Baumer GBAMW User manual

Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone [phone]
Fax [phone].10 · 174.02.045/7
[email protected] Subject to modification in technic and design.
www.baumer.com Errors and omissions excepted.
Manual
Absolute Encoder with EtherCAT,
Power over EtherCAT (PoE)
(with bus cover)
Firmware version 3.01 and up

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Content Page
1Introduction 3
1.1 Product classification 3
2Safety and operating instructions 4
3Product families 5
4Encoder operating parameters 6
5Encoder data 7
5.1 CoE (CANopen over EtherCAT) 7
5.2 PDO (Process Data Object) 7
5.3 SDO (Service Data Object) 8
5.4 Free Run Mode (default) 13
5.5 Distributed Clocks Mode 14
5.5.1 Activation Distributed Clocks under TwinCAT 14
5.6 Network management 14
6Terminal assignment and commissioning 15
6.1 Mechanical mounting 15
6.2 Electrical connection 15
6.2.1 Initialising under TwinCAT system manager 16
6.2.2 Terminal assignment 17
6.3 Display elements 18
6.3.1 State indicator 18
6.3.2 Link/Activity indicator 18
6.4 Bus cover Power over EtherCAT (PoE) 19
**TwinCAT is a trademark of the company BECKHOFF Industrie Elektronik

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1 Introduction
1.1 Product classification
Shaft encoders
Product Product-Code Product Name Product family
GBAMW 0x0F GBAMW_H multivoPlus - Singleturn
GBMMW 0x0E GBMMW_H multivoPlus - Multiturn
GBLMW 0x0E GBMMW_H multivoPlus - Multiturn
GCAMW 0x0D GCAMW_H magtivo®- Singleturn
GCMMW 0x0C GCMMW_H magtivo®- Multiturn
GXAMW 0x0B GXAMW_H multivo®- Singleturn
GXMMW 0x0A GXMMW_H multivo®- Multiturn
GXLMW 0x0A GXMMW_H multivo®- Multiturn
End shaft encoders
Product Product-Code Product Name Product family
GBAMS 0x0F GBAMW_H multivoPlus - Singleturn
GBMMS 0x0E GBMMW_H multivoPlus - Multiturn
GBLMS 0x0E GBMMW_H multivoPlus - Multiturn
GCAMS 0x0D GCAMW_H magtivo®- Singleturn
GCMMS 0x0C GCMMW_H magtivo®- Multiturn
GXAMS 0x0B GXAMW_H multivo®- Singleturn
GXMMS 0x0A GXMMW_H multivo®- Multiturn
GXLMS 0x0A GXMMW_H multivo®- Multiturn
Note:
For the above mentioned products there are 2 XML files available:
BAUMER IVO GxxMW_H encoder.xml (10 Byte PDO)
BAUMER IVO FAST GxxMW_H encoder.xml (4 Byte PDO)
See also chapter „PDO (Process Data Object)“.

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2 Safety and operating instructions
Supplementary information
•This manual is intended as supplement to already existing documentation (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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3 Product families
The structure of the product family is modular. Depending on what is required of 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 sampling system used.
Bus cover
The bus cover contains the entire electronic circuitry for measured value processing and the Ethernet
communication.
magtivo®
has a resolution of 1024 steps per revolution with 10 bit, features a magnetic sampling system and is suitable
for operation in extreme ambient conditions.
multivo®
has a resolution of 8192 steps per revolution with 13 bit, features an optical/magnetic sampling system and is
suitable for standard applications.
activo®/multivoPlus
features a 18 bit resolution of 262144 steps per turn, applies an optical/magnetic sensing method with
integrated analogue/digital conversion and is intended for ultra-precise sensing applications.
The basic encoder comprises a singleturn and a multiturn encoder. The multiturn encoder features a 16 bit
resolution respectively 65536 turns, or a 14 bit resolution corresponding to 16384 turns (multivoPlus). The
bus covers differ by their integrated bus interface.
Available bus interfaces: CANopen, DeviceNet, EtherCAT, Ethernet/IP, LIGHTBUS (fiber-optic), Profibus-DP,
Profinet, Power over EtherCAT (PoE), Powerlink, SAE J1939, SSI.
Except for encoders with fiber-optic interface, all encoders enable parameterization by bus interface.
Functional principle:
SAE J1939
bus cover
complete encoder
basic encoder

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4 Encoder operating parameters
Significance of operating parameters
Product
Product
family
Resolution per
turn Number of turns Measuring range
Decimal Hex Bit Decimal Hex Bit Decimal Hex Bit
GCAMW(S) magtivo®4096 1000 12 1 1 0 4096 1000 12
GCMMW(S) magtivo®4096 1000 12 65536 10000 16 268435456 10000000 28
GDAMW(S) activo®262144 40000 18 1 1 0 262144 40000 18
GDMMW(S) activo®262144 40000 18 16384 4000 14 4294967296 100000000 32
GXAMW(S) multivo®8192 2000 13 1 1 0 8192 2000 13
GXMMW(S) multivo®8192 2000 13 65536 10000 16 536870912 20000000 29
GBAMW(S) multivoPlus 262144 40000 18 1 1 0 262144 40000 18
GBMMW(S) multivoPlus 262144 40000 18 16384 4000 14 4294967296 100000000 32
These are ROM default parameters upon delivery.
Firmware version (0x100A) V4.00 provides a scaling function for customer-specific parameterization
of resolution, total measuring range, direction of rotation and preset. Refer also to chapter SDO,
object 0x6000.

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5 Encoder data
5.1 CoE (CANopen over EtherCAT)
Since there are many device and application profiles for a large variety of CANopen applications these may
also be applied at EtherCAT slaves.
The EtherCAT encoder is implementing a part of the DS406 encoder device profile.
Explanations and description of implemented Service Data Objects in chapter SDO.
5.2 PDO (Process Data Object)
With XML file BAUMER IVO GxxMW_H encoder.xml
The encoder will transmit following PDO (input data) as process data:
Value Data Type Significance
Position value UDINT Actual absolute encoder position value. For value range please refer to
chapter „Encoder operating parameters“
Warnings UINT Warnings
Bit 22= 1: Battery warning, Lithium cell voltage is not sufficient
System Time UDINT Actual system time, resolution in ns
Device identification in the TwinCAT system environment as „BAUMER IVO EtherCAT encoder“.
Linking the position value with the high resolution system time enables the master to calculate for example
speed respectively acceleration. Thus any jitter occurring in the communication system will not have any
impact.
With XML file BAUMER IVO FAST GxxMW_H encoder.xml
PDO (Process Data Object)
The encoder will transmit following PDO (input data) as process data:
Value Data type Significance
Position Value UDINT Actual absolute encoder position value. For value range please refer to
chapter „Encoder operating parameters“
Device identification in the TwinCAT system environment as „BAUMER IVO FAST EtherCAT encoder“.
Shorter clock cycles (up to 125 µs) are possible.

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5.3 SDO (Service Data Object)
Under TwinCAT there is access to the SDO objects under CoE - Online.
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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Object list Detailed explanations on the most important SDO objects
Object 0x1000 Device Type
SubIndex 0
Data type Unsigned 32
Access ReadOnly
Default Multiturn: 0x00020196
Singleturn: 0x00010196h
EEPROM No
Significance Information on device profile and device type
Values
Object 0x1008 Device Name
SubIndex 0
Data type VISIBLE_STRING
Access ReadOnly
Default According to connected basic encoder
"GXMMW_H","GXAMW_H","GCMMW_H ","GCAMW_H ",
"GDMMW_H","GDAMW_H",“GBMMW_H ","GBAMW_H "
EEPROM No
Significance Device name in ASCII
Values
Object 0x1009 Hardware Version
SubIndex 0
Data type VISIBLE_STRING
Access ReadOnly
Default
EEPROM No
Significance Hardware version in ASCII
Values
Object 0x100A Manufacturer Software Version
SubIndex 0
Data type VISIBLE_STRING
Access ReadOnly
Default
EEPROM No
Significance Software version in ASCII
Values
Object 0x1010 SAVE Application Parameter
Object 0x1010 is utilized to save device-specific objects (0x6000..0x6FFF) out of RAM into non-volatile memory
(EEPROM). To prevent inadvertent saving operations the signature „save“ must be written into object 0x1010
Subindex 0.
Signature MSB LSB
ISO 8859 character
hex
e v a s
0x65 0x76 0x61 0x73

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Object 0x1011 RESTORE Application Parameter
Object 0x1011 restores ROM default in device-specific objects (0x6000..0x6FFF) both in RAM and EEPROM. To
prevent any inadvertent restore, the signature „load“ must be written in object 0x1011 Subindex 0.
Signature MSB LSB
ISO 8859 character
hex
Object 0x1018 Identity Object
SubIndex 0
Data type Unsigned 8
Access ReadOnly
Default 4
EEPROM No
Significance Maximum supported subindex
Values 4 = Maximum supported subIndex
SubIndex 1
Data type Unsigned 32
Access ReadOnly
Default Ech
EEPROM No
Significance VendorID for Baumer IVO GmbH & Co. assigned by CiA
Values 0xEC (in the Internet under www.can-cia.de)
SubIndex 2
Data type Unsigned 32
Access ReadOnly
Default 0x0A ÆGXMMW_H ; 0x0B ÆGXAMW_H
0x0C ÆGCMMW_H ; 0x0D ÆGCAMW_H
0x0E ÆGBMMW_H, GDMMW_H ; 0x0F ÆGBAMW_H, GDAMW_H
EEPROM No
Significance Product Code
Values
SubIndex 3
Data type Unsigned 32
Access ReadOnly
Default
EEPROM No
Significance Revision no.
Values
SubIndex 4
Data type Unsigned 32
Access ReadOnly
Default
EEPROM No
Significance Serial no.
Values
d a o l
0x64 0x61 0x6F 0x6C