Baumer GBAMW User manual

Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone [phone]
Fax [phone].19 · 174.02.024/9
[e-mail] Subject to modification in technic and design.
www.baumer.com Errors and omissions excepted.
Manual
Absolute Encoder Profibus-DPV0
(with bus cover and SSI coupler)
Firmware version from 1.20

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Contents
Page
1. Introduction 3
1.1. Scope of delivery 3
1.2. Product assignment 4
2. Safety and operating instructions 5
3. Product families 6
4. Profibus-DP 7
5. Encoder operating parameters 8
6. Data exchange between Profibus-DP devices 9
6.1. Telegram structure 9
6.2. Initialization, restarting and user data communication 9
7. Parameterization and configuration 10
7.1. Parameterization 10
7.2. Configuration 13
8. Diagnostic signals 14
8.1. Description of the diagnosis data Slave_Diag 14
8.2. Parameter values of the diagnosis data Slave_Diag 17
8.3. User data 18
8.4. Preset function 18
9. Entering parameters 19
10. Terminal assignment and commissioning 21
10.1. Mechanical mounting 21
10.2. Electrical connection 21
10.2.1. Setting the user address 21
10.2.2. Terminating resistor 22
10.2.3. Bus cover connection 22
10.2.4. Terminal assignment 25
10.3. Display element (status display) 25
10.3.1. Profibus cable 26

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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.
Created by:
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany
Registered trademarks
SIEMENS®, SIMATIC®, Step7®und S7®are registered trademarks of Siemens AG. PROFIBUS, the
PROFIBUS Logo and PROFIdrive are registered trademarks of the PROFIBUS user organization respectively
of PROFIBUS International (PI).These and other names applied in the present manual that at the same time
are registered trademarks are not correspondingly marked. Having omitted the respective marking does not
necessarily imply that the names are not registered trademarks or that there are no existing patents and
protected patented designs.
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
Profibus bus cover
Sealing bolt for any unused cable gland
Describing file and manual (available as download on our website)

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1.2. Product assignment
Shaft encoder
Product
GSD-file
Product family
GBAMW
GBAM059B.gsd
multivoPlus - Singleturn
GBMMW
GBMM059B.gsd
multivoPlus - Multiturn
GBLMW
GBMM059B.gsd
multivoPlus - Multiturn
GCAMW
GCAM059B.gsd
magtivo®- Singleturn
GCMMW
GCMM059B.gsd
magtivo®- Multiturn
GXAMW
GXAM059B.gsd
multivo®- Singleturn
GEMMW
GXMM059B.gsd
multivo®- Multiturn (stainless steel)
GXLMW
GXMM059B.gsd
multivo®- Multiturn
GXMMW
GXMM059B.gsd
multivo®- Multiturn
X 700
GXMM059B.gsd
multivo®- Multiturn
End shaft encoder
Product
GSD-file
Product family
GBAMS
GBAM059B.gsd
multivoPlus - Singleturn
GBMMS
GBMM059B.gsd
multivoPlus - Multiturn
GBLMS
GBMM059B.gsd
multivoPlus - Multiturn
GCAMS
GCAM059B.gsd
magtivo®- Singleturn
GCMMS
GCMM059B.gsd
magtivo®- Multiturn
GXAMS
GXAM059B.gsd
multivo®- Singleturn
GXLMS
GXMM059B.gsd
multivo®- Multiturn
GXMMS
GXMM059B.gsd
multivo®- Multiturn
Hollow shaft encoder
Product
GSD-file
Product family
G0AMH
GXAM059B.gsd
multivo®- Singleturn
G0MMH
GXMM059B.gsd
multivo®- Multiturn
G0LMH
GXMM059B.gsd
multivo®- Multiturn
G1AMH
GXAM059B.gsd
multivo®- Singleturn
G1MMH
GXMM059B.gsd
multivo®- Multiturn
G2AMH
GXAM059B.gsd
multivo®- Singleturn
G2MMH
GXMM059B.gsd
multivo®- Multiturn
GBAMH
GBAM059B.gsd
multivoPlus - Singleturn
GBLMH
GBMM059B.gsd
multivoPlus - Multiturn
GBMMH
GBMM059B.gsd
multivoPlus - Multiturn
GEMMH
GXMM059B.gsd
multivo®- Multiturn (stainless steel)
GFMMH
GXMM059B.gsd
multivo®- Multiturn (stainless steel)
Interface converter
Product
GSD-file
Product family
GK410
GXMM059B.gsd
multivo®- Multiturn

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2. Safety and operating instructions
Intended use
The encoder is a precision measuring device that is used to record positions and speeds. It provides
measuring values as electronic output signals for the subsequently connected device. It must not be used
for any other purpose. Unless this product is specially labeled, it may not be used for operation in
potentially explosive environments.
Make sure by appropriate safety measures, that in case of error or failure of the encoder, no danger to
persons or damage to the system or operating facilities occurs.
Personnel qualification
Installation and assembly of this product may be performed only by a person qualified in electronics and
precision mechanics.
Maintenance
The encoder is maintenance-free and must not be opened up nor mechanically or electronically modified.
Opening up the encoder can lead to injury.
Disposal
The encoder contains electronic components. At its disposal, local environmental guidelines must be
followed.
Mounting
Solid shaft: Do not connect encoder shaft and drive shaft rigidly. Connect drive and encoder shaft with a
suitable coupling.
Hollow shaft: Open clamping ring completely before mounting the encoder. Foreign objects must be kept
at a sufficient distance from the stator coupling. The stator coupling is not allowed to have any contact to
the encoder or the machine except at the mounting points.
Electrical commissioning
Do not proceed any electrical modifications at the encoder.
Do not proceed any wiring work while encoder is live.
Do not remove or plug on connector whilst 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.
Supplementary information
The present manual is intended as a supplement to already existing documentation (e.g. catalogues, data
sheets or mounting instructions).

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3. Product families
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:
Speed signal
Baumer Profibus encoders with bus cover concept permit readout of the current rotary speed. There are four
different scaling systems available:
RPM
Readout of the speed in revolutions per minute.
Steps/s
Readout of the speed in units of the parameterized singleturn resolution per second. The speed is
measured over a period of 200 ms in each case and then updated.
Steps/100 ms
Readout of the speed in units of the parameterized singleturn resolution per 100 ms.
Steps/10 ms
Readout of the speed in units of the parameterized singleturn resolution per 10 ms.

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4. Profibus-DP
General
Bus systems are connecting structures which generate communication between several components.
The Profibus-DP is a manufacturer-independent open communication system for applications in the fields of
production, process and building automation. It is broken down into three variants:
Profibus FMS for data communication between control units on the production and process management
level.
Profibus PA for process engineering applications.
Profibus DP for fast data exchange between control units and decentral peripherals in automation
engineering applications.
The Profibus system comprises the following device types:
DP master class 1 (DPM1) is a control system which cyclically exchanges information with a DP slave.
DP master class 2 (DPM2) are programming or project processing devices or controllers.
DP slave is a peripheral device which receives output data and forwards input data to the programmable
logic controller.
The Profibus system is broken down into a monomaster system and a multimaster system by the number of
active masters in operation during the operating phase.
In a monomaster system, only one master class 1 and the DP slaves are active in the bus.
In a multimaster system, several masters and the DP slaves are active in the bus. The masters can
optionally either belong to class 1 or class 2.
The Profibus DP is characterized by the following features:
Short response times (1 ms with 32 users and 12 MBaud)
Reliable transmission procedure (Hamming distance 4)
Availability of a wide range of standardized system components
Good diagnostic capability
Simple handling and facility for upgrading
User-oriented bus system
Open system
Profibus-DP is standardized by standard EN 50170 Vol. 2. This standard defines the communication and user
profiles. The user profile for interface converters is profile 1.1. The user profile is differentiated depending on
the number of supported functions according to device class 1 and 2. Device class 2 has a greater number
and contains all the functions of class 1. Parameterization and preset functions are supported only by class 2.
The device supports classes 1 and 2.
GSD file
The device master data file (GSD file) is a descriptive file which describes all the encoder data required for
operation. The data itself is filed in the ROM of the encoder. The data can be subdivided into two sections.
General definitions contain information such as the manufacturer's name, product designation, Ident.
number, Profibus-specific parameters and baud rates.
Application-related definitions include configuration possibilities, parameters, parameter descriptions,
hardware and software status and diagnostic possibilities.
The format and content are defined in line with the EN 50170 standard.
The GSD file has the ident no. 059B for all the described products. This GSD file is an essential condition for
parameterization and configuration of the encoder with a configuration tool.

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5. Encoder operating parameters
Description of operating parameters
Parameter
Significance
Sense of rotation
Behaviour of the output code depending on the sense of rotation of the shaft seen
looking at the flange
CW = Increasing values with clockwise rotation
CCW = Increasing values with counterclockwise rotation
Resolution
Number of steps per revolution, input in integral steps
Measurement range
Total resolution = number of steps per revolution x number of revolutions,
input in integral steps
Preset value
A certain output value is assigned to the current position value (referencing)
Operating parameter values
Parameter
Value range
Default setting
Data type
Sense of rotation
CW/CCW
CW
Octet string
Resolution
1 to 4096 –magtivo
1 to 8192 –multivo
1 to 262144 –activo/multivoPlus
4096
8192
262144
Unsigned 32
Measurement range
1 to 67108864 (226) –magtivo
1 to 536870912 (229) –multivo
1 to 2147483648 (231)
–activo/multivoPlus
67108864
536870912
2147483648
Unsigned 32
Preset value
0 to (measurement range - 1 step)
0
Unsigned 32

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6. Data exchange between Profibus-DP devices
6.1. Telegram structure
The diagram illustrates the telegram structure.
Telegram structure
DP Master
Triggering telegram
DP Slave
Footer info
Output data
Header info
Reply telegram
Header info
Input data
Footer info
6.2. Initialization, restarting and user data communication
Before an exchange of useful information between the master and slave, every slave is re-initialized. The
master transmits parameterization and configuration data to the slave. Only when the parameterization and
configuration data is in agreement with the data stored in the slave can user data be exchanged. This takes
place in the following way:
Diagnostic request from the master
The master transmits a Diagnosis Request to a slave (Slave_Diag), and the slave responds with a Slave
Diagnosis Response.
The master uses this data to check whether the slave exists in the bus and is ready for parameterization and
configuration.
Parameterization of the slave
The master transmits a Parameter Request to the slave (Set_Prm).
The Slave receives information about the current bus parameters, surveillance times and slave-specific
parameters via the parameterization data. The parameters are taken over during the project processing
phase partially directly or indirectly from the GSD file. The slave compares this parameterization data with its
own stored data.
Configuration of the slave
The master transmits a Check Configuration Request (Chk_Cfg).
The master informs the slave of the scope (number of data bytes) and the structure (data consistency) of the
input and output ranges to be exchanged. The slave compares this configuration with its own configuration.
Diagnosis request prior to data exchange
The master transmits another Slave Diagnosis Request (Slave_Diag), the slave answers with a Slave
Diagnosis Response.
The master now checks whether the parameterization and configuration agree with the data stored in the
slave. If the data requested by the master is admissible and if no error exists, the slave signals its readiness
for the transfer of user data by means of the diagnosis data.
Data_Exchange
The slave now responds exclusively to the master which has parameterized and configured it.
The master transmits a user data request (Data_Exchange), the slave answers with a user data response. In
this response, the slave informs the master whether current diagnosis results are available. The slave only
makes known the actual diagnosis and status information after the master's diagnosis telegram.

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7. Parameterization and configuration
7.1. Parameterization
Parameterization refers to the transfer of information which the slave requires for exchanging process data.
The information comprises Profibus-specific data (Octets 1 to 6) and user-specific information. The user-
specific information can be entered via an input window during the project processing phase.
The slave compares the data transmitted by the master with the data it has stored. However, the slave does
not inform the master of the result until the diagnosis request following configuration.
Description of parameters for the parameterization function (Set_Prm)
Device
class
Parameter
Octet no.
Significance
1
Station status
1
Definition of Profibus-specific data
Sync mode/freeze mode active
Response monitoring active
Master assigned
1
Response monitoring time
2 to 3
Recognition of master failure, master must respond
within this period
1
Min. station delay responder
(tsdr)
4
Minimum time which the slave must wait until it may
respond to a request by the master
1
Ident_number
5 to 6
Device identifier which must be unique for each type
of device, saved and reserved by the PNO
1
Group_ident_number
7
Profibus-specific data
1
Operating parameter
8
Profibus-specific data
1
Operating parameter
9
Definition of application-specific data
Counting direction
Functional scope of the encoder, defined in
appliance class 1 and 2
Scaling function
2
Single-turn resolution
10 to 13
Definition of the number of measurement steps per
revolution
2
Total resolution in steps
14 to 17
Definition of the total resolution in steps
Total resolution is the number of measurement
steps x the number of revolutions
2
Scaling the speed signal
26
Definition of the unit of measurement in which the
speed signal (if selected) is read out (e.g. rpm)