Baumer G1-G2-G0-GE-GB-GXxxx User Manual
Manual
Absolute Encoder Profibus-DPV0
(with bus cover and SSI coupler)
Firmware version from 1.20
Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 7720 942-0
Fax +49 7720 942-900 11.12 · 174.02.024/8
info.de@baumerivo.com 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 4
2. Safety and operating instructions 5
3. Product families 6
4. Profibus-DP 7
5. Encoder operating parameters 8
6. Data exchange between Profibus-DP devices 9
6.1. Telegram structure 9
6.2. Initialization, restarting and user data communication 9
7. Parameterization and configuration 10
7.1. Parameterization 10
7.2. Configuration 13
8. Diagnostic signals 14
8.1. Description of the diagnosis data Slave_Diag 14
8.2. Parameter values of the diagnosis data Slave_Diag 17
8.3. User data 18
8.4. Preset function 18
9. Entering parameters 19
10. Terminal assignment and commissioning 21
10.1. Mechanical mounting 21
10.2. Electrical connection 21
10.2.1. Setting the user address 21
10.2.2. Terminating resistor 22
10.2.3. Bus cover connection 22
10.2.4. Terminal assignment 25
10.3. Display element (status display) 25
10.3.1. Profibus cable 26
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Disclaimer of liability
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.
Registered trademarks
SIEMENS®, SIMATIC®, Step7® und S7® are registered trademarks of Siemens AG. PROFIBUS, the
PROFIBUS Logo and PROFIdrive are registered trademarks of the PROFIBUS user organization respectively
of PROFIBUS International (PI).These and other names applied in the present manual that at the same time
are registered trademarks are not correspondingly marked. Having omitted the respective marking does not
necessarily imply that the names are not registered trademarks or that there are no existing patents and
protected patented designs.
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:
Basic encoder
Profibus bus cover
Sealing bolt for any unused cable gland
CD with GSD file and manual (also available as download in the Internet)
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1.2. Product assignment
Product
GSD-file
Product family
GBAMW
GBAM059B.gsd
multivoPlus - Singleturn
GBMMW
GBMM059B.gsd
multivoPlus - Multiturn
GBLMW
GBMM059B.gsd
multivoPlus - Multiturn
GCAMW
GCAM059B.gsd
magtivo® - Singleturn
GCMMW
GCMM059B.gsd
magtivo® - Multiturn
GEMMW
GXMM059B.gsd
multivo® - Multiturn (stainless steel)
GXAMW
GXAM059B.gsd
multivo® - Singleturn
GXLMW
GXMM059B.gsd
multivo® - Multiturn
GXMMW
GXMM059B.gsd
multivo® - Multiturn
Product
GSD-file
Product family
GBAMS
GBAM059B.gsd
multivoPlus - Singleturn
GBMMS
GBMM059B.gsd
multivoPlus - Multiturn
GBLMS
GBMM059B.gsd
multivoPlus - Multiturn
GCAMS
GCAM059B.gsd
magtivo® - Singleturn
GCMMS
GCMM059B.gsd
magtivo® - Multiturn
GXAMS
GXAM059B.gsd
multivo® - Singleturn
GXLMS
GXMM059B.gsd
multivo® - Multiturn
GXMMS
GXMM059B.gsd
multivo® - Multiturn
Product
GSD-file
Product family
G0AMH
GXAM059B.gsd
multivo® - Singleturn
G0MMH
GXMM059B.gsd
multivo® - Multiturn
G0LMH
GXMM059B.gsd
multivo® - Multiturn
G1AMH
GXAM059B.gsd
multivo® - Singleturn
G1MMH
GXMM059B.gsd
multivo® - Multiturn
G2AMH
GXAM059B.gsd
multivo® - Singleturn
G2MMH
GXMM059B.gsd
multivo® - Multiturn
GBAMH
GBAM059B.gsd
multivoPlus - Singleturn
GBLMH
GBMM059B.gsd
multivoPlus - Multiturn
GBMMH
GBMM059B.gsd
multivoPlus - Multiturn
GEMMH
GXMM059B.gsd
multivo® - Multiturn (stainless steel)
GFMMH
GXMM059B.gsd
multivo® - Multiturn (stainless steel)
Product
GSD-file
Product family
GK410
GXMM059B.gsd
multivo® - Multiturn
Shaft encoder
End shaft encoder
Hollow shaft encoder
Interface converter
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2. Safety and operating instructions
Supplementary information
This manual is intended as a supplement to already existing documentation (e.g. catalogues, data sheets
and 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 further 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 housing and shaft/end shaft.
End shaft/Hollow shaft encoder: Open clamping ring completely before mounting the encoder
Avoid any twist or torsion on the housing.
Shaft encoders: never make rigid connections between encoder shaft and drive shaft.
Do not open the encoder or proceed any mechanical modifications.
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. Product families
bus cover
complete encoder
basic encoder
The product family architecture is modular. Depending on what is required from the encoder, the basic
encoder and bus covers can be combined at will with the selected bus system.
The basic encoders differ in terms of accuracy, ambient conditions and the utilized sensing principle.
Bus cover
The bus cover accommodates the field bus interface and the complete electronics for processing the
measured values. EtherNet/IP communication is performed via the specialized EtherNet/IP-ASIC ERTEC200
with integrated high-performance microcontroller ARM9.
Magres / magtivo®
Utilizes a magnetic sensing principle and endures harsh industrial environments.
Procoder / multivo®
Utilizes a photoelectric sensing principle and is the recommended product for precise applications.
Dignalizer / activo® / multivoPlus®
Utilizes a photoelectric sensing principle with integrated analog/digital signal conversion and is the product to
choose for ultra-precise sensing applications.
The bus covers differ by the respectively integrated bus interface.
Available bus interfaces: CANopen, DeviceNet, EtherCAT, Ethernet/IP, Profibus-DP, Profinet, Powerlink,
Power over EtherCAT, SAE J1939, SSI.
All encoders enable parameterization by bus interface.
Functional principle:
Speed signal
Baumer Profibus encoders with bus cover concept permit readout of the current rotary speed. There are four
different scaling systems available:
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RPM
Readout of the speed in revolutions per minute.
Steps/s
Readout of the speed in units of the parameterized singleturn resolution per second. The speed is
measured over a period of 200 ms in each case and then updated.
Steps/100 ms
Readout of the speed in units of the parameterized singleturn resolution per 100 ms.
Steps/10 ms
Readout of the speed in units of the parameterized singleturn resolution per 10 ms.
4. Profibus-DP
General
Bus systems are connecting structures which generate communication between several components.
The Profibus-DP is a manufacturer-independent open communication system for applications in the fields of
production, process and building automation. It is broken down into three variants:
Profibus FMS for data communication between control units on the production and process management
level.
Profibus PA for process engineering applications.
Profibus DP for fast data exchange between control units and decentral peripherals in automation
engineering applications.
The Profibus system comprises the following device types:
DP master class 1 (DPM1) is a control system which cyclically exchanges information with a DP slave.
DP master class 2 (DPM2) are programming or project processing devices or controllers.
DP slave is a peripheral device which receives output data and forwards input data to the programmable
logic controller.
The Profibus system is broken down into a monomaster system and a multimaster system by the number of
active masters in operation during the operating phase.
In a monomaster system, only one master class 1 and the DP slaves are active in the bus.
In a multimaster system, several masters and the DP slaves are active in the bus. The masters can
optionally either belong to class 1 or class 2.
The Profibus DP is characterized by the following features:
Short response times (1 ms with 32 users and 12 MBaud)
Reliable transmission procedure (Hamming distance 4)
Availability of a wide range of standardized system components
Good diagnostic capability
Simple handling and facility for upgrading
User-oriented bus system
Open system
Profibus-DP is standardized by standard EN 50170 Vol. 2. This standard defines the communication and user
profiles. The user profile for interface converters is profile 1.1. The user profile is differentiated depending on
the number of supported functions according to device class 1 and 2. Device class 2 has a greater number
and contains all the functions of class 1. Parameterization and preset functions are supported only by class 2.
The device supports classes 1 and 2.
GSD file
The device master data file (GSD file) is a descriptive file which describes all the encoder data required for
operation. The data itself is filed in the ROM of the encoder. The data can be subdivided into two sections.
General definitions contain information such as the manufacturer's name, product designation, Ident.
number, Profibus-specific parameters and baud rates.
Application-related definitions include configuration possibilities, parameters, parameter descriptions,
hardware and software status and diagnostic possibilities.
The format and content are defined in line with the EN 50170 standard.
The GSD file has the ident no. 059B for all the described products. This GSD file is an essential condition for
parameterization and configuration of the encoder with a configuration tool.
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5. Encoder operating parameters
Parameter
Significance
Sense of rotation
Behaviour of the output code depending on the sense of rotation of the shaft seen
looking at the flange
CW = Increasing values with clockwise rotation
CCW = Increasing values with counterclockwise rotation
Resolution
Number of steps per revolution, input in integral steps
Measurement range
Total resolution = number of steps per revolution x number of revolutions,
input in integral steps
Preset value
A certain output value is assigned to the current position value (referencing)
Parameter
Value range
Default setting
Data type
Sense of rotation
CW/CCW
CW
Octet string
Resolution
1 to 4096 – magtivo
1 to 8192 – multivo
1 to 262144 – activo/multivoPlus
4096
8192
262144
Unsigned 32
Measurement range
1 to 67108864 (226) – magtivo
1 to 536870912 (229) – multivo
1 to 2147483648 (231)
– activo/multivoPlus
67108864
536870912
2147483648
Unsigned 32
Preset value
0 to (measurement range - 1 step)
0
Unsigned 32
Description of operating parameters
Operating parameter values
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