Absolute encoders - bus interfaces
Hollow shaft max. ø14 mm
Optical multiturn encoders 13 bit ST / 16 bit MT, CANopen
G0P5H - 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 Core colour
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
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
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.
M23-connector
Connector Core colour
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6-12
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
8
7
6
5
12
9 1
10
11
2
3
4
Default
3
www.baumerivo.com
29/10/2008
Subject to modification in technic and design. Errors and omissions excepted.
Node Monitoring
IVO [ BAUMER IVO GMBH & CO. KG ]
