Baumer GXP8W User Manual

Manual

Absolute Encoder with DeviceNet

Firmaware version from 1.02

Baumer IVO GmbH & Co. KG

Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone [phone]
Fax [phone].11 · 174.02.041/3
[e-mail] Subject to technical and design modifications.
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 precautions and operating information 4

3. Encoder operating modes 5

3.1. Poll Mode 5

3.2. Change of status Mode (COS) 5

3.3. Cyclic Mode 5

4. Encoder operating parameters 5

5. Object model 6

6. E/A Entities/Assembly 7

7. Encoder configuration 8

8. Encoder Position-Object 9

9. Terminal assignment and commissioning 12

9.1. Mechanical mounting 12

9.2. Electrical connection 12

9.2.1. Setting the user address 12

9.2.2. Setting the Baudrate 12

9.2.3. Terminal significance 13

9.3. Display elements (status display) 13

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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.

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 encoder

Product Product Code Product Name EDS-File

GXP8W 0x14 GXP8 GXP8.eds

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2. Safety precautions and operating information

Additional information

• The manual is a supplement to the documentation which already exists (catalogues, product information
and installation manuals).

• It is imperative that the manual is read prior to commissioning.

Proper use

• The encoder is a precision measuring device. It is used exclusively for the detection of angle positions
and rotations, and the processing and provision of the measured values as electrical output signals for
the next device. The encoder may only be used for this purpose.

Commissioning

• The encoder may only be installed and mounted by a qualified electrician.

• Observe the operating manual of the machine manufacturer.

Safety precautions

• Check all electrical connections before commissioning the system.

• If installation, electrical connection or other work on the encoder and on the system are not carried out

properly, malfunction or failure of the encoder may result.

• The endangering of persons, damage to the system and damage to operating equipment due to the
failure or malfunction of the encoder must be prevented with suitable safety measures.

• The encoder may not be operated outside the specified limits (see additional documentation).

Failure to observe the safety precautions can lead to malfunctions, damage and injuries!

Transport and storage

• The encoder may only be transported and stored in the original packaging.

• Do not drop the encoder or subject it to major jolts or impacts.

Assembly

• Avoid impacts or shocks to the housing and shaft.

• Do not torque the housing.

• Do not produce a rigid connection between the encoder and drive shafts.

• Do not open the encoder or modify it mechanically.

The shaft, ball bearings, glass plate or electronic parts can be damaged. Safe operation is then no longer
ensured.

Electrical commissioning

• Do not modify the encoder electrically.

• Do not carry out wiring work while the encoder or system is energized.

• The electrical connection may not be connected or disconnected while energized.

• Install the entire system so that it is EMC-compliant. The installation environment and wiring affect the

EMC of the encoder. Install the encoder and the supply lines in separate locations or at a great distance
from wiring with a high interference level (frequency converters, contactors etc.).

• For consumers with high interference levels, provide a separate power supply for the encoder.

• Complete screen the encoder housing and the connection cables.

• Connect the encoder to protective ground and use shielded cables. The cable shield must be connected

to the screw cable terminal or plug. Connection of the protective ground at both ends, the housing via the
mechanical attachment, and the cable shield via devices connected downstream should be aimed for. 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!

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3. Encoder operating modes

3.1. Poll Mode

In Poll Mode the encoder will transmit upon request of another user. The data transferred may optionally
comprise position data or an additional warnflag and alarmflag.

3.2. Change of status Mode (COS)

The encoder will transmit position data without being requested by another user if the actual process value
has changed by a certain value (adjustable COS-Delta).

3.3. Cyclic Mode

The encoder will transmit position data without being requested by another user upon expiry of a
programmable time interval (adjustable 1…65535 ms).

4. Encoder operating parameters

Significance of operating parameters

Parameter Significance Value range Default

setting

decimal hex Bit (decimal)

Sense of
rotation

Resolution Number of steps per

Measurement
range
(total
resolution) *

Preset value A certain output value is

Behaviour of the output code
depending on the sense of
rotation of the shaft when
looking at the flange
CW = increasing values with
clockwise rotation
CCW = increasing values with
counterclockwise rotation

revolution, input in integral
steps

Total resolution = number of
steps per revolution x number
of revolutions

assigned to the current
position value (referencing)

CW = 0
CCW = 1

1..8192

1..536870912 1..20000000h 1..29 536870912

0.. selected total resolution -1 0

* With singleturn encoders the measurement range equals the resolution

CW = 0h
CCW = 1h

1..2000h 1..13 8192

CW = 0

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5. Object model

D

The object model describes the encoder object classes applied.
The encoder provides a Predefined Master-Slave-Connection-Set. It is a group 2 only Server.
The following chart shows the object classes and the number of entities available in each class.

object class number of entities

01h: Identity 1

02h: Message Router 1

03h: DeviceNet 1

05h: Connection 1 explicit, 2 E/A

04h: Assembly 2

0Fh: Parameter 19

2Bh: Acknowledge Handler 1

2Fh: Encoder Position 1

The diagram explains the relations among the individual object classes.

Encoder

Position

Object

I/O

Assembly Object

I/O

I/O

.................

.

Connection Object

1 2 3

Parameter Object

......

Message

Router
Object

Explicit

Message

evice

Identity

DeviceNet

Object

Net

Object

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6. E/A Entities/Assembly

The encoder supports 2 E/A Entities/Assembly. The entity is designated by the entity attribute 14
(produced_connection_path) of the connection object. The programmed value is automatically stored in the
non-volatile memory (service “save” here is not necessary).
Entity default setting: 1.

The encoder provides following data which are input data from the Master’s point of view.

entity type name

1 input position value

2 input position value & warnflag & alarmflag

E/A Assembly data attributes format

E/A Assembly data attributes are of the following format:

entity Byte Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

1 0 Position value LSB

1 Position value

2 Position value

3 Position value MSB

2 0 Position value LSB

1 Position value

2 Position value

3 Position value MSB

4

Examples:
Path entity 1 (in hex): „20 04 24 01“
Path entity 2 (in hex): „20 04 24 02“

reserved

Warn-

Flag

Alarm-

Flag

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7. Encoder configuration

The encoder-specific parameters can be programmed by the parameter object 0Fh. Each object entity
refers to
a certain attribute of the encoder-position-objects.

Amended parameters are not stored in the non-volatile memory until the service „save“ is carried out.

Parameter object entities

The following chart shows the parameter object 0Fh entities supported by the encoder.

Entity No. name Reference to attribute no. of the

Encoder Position Object 2Fh

1 Sense of rotation 3

2 internal diagnostic function (not used) 4

3 Scaling function 5

4 Position format 6

5 Steps per revolution 7

6 Total resolution in steps 8

7 Measurement steps (not used) 9

8 Preset value 10

9 Position value 12

10 Operating status 80

11 Singleturn resolution 81

12 Number of revolutions 82

13 Alarm flag 85

14 Alarm signals 83

15 Supported alarm signals 84

16 Warn flag 88

17 Warning signals 86

18 Supported warning signals 87

19 Profile / Software version 89

General services

The parameter object supports the following services:

Code Service Signifcance

0Eh Get_Attribute_Single Provides the content of the selected attribute

10h Set_Attribute_Single Changes the value of the selected attribute.

The new value is not yet (!) stored in the non­volatile memory

05h Reset Resets all parameters to default

15h Restore Restores all parameters of the non-volatile memory

16h Save Saves all parameters in the non-volatile memory to

be restored after mains on/off

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8. Encoder Position-Object

The Encoder Position Object is a manufacturer-specific object with class code 2Fh.

Entity attributes

Due to their different functionality, entity attributes are broken down into two groups.
The first group, attribute 1 to 12 comprises the parameters for position calculating.
The second group, attribute 90 to 95 comprises the diagnostic functions.
Altered parameters are not stored in the non-volatile memory until by service “save”.

Chart: Parameters for position calculating

Attribute ­ID

1 read Number of attributes USINT Number of attributes supported
2 read Attributes Array of

3 read/

4 read Internal diagnostic

5 read Scaling function BOOL Scaling function active 1 = ON
6 read Position format USINT Position value format 0 = steps
7 read/ write Steps per revolution UDINT Number of desired steps per

8 read/ write Total resolution UDINT Number of desired steps

9 read Reserved UDINT reserved = 0
10 read/ write Preset value UDINT Position value is set to the preset

11 read/ write COS-Delta DINT Minimum divergent value of the

12 read Position value DINT actual position value 1 to total

Steps per revolution

The parameter „steps per revolution“ defines the number of steps per revolution. Upon setting this parameter,
the total resolution will change correspondingly according the following formula:
Total resolution = steps per revolution x revolutions

Sense of rotation

The sense of rotation defines whether the position values are increasing with clockwise rotation (CW) or
counterclockwise rotation (CCW) of the shaft.

Total resolution in steps

The parameter „total resolution in steps“ defines the total number of steps covering the complete
measurement range.
Example: steps per revolution = 3600; revolutions = 256; Æ total resolution = 3600 x 256 = 921600

If the number of revolutions relating to a value is programmed unequal 2
be parameterized anew after crossing the encoder zero point in powerless state.

Access Name Data type Significance Values

List of attributes supported

USINT

Sense of rotation BOOL Setting the sense of rotation 0 = CW

write

1 = CCW

BOOL Not used 0 = OFF

function

see

revolution

operating
parameter

see
exceeding the measurement
range

operating

parameter

see
value

operating

parameter

1 to total
position in COS mode

resolution

resolution

n

(1, 2, 4,...65536), the encoder must

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Preset function

The preset function supports adjustment of the encoder zero point to the system’s mechanical zero point.
The actual encoder position is set to the preset value. The internal offset value is calculated and stored in the
encoder. For storage into the non-volatile memory first the service “save” has to be carried out.
Attention: It is recommended to apply the preset function only in idle status of the encoder.

Chart: Diagnostic functions:

Attribute
ID

80 read Operating status USINT Encoder diagnosis

Access Name Data-

type

Significance Values

Bit 0
comprising the operating
status

0 = sense of rotation CW

1 = sense of rotation CCW

Bit 1

0 = diagnosis not supported

1 = diagnosis supported

Bit 2

0 = scaling OFF

1 = scaling ON

81 read Singleturn-

resolution

82 read Number of

revolutions

83 read Alarm signals UINT Malfunction may lead to

UDINT Internal resolution per

revolutions

UINT Internal number of

revolutions

wrong encoder position

see operating parameters

see operating parameters

Bit 0

0 = no position error

1 = position error

84 read Supported

alarm signals

UINT Information on the alarm

signals supported

Bit 0

0 = position error not

supported

1 = position error supported

85 read Alarm-Flag BOOL Indicates occuring alarm

signal (depending on

0 = OK

1 = Alarm
attribute 83.)

86 read Warning signals UINT internal parameters

beyond tolerances

Bit 4

Lithium cell voltage

0 = OK

1 = too low

87 read Supported

warning signals

UINT Information on the

warning signals supported

Bit 4

Alarm signal lithium cell

voltage

0 = not supported

1 = supported

88 read Warn-Flag BOOL Indicates occuring

warning signal

0 = OK

1 = warning signal
(depending on attribute

86)

89 read Profile and

Software version

UDINT Low-Word: Profile

High-Word: Software­Version

91 read Offset DINT The offset is calculated

within the preset function
and will shift the position
value by the calculated
value

95 read Encoder type UINT Describing the encoder

type

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Parameter Significance

Alarm signals

Attribute 83 provides the alarm signals. An alarm is set as soon as the encoder is recognizing a status that
may lead to a wrong encoder position. Upon recognising the alarm status, the relevant bit is set to logically
high.
The alarm is automatically reset after 2.5 s. The alarm flagbit (attribute 85) is also set with every alarm.

Warning signals

The encoder will transmit warning signals upon the internal encoder parameters being beyond the
tolerances. Contrary to alarm signals warning signals do not indicate a wrong position. Warnings are being
reset as soon as the parameter that was beyond the tolerances turns into a correct value again. The Warn­Flagbit (attribute 88) is also set with every warning.

Offset

Attribute 91 comprises the parameter offset value. The offset value is calculated within the preset function
and will shift the position value by the calculated value. The preset function is applied after the scaling
function.
The offset value is not stored into the non-volatile memory until the service “save” is carried out.

Encoder type

Encoder type = 01: absolute encoder singleturn
Encoder type = 02: absolute encoder multiturn

General services

The Encoder Position Object supports the following services:

Code Service Significance

0Eh Get_Attribute_Single Provides the contents of a selected attribute

10h Set_Attribute_Single Changes the value of a selected attribute.

The new value is not yet (!) stored into the non-volatile memory

05h Reset Reset of all parameters to default

15h Restore Restores all parameters of the non-volatile memory

16h Save Saves all parameters in the non-volatile memory to be restored

again after mains off/on.

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9. Terminal assignment and commissioning

9.1. Mechanical mounting

• Mount the encoder housing using the fastening holes on the flange side with three screws (square flange
with 4 screws), paying attention to the thread diameter and thread depth.

• Alternatively, the encoder can be mounted in any angular position by using three eccentric fastenings –
see accessories.

• Connect the drive shaft and encoder shaft using a suitable coupling. The ends of the shafts must not be
touching. The coupling must be capable of compensating for displacement due to temperature and
mechanical backlash. Pay attention to the admissible axial or radial shaft loads. For suitable connecting
devices, see under accessories.

• Tighten the fastening screws.

9.2. Electrical connection

9.2.1. Setting the user address

Setting the user address (MAC-ID ) is carried out by the object „DeviceNet“. (class 3) and has to be
configurated by the service SET ATTRIBUTE SINGLE to class 3, entity 1, attribute 1.

Non-volatile storage is carried out automatically (without additional SAVE service)

Default : 63
valid values: 0..63

9.2.2. Setting the Baudrate

Setting the Baud rate is carried out by the object „DeviceNet“. (class 3) and has to be configurated by the
service SET ATTRIBUTE SINGLE to class 3, entity 1, attribute 2.

Non-volatile storage is carried out automatically (without additional SAVE service)

Default: 0 = 125 kBaud

Valid values 0 = 125 kBaud
1 = 250 kBaud
2 = 500 kBaud

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9.2.3. Terminal significance

Pin

1
2
3
4
5

Terminal Significance

DRAIN Shield connection
UB Power supply 10...30 VDC
GND B Ground connection UB
CAN_H CAN Bus Signal (dominant High)
CAN_L CAN Bus Signal (dominant Low)

Micro Connector
Pinout
Male (Pin)

9.3. Display elements (status display)

A DUO LED (green/red) working in the ‘Combined Module/Network Status’ in line with the DeviceNet
specification is providing information on the status of the device respectively of the network.

LED-Colour Status Significance

off not connected

Green flashing Device is active and online

No connections established

Green continous Device is active and online

Connections are established

Red continous Critical device error or

Critical communication error

Red flashing Corrective error I/O connections in Time-Out status

No power supply

- Dupl. MAC-ID check not terminated.

- No power supply

The device is operating under normal conditions and
is online, no connection established.

- Encoder not yet configurated by Master

- configuration incomplete or faulty

The device is operating under normal conditions and
is online, connection status “established”

The device is in fatal non-corrective error status

- no network communication possible

- double assignment of user address (MAC-ID)

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