Absolute encoders - bus interfaces
Shaft with clamping or synchro flange
Optical multiturn encoders 13 bit ST / 16 bit MT, CANopen
GXP5W - CANopen
Terminal significance
Terminal assignment
UB
Encoder voltage supply
Connector M12
GND B
CAN_L
CAN_H
CAN_GND
Encoder ground connection relating to UB
CAN bus signal (dominant Low)
Connector
Pin 1
Core colour Assignment
brown
white
blue
GND B
UB
CAN bus signal (dominant High)
Pin 2
GND relating to CAN interface.
Depending on model separated from
GND B either by galvanic isolation or by
inductive earthing.
Pin 3
CAN_GND
CAN_H
CAN_L
Pin 4
black
grey
Pin 5
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
1
3
2
4
1
5
5
Bus protocol
CANopen
Device profile
CANopen - CiA DSP 406, V 3.0
(Device Class 2, CAN 2.0B)
Operating modes Event-triggered / Time-triggered
Remotely-requested
Connector D-SUB
Sync (cyclic) / Sync (acyclic)
Connector
Pin 1
Assignment
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 2
CAN_L
Pin 3
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
GND B
CAN_H
–
Pin 7
Scaling
Parameter defining the steps per turn as
well as the total resolution.
Pin 8
Pin 9
UB
Diagnosis
The encoder supports the following error
warnings:
Please use cores twisted in
pairs (for example CAN_H /
CAN_L) for extension cables
of more than 10 m length.
- Position and parameter error
- Lithium battery voltage control
(Multiturn)
Node Monitoring Heartbeat or Nodeguarding
Default 50 kbit/s, Node ID 1
Connector M23
Connector
Pin 1
Core colour Assignment
brown/green UB
white/green GND B
Pin 2
Pin 3
pink
grey
white
–
CAN_L
CAN_H
CAN_GND
–
Pin 4
Pin 5
Pin 6-12
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
12
2
3
7
6
11
4
5
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