IKA AMM80 User manual

User's guide
AMM80
Absolute kit encoder
•Kit encoder with optical and magnetic scanning
•Compact and low-profile design for comfortable installation
•Up to 2 bit singleturn resolution + 1 or 65,5 6 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:
•AMM80xx/xxxBG1-...
•AMM80xx/xxxSC1-...
•AMM80xx/xxxJP1-...
General contents
Preliminary information 7
1 - Safety summary 8
2 - Identification 11
- Mounting instructions 12
4 - Electrical connections 19
5 - SSI interface 0
6 - BiSS C-mode interface 4
7 – RS-485 serial interface 44
8 - Sine/Cosine output signals 52
9 - Diagnostic LEDs 54
Lika Electronic • Tel. + 9 0445 806600 • [email protected] • www.lika.biz
Smart encoders & actuators

This publication was produced by Lika Electronic s.r.l. 2021. All rights reserved. Tutti i diritti riservati. Alle Rechte vorbehalten. Todos los
derechos reservados. Tous droits réservés.
This docu ent and infor ation contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in
part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial odification (photostat copies,
fil and icrofil included and any other eans) are forbidden without written authorisation of Lika Electronic s.r.l.
The infor ation herein is subject to change without notice and should not be construed as a co it ent by Lika Electronic s.r.l. Lika
Electronic s.r.l. reserves the right to ake all odifications at any o ents and without forewarning.
This anual is periodically reviewed and revised. As required we suggest checking if a new or updated edition of this docu ent is
available at Lika Electronic s.r.l.'s website. Lika Electronic s.r.l. assu es no responsibility for any errors or o issions in this docu ent.
Critical evaluation of this anual by the user is welco ed. Your co ents assist us in preparation of future docu entation, in order
to ake it as clear and co plete as possible. Please send an e- ail to the following address [email protected] for sub itting your
co ents, suggestions and criticis s.

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 Safety..........................................................................................................................................................................................8
1.2 Electrical safety.......................................................................................................................................................................8
1.3 Mechanical safety..................................................................................................................................................................8
1.4 Specific handling and cleaning instructions and safety infor ation against electrostatic
discharges.........................................................................................................................................................................................9
2 - Identification.......................................................................................................................................... 11
- Mounting instructions......................................................................................................................... 12
3.1 Mechanical characteristics of the ounting support.........................................................................................12
3.2 Encu brance sizes..............................................................................................................................................................14
3.3 Mounting the code disk...................................................................................................................................................15
3.4 Mounting the encoder......................................................................................................................................................16
4 - Electrical connections........................................................................................................................... 19
4.1 Hirose DF19G-14S-1H(54) ale connector (...-X1 order code).......................................................................19
4.1.1 SSI and BiSS C- ode connection (...BG1-... and ...SC1-... order codes)...............................................19
4.1.2 SSI and BiSS C- ode ating cable connection (...G1-... and ...SC1-... order codes)......................20
4.1.3 RS-485 connection (...JP1-... order code)..........................................................................................................20
4.1.4 RS-485 ating cable connection (...JP1-... order code).............................................................................21
4.2 Molex 53261-1271 ale connector (...-X2 order code).....................................................................................22
4.2.1 SSI and BiSS C- ode connection (...BG1-... and ...SC1-... order codes)...............................................22
4.2.2 SSI and BiSS C- ode ating cable connection (...G1-... and ...SC1-... order codes)......................23
4.2.3 RS-485 connection (...JP1-... order code)..........................................................................................................23
4.2.4 RS-485 ating cable connection (...JP1-... order code).............................................................................24
4.3 TF12 cable specifications..................................................................................................................................................24
4.4 Ground connection............................................................................................................................................................24
4.5 Battery power supply........................................................................................................................................................25
4.5.1 Replace ent of the battery – No ERROR active...........................................................................................25
4.5.2 Replace ent of the battery – ERROR active..................................................................................................26
4.6 1Vpp sinusoidal output signals.....................................................................................................................................27
4.7 Diagnostic LEDs....................................................................................................................................................................27
4.8 Zero setting / Preset input..............................................................................................................................................28
4.9 Counting direction input.................................................................................................................................................28
5 - SSI interface........................................................................................................................................... 0
5.1 SSI (Synchronous Serial Interface)...............................................................................................................................30
5.2 “MSB left aligned” protocol............................................................................................................................................31
5.3 Reco ended trans ission rates...............................................................................................................................32
5.4 Reco ended SSI input circuit...................................................................................................................................33
6 - BiSS C-mode interface......................................................................................................................... 4
6.1 Co unication...................................................................................................................................................................34
6.2 Single Cycle Data SCD.......................................................................................................................................................35
6.2.1 SCD structure................................................................................................................................................................35

Position........................................................................................................................................................................35
Error..............................................................................................................................................................................35
Warning.......................................................................................................................................................................36
CRC................................................................................................................................................................................36
6.3 Control Data CD...................................................................................................................................................................37
Register address.......................................................................................................................................................37
RW.................................................................................................................................................................................37
DATA.............................................................................................................................................................................37
CRC................................................................................................................................................................................37
6.4 I ple ented registers......................................................................................................................................................38
Preset..............................................................................................................................................................................38
Preset setting enable............................................................................................................................................41
Serial number............................................................................................................................................................41
Command.....................................................................................................................................................................42
Save para eters......................................................................................................................................................42
Activate Preset.........................................................................................................................................................42
Device ID.......................................................................................................................................................................42
Manufacturer ID......................................................................................................................................................42
6.5 Application notes................................................................................................................................................................43
6.6 Reco ended BiSS input circuit.................................................................................................................................43
7 – RS-485 serial interface........................................................................................................................ 44
7.1 RS-485 port settings..........................................................................................................................................................44
7.2 Fra e for at........................................................................................................................................................................44
7.2.1 Encoder data capture and reset............................................................................................................................44
7.2.2 Write register................................................................................................................................................................44
7.2.3 Read register.................................................................................................................................................................45
7.3 Field detail..............................................................................................................................................................................45
7.3.1 Control Field..................................................................................................................................................................45
7.3.2 Status Field....................................................................................................................................................................45
7.4 Data Field................................................................................................................................................................................46
7.4.1 Encoder errors..............................................................................................................................................................47
BUSY flag.....................................................................................................................................................................47
PS error..........................................................................................................................................................................47
ST error..........................................................................................................................................................................47
Battery alarm.............................................................................................................................................................47
MT error........................................................................................................................................................................47
7.4.2 Resetting an error.......................................................................................................................................................48
7.5 Address Field and EEPROM Data Field........................................................................................................................49
MEM BUSY..................................................................................................................................................................49
7.6 CRC Field.................................................................................................................................................................................50
8 - Sine/Cosine output signals.................................................................................................................. 52
8.1 Output signals voltage level...........................................................................................................................................52
9 - Diagnostic LEDs...................................................................................................................................... 54
10 - Default parameters list...................................................................................................................... 56

Subject Index
A
Activate Preset..................................................................42
C
Co and............................................................................42
CRC.................................................................................36, 37
D
DATA......................................................................................37
Device ID..............................................................................42
E
Error.......................................................................................35
M
Manufacturer ID...............................................................42
P
Position.................................................................................35
Preset.....................................................................................38
Preset setting enable......................................................41
R
Register address................................................................37
RW..........................................................................................37
S
Save para eters...............................................................42
Serial nu ber....................................................................41
W
Warning................................................................................36

Typographic and iconographic conventions
In this guide, to ake it easier to understand and read the text the following typographic and
iconographic conventions are used:
•para eters and objects both of Lika device and interface are coloured in GREEN;
•alar s are coloured in RED;
•states are coloured in FUCSIA.
When scrolling through the text so e icons can be found on the side of the page: they are expressly
designed to highlight the parts of the text which are of great interest and significance for the user.
So eti es they are used to warn against dangers or potential sources of danger arising fro the use of
the device. You are advised to follow strictly the instructions given in this guide in order to guarantee
the safety of the user and ensure the perfor ance of the device. In this guide the following sy bols are
used:
This icon, followed by the word WARNING, is eant to highlight the parts of the
text where infor ation of great significance for the user can be found: user ust
pay the greatest attention to the ! Instructions ust be followed strictly in order
to guarantee the safety of the user and a correct use of the device. Failure to heed
a warning or co ply with instructions could lead to personal injury and/or da age
to the unit or other equip ent.
This icon, followed by the word NOTE, is eant to highlight the parts of the text
where i portant notes needful for a correct and reliable use of the device can be
found. User ust pay attention to the ! Failure to co ply with instructions could
cause the equip ent to be set wrongly: hence a faulty and i proper working of
the device could be the consequence.
This icon is eant to highlight the parts of the text where suggestions useful for
aking it easier to set the device and opti ize perfor ance and reliability can be
found. So eti es this sy bol is followed by the word EXAMPLE when instructions
for setting para eters are acco panied by exa ples to clarify the explanation.

Preliminary information
This guide is designed to provide the ost co plete and exhaustive infor ation the operator needs to
correctly and safely install and operate the AMM80 absolute kit encoder.
This encoder is available with the following interfaces:
•SSI interface;
•BiSS C- ode interface;
•RS-485 serial interface.
AMM80 encoder can be both singleturn and ultiturn.
Singleturn resolution can be 17 bits (131,072 cpr), 20 bits (1,048,576 cpr), and 23 bits (8,388,608 cpr).
In ultiturn versions, the nu ber of revolutions is 65,536.
It further provides additional 1Vpp Sine-Cosine signals for speed feedback (1,024 sinusoidal signals per
revolution).
AMM80 is ideal for integration into space critical applications such as robots, robotic joints, hollow shaft
otors (direct drive torque otors, …), brushless and servo otors, electric actuators, electro- edical
devices, OEM equip ent.
To ake it easier to read and understand the text, this guide can be divided into so e ain sections.
In the first section so e general infor ation concerning the safety, the echanical installation and the
electrical connection as well as tips for setting up and running properly and efficiently the unit are
provided.
In the second section, entitled SSI interface, both general and specific infor ation is given on the SSI
interface, see on page 30.
In the third section, entitled BiSS C-mode interface, both general and specific infor ation is given on
the BiSS C- ode interface. In this section the para eters i ple ented in the unit are fully described.
See on page 34.
In the fourth section, entitled RS-485 serial interface, both general and specific infor ation is given
on the serial interface, see on page 44.
WARNING
Light alters significantly the proper operation of the syste .
Please ount the otor cap and protect the encoder fro light sources before starting the
syste and checking its operation. The encoder has been calibrated to perfor at its best
without any light interference.
WARNING
The encoder ust be adequately protected under an enclosure appropriate for the specific
application.

AMM80 • SSI, BiSS, & RS-485
1 - Safety summary
1.1 Safety
•Always adhere to the professional safety and accident prevention regulations
applicable to your country during device installation and operation;
•installation and aintenance operations have to be carried out by qualified
personnel only, with power supply disconnected and stationary echanical
parts;
•device ust be used only for the purpose appropriate to its design: use for
purposes other than those for which it has been designed could result in
serious personal and/or the environ ent da age;
•high current, voltage and oving echanical parts can cause serious or fatal
injury;
•warning! Do not use in explosive or fla able areas;
•failure to co ply with these precautions or with specific warnings elsewhere
in this anual violates safety standards of design, anufacture, and
intended use of the equip ent;
•Lika Electronic assu es no liability for the custo er's failure to co ply with
these require ents.
1.2 Electrical safety
•Turn off the power supply before connecting the device;
•connect according to explanation in the “4 - Electrical connections” section
on page 19;
•in co pliance with the 2014/30/EU nor on electro agnetic
co patibility, following precautions ust be taken:
- before handling and installing, discharge electrical charge fro
your body and tools which ay co e in touch with the device;
- power supply ust be stabilized without noise, install EMC filters on device
power supply if 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;
- ount the device as far as possible fro any capacitive or inductive noise
source, shield the device fro noise source if needed;
- to guarantee a correct working of the device, avoid using strong agnets on
or near by the unit;
–ini ize noise by connecting the shield and/or the fra e to ground. Make
sure that ground is not affected by noise. The connection point to ground
can be situated both on the device side and on user’s side. The best solution
to ini ize the interference ust be carried out by the user.
1. Mechanical safety
•Install the device following strictly the infor ation in the “3 - Mounting
instructions” section on page 12;
•echanical installation has to be carried out with stationary echanical
parts;
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AMM80 • SSI, BiSS, & RS-485
•do not disasse ble the encoder;
•do not tool the encoder or the disk/ring;
•delicate electronic equip ent: handle with care; do not subject the device
and the disk/ring to knocks or shocks;
•respect the environ ental characteristics declared by anufacturer;
•the encoder ust be adequately protected under an enclosure appropriate
for the specific application.
1.4 Specific handling and cleaning instructions and safety information
against electrostatic discharges
Please be sure to strictly observe the following safety precautions and
instructions before handling and installing the kit encoder.
•Open the box and handle the electronic co ponents only within an EPA
(Electrostatic Protective Area) and when you are properly grounded;
•before handling the kit encoder the operator ust wear:
-a wrist strap; it ust be worn on the hand and connected to ground
through a 1 egoh resistor;
-an ESD s ock ade of dissipative aterial;
-dissipative gloves; they are further used not to dirty the code disk while
ounting;
•always handle the encoder by grasping the enclosure on the sides;
•the code disk ust always be handled by grasping its outer edges or the
agnetic ring;
•avoid flexing the disk, exposing it to direct sunlight, excessive heat and/or
hu idity;
•if dust or fingerprints get on to the disk, wipe with a soft dry cloth or ca era
lens tissue; wipe the disk using circular otions; ore stubborn fingerprints
or stains can be re oved using a soft cloth lightly oistened with a few
drops of alcohol; do not use gasoline, kerosene, benzene or other solvents, as
they da age the disk.
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AMM80 • SSI, BiSS, & RS-485
CAUTION
Keep agnets away fro the agnetic ring in the code disk, it could be
da aged by strong agnetic fields.
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AMM80 • SSI, BiSS, & RS-485
2 - Identification
Device can be identified through the order code and the serial number printed
on the label applied to its body. Infor ation is listed in the delivery docu ent
too. Please always quote the order code and the serial nu ber when reaching
Lika Electronic. For any infor ation on the technical characteristics of the
product refer to the technical catalogue.
Warning: encoders having order code ending with "/Sxxx" ay have
echanical and electrical characteristics different fro standard and
be supplied with additional docu entation for special connections
(Technical Info).
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AMM80 • SSI, BiSS, & RS-485
- Mounting instructions
WARNING
Installation ust be carried out by qualified personnel only, with power supply
disconnected and echanical parts co pulsorily in stop.
WARNING
Before handling and ounting the device please be sure to read carefully the
handling instructions and safety infor ation reported in the “1.4 Specific
handling and cleaning instructions and safety infor ation against electrostatic
discharges” section on page 9.
.1 Mechanical characteristics of the mounting support
This kit encoder is specifically designed for installation in otors having the
echanical characteristics indicated in the following drawings: shaft and flange
with pilot (Figure 1) and shaft and flange with pins (Figure 2).
(values are expressed in )
Figure 1 - Flange with pilot
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AMM80 • SSI, BiSS, & RS-485
Figure 2 - Flange with pins
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AMM80 • SSI, BiSS, & RS-485
.2 Encumbrance sizes
(values are expressed in )
Figure - Encumbrance sizes of the encoder
Figure 4 - Encumbrance sizes of the code disk
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AMM80 • SSI, BiSS, & RS-485
. Mounting the code disk
WARNING
•The encoder ust be adequately protected under an enclosure
appropriate for the specific application;
•before installation, carefully clean the code disk fro dust or
fingerprints, wipe it with a soft dry cloth or ca era lens tissue; wipe the
disk using circular otions; ore stubborn fingerprints or stains can be
re oved using a soft cloth lightly oistened with a few drops of
alcohol; do not use gasoline, kerosene, benzene or other solvents, as
they da age the disk;
•the code disk ust always be handled by grasping its outer edges or the
agnetic ring;
•protect the disk fro scratching;
•avoid flexing the disk;
•always handle the encoder unit by grasping the enclosure on the sides;
•keep agnets away fro the agnetic ring in the code disk, it could be
da aged by strong agnetic fields.
Step 1
Place the PF5025 spacing tool 1 against the shaft 2. Insert the code disk
into the shaft 2 and lay it down on the spacing tool 1; always handle the code
disk by grasping its outer edges or the agnetic ring.
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AMM80 • SSI, BiSS, & RS-485
Step 2
Gently press the code disk into place on the PF5025 spacing tool 1. Tighten
the two M3 x 3 UNI5929 grub screws 4 to fir ly fasten the code disk ; ake
sure that the code disk perfectly rests on the spacing tool 1 before fixing it;
the ax. tightening torque is 1. Nm.
WARNING
Please ensure that the grub screws 4 are tightened properly and do not stick out
of their housing. Make sure that they do not hit the encoder unit 5, they ay
da age the LEDs.
.4 Mounting the encoder
WARNING
Always handle the encoder unit by grasping the enclosure on the sides.
Step
Slide the encoder unit 5 over the code disk until the screw holes 6 atch up;
follow the pilot on the flange or ount according to the pins; ake sure that
the enclosure of the encoder unit 5 does not hit or touch the code disk ;
always handle the encoder unit 5 by holding the enclosure on the sides.
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AMM80 • SSI, BiSS, & RS-485
Step 4
Insert the four M3 x 16 in. cylinder-head bolts UNI5931 7 in the holes 6,
tighten the bolts 7 down to fir ly fix the encoder unit 5, torque to 1. Nm
ax. Hold the encoder unit 5 down and avoid any ove ents while
tightening.
Step 5
Rotate the otor shaft until the code disk is aligned with the encoder unit 5
as shown in the Figure; the ark 8 punched in the code disk ust be centred
in the encoder unit 5 as shown in the Figure. Max. isalign ent allowed: ± 10
echanical degrees.
WARNING
If you do not align the code disk with the encoder unit 5, the encoder will
send back an error at power-on. Should this happen, switch the power supply
off, align the code disk properly and then proceed again as explained in the
next step.
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AMM80 • SSI, BiSS, & RS-485
Step 6
Connect the EC-DF19-LK-TF12-... cable to the Hirose connector of the
encoder unit 5; or connect the EC-X14-LK-TF12-... cable to the Molex
connector of the encoder unit 5. Please ake sure that the power supply is off
and the battery is not wired before connecting the cable.
Step 7
Connect the battery.
Step 8
Switch the power supply on. If the installation procedure is successful, the LEDs
will blink for a while and then go off.
If at the end of the operation a LED is still on, please repeat the procedure again.
Refer also to the “9 - Diagnostic LEDs” section on page 54.
WARNING
Light alters significantly the proper operation of the syste .
Please ount the otor cap and protect the encoder fro light sources before
starting the syste and checking its operation. The encoder has been calibrated
to perfor at its best without any light interference.
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AMM80 • SSI, BiSS, & RS-485
4 - Electrical connections
WARNING
Power supply ust be turned off before perfor ing any electrical connection!
If wires of unused signals co e in contact, irreparable da age could be caused
to the device. Thus they ust be cut at different lengths and insulated
singularly.
4.1 Hirose DF19G-14S-1H(54) male connector (...-X1 order code)
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
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AMM80 • SSI, BiSS, & RS-485
* Only available with ultiturn encoder versions (…/65K... order code)
Mating connector: Hirose DF19G-14S-1C(05) fe ale connector
4.1.2 SSI and BiSS C-mode mating cable connection (...G1-... and ...SC1-...
order codes)
EC-DF19-LK-TF12-... cable, it ust be ordered separately
Function TF12 cable
Data OUT - / SLO - Pink
Data OUT + / SLO + Grey
Clock IN - / MA - Yellow
Clock IN + / MA + Violet
/A (cos -) Brown
A (cos +) Green
/B (sin -) Black
B (sin +) Red
+Vb *White
0Vb *Blue
+5Vdc ±5% Brown_Green
0Vdc White_Green
* Only available with ultiturn encoder versions (…/65K... order code)
4.1. RS-485 connection (...JP1-... order code)
Function Pin
Ground 1
B (RS-485) 2
A (RS-485) 3
not used 4
not used 5
not to be connected 6
not to be connected 7
not to be connected 8
not to be connected 9
+Vb *10
0Vb *11
reserved 12
+5Vdc ±5% 13
0Vdc 14
* Only available with ultiturn encoder versions (…/65K... order code)
Mating connector: Hirose DF19G-14S-1C(05) fe ale connector
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