Baumer GXP6W User manual

Baumer IVO GmbH & Co. KG

Dauchinger Strasse 58-62

DE-78056 Villingen-Schwenningen

Phone +49 (0)7720 942-0

Fax +49 (0)7720 942-900 05.11 · 174.02.058/2

[email protected] Subject to technical and design modifications.

www.baumer.com Errors and omissions excepted.

Manual

Absolute Encoder with shaft and Interbus

Version from 1.10

Manual_GXP6W_EN.doc 2/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

Contents

1Introduction 3

1.1 Scope of delivery 3

1.2 Product assignment 3

2Illustration of Encoder Data within Master 4

2.1 Position of the Encoder Data within the 2-word Addresses 4

2.2 Significance of the OUT Data (Data from the Master to the Encoder) 4

2.3 Significance of the IN Data (Data from Encoder to Master) 4

3Possible Modes of Operation 5

4Behavior of Encoder after Power ON 5

5Parameterization 5

6Examples 8

7Disturbance messages 10

8Contact description 10

8.1 Description for bus cover 10

8.2 Contact descriptions for bus cover 10

8.3 Settings of user adresses 11

8.4 EMV-cable gland 11

8.5 Contact description for C-plug 12

8.6 Pin assignment for C-plug 12

9Technical data 13

9.1 Part number 13

9.2 Accessories 13

9.3 Dimensions 14

Manual_GXP6W_EN.doc 3/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

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

•Manual available as download in the Internet

1.2 Product assignment

Shaft encoder

Product Product family

GXP6W Multiturn

Manual_GXP6W_EN.doc 4/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

2 Illustration of Encoder Data within Master

The IN as well as OUT data of the encoder are assigned 2-word addresses within the master (control). The absolute

position of these word addresses depends on the position of the encoder on the Interbus ring.

2.1 Position of the Encoder Data within the 2-word Addresses

Please find below the value of the encoder data relating to the relative word address.

Word 0 (Byte 0,1) 231 2

30 2

29 2

28 2

27 2

26 2

25 2

24 2

23 2

22 2

21 2

20 2

19 2

18 2

17 2

MSB LSB

Word 1 (Byte 2,3) 215 2

14 2

13 2

12 2

11 2

10 2

MSB LSB

2.2 Significance of the OUT Data (Data from the Master to the Encoder)

D31

D25

D24

OUT Data: Control word Parameter

Control

word: Enable

operation

Set zero

offset

Specific to

manufacturer

Parameter No.

D31 D30 D29 D28 D27 D26 D25

2.3 Significance of the IN Data (Data from Encoder to Master)

D31

D25

D24

IN Data: Status word Actual position value or disturbance number

Status

word:

Actual

position value

not valid

Parameterizat

ion

Specific to

manufacturer

Disturbance number in case of error

otherwise 0000

D31 D30 D29 D28 D27 D26 D25

Manual_GXP6W_EN.doc 5/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

3 Possible Modes of Operation

Normal Operation

Control

word:

Actual

position value

not valid

Set zero

offset

Specific to

manufacturer

Parameter No.

D31 D30 D29 D28 D27 D26 D25

Operation 0 0 0 0

Parameterization

Control

word:

Actual

position value

not valid

Set zero

offset

Specific to

manufacturer

Parameter No.

D31 D30 D29 D28 D27 D26 D25

Parameteri

zation

0 0 X 1...7 or 15

Enable

operation

0>1 0 X 0

4 Behavior of Encoder after Power ON

After power has been turned on, the following steps will take place during the initialization phase of encoder:

Test of battery tension

Switch to parameter mode

Loading of the most recent parameter data from EEPROM

Checking of parameter data as to their validity

After initialization the encoder switches to the OPERATION state and emits the current position value. In case of an

error (battery tension too low or parameter loss), however, the encoder commutes to the ERROR state.

5 Parameterization

The parameters of a profile K3 encoder can be transferred via the bits 0 to 24 of the process data channel to the

encoder. To this effect, the encoder has to be set to the parameterization state by a allotting parameter number not

equal to zero to the bits 9 to 12 of the control word (bit 25 to 28 of the process data channel).

Parameter No.

D28 D25

Function Value range

maximum

Factory

setting

0 0 0 1 Resolution: Sub-parameter Steps 1..33554431 8192

0 0 1 0 Resolution: Sub-parameter Revolutions 1..4096 1

0 0 1 1 Coding of actual position value 1..6 3

0 1 0 0 Preset value 0..33554431 0

0 1 0 1 Zero offset 0..33554431 0

0 1 1 0 Offset 0..33554431 0

0 1 1 1 Reset of encoder - -

1 1 1 1 Measuring range 1..4096 4096

Resolution

The resolution of the encoder is adjusted via the sub-parameters „Steps“ and „Revolutions“ and the resolution is

calculated according to the formula: Resolution = Steps / Revolutions.

The parameters Steps = 1000 and Revolutions = 3 result in a resolution of 333.333.. steps/revolution.

Manual_GXP6W_EN.doc 6/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

Coding of Actual position value

The parameter defines the coding of the actual value of the position allotted during OPERATION state.

Dual code with plus/minus sign (Integer)

Ascending code for sense of rotation 'right' (clockwise) with view on shaft

Dual code with plus/minus sign (Integer)

Ascending code for sense of rotation 'left' (counter-clockwise) with view on shaft

Dual code without plus/minus sign (Unsigned)

Ascending code for sense of rotation 'right' (clockwise) with view on shaft

Dual code without plus/minus sign (Unsigned)

Ascending code for sense of rotation 'left' (counter-clockwise) with view on shaft

Gray code without plus/minus sign

Ascending code for sense of rotation 'right' (clockwise) with view on shaft

Gray code without plus/minus sign

Ascending code for sense of rotation 'left' (counter-clockwise) with view on shaft

Preset Value

The value of the parameter 'Preset Value’ is used to find out the zero offset.

If the control command Set Zero Offset (control bit D30) is triggered by the master, the parameter Zero Offset is set

within the encoder to the value resulting from the following formula:

NPV = PW - API

The abbreviations stand for:

NPV Zero offset

PW Preset value

API Absolute actual value of position

Remark:

The calculated NPV value is not stored in E²Prom if activated by control bit D30. Due to the limited writing

cycles of the E²Prom, this value gets lost in case of power loss. However, when setting parameters, for

example preset, also the current NPV value is stored in E²Prom.

Manual_GXP6W_EN.doc 7/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

Zero Offset

The parameter Zero Offset refers to the difference between the zero point of the installation and the zero point of the

encoder. The actual position value is calculated according to the following formula:

PI = API + NPV

The abbreviations stand for:

PI Actual position value (is transferred)

API Absolute actual value of position

NPV Zero set off

Offset

The parameter 'Offset' is an additional possibility to offset the actual position value.

The actual position value is calculated according to the following formula:

PI = API + NPV + O

The abbreviations stand for:

PI Actual position value (is transferred)

API Absolute actual value of position

NPV Zero offset

O Offset

Resetting Encoder

When the parameter 'Reset Encoder' is transmitted to the encoder, all parameters are set back to their factory setting.

Measuring Range

It is possible to adjust the entire range of the position value via the parameter 'Measuring Range’. The unit for the

measuring range is the number of revolutions. If, for example, a resolution of 200 steps per revolution and a

measuring range of 5 revolutions are chosen, there ensues a total range of:

Total range = Resolution * Measuring range = 200 * 5 = 1000 steps

The total range of the position value thus stretches in the process data output without plus/minus signs from 0..999

and in the process data output with plus/minus signs from -500..499.

Manual_GXP6W_EN.doc 8/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

6 Examples

Example 1: Example for a parameter transfer

Host to Encoder Encoder to Host Remarks

Control word Status word

D25-

D28

D0-D24 D30-

D31

D25-

D28

D0 -

D24

1 0 0 x 0 0 0 Actual

value

Normal operation

2 0 P. No. Parameter 0 0 0 Actual

value

Host sends parameter to encoder,

encoder shows no reaction yet

3 0 P. No. Parameter 0 0 0 Actual

value

Host continues to wait for encoder

confirmation

4 0 P. No. Parameter 1 1 1) Para-

meter

Encoder has taken over parameter and

starts processing

5 0 P. No. Parameter 1 1 1) Para-

meter

Parameter processing within encoder is

still running

6 0 P. No. Parameter 1 1 P. No. Para-

meter

Parameter processing has been finished,

encoder remains in "Parameterization"

state

7 1 0 0 1 1 P. No. Para-

meter

Device control command "Enable

operation " from Host to encoder. Encoder

shows no reaction yet

8 1 0 0 0 0 0 Actual

value

Encoder is again in "Operation" state

9 0 0 0 0 0 0 Actual

value

Back again to normal operation state of

both participants

1): It must be ensured not to transfer the same parameter number as already confirmed by the encoder when

transmitting a parameter. It is not allowed to repeat the transfer of the same parameter without leaving the

"Parameterization" state.

The parameter number must be consistent.

When transferring several parameters, steps 4 to 6 must be repeated.

It must be ensured when transmitting a parameter that the parameter number is not allotted by the

parameter.

If parameters are transferred that are not valid or do not harmonize, the encoder will turn to the "Disturbance"

state when trying to enable operation.

Manual_GXP6W_EN.doc 9/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

Example 2: Procedure when transferring non-harmonizing parameters

Host to Encoder Encoder to Host Remarks

Control word Status word

D25-

D28

D0-D24 D30-

D31

D25-

D28

D0 -

D24

1 0 0 x 0 0 1) Actual

value

Normal operation

2 0 2 20 000 0 0 1) Actual

value

Host sends value in order to program

resolution (number of revolutions)

3 0 2 20 000 0 0 1) Actual

value

Host continues to wait for encoder

confirmation

4 0 2 20 000 1 1 1) 20 000 Encoder has taken over parameter and

starts processing

5 0 2 20 000 1 1 1) 20 000 Parameter processing within encoder is

still running

6 0 2 20 000 1 1 2 20 000 Parameter processing has been

finished, encoder remains in

"Parameterization" state

7 0 3 1 1 1 2 20 000 Host sends value to program coding of

actual position value

8 0 3 1 1 1 2 20 000 Host continues to wait for encoder

confirmation

9 0 3 1 1 1 2 1 Encoder has accepted parameter and

starts processing

10 0 3 1 1 1 3 1 Parameter processing has been

finished, encoder remains in

"Parameterization" state

11 1 0 0 1 1 3 1 Device control command "Enable

operation " from Host to encoder.

Encoder shows no reaction yet

12 1 0 0 0 1 1 0 Encoder switches to "Disturbance"

state, the disturbance code is "1". The

actual position value is not allotted on

the process data channel.

Here a try has been made to set the resolution of the encoder to 20 000 revolutions. The encoder reacts to

this inadmissible parameter setting by switching to the "Disturbance" state and by emitting the disturbance

code "1".

Manual_GXP6W_EN.doc 10/14 Baumer IVO GmbH & Co. KG

04.05.11 Villingen-Schwenningen, Germany

7 Disturbance messages

If there occurred an error when turning power on or during parameterization, the encoder switches to the

DISTURBANCE state after the user has passed the device control command ENABLE OPERATION and allots a

disturbance number to the bits D25-D28 of the status word. If an error occurs within the encoder during the

OPERATION state (e.g.: disturbance number 15), the encoder automatically switches to the DISTURBANCE state.

Disturbance No.

D28 D25

Significance

0 0 0 0 No disturbance

0 0 0 1 Inadmissible parameter from Master

0 0 1 0 Unknown parameter number

0 0 1 1 Parameter loss

1 1 0 1 Error when storing into EEPROM

1 1 1 0 Warning: Battery tension too low

1 1 1 1 Faulty value of encoder disk

8 Contact description

8.1 Description for bus cover

O N

GNDB

10-30V

D01/

DI1

DI1/

GNDI

D02

D02/

D12

D12/

GND

GNDB

10-30V

D01

8.2 Contact descriptions for bus cover

D01, D01 Incoming long-distance bus (A1) galvanically

DI1, DI1 separated from remaining encoder electronics

GND I Galvanically separated reference mass for incoming long-distance bus (A1).

Models without electrical isolation combined with GND.

UB Contacts for encoder supply

GND B incorporated within the bus (A1), UB = 10...30 VDC

D02, D02 Relaying long-distance bus (W1)

DI2, DI2

GND Reference mass for relaying long-distance bus (W1)

UB Contacts for GND B encoder supply either

GND B incorporated within bus (W1) or furnished via PG7, UB = 10 ... 30 VDC. Connected

internally with UB/GND B from A

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