfunction by providing suitable safety precautions.

Encoders must not be operated outside the specified limited values (see detailed product documentation).

Failure to comply with the safety remarks can result in malfunctions, personal injury or damage to property.

Transport and storage

Only ever transport or store encoders in their original packaging.
Never drop encoders or expose them to major vibrations.

Assembly

Avoid impacts or shocks on the housing and shaft / hollow shaft
Avoid any twist or torsion on the housing.
Never make rigid connections between the encoder shaft and drive shaft.
Do not open the encoder or make any mechanical changes to it.

The shaft, ball bearings, glass pane or electronic components can be damaged. In this case, safe and reliable
operation cannot be guaranteed.

Electrical commissioning

Do not make any electrical changes at the encoder.
Do not carry out any wiring work when the encoder is live.
Never plug or unplug the electrical connection when the encoder is live.
Ensure that the entire plant is installed in line with EMC requirements. The installation environment and

wiring affect the electromagnetic compatibility of the encoder. Install the encoder and supply cables
separately or at a long distance from cables with high interference emissions (frequency converters,
contactors etc.)

Where working with consumers which have high interference emissions, make available a separate

power supply for the encoder.
Completely shield the encoder housing and connecting cable.
Connect the encoder to the protective earth (PE) conductor using shielded cable. The braided shield must

be connected to the cable gland or plug. Ideally, aim at bilateral connection to protective earth (PE), the

housing via the mechanical assembly, the cable shield via the downstream connected devices. In case of

earth loop problems, earth on one side only as a minimum requirement.

Failure to observe these instructions can result in malfunctions, material damage or personal injury.

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3. CAN bus and CANopen communication

3.1. CAN bus

The CAN bus (CAN: Controller Area Network) was originally developed by Bosch and Intel as a means of
fast, low-cost data transmission in automotive applications. The CAN bus is used today also in industrial
automation applications.
The CAN bus is a field bus (the standards are defined by the CAN in Automation (CiA) Association) through
which devices, actuators and sensors from different manufacturers can communicate with each other.

3.1.1. CAN bus characteristics

• Data rate of 1 MBaud with network expansion up to 40 m

• Network connected on both sides

• The bus medium is a twisted-pair cable

• Real time capability: Defined maximum waiting time for high-priority messages.

• Theoretically 127 users at one bus, but physically only 32 are possible (due to the driver).

• Ensures data consistency across the network. Damaged messages are notified as faulty for all network

nodes.

• Message-oriented communication
The message is identified by a message identifier. All network nodes use the identifier to test whether the
message is of relevance for them.

• Broadcasting, multicasting
All network nodes receive each message simultaneously. Synchronization is therefore possible.

• Multimaster capability
Each user in the field bus is able to independently transmit and receive data without being dependent upon
the priority of the master. Each user is able to start its message when the bus is not occupied. When
messages are sent simultaneously, the user with the highest priority prevails.

• Prioritization of messages
The identifier defines the priority of the message. This ensures that important messages are transmitted
quickly via the bus.

• Residual error probability
Safety procedures in the network reduce the probability of an undiscovered faulty data transmission to
below 10

• Function monitoring
Localization of faulty or failed stations. The CAN protocol encompasses a network node monitoring function.
The function of network nodes which are faulty is restricted, or they are completely uncoupled from the
network.

• Data transmission with short error recovery time
By using several error detection mechanisms, falsified messages are detected to a high degree of
probability. If an error is detected, the message transmission is automatically repeated.

In the CAN Bus, several network users are connected by means of a bus cable. Each network user is able to
transmit and receive messages. The data between network users is serially transmitted.

Examples of network users for CAN bus devices are:

• Automation devices such as PLCs

• PCs

• Input and output modules

• Drive control systems

• Analysis devices, such as a CAN monitor

• Control and input devices as Human Machine Interfaces (HMI)

• Sensors and actuators

-11

. In practical terms, it is possible to ensure a 100% reliable transmission.

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3.2. CANopen

Under the technical management of the Steinbeis Transfer Centre for Automation, the CANopen profile was
developed on the basis of the Layer 7 specification CAL (CAN Application Layer). In comparison with CAL,
CANopen only contains the functions suitable for this application. CANopen thus represents only a partial
function of CAL optimized for the application in hand, so permitting a simplified system structure and the use
of simplified devices. CANopen is optimized for fast data exchange in real time systems.
The organization CAN in Automation (CiA) is responsible for the applicable standards of the relevant profiles.
CANopen permits:

• Simplified access to all device and communication parameters

• Synchronization of several devices

• Automatic configuration of the network

• Cyclical and event-controlled process data communication

CANopen comprises four communication objects (COB) with different characteristics:

• Process data objects for real time data (PDO)

• Service data objects for parameter and program transmission (SDO)

• Network management (NMT, Heartbeat)

• Pre-defined objects (for synchronization, emergency message)

All device and communication parameters are subdivided into an object directory. An object directory
encompasses the name of the object, data type, number of subindexes, structure of the parameters and the
address. According to CiA, this object directory is subdivided into three different parts. Communication profile,
device profile and a manufacturer-specific profile (see object directory).

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3.3. CANopen communication

Function code

Node ID

4-bit function code

7-bit node ID

Function code

COB ID

NMT

0

SYNC

80h

Function code

COB ID

Emergency

80h + Node ID

PDO1 (tx)1)

180h + Node ID

PDO2 (tx)1)

280h + Node ID

SDO (tx)1)

580h + Node ID

SDO (rx)1)

600h + Node ID

Heartbeat

700h + Node ID

LSS (tx)

1)

7E4h

LSS (rx)

1)

7E5h

1): (tx) and (rx) from the viewpoint of the encoder

COB ID

DLC

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

Xxx x xx

xx

xx

xx

xx

xx

xx

xx

3.3.1. Communication profile

Communication between the network users and the Master (PC / Control) takes place by means of object
directories and objects. The objects are addressed via a 16 bit index. The CANopen communication profile
DS 301 standardizes the various communication objects. They are accordingly divided into several groups:

• Process data objects PDO for real time transmission of process data

• Service data objects SDO for read/write access to the object directory

• Objects for synchronization and error display of CAN users:

SYNC object (synchronization object) for synchronization of network users
EMCY object (emergency object) for error display of a device or its peripherals

• Network management NMT for initialization and network control

• Layer Setting Services LSS for configuration by means of serial numbers, revision numbers etc. in the

middle
of an existing network

3.3.2. CANopen message structure

The first part of a message is the COB ID (Identifier).
Structure of the 11-bit COB ID :

The function code provides information on the type of message and priority
The lower the COB ID, the higher the priority of the message

Broadcast messages:

Peer to peer messages:

The node ID can be freely selected by means of the CANopen bus between 1 and 127 (if encoder = 0).
The encoders are supplied with the Node ID 1.
This can be changed with the service data object 2101h or using LSS.

A CAN telegram is made up of the COB ID and up to 8 bytes of data:

The precise telegram is outlined in more detail at a later point.

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3.3.3. Service data communication

COB ID

DLC

Command

Object L

Object H

Subindex

Data 0

Data 1

Data 2

Data 3

SDO command

Description

Data length

22h

Download request

Max. 4 Byte

Transmits parameter to encoder

23h

Download request

4 byte

2Bh

Download request

2 byte

2Fh

Download request

1 byte

60h

Download response

-

Confirms receipt to master

40h

Upload request

-

Requests parameter from encoder

42h

Upload response

Max. 4 byte

Parameter to master with max. 4 byte

43h

Upload response

4 byte

4Bh

Upload response

2 byte

4Fh

Upload response

1 byte

80h

Abort message

-

Encoder signals error code to master

ID

DLC

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

Byte 8

580h + Node ID

8

80h

Object L

Object H

Subindex

ErrByte 0

ErrByte 1

ErrByte 2

ErrByte 3

The service data objects correspond to the standards of the CiA. It is possible to access an object via index
and subindex. The data can be requested or where applicable written into the object.

General information on the SDO

Structure of an SDO telegram:

An SDO-COB ID is composed as follows:
Master -> Encoder : 600h + Node ID
Encoder -> Master : 580h + Node ID

DLC (data length code) describes the length of the telegram. This is composed as follows:
1 byte command + 2 bytes object + 1 byte subindex + no. of data bytes (0 - 4).

The command byte defines whether data is read or set, and how many data bytes are involved.

An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The object
and subindex are those of the requested object. The error code is contained in bytes 5 – 8.

Byte 8..5 results in the SDO abort message (byte 8 = MSB).
The following messages are supported:

05040001h : Command byte is not supported
06010000h : Incorrect access to an object
06010001h : Read access to write only
06010002h : Write access to read only
06020000h : Object is not supported
06090011h : Subindex is not supported
06090030h : Value outside the limit
06090031h : Value too great
08000000h : General error
08000020h : Incorrect save signature
08000021h : Data cannot be stored

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SDO examples

COB ID

DLC

Command

Object L

Object H

Subindex

Data 0

Data
1

Data
2

Data
3

600h+node ID

8

40h

04h

60h 0 x x x

x

COB ID

DLC

Command

Object L

Object H

Subindex

Data 0

Data
1

Data
2

Data
3

580h+node ID

8

43h

04h

60h 0 a b c

d

COB ID

DLC

Command

Object L

Object H

Subindex

Data 0

Data
1

Data
2

Data
3

600h+node ID

8

22h

03h

60h 0 a b c

d

COB ID

DLC

Command

Object L

Object H

Subindex

Data 0

Data
1

Data
2

Data
3

580h+node ID

8

60h

03h

60h 0 0 0 0

0

Byte 0

Byte 1

COB ID = 80

0

Request of a value by the master from the slave
A frequent request will be a request for position.  Object 6004h

Response by the slave to the request for a value
The position is 4 bytes long, the precise values can be found under object 6004h.

Writing of a value by the master into the slave
Position setting can be performed with preset.  Object 6003h

Slave's response to the writing of a value

3.3.4. Process data communication

Process data objects are used for real time data exchange for process data, for example position or operating
status. PDOs can be transmitted synchronously or cyclically (asynchronously). The encoder supports the
PDO1 and the PDO2. Both PDOs supply the current position of the encoder and are defined in the objects
1800h, 1801h, 1A00h, 1A01, 2800h, 2801h and 6200h.

Synchronous

In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into
the object 1800h / 1801h Subindex 2. If the value is 3, the PDO is transmitted on every third sync telegram (if
the value 1 is entered, transmission takes place on every sync telegram), as long as there is a 0 written into
the object 2800h / 2801h. If it contains for example a 5, the PDO will continue to be written as before on every
third Sync telegram, but only a total of 5 times. Accordingly, the last PDO is written on the 15th sync
telegram. The counter for the number of PDOs to be transmitted is reset in the event of a position change or
NMT reset, i.e. unless it is changed, the position is transmitted five times. If the position changes, it is
transmitted a further five times.
In synchronous operation, the PDO is requested by the master via the Sync telegram.

Cyclical (asynchronous)

If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 1800h / 1801h
Subindex 2. In addition, the cycle time in milliseconds must be entered in the same object subindex 5. The
entered time is rounded off to 1 ms. If the value is stored for 0 ms, the PDOs are not transmitted. The function
is switched off.
The object 2800h / 2801h offers another possibility: If the value is 0, cyclical transmission runs as described
above. If the value is 1, a cyclical test is performed as to whether a change of the value has occurred. If not,
no transmission takes place. If the value is 4, the PDO is transmitted four times with each cycle if there is a
change.

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Overview

1800h

2800h

Summarized description

Sub2

Sub5

FEh

3ms

0

Cyclical transmission every 3 ms

FEh

5ms

2

Every 5 ms, the PDO is sent twice if there is a change

FEh

0ms

0

Transmit PDO switched off

FEh

0ms

xxx

Transmit PDO switched off

3

xxx

0

Transmit with every third sync telegram

3

xxx

2Bh

On every third sync telegram, but only 43 times in total (=2Bh).

ID

DLC

Byte 1

Byte 2

Byte 3

Byte 4

181h

4

Xx

Xx

Xx

Xx

ID

DLC

Byte 1

Byte 2

Byte 3

Byte 4

281h

4

Xx

Xx

Xx

Xx

In the following table, the different transmission modes for PDOs are summarized:

PDO (Position)

PDO1 telegram structure:

ID : 180h + node ID
Length : 4 DataByte
Byte1 - 4 : Current position in increments

PDO2 telegram structure:

ID : 280h + node ID
Length : 4 DataByte
Byte1 - 4 : Current position in increments

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3.3.5. Emergency service

COB-ID

DLC

Byte0

Byte 1

Byte 2

Byte 3

Byte 4

Byte 5

Byte 6

Byte 7

80h+Node-ID

8

Error Code

Errorregister

1001h

Alarms 6503h

Warning 6505h

-

00h

01h

Error Code (hex)

Meaning

0000

Error Reset or No Error

1000

Generic Error

5530

EEPROM error (from V1.04+)

6010

Software reset (Watchdog) (from V1.04+)

7320

Position error (from V1.04+)

7510

Internal communication error (from V1.04+)

8130

Life Guard error or Hearbeat error (from V1.04+)

FF00

Battery low (from V1.04+)

Bit

Meaning

0

Generic Error

4

Communication error (V1.04)

7

manufacturer specific (V1.04)

Bit

Meaning

Wert = 0

Wert = 1

0

Position error aktiv

Nein

Ja

Bit

Meaning

Wert = 0

Wert = 1

2

CPU watchdog status

OK

Reset done

4

Battery charge

OK

Battery low

Internal device error or bus problems initiate an emergency message:

Byte 0..1: Error Codes

Byte 2: Error-Register

Byte 3..4 Alarms

Byte 5..6 Warning

Byte 7: not used

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3.3.6. Network management services

Byte 0

Byte 1

Byte 2

COB ID = 0

Command byte

Node number

Command byte

Description

In state event drawing

01h

Start remote node

1

02h

Stop remote node

2

80h

Enter pre-operational mode

3

81h, 82h

Reset remote node

4, 5

Init

Pre-Operational

Operational

Stopped/Prepared

Power on oder Hardware Reset

132

1

324/5

BootUp Message

4/5

4/5

Network management can be divided into two groups.
Using the NMT services for device monitoring, bus users can be initialized, started and stopped.
In addition, NMT services exist for connection monitoring.

Description of the NMT command

The commands are transmitted as unconfirmed objects and are structured as follows:

The COB ID for NMT commands is always zero. The node ID is transmitted in byte 2 of the NMT command.

Command byte

The node number corresponds to the node ID of the required users. With node number = 0, all users are
addressed.

NMT state event

Following initialization, the encoder is in the pre-operational mode. In this status, SDO parameters can be
read and written. In order to request PDO parameters, the encoder must first be moved to the operational
mode status.

Power on or hardware reset

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The various NMT statuses

COB ID

Byte 0

700h + node ID

00

COB ID

Command byte

Node number

0

1h

0..127

COB ID

Command byte

Node number

0

2h

0..127

COB ID

Command byte

Node number

0

80h

0..127

COB ID

Command byte

Node number

0

81h

0..127

COB ID

Command byte

Node number

0

82h

0..127

Init

Following initalization, the encoder logs on to the CAN bus with a BootUp message. The encoder then goes
automatically to the pre-operational mode status.

The COB ID of the BootUp message is made up of 700h and the node ID.

Pre-operational mode

In the pre-operational mode, SDOs can be read and written.

Operational mode

In the operational mode, the encoder transmits the requested PDOs. In addition, SDOs can be read and
written.

Stopped or prepared mode

In the stopped mode, only NMT communication is possible. No SDO parameters can be read or set. LSS is
only possible in the stopped mode.

Status change
Start remote node (1)

With the start command, the encoder is switched to the operational mode status.

Stop remote node (2)

With the stop command, the encoder is switched to the stopped or prepared mode status.

Enter pre-operational mode (3)

Change to the pre-operational mode status.

Reset remote node (4) or reset communication (5)

With the reset command, the encoder is re-initialized.
Reset remote node (4):

Reset communication (5):

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Node and Life Guarding

COB-ID

Data/ Remote

Byte 0

701h

r

00h (0d)

701h

d

FFh (255d)

701h

r

00h (0d)

701h

d

7Fh (127d)

"Communication error Object 1029h-1h".

The „CAN in Automation“ association CiA

recommend to use the new heartbeat protocol
(see next chapter).
To use the node guarding instead of heartbeat
protocol bit 5 of object 2110h has to be set.

To detect absent devices (e.g. because of
bus-off) that do not transmit PDOs regularly,
the NMT Master can manage a database,
where besides other information the expected
states of all connected devices are recorded,
which is known as Node Guarding. With cyclic
node guarding the NMT master regularly polls
its NMT slaves. To detect the absence of the
NMT master, the slaves test internally,
whether the Node Guarding is taking place in
the defined time interval (Life Guarding). The
Node Guarding is initiated by the NMT Master
in Pre-Operational state of the slave by
transmitting a Remote Frame.
The NMT Master regularly retrieves the actual
states of all devices on the network by a
Remote Frame and compares them to the
states recorded in the network database.
Mismatches are indicated first locally on the
NMT Master through the Network Event
Service. Consequently the application must
take appropriate actions to ensure that all
devices on the bus will got to a save state

Example for a nodeguarding protocol:

Possible NMT node states:
0: BootUp-Event
4: Stopped
5: Operational
127: Pre-operational

in other words, the encoder is in the pre-operational mode (7Fh = 127).

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Heartbeat protocol

COB-ID

Data/Remote

Byte 0

701h

d

7Fh (127d)

object 1029h-1h".

Example for a heartbeat protocol

The optional heartbeat protocol should
substitute the life/node guarding protocol.
Heartbeat ist aktiv, wenn im Objekt 2110h Bit5
auf '0' ist. It is highly recommend to implement
for new device designs the heartbeat protocol.
A Heartbeat Producer transmits the Heartbeat
message cyclically with the frequency defined
in Heartbeat producer time object. One or
more Heartbeat Consumer may receive the
indication. The relationship between producer
and consumer is configurable via Object
Dictionary entries. The Heartbeat Consumer
guards the reception of the Heartbeat within
the Heartbeat consumer time. If the Heartbeat
is not received within this time a Heartbeat
Event will be generated "Communication error

The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied.
0: BootUp-Event

4: Stopped
5: Operational
127: Pre-operational

in other words, the encoder is in the pre-operational mode (7Fh = 127).

Attention : Only one each of the above node guarding mechanism can be set.

Default: Heartbeat
Optional: NodeGuarding (see object 2110)

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20.11.12 Villingen-Schwenningen, Germany