Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5W - CANopen
Features
– Encoder multiturn / CANopen
– Optical sensing
– Resolution: singleturn 18 bit, multiturn 14 bit
–
Clamping flange or synchro flange
–
High resistance to shock and vibrations
–
LED status display
–
CANopen Profile CIA DSP 406
–
Permanent check of code continuity
GBP5W with clamping flange
Technical data - electrical ratings
Voltage supply
Consumption w/o load
Initializing time (typ.)
Interface
Transmission rate
Profile conformity
Operating mode
10...30 VDC
≤50 mA (24 VDC)
250 ms after power on
CANopen
10...1000 kBaud
CANopen CIA DSP 406 V 3.0
Event-triggered / Time-triggered
Remotely-requested
Sync (cyclic) / Sync (acyclic)
11 bit
262144 / 18 bit
16384 / 14 bit
±0.01°
Optical
Binary
CW/CCW programmable
CAN bus standard ISO / DIS
11898
DIN EN 61000-6-2
DIN EN 61000-6-4
Operating modes
Total resolution
Scaling
Rotation speed monitoring
Position or parameter error
Multiturn sensing
DUO-LED integrated in housing
UL approval / E63076
Weight approx.
E-connection
Reverse polarity protection Yes
Technical data - mechanical design
Housing
Shaft
Flange
Protection DIN EN 60529
Operating speed
Starting torque
Rotor moment of inertia
Admitted shaft load
Materials
Operating temperature
Relative humidity
Resistance
ø58 mm
ø10 mm (clamping flange)
ø6 mm (synchro flange)
Clamping or synchro flange
IP 54 without shaft seal
IP 65 with shaft seal
≤10000 rpm (mechanical)
≤6000 rpm (electric)
≤0.015 Nm IP 54
≤0.03 Nm IP 65
20 gcm²
≤20 N axial
≤40 N radial
Housing: steel
Flange: aluminium
-25...+85 °C
-40...+85 °C (optional)
95 % non-condensing
DIN EN 60068-2-6
Vibration 10 g, 16-2000 Hz
DIN EN 60068-2-27
Shock 200 g, 6 ms
500 g
Connector
Identifier
Steps per turn
Number of turns
Absolute accuracy
Sensing method
Code
Code sequence
Output circuit
Interference immunity
Emitted interference
Programmable
parameters
Diagnostic functions
Status indicator
Approval
1
www.baumerivo.com
31/10/2008
Subject to modification in technic and design. Errors and omissions excepted.
Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5W - CANopen
Part number
GBP5W.
10
Interface
06 CANopen DSP 406 /
galvanically isolated
16 CANopen DSP 406 not
galvanically isolated
A3
D3
M1
M2
M3
E-connection
Connector M23, 12-pin, radial
Connector D-SUB, 9-pin, radial
Connector M12, 5-pin, radial
2 x connector M12, 5-pin axial
2 x connector M12, 5-pin radial
Accessories
Connectors and cables
(page %S)
Z 148.001
Z 148.003
Z 148.005
Z 148.007
Z 180.003
Z 180.005
Z 180.007
Z 181.005
Female connector M23, 12-pin, less cable
Female connector M23, 12-pin, 2 m cable
Female connector M23, 12-pin, 5 m cable
Female connector M23, 12-pin, 10 m cable
Female connector M12, 5-pin, 2 m cable
Female connector M12, 5-pin, 5 m cable
Female connector M12, 5-pin, 10 m cable
Cable connector M12, 5-pin, 5 m cable
Connection M2 / M3, continuative bus
Eccentric fixing, single
Adaptor plate for clamping flange for
modification into synchro flange
Mounting adaptor for synchro flange
Mounting angle for clamping flange
Bearing flange for encoders with synchro
flange
Mounting accessories
(page %S)
Z 119.006
Z 119.013
Z 119.015
Z 119.017
Z 119.035
Voltage supply
10
10...30 VDC
0
A
1
B
Flange / Shaft
Clamping flange / ø10 mm IP 54
Clamping flange / ø10 mm IP 65
Synchro flange / ø6 mm IP 54
Synchro flange / ø6 mm IP 65
2
www.baumerivo.com
31/10/2008
Subject to modification in technic and design. Errors and omissions excepted.
Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5W - CANopen
Terminal significance
UB
GND B
CAN_L
CAN_H
CAN_GND
Encoder voltage supply
Encoder ground connection relating to UB
CAN bus signal (dominant Low)
CAN bus signal (dominant High)
GND relating to CAN interface.
Depending on model separated from
GND B either by galvanic isolation or by
inductive earthing.
Terminal assignment
M12-connector
Connector
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Core colour
brown
white
blue
black
grey
Assignment
GND B
UB
CAN_GND
CAN_H
CAN_L
Please use cores twisted in
pairs (for example CAN_H /
CAN_L) for extension cables
of more than 10 m length.
CANopen features
Bus protocol
Device profile
CANopen
CANopen - CiA DSP 406, V 3.0
(Device Class 2, CAN 2.0B)
4
5
1
3
2
3
2
5
4
1
Operating modes Event-triggered / Time-triggered
Remotely-requested
Sync (cyclic) / Sync (acyclic)
Preset
Parameter for setting the encoder to a
requested position value assigned to a
defined shaft position of the system. The
offset of encoder zero point and mecha-
nical zero point is stored in the encoder.
D-SUB connector
Connector
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Assignment
–
CAN_L
CAN_GND
–
–
GND B
CAN_H
–
UB
Please use cores twisted in
pairs (for example CAN_H /
CAN_L) for extension cables
of more than 10 m length.
M23-connector
Connector
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6-12
Core colour
brown/green
white/green
pink
grey
white
–
Assignment
UB
GND B
CAN_L
CAN_H
CAN_GND
–
Please use cores twisted in
pairs (for example CAN_H /
CAN_L) for extension cables
of more than 10 m length.
Rotating direction Parameter for defining the rotating direc-
tion in which there have to be ascending
or descending position values.
Scaling
Diagnosis
Parameter defining the steps per turn as
well as the total resolution.
The encoder supports the following error
warnings:
- Position and parameter error
- Lithium battery voltage control
(Multiturn)
Heartbeat or Nodeguarding
50 kbit/s, Node ID 1
Default
8
7
6
5
12
9 1
10
11
2
3
4
3
www.baumerivo.com
31/10/2008
Subject to modification in technic and design. Errors and omissions excepted.
Node Monitoring
Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Multiturn encoder 18 bit ST / 14 bit MT, CANopen
GBP5W - CANopen
Dimensions
GBP5W clamping flange and M23 connector
48
±0.1
M3x7 (3x120°)
57
10 20
15
ø10h6
ø36 f8
ø53
ø58
GBP5W clamping flange and M12 connector
48
±0.1
M3x7 (3x120°)
57
10 20
15
ø10 h6
ø36 f8
ø53
ø58
59
59
9
16
3
3
16
3
3
GBP5W clamping flange and D-SUB
48
±0.1
M3x7 (3x120°)
57
10 20
15
ø10 h6
ø36 f8
ø53
ø58
GBP5W clamping flange, 2 x M12 connector, radial
48
±0.1
M3x7 (3x120°
57
10 20
15
ø10 h6
ø36 f8
ø53
ø58
58
9
12
3
3
40°
10
3
3
GBP5W clamping flange, 2 x M12 connector, axial
48
±0.1
M3x7 (3x120°)
57
10 20
15
ø10h6
GBP5W connector dimensions
59
9
9
3
3
GBP5W synchro flange
42
±0.1
M4x7 (3x120°)
4 10
9
3
ø6f8
ø50h7
ø52
ø58
3
4
www.baumerivo.com
31/10/2008
Subject to modification in technic and design. Errors and omissions excepted.
15 16
5.5
ø36f8
ø53
ø58
9
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