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GXxxx
User Manual
30 pgs1.76 Mb0

Baumer BMxx, GBxxx, GXxxx User Manual

Manual
Absolute encoder with EtherCAT, Power over EtherCAT (PoE) (with bus cover)
Firmware version 5.00 and up
09.14 · 174.02.064/3 Subject to technical and design modifications. www.baumer.com Errors and omissions excepted.
Content Page
Introduction 4 1.
1.1 Scope of delivery 4
1.2 Product classification 4 Safety and operating instructions 5 2.
Bus cover – functional principle 6 3.
Encoder operating parameters 7 4.
Encoder data 8 5.
5.1 PDO (Process Data Object) 8
5.2 SDO (Service Data Objects) 9
5.3 Parameterization 17
5.4 Free Run Mode (default) 18
5.5 Distributed Clocks Mode 19
5.5.1 Activation Distributed Clocks under TwinCAT 19
5.6 Network management 21 Terminal assignment and commissioning 23 6.
6.1 Mechanical mounting 23
6.2 Electrical connection 23
6.2.1 Initialising under TwinCAT system manager 24
6.2.2 Terminal assignment 25
6.3 Display elements 26
6.3.1 State indicator 26
6.3.2 Link/Activity indicator 26
6.4 Bus cover Power over EtherCAT (PoE) 27
6.5 Cycle times 28
6.6 Configuration 10 Byte PDO / 4 Byte PDO / 2 Byte PDO by TwinCAT 29
6.7 Speed Value as an alternative to System Time 30
**TwinCAT is a trademark of the company BECKHOFF Industrie Elektronik
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Disclaimer of liability
The present manual was compiled with utmost care, errors and omissions reserved. For this reason Baumer rejects any liability for the information compiled in the present manual. Baumer 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.
Created by: Baumer IVO GmbH & Co. KG Villingen-Schwenningen, Germany
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Product mechanics Solid / Hollow shaft / Kit
Product name (according to object 1008)
Description
BMMV / BMMH / BMMK
GCMMW_H
MT, MAGRES
BMSV / BMSH / BMSK
GCAMW_H
ST, MAGRES
GBMMW / GBMMS / -
GBMMW_H
MT, Optical, 18 Bit ST
GBAMW / GBAMS / -
GBAMW_H
ST, Optical, 18 Bit ST
GXMMW / GXMMS / -
GXMMW_H
MT, Optical, 13 Bit ST
GXAMW / GXAMS / -
GXAMW_H
ST, Optical, 13 Bit ST
Introduction 1.
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, bus cover and CD with describing file and manual (also available as download)
1.2 Product classification
Note:
Ever apply the matching device file (BAUMER Group absolute EtherCAT encoders.xml) on the above device types.
Explanation:
MT Multiturn encoder ST Singleturn encoder MAGRES Extremely robust encoder with magnetic sensing principle 18 Bit ST High resolution encoder – up to 18 bit physical singleturn resolution, i.e. 218 steps / revolution 13 Bit ST Max. 13 bit physical singleturn resolution, i.e. 213 steps / revolution
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Safety and operating instructions 2.
Supplementary information
This manual is intended as supplement to already existing documentation (e.g. 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!
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Bus cover – functional principle 3.
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 entire electronics for measured value processing and for Ethernet communication.
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:
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Product
Device
Name
Resolution per turn
0x6001
Number of turns
0x6502
Measuring range
0x6002
Dezimal
Hex
Bit
Dezimal
Hex
Bit
Dezimal
Hex
Bit
BMSx
GCAMW_H
4096
1000
12 1 1 0 4096
1000
12
BMMx
GCMMW_H
4096
1000
12
65536
10000
16
268435456
10000000
28
GXAMW(S)
GXAMW_H
8192
2000
13 1 1 0 8192
2000
13
GXMMW(S)
GXMMW_H
8192
2000
13
65536
10000
16
536870912
20000000
29
GBAMW(S)
GBAMW_H
262144
40000
18 1 1 0 262144
40000
18
GBMMW(S)
GBMMW_H
262144
40000
18
16384
4000
14
4294967296
100000000
32
Encoder operating parameters 4.
Significance of operating parameters
The enabled scaling functionality in CoE is prerequisite for further user-specific parameterization such as resolution, total measuring range, direction of rotation and preset.
See chapter: SDO (Service Data Objects)
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XML file
PDO Mapping
Product code
Applied in version
BAUMER Group absolute EtherCAT encoders.xml
10Byte PDO: (default)
4 Byte Position value 2 Byte Warnings 4 Byte System Time/Speed value
or
4Byte PDO: (configurable)
4 Byte Position value
2Byte PDO: (configurable)
2 Byte Position value
20
25
30
V5.00 and up
Value
Data type
Explanation
Position value
UDINT
Current absolute encoder position value. For range-related information refer to „Encoder operating parameters“
Warnings
UINT
Warnings Bit 2: 1 Lithium battery power low Bit 4: 1 Excess shaft turns during power-off Bit 5: 1 Incorrect encoder configuration
System Time
UDINT
Present system time, resolution in ns, alternative Speed Value DINT
Value
Data type
Explanation
Position value
UDINT
Current absolute encoder position value. For range-related information refer to „Encoder operating parameters“
Value
Data type
Explanation
Position value
UINT
Current absolute encoder position value. For range-related information refer to „Encoder operating parameters“
Encoder data 5.
5.1 PDO (Process Data Object)
Depending on the configuration, the encoder will provide the following process data (input data):
10Byte PDO (Default)
4Byte PDO
2Byte PDO
The configuration 4Byte PDO / 2Byte PDO allows for shorter cycle times.
Cycle times are configuration-related, see chapter cycle times
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5.2 SDO (Service Data Objects)
SDOs access is in the TwinCAT System under tab CoE - Online (CANopen over EtherCAT).
Since there is a large variety of CANopen device and application profiles they may be applied in EtherCAT slaves. EtherCAT encoders provide partial implementation of the CANopen DS406 encoder device profile.
Please consider that every CoE access (mailbox communication) will shortly interrupt generation of encoder input data for the time of mailbox communication. With short cycle times in Distributed Clocks Mode this may imply that not in every Sync cycle a new position is detected.
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