ELGO Electronic MTM-A-000 Series User manual

Operating Manual
SERIES MTM-A-000
Magnetic-translational Absolute Measuring System
Permanent position detection even in power-off condition
Position / path determination at round profile rods
Wear-free, contactless measurement principle
Very robust and proven measuring technology
Interface: Analog output or CANopen
High shock and vibration resistance
Insensitive to contamination
Power supply 10 … 30 VDC
799000850 / Rev. 0 / 2019-03-08
Translation of the original operating manual

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Publisher
ELGO Electronic GmbH & Co. KG
Carl-Benz-Str. 1
D-78239 Rielasingen-Worblingen
Technical Support
[phone] - 0
[phone]
[email protected]
Document- No.
799000850
Document- Name
MTMA-000-MA-E_10-19
Document- Revision
Rev. 0
Issue Date
2019-03-08
Copyright
© 2019, ELGO Electronic GmbH & Co. KG

Contents
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1Contents
1Contents ............................................................................................. 3
2List of Figures..................................................................................... 4
3List of Tables ...................................................................................... 4
4General, Safety, Transport and Storage ........................................... 5
4.1 Information Operating Manual .............................................................................5
4.2 Explanation of Symbols ........................................................................................5
4.3 Statement of Warranties.......................................................................................6
4.4 Demounting and Disposal....................................................................................6
4.5 General Causes of Risk........................................................................................6
4.6 Personal Protective Equipment...............................................................................6
4.7 Conventional Use ...............................................................................................7
4.8 Safety Instructions for Transport, Unpacking and Loading ..........................................7
4.9 Handling of Packaging Material ............................................................................7
4.10 Inspection of Transport ........................................................................................7
4.11 Storage .............................................................................................................7
5Product Features ................................................................................ 8
5.1 Principle of Scanning...........................................................................................8
5.2 The absolute Measuring Principle ..........................................................................8
5.3 Available Output Signals......................................................................................8
6Technical Data ................................................................................... 9
6.1 Identification ......................................................................................................9
6.2 Dimensions of the MTM-A Standard Housing ..........................................................9
6.3 Technical Data MTM-A-000 ...............................................................................10
6.4 Usable Round Rod Diameters .............................................................................10
6.5 Usable Cylinder Diameters .................................................................................10
7Sensor adaption to Round Rod and Cylinder .................................. 12
7.1 Integration Example .......................................................................................... 12
8Installation and First Start-Up......................................................... 13
8.1 Operating Area ................................................................................................13
8.2 Installation of the Sensor ....................................................................................14
8.3 Adjustment of Reading Distance and Lateral Offset.................................................15
8.4 Calibration of the Measuring Range.....................................................................16
9Connections and Interfaces ............................................................. 18
9.1 Connection Options..........................................................................................18
9.2 Analog Output ................................................................................................. 19
9.1 CANopen Interface ...........................................................................................20

Contents
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10 Disturbances, Maintenance, Cleaning............................................. 21
10.1 Fault Clearance................................................................................................ 21
10.2 Re-start after Fault Clearance..............................................................................21
10.3 Maintenance.................................................................................................... 21
10.4 Cleaning .........................................................................................................21
11 Type Designation ............................................................................. 22
11.1 Accessories ......................................................................................................22
12 Index ................................................................................................ 24
2List of Figures
Figure 1: Example of an absolute coded round rod track ............................................................................. 8
Figure 2: Dimensions of the MTM-A standard sensor housing....................................................................... 9
Figure 3: Sensor adaption examples......................................................................................................... 12
Figure 4: Integration example via mounting ring........................................................................................ 12
Figure 5: Alignment of the active sensor area ............................................................................................ 14
Figure 6: Adjustment of reading distance and lateral offset ......................................................................... 15
Figure 7: Angular tolerances.................................................................................................................... 15
Figure 8: TEACH input wiring .................................................................................................................. 16
Figure 9: Standard connection - open cable ends...................................................................................... 18
Figure 10: Connection option 2 - (5-pin male M12 round connector) ......................................................... 18
Figure 11: CANopen interface................................................................................................................. 20
3List of Tables
Table 1: Mounting tolerances .................................................................................................................. 15
Table 2: Analog output with open cable ends............................................................................................ 19
Table 3: Analog output with 5-pin M12 round connector ........................................................................... 19
Table 4: CANopen with open cable ends.................................................................................................. 20
Table 5: CANopen with 5-pin M12 round connector ................................................................................. 20
Table 6: Accessories ............................................................................................................................... 22

General, Safety, Transport and Storage
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4General, Safety, Transport and Storage
4.1 Information Operating Manual
This manual contains important information regarding the handling of the device. For your own safety and operational safety, please ob-
serve all safety warnings and instructions. Precondition for safe operation is the compliance with the specified safety and handling instruc-
tions. Moreover, the existing local accident prevention regulations and the general safety rules at the site of operation have to be observed.
Please read the operating manual carefully before starting to work with the device! It is part of the product and should be kept close to the
device and accessible for the staff at any time. The illustrations in the manual are for better demonstration of the facts. They are not neces-
sarily to scale and can slightly differ from the actual design.
4.2 Explanation of Symbols
Special notes in this manual are characterized by symbols. The notes are introduced by signal words which express the magnitude of danger.
Please follow this advice and act carefully in order to avoid accidents, damage, and injuries.
Warning notes:
DANGER!
This symbol in connection with the signal word “Danger” indicates an immediate danger for the life and health of
persons. Failure to heed these instructions can result in serious damage to health and even fatal injury.
WARNING!
This symbol in connection with the word „Warning” means a possibly impending danger for the life and health of
persons. Failure to heed these instructions can result in serious damage to health and even fatal injury.
CAUTION!
This symbol in connection with the signal word “Caution” indicates a possibly dangerous situation. Failure to heed
these instructions can lead to minor injuries or damage of property.
Special safety instructions:
DANGER!
This symbol in connection with the signal word “Danger” indicates an immediate danger for the life and health of
persons due to voltage.
Failure to heed these instructions can result in serious damage to health and even fatal injury. The operations may
only be carried out by a professional electrician.
Tips and recommendations:
NOTE!
…points out useful tips and recommendations as well as information for an efficient and trouble-free operation.
Reference marks:
Marks a reference to another chapter of this manual.
Marks a reference to another chapter of another document.

General, Safety, Transport and Storage
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4.3 Statement of Warranties
The producer guarantees the functional capability of the process engineering and the selected parameters.
4.4 Demounting and Disposal
Unless acceptance and disposal of returned goods are agreed upon, demount the device considering the safety instructions of this manual
and dispose it with respect to the environment.
Before demounting, disconnect the power supply and secure against re-start. Then disconnect the supply lines physically and discharge
remaining energy. Remove operational supplies and other material.
Disposal: Recycle the decomposed elements: Metal components in scrap metal, Electronic components in electronic scrap, Recycle plastic
components, dispose the remaining components according to their material consistence.
CAUTION!
Wrong disposal causes environmental damages!
Electronic scrap, electronic components, lubricants and other auxiliary materials are subject to special refuse and can
only be disposed by authorized specialists!
Local authorities and waste management facilities provide information about environmentally sound disposal.
Safety
CAUTION!
Please read the operating manual carefully, before using the device! Observe the installation instructions!
Only start up the device if you have understood the operating manual.
The operating company is obliged to take appropriate safety measure.
The initial operation may only be performed by qualified and trained staff.
Selection and installation of the devices as well as their embedding into the controlling system require qualified
knowledge of the applicable laws and normative requirements on the part of the machine manufacturer.
4.5 General Causes of Risk
This chapter gives an overview of all important safety aspects to guarantee an optimal protection of employees and a safe and trouble-free
operation. Non-observance of the instructions mentioned in this operating manual can result in hazardous situations.
4.6 Personal Protective Equipment
Employees have to wear protective clothing during the installation of the device to minimize danger of health.
Therefore:
Change into protective clothing before performing the works and wear them throughout the process.
Additionally observe the labels regarding protective clothing in the operating area.
Protective clothing:
PROTECTIVE CLOTHING
… is close-fitting working clothing with light tear strength, tight sleeves and without distant parts. It serves preliminari-
ly for protection against being gripped by flexible machine parts.
Do not wear rings, necklaces or other jewelry.
PROTECTIVE GLOVES
…for protecting the hands against abrasion, wear and other injury of the skin.
PROTECTIVE HELMET
…for protection against injuries of the head.

General, Safety, Transport and Storage
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4.7 Conventional Use
The ELGO-device is only conceived for the conventional use described in this manual.
The ELGO MTM-A-000 length measuring system only serves to measure positions, lengths and/or speeds.
CAUTION!
Danger through non-conventional use!
Non-intended use and non-observance of this operating manual can lead to dangerous situations.
Therefore:
Only use the device as described
Strictly follow the instructions of this manual
Avoid in particular:
Remodeling, refitting or changing of the construction or single components with the intention to alter the
functionality or scope of the device.
Claims resulting from damages due to non-conventional use are not possible.
Only the operator is liable for damages caused by non-conventional use.
4.8 Safety Instructions for Transport, Unpacking and Loading
CAUTION!
Transport the package (box, palette etc.) professionally.
Do not throw, hit or fold it.
4.9 Handling of Packaging Material
Notes for proper disposal: 4.4
4.10 Inspection of Transport
Check the delivery immediately after the receipt for completeness and transport damage.
In case of externally recognizable transport damages:
Do not accept the delivery or only accept under reserve.
Note the extent of damages on the transportation documents or delivery note.
File complaint immediately.
NOTE!
Claim any damage immediately after recognizing it.
The claims for damage must be filed in the lawful reclaim periods.
4.11 Storage
Store the device only under the following conditions:
Do not store outside
Keep dry and dust-free
Do not expose to aggressive media
Protect from direct sun light
Avoid mechanical shocks
Storage temperature (6) needs to be observed
Relative humidity (6) must not be exceeded
Inspect packages regularly if stored for an extensive period of time (>3 months)
IMPORTANT!
When storing the coded rod, it must be explicitly ensured that it is not placed in the vicinity of foreign magnets
(refer also to section “Technical Data” 6.3„Environmental Conditions“).

Product Features
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5Product Features
The MTM-A-000 measuring system is based on the physical principle of magnetism and is used for a high-
precision determination of the position, the moved distance and/or the speed. Based on this wear-free and con-
tactless absolute measuring system, MTM-A-000 is suitable for fixed round rod profiles - for example for non-
rotating piston rods of hydraulic cylinders in mobile automation.
The system consists of the following components:
Round rod resp. piston rod (provided by the customer for absolute coding by ELGO)
Application related sensor system (ELGO made)
Mechanical accessories for sensor adaptation on request
5.1 Principle of Scanning
In order to determine the absolute position, the basis of the
magnetic MTM-A-000 linear encoder consists of a scan-
ning technology, which scans the magnetically coded round
rod contactless and completely wear-free.
The measured value is processed by the internal evaluation
electronics and is available either via a CANopen interface
or as an analog output signal (mA or Volt). From here it
can be further processed by the subsequent electronics.
5.2 The absolute Measuring Principle
The absolute measuring principle ensures maximum safety, as the current position value is always present. Even
in the event of a power failure, no data is lost. The measuring system only needs to be referenced once by learn-
ing the upper and lower position (see 8.4 Calibration of the Measuring Range).
Figure 1: Example of an absolute coded round rod track
5.3 Available Output Signals
Depending on the ordered interface option (see type designation 11) the sampled signal information is con-
verted by the internal evaluation electronics into one of the following output signals:
Interface option CA0 CANopen standard interface according to DS406 (encoder profile)
Interface option I20 Analog 12 bit output signal (0 … 20 mA), proportional to the measured value
Interface option I24 Analog 12 bit output signal (4 … 20 mA), proportional to the measured value
Interface option V04 Analog 12 bit output signal (0.5 … 4.5 V), proportional to the measured value
Interface option V10 Analog 12 bit output signal (0 … 10 V), proportional to the measured value
More information can be found in chapter 9 Connections and Interfaces.
S N S N S N S N S N S N S N

Technical Data
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6Technical Data
6.1 Identification
The type label serves for the identification of the unit. It is located on the housing of the measuring system and
gives the exact type designation (11) with the corresponding part number. Furthermore, the type label con-
tains a unique, traceable device number. When corresponding with ELGO please always indicate this data.
6.2 Dimensions of the MTM-A Standard Housing
Figure 2: Dimensions of the MTM-A standard sensor housing
*) cable length
**) average sensor pitch line = center of the round rod

Technical Data
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6.3 Technical Data MTM-A-000
MTM-A-000 (standard version)
Mechanical Data
Measurement principle
absolute
Repeat accuracy
± 1 increment
System accuracy
± 1 mm at max. 2450 mm measurement length (standard)
Distance sensor - round rod
1.0 mm with 10 mm wide coding
1.5 mm with 20 mm wide coding or all-round coding
Round rod diameter
min. 20 mm
Round rod coding
Standard: coded magnetic track (10 or 20 mm wide)
Optionally: coded total scope (possible on request)
Measuring length
max. 2450 mm (available in 10 mm steps 11)
Sensor housing material
galvanized aluminium
Sensor housing dimensions
L x W x H = 52 x 16 x 30 mm
Sensor cable length
standard: 1.5 m (others on request)
Weight
approx. 50 g without cable (cable: approx. 60 g/m)
Mounting position MTM-A system
depends on application
Electrical Data
Power supply voltage
10 … 30 VDC
Residual ripple
10 … 30 VDC <10 %
Consumption
max. 80 mA
Available Interfaces
(depends on order 11)
CANopen standard (DS406)
12 bit analog output (0 … 20 mA)
12 bit analog output (4 … 20 mA)
12 bit analog output (0.5 … 4.5 V)
12 bit analog output (0 … 10 V)
Connection type
(depends on order 11)
Standard: open cable ends
Option: 5-pin M12 x 1 round connector
Maximum operating speed
up to 2.0 m/s
Environmental Conditions
Store temperature
−25 … +85° C
Operating temperature
−25 … +85° C
Humidity
max. 95 %, none-condensing
Protection class (entire system)
standard: IP65 / optionally: IP69K (see section 11)
Influence of external magnet on
the coding of the round rod
External magnetic fields must not exceed 64 mT (640 Oe; 52 kA/m) on
the coded round rod surface (comparable to a rare earth magnet), as
this can damage or destroy the round rod coding.
6.4 Usable Round Rod Diameters
Available round rod diameters acc. to ISO 3320: 20, 22, 25, 28, 32, 36, 40, 45, 50, 56, 63, 70, 80, 90,
100, 110, 125, 140, 160, 180, 200, 220, 250, 280, 320 and 360 mm
6.5 Usable Cylinder Diameters
Available cylinder diameters acc. to ISO 3320:

Technical Data
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40, 50, 63, 80, 100, 110, 120, 125, 160, 200, 250, 320 and 400 mm

Sensor adaption to Round Rod and Cylinder
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7Sensor adaption to Round Rod and Cylinder
In order to adapt the MTM-A-000 sensor to the cylinder and round rod by the customer, various mechanical
solutions are conceivable. The following figure shows a few examples of possible mechanical integration into the
entire system:
Figure 3: Sensor adaption examples
a) Flange ring with holder for integrated sensor system (without sensor housing)
b) Mounting ring for integrated sensor system (without sensor housing)
c) Mounting ring for MTM-A-000 with standard sensor housing (6.2)
d) Identical to c) but in reverse mounting direction
On request and at an extra charge, the required mechanical accessories for sensor adaptation can be provided
by ELGO Electronic GmbH & Co. KG.
Since a specified maximum reading distance between sensor and round rod must not be exceeded for contact-
less scanning, the mounting tolerances described in section 8.3.1 must be observed and adhered to. Other-
wise, the measuring system cannot work correctly.
7.1 Integration Example
The following figure shows an example for the adaptation of an MTM-A-000 in the standard sensor housing
with a mounting ring, as suggested above under c):
Figure 4: Integration example via mounting ring
a) b) c) d)
Stroke length
Usable stroke = Measuring length

Installation and First Start-Up
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8Installation and First Start-Up
CAUTION
Please read the operating manual carefully before using the device! Strictly observe the Installation instructions!
In case of damage caused by failure to observe this operating manual, the warranty expires.
ELGO is not liable for any secondary damage and for damage to persons, property or assets.
The operator is obliged to take appropriate safety measures.
The first start-up may only be performed by qualified staff that has been trained and authorized by the operator.
8.1 Operating Area
WARNING!
Do not use the device in explosive environments!
The device must not be installed close to sources of strong inductive or capacitive interference or strong electrostatic
fields!
CAUTION!
The electrical connections must be made by suitably qualified personnel in accordance with local regulations.
Wiring works may only be performed in the de-energized state!
Thin cable strands have to be equipped with end sleeves!
Before switching on the device, connections and plug connectors have to be checked!
The device must be mounted in a way that it is protected against harmful environmental influences such as splashing
water, solvents, vibration, shock and severe pollution and the operating temperature must not be exceeded.

Installation and First Start-Up
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8.2 Installation of the Sensor
8.2.1 Alignment of the active Sensor Area
In the case of a 10 mm or 20 mm wide, single-track coded rod, the sensor housing must be positioned so that
the center of the sensor pitch line is in the center of the magnetic absolute coding. The center of the sensor pitch
line is located at a distance of 5 mm from the outer edge of the sensor housing (see figure).
Figure 5: Alignment of the active sensor area
Hint:
To make the magnetically coded track visible during alignment,
the pole finder foil (Art. No.: 710000130) can be used, which
is available as an accessory (11.1).
5 mm
Round rod Absolute coding Sensor housing
Side cover
Center of the sensor pitch line
Mounting ring
Magnetic track center
Round connector (option)

Installation and First Start-Up
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8.3 Adjustment of Reading Distance and Lateral Offset
Depending on the order specification, a 10 mm or 20 mm wide single-track coding or a complete all-round
coding is used. Since the magnetic field lines are differently pronounced with a narrower and wider coding,
different maximum reading distances and lateral offset tolerances result for the mounting of the sensor to the
round rod.
8.3.1 Mounting Tolerances
Table 1: Mounting tolerances
Coding
Order index
Reading distance
Lateral offset
Pitch & Roll Angle
Yaw Angle
10 mm
1 (11)
max. 1 mm
max. ± 1.0 mm
see figure 7
<±1.0°
20 mm
2 (11)
max. 1.5 mm
max. ± 2.0 mm
see figure 7
<±1.0°
All-round
3 (11)
max. 1.5 mm
max. ± 2.0 mm
see figure 7
<±1.0°
Figure 6: Adjustment of reading distance and lateral offset
Figure 7: Angular tolerances
REMARK
Any mechanical loads that may occur must be taken into account when adjusting the
reading distance.
Side cover
Round rod
Cylinder
Mounting ring
Maximum
reading distance
5 mm
Sensor housing
Coding
Lateral offset
Center of the sensor pitch line
Roll: Pitch: Yaw:
max. 1.0 mm
resp. 1.5 mm <±1.0 °
max. 1.0 mm
resp. 1.5 mm

Installation and First Start-Up
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GND
TEACH
Signal cable
red wire 4
12
5
3
GND
TEACH
Standard Connection option R5M0
8.4 Calibration of the Measuring Range
8.4.1 Calibration for Versions with CAN Interface
A hardware calibration as described in section 8.4.2 is not required for this version.
The calibration of the upper and lower set point is performed via the CANopen interface.
8.4.2 Calibration for Versions with Analog Output
REMARKS
The calibration must be performed for each newly installed MTM-A-000
measuring system before or during commissioning.
Even when replacing the measuring system or rod (e. g. in case of servicing)
a new calibration must be performed.
One second after power-up, the device is ready for operation. In
addition, the MTM-A-000 system with analog output offers the
possibility of initiating the learning process during the first ten
seconds after power-up. A lower and upper set point must be de-
fined for which the TEACH input is required.
Ideally, this input is - temporarily for the calibration procedure -
wired with a switch or push-button against GND (see figure).
To calibrate the set points, please proceed as follows:
Starting position = TEACH input is open resp. not activated.
Press the connected TEACH button.
During the first second of pressing, the LED changes rapidly between red and green.
a) Keep the button pressed within 1 … 3 seconds, until the LED lights statically green:
By releasing the button in the green phase, the learning of the lowest position (min) is initiated.
b) Keep the button pressed (max. 8 seconds), until the LED lights statically red:
By releasing the button in the red phase, the learning of the uppermost position (max) is initiated.
Outside these times, the learning process is interrupted.
8.4.2.1 Teach Set Point 1 (Min)
Move the round rod to the lower set point (e.g. zero point) and release the TEACH button during the green
phase.
3 x flashing, followed by 3 x pressing button stores the lower set point.
This is confirmed by the LED with a single green hold for 1.5 seconds.
Set point 1 (Min position)
Figure 8: TEACH input wiring

Installation and First Start-Up
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8.4.2.2 Teach Set Point 2 (Max)
Move the round rod to the upper set point (e.g. maximum position) and release the TEACH button during the
red phase.
6 x flashing, followed by 6 x pressing button stores the upper set point.
This is confirmed by the LED with a single green hold for 1.5 seconds.
After a successful learning sequence, the current position values are stored in non-volatile memory.
The MTM-A-000 system is ready for operation with the newly taught-in scaling.
8.4.2.3 Possible causes of faulty teaching
If after teaching a set point, the LED finally appears red instead of green for 1.5 seconds, the key sequence was
not correct and the learning process is discarded. The learning process will also be denied if:
1. No valid position is measured.
2. The max position is to be learned, but the current position
is below the min position already stored.
3. The min position is to be learned, but the current position
is higher than the already stored max position.
An invalid learning process is indicated by ten slow changes between red - green - red.
Set point 2 (Max position)

Connections and Interfaces
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9Connections and Interfaces
9.1 Connection Options
Two different connection options are available for the MTM-A-000 system (order information see 11).
For the version with plug connector a 5-pin M12 x 1 round connector is used.
9.1.1 Open Cable Ends (Standard)
Figure 9: Standard connection - open cable ends
9.1.2 5-pin (male) M12 Round Connector (Connection Option 2)
Figure 10: Connection option 2 - (5-pin male M12 round connector)

Connections and Interfaces
- 19 -
9.2 Analog Output
The 12 bit analog output operates proportional to the position value. Depending on the selected interface op-
tion (see 11), the output is designed for operation with voltage or current.
9.2.1 Scaling of the Analog Output
The resolution to the analog interface is 700 µm. In the delivery state, each position increment of 700 µm corre-
sponds to a change of one bit in the DAC value.
In order to adapt the system to the desired application, two positions must be learned during commissioning
(TEACH procedure). The lowest TEACH position (min) and all lower TEACH positions are assigned to the DA
converter value "0". The uppermost TEACH position (Max) and all positions above are assigned to the DAC
value "4095". Within the two TEACH positions, each internal position step of 700 µm corresponds to a DAC
change of 4095 / (uppermost teach position - lowermost teach position).
For more information about the TEACH positions, see 8.4.2 Calibration for Versions with Analog Output
9.2.2 Connections Analog Output
Depending on the order specification, the connections are made via open cable ends or via an 5-pin M12
round connector which is attached to the end of the signal cable.
Table 2: Analog output with open cable ends
Connection Type
Drawing
Color
Function
Description
Standard:
Open cable ends
black
0 V / GND
Ground
brown
+VCC
10 … 30 VDC
red
TEACH
Teach input
orange
-
-
green
Analog OUT
+ Volt / + mA
yellow
Analog GND
− Volt / − mA
Table 3: Analog output with 5-pin M12 round connector
Connection Type
Drawing
Pin
Function
Description
Connection Option 2:
5-pin M12 round connector
(socket, soldering side)
1
TEACH
Teach input
2
+VCC
10 … 30 VDC
3
0 V / GND
Masse
4
Analog OUT
+ Volt / + mA
5
Analog GND
− Volt / − mA
With shielded versions, the shield is connected to the housing
4
12
5
3

Connections and Interfaces
- 20 -
9.1 CANopen Interface
When ordering the CA0 interface option, the MTM-A-000 measuring system is equipped with a CAN interface
according to CANopen standard DS406 for encoder device profiles.
In order to start the communication with the MTM-A-000 an NMT command has to be sent first.
The following identifiers are given:
CAN - Identifier
(6 Byte telegram)
181 (16) = Identifier
First 4 bytes = Position (resolution 1 mm), Bit rate = 250 KB/s*
Next 2 bytes = Speed in mm/s
Figure 11: CANopen interface
*) The bit rate and other parameters can be changed via CAN interface. Available CAN options and further
information about the DS406 device profile can be found in the downloadable EDS and XDD file.
Download link: https://www.elgo.de/fileadmin/user_upload/software/MTMQ_DS406.zip
9.1.1 Connections CANopen Interface
Table 4: CANopen with open cable ends
Connection Type
Drawing
Color
Function
Description
Standard:
Open cable ends
black
0 V / GND
Ground
brown
+VCC
10 … 30 VDC
red
-
n. c.
orange
-
n. c.
green
CAN HIGH
positive CAN signal
yellow
CAN LOW
negated CAN signal
Table 5: CANopen with 5-pin M12 round connector
Connection Type
Drawing
Pin
Function
Description
Connection Option 2:
5-pin M12 round connector
(socket, soldering side)
1
Shield
CAN shielding
2
+VCC
10 … 30 VDC
3
0 V / GND
Ground
4
CAN HIGH
positive CAN signal
5
CAN LOW
negated CAN signal
Position Speed
LSB MSB LSB MSB
4
12
5
3