IKA AMM36 User manual
User's guide
AMM36
Absolute kit encoder
•Kit encoder with optical and magnetic scanning
•Compact and low-profile design for comfortable installation
•Up to 22 bit singleturn resolution 1 or 65,536 revolutions
•SSI, BiSS C-mode, & RS-485 interfaces Sine-Cosine 1Vpp track
•Direct integration into robots, motors, and OEM applications
Suitable for the following models:
•AMM36xx/xxxBG1-...
•AMM36xx/xxxSC1-...
•AMM36xx/xxxJP1-...
General contents
Preliminary information 7
1 - Safety summary 8
2 - Identification 11
3 - Mounting instructions 12
4 - Electrical connections 20
5 - SSI interface 27
6 - BiSS C-mode interface 31
7 – RS-485 serial interface 41
8 - 1Vpp Sine/Cosine output signals 49
9 - Diagnostic LEDs 51
Smart encoders & actuators
This publication was produced by Lika Electronic s.r.l. 2020. All rights reserved. Tutti i diritti riservati. Alle Rechte vorbehalten. Todos los
derechos reservados. Tous droits réservés.
This document and in ormation contained herein are the property o Lika Electronic s.r.l. and shall not be reproduced in whole or in
part without prior written approval o Lika Electronic s.r.l. Translation, reproduction and total or partial modi ication (photostat copies,
ilm and micro ilm included and any other means) are orbidden without written authorisation o Lika Electronic s.r.l.
The in ormation herein is subject to change without notice and should not be construed as a commitment by Lika Electronic s.r.l. Lika
Electronic s.r.l. reserves the right to make all modi ications at any moments and without orewarning.
This manual is periodically reviewed and revised. As required we suggest checking i a new or updated edition o this document is
available at Lika Electronic s.r.l.'s website. Lika Electronic s.r.l. assumes no responsibility or any errors or omissions in this document.
Critical evaluation o this manual by the user is welcomed. Your comments assist us in preparation o uture documentation, in order
to make it as clear and complete as possible. Please send an e-mail to the ollowing address in [email protected] or submitting your
comments, suggestions and criticisms.
Table of Contents
User's guide............................................................................................................................................................................................1
Table of Contents................................................................................................................................................................................3
Subject Index.........................................................................................................................................................................................5
Typographic and iconographic conventions........................................................................................................................6
Preliminary information..................................................................................................................................................................7
1 - Safety summary....................................................................................................................................... 8
1.1 Sa ety..........................................................................................................................................................................................8
1.2 Electrical sa ety.......................................................................................................................................................................8
1.3 Mechanical sa ety..................................................................................................................................................................8
1.4 Speci ic handling and cleaning instructions and sa ety in ormation against electrostatic
discharges.........................................................................................................................................................................................9
2 - Identification.......................................................................................................................................... 11
3 - Mounting instructions......................................................................................................................... 12
3.1 Mechanical characteristics o the mounting support.........................................................................................12
3.2 Encumbrance sizes..............................................................................................................................................................13
3.3 Mounting the code disk...................................................................................................................................................15
3.4 Mounting the encoder......................................................................................................................................................17
4 - Electrical connections........................................................................................................................... 20
4.1 Hirose DF19G-14S-1H(54) male connector.............................................................................................................20
4.1.1 SSI and BiSS C-mode connection (...BG1-... and ...SC1-... order codes)...............................................20
4.1.2 SSI and BiSS C-mode mating cable connection (...G1-... and ...SC1-... order codes)......................21
4.1.3 RS-485 connection (...JP1-... order code)..........................................................................................................21
4.1.4 RS-485 mating cable connection (...JP1-... order code).............................................................................22
4.1.5 TF12 cable speci ications.........................................................................................................................................22
4.2 Ground connection............................................................................................................................................................22
4.3 Battery power supply........................................................................................................................................................23
4.3.1 Replacement o the battery – No ERROR active...........................................................................................23
4.3.2 Replacement o the battery – ERROR active..................................................................................................24
4.4 1Vpp sinusoidal output signals.....................................................................................................................................25
4.5 Diagnostic LEDs....................................................................................................................................................................25
4.6 Standard counting direction..........................................................................................................................................26
5 - SSI interface........................................................................................................................................... 27
5.1 SSI (Synchronous Serial Inter ace)...............................................................................................................................27
5.2 “MSB le t aligned” protocol............................................................................................................................................28
5.3 Recommended transmission rates...............................................................................................................................29
5.4 Recommended SSI input circuit...................................................................................................................................30
6 - BiSS C-mode interface......................................................................................................................... 31
6.1 Communication...................................................................................................................................................................31
6.2 Single Cycle Data SCD.......................................................................................................................................................32
6.2.1 SCD structure................................................................................................................................................................32
Position........................................................................................................................................................................32
Error..............................................................................................................................................................................32
Warning.......................................................................................................................................................................33
CRC................................................................................................................................................................................33
6.3 Control Data CD...................................................................................................................................................................34
Register address.......................................................................................................................................................34
RW.................................................................................................................................................................................34
DATA.............................................................................................................................................................................34
CRC................................................................................................................................................................................34
6.4 Implemented registers......................................................................................................................................................35
Preset..............................................................................................................................................................................35
Preset setting enable............................................................................................................................................38
Serial number............................................................................................................................................................38
Command.....................................................................................................................................................................39
Save parameters......................................................................................................................................................39
Activate Preset.........................................................................................................................................................39
Device ID.......................................................................................................................................................................39
Time-out.......................................................................................................................................................................39
Software release......................................................................................................................................................39
Manufacturer ID......................................................................................................................................................40
6.5 Application notes................................................................................................................................................................40
6.6 Recommended BiSS input circuit.................................................................................................................................40
7 – RS-485 serial interface........................................................................................................................ 41
7.1 RS-485 port settings..........................................................................................................................................................41
7.2 Frame ormat........................................................................................................................................................................41
7.2.1 Encoder data capture and reset............................................................................................................................41
7.2.2 Write register................................................................................................................................................................41
7.2.3 Read register.................................................................................................................................................................42
7.3 Field detail..............................................................................................................................................................................42
7.3.1 Control Field..................................................................................................................................................................42
7.3.2 Status Field....................................................................................................................................................................42
7.4 Data Field................................................................................................................................................................................43
7.4.1 Encoder errors..............................................................................................................................................................44
BUSY flag.....................................................................................................................................................................44
PS error..........................................................................................................................................................................44
ST error..........................................................................................................................................................................44
Battery alarm.............................................................................................................................................................44
MT error........................................................................................................................................................................44
7.4.2 Resetting an error.......................................................................................................................................................45
7.5 Address Field and EEPROM Data Field........................................................................................................................46
MEM BUSY..................................................................................................................................................................46
7.6 CRC Field.................................................................................................................................................................................47
8 - 1Vpp Sine/Cosine output signals....................................................................................................... 49
8.1 Output signals voltage level...........................................................................................................................................49
9 - Diagnostic LEDs...................................................................................................................................... 51
10 - Default parameters list...................................................................................................................... 52
Subject Index
A
Activate Preset..................................................................39
C
Command............................................................................39
CRC.................................................................................33, 34
D
DATA......................................................................................34
Device ID..............................................................................39
E
Error.......................................................................................32
M
Manu acturer ID...............................................................40
P
Position.................................................................................32
Preset.....................................................................................35
Preset setting enable......................................................38
R
Register address................................................................34
RW..........................................................................................34
S
Save parameters...............................................................39
Serial number....................................................................38
So tware release...............................................................39
T
Time-out..............................................................................39
W
Warning................................................................................33
Typographic and iconographic conventions
In this guide, to make it easier to understand and read the text the ollowing typographic and
iconographic conventions are used:
•parameters and objects both o Lika device and inter ace are coloured in GREEN;
•alarms are coloured in RED;
•states are coloured in FUCSIA.
When scrolling through the text some icons can be ound on the side o the page: they are expressly
designed to highlight the parts o the text which are o great interest and signi icance or the user.
Sometimes they are used to warn against dangers or potential sources o danger arising rom the use o
the device. You are advised to ollow strictly the instructions given in this guide in order to guarantee
the sa ety o the user and ensure the per ormance o the device. In this guide the ollowing symbols are
used:
This icon, ollowed by the word WARNING, is meant to highlight the parts o the
text where in ormation o great signi icance or the user can be ound: user must
pay the greatest attention to them! Instructions must be ollowed strictly in order
to guarantee the sa ety o the user and a correct use o the device. Failure to heed
a warning or comply with instructions could lead to personal injury and/or damage
to the unit or other equipment.
This icon, ollowed by the word NOTE, is meant to highlight the parts o the text
where important notes need ul or a correct and reliable use o the device can be
ound. User must pay attention to them! Failure to comply with instructions could
cause the equipment to be set wrongly: hence a aulty and improper working o
the device could be the consequence.
This icon is meant to highlight the parts o the text where suggestions use ul or
making it easier to set the device and optimize per ormance and reliability can be
ound. Sometimes this symbol is ollowed by the word EXAMPLE when instructions
or setting parameters are accompanied by examples to clari y the explanation.
Preliminary information
This guide is designed to provide the most complete and exhaustive in ormation the operator needs to
correctly and sa ely install and operate the AMM36 absolute kit encoder.
This encoder is available with the ollowing inter aces:
•SSI inter ace;
•BiSS C-mode inter ace;
•RS-485 serial inter ace.
AMM36 encoder can be both singleturn and multiturn.
Singleturn resolution can be 17 bits (131,072 cpr), 21 bits (2,097,152 cpr), and 22 bits (4,194,304 cpr).
In multiturn versions, the number o revolutions is 65,536.
It urther provides additional 1Vpp Sine-Cosine signals or speed eedback (256 sinusoidal signals per
revolution).
AMM36 is ideal or integration into space critical applications such as robots, robotic joints, hollow sha t
motors (direct drive torque motors, …), brushless and servo motors, drones / UAVs, electromedical
devices, OEM equipment.
To make it easier to read and understand the text, this guide can be divided into two main sections.
In the irst section some general in ormation concerning the sa ety, the mechanical installation and the
electrical connection as well as tips or setting up and running properly and e iciently the unit are
provided.
In the second section, entitled SSI interface, both general and speci ic in ormation is given on the SSI
inter ace, see on page 27.
In the third section, entitled BiSS C-mode interface, both general and speci ic in ormation is given on
the BiSS C-mode inter ace. In this section the parameters implemented in the unit are ully described.
See on page 31.
In the ourth section, entitled RS-485 serial interface, both general and speci ic in ormation is given
on the serial inter ace, see on page 41.
WARNING
Light alters signi icantly the proper operation o the system.
Please mount the motor cap and protect the encoder rom light sources be ore starting the
system and checking its operation. The encoder has been calibrated to per orm at its best
without any light inter erence.
WARNING
The encoder must be adequately protected under an enclosure appropriate or the speci ic
application.
AMM36 • SSI, BiSS, & RS-485
1 - Safety summary
1.1 Safety
•Always adhere to the pro essional sa ety and accident prevention regulations
applicable to your country during device installation and operation;
•installation and maintenance operations have to be carried out by quali ied
personnel only, with power supply disconnected and stationary mechanical
parts;
•device must be used only or the purpose appropriate to its design: use or
purposes other than those or which it has been designed could result in
serious personal and/or the environment damage;
•high current, voltage and moving mechanical parts can cause serious or atal
injury;
•warning! Do not use in explosive or lammable areas;
•ailure to comply with these precautions or with speci ic warnings elsewhere
in this manual violates sa ety standards o design, manu acture, and
intended use o the equipment;
•Lika Electronic assumes no liability or the customer's ailure to comply with
these requirements.
1.2 Electrical safety
•Turn o the power supply be ore connecting the device;
•connect according to explanation in the “4 - Electrical connections” section
on page 20;
•in compliance with the 2014/30/EU norm on electromagnetic
compatibility, ollowing precautions must be taken:
- be ore handling and installing, discharge electrical charge rom
your body and tools which may come in touch with the device;
- power supply must be stabilized without noise, install EMC ilters on device
power supply i needed;
- always use shielded cables (twisted pair cables whenever possible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage power cables;
- mount the device as ar as possible rom any capacitive or inductive noise
source, shield the device rom noise source i needed;
- to guarantee a correct working o the device, avoid using strong magnets on
or near by the unit;
–minimize noise by connecting the shield and/or the rame to ground. Make
sure that ground is not a ected by noise. The connection point to ground
can be situated both on the device side and on user’s side. The best solution
to minimize the inter erence must be carried out by the user.
1.3 Mechanical safety
•Install the device ollowing strictly the in ormation in the “3 - Mounting
instructions” section on page 12;
•mechanical installation has to be carried out with stationary mechanical
parts;
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 1 - Sa ety summary 8 o 56
AMM36 • SSI, BiSS, & RS-485
•do not disassemble the encoder;
•do not tool the encoder or the disk/ring;
•delicate electronic equipment: handle with care; do not subject the device
and the disk/ring to knocks or shocks;
•respect the environmental characteristics declared by manu acturer;
•the encoder must be adequately protected under an enclosure appropriate
or the speci ic application.
1.4 Specific handling and cleaning instructions and safety information
against electrostatic discharges
Please be sure to strictly observe the ollowing sa ety precautions and
instructions be ore handling and installing the kit encoder.
•Open the box and handle the electronic components only within an EPA
(Electrostatic Protective Area) and when you are properly grounded;
•be ore handling the kit encoder the operator must wear:
-a wrist strap; it must be worn on the hand and connected to ground
through a 1 megohm resistor;
-an ESD smock made o dissipative material;
-dissipative gloves; they are urther used not to dirty the code disk while
mounting;
•always handle the encoder by grasping the enclosure on the sides;
•the code disk must always be handled by grasping its outer edges or the
magnetic ring;
•avoid lexing the disk, exposing it to direct sunlight, excessive heat and/or
humidity;
•i dust or ingerprints get on to the disk, wipe with a so t dry cloth or camera
lens tissue; wipe the disk using circular motions; more stubborn ingerprints
or stains can be removed using a so t cloth lightly moistened with a ew
drops o alcohol; do not use gasoline, kerosene, benzene or other solvents, as
they damage the disk.
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 1 - Sa ety summary 9 o 56
AMM36 • SSI, BiSS, & RS-485
CAUTION
Keep magnets away rom the magnetic ring in the code disk, it could be
damaged by strong magnetic ields.
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 1 - Sa ety summary 10 o 56
AMM36 • SSI, BiSS, & RS-485
2 - Identification
Device can be identi ied through the order code and the serial number printed
on the label applied to its body. In ormation is listed in the delivery document
too. Please always quote the order code and the serial number when reaching
Lika Electronic. For any in ormation on the technical characteristics o the
product re er to the technical catalogue.
Warning: encoders having order code ending with "/Sxxx" may have
mechanical and electrical characteristics di erent rom standard and
be supplied with additional documentation or special connections
(Technical In o).
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 2 - Identi ication 11 o 56
AMM36 • SSI, BiSS, & RS-485
3 - Mounting instructions
WARNING
Installation must be carried out by quali ied personnel only, with power supply
disconnected and mechanical parts compulsorily in stop.
WARNING
Be ore handling and mounting the device please be sure to read care ully the
handling instructions and sa ety in ormation reported in the “1.4 Speci ic
handling and cleaning instructions and sa ety in ormation against electrostatic
discharges” section on page 9.
3.1 Mechanical characteristics of the mounting support
This kit encoder is speci ically designed or installation in motors having the
mechanical characteristics indicated in the ollowing drawing.
(values are expressed in mm)
Figure 1 - Flange with pilot
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 3 - Mounting instructions 12 o 56
AMM36 • SSI, BiSS, & RS-485
3.2 Encumbrance sizes
(values are expressed in mm)
Figure 2 - Encumbrance sizes of the encoder
Figure 3 - Encumbrance sizes of the encoder – Section F - F
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 3 - Mounting instructions 13 o 56
AMM36 • SSI, BiSS, & RS-485
Figure 4 - Encumbrance sizes of the encoder – Section L - L
Figure 5 - Encoder shaft – Detail
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 3 - Mounting instructions 14 o 56
AMM36 • SSI, BiSS, & RS-485
3.3 Mounting the code disk
WARNING
•The encoder must be adequately protected under an enclosure
appropriate or the speci ic application;
•be ore installation, care ully clean the code disk rom dust or
ingerprints, wipe it with a so t dry cloth or camera lens tissue; wipe the
disk using circular motions; more stubborn ingerprints or stains can be
removed using a so t cloth lightly moistened with a ew drops o
alcohol; do not use gasoline, kerosene, benzene or other solvents, as
they damage the disk;
•the code disk must always be handled by grasping its outer edges or the
magnetic ring;
•protect the disk rom scratching;
•avoid lexing the disk;
•always handle the encoder unit by grasping the enclosure on the sides;
•keep magnets away rom the magnetic ring in the code disk, it could be
damaged by strong magnetic ields.
Step 1
Place the PF5029 spacing tool 1 against the sha t 2. Insert the code disk 3
into the sha t 2 and lay it down on the spacing tool 1; always handle the code
disk 3 by grasping its outer edges.
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 3 - Mounting instructions 15 o 56
AMM36 • SSI, BiSS, & RS-485
Step 2
Gently press the code disk 3 into place on the PF5029 spacing tool 1. Tighten
the two M2.5 x 5 UNI5929 grub screws 4 to irmly asten the code disk 3;
make sure that the code disk 3 per ectly rests on the spacing tool 1 be ore
ixing it; the max. tightening torque is 0.8 Nm.
WARNING
Please ensure that the grub screws 4 are tightened properly and do not stick out
o their housing. Make sure that they do not hit the encoder unit 5, they may
damage the LEDs.
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 3 - Mounting instructions 16 o 56
AMM36 • SSI, BiSS, & RS-485
3.4 Mounting the encoder
WARNING
Always handle the encoder unit by grasping the enclosure on the sides.
Step 3
Slide the encoder unit 5 over the code disk 3 until the screw holes 6 match up;
ollow the pilot on the lange; make sure that the enclosure o the encoder
unit 5 does not hit or touch the code disk 3; always handle the encoder unit 5
by holding the enclosure on the sides.
Step 4
Insert the M2 x 6 cylinder-head bolts UNI5931 7 in the holes 6, tighten both
bolts 7 down to irmly ix the encoder unit 5, torque to 0.4 Nm max. Hold the
encoder unit 5 down and avoid any movements while tightening.
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 3 - Mounting instructions 17 o 56
AMM36 • SSI, BiSS, & RS-485
Step 5
Rotate the motor sha t until the code disk 3 is aligned with the encoder unit 5
as shown in the Figure; the mark 8 punched in the code disk 3 must be centred
in the encoder unit 5 as shown in the Figure. Max. misalignment allowed: ± 10
mechanical degrees.
WARNING
I you do not align the code disk 3 with the encoder unit 5, the encoder will
send back an error at power-on. Should this happen, switch the power supply
o , align the code disk 3 properly and then proceed again as explained in the
next step.
Step 6
Connect the EC000026 cable to the Hirose connector 9 o the encoder unit 5.
Please make sure that the power supply is o and the battery is not wired
be ore connecting the cable.
Step 7
Connect the battery.
Step 8
Switch the power supply on. The LEDs will blink or a while and then go o , i
the installation procedure is success ul.
I at the end o the operation a LED is still on, please repeat the procedure again.
Re er also to the “9 - Diagnostic LEDs” section on page 51.
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 3 - Mounting instructions 18 o 56
AMM36 • SSI, BiSS, & RS-485
WARNING
Light alters signi icantly the proper operation o the system.
Please mount the motor cap and protect the encoder rom light sources be ore
starting the system and checking its operation. The encoder has been calibrated
to per orm at its best without any light inter erence.
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 3 - Mounting instructions 19 o 56
AMM36 • SSI, BiSS, & RS-485
4 - Electrical connections
WARNING
Power supply must be turned o be ore per orming any electrical connection!
I wires o unused signals come in contact, irreparable damage could be caused
to the device. Thus they must be cut at di erent lengths and insulated
singularly.
4.1 Hirose DF19G-14S-1H(54) male connector
4.1.1 SSI and BiSS C-mode connection (...BG1-... and ...SC1-... order
codes)
Function Pin
Ground 1
Data OUT - / SLO - 2
Data OUT / SLO 3
Clock IN - / MA - 4
Clock IN / MA 5
/A (cos -) 6
A (cos ) 7
/B (sin -) 8
B (sin ) 9
Vb 10
0Vb 11
not connected 12
5Vdc ±5% 13
0Vdc 14
MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 4 - Electrical connections 20 o 56
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