Baumer CANopen HMG 10 User manual

HMG 10 - CANopen®
Absolute Encoder
with magnetic sensing
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
Installation and operating instructions

TABLE OF CONTENTS
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
TABLE OF CONTENTS
1. IMPORTANT NOTES .............................................................................................................1
1.1 Symbol guide..................................................................................................................1
1.2 Intended use...................................................................................................................1
1.3 Exclusion from liability ....................................................................................................1
1.4 Maintenance and lifetime................................................................................................2
1.5 Approvals and warranty..................................................................................................2
1.6 Storage temperature and disposal .................................................................................2
2. SAFETY AND ATTENTION INSTRUCTIONS........................................................................3
2.1 Safety instructions ..........................................................................................................3
2.2 Attention instructions for mounting and operation ..........................................................4
3. PREPARATION......................................................................................................................5
3.1 Scope of delivery ............................................................................................................5
3.2 Required accessory for mounting/dismounting (not included in scope of delivery)........6
3.3 Required tools (not included in scope of delivery)..........................................................6
4. MOUNTING ............................................................................................................................7
4.1 Positioning the torque plate ............................................................................................7
4.2 Mounting the torque arm at the encoder ........................................................................7
4.3 Mounting to drive shaft ...................................................................................................8
4.3.1 Version with blind hollow shaft .............................................................................8
4.3.2 Version with cone shaft ........................................................................................9
4.3.3 Version with through hollow shaft.......................................................................10
4.4 Drive side mounting of the torque arm ......................................................................... 11
4.5 How to prevent measurement errors ............................................................................12
5. ELECTRICAL CONNECTION..............................................................................................13
5.1 CANopen® ...................................................................................................................13
5.1.1 Features .............................................................................................................13
5.1.2 Cable connection for version with cable glands .................................................14
5.1.3 Bus connecting box CANopen® [A]- Version with connectors ..........................15
5.1.3.1 Connector M12 [C] (male, 5-pin, A-coded) ...........................................15
5.1.3.2 Connector M12 [D] (female, 5-pin, A-coded) ........................................15
5.1.4 View in bus connecting box CANopen® [A] .......................................................16
5.1.5 Setting for the terminating resistors....................................................................16

TABLE OF CONTENTS
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
5.1.6 Setting for the user address ...............................................................................16
5.1.7 Setting for the transmission rate.........................................................................17
5.2 Speed switch and additional output incremental ..........................................................17
5.2.1 Terminalsignicance ..........................................................................................17
5.2.2 Output signals incremental (additional output) ...................................................18
5.2.3 LED function displays.........................................................................................18
5.2.4 Speed switch - Switching characteristics ...........................................................19
5.2.5 Cable connection................................................................................................20
5.2.6 Assignment connecting terminal ........................................................................21
5.2.6.1 Connecting terminal box [B]
Speed switch with additonal output ......................................................21
6. DIMENSIONS.......................................................................................................................22
6.1 Blind hollow shaft..........................................................................................................22
6.2 Through hollow shaft ....................................................................................................23
6.3 Cone shaft ....................................................................................................................24
7. DISMOUNTING ....................................................................................................................25
7.1 Version with blind hollow shaft or cone shaft................................................................25
7.1.1 Step 1 .................................................................................................................25
7.1.2 Step 2 .................................................................................................................25
7.1.3 Step 3 .................................................................................................................26
7.1.4 Step 4 .................................................................................................................26
7.2 Version with through hollow shaft .................................................................................27
8. TECHNICAL DATA ..............................................................................................................28
8.1 Technical data - electrical ratings .................................................................................28
8.2 Technical data - electrical ratings (speed switches) .....................................................28
8.3 Technical data - mechanical design..............................................................................29

IMPORTANT NOTES
1/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
1. IMPORTANT NOTES
1.1 Symbol guide
Warning
Disregarding could result in serious injury, death or damage to property
)Attention
Disregarding could result in damage to property or damage/malfunction of the en-
coder
iInformation
Additional information and recommendations
1.2 Intended use
The encoder is a precision measurement device for the acquisition of speed/position in-
formation for the control of drive units and the provision of electronic output signals for
downstream devices.
The encoder must not be used for any other purpose. The function of the encoder is descri-
bed in this mounting instruction. The customer must check the suitability for the purpose
intended.
Mountingandselectionmustbeexecutedbyauthorizedandqualiedpersonnel.Moun-
ting, electrical commissioning or any other work with the encoder or system is to be perfor-
medbyappropriatelyqualiedstaffonly.
Do not put encoder into service if there is any visible evidence of damage.
Do not operate encoder beyond the limit values stated in this mounting instruction.
Any risk of personal injury, damage of the system or company equipment due to failure or
malfunction of the encoder must be eliminated by corresponding safety measures.
Warning
Disregarding intended use could result in serious injury or damage to property.
1.3 Exclusion from liability
The manufacturer is not liable for any damage to persons or property resulting from unin-
tended use of the encoder.

IMPORTANT NOTES
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN 2/33
1.4 Maintenance and lifetime
The encoder may be only opened as described in this instruction. Repair or maintenance
work that requires opening the encoder completely must be carried out by the manufactu-
rer.
Alterations of the device are not permitted.
The expected operating life of the device depends on the ball bearings, which are equipped
with a permanent lubrication.
In the event of queries or subsequent deliveries, the data on the device type label must be
quoted, especially the type designation and the serial number.
1.5 Approvals and warranty
EU Declaration of Conformity meeting to the European Directives.
UL approval / E256710.
We grant a 2-year warranty in accordance with the regulations of the Central Association of
the German Electrical Industry (ZVEI).
iWarranty seal
Damaging the warranty seal on the encoder invalidates warranty.
1.6 Storage temperature and disposal
The storage temperature range of the encoder is between -15...+70 °C (caused by pa-
cking).
Encoder components are to be disposed of according to the regulations prevailing in the
respective country.

SAFETY AND ATTENTION INSTRUCTIONS
3/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
2. SAFETY AND ATTENTION INSTRUCTIONS
2.1 Safety instructions
Explosion risk
Sparkformationcancauseareoranexplosion.
» Donotusetheencoderinareaswithexplosiveand/orhighlyinammablemateri-
als.Theymayexplodeand/orcatchrebypossiblesparkformation.
Risk of serious injuries due to rotating shafts
Hair and clothes may become tangled in rotating shafts. Touching the rotating parts
can cause extremely serious injuries.
» Before all work switch off all operating voltages and ensure machinery is statio-
nary.
» Prevent reconnection operating voltages by third parties.
Risk of serious injuries due to consequential damages
Plants can be deregulated due to malfunction or faulty signals of the encoder.
» Damage caused by faulty operation or by a malfunction of the encoder must be
eliminated by corresponding safety measures.
Risk of burns due to formation of heat
The encoder heats up at higher speed so there is a serious risk of burning shortly
after the machine has been turned off.
» Examine carefully whether the encoder overheats. Wear suitable gloves if neces-
sary.

SAFETY AND ATTENTION INSTRUCTIONS
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN 4/33
2.2 Attention instructions for mounting and operation
)Risk of destruction due to electrostatic charge
Electronic parts contained in the encoder are sensitive to high voltages.
» Do not touch plug contacts or electronic components.
» Protect output terminals against external voltages.
» Do not exceed max. operating voltage.
)Risk of destruction due to mechanical overload
Rigid mounting may give rise to constraining forces.
» Never restrict the freedom of movement of the encoder. The installation instruc-
tions must be followed.
» Itisessentialthatthespeciedclearancesand/oranglesareobserved.
)Risk of destruction due to mechanical shock
Violent shocks, e. g. due to hammer impacts, can lead to the destruction of the
sensing system.
» Never use force. Assembly is simple when correct procedure is followed.
» Use suitable puller for disassembly.
)Risk of destruction due to contamination
Dirt penetrating inside the encoder can cause short circuits and damage the optical
sensing system.
» Absolute cleanliness must be maintained when carrying out any work on the open
terminal box.
» When dismantling, never allow lubricants to penetrate the encoder.
)Riskofdestructionduetoadhesiveuids
Adhesiveuidscandamagetheopticalsensingsystemandthebearings.Dismoun-
ting an encoder, secured to a shaft by adhesive may lead to the destruction of the
unit.
» Donotuseadhesiveuidsforxing.

6d 6e 6f 17a 6a 6b
8c8b
8a
6c
7b
5
[B] [A]
[A]
7a 4
2
4
8a
32
[C]
PREPARATION
5/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
3. PREPARATION
3.1 Scope of delivery
1Housing
2Cover
3Torx and slotted screw - DIN 7964,
M4x10 mm
4LED function indicators
5Earthing strap, length ~230 mm
Equipment for mounting a torque arm:
6a Clamping ring adjustable through 360°
6b Torx and slotted screw - ISO 7045,
M4x20 mm
6c Torque plate
6d Hexagon screw - ISO 4017,
M6x18 mm
6e Washer - ISO 7090, B6.4
6f Self-locking nut - ISO 10511, M6
Blind hollow shaft* or cone shaft*:
7a Blind hollow shaft or cone shaft with
spannerat17a/f
7b Clamping element, not for cone shaft
Through hollow shaft*:
8a Through hollow shaft
8b Clamping ring
8c Torx screw - ISO 7045, M3x12 mm
Radial terminal boxes* (see section 5):
[A]Bus connecting box CANopen®
[B]Speed switch + additional output
[C]Blind cover - version without speed switch
+ without additional output
* Depending on version

9
10a 10b 10c
10e 10d
11a
11d
11b
11c
PREPARATION
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN 6/33
3.2 Required accessory for mounting/dismounting (not included in scope of delivery)
iConnecting cables and respective connectors are required for the electrical connec-
tion. Details see section 5, page 13.
Torque arm, length L / order number
9Standard version:
67-70 mm / 11043628
125(±5)mm,canbeshortenedto≥71mm/11004078
440(+20/-15)mm,canbeshortenedto≥131mm/11002915
9Insulated version:
67-70 mm / 11054917
125(±5)mm,canbeshortenedto≥71mm/11072795
440(+20/-15)mm,canbeshortenedto≥131mm/11082677
Mounting kit, order number 11077197:
10a Threadrod-M6,lengthvariable≤210mm
10b Washer - ISO 7090, B6.4
10c Self-locking nut - ISO 10511, M6
10d Cylinder screw for earthing strap - ISO 1207, M6x8
10e Washer for earthing strap - ISO 7090, B6.4
Mounting/dismounting kit, order number 11077087:
(Not required for version with through hollow shaft)
11a Cylinder screw - ISO 4762, M6x30
11b Spring washer - DIN 7980, 6
11c Setscrew - ISO 7436, M6x10
11d Cylinder screw - ISO 4762, M8x45
L
3.3 Required tools (not included in scope of delivery)
3, 5 and 6 mm
1.6x8.0 mm and 0.8x4 mm
10 (2x), 17 and 22 mm
TX 10, TX 20

6a6b
6e
6c
6f
96d
MOUNTING / POSITIONING THE TORQUE PLATE
7/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
4. MOUNTING
4.1 Positioning the torque plate
4.2 Mounting the torque arm at the encoder
)Note the mounting instructions for the torque arm in section 4.4, page 11.
360°
10 mm
Loosen the screw
Tighten the screw
Mt = 2-3 Nm
TX 20
10 mm

DIN 332-D
M6x16 mm
16 mm
≥ ød + 4 mm
L1
L2
ød
ød (mm) L1 (mm) L2 (mm)
16h6 53 52 (40-52)
20h6 35 34 (25-34)
10c10b
10a
5
10e
10d
10c 10b 10b
10c9
7b
11b 11a
7a 32
Mt = 6 Nm
TX 2017 mm
5 mm
10 mm1.6x8 mm
7b
MOUNTING / MOUNTING TO DRIVE SHAFT
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN 8/33
4.3 Mounting to drive shaft
4.3.1 Version with blind hollow shaft
)Lifetime restrictions and angle error by radial deviations
High runout of the drive shaft can cause encoder angle error, see section 4.5,
page 12.
High runout of the drive shaft can cause vibrations, which can shorten the lifeti-
me of the encoder.
» Lubricate drive shaft!
)Minimizedriveshaftrunout(≤0.2mm;≤0.03mmrecommended).
iThe encoder must be mounted with cable connection facing downward and not
exposed to water.

10c10b 10a 5
10e
10d
10c 10b 10b
10c9
11b 11a
7a 32
Mt = 3-4 Nm
TX 2017 mm
5 mm
10 mm1.6x8 mm
MOUNTING / MOUNTING TO DRIVE SHAFT
9/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
4.3.2 Version with cone shaft
)Lifetime restrictions and angle error by radial deviations
High runout of the drive shaft can cause encoder angle error, see section 4.5,
page 12.
High runout of the drive shaft can cause vibrations, which can shorten the lifeti-
me of the encoder.
» Lubricate drive shaft!
)Minimizedriveshaftrunout(≤0.2mm;≤0.03mmrecommended).
iThe encoder must be mounted with cable connection facing downward and not
exposed to water.

≥ ød
>113 mm
ød
ød (mm)
16h6
20h6
10c10b
10a
5
10c
10e
10d
10b 10b
10c
9
8c8b
MOUNTING / MOUNTING TO DRIVE SHAFT
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN 10/33
4.3.3 Version with through hollow shaft
)Lifetime restrictions and angle error by radial deviations
High runout of the drive shaft can cause encoder angle error, see section 4.5,
page 12.
High runout of the drive shaft can cause vibrations, which can shorten the lifeti-
me of the encoder.
» Lubricate drive shaft!
)Minimizedriveshaftrunout(≤0.2mm;≤0.03mmrecommended).
Loosen the screw
Tighten the screw
Mt = 2-3 Nm
iThe encoder must be mounted with cable connection facing downward and not
exposed to water.
TX 10
1.6x8 mm 10 mm

MOUNTING / DRIVE SIDE MOUNTING OF THE TORQUE ARM
11/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
4.4 Drive side mounting of the torque arm
)Lifetime restrictions and angle error of the encoder
A play of just ±0.03 mm, results in concentricity error of the encoder of 0.06 mm.
That may lead to a large angle error, see section 4.5, page 12.
» Mount the torque arm without play.
9°
9°
9°
9°
15°
15°

MOUNTING / HOW TO PREVENT MEASUREMENT ERRORS
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN 12/33
4.5 How to prevent measurement errors
To ensure that the encoder operates correctly, it is necessary to mount it accurately as
described in section 4.1 to 4.4, which includes correct mounting of the torque arm.
The radial runout of the drive shaft should not exceed 0.2 mm (0.03 mm recommended),
to prevent an angle error.
An angle error may be reduced by increasing the length of L1*. Make sure that the length
L2 of the torque arm, see below, is at least equal to L1**.
TheangleerrorΔρmech can be calculated as follows:
Δρmech=±90°/π·R/L1
with R: Radial runout in mm
L1: Distance of the torque arm to the center point of the encoder in mm
Example:
ForR=0.06mmandL1=69.5mmtheresultingangleerrorΔρmech equals ±0.025°.
iFor more information, call the telephone hotline at [phone].
L1
L2 (≥L1)
* For this different braces for the torque arm are available on request.
** If L2 < L1, L2 must be used in the calculation formula.

ELECTRICAL CONNECTION / CANOPEN®
13/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
5. ELECTRICAL CONNECTION
5.1 CANopen®
iPleasendadetailedinstructionfortheCANopen®interfaceandthedevicede-
scriptionleinthemanualontheCDprovidedwiththedevice.
5.1.1 Features
Bus protocol CANopen®
CANopen® features Device Class 2 CAN 2.0B
Deviceprole CANopen®CiADSP406,V3.0
Operation modes Polling mode (asynch, via SDO)
Cyclic mode (asynch-cyclic)
Synch mode (synch-cyclic)
Acyclic mode (synch-acyclic)
Diagnostic The encoder supports the following error messages:
- Position error
Default settings User address 00

17
18
16
14 12
13
15
ELECTRICAL CONNECTION / CANOPEN®
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN 14/33
5.1.2 Cable connection for version with cable glands
)Toensurethespeciedprotectionofthedevicethecorrectcablediametermust
be used.
Connecting cables are not in scope of delivery.
12 Bus connecting box
CANopen®
13 Torx and slotted screw,
M4x32 mm
14 Washer A4, DIN 137
15 Connector (male)
D-SUB
16 Cable gland
M16x1.5 mm
for cable ø5-9 mm
17 Connecting terminal
18 Connector (female)
D-SUB
(Connection to 15)
Cable shield
[A]
see section 5.1.4
Connecting cable
ø5-9 mm
Mt = 2-3 Nm
TX 20
17 mm

12
3
4
5
21
4
3
5
ELECTRICAL CONNECTION / CANOPEN®
15/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
5.1.3 Bus connecting box CANopen® [A]- Version with connectors
5.1.3.1 Connector M12 [C] (male, 5-pin, A-coded)
5.1.3.2 Connector M12 [D] (female, 5-pin, A-coded)
[C] [D]
Bus connecting box
CANopen® [A]
MALE CONNECTION DESCRIPTION
1 GND Ground for UB
2 UB Voltage supply 10...30 VDC
3 GND Ground for UB
4 CAN_H CAN bus signal (dominant HIGH)
5 CAN_L CAN bus signal (dominant LOW)
FEMALE CONNECTION DESCRIPTION
1 GND Ground for UB
2 UB Voltage supply 10...30 VDC
3 GND Ground for UB
4 CAN_H CAN bus signal (dominant HIGH)
5 CAN_L CAN bus signal (dominant LOW)

ELECTRICAL CONNECTION / CANOPEN®
MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN 16/33
5.1.4 View in bus connecting box CANopen® [A]
Terminal assignment
GND Ground for UB
UB Voltage supply 10...30 VDC
CAN_H CAN bus signal (dominant HIGH)
CAN_L CAN bus signal (dominant LOW)
iTerminalsofthesamesignicanceareinternallyconnectedandidenticalintheir
functions. Max. load on the internal terminal connections UB-UB and GND-GND
is 1 A each.
5.1.5 Setting for the terminating resistors
ON = Last user
OFF = User x
5.1.6 Setting for the user address
Address can be set by rotary switches. Example: User address 23
Setting for the terminating resistors
Setting for the user address
Setting for the transmission rate

ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL
17/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN
5.1.7 Setting for the transmission rate
TRANSMISSION RATE DIP SWITCH POSITION
1 2 3
10 kBaud OFF OFF OFF
20 kBaud OFF OFF ON
50 kBaud (default) OFF ON OFF
125 kBaud OFF ON ON
250 kBaud ON OFF OFF
500 kBaud ON OFF ON
800 kBaud ON ON OFF
1000 kBaud ON ON ON
5.2 Speed switch and additional output incremental
(Depending on version)
5.2.1 Terminal signicance
+UB Voltage supply
Ground
A+ Channel A+
A
_
Channel A
_
(Channel A+ inverted)
B+ Channel B+
B
_
Channel B
_
(Channel B+ inverted)
R+ Zero pulse (reference signal)
R
_
Zero pulse inverted
nE+ System OK+ / error output
nE
_
System OK
_
/ error output inverted
SP+* DSL_OUT1 / speed switch (Open-Collector** or Solid State Relay**)
SP
_
* DSL_OUT2 / speed switch (0 V** or Solid State Relay**)
SA* RS485+ / programming interface
SB* RS485
_
/ programming interface
dnu Do not use
* Only at version with speed switch
** Depending on version