Lika AMM8A User manual

User's guide
AMM8A
•Multiturn modular encoder with optical scanning
•Compact and low-profile design for comfortable installation
•Resolution up to 21 x 12 bits 2,097,152 cpr x 4,096 rev.)
•SSI / BiSS C-mode interface with Sine/Cosine additional track
•For direct integration into robots, motors and OEM applications
Suitable for the following models:
•AMM8Axx/xxxxxBGx...
•AMM8Axx/xxxxxGGx...
•AMM8Axx/xxxxxSCx...
Table of Contents
1 - Safety summary 11
2 - Identification 14
3 - Get started 15
4 - Mounting instructions 16
5 - Electrical connections 31
6 - Calibration and synchronization procedure 38
7 - SSI interface 54
8 - BiSS C-mode interface 57
9 - Default parameters list 77
Lika Electronic • Tel. [phone] • [email protected] • www.lika.biz
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.........................................................................................................................................................................................6
Typographic and iconographic conventions........................................................................................................................8
Preliminary information..................................................................................................................................................................9
1 - Safety summary....................................................................................................................................................................11
1.1 Sa ety....................................................................................................................................................................................11
1.2 Electrical sa ety................................................................................................................................................................11
1.3 Mechanical sa ety...........................................................................................................................................................12
1.4 Speci ic handling and cleaning instructions and sa ety in ormation against electrostatic
discharges...................................................................................................................................................................................12
2 - Identification..........................................................................................................................................................................14
3 - Get started...............................................................................................................................................................................15
4 - Mounting instructions......................................................................................................................................................16
4.1 AMM8A encumbrance sizes........................................................................................................................................16
4.2 Mechanical characteristics o the mounting support.....................................................................................17
4.3 Mounting the encoder and executing the ast synchronization procedure.........................................18
4.4 Mounting the encoder and executing the complete synchronization procedure..............................25
5 - Electrical connections.......................................................................................................................................................31
5.1 98414-G06-14LF 14-pin male connector............................................................................................................32
5.2 TF12 cable speci ications..............................................................................................................................................32
5.3 Counting direction input.............................................................................................................................................32
5.4 Zero setting / Preset input..........................................................................................................................................33
5.5 +5Vdc OUT..........................................................................................................................................................................34
5.6 Input 1..................................................................................................................................................................................34
5.7 Sine cosine signals..........................................................................................................................................................34
5.7.1 Output signals voltage level............................................................................................................................35
5.8 LEDs.......................................................................................................................................................................................35
5.8.1 ERROR LED...............................................................................................................................................................36
5.8.2 CALIBRATION LED.................................................................................................................................................37
6 - Calibration and synchronization procedure........................................................................................................38
6.1 Brie in ormation on the so tware tool.................................................................................................................38
6.2 IF90-SC inter ace.............................................................................................................................................................38
6.3 Be ore launching the calibration and synchronization procedure............................................................39
6.4 Installing the IF90-SC inter ace USB drivers.......................................................................................................40
6.5 Encoder calibration and synchronization inter ace.........................................................................................41
6.5.1 Establishing a connection to the IF90-SC inter ace..............................................................................41
6.5.2 Establishing a connection to the encoder.................................................................................................43
6.5.3 Saving calibration data to a ile.....................................................................................................................43
6.5.4 Checking the set parameters...........................................................................................................................43
6.5.5 Aligning the encoder...........................................................................................................................................45
6.5.6 Calibrating the track o set..............................................................................................................................46
6.5.7 Synchronizing singleturn and multiturn positions................................................................................47
6.5.8 Veri ication o calibration.................................................................................................................................48
6.5.9 Checking the gear backlash.............................................................................................................................49
6.5.10 Reading the position o the encoder........................................................................................................50

6.6 In ormation, warning and error messages...........................................................................................................51
Amplitude signals error. Run a new calibration?.........................................................................51
Calibration mode is not active.................................................................................................................51
Calibration OK....................................................................................................................................................52
Current calibration is not adequate code …). Run a new calibration?..........................52
Device connected..............................................................................................................................................52
Device not connected.....................................................................................................................................52
Fix the encoder..................................................................................................................................................52
IF90 not connected.........................................................................................................................................53
Synchronization OK.........................................................................................................................................53
Zero setting OK..................................................................................................................................................53
7 - SSI interface............................................................................................................................................................................54
7.1 SSI (Synchronous Serial Inter ace)...........................................................................................................................54
7.2 “MSB le t aligned” protocol........................................................................................................................................55
7.3 Recommended transmission rates...........................................................................................................................56
7.4 Recommended SSI input circuit...............................................................................................................................56
8 - BiSS C-mode interface......................................................................................................................................................57
8.1 Communication...............................................................................................................................................................57
8.2 Single Cycle Data SCD...................................................................................................................................................58
8.2.1 SCD structure.........................................................................................................................................................58
Position.........................................................................................................................................................................58
Speed..............................................................................................................................................................................58
Acceleration................................................................................................................................................................58
Error................................................................................................................................................................................58
Warning........................................................................................................................................................................59
CRC..................................................................................................................................................................................59
8.3 Control Data CD...............................................................................................................................................................59
Register address.......................................................................................................................................................59
RW....................................................................................................................................................................................59
DATA...............................................................................................................................................................................60
CRC..................................................................................................................................................................................60
8.4 Implemented registers..................................................................................................................................................60
Profile ID.......................................................................................................................................................................61
Serial number............................................................................................................................................................62
Command.....................................................................................................................................................................62
Normal operational state...............................................................................................................................62
Save parameters on EEPROM......................................................................................................................62
Save and activate Preset................................................................................................................................62
Load and save default parameters...........................................................................................................63
Reset all warnings / errors............................................................................................................................63
Configuration............................................................................................................................................................63
Data type.................................................................................................................................................................64
Enable preset.........................................................................................................................................................64
Output code...........................................................................................................................................................65
Counting direction.............................................................................................................................................65
Information per revolution...............................................................................................................................66
Number of revolutions.........................................................................................................................................67
Preset..............................................................................................................................................................................67
Device type..................................................................................................................................................................69

N° of bits used for singleturn resolution.................................................................................................69
N° of bits used for multiturn resolution...................................................................................................69
Resolution of sine-cosine signals.................................................................................................................69
Work cycles counter..............................................................................................................................................69
Work cycles warning limit.................................................................................................................................70
Acceleration................................................................................................................................................................70
Acceleration peak warning limit....................................................................................................................71
Speed..............................................................................................................................................................................71
Speed peak warning limit..................................................................................................................................72
Encoder warnings and errors...........................................................................................................................72
Work cycles limit reached...........................................................................................................................72
Acceleration peak limit reached..............................................................................................................73
Speed peak limit reached............................................................................................................................73
Multiturn gear error.......................................................................................................................................73
Work cycles save error..................................................................................................................................73
Gears offset error.............................................................................................................................................73
Synchronization error....................................................................................................................................74
EEPROM error.....................................................................................................................................................74
Sensor warnings......................................................................................................................................................74
Nonius error.........................................................................................................................................................74
Encoder Sensor EEPROM error.................................................................................................................74
Excessive temperature warning...............................................................................................................75
Sensor errors..............................................................................................................................................................75
Excessive temperature error......................................................................................................................75
Device ID.......................................................................................................................................................................75
Manufacturer ID......................................................................................................................................................76
8.5 Application notes............................................................................................................................................................76
8.6 Recommended BiSS input circuit.............................................................................................................................76
9 - Default parameters list....................................................................................................................................................77

Subject Index
A
Acceleration................................................................58, 70
Acceleration peak limit reached................................73
Acceleration peak warning limit...............................71
Amplitude signals error.................................................51
B
BACKLASH CHECKED......................................................50
C
Calibration mode is not active...................................51
Calibration OK...................................................................52
Calibration veri ication..................................................48
CLEAR....................................................................................41
Command............................................................................62
Con iguration....................................................................63
CONFIRM..............................................................................41
CONNECT.............................................................................41
Counting direction..........................................................65
CRC.....................................................................................59p.
Current calibration is not adequate.........................52
D
DATA......................................................................................60
Data type.............................................................................64
Device connected.............................................................52
Device ID..............................................................................75
Device not connected....................................................52
Device type.........................................................................69
Diagnostics..........................................................................41
DONE.....................................................................................45
E
EEPROM error....................................................................74
Elapsed time.......................................................................43
Enable preset......................................................................64
Encoder.................................................................................41
Encoder Sensor EEPROM error...................................74
Encoder warnings and errors......................................72
Error.......................................................................................58
Excessive temperature error........................................75
Excessive temperature warning.................................75
F
Fix the encoder..................................................................52
G
Gears o set error.............................................................73
I
IF90 not connected.........................................................53
In ormation per revolution..........................................66
Inter ace...............................................................................41
L
Load and save de ault parameters...........................63
M
Manu acturer ID...............................................................76
Mechanical alignment...................................................45
Multiturn gear error.......................................................73
N
N° o bits used or multiturn resolution................69
N° o bits used or singleturn resolution...............69
Nonius error.......................................................................74
Normal operational state.............................................62
Number o revolutions..................................................67
O
Output code.......................................................................65
P
Parameters control..........................................................43
Position.................................................................................58
Preset.....................................................................................67
Pro ile ID..............................................................................61
R
Register address................................................................59
Reset all warnings / errors...........................................63
Resolution o sine-cosine signals..............................69
RW..........................................................................................59
S
Save and activate Preset...............................................62
Save calibration ile.........................................................43
SAVE FILE.............................................................................41
Save parameters on EEPROM.....................................62
Sensor errors......................................................................75
Sensor warnings...............................................................74
Serial number....................................................................62
Speed.............................................................................58, 71
Speed peak limit reached.............................................73
Speed peak warning limit.............................................72
Start procedure.................................................................41
START PROCEDURE..........................................................42
START READ POS..............................................................50
STOP PROCEDURE............................................................43
Synchronization error....................................................74

Synchronization OK........................................................53
Synchronization single/multi turn............................47
T
Track o set calibration..................................................46
W
Warning................................................................................59
Work cycles counter.......................................................69
Work cycles limit reached............................................72
Work cycles save error...................................................73
Work cycles warning limit............................................70
Z
Zero setting OK.................................................................53

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 AMM8A absolute modular encoder with SSI and BiSS C-
mode interface.
This encoder is able to provide a total amount o position in ormation up to 33 bits (21 x 11 bits =
2,097,152 cpr, 4,096 revolutions). Thus the overall length o the SSI data packet is up to 33 bits; while the
overall length o the BiSS data packet is up to 41 bits (33 bit position in ormation + 1 bit error nE + 1 bit
warning nW + 6 bit CRC cyclic redundancy check). It urther provides additional 1Vpp sine-cosine signals
or speed eedback (1024 sinusoidal waves per mechanical revolution). For in ormation on the encoder
resolution please see the order code.
To achieve proper installation and correct operation o the encoder a so tware is expressly developed and
released by Lika Electronic. It allows the operator to set up and calibrate the AMM8A modular encoder
during installation. The program is supplied or ree and can be installed in any PC itted with a Windows
operating system (Windows XP or later).
The name o the program executable ile is:
•IF90-SC_AMM8_BiSS_vx.x.x.exe or BiSS interface encoders;
•IF90-SC_AMM8_SSI_vx.x.x.exe or SSI interface encoders.
The connection between the encoder and the PC is established by using the kit (IF90-SC module + USB
cable + AC-DC power supply, order code IF90-SC) expressly supplied by Lika Electronic. The EC-FCI-LK-
TF12-0,5 and EXC-D15M-S71-A16-1,0-FCI-S71 cables must be ordered separately as well as the PF5013
mechanical spacer and the PF5015 positioning tool or mechanical installation.
To make it easier to read and understand the text, this guide can be divided into three 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 Calibration and synchronization procedure, speci ic in ormation on
properly calibrating the encoder during installation is given. In this section the so tware tool eatures are
ully described.
In the third section, entitled SSI interface, both general and speci ic in ormation is given on the SSI
inter ace.
In the ourth 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.
IF90-SC kit component parts
IF90-SC module
USB cable
AC-DC power supply

Further accessories to be ordered separately:
A) EXC-D15M-S71-A16-1,0-FCI-S71 cable or calibration
and synchronization (see on page 38)
•15-pin male D-Sub connector to the IF90-SC inter ace
D-Sub connector
•14-pin SQW-107-01-F-D-VS connector to the
modular encoder unit
B) EC-FCI-LK-TF12-0,5 connection cable or operation (see
on page 32)
•0.5 m cordset with SQW-107-01-F-D-VS 14-pin
connector
C) PF5013 mechanical spacer to properly place the disk on
the lange, at the right distance, see on page 18
D) PF5015 positioning tool to press the code disk into place
on the mechanical spacer, see on page 18

AMM8A SSI & BiSS C-mode
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 power supply be ore connecting the device;
•connect according to explanation in the “5 - Electrical connections” section
on page 31;
•i not used, connect Zero setting/Preset and Counting direction inputs to
0Vdc;
- to set the zero/preset, connect Zero setting/Preset input to +Vdc or 100 µs
at least, then disconnect +Vdc; normally voltage must be at 0Vdc;
zero/preset must be set a ter Counting direction; we suggest setting the
zero/preset when the encoder sha t is not running;
- Counting direction: CW increasing count (viewed rom lange side): connect
to 0Vdc; CCW increasing count: connect to +Vdc;
•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
MAN AMM8A SSI_BiSS E 1.10.odt 1 - Sa ety summary 11 o 80

AMM8A SSI & BiSS C-mode
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 “4 - Mounting
instructions” section on page 16;
•mechanical installation has to be carried out with stationary mechanical
parts;
•do not disassemble the encoder;
•do not tool the encoder or its sha t;
•delicate electronic equipment: handle with care; do not subject the device
and the sha t to knocks or shocks;
•respect the environmental characteristics declared by manu acturer; the
encoder must be adequately protected under an appropriate enclosure 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 modular 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 modular 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 metal enclosure on the sides;
•the code disk must always be handled by grasping its collar;
MAN AMM8A SSI_BiSS E 1.10.odt 1 - Sa ety summary 12 o 80

AMM8A SSI & BiSS C-mode
•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 AMM8A SSI_BiSS E 1.10.odt 1 - Sa ety summary 13 o 80

AMM8A SSI & BiSS C-mode
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 AMM8A SSI_BiSS E 1.10.odt 2 - Identi ication 14 o 80

AMM8A SSI & BiSS C-mode
3 - Get started
For standard installation and set up procedure, ollow the instructions in the
“4.3 Mounting the encoder and executing the ast synchronization procedure”
section on page 18.
As an alternative or in case the ast synchronization procedure does not
succeed, you can ollow the instructions in the “4.4 Mounting the encoder and
executing the complete synchronization procedure” section on page 25. The
complete procedure with calibration and synchronization processes (see on page
38) will take a little bit more time.
MAN AMM8A SSI_BiSS E 1.10.odt 3 - Get started 15 o 80

AMM8A SSI & BiSS C-mode
4 - 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 12.
4.1 AMM8A encumbrance sizes
(values are expressed in mm)
MAN AMM8A SSI_BiSS E 1.10.odt 4 - Mounting instructions 16 o 80

AMM8A SSI & BiSS C-mode
4.2 Mechanical characteristics of the mounting support
This encoder module is speci ically designed or installation in motors having
the mechanical characteristics indicated in the ollowing drawing.
(values are expressed in mm)
MAN AMM8A SSI_BiSS E 1.10.odt 4 - Mounting instructions 17 o 80

AMM8A SSI & BiSS C-mode
4.3 Mounting the encoder and executing the fast synchronization
procedure
Re er also to the “3 - Get started” section on page 15.
NOTE
For your ease and convenience, be ore starting the installation, please make sure
that the mounting kit and tools are ready to hand. Always re er to the mounting
tolerances speci ied in the “4.1 AMM8A encumbrance sizes” section on page 16.
WARNING
•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 collar;
•protect the disk rom scratching;
•avoid lexing the disk;
•always handle the encoder unit by grasping the metal enclosure on the
sides.
WARNING
Never supply the encoder unit i it is not installed on the code disk and can read
it; the error that is generated cannot be reset.
MAN AMM8A SSI_BiSS E 1.10.odt 4 - Mounting instructions 18 o 80

AMM8A SSI & BiSS C-mode
Step 1
Place the PF5013 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 collar.
Step 2
Use the PF5015 positioning tool 11 to properly press the code disk 3 into
place on the PF5013 spacing tool 1. Tighten the M2.5 x 10 screw 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 1.3 Nm.
MAN AMM8A SSI_BiSS E 1.10.odt 4 - Mounting instructions 19 o 80

AMM8A SSI & BiSS C-mode
Step 3
Slide the encoder unit 5 over the code disk 3 and move it orward until it is
against the sha t 2 thoroughly; then move it back slightly; make sure that the
metal enclosure o the encoder unit 5 does not hit or touch the code disk 3;
always handle the encoder unit 5 by holding the metal enclosure on the sides.
Step 4
Insert the three M3 x 6 cylinder-head bolts 7 in the holes 6.
MAN AMM8A SSI_BiSS E 1.10.odt 4 - Mounting instructions 20 o 80