Lika 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 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
- Safety summary....................................................................................................................................... 8
1 Sa ety..........................................................................................................................................................................................8
2 Electrical sa ety.......................................................................................................................................................................8
3 Mechanical sa ety..................................................................................................................................................................8
4 Speci ic handling and cleaning instructions and sa ety in ormation against electrostatic 
discharges.........................................................................................................................................................................................9
- Identification.......................................................................................................................................... 11
  - Mounting instructions......................................................................................................................... 12
1 Mechanical characteristics o  the mounting support.........................................................................................12
2 Encumbrance sizes..............................................................................................................................................................14
3 Mounting the code disk...................................................................................................................................................15
4 Mounting the encoder......................................................................................................................................................16
- Electrical connections........................................................................................................................... 19
1 Hirose DF19G-14S-1H(54) male connector (...-X1 order code).......................................................................19
1.1 SSI and BiSS C-mode connection (...BG1-... and ...SC1-... order codes)...............................................19
1.2 SSI and BiSS C-mode mating cable connection (...G1-... and ...SC1-... order codes)......................20
1.3 RS-485 connection (...JP1-... order code)..........................................................................................................20
1.4 RS-485 mating cable connection (...JP1-... order code).............................................................................21
2 Molex 53261-1271 male connector (...-X2 order code).....................................................................................22
2.1 SSI and BiSS C-mode connection (...BG1-... and ...SC1-... order codes)...............................................22
2.2 SSI and BiSS C-mode mating cable connection (...G1-... and ...SC1-... order codes)......................23
2.3 RS-485 connection (...JP1-... order code)..........................................................................................................23
2.4 RS-485 mating cable connection (...JP1-... order code).............................................................................24
3 TF12 cable speci ications..................................................................................................................................................24
4 Ground connection............................................................................................................................................................24
5 Battery power supply........................................................................................................................................................25
5.1 Replacement o  the battery – No ERROR active...........................................................................................25
5.2 Replacement o  the battery – ERROR active..................................................................................................26
6 1Vpp sinusoidal output signals.....................................................................................................................................27
7 Diagnostic LEDs....................................................................................................................................................................27
8 Zero setting / Preset input..............................................................................................................................................28
9 Counting direction input.................................................................................................................................................28
- SSI interface........................................................................................................................................... 0
1 SSI (Synchronous Serial Inter ace)...............................................................................................................................30
2 “MSB le t aligned” protocol............................................................................................................................................31
3 Recommended transmission rates...............................................................................................................................32
4 Recommended SSI input circuit...................................................................................................................................33
- BiSS C-mode interface......................................................................................................................... 4
1 Communication...................................................................................................................................................................34
2 Single Cycle Data SCD.......................................................................................................................................................35
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 Implemented registers......................................................................................................................................................38
Preset..............................................................................................................................................................................38
Preset setting enable............................................................................................................................................41
Serial number............................................................................................................................................................41
Command.....................................................................................................................................................................42
Save parameters......................................................................................................................................................42
Activate Preset.........................................................................................................................................................42
Device ID.......................................................................................................................................................................42
Manufacturer ID......................................................................................................................................................42
6.5 Application notes................................................................................................................................................................43
6.6 Recommended BiSS input circuit.................................................................................................................................43
7 – RS-485 serial interface........................................................................................................................ 44
7.1 RS-485 port settings..........................................................................................................................................................44
7.2 Frame  ormat........................................................................................................................................................................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

Activate Preset..................................................................42

Command............................................................................42

CRC.................................................................................36, 37

DATA......................................................................................37

Device ID..............................................................................42

Error.......................................................................................35

Manu acturer ID...............................................................42

Position.................................................................................35

Preset.....................................................................................38

Preset setting enable......................................................41

RW..........................................................................................37

Save parameters...............................................................42

Serial number....................................................................41

Warning................................................................................36

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 AMM80 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.

AMM80 encoder can be both singleturn and multiturn.

Singleturn resolution can be 17 bits (131,072 cpr), 20 bits (1,048,576 cpr), and 23 bits (8,388,608 cpr).

In multiturn versions, the number o revolutions is 65,536.

It urther provides additional 1Vpp Sine-Cosine signals or speed eedback (1,024 sinusoidal signals per

revolution).

AMM80 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, electric actuators, electro-medical

devices, OEM equipment.

To make it easier to read and understand the text, this guide can be divided into some 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 30.

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 34.

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 44.

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.

AMM80 • 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 19;

•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. 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 AMM80 SSI_BiSS_RS485 E 1.5.odt 1 - Sa ety summary 8 o 60

AMM80 • 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 AMM80 SSI_BiSS_RS485 E 1.5.odt 1 - Sa ety summary 9 o 60

AMM80 • 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 AMM80 SSI_BiSS_RS485 E 1.5.odt 1 - Sa ety summary 10 o 60

AMM80 • 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 AMM80 SSI_BiSS_RS485 E 1.5.odt 2 - Identi ication 11 o 60

AMM80 • SSI, BiSS, & RS-485

- 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.

.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 drawings: sha t and lange

with pilot (Figure 1) and sha t and lange with pins (Figure 2).

(values are expressed in mm)

Figure 1 - Flange with pilot

MAN AMM80 SSI_BiSS_RS485 E 1.5.odt 3 - Mounting instructions 12 o 60

AMM80 • SSI, BiSS, & RS-485

Figure 2 - Flange with pins

MAN AMM80 SSI_BiSS_RS485 E 1.5.odt 3 - Mounting instructions 13 o 60

AMM80 • SSI, BiSS, & RS-485

.2 Encumbrance sizes

(values are expressed in mm)

Figure - Encumbrance sizes of the encoder

Figure 4 - Encumbrance sizes of the code disk

MAN AMM80 SSI_BiSS_RS485 E 1.5.odt 3 - Mounting instructions 14 o 60

AMM80 • SSI, BiSS, & RS-485

. 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 PF5025 spacing tool 1 against the sha t 2. Insert the code disk

into the sha t 2 and lay it down on the spacing tool 1; always handle the code

disk by grasping its outer edges or the magnetic ring.

MAN AMM80 SSI_BiSS_RS485 E 1.5.odt 3 - Mounting instructions 15 o 60

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 irmly asten the code disk ; make

sure that the code disk per ectly rests on the spacing tool 1 be ore ixing it;

the max. tightening torque is 1. 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.

.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 match up;

ollow the pilot on the lange or mount according to the pins; make sure that

the enclosure o 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.

MAN AMM80 SSI_BiSS_RS485 E 1.5.odt 3 - Mounting instructions 16 o 60

AMM80 • SSI, BiSS, & RS-485

Step 4

Insert the M3 x 8 cylinder-head bolts UNI5931 7 in the holes 6, tighten the

our bolts 7 down to irmly ix the encoder unit 5, torque to 1. Nm max. Hold

the encoder unit 5 down and avoid any movements while tightening.

Step 5

Rotate the motor sha t until the code disk is aligned with the encoder unit 5

as shown in the Figure; the mark 8 punched in the code disk 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 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 properly and then proceed again as explained in the

next step.

MAN AMM80 SSI_BiSS_RS485 E 1.5.odt 3 - Mounting instructions 17 o 60

AMM80 • SSI, BiSS, & RS-485

Step 6

Connect the EC-DF19-LK-TF12-... cable to the Hirose connector o the

encoder unit 5; or connect the EC-X14-LK-TF12-... cable to the Molex

connector 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. I the installation procedure is success ul, the LEDs

will blink or a while and then go o .

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 54.

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 AMM80 SSI_BiSS_RS485 E 1.5.odt 3 - Mounting instructions 18 o 60

AMM80 • 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 (...-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

MAN AMM80 SSI_BiSS_RS485 E 1.5.odt 4 - Electrical connections 19 o 60

AMM80 • SSI, BiSS, & RS-485

* Only available with multiturn encoder versions (…/65K... order code)

Mating connector: Hirose DF19G-14S-1C(05) emale connector

4.1.2 SSI and BiSS C-mode mating cable connection (...G1-... and ...SC1-...

order codes)

EC-DF19-LK-TF12-... cable, it must 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 multiturn 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 multiturn encoder versions (…/65K... order code)

Mating connector: Hirose DF19G-14S-1C(05) emale connector

MAN AMM80 SSI_BiSS_RS485 E 1.5.odt 4 - Electrical connections 20 o 60

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