Baumer CANopen HMG 10 Installation And Operating Instructions Manual

Absolute encoder with magnetic sensing
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Installation and operating instructions
HMG 10 - CANopen®
Absolute Encoder
with magnetic sensing

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Summary of Contents for Baumer CANopen HMG 10

  • Page 1 Installation and operating instructions HMG 10 - CANopen® Absolute Encoder with magnetic sensing...
  • Page 2: Table Of Contents

    TABLE OF CONTENTS 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.
  • Page 3 TABLE OF CONTENTS 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 significance ������������������������������������������������������������������������������������������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...
  • Page 4: Important Notes

    IMPORTANT NOTES IMPORTANT NOTES 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 Information Additional information and recommendations 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�...
  • Page 5: 1�4 Maintenance And Lifetime

    IMPORTANT NOTES 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�...
  • Page 6: Safety And Attention Instructions

    SAFETy AND ATTENTION INSTRUCTIONS SAFETY AND ATTENTION INSTRUCTIONS Safety instructions Explosion risk Spark formation can cause a fire or an explosion. » Do not use the encoder in areas with explosive and/or highly inflammable materi- als. They may explode and/or catch fire 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� »...
  • Page 7: 2�2 Attention Instructions For Mounting And Operation

    SAFETy AND ATTENTION INSTRUCTIONS 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� »...
  • Page 8: Preparation

    PREPARATION PREPARATION Scope of delivery 6d 6e 6f 7a 6a 6b [ B ] [ A ] [ A ] [ C ] Housing Blind hollow shaft* or cone shaft*: Cover Blind hollow shaft or cone shaft with spanner flat 17 a/f Torx and slotted screw - DIN 7964, M4x10 mm 7b Clamping element, not for cone shaft LED function indicators...
  • Page 9: 3�2 Required Accessory For Mounting/Dismounting (Not Included In Scope Of Delivery)

    PREPARATION Required accessory for mounting/dismounting (not included in scope of delivery) Connecting cables and respective connectors are required for the electrical connec- tion� Details see section 5, page 13� Torque arm, length L / order number Standard 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 Insulated version:...
  • Page 10: Mounting

    MOUNTING / POSITIONING THE TORqUE PLATE MOUNTING Positioning the torque plate TX 20 Loosen the screw 360° Tighten the screw Mt = 2-3 Nm Mounting the torque arm at the encoder Note the mounting instructions for the torque arm in section 4.4, page 11�...
  • Page 11: 4�3 Mounting To Drive Shaft

    MOUNTING / MOUNTING TO DRIVE SHAFT 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�...
  • Page 12: 4�3�2 Version With Cone Shaft

    MOUNTING / MOUNTING TO DRIVE SHAFT 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�...
  • Page 13: 4�3�3 Version With Through Hollow Shaft

    MOUNTING / MOUNTING TO DRIVE SHAFT 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�...
  • Page 14: 4�4 Drive Side Mounting Of The Torque Arm

    MOUNTING / DRIVE SIDE MOUNTING OF THE TORqUE ARM 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�...
  • Page 15: 4�5 How To Prevent Measurement Errors

    MOUNTING / HOW TO PREVENT MEASUREMENT ERRORS 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�...
  • Page 16: Electrical Connection

    ELECTRICAL CONNECTION / CANOPEN® ELECTRICAL CONNECTION CANopen® P lease find a detailed instruction for the CANopen® interface and the device de- scription file 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 profile 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...
  • Page 17: 5�1�2 Cable Connection For Version With Cable Glands

    ELECTRICAL CONNECTION / CANOPEN® 5.1.2 Cable connection for version with cable glands To ensure the specified protection of the device the correct cable diameter must be used� Connecting cables are not in scope of delivery� TX 20 Bus connecting box 14 12 CANopen® Torx and slotted screw, M4x32 mm Washer A4, DIN 137 Connector (male) D-SUB Cable gland...
  • Page 18: 5�1�3 Bus Connecting Box Canopen® [ A ] - Version With Connectors

    ELECTRICAL CONNECTION / CANOPEN® Bus connecting box CANopen® [ A ] - Version with connectors 5.1.3 Bus connecting box CANopen® [ A ] [ C ] [ D ] 5.1.3.1 Connector M12 [C] (male, 5-pin, A-coded) MALE CONNECTION DESCRIPTION Ground for UB Voltage supply 10���30 VDC Ground for UB CAN_H...
  • Page 19: 5�1�4 View In Bus Connecting Box Canopen

    ELECTRICAL CONNECTION / CANOPEN® 5.1.4 View in bus connecting box CANopen® [A] Setting for the terminating resistors Setting for the transmission rate Setting for the user address Terminal assignment Ground for UB Voltage supply 10���30 VDC CAN_H CAN bus signal (dominant HIGH) CAN_L CAN bus signal (dominant LOW) Terminals of the same significance are internally connected and identical in their functions�...
  • Page 20: 5�1�7 Setting For The Transmission Rate

    ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL 5.1.7 Setting for the transmission rate TRANSMISSION RATE DIP SWITCH POSITION 10 kBaud 20 kBaud 50 kBaud (default) 125 kBaud 250 kBaud 500 kBaud 800 kBaud 1000 kBaud Speed switch and additional output incremental (Depending on version) 5.2.1 Terminal significance...
  • Page 21: 5�2�2 Output Signals Incremental (Additional Output)

    ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL 5.2.2 Output signals incremental (additional output) At positive rotating direction 90° Zero pulse+ Zero pulse- 5.2.3 LED function displays Green INC1 Without function Without funtion INC2 Undervoltage (additional output Overload incremental) Over-temperature Status Internal error...
  • Page 22: 5�2�4 Speed Switch - Switching Characteristics

    ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL 5.2.4 Speed switch - Switching characteristics Event State of the speed switch output During initialisation High resistance (overspeed) After initialisation and speed ≤ -ns (off) High resistance (overspeed) -ns (off) < speed ≤ -ns (on) State unchanged Low resistance (no overspeed) after initialisation if the encoder is rotating between the switching range during initialisation�...
  • Page 23: 5�2�5 Cable Connection

    ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL 5.2.5 Cable connection To ensure the specified protection of the device the correct cable diameter must be used� Connecting cables are not in scope of delivery� Mt = 2-3 Nm TX 20 Terminal box cover Torx and slotted screw, M4x32 mm Cable gland M20x1�5 mm Cable shield for cable ø5-13 mm Connecting terminal,...
  • Page 24: 5�2�6 Assignment Connecting Terminal

    ELECTRICAL CONNECTION / SPEED SWITCH AND ADDITIONAL OUTPUT INCREMENTAL 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 with additonal output SP+* SP-*...
  • Page 25: Dimensions

    DIMENSIONS / BLIND HOLLOW SHAFT DIMENSIONS Blind hollow shaft Speed switch CANopen® [ A ] Additional output ød 53 65�5 [ C ] [ B ] Accessory Positive rotating direction [ C ] [ D ] All dimensions in millimeters, unless otherwise stated� 22/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN...
  • Page 26: 6�2 Through Hollow Shaft

    DIMENSIONS / THROUGH HOLLOW SHAFT Through hollow shaft Speed switch CANopen® [ A ] Additional output ød = 16, 20 [ C ] [ B ] Accessory Positive rotating direction [ C ] [ D ] All dimensions in millimeters, unless otherwise stated� 23/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN...
  • Page 27: 6�3 Cone Shaft

    DIMENSIONS / CONE SHAFT Cone shaft Speed switch CANopen® [ A ] Additional output [ C ] [ B ] Accessory Positive rotating direction [ C ] [ D ] All dimensions in millimeters, unless otherwise stated� 24/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN...
  • Page 28: Dismounting

    DISMOUNTING / VERSION WITH BLIND HOLLOW SHAFT OR CONE SHAFT DISMOUNTING Version with blind hollow shaft or cone shaft Pictures showing the version with blind hollow shaft� The dismounting steps be identical at the version with cone shaft� 7.1.1 Step 1 17 mm 5 mm TX 20...
  • Page 29: 7�1�3 Step 3

    DISMOUNTING / VERSION WITH BLIND HOLLOW SHAFT OR CONE SHAFT 7.1.3 Step 3 17 mm 6 mm 7.1.4 Step 4 26/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN...
  • Page 30: 7�2 Version With Through Hollow Shaft

    DISMOUNTING / VERSION WITH THROUGH HOLLOW SHAFT Version with through hollow shaft TX 10 Loosen the screw 1�6x8 mm 10 mm 27/33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN...
  • Page 31: Technical Data

    TECHNICAL DATA TECHNICAL DATA Technical data - electrical ratings Voltage supply 10���30 VDC Short-circuit proof Consumption w/o load ≤200 mA Initializing time ≤500 ms after power on Interface CANopen® Funktion Multiturn Transmission rate 10���1000 kBaud Device adress Rotary switches in bus connecting box (type-specific) Steps per turn 8192 / 13 bit Number of turns 65536 / 16 bit Additional outputs...
  • Page 32: 8�3 Technical Data - Mechanical Design

    TECHNICAL DATA Technical data - mechanical design Size (flange) ø105 mm Flange Support plate, 360° freely positionable Protection DIN EN 60529 IP 66/IP 67 Operating speed ≤6000 rpm Range of switching speed ±2���6000 rpm, default 6000 rpm Operating torque typ� 10 Ncm Rotor moment of inertia 950 gcm Admitted shaft load ≤450 N axial...
  • Page 33 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN...
  • Page 34 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN...
  • Page 35 MB250EN - 11173966, 17A2, Baumer_HMG10-CANopen_II_EN...
  • Page 36 Baumer Hübner GmbH P.O. Box 12 69 43 · 10609 Berlin, Germany Phone: +49 (0)30/69003-0 · Fax: +49 (0)30/69003-104 info@baumerhuebner.com · www.baumer.com/motion MB250EN - 11173966, 17A2 (02�08�2017), Baumer_HMG10-CANopen_II_EN...

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