Baumer GXP8W User manual

Baumer IVO GmbH & Co. KG
Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone [phone]
Fax [phone].11 · 174.02.041/3
[email protected] Subject to technical and design modifications.
www.baumer.com Errors and omissions excepted.
Manual
Absolute Encoder with DeviceNet
Firmaware version from 1.02

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04.05.11 Villingen-Schwenningen, Germany
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
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
CW = 0
CCW = 1
CW = 0h
CCW = 1h
CW = 0
Resolution Number of steps per
revolution, input in integral
steps
1..8192 1..2000h 1..13 8192
Measurement
range
(total
resolution) *
Total resolution = number of
steps per revolution x number
of revolutions
1..536870912 1..20000000h 1..29 536870912
Preset value A certain output value is
assigned to the current
position value (referencing)
0.. selected total resolution -1 0
* With singleturn encoders the measurement range equals the resolution

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5. Object model
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.
I/O
Encoder
Position
Object
D
evice
Net
......
.................
.
1 2 3
Parameter Object
Message
Router
Object
Explicit
Message
I/O
Connection Object
I/O
Assembly Object
Identity
Object
DeviceNet
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 reserved Warn-
Flag
Alarm-
Flag
Examples:
Path entity 1 (in hex): „20 04 24 01“
Path entity 2 (in hex): „20 04 24 02“

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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 non-
volatile 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
Access Name Data type Significance Values
1 read Number of attributes USINT Number of attributes supported
2 read Attributes Array of
USINT
List of attributes supported
3 read/
write
Sense of rotation BOOL Setting the sense of rotation 0 = CW
1 = CCW
4 read Internal diagnostic
function
BOOL Not used 0 = OFF
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
revolution
see
operating
parameter
8 read/ write Total resolution UDINT Number of desired steps
exceeding the measurement
range
see
operating
parameter
9 read Reserved UDINT reserved = 0
10 read/ write Preset value UDINT Position value is set to the preset
value
see
operating
parameter
11 read/ write COS-Delta DINT Minimum divergent value of the
position in COS mode
1 to total
resolution
12 read Position value DINT actual position value 1 to total
resolution
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; Ætotal resolution = 3600 x 256 = 921600
If the number of revolutions relating to a value is programmed unequal 2n(1, 2, 4,...65536), the encoder must
be parameterized anew after crossing the encoder zero point in powerless state.

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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
Acces
s
Name Data-
type
Significance Values
80 read Operating status USINT Encoder diagnosis
comprising the operating
status
Bit 0
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
UDINT Internal resolution per
revolutions see operating parameters
82 read Number of
revolutions
UINT Internal number of
revolutions see operating parameters
83 read Alarm signals UINT Malfunction may lead to
wrong encoder position
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
attribute 83.)
0 = OK
1 = Alarm
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
(depending on attribute
86)
0 = OK
1 = warning signal
89 read Profile and
Software version
UDINT Low-Word: Profile
High-Word: Software-
Version
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 Warn-
Flagbit (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 Terminal Significance
1 DRAIN Shield connection
2 UB Power supply 10...30 VDC
3 GND B Ground connection UB
4 CAN_H CAN Bus Signal (dominant High)
5 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 No power supply
-Dupl. MAC-ID check not terminated.
-No power supply
Green flashing Device is active and online
No connections established
The device is operating under normal conditions and
is online, no connection established.
-Encoder not yet configurated by Master
-configuration incomplete or faulty
Green continous Device is active and online
Connections are established
The device is operating under normal conditions and
is online, connection status “established”
Red continous Critical device error or
Critical communication error
The device is in fatal non-corrective error status
-no network communication possible
-double assignment of user address (MAC-ID)
Red flashing Corrective error I/O connections in Time-Out status