Baumer HUBNER BERLIN EtherCAT PMG 10 User manual

PMG 10 - EtherCAT
Absolute encoder
with magnetic sensing
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
Installation and operating instructions

TABLE OF CONTENTS
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
TABLE OF CONTENTS
1. IMPORTENT 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 (not included in scope of delivery) ............................6
3.3 Required tools (not included in scope of delivery)..........................................................6
4. MOUNTING ............................................................................................................................7
4.1 Mounting the spring disk coupling to the encoder ..........................................................7
4.2 Mounting to drive shaft ...................................................................................................7
4.3 Mounting the spring disk coupling to drive shaft.............................................................8
4.4 Maximum permissible mounting tolerance when the
Baumer Hübner K 35 spring disk coupling is used.........................................................9
4.5 Note when using a jaw-type coupling (for example „ROTEX®“) ..................................10
5. ELECTRICAL CONNECTION..............................................................................................11
5.1 EtherCAT ...................................................................................................................... 11
5.1.1 Features ............................................................................................................. 11
5.1.2 Terminal assignment ..........................................................................................12
5.1.2.1 Bus connecting box EtherCAT [A].........................................................12
5.1.2.2 Connector M12 [C] „Voltage supply“ (male, 4-pin, A-coded) ...............12
5.1.2.3 Connector M12 [D] and [E] „Data transmission“ (female, 4-pin,
D-coded) ...............................................................................................12

TABLE OF CONTENTS
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
5.2 Speed switch and additional output incremental ..........................................................13
  ..........................................................................................13
5.2.2 Output signals incremental (additional output) ...................................................13
5.2.3 LED function displays.........................................................................................14
5.2.4 Speed switch - Switching characteristics ...........................................................14
5.2.5 Cable connection................................................................................................15
5.2.6 Assignment connecting terminal ........................................................................16
5.2.6.1 Connecting terminal box [B]
Speed switch without additonal output .................................................16
5.2.6.2 Connecting terminal box [B]
Speed switch with additonal output ......................................................16
6. DIMENSION .........................................................................................................................17
7. DISMOUNTING ....................................................................................................................18
8. TECHNICAL DATA ..............................................................................................................19
8.1 Technical data - electrical ratings .................................................................................19
8.2 Technical data - electrical ratings (speed switches) .....................................................19
8.3 Technical data - mechanical design..............................................................................20

IMPORTENT NOTES
1/21 MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
1. IMPORTENT 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.
-
ting, electrical commissioning or any other work with the encoder or system is to be perfor-

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.

IMPORTENT NOTES
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN 2/21
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.
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
3/21 MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
2. SAFETY AND ATTENTION INSTRUCTIONS
2.1 Safety instructions
Explosion risk

» -

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
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN 4/21
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.
» 
)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.
)
-
ting an encoder, secured to a shaft by adhesive may lead to the destruction of the
unit.
» 

1
[B] [A]
4
5
3
2
PREPARATION
5/21 MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
3. PREPARATION
3.1 Scope of delivery
1Housing
2 
3Solid shaft with key
4Bearing shield
5LED function indicators
Radial terminal boxes* (see section 5):
[A]Bus connecting box EtherCAT
[B]Speed switch + additional output
* Depending on version

7 86
PREPARATION
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN 6/21
3.2 Required accessory for mounting (not included in scope of delivery)
iConnecting cables and connectors are required for the electrical connection. Details
see section 5, page 11.
3.3 Required tools (not included in scope of delivery)
2.5 mm
10 und 22 mm
TX 10, TX 20
6 
7 
M6x16 mm
8Spring disk coupling K 35,
available as accessory, see section 4.4, page 9.

MOUNTING / MOUNTING THE SPRING DISK COUPLING TO THE ENCODER
7/21 MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
4. MOUNTING
4.1 Mounting the spring disk coupling to the encoder
We recommend using the Baumer Hübner spring disk coupling K 35, see section 4.4, page
9, available as accessory. When other couplings are used pay attention to manufactu-
rer‘s notes.
4.2 Mounting to drive shaft
)Lifetime restrictions and angle error by radial deviations
High runout of the drive shaft can cause encoder angle error.
High runout of the drive shaft can cause vibrations, which can shorten the lifetime of
the encoder.
» Lubricate drive shaft!
» 
Mt= 100 Ncm
8
7 6
iThe encoder must be mounted with cable connection facing downward and not
exposed to water.
2.5 mm
10 mm

MOUNTING / MOUNTING THE SPRING DISK COUPLING TO DRIVE SHAFT
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN 8/21
4.3 Mounting the spring disk coupling to drive shaft
8
Mt= 2-3 Nm
2.5 mm

MOUNTING
9/21 MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
4.4 Maximum permissible mounting tolerance when the Baumer Hübner K 35 spring
disk coupling is used
Encoders should be driven through the Baumer Hübner K 35 spring disk coupling (acces-
sory), that can be pushed onto the shaft without axial loading.
)The encoder must be mounted on the drive with the least possible angular error
and parallel misalignment.
)Risk of damaging the ball bearings
Coupling components must not be driven onto the shaft with improper force (e. g.
hammer impacts), because of the risk of damaging the ball bearings.
±0.2 (±0.05*)
±1°
* For insulated hub version
All dimensions in millimeters, unless otherwise stated.
±0.7 (±0.3*)
Admissible
parallel misalignment
Admissible
angular error
Admissible
axial movement
2-10

MOUNTING
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN 10/21
4.5 Note when using a jaw-type coupling (for example „ROTEX®“)
)Incorrect mounting of the jaw-type coupling can damage the encoder.
Avoid blocking of both coupling halves (claws pressed together). The encoder shaft
must not subjected to direct axial shock.
» L, L1), see below.
L+ L1 L
L1
1-2 mm

ELECTRICAL CONNECTION / ETHERCAT
11/21 MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
5. ELECTRICAL CONNECTION
5.1 EtherCAT
i-

5.1.1 Features
Bus protocol EtherCAT
 
Features 100 MBaud Ethernet
Automatic address designation
Distributed clock for precise synchronization


shorter cycle times
Process data Position value, Warnings, System time
Cycle times Depending on sensor type, enabled scaling functionality and

Synchronization 0x00 Free Run, not synchronized
0x03 Distributed clocks DC, synchronized with SYNCO/SYNC1
Event

ELECTRICAL CONNECTION / ETHERCAT
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN 12/21
5.1.2 Terminal assignment
)Use connecting cable and connector exclusively in accordance to the
EtherCAT directive.
5.1.2.1 Bus connecting box EtherCAT [A]
[C]
[D] [E]
MALE CONNECTION DESCRIPTION
1 UB Voltage supply 10...30 VDC
2 - Do not use
3 GND Ground for UB
4 - Do not use
FEMALE CONNECTION DESCRIPTION
1 TxD+ Transmission data+
2 RxD+ Receiving data+
3 TxD- Transmission data-
4 RxD- Receiving data-
1
4
2
3
Bus connecting box
EtherCAT [A]
5.1.2.2 Connector M12 [C] „Voltage supply“ (male, 4-pin, A-coded)
5.1.2.3 Connector M12 [D] and [E] „Data transmission“ (female, 4-pin, D-coded)
2
3
1
4

ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL
13/21 MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
5.2 Speed switch and additional output incremental
5.2.1 
+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
5.2.2 Output signals incremental (additional output)
90°
A+
A-
B+
B-
R+
Zero pulse+
R-
Zero pulse-
At positive rotating direction

ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN 14/21
5.2.3 LED function displays
LED Red Green
INC1 Without function Without function
INC2 Undervoltage OK
(additional output Overload
incremental) Over-temperature
Status Internal error OK
Speed Speed higher switching speed Speed lower switching speed
(overspeed)
5.2.4 Speed switch - Switching characteristics
Event State of the speed switch output
During initialisation High resistance (overspeed)
After initialisation and
 
 
Low resistance (no overspeed) after initialisation
if the encoder is rotating between the switching
range during initialisation.
-ns (on) < speed < +ns (on) Low resistance (no overspeed)
 
Low resistance (no overspeed) after initialisation
if the encoder is rotating between the switching
range during initialisation.
 
* See
section 6, page 17
Low resistance
Resistance between
SP+ and SP
-
High resistance
-ns (on) 0+ns (on)
-n
+n
-ns (off) +ns (off)
n
= Speed
+n
s(on) = Activation speed at shaft rotation in positive rotating direction*
+n
s(off) = Deactivation speed at shaft rotation in positive rotating direction*
-n
s(on) = Activation speed at shaft rotation in negative rotating direction*
-n
s(off) = Deactivation at shaft rotation in negative rotating direction*

12
11
10
9
ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL
15/21 MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
5.2.5 Cable connection
)
be used.
Connecting cables are not in scope of delivery.
TX 20
Mt = 2-3 Nm
22 mm
Connecting cable
ø5-13 mm
50 mm
Cable shield
Connecting terminal [B]
Speed switch/additional output
See section 5.2.6.1 or
section 5.2.6.2.
9Terminal box cover
10 Torx and slotted screw,
M4x32 mm
11 Cable gland M20x1.5 mm
for cable ø5-13 mm
12 Connecting terminal,
2

ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL
MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN 16/21
5.2.6 Assignment connecting terminal
)Do not connect voltage supply to outputs! Danger of damage!
Please, beware of possible voltage drop in long cable leads (inputs and out-
puts)!
5.2.6.1 Connecting terminal box [B]
Speed switch without additonal output
5.2.6.2 Connecting terminal box [B]
Speed switch with additonal output
* Only at version with speed switch
SP+*
dnu
dnu
dnu
dnu
dnu
dnu
SP-*
dnu
dnu
dnu
dnu
SA*
SB*
SP+*
A+
A
_
B+
B
_
+UB
SP-*
nE+
nE
_
R+
R
_
SA*
SB*

DIMENSION
17/21 MB255EN - 11173976, 16A1, Baumer_PMG10-EtherCAT_II_EN
6. DIMENSION
All dimensions in millimeters, unless otherwise stated.
Positive
rotating direction
[B]
[C] [D] [E]
Speed switch
Additional output EtherCAT [A]