Baumer GB-GXxxx User Manual

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 [phone]
Fax [phone].10 · 174.02.045/7
[e-mail] Subject to modification in technic and design.
www.baumer.com Errors and omissions excepted.

Content Page

1 Introduction 3

1.1 Product classification 3

2 Safety and operating instructions 4

3 Product families 5

4 Encoder operating parameters 6

5 Encoder data 7

5.1 CoE (CANopen over EtherCAT) 7

5.2 PDO (Process Data Object) 7

5.3 SDO (Service Data Object) 8

5.4 Free Run Mode (default) 13

5.5 Distributed Clocks Mode 14

5.5.1 Activation Distributed Clocks under TwinCAT 14

5.6 Network management 14

6 Terminal assignment and commissioning 15

6.1 Mechanical mounting 15

6.2 Electrical connection 15

6.2.1 Initialising under TwinCAT system manager 16

6.2.2 Terminal assignment 17

6.3 Display elements 18

6.3.1 State indicator 18

6.3.2 Link/Activity indicator 18

6.4 Bus cover Power over EtherCAT (PoE) 19

**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

1 Introduction

1.1 Product classification

Shaft encoders

Product Product-Code Product Name Product family

GBAMW 0x0F GBAMW_H multivoPlus - Singleturn

GBMMW 0x0E GBMMW_H multivoPlus - Multiturn

GBLMW 0x0E GBMMW_H multivoPlus - Multiturn

GCAMW 0x0D GCAMW_H

GCMMW 0x0C GCMMW_H

GXAMW 0x0B GXAMW_H

GXMMW 0x0A GXMMW_H

GXLMW 0x0A GXMMW_H

magtivo

magtivo

multivo

multivo

multivo

End shaft encoders

Product Product-Code Product Name Product family

®

- Singleturn

®

- Multiturn

®

- Singleturn

®

- Multiturn

®

- Multiturn

GBAMS 0x0F GBAMW_H multivoPlus - Singleturn

GBMMS 0x0E GBMMW_H multivoPlus - Multiturn

GBLMS 0x0E GBMMW_H multivoPlus - Multiturn

GCAMS 0x0D GCAMW_H

GCMMS 0x0C GCMMW_H

GXAMS 0x0B GXAMW_H

GXMMS 0x0A GXMMW_H

GXLMS 0x0A GXMMW_H

magtivo

magtivo

multivo

multivo

multivo

®

- Singleturn

®

- Multiturn

®

- Singleturn

®

- Multiturn

®

- Multiturn

Note:
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

2 Safety and operating instructions

Supplementary information

• This manual is intended as supplement to already existing documentation (catalogues, data sheet and
mounting instructions).

• The manual must be read carefully prior to 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 control
systems. The encoder must not be used for any other purpose.

Commissioning

• Encoders may only be installed and mounted by suitably qualified experts.

• Observe the operating instructions of the machine manufacturer.

Safety remarks

• Prior to commissioning of the equipment, check all electrical connections.

• If installation, electrical connections or any other work performed at the encoder or at the equipment is

not correctly executed, this can result in encoder malfunction or failure.

• Steps must be taken to exclude any risk of personal injury, damage to facility or operating appliances as
a result of encoder failure or malfunction by providing suitable safety precautions.

• The encoder must not be operated beyond the specified limits (see further documentation).

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

Transport and storage

• Only ever transport or store encoders in their original packaging.

• Never drop encoders or expose them to major vibrations.

Mounting

• Avoid impacts or shocks on housing and shaft.

• Avoid any twist or torsion on housing.

• Do not open the encoder or proceed any mechanical modifications.

Shaft, ball bearings, glass disc or electronic components might be damaged. In this case, safe and reliable
operation is no longer guaranteed.

Electrical commissioning

• Do not proceed any electrical modifications at the encoder.

• Do not proceed any wiring work while encoder is under power supply.

• Never plug or unplug connector while encoder is under power supply.

• Ensure that the entire system is installed in line with EMC/EMI requirements. Operating environment and

wiring have an impact on the electromagnetic compatibility of the encoder. Install encoder and supply
cables separately or far away from sources with high emitted interference (frequency converters,
contactors, etc).

• When working with consumers with high emitted interference provide separate encoder supply voltage.

• Completely shield encoder housing and connecting cables..

• Connect encoder to protective earth (PE) using shielded cables. The braided shield must be connected

to the cable gland or connector. Ideally, aim at dual connection to protective earth (PE), i.e. housing by
mechanical assembly and cable shield by the downstream devices. 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

3 Product families

The structure of the product family is modular. Depending on what is required of 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 sampling system used.

Bus cover

The bus cover contains the entire electronic circuitry for measured value processing and the Ethernet
communication.

magtivo

has a resolution of 1024 steps per revolution with 10 bit, features a magnetic sampling system and is suitable
for operation in extreme ambient conditions.

multivo

has a resolution of 8192 steps per revolution with 13 bit, features an optical/magnetic sampling system and is
suitable for standard applications.

activo

features a 18 bit resolution of 262144 steps per turn, applies an optical/magnetic sensing method with
integrated analogue/digital conversion and is intended for ultra-precise sensing applications.

The basic encoder comprises a singleturn and a multiturn encoder. The multiturn encoder features a 16 bit
resolution respectively 65536 turns, or a 14 bit resolution corresponding to 16384 turns (multivoPlus). The
bus covers differ by their integrated bus interface.
Available bus interfaces: CANopen, DeviceNet, EtherCAT, Ethernet/IP, LIGHTBUS (fiber-optic), Profibus-DP,
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:

®

®

®

/multivoPlus

basic encoder

bus cover

complete encoder

SAE J1939

Manual_EtherCAT_PoE_BIDE_EN.doc 5/19 Baumer IVO GmbH & Co. KG

11.11.10 Villingen-Schwenningen, Germany

4 Encoder operating parameters

Significance of operating parameters

Product

Product

GCAMW(S)
GCMMW(S)
GDAMW(S)
GDMMW(S)

GXAMW(S)
GXMMW(S)
GBAMW(S)
GBMMW(S)

family

Decimal Hex Bit Decimal Hex Bit Decimal Hex Bit

magtivo
magtivo
activo
activo
multivo
multivo

®

®

®

®

®

®

multivoPlus
multivoPlus

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.

Resolution per

turn Number of turns Measuring range

4096 1000 12 1 1 0 4096 1000 12

4096 1000 12 65536 10000 16 268435456 10000000 28
262144 40000 18 1 1 0 262144 40000 18
262144 40000 18 16384 4000 14 4294967296 100000000 32

8192 2000 13 1 1 0 8192 2000 13

8192 2000 13 65536 10000 16 536870912 20000000 29
262144 40000 18 1 1 0 262144 40000 18

262144 40000 18 16384 4000 14 4294967296 100000000 32

Manual_EtherCAT_PoE_BIDE_EN.doc 6/19 Baumer IVO GmbH & Co. KG

11.11.10 Villingen-Schwenningen, Germany