Baumer GXP6W User Manual

Manual

Absolute Encoder with shaft and Interbus

Version from 1.10

Baumer IVO GmbH & Co. KG

Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone [phone]
Fax [phone].11 · 174.02.058/2
[e-mail] Subject to technical and design modifications.
www.baumer.com Errors and omissions excepted.

Contents

1 Introduction 3

1.1 Scope of delivery 3

1.2 Product assignment 3

2 Illustration of Encoder Data within Master 4

2.1 Position of the Encoder Data within the 2-word Addresses 4

2.2 Significance of the OUT Data (Data from the Master to the Encoder) 4

2.3 Significance of the IN Data (Data from Encoder to Master) 4

3 Possible Modes of Operation 5

4 Behavior of Encoder after Power ON 5

5 Parameterization 5

6 Examples 8

7 Disturbance messages 10

8 Contact description 10

8.1 Description for bus cover 10

8.2 Contact descriptions for bus cover 10

8.3 Settings of user adresses 11

8.4 EMV-cable gland 11

8.5 Contact description for C-plug 12

8.6 Pin assignment for C-plug 12

9 Technical data 13

9.1 Part number 13

9.2 Accessories 13

9.3 Dimensions 14

Manual_GXP6W_EN.doc 2/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

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.

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

• Manual available as download in the Internet

1.2 Product assignment

Shaft encoder

Product Product family

GXP6W Multiturn

Manual_GXP6W_EN.doc 3/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

2 Illustration of Encoder Data within Master

2.1 Position of the Encoder Data within the 2-word Addresses

Word 0 (Byte 0,1) 231 230 229 228 227 226 225 224 223 222 221 220 219 218 217 216

MSB LSB

Word 1 (Byte 2,3) 215 214 213 212 211 210 29 28 27 26 25 24 23 22 21 20

MSB LSB

2.2 Significance of the OUT Data (Data from the Master to the Encoder)

2.3 Significance of the IN Data (Data from Encoder to Master)

The IN as well as OUT data of the encoder are assigned 2-word addresses within the master (control). The absolute
position of these word addresses depends on the position of the encoder on the Interbus ring.

Please find below the value of the encoder data relating to the relative word address.

D31

OUT Data:

Control
word:

D31

IN Data: Status word Actual position value or disturbance number

Status
word:

D31 D30 D29 D28 D27 D26 D25

Control word Parameter

Enable
operation

D31 D30 D29 D28 D27 D26 D25

Actual
position value
not valid

D25

Set zero
offset

D25

Parameterizat
ion

D24
D0

Specific to
manufacturer

D24

D0

Specific to
manufacturer

Disturbance number in case of error
otherwise 0000

Parameter No.

Manual_GXP6W_EN.doc 4/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

3 Possible Modes of Operation

Normal Operation

Control
word:

Actual
position value

Set zero
offset

Specific to
manufacturer

Parameter No.

not valid
D31 D30 D29 D28 D27 D26 D25
Operation 0 0 0 0

Parameterization

Control
word:

Actual

position value

Set zero
offset

Specific to
manufacturer

Parameter No.

not valid
D31 D30 D29 D28 D27 D26 D25
Parameteri

0 0 X 1...7 or 15
zation
Enable

0>1 0 X 0
operation

4 Behavior of Encoder after Power ON

After power has been turned on, the following steps will take place during the initialization phase of encoder:

Test of battery tension
Switch to parameter mode
Loading of the most recent parameter data from EEPROM
Checking of parameter data as to their validity

After initialization the encoder switches to the OPERATION state and emits the current position value. In case of an
error (battery tension too low or parameter loss), however, the encoder commutes to the ERROR state.

5 Parameterization

The parameters of a profile K3 encoder can be transferred via the bits 0 to 24 of the process data channel to the
encoder. To this effect, the encoder has to be set to the parameterization state by a allotting parameter number not
equal to zero to the bits 9 to 12 of the control word (bit 25 to 28 of the process data channel).

Parameter No.
D28 D25
0 0 0 1 Resolution: Sub-parameter Steps 1..33554431 8192
0 0 1 0 Resolution: Sub-parameter Revolutions 1..4096 1
0 0 1 1 Coding of actual position value 1..6 3
0 1 0 0 Preset value 0..33554431 0
0 1 0 1 Zero offset 0..33554431 0
0 1 1 0 Offset 0..33554431 0
0 1 1 1 Reset of encoder - ­1 1 1 1 Measuring range 1..4096 4096

Resolution

The resolution of the encoder is adjusted via the sub-parameters „Steps“ and „Revolutions“ and the resolution is
calculated according to the formula: Resolution = Steps / Revolutions.
The parameters Steps = 1000 and Revolutions = 3 result in a resolution of 333.333.. steps/revolution.

Function Value range

maximum

Factory
setting

Manual_GXP6W_EN.doc 5/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany