Absolute encoders - bus interfaces
Hollow shaft max. ø14 mm
Optical multiturn encoders 13 bit ST / 16 bit MT, CANopen
G0P5H - CANopen
Terminal significance
Terminal assignment
UB
Encoder voltage supply
M12-connector
GND B
CAN_L
CAN_H
CAN_GND
Encoder ground connection relating to UB
CAN bus signal (dominant Low)
Connector Core colour Assignment
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
brown
white
blue
GND B
UB
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.
CAN_GND
CAN_H
CAN_L
black
grey
Please use cores twisted in pairs
(for example CAN_H / CAN_L) for
extension cables of more than 10 m
length.
CANopen features
3
2
4
5
Bus protocol
CANopen
1
Device profile
CANopen - CiA DSP 406, V 3.0
(Device Class 2, CAN 2.0B)
Operating modes Event-triggered / Time-triggered
Remotely-requested
M23-connector
Connector Core colour Assignment
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.
Pin 1
brown/green UB
Pin 2
white/green GND B
Pin 3
pink
grey
white
–
CAN_L
CAN_H
CAN_GND
–
Pin 4
Rotating direction Parameter for defining the rotating direc-
tion in which there have to be ascending
or descending position values.
Pin 5
Pin 6-12
Scaling
Parameter defining the steps per turn as
well as the total resolution.
Please use cores twisted in pairs
(for example CAN_H / CAN_L) for
extension cables of more than 10 m
length.
8
1
9
10
Diagnosis
The encoder supports the following error
warnings:
- Position and parameter error
- Lithium battery voltage control
(Multiturn)
12
7
2
3
6
11
4
5
Node Monitoring Heartbeat or Nodeguarding
Default 50 kbit/s, Node ID 1
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IVO [ BAUMER IVO GMBH & CO. KG ]
