Baumer BMMV User manual

07.13· 174.01.065/6
Subject to technical and design modifications.
www.baumer.com Errors and omissions excepted.
Manual
Absolute encoder with POWERLINK interface
(Bus cover)
Software version 1.0.1 or higher

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Content
1Introduction...................................................................................................................................4
1.1 Scope of delivery............................................................................................................................4
1.2 Product allocation and xdd files......................................................................................................4
1.2.1 Firmware version 1.3.x or lower .....................................................................................................4
1.2.2 Firmware version 1.5.x or higher....................................................................................................4
2Safety precautions and operating instructions.........................................................................5
3Bus cover –functional principle.................................................................................................6
4Overview........................................................................................................................................7
4.1 General...........................................................................................................................................7
4.2 Daisy Chain ....................................................................................................................................7
4.3 Auto-Negotiation.............................................................................................................................7
5Technical specifications ..............................................................................................................8
5.1 Powerlink specifications .................................................................................................................8
5.2 Ethernet specifications ...................................................................................................................8
5.3 Timing behavior ..............................................................................................................................8
5.4 Physical resolution for each product...............................................................................................8
6Process data .................................................................................................................................9
6.1 General...........................................................................................................................................9
6.2 PDO validity....................................................................................................................................9
7Service Data ................................................................................................................................10
7.1 Communication parameters .........................................................................................................11
7.2 Application Parameters ................................................................................................................12
8Terminal assignment and commissioning...............................................................................14
8.1 Mechanical mounting....................................................................................................................14
8.2 Electrical connection.....................................................................................................................14
8.3 Terminal assignment.....................................................................................................................14
8.4 Display elements ..........................................................................................................................15
8.4.1 Link/Activity LEDs.........................................................................................................................15
8.4.2 Status DUO LED...........................................................................................................................15
8.5 Setting the Node ID ......................................................................................................................16
Annex
A. Commissioning using B & R Automation Studio....................................................................17
A.1 General.........................................................................................................................................17
A.2 Prerequisites.................................................................................................................................17
A.3 Step by step..................................................................................................................................17

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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
Change history
Version
Change / Description
V1.00
-
V1.01
Revision –especially due to new functionality of firmware 1.5.0 or higher
Section 1.2 Product allocation and xdd files
- Product code for product GXAMx corrected
- Product codes and xdd files for firmware 1.5.x added
Section 5.1Minimum cycle time 250 µs
Section 5.2 Ethernet Specification
- Delay internal hub corrected (400 ns)
- Max. Response Time corrected (10 µs)
Section 5.3Timing behaviour description modified / corrected
Section 5.4 Power consumption removed –
Specification to be found in respective product information
Section 6 Process data –Speed added
Section 7 Service data
- Revised description
- Example for scaling function added

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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, bus cover and CD with describing file and manual (also available as download)
1.2 Product allocation and xdd files
1.2.1 Firmware version 1.3.x or lower
Product mechanics
Solid / End shaft / Kit
Product
Code / Name
xdd-file
Description
BMMV / BMMH / BMMK
16h
BMMx
5F_POWERLINK_Rotary_Encoder_BMMx_MT.xdd
MT, MAGRES
BMSV / BMSH / BMSK
17h
BMSx
5F_POWERLINK_Rotary_Encoder_BMSx_ST.xdd
ST, MAGRES
GBMMW / GBMMS / -
0Fh
GBMMx
5F_POWERLINK_Rotary_Encoder_GBMMx_MT.xdd
MT, Optical, 18 Bit ST
GBAMW / GBAMS / -
0Eh
GBAMx
5F_POWERLINK_Rotary_Encoder_GBAMx_ST.xdd
ST, Optical, 18 Bit ST
GXMMW / GXMMS / -
0Dh
GXMMx
5F_POWERLINK_Rotary_Encoder_GXMMx_MT.xdd
MT, Optical, 13 Bit ST
GXAMW / GXAMS / -
0Ch
GXAMx
5F_POWERLINK_Rotary_Encoder_GXAMx_ST.xdd
ST, Optical, 13 Bit ST
1.2.2 Firmware version 1.5.x or higher
Product mechanics
Solid / End shaft / Kit
Product
Code / Name
xdd-file
Description
BMMV / BMMH / BMMK
16h
BMMx
Baumer_EPL_Encoder_BMMx_244.xdd
MT, MAGRES
BMSV / BMSH / BMSK
17h
BMSx
Baumer_EPL_Encoder_BMSx_244.xdd
ST, MAGRES
GBMMW / GBMMS / -
0Fh
GBMMx
Baumer_EPL_Encoder_GBMMx_5EA4.xdd
MT, Optical, 18 Bit ST
GBAMW / GBAMS / -
0Eh
GBAMx
Baumer_EPL_Encoder_GBAMx_5EA4.xdd
ST, Optical, 18 Bit ST
GXMMW / GXMMS / -
0Dh
GXMMx
Baumer_EPL_Encoder_GXMMx_5EA4.xdd
MT, Optical, 13 Bit ST
GXAMW / GXAMS / -
0Ch
GXAMx
Baumer_EPL_Encoder_GXAMx_5EA4.xdd
ST, Optical, 13 Bit ST
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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2 Safety precautions and operating instructions
2.1 Supplementary information
The present manual is intended as a supplement to already existing documentation (catalogues, data
sheets and mounting instructions).
The manual must be studied carefully prior to initial commissioning of the equipment.
2.2 Intended purpose of the equipment
The encoder is a precision sensing device. It is utilized to determine angular positions and revolutions,
and to prepare and supply measured values in the form of electrical output signals for the downstream
device. Encoders must not be used for any other purpose.
2.3 Commissioning
The encoder must be initialised and mounted only by a qualified expert.
Observe the operating instructions of the machine manufacturer.
2.4 Safety instructions
Check all electrical connections prior to commissioning of the equipment.
If mounting, electrical connections or any other work performed at the encoder and the equipment is not
correctly executed this can result in malfunction or failure of the encoder.
Corresponding safety precautions must be provided and observed to exclude any risk of personal injury,
damage to material or operating equipment as a result of encoder failure or malfunction.
The encoder must not be operated beyond the limits (see supplementary documentation).
Failure to observe these safety instructions can result in malfunctions, material damage or personal injury.
2.5 Transport and storing
Only ever transport or store the encoder in its original packaging.
Never drop the encoder nor expose it to major shocks.
2.6 Mounting
Avoid impacts or shocks on housing and shaft/end shaft.
Avoid any twist or torsion on the housing.
Never provide rigid connections between encoder shaft and drive shaft.
Do not open the encoder or carry out any mechanical modifications.
Shaft, ball bearings, glass disc or electronic components can be damaged thereby and a safe and reliable
operation is no longer ensured.
2.7 Electrical commissioning
Do not carry out any electrical modifications at the encoder.
Do not carry out any wiring work while encoder is live.
Never plug or unplug connector while encoder is live (the bus cover however may be removed or docked
to the basic encoder when live).
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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3 Bus cover –functional principle
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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4 Overview
4.1 General
Powerlink
Hub 24 V
Speisung
Basisgeber
Interface
Powerlink Powerlink
24V Speisung
The bus cover which is the communication link between the Powerlink network and the basic encoder
supports encoder profile 406 and Powerlink specification V2.0.
4.2 Daisy Chain
The Powerlink Hub integrated in the bus cover enables formation of a Daisy Chain.
Powerlink Powerlink Powerlink Powerlink
24 V 24 V 24 V 24 V
4.3 Auto-Negotiation
Ethernet interface supports the Auto-Negotiation functionality. Whether a straight or crossed Ethernet line
does not matter, direct connection to the control without any Ethernet hubs is also feasible using any optional
cable.

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5 Technical specifications
5.1 Powerlink specifications
The bus cover complies with following specifications:
Powerlink version
2.0
CANopen profile
CiA 406 (encoders)
Minimum cycle time:
250µs
5.2 Ethernet specifications
MTU
300 Bytes
Delay internal Hub (Daisy Chain)
400ns/Node
Max. Response Time
2 µs (incl. hub delay)
Transmission rate
100 MBit/s semi-duplex
Ethernet outputs
2 outputs: M12 D-coded (Auto-Negation)
5.3 Timing behavior
The following table describes the delay and jitter between the Start of Cycle (SoC) and acquisition of a new
position value.
Product
Delay typical
Jitter
BMSx (ST):
BMMx (MT):
GXAMx (ST):
GXMMx (MT):
GBAMx (ST):
GBMMx (MT):
11,34µs
13,84µs
5,00µs
5,00µs
7,20µs
7,20µs
+- 7,6µs (=7,5µs +/- 68ns)
+- 10,1µs (= 10µs +/- 68ns)
+- 0,6µs (= 0,54µs +/- 68ns)
+- 0,6µs (= 0,54µs +/- 68ns)
+-1,3µs (= 1,2µs +/- 68ns)
+-1,3µs (= 1,2µs +/- 68ns)
5.4 Physical resolution for each product
The following table describes the non-scaled physical resolution dependent on the used basic encoder.
Encoder
Product Name
ST Resolution
MT Resolution
Total Resolution
BMS ST
BMSx
4000h
14 Bit
-
4000h
14 Bit
BMM MT
BMMx
4000h
14 Bit
4 0000h
18Bit
1 0000 0000h
32 Bit
GXAM ST
GXAMx
2000h
13 Bit
-
2000h
13 Bit
GXMM MT
GXMMx
2000h
13 Bit
1 0000h
16Bit
2000 0000h
29 Bit
GBAM ST
GBAMx
4 0000h
18 Bit
-
4 0000h
18 Bit
GBMM MT
GBMMx
4 0000h
18 Bit
4000h
14Bit
1 0000 0000h
32 Bit

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6 Process data
6.1 General
The bus cover supports PDO-static mapping only. PDO data are identical to the position in Object 6004h.
Firmware version 1.5.0 or higher:
In addition to the position value the speed value in counts / second is transmitted within the PDO (object
6030h)
6.2 PDO validity
The PDO’s position data is ever the value picked up by the SoC in the last cycle.
Delay time and Jitter between SoC and position acquisition are specified in section 5.3.
SoC
PReq
Presp
SoA
SoC
PReq
Presp
SoA
Positionsaufnahme Positionsaufnahme

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7 Service Data
The following table shows the most user-relevant objects. Section 7.1 describes all relevant objects for
configuring the communication behavior. Section 7.2 describes relevant objects for configuring all encoder
specific features.
Format U/I = Unsigned/Integer
No. = Number of bits
ARR = Array
REC = Record
STR = String
BOOL = Boolean
Access ro = read only
wo = write only
rw = read write
const = read only, value is constant
Default default after first initialization