Manual

Absolute Encoder with CANopen

(with bus cover)
Firmware version from 1.00

Baumer IVO GmbH & Co. KG

Dauchinger Strasse 58-62
DE-78056 Villingen-Schwenningen
Phone +49 7720 942-0
Fax +49 7720 942-900 .10.17 · 174.02.022/12
info.de@baumerivo.com Subject to modification in technic and design.
www.baumer.com Errors and omissions excepted.
Contents
Page
1. Introduction 3
1.1. Scope of delivery 3
1.2. Product assignment 4
2. Safety and operating instructions 5
3. Product families 6
4. CAN bus and CANopen communication 7
4.1. CAN bus 7
4.1.1. CAN bus characteristics 7
4.2. CANopen 8
4.3. CANopen communication 9
4.3.1. Communication profile 9
4.3.2. CANopen message structure 9
4.3.3. Service data communication 10
4.3.4. Process data communication 11
4.3.5. Emergency service 13
4.3.6. Network management services 14
4.3.7. Layer Setting Services 18
4.4. Encoder profile 21
4.4.1. Overview of encoder objects 21
4.4.2. Detailed object list (DS-301) 25
5. Diagnosis and useful information 40
5.1. Error diagnosis field bus communication 40
5.2. Error diagnosis via field bus 40
5.3. Useful information relating to the sensor 41
6. Applications 42
6.1. Setting and reading objects 42
6.2. Configuration 43
6.3. Operation 44
6.4. Use the encoder via CAN interface 46
7. Terminal assignment and commissioning 48
7.1. Mechanical mounting 48
7.2. Electrical connection 48
7.2.1. Setting the user address (Node ID) 48
7.2.2. Setting the baud rate 49
7.2.3. Terminating resistor 49
7.2.4. Bus cover connection 49
7.2.5. Terminal assignment 52
7.3. Display elements (status display) 52

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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.

Created by:
Baumer IVO GmbH & Co. KG
Villingen-Schwenningen, Germany

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:
Basic encoder, bus cover and CD with describing file and manual (also available as download)

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1.2. Product assignment

Shaft encoder
Product Product code Device Name Eds file Product family
GBAMW 0x0F GBAM GBAMW_H.eds multivoPlus - Singleturn
GBMMW 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn
GBLMW 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn
GCAMW 0x0D GCAM GCAMW_H.eds magtivo® - Singleturn
GCMMW 0x0C GCMM GCMMW_H.eds magtivo® - Multiturn
GEMMW 0x0A GXMM GXMMW_H.eds multivo® - Multiturn (stainless steel)
GXAMW 0x0B GXAM GXAMW_H.eds multivo® - Singleturn
GXMMW 0x0A GXMM GXMMW_H.eds multivo® - Multiturn
GXLMW 0x0A GXMM GXMMW_H.eds multivo® - Multiturn

End shaft encoder

Product Product code Device Name Eds file Product family
GBAMS 0x0F GBAM GBAMW_H.eds multivoPlus - Singleturn
GBMMS 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn
GBLMS 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn
GCAMS 0x0D GCAM GCAMW_H.eds magtivo® - Singleturn
GCMMS 0x0C GCMM GCMMW_H.eds magtivo® - Multiturn
GXAMS 0x0B GXAM GXAMW_H.eds multivo® - Singleturn
GXMMS 0x0A GXMM GXMMW_H.eds multivo® - Multiturn
GXLMS 0x0A GXMM GXMMW_H.eds multivo® - Multiturn

Hollow shaft encoder

Product Product code Device Name Eds file Product family
G0AMH 0x0B GXAM GXAMW_H.eds multivo® - Singleturn
G0MMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn
G0LMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn
G1AMH 0x0B GXAM GXAMW_H.eds multivo® - Singleturn
G1MMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn
G2AMH 0x0B GXAM GXAMW_H.eds multivo® - Singleturn
G2MMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn
GBAMH 0x0F GBAM GBAMW_H.eds multivoPlus - Singleturn
GBLMH 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn
GBMMH 0x0E GBMM GBMMW_H.eds multivoPlus - Multiturn
GEMMH 0x0A GXMM GXMMW_H.eds multivo® - Multiturn (stainless steel)

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2. Safety and operating instructions
Intended use
 The encoder is a precision measuring device that is used to record positions and speeds. It provides
measuring values as electronic output signals for the subsequently connected device. It must not be used
for any other purpose. Unless this product is specially labeled, it may not be used for operation in
potentially explosive environments.
 Make sure by appropriate safety measures, that in case of error or failure of the encoder, no danger to
persons or damage to the system or operating facilities occurs.

Personnel qualification
 Installation and assembly of this product may be performed only by a person qualified in electronics and
precision mechanics.

Maintenance
 The encoder is maintenance-free and must not be opened up nor mechanically or electronically modified.
Opening up the encoder can lead to injury.

Disposal
 The encoder contains electronic components. At its disposal, local environmental guidelines must be
followed.

Mounting
 Solid shaft: Do not connect encoder shaft and drive shaft rigidly. Connect drive and encoder shaft with a
suitable coupling.
 Hollow shaft: Open clamping ring completely before mounting the encoder. Foreign objects must be kept
at a sufficient distance from the stator coupling. The stator coupling is not allowed to have any contact to
the encoder or the machine except at the mounting points.

Electrical commissioning
 Do not proceed any electrical modifications at the encoder.
 Do not proceed any wiring work while encoder is live.
 Do not remove or plug on connector whilst under power supply.
 Ensure that the entire system is installed in line with EMC/EMI requirements. Operating environment and
wiring have an impact on the electromagnetic compatibility of the encoder. Install encoder and supply
cables separately or far away from sources with high emitted interference (frequency converters,
contactors, etc.).
 When working with consumers with high emitted interference provide separate encoder supply voltage.
 Completely shield encoder housing and connecting cables.
 Connect encoder to protective earth (PE) using shielded cables. The braided shield must be connected to
the cable gland or connector. Ideally, aim at dual connection to protective earth (PE), i.e. housing by
mechanical assembly and cable shield by the downstream devices.

Supplementary information
 The present manual is intended as a supplement to already existing documentation (e.g. catalogues, data
sheets or mounting instructions).

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3. Product families
The product family architecture is modular. Depending on what is required from the encoder, the basic
encoder and bus covers can be combined at will with the selected bus system.
The basic encoders differ in terms of accuracy, ambient conditions and the utilized sensing principle.

Bus cover
The bus cover accommodates the entire electronics for measured value processing and for Ethernet
communication.

The bus covers differ by the respectively integrated bus interface.

Available bus interfaces: CANopen®, DeviceNet, EtherCAT, Ethernet/IP, Profibus-DP, Profinet, Powerlink,
Power over EtherCAT, SAE J1939, SSI.
All encoders enable parameterization by bus interface.

Functional principle:

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4. CAN bus and CANopen communication
4.1. CAN bus
The CAN bus (CAN: Controller Area Network) was originally developed by Bosch and Intel as a means of
fast, low-cost data transmission in automotive applications. The CAN bus is used today also in industrial
automation applications.
The CAN bus is a field bus (the standards are defined by the CAN in Automation (CiA) Association) through
which devices, actuators and sensors from different manufacturers can communicate with each other.

4.1.1. CAN bus characteristics

• Data rate of 1 MBaud with network expansion up to 40 m
• Network connected on both sides
• The bus medium is a twisted-pair cable
• Real time capability: Defined maximum waiting time for high-priority messages.
• Theoretically 127 users at one bus, but physically only 32 are possible (due to the driver).
• Ensures data consistency across the network. Damaged messages are notified as faulty for all network
nodes.
• Message-oriented communication
The message is identified by a message identifier. All network nodes use the identifier to test whether the
message is of relevance for them.
• Broadcasting, multicasting
All network nodes receive each message simultaneously. Synchronization is therefore possible.
• Multimaster capability
Each user in the field bus is able to independently transmit and receive data without being dependent upon
the priority of the master. Each user is able to start its message when the bus is not occupied. When
messages are sent simultaneously, the user with the highest priority prevails.
• Prioritization of messages
The identifier defines the priority of the message. This ensures that important messages are transmitted
quickly via the bus.
• Residual error probability
Safety procedures in the network reduce the probability of an undiscovered faulty data transmission to
-11
below 10 . In practical terms, it is possible to ensure a 100% reliable transmission.
• Function monitoring
Localization of faulty or failed stations. The CAN protocol encompasses a network node monitoring function.
The function of network nodes which are faulty is restricted, or they are completely uncoupled from the
network.
• Data transmission with short error recovery time
By using several error detection mechanisms, falsified messages are detected to a high degree of
probability. If an error is detected, the message transmission is automatically repeated.

In the CAN Bus, several network users are connected by means of a bus cable. Each network user is able to
transmit and receive messages. The data between network users is serially transmitted.

Examples of network users for CAN bus devices are:

• Automation devices such as PLCs
• PCs
• Input and output modules
• Drive control systems
• Analysis devices, such as a CAN monitor
• Control and input devices as Human Machine Interfaces (HMI)
• Sensors and actuators

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4.2. CANopen
Under the technical management of the Steinbeis Transfer Centre for Automation, the CANopen profile was
developed on the basis of the Layer 7 specification CAL (CAN Application Layer). In comparison with CAL,
CANopen only contains the functions suitable for this application. CANopen thus represents only a partial
function of CAL optimized for the application in hand, so permitting a simplified system structure and the use
of simplified devices. CANopen is optimized for fast data exchange in real time systems.
The organization CAN in Automation (CiA) is responsible for the applicable standards of the relevant profiles.
CANopen permits:
• Simplified access to all device and communication parameters
• Synchronization of several devices
• Automatic configuration of the network
• Cyclical and event-controlled process data communication

CANopen comprises four communication objects (COB) with different characteristics:

• Process data objects for real time data (PDO)
• Service data objects for parameter and program transmission (SDO)
• Network management (NMT, Heartbeat)
• Pre-defined objects (for synchronization, emergency message)

All device and communication parameters are subdivided into an object directory. An object directory
encompasses the name of the object, data type, number of subindexes, structure of the parameters and the
address. According to CiA, this object directory is subdivided into three different parts. Communication profile,
device profile and a manufacturer-specific profile (see object directory).

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4.3. CANopen communication

4.3.1. Communication profile

Communication between the network users and the Master (PC / Control) takes place by means of object
directories and objects. The objects are addressed via a 16 bit index. The CANopen communication profile
DS 301 standardizes the various communication objects. They are accordingly divided into several groups:
• Process data objects PDO for real time transmission of process data
• Service data objects SDO for read/write access to the object directory
• Objects for synchronization and error display of CAN users:
SYNC object (synchronization object) for synchronization of network users
EMCY object (emergency object) for error display of a device or its peripherals
• Network management NMT for initialization and network control
• Layer Setting Services LSS for configuration by means of serial numbers, revision numbers etc. in the
middle of an existing network

4.3.2. CANopen message structure

The first part of a message is the COB ID (Identifier).
Structure of the 11-bit COB ID :

Function code Node ID

4-bit function code 7-bit node ID

The function code provides information on the type of message and priority
The lower the COB ID, the higher the priority of the message

Broadcast messages:

Function code COB ID

NMT 0
SYNC 80h

Peer to peer messages:

Function code COB ID

Emergency 80h + Node ID
1)
PDO1 (tx) 180h + Node ID
1)
PDO2 (tx) 280h + Node ID
1)
SDO (tx) 580h + Node ID
1)
SDO (rx) 600h + Node ID
Heartbeat 700h + Node ID
1)
LSS (tx) 7E4h
1)
LSS (rx) 7E5h 1): (tx) and (rx) from the viewpoint of the encoder

The node ID can be freely selected by means of the CANopen bus between 1 and 127 (if encoder = 0). The
encoders are supplied with the Node ID 1.
This can be changed with the service data object 2101h or using LSS.

A CAN telegram is made up of the COB ID and up to 8 bytes of data:

COB ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Xxx x xx xx xx xx xx xx xx xx

The precise telegram is outlined in more detail at a later point.

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4.3.3. Service data communication
The service data objects correspond to the standards of the CiA. It is possible to access an object via index
and subindex. The data can be requested or where applicable written into the object.

General information on the SDO

Structure of an SDO telegram:

COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3

An SDO-COB ID is composed as follows:

Master -> Encoder : 600h + Node ID
Encoder -> Master : 580h + Node ID

DLC (data length code) describes the length of the telegram. This is composed as follows:
1 byte command + 2 bytes object + 1 byte subindex + no. of data bytes (0 - 4).

The command byte defines whether data is read or set, and how many data bytes are involved.

SDO command Description Data length

22h Download request Max. 4 Byte Transmits parameter to encoder
23h Download request 4 byte
2Bh Download request 2 byte
2Fh Download request 1 byte

60h Download response - Confirms receipt to master

40h Upload request - Requests parameter from encoder

42h Upload response Max. 4 byte Parameter to master with max. 4 byte
43h Upload response 4 byte
4Bh Upload response 2 byte
4Fh Upload response 1 byte

80h Abort message - Encoder signals error code to master

An abort message indicates an error in the CAN communication. The SDO command byte is 80h. The object
and subindex are those of the requested object. The error code is contained in bytes 5 – 8.

ID DLC Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

580h + Node ID 8 80h Object L Object H Subindex ErrByte 0 ErrByte 1 ErrByte 2 ErrByte 3

Byte 8..5 results in the SDO abort message (byte 8 = MSB).

The following messages are supported:

05040001h : Command byte is not supported

06010000h : Incorrect access to an object
06010001h : Read access to write only
06010002h : Write access to read only
06020000h : Object is not supported
06090011h : Subindex is not supported
06090030h : Value outside the limit
06090031h : Value too great
08000000h : General error
08000020h : Incorrect save signature
08000021h : Data cannot be stored

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SDO examples

Request of a value by the master from the slave

A frequent request will be a request for position.  Object 6004h

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 40h 04h 60h 0 x x x x

Response by the slave to the request for a value

The position is 4 bytes long, the precise values can be found under object 6004h.

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 43h 04h 60h 0 a b c d

Writing of a value by the master into the slave

Position setting can be performed with preset.  Object 6003h

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 22h 03h 60h 0 a b c d

Slave's response to the writing of a value

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 60h 03h 60h 0 0 0 0 0

4.3.4. Process data communication

Process data objects are used for real time data exchange for process data, for example position or operating
status. PDOs can be transmitted synchronously or cyclically (asynchronously). The encoder supports the
PDO1 and the PDO2. Both PDOs supply the current position of the encoder and are defined in the objects
1800h, 1801h, 1A00h, 1A01, 2800h, 2801h and 6200h.

Synchronous
In order to transmit the process data synchronously, a value between 1 and F0h (=240) must be written into
the object 1800h / 1801h Subindex 2. If the value is 3, the PDO is transmitted on every third sync telegram (if
the value 1 is entered, transmission takes place on every sync telegram), as long as there is a 0 written into
the object 2800h / 2801h. If it contains for example a 5, the PDO will continue to be written as before on every
third Sync telegram, but only a total of 5 times. Accordingly, the last PDO is written on the 15th sync
telegram. The counter for the number of PDOs to be transmitted is reset in the event of a position change or
NMT reset, i.e. unless it is changed, the position is transmitted five times. If the position changes, it is
transmitted a further five times.
In synchronous operation, the PDO is requested by the master via the Sync telegram.

Byte 0 Byte 1
COB ID = 80 0

Cyclical (asynchronous)
If you wish the PDOs to be transmitted cyclically, the value FEh must be written into the object 1800h / 1801h
Subindex 2. In addition, the cycle time in milliseconds must be entered in the same object subindex 5. The
entered time is rounded off to 1 ms. If the value is stored for 0 ms, the PDOs are not transmitted. The function
is switched off.
The object 2800h / 2801h offers another possibility: If the value is 0, cyclical transmission runs as described
above. If the value is 1, a cyclical test is performed as to whether a change of the value has occurred. If not,
no transmission takes place. If the value is 4, the PDO is transmitted four times with each cycle if there is a
change.

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Overview
In the following table, the different transmission modes for PDOs are summarized:

1800h
2800h Summarized description
Sub2 Sub5
FEh 3ms 0 Cyclical transmission every 3 ms
FEh 5ms 2 Every 5 ms, the PDO is sent twice if there is a change
FEh 0ms 0 Transmit PDO switched off
FEh 0ms xxx Transmit PDO switched off
3 xxx 0 Transmit with every third sync telegram
3 xxx 2Bh On every third sync telegram, but only 43 times in total (=2Bh).

PDO (Position)
PDO1 telegram structure:

ID DLC Byte 1 Byte 2 Byte 3 Byte 4

181h 4 Xx Xx Xx Xx

ID : 180h + node ID
Length : 4 DataByte
Byte1 - 4 : Current position in increments

PDO2 telegram structure:

ID DLC Byte 1 Byte 2 Byte 3 Byte 4

281h 4 Xx Xx Xx Xx

ID : 280h + node ID
Length : 4 DataByte
Byte1 - 4 : Current position in increments

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4.3.5. Emergency service
Internal device error or bus problems initiate an emergency message:

COB-ID DLC Byte0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
80h+Node-ID 8 Error Code Error register Alarms 6503h Warning 6505h -
00h 01h 1001h

Byte 0..1: Error Codes

Error Code (hex) Meaning
0000 Error Reset or No Error
1000 Generic Error
5530 EEPROM error (from V1.04)
6010 Software reset (Watchdog) (from V1.04)
7320 Position error (from V1.04)
7510 Internal communication error (from V1.04)
8130 Life Guard error or Heartbeat error (from V1.04)
FF00 Battery low (from V1.04)

Byte 2: Error-Register
Bit Meaning
0 Generic Error
4 Communication error (from V1.04)
7 manufacturer specific (from V1.04)

Byte 3..4 Alarms

Bit Meaning Wert = 0 Wert = 1
0 Position error activ Nein Ja

Byte 5..6 Warning

Bit Meaning Wert = 0 Wert = 1
2 CPU watchdog status OK Reset done
4 Battery charge OK Battery low

Byte 7: not used

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4.3.6. Network management services
Network management can be divided into two groups.
Using the NMT services for device monitoring, bus users can be initialized, started and stopped.
In addition, NMT services exist for connection monitoring.

Description of the NMT command

The commands are transmitted as unconfirmed objects and are structured as follows:

Byte 0 Byte 1 Byte 2

COB ID = 0 Command byte Node number

The COB ID for NMT commands is always zero. The node ID is transmitted in byte 2 of the NMT command.

Command byte

Command byte Description In state event drawing

01h Start remote node 1
02h Stop remote node 2
80h Enter pre-operational mode 3
81h, 82h Reset remote node 4, 5

The node number corresponds to the node ID of the required users. With node number = 0, all users are
addressed.

NMT state event

Following initialization, the encoder is in the pre-operational mode. In this status, SDO parameters can be
read and written. In order to request PDO parameters, the encoder must first be moved to the operational
mode status.

Power on oder Hardware

or hardware Reset
reset

Init

BootUp Message

4/5
4/5
Pre-Operational
3
2

1 3 Stopped/Prepared
4/5
1

2
Operational

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The various NMT statuses

Init
Following initalization, the encoder logs on to the CAN bus with a BootUp message. The encoder then goes
automatically to the pre-operational mode status.

The COB ID of the BootUp message is made up of 700h and the node ID.

COB ID Byte 0
700h + node ID 00

Pre-operational mode
In the pre-operational mode, SDOs can be read and written.

Operational mode
In the operational mode, the encoder transmits the requested PDOs. In addition, SDOs can be read and
written.

Stopped or prepared mode

In the stopped mode, only NMT communication is possible. No SDO parameters can be read or set. LSS is
only possible in the stopped mode.

Status change

Start remote node (1)

With the start command, the encoder is switched to the operational mode status.

COB ID Command byte Node number

0 1h 0..127

Stop remote node (2)

With the stop command, the encoder is switched to the stopped or prepared mode status.

COB ID Command byte Node number

0 2h 0..127

Enter pre-operational mode (3)

Change to the pre-operational mode status.

COB ID Command byte Node number

0 80h 0..127

Reset remote node (4) or reset communication (5)

With the reset command, the encoder is re-initialized.
Reset remote node (4):

COB ID Command byte Node number

0 81h 0..127

Reset communication (5):

COB ID Command byte Node number

0 82h 0..127

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Node and Life Guarding

The „CAN in Automation“ association CiA

recommend to use the new heartbeat
protocol (see next chapter).
To use the node guarding instead of
heartbeat protocol bit 5 of object 2110h has
to be set.

To detect absent devices (e.g. because of

bus-off) that do not transmit PDOs
regularly, the NMT Master can manage a
database, where besides other information
the expected states of all connected
devices are recorded, which is known as
Node Guarding. With cyclic node guarding
the NMT master regularly polls its NMT
slaves. To detect the absence of the NMT
master, the slaves test internally, whether
the Node Guarding is taking place in the
defined time interval (Life Guarding). The
Node Guarding is initiated by the NMT
Master in Pre-Operational state of the slave
by transmitting a Remote Frame.
The NMT Master regularly retrieves the
actual states of all devices on the network
by a Remote Frame and compares them to
the states recorded in the network
database. Mismatches are indicated first
locally on the NMT Master through the
Network Event Service. Consequently the
application must take appropriate actions to
ensure that all devices on the bus will got to
a save state "Communication error Object
1029h-1h"

Example for a nodeguarding protocol:

COB-ID Data/ Remote Byte 0

701h r 00h (0d)
701h d FFh (255d)
701h r 00h (0d)
701h d 7Fh (127d)

Possible NMT node states:

0: BootUp-Event
4: Stopped
5: Operational
127: Pre-operational

in other words, the encoder is in the pre-operational mode (7Fh = 127).

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Heartbeat protocol

The optional heartbeat protocol should

substitute the life/node guarding protocol.
Heartbeat ist aktiv, wenn im Objekt 2110h Bit
5 auf '0' ist. It is highly recommend to
implement for new device designs the
heartbeat protocol. A Heartbeat Producer
transmits the Heartbeat message cyclically
with the frequency defined in Heartbeat
producer time object. One or more Heartbeat
Consumer may receive the indication. The
relationship between producer and consumer
is configurable via Object Dictionary entries.
The Heartbeat Consumer guards the reception
of the Heartbeat within the Heartbeat
consumer time.
If the Heartbeat is not received within this time
a Heartbeat Event will be generated "Communication error object 1029h-1h".

Example for a heartbeat protocol

COB-ID Data/Remote Byte 0

701h d 7Fh (127d)

The heartbeat messages consist of the COB ID and one byte. In this byte, the NMT status is supplied.

0: BootUp-Event
4: Stopped
5: Operational
127: Pre-operational

in other words, the encoder is in the pre-operational mode (7Fh = 127).

Attention: Only one each of the above node guarding mechanism can be set.

Default: Heartbeat
Optional: NodeGuarding (see object 2110)

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4.3.7. Layer Setting Services
In the spring of 2000, CiA drafted a new protocol intended to ensure standardized occurrence. The procedure
is described under
Layer Setting Services and Protocol, CiA Draft Standard Proposal 305 (LSS).
The encoder is supplied by us as standard with the node ID 1 and a baud rate of 50 kBaud. Several encoders
can be connected to the bus system with the same node ID. To allow individual encoders to be addressed,
LSS is used.
Each encoder is fitted with its own unique serial number and is addressed using this number. In other words,
an optional number of encoders with the same node ID can be connected to one bus system, and then
initialized via LSS. Both the node ID and also the baud rate can be reset. LSS can only be executed in the
Stopped Mode.

Message structure

COB ID:
Master  Slave : 2021 = 7E5h
Master  Slave : 2020 = 7E4h
After the COB ID, an LSS command specifier is transmitted.
This is followed by up to seven attached data bytes.

COB ID cs Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

Switch Mode Global

7E5h  04h Mode Reserved

Mode : 0  Operation mode

1  Configuration mode

Selective switch mode

The following procedure can be used to address a certain encoder in the bus system.

7E5h  40h Vendor ID reserved

7E5h  41h Product code reserved

7E5h  42h Revision number reserved

7E5h  43h Serial number reserved

7E4h  44h Mode reserved

Vendor Id : ECh
Product code : Internal product code for the respective encoder
Revision number : Current revision number of the encoder
Serial number : Unique, consecutive serial number
Mode : The encoder's response is the new mode (0=operating mode; 1=configuration mode)

Setting the node ID

7E5h  11h Node ID reserved

7E4h  11h ErrCode Spec error reserved

Node ID : The encoder's new node ID

Error code : 0=OK; 1=Node ID outside range; 2..254=reserved; 255Specific error
Specific error : If Error code=255  application-specific error code.

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Setting the bit timing

7E5h  13h tableSel tableInd reserved

7E4h  13h ErrCode SpecError reserved

TableSel : Selects the bit timing table 0 : Standard CiA bit timing table
1..127 : Reserved for CiA
128..255 : Manufacturer-specific tables
TableInd : Bit timing entry in selected table (see table below).
Error code : 0=OK; 1=Bit timing outside range; 2..254=reserved; 255Specific error
Specific error : If Error code=255  Application-specific error code.

Standard CiA table

Baud rate Table Index

1000 kBaud 0
800 kBaud 1
500 kBaud 2
250 kBaud 3
125 kBaud 4
100 kBaud 5
50 kBaud 6
20 kBaud 7
10 kBaud 8

Saving the configuration protocol

This protocol saves the configuration parameters in the EEPROM.

7E5h  17h reserved

7E4h  17h ErrCode SpecError Reserved

Error code : 0=OK;1=Saving not supported;2=Access error;3..254=reserved;255Specific error

Specific error : If error code=255  Application-specific error code.

Activate bit timing parameters

The new bit timing parameters are activated with the command specifier 15h.

7E5h  15h Switch delay Reserved

Switch Delay : Reset delay in the slave in ms.

After the delay, the encoder logs on with the new baud rate.

Request vendor ID
Requesting the vendor ID of a selected encoder

7E5h  5Ah reserved

7E4h  5Ah 32 bit vendor ID reserved

Vendor ID : = ECh

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Request product code
Request product code of a selected encoder

7E5h  5Bh reserved

7E4h  5Bh Product code reserved

Product code : Manufacturer-dependent product code

Request revision number

Request revision number of a selected encoder

7E5h  5Ch reserved

7E4h  5Ch 32 bit revision number reserved

Revision number : Current revision

Request serial number

Request serial number of a selected encoder

7E5h  5Dh reserved

7E4h  5Dh 32 bit serial number reserved

Serial number : Unique consecutive serial number of the encoder

Range request
Encoders can also be searched for within a certain range. For this purpose, the following objects are sent in
sequence:

7E5h  46h Vendor ID reserved

7E5h  47h Product code reserved

7E5h  48h Revision number LOW reserved

7E5h  49h Revision number HIGH reserved

7E5h  4Ah Serial number LOW reserved

7E5h  4Bh Serial number HIGH reserved

Each encoder with the relevant parameters logs on with the following message:

7E4h  4Fh reserved

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4.4. Encoder profile

4.4.1. Overview of encoder objects

According to CiA (CAN in Automation), objects are subdivided into three groups:
 Standard objects:
1000h, 1001h, 1018h
 Manufacturer-specific objects:
2000h - 5FFFh
 Device-specific objects:
All other objects from 1000h - 1FFFh, 6000h - FFFFh

The following table provides a summary of all SDO objects supported by the encoder.
Object Object number in Hex
Name ---
Type U/I = Unsigned/Integer , No. = no of bits, ARR = Array
Attr ro = read only, wo = write only, rw = read write
Default Default value on first init
EE 1 = is stored in the EEPROM
Info Additional info

Object Name Type Attr Default EE Info

1000h Device type U32 ro 00020196h Multiturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =2 (Multiturn, absolute)
00010196h Singleturn encoder:
Byte 0..1:
Profile no=196h=406
Byte 2..3:
Encoder type =1 (Singleturn, absolute)
1001h Error register U8 ro 0h Bit0=Generic Error
1003h Predefined error field ARR Contains the last 8 errors or warnings
00h Biggest subindex U8 rw 0h Number of stored messages (0 - 8)
01h Last entry U32 ro Error or warning

1000h Generic Error

5530h EEPROM Error
6010h Software Reset (Watchdog)
7320h Positions-Error
7510h Internal communication-Error
8130h Life Guard Error or Heartbeat Error
FF00h Battery low
.. .. .. .. .. ..
08h Oldest entry U32 ro Error or warning
1005h Sync COB ID U32 rw 80h 1 COB ID of the sync object
1008h Device name U32 ro 1 Device name =
"GXMM" "GXMM" multivo Multiturn
"GXAM" "GXAM" multivo Singleturn
"GCMM“ "GCMM“ magtivo Multiturn
"GCAM" "GCAM“ magtivo Singleturn
"GDMM" "GDMM" activo Multiturn
"GDAM" "GDAM" activo Singleturn
“GBMMW” "GBMM" multivoPlus Multiturn
“GBAMW” "GBAM" multivoPlus Singleturn
1009h Hardware version U32 ro actual value Hardware version in ASCII
100Ah Software version U32 ro actual value Software version in ASCII
100Ch Guard Time U16 rw 0h 1 Node Guarding Timer
100Dh Life Time factor U8 rw 0h 1 Multiplicator of Guard Time
1010h Store parameters ARR
00h Biggest subindex U8 ro 4h No. of save possibilities 4
01h Save all parameters U32 rw =“save“ (0x73617665) to save
02h Communication parameters U32 rw =“save“ (0x73617665) to save
03h Application parameters U32 rw =“save“ (0x73617665) to save

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Object Name Type Attr Default EE Info
04h Manuf. specific parameters U32 rw =“save“ (0x73617665) to save
1011h Restore default parameters ARR
00h Biggest subindex U8 ro 4h No. of reset possibilities = 4
01h All parameters U32 rw =“load“ (0x6C6F6164) to load
02h Communication parameters U32 rw =“load“ (0x6C6F6164) to load
03h Application parameters U32 rw =“load“ (0x6C6F6164) to load
04h Manufacturer specific U32 rw =“load“ (0x6C6F6164) to load
parameters
1014h Emergency COB ID U32 rw 80h +Node ID 1 COB ID of the emergency object
1016h Consumer heart beat time ARR
00h Biggest subindex ro 1h
01h Consumer heartbeat time U32 rw 10000h 1 Bit0..15 Consumer Heartbeat time in ms
Bit16..23 Node-ID
1017h Producer heartbeat time U16 rw 0h 1 Producer Heartbeat time in ms
1018h Identity object U32 ro
00h Biggest subindex U8 ro 4h
01h Vendor ID U32 ro ECh 1 Vendor no. issued by CiA
02h Product code U32 ro 1 Product Code:
0Ah 0Ah = multivo multiturn
0Bh 0Bh = multivo singleturn
0Ch 0Ch = magtivo multiturn
0Dh 0Dh = magtivo singleturn
0Eh 0Eh = activo/multivoPlus multiturn
0Fh 0Fh = activo/multivoPlus singleturn
03h Revision number U32 ro Actual value Current revision number
04h Serial number U32 ro xyz 1 Unique consecutive serial number
1029h Error behavior ARR (V1.04+)
00h Biggest subindex U8 ro 1h
01h Communication error U8 rw 1h 1 0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node
1800h Transmit PDO1 parameter REC
00h Biggest subindex U8 ro 5h
01h COB ID U32 rw 180h+id 1 PDO ID = 180h + node ID
02h PDO type U8 rw FEh 1 FEh=User defined, cyclical
05h Event timer U16 rw 203h 1 Cycle time in ms
1801h Transmit PDO2 parameter REC
00h Biggest subindex U8 ro 5h
01h COB ID U32 rw 280h+id 1 PDO ID = 280h + Node ID
02h PDO type U8 rw 2h 1 2h= synchronous operation
05h Event timer U16 rw 100h 1 Cycle time in ms
1A00h Transmit PDO1 mapping ARR
00h Biggest subindex U8 ro 1h
01h Content of PDO1 U32 ro 60040020h Read only, although from CiA as read write
1A01h Transmit PDO2 mapping ARR
00h Biggest subindex U8 ro 1h
01h Content of PDO2 U32 ro 60040020h Read only, although from CiA as read write
2100h Baud rate U8 rw 2h 1 After setting the baud rate, the EEPROM must
be saved and reinitialized
0=10 kBit/s
1=20 kBit/s
2=50 kBit/s
3=100 kBit/s
4=125 kBit/s
5=250 kBit/s
6=500 kBit/s
7=800 kBit/s
8=1000 kBit/s
2101h Node ID U8 rw 1h 1 Node number 1 -127 possible
After setting the baud rate, the EEPROM must
be saved and reinitialized.

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Object Name Type Attr Default EE Info
2110h Manufactures_Options U32 rw 1h 1 Bit1 = Code sequence (Object 6000h Bit0)
0 Not inverted
1 Inverted
Bit2 = scaling function (Object 6000h Bit2)
0 enabled
1 disabled
Bit3 = 0 BusOFF not removed
1 reinitate bus after BusOFF
Bit5 = 0 Heartbeat-Protokoll enabled
1 Nodeguarding-Protokoll enabled
Bit6 = 0 normal SYNC- response
1 fast SYNC- response (see Bit 7)
Bit7 = 0 all PDO Modes enabled
1 only SYNC- Mode enabled
 lowest Jitter
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0 1800h-5h = 6200h
2 1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(Version from V1.08)
Bit10 =Response by Reset Node (from V 1.09)
0 HW Reset
1 Init NMT state
2201h Statistics REC
00h Biggest subindex U8 ro 3h No. of subindexes
01h No. of position errors U32 ro 0h 1 Position control
02h Time in seconds U32 ro 0h 1 Time since last reset
03h Number timer reset U32 ro 0h 1 Timer watchdog
watchdog
2300h Customer EEPROM range ARR Optional data can be stored in this object
00h Biggest subindex U8 ro 8h
01h Data0 U16 rw 0h 1
02h Data1 U16 rw 0h 1
03h Data2 U16 rw 0h 1
04h Data3 U16 rw 0h 1
05h Data4 U16 rw 0h 1
06h Data5 U16 rw 0h 1
07h Data6 U16 rw 0h 1
08h Data7 U16 rw 0h 1
2800h PDO1 addition / event U8 rw 0h 1 Repeat counter for PDO1
trigger
2801h PDO2 addition (event U8 rw 0h 1 Repeat counter for PDO2
trigger)
6000h Operating parameter U16 rw 4h 1 Bit0=Sense of rotation
Bit2=Scaling function
6001h Resolution U32 rw 1 Resolution in steps / revolution:
2000h 13Bit = multivo
1000h 12Bit = magtivo
40000h 18bit = activo/multivoPlus
6002h Overall measuring range in U32 rw 1 Overall measuring range in increments
increments 20000000h 29Bit = multivo multiturn
2000h 13Bit = multivo singleturn
4000000h 26Bit = magtivo multiturn
1000h 12Bit = magtivo singleturn
80000000h 31Bit = activo/multivoPlus multiturn
40000h 18Bit = activo/multivoPlus singleturn
6003h Preset value in increments U32 rw 0h 1 Preset in increments  Offset
6004h Position in increments U32 ro Position value including offset in increments
6200h Cyclic timer for PDO1 U16 rw 203h 1 In ms, identical object 1800h, subindex 5
6500h Operating status U16 ro 4h Bit0=Sense of rotation
Bit2=Scaling function

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6501h Max. resolution U32 ro Max. resolution in steps / revolution:
2000h 13Bit = multivo
1000h 12Bit = magtivo
40000h 18Bit = activo/multivoPlus
6502h Overall measuring range in U32 ro (is outside the specification of CiA)
increments Overall measuring range in increments:
20000000h 29Bit = multivo multiturn
2000h 13Bit = multivo singleturn
4000000h 26Bit = magtivo multiturn
1000h 12Bit = magtivo singleturn
80000000h 31Bit = activo/multivoPlus multiturn
40000h 18Bit = activo/multivoPlus singleturn
6503h Alarms U16 ro 0h The following alarms are evaluated:
Bit0=Position error
6504h Supported alarms U16 ro 1h The following alarms are supported:
Bit0=Position error
6505h Warnings U16 ro 0h The following warnings are evaluated:
Multiturn encoder:
Bit2 = CPU watchdog status
Bit4 = Battery charge
Singleturn encoder:
Bit2 = CPU watchdog status
6506h Supported warnings U16 ro The following warnings are supported:
14h Multiturn encoder:
Bit2 = CPU watchdog status
Bit4 = Battery charge
04h Singleturn encoder:
Bit2 = CPU watchdog status
6507h Profile & software version U32 ro 01000201h Byte 0..1:
Profile version =2.01 = 0201h
Byte 2..3:
Software version = 1.05 = 0105h
6508h Operating time U32 ro 0h Time in 1/10 hours since last reset
6509h Offset U32 ro 0h 1 Offset calculated from preset  6003h
650Bh Serial number U32 ro xyz 1 Linked with serial number object 1018-4

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4.4.2. Detailed object list (DS-301)

Object 1000 Device type

Subindex 0
Data type Unsigned 32
Access Read only
Default Multiturn:
00020196h
Singleturn:
00010196h
EEPROM No
Description Information on device profile and device type
Values Multiturn:
Data0 = Profile LOW Data1 = Profile HIGH Data2 = Type Data3
96 01 02 00
Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder
Data 2, 3 = 02h 00h = multiturn, absolute
Singleturn:
Data0 = Profile LOW Data1 = Profile HIGH Data2 = Type Data3
96 01 02 00
Data 0, 1 = 96h 01h = 0196h = DSP-406 = Device profile for encoder
Data 2, 3 = 01h 00h = singleturn, absolute

Object 1001 Error Register

Subindex 0
Data type Unsigned 8
Access Read only
Default 0h
EEPROM No
Description Current error code
Values Bit0 = Generic error
Bit4 = Communication error (overrun, …)
Bit7 = Manufacturer specific

Object 1003 Predefined error field

CiA (CAN in Automation) defines around 200 different error codes here. In this document, only the
error codes of relevance for the sensor are described. This object saves the last occurred errors or
warnings.

Subindex 0
Data type Unsigned 8
Access Read write
Default 0
EEPROM No
Description Read: Number of errors or warnings
Write 0: Reset error
Values 0..8

Subindex 1..8
Data type Unsigned 32
Access Read only
Default 0
EEPROM No
Description Error or warning occurred, whereby subindex 1 is the ultimate, subindex
2 the penultimate entry etc.
Values Not yet defined

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Object 1005 COB ID SYNC message

Subindex 0
Data type Unsigned 32
Access Read write
Default 80h
EEPROM Yes
Description Defined COB ID of the synchronization object (SYNC)
Values Bit 31 not defined
Bit 30 1=Sensor generates SYNC messages, 0=generates no SYNC
message
Bit 29 1=29 bit SYNC COB ID (CAN 2.0B), 0=28 bit SYNC COB ID
(CAN 2.0A)
Bit 28..11 Bit 28..11 of the 29 bit SYNC COB ID
Bit 10..0 Bit 10..0 of the SYNC COB ID

Object 1008 Manufacturer Device Name

Subindex 0
Data type Unsigned 32
Access Read only
Default It depends on the basic encoder
EEPROM No
Description Device name in ASCII
Values Data 0..3:
"GXMM" = 47h 58h 4Dh 4Dh  multivo Multiturn
"GXAM" = 47h 58h 41h 4Dh  multivo Singleturn
"GCMM" = 47h 43h 4Dh 4Dh  magtivo Multiturn
"GCAM" = 47h 43h 41h 4Dh  magtivo Singleturn
"GDMM" = 47h 44h 4Dh 4Dh  activo Multiturn
"GDAM" = 47h 44h 41h 4Dh  activo Singleturn
"GBMM" = 47h 42h 4Dh 4Dh  multivoPlus Multiturn
"GBAM" = 47h 42h 41h 4Dh  multivoPlus Singleturn

Object 1009 Manufacturer hardware version

Subindex 0
Data type Unsigned 32
Access Read only
Default "1.00"
EEPROM No
Description Hardware version in ASCII
Values Data 0..3 31h 2Eh 30h 30h = "1.00“

Object 100A Manufacturer software version

Subindex 0
Data type Unsigned 32
Access Read only
Default "1.00"
EEPROM No
Description Software version in ASCII
Values Data 0..3 31h 2Eh 30h 30h = "1.00“

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Object 100C Guard Time

Subindex 0
Data type Unsigned 16
Access ReadWrite
Default 0h
EEPROM Yes
Description Timer for Nodeguarding in ms
Values 0...65535

Object 100D Life Time Factor

Subindex 0
Data type Unsigned 8
Access ReadWrite
Default 0h
EEPROM Yes
Description Life Time Factor x Guard Time = Life time
Values 0...256

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Object 1010 Save parameters

Saving the objects below in the non-volatile memory (EEPROM) is initiated via object 1010h.
In order to prevent unintentional saving, the message "save" must be written in subindex 1.

COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
600h+node ID 8 23h 10h 10h 01 73h 's' 61h 'a' 76h 'v' 65h 'e'

Objects stored in the EEPROM:

Object Subindex Description Default Value (after object 1011)

1005h 0h Sync ID 80h
1008h 0h Device name "GXMM"  multivo Multiturn
"GXAM"  multivo Singleturn
*GCMM"  magtivo Multiturn
"GCAM"  magtivo Singleturn
"GDMM"  activo Multiturn
"GDAM"  activo Singleturn
"GBMM"  multivoPlus Multiturn
"GBAM"  multivoPlus Singleturn
100Ch 0h Guard Time 0h
100D 0h Life Time factor 0h
1014h 0h Emergency COB ID 80h+node ID
1016h 1 Consumer heartbeat time 10000h
1017h 0h Producer heartbeat time 0h (disabled)
1018h 1h Vendor ID ECh
1018h 2h Product code 0Ah  multivo multiturn
0Bh  multivo singleturn
0Ch  magtivo multiturn
0Dh  magtivo singleturn
0Eh  activo/multivoPlus multiturn
0Fh  activo/multivoPlus singleturn
1018h 4h Serial Number xyz
1029h 1h Error Behavior 1
1800h 1h PDO1 ID 180h+node ID
1800h 2h PDO1 type FEh -> asynchronous, cyclical
1800h 5h PDO1 event timer asynchronous mode 203h ms
1801h 1h PDO2 ID 280h+node ID
1801h 2h PDO2 type 2h -> synchronous
1801h 5h PDO2 refresh time for cyclical transmission 100h ms
2100h 0h Baud rate 2h = 50 kBaud
2101h 0h Node ID 1h
2110h 0h Version 0x00000008
2201h 1h No. of position errors 0h
2201h 2h Total operating time in seconds 0h
2201h 3h No. of timer resets by the watchdog 0h
2300h 1h Customer-specific EEPROM range data0 0h
2300h 2h Customer-specific EEPROM range data1 0h
2300h 3h Customer-specific EEPROM range data2 0h
2300h 4h Customer-specific EEPROM range data3 0h
2300h 5h Customer-specific EEPROM range data4 0h
2300h 6h Customer-specific EEPROM range data5 0h
2300h 7h Customer-specific EEPROM range data6 0h
2300h 8h Customer-specific EEPROM range data7 0h
2800h 0h PDO1 addition (event trigger) 0h
2801h 0h PDO2 addition (event trigger) 0h
6000h 0h Operating parameter 0004h
6001h 0h No. of steps per revolution 2000h  multivo
1000h  magtivo
40000h  activo/multivoPlus

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 6002h 0h Total measuring range in increments 20000000h  multivo multiturn
2000h  multivo singleturn
4000000h  magtivo multiturn
1000h  magtivo singleturn
80000000h  activo/multivoPlus
multiturn
40000h  activo/multivoPlus singleturn
6003h 0h Preset value in increments 0h
6200h 0h Cyclical timer for PDO1 203h (see Object 1800-5)
6509h 0h Offset 0h
650Bh 0h Serial number xyz (see Object 1018-4)

Object 1011 Restore parameters

The values in the RAM are overwritten by the default values (see object 1010h) by the object 1011h. In
addition, the content of the EEPROM is marked as invalid. This means that until the next data save
routine in the EEPROM, the default values are loaded in each case.
In order to prevent unintentional overwriting, the message "load" must be written in subindex 1.

COB ID DLC Command Object L Object H Subindex Data 0 Data 1 Data 2 Data 3
600h+node ID 8 23h 11h 10h 01 6Ch 'l' 6Fh 'o' 61h 'a' 64h 'd'

Object 1014 COB ID emergency message

Subindex 0
Data type Unsigned 32
Access Read write
Default 80h+node ID
EEPROM Yes
Description Defines COB ID of the emergency object
Values 80h + Node ID

Object 1016 Consumer heartbeat time

Subindex 0
Data type Unsigned 8
Access Read only
Default 1
EEPROM No
Description Biggest supported subindex
Values 1 = Biggest supported subindex

Subindex 1
Data type Unsigned 32
Access Read write
Default 10000h
EEPROM Yes
Description Consumer heartbeat time
Values Bit 0..15 Consumer heartbeat time in ms
Bit 16..23 Node ID

Object 1017 Producer heartbeat time

Subindex 0
Data type Unsigned 16
Access Read write
Default 0h
EEPROM Yes
Description Defines repeat time of the heartbeat watchdog service
Values 0 = Disabled, 1..65535 = Repeat time in ms

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Object 1018 Identity Object

Subindex 0
Data type Unsigned 8
Access Read only
Default 4
EEPROM No
Description Biggest supported subindex
Values 4 = Biggest supported subindex

Subindex 1
Data type Unsigned 32
Access Read only
Default ECh
EEPROM Yes
Description Vendor ID issued by CiA for Baumer IVO GmbH & Co. KG
Values ECh (in the Internet under www.can-cia.de)
Subindex 2
Data type Unsigned 32
Access Read only
Default 0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
EEPROM Yes
Description Product code
Values 0Ah  multivo multiturn
0Bh  multivo singleturn
0Ch  magtivo multiturn
0Dh  magtivo singleturn
0Eh  activo/multivoPlus multiturn
0Fh  activo/multivoPlus singleturn

Subindex 3
Data type Unsigned 32
Access Read only
Default
EEPROM No
Description Revision number of the sensor
Values Version of the current = xxyy (xx=Version, yy=Sequence number)
Data 0 = Sequ. Data 1 = Sequ. Data 2 = Version Data 3 = Version
number LOW number HIGH LOW HIGH
00 00 01 00
Data 0,1 = 00h 00h = 0000h = Sequence number
Data 2,3 = 01h 00h = 0001h = Version

Subindex 4
Data type Unsigned 32
Access Read only
Default 0
EEPROM Yes
Description Consecutive unique serial number of the sensor
Values Is defined in the factory during final testing

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Objekt 1029 Error Behavior (V1.04+)

SubIndex 0
Data type Unsigned 8
Access ReadOnly
Default 1
EEPROM No
Description Biggest supported subindex
Values 1 = Biggest supported subindex

SubIndex 1
Data type Unsigned 8
Access ReadWrite
Default 1
EEPROM Yes
Description Behavior after Communication error
Values 0h = change to Pre-Operational Mode
1h = no Mode-change
2h = change to Stop Mode
3h = reset node

Object 1800 PDO1 parameters

Subindex 0
Data type Unsigned 32
Access Read only
Default 5
EEPROM No
Description Biggest supported subindex
Values 5

Subindex 1
Data type Unsigned 32
Access Read write
Default 180h + Node ID
EEPROM Yes
Description COB ID of the PDO
Values 180h + Node ID
Subindex 2
Data type Unsigned 8
Access Read write
Default FEh
EEPROM Yes
Description PDO type
Values 1..n..F0h = PDO has synchronous characteristics (the PDO is transmitted to
each nth SYNC telegram)
FEh = PDO has asynchronous characteristics (PDOs are transmitted
cyclically depending on the event timer and event trigger)

Subindex 5
Data type Unsigned 16
Access Read write
Default 203h
EEPROM Yes
Description Event timer for process data object
Values 0= Cyclical transmission switched off
1..n..65535 =Repeat time cyclical transmission equals n ms.

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Object 1801 PDO2 parameters

See object 1800h, with the exception of subindex1, here COB ID is 280h + node ID

Object 1A00 PDO1 mapping

Subindex 0
Data type Unsigned 8
Access Read only
Default 0
EEPROM No
Description Biggest supported subindex
Values 1

Subindex 1
Data type Unsigned 32
Access Read only (defined by CiA as read write)
Default 60040020h
EEPROM No
Description Describes the content of the PDO1 message
Values 6004h = Position

Object 1A01 PDO2 mapping

Subindex 0
Data type Unsigned 8
Access Read only
Default 0
EEPROM No
Description Biggest supported subindex
Values 1

Subindex 1
Data type Unsigned 32
Access Read only (defined by CiA as read write)
Default 60040020h
EEPROM No
Description Describes the content of the PDO2 message
Values 6004h = Position

Object 2100 Baud rate

Subindex 0
Data type Unsigned 8
Access Read write
Default 2 = 50 kBaud
EEPROM Yes
Description Read or reset the sensor baud rate.
 After setting, parameters must be stored in the EEPROM with the object
1010h and then the sensor re-initialized.
Values 0 10 kBaud
1 20 kBaud
2 50 kBaud
3 100 kBaud
4 125 kBaud
5 250 kBaud
6 500 kBaud
7 800 kBaud
8 1000 kBaud

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Object 2101 Node ID

Subindex 0
Data type Unsigned 8
Access Read write
Default 1
EEPROM Yes
Description Read or reset the node ID of the sensor.
 After setting, parameters must be stored in the EEPROM with the object
1010h and then the sensor re-initialized
Values 1..127

Object 2110 Manufacturers Options

Subindex 0
Data type Unsigned 32
Access Read write
Default 8h
EEPROM Yes
Description To guarantee compatibility with older sensors some options could be defined
here.
This object is not supported by EDS File.
Modification should be done only by vendor.
Modification by customers very carefully according following table
Values Bit1 = Code sequence (Object 6000h Bit0)
0 Not inverted
1 Inverted
Bit2 = scaling function (Object 6000h Bit2)
0 enabled
1 disabled
Bit3 = 0 BusOFF not removed
1 reinitate bus after BusOFF
Bit5 = 0 Heartbeat-Protocol enabled
1 Nodeguarding-Protocol enabled
Bit6 = 0 normal SYNC- response
1 fast SYNC- response (see Bit 7)
Bit7 = 0 all PDO Modes enabled
1 only SYNC- Mode enabled  lowest Jitter
(only together with set Bit 6)
Bit8 = PDO1 Delay 2ms
0 1800h-5h = 6200h
1 1800h-5h = 6200h + 2ms
Bit9 = Responce by write to object
Resolution/overall resolution
0 Offset reset
1 Offset not reset
(Version from V1.08)
Bit10 =Response by Reset Node (from V 1.09)
0 HW Reset
1 Init NMT state

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Object 2201 Statistics

Subindex 0
Data type Unsigned 8
Access Read only
Default 3h
EEPROM No
Description Biggest supported subindex
Values 3

Subindex 1
Data type Unsigned 32
Access Read only
Default 0h
EEPROM Yes
Description No. of position errors overall
Values 0...4294967295

Subindex 2
Data type Unsigned 32
Access Read only
Default 0h
EEPROM Yes
Description Total operating time in seconds (Object 6508h time since last reset)
Values 0... 4294967295

Subindex 3
Data type Unsigned 32
Access Read only
Default 0h
EEPROM Yes
Description Watchdog timer reset counter
Values 0... 4294967295

Object 2300 Customer EEPROM range

Subindex 0
Data type Unsigned 8
Access Read only
Default 8h
EEPROM No
Description Any optional data can be stored in this object
Values 8

Subindex 1...8
Data type Unsigned 16
Access Read write
Default 0h
EEPROM Yes
Description For each subindex, a 16 bit value can be stored
(Save in the EEPROM via object 1010h)
Values 0

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Object 2800 PDO1 addition (event trigger)

Subindex 0
Data type Unsigned 8
Access Read write
Default 0h
EEPROM Yes
Description The event trigger value determines how often the same PDO value is
transmitted
Values 0= PDO counter is switched off  Continuous transmission (time
basis from the event timer)
1..n..255 = The same PDO value is transmitted n times (time basis from event
timer)

Object 2801 PDO2 addition (event trigger)

Subindex 0
Data type Unsigned 8
Access Read write
Default 0h
EEPROM Yes
Description The event trigger value determines how often the same PDO value is
transmitted
Values 0= PDO counter is switched off  continuous transmission (time
basis from the event timer)
1..n..255 = The same PDO value is transmitted n times (time basis from event
timer)

Object 6000 Operating parameter

Subindex 0
Data type Unsigned 16
Access Read write
Default 4
EEPROM Yes
Description Operating parameter
Values Bit 0 sense of rotation = 0
 clockwise; 1  counterclockwise
Bit 2 scaling function = 0
 max. resolution; 1  saved resolution

Object 6001 Resolution

Subindex 0
Data type Unsigned 32
Access Read write
Default 2000h = 8192 = 13Bit  multivo
1000h = 4096 = 12Bit  magtivo
40000h = 262144 = 18Bit  activo/multivoPlus
EEPROM Yes
Description No. of steps per revolution freely selectable.
! Offset value is reset when changing the resolution!
Values 1..n.. Max. no. of steps per revolution (see object 6501)
1..n..8192  multivo
1..n..4096  magtivo
1..n..262144  activo/multivoPlus

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Object 6002 Overall measurement range

Subindex 0
Data type Unsigned 32
Access Read write
Default 20000000h = 536870912 = 29bit  multivo multiturn
2000h = 8192 = 13bit  multivo singleturn
4000000h = 67108864 = 26bit  magtivo multiturn
1000h = 4096 = 12bit  magtivo singleturn
80000000h = 2147483648 = 31bit  activo/multivoPlus multiturn
40000h = 262144 = 18bit  activo/multivoPlus singleturn
EEPROM Yes
Description Overall measurement range freely selectable in increments.
Formula:
Number of turns = total measuring range
Resolution

Note regarding multiturn encoder operation:

n
If the number of turns programmed is uneven 2
(1, 2, 4,...65536) the encoder will have to be programmed anew upon having
passed the zero point in powerless state.
Values 1..n.. overall measurement range in increments (see object 6502)
1..n..536870912  multivo multiturn
1..n..8192  multivo singleturn
1..n..67105564  magtivo multiturn
1..n..4096  magtivo singleturn
1..n..2147483648  activo/multivoPlus multiturn
1..n..262144  activo/multivoPlus singleturn

Object 6003 Preset value

Subindex 0
Data type Unsigned 32
Access Read write
Default 0h
EEPROM Yes
Description Freely selectable position value. Preset and internal position result in offset (
Object 6509h)
Values 0..current overall measurement range -1 (Object 6002h)

Object 6004 Position in increments

Subindex 0
Data type Unsigned 32
Access Read only
Default
EEPROM No
Description Current position including offset
Values 0..Current overall measurement range -1 (Object 6002h)

Object 6200 Cyclic timer for PDO1

Subindex 0
Data type Unsigned 16
Access Read write
Default 203h
EEPROM Yes
Description Event timer for process data object (see object 1800-5)
Values 0= Cyclical transmission switched off
1..n..65535 = Repeat time cyclical transmission amounts to n ms.

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Object 6500 Operating Status

Subindex 0
Data type Unsigned 16
Access Read only
Default 4h
EEPROM No
Description Operating data which is written with object 6000h
Values Bit 0 sense of rotation = 0
 Clockwise; 1  Counterclockwise
Bit 2 scaling function = 0
 max. resolution; 1  saved resolution

Object 6501 Max. resolution in increments

Subindex 0
Data type Unsigned 32
Access Read only
Default 2000h = 8192 = 13Bit  multivo
1000h = 4096 = 12Bit  magtivo
40000h = 262144 = 18Bit  activo/multivoPlus
EEPROM No
Description Maximum singleturn resolution in increments
Values 2000h = 8192 = 13Bit  multivo
1000h = 4096 = 12Bit  magtivo
40000h = 262144 = 18Bit  activo/multivoPlus

Object 6502 Overall measurement range in increments

Subindex 0
Data type Unsigned 32
Access Read only
Default 20000000h = 536870912 = 29Bit  multivo multiturn
2000h = 8192 = 13Bit  multivo singleturn
4000000h = 67108864 = 26Bit  magtivo multiturn
1000h = 4096 = 12Bit  magtivo singleturn
80000000h = 2147483648 = 31Bit  activo/multivoPlus multiturn
40000h = 262144 = 18Bit  activo/multivoPlus singleturn
EEPROM No
Description Maximum measurement range (the data type U32 in this object does not
correspond to the CiA profile)
Values 20000000h = 536870912 = 29Bit  multivo multiturn
2000h = 8192 = 13Bit  multivo singleturn
4000000h = 67108864 = 26Bit  magtivo multiturn
1000h = 4096 = 12Bit  magtivo singleturn
80000000h = 2147483648 = 31Bit  activo/multivoPlus multiturn
40000h = 262144 = 18Bit  activo/multivoPlus singleturn

Object 6503 Alarms

Subindex 0
Data type Unsigned 16
Access Read only
Default 0h
EEPROM No
Description Alarm messages as per object 6504h
Values Bit 0 = 1  Position error active

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Object 6504 Supported alarms

Subindex 0
Data type Unsigned 16
Access Read only
Default 1h
EEPROM No
Description Alarm messages supported by object 6503
Values Bit 0 = Position error

Object 6505 Warnings

Subindex 0
Data type Unsigned 16
Access Read only
Default 0h
EEPROM No
Description Warnings as per object 6506h
Values Multiturn:
Bit 2 = 1  CPU watchdog reset
Bit 4 = 1  Battery charge too low
Singleturn:
Bit 2 = 1  CPU Watchdog reset

Object 6506 Supported warnings

Subindex 0
Data type Unsigned 16
Access Read only
Default Multiturn:
14h
Singleturn:
04h
EEPROM No
Description Warnings supported by object 6505h
Values Multiturn:
Bit 2 = CPU watchdog status
Bit 4 = Battery charge
Singleturn:
Bit 2 = CPU watchdog status

Object 6507 Profiles and software versions

Subindex 0
Data type Unsigned 32
Access Read Only
Default 01000201h
EEPROM No
Description Version of the profile and the current software
Values Version of the current software = xxyy
Data0 = Profile Data1 = Profile Data2 = Software Data3 = Software
version LOW version HIGH version LOW version HIGH
01 02 00 01
(xx = Software version, yy = Profile version)

Data 0,1 = 01h 02h = 0201h = Profile version

Data 2,3 = 00h 01h = 0100h = Software version

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Object 6508 Operating time

Subindex 0
Data type Unsigned 32
Access Read only
Default 0h
EEPROM No
Description Operating time in 1/10 hours, since the last sensor reset
Values 0..n..4294967295 = n * 6 minutes operating time without reset

Object 6509 Offset

Subindex 0
Data type Unsigned 32
Access Read only
Default 0h
EEPROM Yes
Description Calculated from preset ( Object 6003h)
Values 0..current overall measurement range -1

Object 650B Serial number

Subindex 0
Data type Unsigned 32
Access Read only
Default xyz
EEPROM Yes
Description Progressive serial number
Values 0..4294967295 = Is directly linked with the serial number of the end test (see
object 1018-4)

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5. Diagnosis and useful information
5.1. Error diagnosis field bus communication
 If the encoder cannot be addressed via the CANopen bus, first of all check the terminals.

If the terminals are not in order, field bus operation should be tested next. For this purpose, a CAN monitor
is required which records CANopen communication and shows the telegrams.

 The encoder should now place a BootUp message when switching the power supply off and on again.

Should no BootUp message appear, check whether the baud rates of the encoder, the CAN monitor and
the bus system are in agreement.

 If you have difficulty in establishing the connection to the user, check the node number and baud rate.

The baud rate must be set the same throughout. The node number (node ID, node address) must be
between 1 and 127. Each bus user must be unambiguously assigned a node ID, i.e. it is strictly prohibited
to assign the same node ID more than once.

The node ID and baud rate can also be set conveniently using the LSS service.

5.2. Error diagnosis via field bus

The encoder has at its disposal several objects and messages which transcribe the status or error status of
the encoder.

 Object 1001h: This object is an error register for the device error status.
 Object 1003h: In this object, the last eight error codes and warnings are stored.
 Object Emergency (80h + Node ID): High-priority error message of a user with error code and error
register.
 SDO abort message: If SDO communication does not run correctly, the SDO response contains an abort
code.

Object 1001h error register

The existence of a device error and its type are indicated in this register.

See separate Object descriptions

Object 1003h predefined error field

In this object, the eight last occurring error codes from objects 6503h and 6505h are saved, whereby the
latest error is stored in subindex 1 and the oldest error in subindex 8.

Object emergency
Error message of a user.

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SDO abort message
If SDO communication is not running smoothly, an abort code is transmitted as the SDO response:

05040001h : Command byte is not supported

06010000h : Incorrect access to an object
06010001h : Read access to write only
06010002h : Write access to read only
06020000h : Object is not supported
06090011h : Subindex is not supported
06090030h : Value outside limits
06090031h : Value too great
08000000h : General error
08000020h : Incorrect save signature ("save")
08000021h : Data cannot be saved

5.3. Useful information relating to the sensor

Resetting the node ID
1. The node ID is reset using the Baumer IVO specific object 2101h.
2. After setting the node ID, this must be saved in the EEPROM with object 1010h.
3. On next initialization, the sensor logs on with the new node ID.

Resetting the baud rate

1. The baud rate is reset with the Baumer IVO specific object 2100h.
2. After setting the baud rate this must be saved in the EEPROM with object 1010h.
3. On next initialization, the sensor logs on with the new baud rate.
4. ! DO NOT FORGET TO SET THE MASTER TO THE NEW BAUD RATE !

Shielding
As the encoder is not always connected to a defined earth potential depending on its mounting position, the
encoder flange should always be additionally linked to earth potential. The encoder should always on
principle be connected to a shielded conductor.
If possible the cable shield should be in place at both ends. Ensure that no equalizing currents are
discharged via the encoder.

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6. Applications
6.1. Setting and reading objects
In order to overwrite an object (SDO) or to read it, two telegrams always have to be transmitted.

Object setting
First, the master transmits the value to be set. The encoder then transmits the confirmation.

Value (ba) is transmitted:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 2Bh 00h 23h 3h a b x x

Confirmation:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 60h 00h 23h 3h 0 0 0 0

Read object
First the master transmits a request for the required object. Then the encoder transmits the requested value.

Request from master:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 40h 04h 60h 0h x x x x

Response (dcba) of the encoder to the request:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 43h 04h 60h 0h a b c d

Commissioning
When the encoder is connected to the bus, it logs on with a BootUp message. The encoder must now be
adjusted to its environment and configured.

Changing the node ID and baud rate with LSS

The node ID and baud rate can be changed without having to use these to address the encoder. With the
LSS service, the sensors are addressed and configured via the product code, revision no., vendor ID and
serial number.

Changing the node ID (node no.)

The node ID can be changed in object 2101h between 1 and 127. A save routine should then be executed
using object 1010h. On the next initialization, the encoder logs on with the new node ID.

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Changing the baud rate
The baud rate can be changed in the object 2100h. An index is written into the object, not the effective baud
rate.

Baud rate
0 10 kBaud
1 20 kBaud
2 50 kBaud
3 100 kBaud
4 125 kBaud
5 250 kBaud
6 500 kBaud
7 800 kBaud
8 1000 kBaud

The baud rate now still has to be saved using object 1010-1. On next initialization, the encoder logs on to the
new baud rate. However, before this the baud rate of the master should be changed.

6.2. Configuration
Position setting
The value is transmitted:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 23h 03h 60h 0h a b c d

Conformation:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 60h 03h 60h 0h 0 0 0 0

Changing the sense of rotation and scaling

The sense of rotation can be set to CW (clockwise) or CCW (counterclockwise). In addition, the scaling can
be switched on or off in the same object (6000h). With the scaling switched on, the set resolutions are used.
However, if the scaling is switched off, the encoder works with the maximum resolution settings (6501h and
6502h).

Bit 0: 0 -> CW (clockwise)

1 -> CCW (counterclockwise)
Bit 2: 0 -> Scaling off
1 -> Scaling on

Counterclockwise rotation and scaling on:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 23h 00h 60h 0h 5h x x x

Confirmation:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 60h 00h 60h 0h 0 0 0 0

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Changing singleturn resolution
In object 6001h, the singleturn resolution can be configured. For example 4096 (12bit) steps per revolution
(1024 = 400h):

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 23h 01h 60h 0h 00 04 00 00

Confirmation:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 60h 01h 60h 0h 0 0 0 0

Changing the overall resolution

In object 6002h, the overall resolution can be set. The overall resolution and the singleturn resolution result in
the number of revolutions. Example: The singleturn resolution is set at 12 bit (4096 steps) and the overall
resolution at 24 bit (16777216) resulting in 4096 (12bit) revolutions of 4096 (12bit) steps each.

Setting the overall resolution to 4194304 (4194304 = 400000h)

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 23h 02h 60h 0h 00 00 40 00

Confirmation:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 60h 02h 60h 0h 0 0 0 0

Saving the setting in the EEPROM

Object 1010h initiates the save routine for the objects below in the non-volatile memory (EEPROM). In order
to prevent unintentional saving, the message "Save" must be written in Subindex 1.

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 23h 10h 10h 01h 73 's’ 61 'a’ 76 'v’ 65 'e’

Conformation:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 60h 10h 10h 01h 0 0 0 0

6.3. Operation
NMT statuses
Once the encoder has been initialized, it is then in the Pre-operational mode. In this mode, SDO can be
read and written.

In order to start PDO communication, you must transmit an NMT start. The encoder is then in the
Operational mode. Any required PDOs are then transmitted. SDOs can also be read and written.

If the encoder is stopped with an NMT stop, the encoder is then in the stopped mode. In this mode, only
NMT communication is the possible, i.e. also heartbeat.

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By means of an NMT reset the encoder is re-initialized and is then once again in the pre-operational mode.

Reading the position

Request from the master:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
600h+node ID 8 40h 04h 60h 0 0 0 0 0

Response (dcba) of the encoder to the request:

COB ID DLC Command Object L Object H Subindex Data 0 Data Data Data
1 2 3
580h+node ID 8 43h 04h 60h 0 a b c d

Configuring PDOs
The PDOs can be configured in accordance with the following table:

1800h
2800h Summarized description
Sub2 Sub5
FEh 3ms 0 Cyclical transmission every 3 ms
FEh 5ms 2 Every 5ms the PDO is sent double if a change has occurred.
FEh 0ms 0 Transmit PDO switched off
FEh 0ms xxx Transmit PDO switched off
3 xxx 0 Transmit with each third sync telegram
3 xxx 2Bh With each sync telegram but in total only 43 times (=2Bh).

Defining heartbeat time

In order to monitor communication capability, the heartbeat time must be defined in object 1017h with
"Producer heartbeat time". As soon as the value has been confirmed, the service begins transmission.
Example:
Every 100 ms, the encoder should transmit a heartbeat (100 = 64h):

COB ID DLC Command Object L Object H Subindex Data Data 1

0
600h+node ID 8 2Bh 17h 10h 0h 64h 0h

Confirmation:

COB ID DLC Command Object L Object H Subindex Data Data 1

0
580h+node ID 8 60h 17h 10h 0h 0 0

COB ID Data/ Remote Byte 0

701h d 7Fh

The heartbeat messages are made up of the COB ID and one byte. IN this byte, the NMT status is supplied.

0: BootUp-Event
4: Stopped
5: Operational
127: Pre-operational

i.e. the encoder is in the pre-operational modus (7Fh = 127).

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6.4. Use the encoder via CAN interface

Easy use of the CANopen encoder as CAN device via CAN (Layer 2)

Example: Encoder Node ID 1

Used Tool: CANAnalyser32 by Fa. IXXAT

= 0x100000

= 0x1000

works after next

Power Off/On

Load Default-
Parameter values

see chapter
Network
management
services

COB ID = 0x600 + Node ID

SDO Command Object Index 6002 Object Subindex 00 Data 0x10000000

For more detailed description see chapter ‚service data communication’

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Trace view of CAN-telegrams to and from encoder

(commands see page before)

Boot up after Power on

SDO request to encoder

COB ID = 0x600+Node ID

SDO response from encoder

COB ID = 0x580+Node ID

Encoder in state Operational

Run, transmitting cyclic Position-Data

COB ID = 0x180 + Node ID
Encoder in state Pre-operational
Encoder in state Stopped

Encoder Reset

Boot up Message
COB ID = 0x700+Node iD

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7. Terminal assignment and commissioning
7.1. Mechanical mounting

Shaft encoder
 Mount the encoder housing using the fastening holes on the flange side with three screws (square flange
with four screws), paying attention to the thread diameter and thread depth.
 Alternatively, the encoder can be mounted in any angular position using three eccentric fastenings - see
accessories.
 Connect the drive shaft and encoder shaft using a suitable coupling. The ends of the shafts must not be
touching. The coupling must be capable of compensating for displacement due to temperature and
mechanical backlash. Pay attention to the admissible axial or radial shaft loads. For suitable connecting
devices, see under accessories.
 Tighten the fastening screws.

Hollow shaft / end shaft encoder

 Clamping ring fixture
Prior to mounting the encoder open the clamping ring completely. Push encoder onto the drive shaft and
tighten the clamping ring firmly.
 Encoder torque pin
Slide encoder onto the drive shaft and insert torque pin into the adjusting element provided by customer.
 Adjusting element with rubberized spring element
Push the encoder on to the drive shaft and insert the parallel pin into the mounted adjusting element (not
supplied) (with rubberized spring element)
 Adjusting bracket
Push the encoder over the drive shaft. Insert the adjusting bracket into the rubberized spring element of
the encoder and fasten the adjusting bracket on the contact surface (not supplied).
 Shoulder screw
Push the encoder over the drive shaft and insert the shoulder screw (not supplied) in the rubberized spring
element of the encoder.
 Coupling spring
Mount the coupling spring with screws onto the fixing holes of the encoder housing.
Push the encoder over the drive shaft and fasten the coupling spring on the contact surface.

7.2. Electrical connection

Only ever store or transport the bus cover in the ESD bag. The bus cover must rest fully against the housing
and be firmly screwed in place.
For electrical connection, pull off the bus cover using the following method:
 Release the fastening screws of the bus cover
 Carefully loosen the bus cover and lift off in the axial direction

7.2.1. Setting the user address (Node ID)

The user address is set via the EEPROM. The node ID (user address) is defined in object 2101h. In addition,
it is possible to set the user address decimally using two rotary switches in the bus cover. If the switches are
at 0, the node ID from the EEPROM is used. As soon as the switch is set to a value, this set value is used as
the user address. The maximum number of users is 99.

 Set the user address decimally using the two rotary switches 1 and 2 (default setting 01).

Example: 23

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7.2.2. Setting the baud rate
The baud rate is defined in the object 2100h. In addition, it is possible here to set the baud rate using a DIP
switch. The baud rate setting is performed on a binary basis via switches 1 to 3 of the 3-pin DIP switch in the
bus cover. The baud rate used from the EEPROM is ignored as soon as the switch for the user address is not
set to 0.

Baud rate Setting DIP switches

1 2 3
10 kBit/s OFF OFF OFF
20 kBit/s OFF OFF ON
50 kBit/s * OFF ON OFF * Factory setting:
125 kBit/s OFF ON ON
250 kBit/s ON OFF OFF
500 kBit/s ON OFF ON
800 kBit/s ON ON OFF
1 MBit/s ON ON ON

7.2.3. Terminating resistor

If the connected encoder is the last device in the bus line, the bus must be terminated with a resistor. The
resistor is in the bus cover and is connected using a one-pole DIP switch. The terminating resistor must be
switched to "ON" at the last user with a DIP switch (default setting OFF).

ON = Final user Switch 1: ON = Final user

OFF = User X OFF = User X
Switch 2: Without function

7.2.4. Bus cover connection

 Release the cap nut of the cable gland.
 Push the cap nut and seal insert with contact sleeve onto the cable sheath.
 Strip the cable sheath and cores, shorten the shield film where this exists (see Fig.)
 Bend over the braided screen by approx. 90°.
 Push the sealing insert with contact sleeve along as far as the braided shield. Insert the sealing insert
with contact sleeve and cable flush into the cable gland and tighten the cap nut.

For standard encoder

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 For G0AMH, G0MMH, GBAMH and GBMMH
Bus cable Supply voltage cable

 Terminals with the same designation are internally interconnected.

 For the power supply, use only cable gland 3. For the bus lines, cable gland 1 or 2 can be optionally
selected. For the bus lines, cable glands 1 or 2 can be freely selected. Observe the admissible cable
cross sections.
 Insert the cores using the shortest route from the cable gland to the terminal strip. Observe the admissible
core cross-section. Use isolated core end sleeves.
 Avoid crossing over data lines with the supply voltage line.

Bus cover – Shaft/end shaft

1 2 3 Cable gland M12 connector

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Bus cover – Hollow shaft G1 and G2

1 2 3

Bus cover – Hollow shaft G0 and GB

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7.2.5. Terminal assignment

Pin Terminal Explanation M12-connector (male/female)

1 GND Ground connection relating to UB
2 UB Supply voltage 10...30 VDC
3 GND Ground connection relating to UB
4 CAN_H CAN Bus signal (dominant High)
5 CAN_L CAN Bus signal (dominant Low)

Terminals with the same designation are connected to each other internally and identical in their functions.
Maximum load on the internal clamps UB-UB and GND-GND is 1 A each.

 Carefully plug the bus cover onto the D-SUB plug of the basic encoder, then press only via the sealing
rubber, taking care not to tilt it. The bus cover must rest fully against the basic encoder.
 Tighten both the fastening screws firmly in the same direction.

The encoder housing and braided shield of the connecting cable are only ideally connected if the bus cover is
resting fully on the basic encoder (positive locking).

7.3. Display elements (status display)

A dual LED is integrated at the back of the bus cover.

LED green LED red Status

Off Off Supply voltage not connected
Flashing Off Pre-operational mode
On Off Operational mode
On Off Stopped/Prepared mode
Off Flashing Warning
Off On Error

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