Baumer Hubner Berlin microGen PMG10 EtherCAT User manual

V1 | 3/15/2022 | 11173976
EN-US
Operating Manual
PMG10 & PMG10P EtherCAT
Absolute Encoder

List of contents Baumer Hübner
ii Operating Manual PMG10 & PMG10P EtherCAT | V1
List of contents
1 About this document................................................................................................................................... 4
1.1 Purpose .............................................................................................................................................. 4
1.2 Warnings in this manual ..................................................................................................................... 4
1.3 Labels in this manual .......................................................................................................................... 4
1.4 Disclaimer ........................................................................................................................................... 4
1.5 Scope of delivery ................................................................................................................................ 5
1.6 Name plate ......................................................................................................................................... 5
1.7 Maintenance and service life .............................................................................................................. 6
1.8 Approvals and warranty ...................................................................................................................... 6
1.9 Temperature range for operation and storage.................................................................................... 6
2 General information .................................................................................................................................... 7
3 Transport and storage ................................................................................................................................ 8
3.1 Transport ............................................................................................................................................ 8
3.2 Delivery inspection.............................................................................................................................. 8
3.3 Storage ............................................................................................................................................... 8
4 Description................................................................................................................................................... 9
4.1 Rotary encoder ................................................................................................................................... 9
4.2 Mounting accessories (not included) .................................................................................................. 10
4.3 Required tools..................................................................................................................................... 10
5 Installation.................................................................................................................................................... 11
5.1 Mounting with EURO flange B10 ........................................................................................................ 11
5.1.1 Attach coupling onto encoder shaft....................................................................................... 11
5.1.2 Mounting encoder onto drive shaft........................................................................................ 12
5.2 Mounting with base B3 ....................................................................................................................... 14
5.2.1 Attach coupling onto encoder shaft....................................................................................... 14
5.2.2 Mounting encoder onto drive shaft........................................................................................ 15
5.3 Maximum permitted tolerances for mounting errors when using the Baumer Hübner K 35 spring
washer ................................................................................................................................................
17
5.4 Notes when using a claw coupling (e.g. ROTEX®) ............................................................................ 17
6 Electrical installation................................................................................................................................... 19
6.1 EtherCAT ............................................................................................................................................ 20
6.1.1 EtherCAT features ................................................................................................................ 20
6.1.2 Pin assignment EtherCAT..................................................................................................... 20
6.1.2.1 Mating connector (4-pin, A-coded) ................................................................... 21
6.1.2.2 Mating connector (4-contact D-coded) ............................................................. 21
6.2 Terminal box ....................................................................................................................................... 22
6.2.1 Pin assignment at terminal box............................................................................................. 22
6.2.2 Output signals additional incremental output (optional) ........................................................ 22
6.2.3 Switching level additional output incremental (optional) ....................................................... 23

Baumer Hübner List of contents
V1 | PMG10 & PMG10P EtherCAT Operating Manual iii
6.2.4 Programming interface (only for programmable variant) ...................................................... 23
6.2.5 LED activity indicator ............................................................................................................ 23
6.2.6 Output switching behavior Speed switch (optional) .............................................................. 24
6.2.7 Connecting the supply cable................................................................................................. 24
6.2.8 Terminals assignment........................................................................................................... 25
6.3 Z-PA.SDL.1 WLAN adapter: Programming device for HMG10P/PMG10P ........................................ 25
7 Disassembly................................................................................................................................................. 27
7.1 Uninstall when using EURO flange B10 ............................................................................................. 28
7.1.1 Uninstall encoder from drive shaft ........................................................................................ 28
7.2 Uninstall with base B3 ........................................................................................................................ 30
7.2.1 Uninstall encoder from drive shaft ........................................................................................ 30
8 Technical data.............................................................................................................................................. 32
8.1 Solid shaft encoder dimensions with EURO flange B10..................................................................... 33
8.2 Solid shaft encoder dimensions with housing base B3....................................................................... 34

1 | About this document Baumer Hübner
4 Operating Manual PMG10 & PMG10P EtherCAT | V1
1 About this document
1.1 Purpose
This operating manual (subsequently referred to as manual) allows the safe and efficient han-
dling of the product .
The manual does not provide instructions on operating the machine in which the product is inte-
grated. Information on this is found in the operating manual of the machine.
The manual is a constituent part of the product. It must be kept in the immediate vicinity of the
product and must be accessible to personnel at all times.
Personnel must have carefully read and understood this manual before beginning any work.
The basic prerequisite for safe working is compliance with all safety instructions and handling
instructions given in this manual.
In addition, the local occupational health and safety regulations and general safety regulations
apply.
The illustrations in this manual are examples only. Deviations are at the discretion of Baumer at
all times.
1.2 Warnings in this manual
Warnings draw attention to potential personal injury or material damage. The warnings in this
manual indicate different hazard levels:
Symbol Warning term Explanation
DANGER Indicates an imminent potential danger with high risk of death or
serious personal injury if not being avoided.
WARNING Indicates potential danger with medium risk of death or (serious)
personal injury if not being avoided.
CAUTION Indicates a danger with low risk, which could lead to light or
medium injury if not avoided.
NOTE Indicates a warning of material damage.
INFO Indicates practical information and tips that enable optimal use of
the devices.
1.3 Labels in this manual
Identifier Use Example
Dialog element Indicates dialog elements. Click the OK button.
Unique name Indicates the names of products,
files, etc.
Internet Explorer is not supported
in any version.
Code Indicates entries. Enter the following IP address:
192.168.0.250
1.4 Disclaimer
The manufacturer is not liable for personal injury and/or property damage resulting from im-
proper use of the device.

Baumer Hübner About this document | 1
V1 | PMG10 & PMG10P EtherCAT Operating Manual 5
1.5 Scope of delivery
The scope of delivery includes:
n1 x rotary encoder
n1 x instruction manual
n1 x General information leaflet
In addition, you can find the following information, among other things, in digital format at
www.baumer.com:
nData sheet
nManual EtherCat
n3D CAD drawing
nXML file for the EtherCAT connection
nCertificates (e.g. EU declaration of conformity)
Also see about this
2Rotary encoder [}9]
2Mounting accessories (not included) [}10]
1.6 Name plate
Made in Germany
Absolute Encoder
PMG93–SN6. 1P03.S03C07 – 11233871
SN: 7000063433231
UB= 9...30 VDC
2048 TTL (RS422)
IP 66 N091
Default IP Address: 192.168.0.250 /24
MAC Adress: 9C:C9:50:00:A6:EE
www.baumer.com Made in Germany
XXXXL305
1
2
3 4
1 Product name, product code, material
number
2 Serial number, technical data, MAC ad-
dress
3 Baumer Website 4 Labels

1 | About this document Baumer Hübner
6 Operating Manual PMG10 & PMG10P EtherCAT | V1
1.7 Maintenance and service life
The device may only be opened for assembly and maintenance work as described in the
present instruction manual. Any repair or maintenance work requiring fully opening the device
must be carried out by the manufacturer only.
Do not perform any modifications at the device.
The expected service life of the device depends on the ball bearings featuring permanent lubri-
cation.
For any queries or subsequent deliveries refer to the product data specified on the device label,
in particular type and serial number.
1.8 Approvals and warranty
Declaration of conformity according to the prevailing country-specific directives.
We grant a 2-year warranty in line with the conditions of the German Electrical and Electronic
Manufacturers' Association (ZVEI).
INFO
warranty seal
Any breaking of the seal provided at the device will result in loss of warranty.
1.9 Temperature range for operation and storage
The storage temperature of the device ranges from -15 ... +70 °C
The device operating temperature range ranges between -40 ... +85 °C, measured at housing.

Baumer Hübner General information | 2
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2 General information
Intended use
This product is a precision device and serves the detection of items, objects, or physical mea-
surement variables and the preparation or provision of measured values as electric variables for
the higher-level system.
Unless specifically labeled, this product may not be used in explosive environments.
Commissioning
Assembly, installation, and calibration of this product may only be performed by a specialist.
Installation
Only use the fasteners and fastener accessories intended for this product for installation. Out-
puts not in use must not be wired. Unused wires of cable outputs must be insulated. Do not go
below the permissible cable bending radii. Disconnect the system from power before the prod-
uct is electrically connected. Use shielded cables to prevent electro-magnetic interference. If the
customer assembles plug connections on shielded cables, then EMC-version plug connections
should be used and the cable shield must be connected to the plug housing across a large sur-
face area.
Disposal (environmental protection)
Used electrical and electronic devices may not be disposed of in household
waste. The product contains valuable raw materials that can be recycled. There-
fore dispose of this product at the appropriate collection point. For additional in-
formation visit www.baumer.com.

3 | Transport and storage Baumer Hübner
8 Operating Manual PMG10 & PMG10P EtherCAT | V1
3 Transport and storage
3.1 Transport
NOTICE
Material damage due to improper transport.
a) Ensure maximum diligence when unloading the delivered packages as well as when trans-
porting them inside the company.
b) Note the information and symbols on the packaging.
c) Only remove packaging immediately before mounting.
3.2 Delivery inspection
Upon receipt immediately inspect the delivery for completeness and transport damage.
Claim any defect as soon as it is detected. Damages can only be claimed within the applicable
claims deadlines.
In case of externally visible transport damage, proceed as follows:
Instruction:
a) Do not accept the delivery or only with reservations.
b) Note the scope of the damage on the transport documents or the delivery slip of the carrier.
c) Initiate the claim.
3.3 Storage
Store the product at the following conditions:
nUse the original packaging for storage.
nDo not store outdoors.
nStore dry and free from dust.
nDo not expose to aggressive media.
nKeep away from the sun.
nAvoid mechanical agitation.
nStorage temperature: -15 ... +70 °C..
nWhen storing for longer than 3 months, regularly check the general state of all parts and the
packaging.

Baumer Hübner Description | 4
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4 Description
4.1 Rotary encoder
1
8
7
2
5
3
4
6
9
Ill.1: Description PMG10
1 Housing 2 Cover
3 LED activity indicator 4 Housing base B3 (according to product
variant)
5 Blind cover (device without additional out-
put, without speed switch and without
programming interface)
6 Additional incremental output (optional),
speed switch (optional), programming in-
terface (PMG10P only)
7 Solid shaft with key 8 EURO flange B10 (according to product
variant)
9 Bus terminal box

4 | Description Baumer Hübner
10 Operating Manual PMG10 & PMG10P EtherCAT | V1
4.2 Mounting accessories (not included)
1 2 3 4
5
Ill.2: Mounting accessories
1 Spring washer coupling K35, available as
accessory
2 Mounting device, customer-specific (for
EURO flange B10 mount)
3 Mounting screw M6x16 mm for attach-
ment device, ISO 4017 (for EURO flange
B10 mount)
4 M6x20 mm screw for fastening the hous-
ing base, ISO 4017 (for housing base B3
mount)
5 Washer B6 to fasten housing base, DIN
137 (for housing base B3 mount)
4.3 Required tools
n 2.5mm
n 10mm, 22mm
n T20

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5 Installation
NOTICE
Equipment damage due to mechanical shock
Strong vibration may lead to overload by constraining force.
a) Never apply force. If properly assembled, everything fits smoothly together.
b) Use only suitable tools for disassembly (see chapter on disassembly).
NOTICE
Equipment damage by adhering liquids
Sticky liquids may damage sensing unit and ball bearings. Disassembling a device which is
stuck to the axis can lead to destruction.
a) Do not use adhesive liquids to fasten the device.
5.1 Mounting with EURO flange B10
5.1.1 Attach coupling onto encoder shaft
INFO
Baumer recommends to use the Baumer Hübner K 35 spring disc coupling to connect the rotary
encoder and the drive shaft of the following device. The Baumer Hübner K 35 spring disc cou-
pling can be pushed onto the drive shaft without axial pressure.
1
Ill.3: Attach coupling onto encoder shaft
1 Coupling
Tools
n 2.5mm

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12 Operating Manual PMG10 & PMG10P EtherCAT | V1
Instruction:
a) Attach the coupling onto the encoder shaft according to the related mounting instructions.
b) When using the K 35 spring washer of Baumer Hübner, consider the maximum permitted
tolerances for mounting errors.
c) Fasten the coupling at the specified torque (K 35: Mt = 1 Nm (plastic side), Mt = 1.3 ± 10%
Nm (metal side)). Observe the remarks in the spring washer assembly instructions.
Also see about this
2Maximum permitted tolerances for mounting errors when using the Baumer Hübner K 35
spring washer [}17]
5.1.2 Mounting encoder onto drive shaft
DANGER
Injuries caused by shaft rotation
Hair and clothing may get caught in rotating shafts which may lead to serious personal injury.
a) Make sure the device is idle.
b) Before performing any work at the device, make sure power supply is and remains discon-
nected.
DANGER
Explosion
Sparks may cause fire or explosion.
a) Do not use the device in the near vicinity of explosive or highly flammable materials.
NOTICE
Equipment damage by mechanical overload
Mounting under tension may cause overload by constraining forces.
a) Observe the mounting instructions.
b) Observe the specified distances and/or angles.
NOTICE
Ball bearing damage caused by hard impacts on coupling
Hard shaft impacts imposed on parts of the coupling can damage the ball bearings and there-
fore are not permitted. If properly selected, the components can be easily assembled without
applying any axial pressure.
a) Otherwise, check and correct the dimensions and tolerances.
NOTICE
Severe runout errors of the drive shaft reduce service life and may cause angular errors.
Severe runout errors of the drive shaft cause vibrations that cut down on the encoder service
live and may cause angular errors.
a) Keep runout errors of drive shaft down to a minimum (recommended: ≤ 0.03 mm; maximum:
≤ 0.2 mm).

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V1 | PMG10 & PMG10P EtherCAT Operating Manual 13
1 3 42
Ill.4: Installing encoder, mounting device and coupling
1 Drive shaft 2 Mounting screw M6x16 mm for attach-
ment device (ISO 4017)
3 Attachment device (customized) 4 Coupling
Tools
n 2.5mm
n 10 mm
Instruction:
a) Prior to installation, check the drive runout error and dimensions.
b) Mount the encoder in a way ensuring the electrical connection is protected against direct
water ingress.
c) Apply grease onto the drive shaft.
d) Mount the attachment device (customer-specific) to the drive using the fastening screws.
e) Push coupling onto the encoder shaft and tighten to the specified torque.
K35 permitted tightening torque:
Mt = 1 ±10 % Nm (plastic side)
Mt = 1.3 ±10 % Nm (metal side)
f) Mount the encoder using suitable screws, e.g. M6x16 mm (ISO 4017) onto the B10 flange of
drive or attachment device (customer-specific).
g) Fasten the coupling on the drive shaft.
K35 Permitted tightening torque:
Mt = 1 ±10 % Nm (plastic side)
Mt = 1.3 ±10 % Nm (metal side)
Observe the remarks in the data sheet and the coupling assembly instructions.

5 | Installation Baumer Hübner
14 Operating Manual PMG10 & PMG10P EtherCAT | V1
5.2 Mounting with base B3
5.2.1 Attach coupling onto encoder shaft
INFO
Baumer recommends to use the Baumer Hübner K 35 spring disc coupling to connect the rotary
encoder and the drive shaft of the following device. The Baumer Hübner K 35 spring disc cou-
pling can be pushed onto the drive shaft without axial pressure.
1
Ill.5: Attach coupling onto encoder shaft
1 Coupling
Tools
n 2.5mm
Instruction:
a) Mount the coupling on the encoder shaft , observe the related mounting instructions.
b) When using the K 35 spring washer of Baumer Hübner, consider the maximum permitted
tolerances for mounting errors.
c) Fasten the coupling at the specified torque (K 35: Mt = 1 Nm (plastic side), Mt = 1.3 ± 10%
Nm (metal side)). Observe the remarks in the spring washer assembly instructions.
Also see about this
2Maximum permitted tolerances for mounting errors when using the Baumer Hübner K 35
spring washer [}17]

Baumer Hübner Installation | 5
V1 | PMG10 & PMG10P EtherCAT Operating Manual 15
5.2.2 Mounting encoder onto drive shaft
DANGER
Injuries caused by shaft rotation
Hair and clothing may get caught in rotating shafts which may lead to serious personal injury.
a) Make sure the device is idle.
b) Before performing any work at the device, make sure power supply is and remains discon-
nected.
DANGER
Explosion
Sparks may cause fire or explosion.
a) Do not use the device in the near vicinity of explosive or highly flammable materials.
NOTICE
Severe runout errors of the drive shaft reduce service life and may cause angular errors.
Severe runout errors of the drive shaft cause vibrations that cut down on the encoder service
live and may cause angular errors.
a) Keep runout errors of drive shaft down to a minimum (recommended: ≤ 0.03 mm; maximum:
≤ 0.2 mm).
NOTICE
Equipment damage by mechanical overload
Mounting under tension may cause overload by constraining forces.
a) Observe the mounting instructions.
b) Observe the specified distances and/or angles.

5 | Installation Baumer Hübner
16 Operating Manual PMG10 & PMG10P EtherCAT | V1
1 2
3
4
5
5
90 mm
110 mm
Ill.6: Mounting encoder onto drive shaft
1 Drive shaft 2 Coupling
3 M6x20 mm screw for fastening the hous-
ing base (ISO 4017)
4 Washer B6 for fastening the housing
base (DIN 137)
5 Housing foot (according to product vari-
ant)
Tools
n 2.5mm
n 10 mm
Instruction:
a) Prior to installation, check the drive runout error and dimensions.
b) Mount the encoder in a way ensuring the electrical connection is protected against direct
water ingress.
c) Apply grease onto the drive shaft.
d) Push the encoder coupling onto the shaft of the drive.
e) In doing so, align encoder and drive shaft to minimize parallel offset and angular errors.
f) Mount the encoder to the base using the screws (4x) and washers (4x).

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V1 | PMG10 & PMG10P EtherCAT Operating Manual 17
g) Fasten the coupling onto the shaft of the drive at a torque of 1.3 ±10 % Nm.
Observe the remarks in the data sheet and the coupling assembly instructions.
5.3 Maximum permitted tolerances for mounting errors when using the
Baumer Hübner K 35 spring washer
NOTICE
Damage to the encoder ball bearings.
Hard impacts of the drive shaft imposed on coupling parts may damage the ball bearings.
a) Prevent any hard impacts of the drive shaft on coupling parts.
Instruction:
a) Mount the drive with small angular error and parallel offset.
b) Note the following allowable mounting errors:
The figure shows the device with EURO flange B10, the same maximum permissible mounting
errors must be observed for the device with housing foot B3.
±0.7 (±0.3*)
±0.2 (±0.05*)
±1°
* With insulated plastic hub
Permitted parallel misalignment Permitted angle error Permissible axial movement
Ill.7: Permissible mounting errors (dimensions in mm)
5.4 Notes when using a claw coupling (e.g. ROTEX®)
NOTICE
Damage to the rotary encoder due to incorrect mounting of the claw coupling.
Blocking of the two coupling halves (coupling claws lie face to face) can damage the rotary en-
coder.
a) Make sure that the coupling claws do not block.
b) Make sure that there is no direct axial stop on the device shaft.

5 | Installation Baumer Hübner
18 Operating Manual PMG10 & PMG10P EtherCAT | V1
Instruction:
wObserve the distances L and L1 when mounting the claw coupling.
These distances apply to the device with EURO flange B10 with a depth caliper.
Instruction:
wWhen mounting with housing foot B3, keep the distance L1.
L+ L1 L
L1
1...2 mm
Ill.8: Correct assembly of a claw coupling

Baumer Hübner Electrical installation | 6
V1 | PMG10 & PMG10P EtherCAT Operating Manual 19
6 Electrical installation
DANGER
Injury by to secondary damage
Encoder failure or incorrect signals may entail system control errors.
a) Eliminate secondary encoder damage by the relevant safety precautions in the downstream
electronics.
NOTICE
Sensor damage due to faulty power supply.
The sensor can be damaged due to faulty power supply.
a) Operate the sensor only with protected low voltage and safe electrical isolation of protection
class III.
NOTICE
Sensor damage or unintended operation due to work on live parts.
Work on live parts may lead to unintentional operation.
a) Disconnect the power before carrying out any cable.
b) Disconnect the power before connecting or disconnecting electrical connections.
NOTICE
Sensor damage by excessive switching voltage.
The sensor's overload limit is for protection only and not intended as limit for the permanently
switching voltage.
a) Make sure that the maximum permitted switching voltage is not exceeded.

6 | Electrical installation Baumer Hübner
20 Operating Manual PMG10 & PMG10P EtherCAT | V1
6.1 EtherCAT
INFO
Use only supply cables and connectors compliant to the EtherCAT guideline.
6.1.1 EtherCAT features
INFO
Detailed instructions for the EtherCAT interface as well as the XML file can be found on the
Baumer website www.baumer.com.
Fieldbus protocol EtherCAT
Device profile Device Profile for Encoders V 1.0
Operating modes CoE (CANopen over EtherCAT) DSP406
Features 100 MBaud Ethernet
Automated address allocation
Distributed clock for precise synchronization
Optional device configuration to act as "reference clock"
Factory setting 10 byte PDO, configurable
4 byte PDO / 2 byte PDO for shorter cycle times
Process data Position value, warnings, system time
Cycle times Depending on encoder type, enabled scaling function and PDO length.
Minimum cycle time: 62.5 µs
Synchronisation 0x00 Free Run, not synchronized
0x03 Distributed clocks DS, synchronized with SYNCO/SYNC1 Event
6.1.2 Pin assignment EtherCAT
1 2 2
3
Ill.9: Terminals PMG10 EtherCAT
1 Male connector (4-pin, A-encoding) 2 Mating connector (4-contact, D-encoding)
3 Bus terminal box