Lika ASC85 User manual

User's guide
ASC85
•Singleturn rotary encoder with optical scanning
•Large 50 mm / 1. 685" thru-bore shaft
•Resolution up to 25 bits, high accuracy ±0.005°
•SSI and BiSS C-mode interfaces
•Sine-Cosine 1Vpp additional track
•For direct integration into robots, radars and motors
Suitable for the following models:
•ASC85xx/BG...
•ASC85xx/GG...
•ASC85xx/SC...
Table of Contents
1 - Safety summary
2 - Identification 11
3 - Mounting instructions 12
4 - Electrical connections 14
5 - SSI interface 17
6 - BiSS C-mode interface 21
7 - 1Vpp Sine/Cosine output signals 41
Lika Electronic • Tel. [phone] • [email protected] • www.lika.biz
Smart encoders & actuators

This publication was produced by Lika Electronic s.r.l. 2022. 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.

General contents
User's guide......................................................................................................................................................... 1
General contents................................................................................................................................................ 3
Subject Index....................................................................................................................................................... 6
Typographic and iconographic conventions.................................................................................................7
Preliminary information.................................................................................................................................... 8
1 - Safety summary.......................................................................................................................................
1.1 Sa ety..........................................................................................................................................................................................9
1.2 Electrical sa ety.......................................................................................................................................................................9
1.3 Mechanical sa ety...............................................................................................................................................................10
2 - Identification.......................................................................................................................................... 11
3 - Mounting instructions......................................................................................................................... 12
3.1 ASC85 encumbrance sizes...............................................................................................................................................12
3.2 Mechanical characteristics o the mounting support.........................................................................................12
3.3 Mounting the encoder......................................................................................................................................................12
4 - Electrical connections........................................................................................................................... 14
4.1 M23 12-pin connector......................................................................................................................................................14
4.2 M12 12-pin connector......................................................................................................................................................15
4.3 TF12 cable speci ications..................................................................................................................................................15
4.4 GND connection..................................................................................................................................................................15
4.5 1Vpp sinusoidal output signals.....................................................................................................................................15
4.6 Counting direction input.................................................................................................................................................15
4.7 Zero setting input...............................................................................................................................................................16
5 - SSI interface........................................................................................................................................... 17
5.1 SSI (Synchronous Serial Inter ace)...............................................................................................................................17
5.2 “MSB le t aligned” protocol............................................................................................................................................18
5.3 Recommended transmission rates...............................................................................................................................19
5.4 Recommended SSI input circuit...................................................................................................................................20
6 - BiSS C-mode interface......................................................................................................................... 21
6.1 Communication...................................................................................................................................................................21
6.2 Single Cycle Data SCD.......................................................................................................................................................22
6.2.1 SCD structure................................................................................................................................................................22
Position........................................................................................................................................................................22
Error..............................................................................................................................................................................22
Warning.......................................................................................................................................................................22
CRC................................................................................................................................................................................23
6.3 Control Data CD...................................................................................................................................................................23
Register address.......................................................................................................................................................23
RW.................................................................................................................................................................................23
DATA.............................................................................................................................................................................23
CRC................................................................................................................................................................................24
6.4 Implemented registers......................................................................................................................................................24
Bank selection...........................................................................................................................................................25
Profile ID.......................................................................................................................................................................26
Serial number............................................................................................................................................................26
Command.....................................................................................................................................................................26
Normal operation....................................................................................................................................................26

Save parameters on EEPROM............................................................................................................................26
Save parameters and activate Preset / O set............................................................................................26
Load and save de ault parameters..................................................................................................................26
Configuration............................................................................................................................................................27
Set preset / o set...................................................................................................................................................27
Enable preset / o set............................................................................................................................................28
Output code..............................................................................................................................................................28
Code sequence.........................................................................................................................................................28
Counts per revolution...........................................................................................................................................29
Number of revolutions.........................................................................................................................................29
Preset / Offset...........................................................................................................................................................30
Device type..................................................................................................................................................................31
N° of bits used for singleturn.........................................................................................................................31
N° of bits used for multiturn...........................................................................................................................31
Sine / Cosine resolution......................................................................................................................................31
Active errors...............................................................................................................................................................32
Sensor 2 error active................................................................................................................................32
Sensor 1 error active................................................................................................................................32
Interpolator error active........................................................................................................................32
Sensor 1 and Interpolator error register..................................................................................................33
Control error.................................................................................................................................................33
Signal error....................................................................................................................................................33
Synchronization error..............................................................................................................................34
Configuration error...................................................................................................................................34
Interpolation error.....................................................................................................................................34
Absolute data error...................................................................................................................................34
Diagnosis register...................................................................................................................................................35
AC minimum amplitude.........................................................................................................................35
DC minimum offset...................................................................................................................................35
Signal level minimum amplitude......................................................................................................35
Amplitude control minimum current.............................................................................................36
AC maximum amplitude........................................................................................................................36
DC maximum offset..................................................................................................................................36
Signal level maximum amplitude.....................................................................................................36
Amplitude control maximum current............................................................................................36
Sensor 2 error register.........................................................................................................................................37
Illumination error.......................................................................................................................................37
Internal data error (bit rate single step error).........................................................................37
EEPROM interface error..........................................................................................................................37
SAR conversion error................................................................................................................................37
Transmission error in BiSS register data.....................................................................................37
External error................................................................................................................................................38
Device ID.......................................................................................................................................................................38
Manufacturer ID......................................................................................................................................................38
6.5 Application notes................................................................................................................................................................39
6.6 EXAMPLES...............................................................................................................................................................................39
6.6.1 Setting the Con iguration register......................................................................................................................39
6.6.2 Setting the Preset / O set.......................................................................................................................................40
6.7 Recommended BiSS input circuit.................................................................................................................................40

7 - 1Vpp Sine/Cosine output signals.......................................................................................................41
7.1 Output signals voltage level...........................................................................................................................................41
8 - Default parameters list........................................................................................................................ 42

Subject Index
A
Absolute data error.........................................................34
AC maximum amplitude...............................................36
AC minimum amplitude................................................35
Active errors.......................................................................32
Amplitude control maximum current.....................36
Amplitude control minimum current......................36
B
Bank selection...................................................................25
C
Command............................................................................26
Con iguration....................................................................27
Con iguration error.........................................................34
Control error......................................................................33
Counts per revolution....................................................29
CRC.....................................................................................23p.
D
DATA......................................................................................23
DC maximum o set........................................................36
DC minimum o set.........................................................35
Device ID..............................................................................38
Device type.........................................................................31
Diagnosis register.............................................................35
E
EEPROM inter ace error................................................37
Error.......................................................................................22
External error.....................................................................38
I
Illumination error.............................................................37
Internal data error (bit rate single step error).....37
Interpolation error...........................................................34
Interpolator error active...............................................32
M
Manu acturer ID...............................................................38
N
N° o bits used or multiturn......................................31
N° o bits used or singleturn.....................................31
Number o revolutions..................................................29
P
Position.................................................................................22
Preset / O set....................................................................30
Pro ile ID..............................................................................26
R
Register address................................................................23
RW..........................................................................................23
S
SAR conversion error......................................................37
Sensor 1 and Interpolator error register................33
Sensor 1 error active......................................................32
Sensor 2 error active......................................................32
Sensor 2 error register...................................................37
Serial number....................................................................26
Signal error.........................................................................33
Signal level maximum amplitude.............................36
Signal level minimum amplitude..............................35
Sine / Cosine resolution.................................................31
Synchronization error....................................................34
T
Transmission error in BiSS register data................37
W
Warning................................................................................22

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 ASC85 absolute encoders with SSI / BiSS C-mode
interface.
ASC85 is the large thru-bore rotary encoder with high singleturn resolution up to 25 bits and high
accuracy ±0.005°. This encoder is able to provide a total amount o position in ormation up to 25 bits
(25 bits = 33,554,432 cpr). Thus the overall length o the SSI data packet is up to 25 bits; while the
overall length o the BiSS data packet is up to 33 bits (25 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 (4,096 sinusoidal waves per mechanical revolution). For in ormation on the resolution
o the encoder please see the order code.
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 SSI interface, both general and speci ic in ormation is given on the SSI
inter ace.
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.

ASC85 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 “4 - Electrical connections” section
on page 14;
•i not used, connect Zero setting and Counting direction inputs to 0Vdc;
- to set the zero, connect Zero setting input to +Vdc or 100 µs at least, then
disconnect +Vdc; normally voltage must be at 0Vdc; zero must be set a ter
Counting direction; we suggest setting the zero when the encoder sha t is
not running;
- Counting direction: CW increasing count (viewed rom ixing plate 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 connector housing
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.
MAN ASC85 SSI_BiSS E 1.6.odt 1 - Sa ety summary 9 o 44

ASC85 SSI & BiSS C-mode
1.3 Mechanical safety
•Install the device ollowing strictly the in ormation in the “3 - Mounting
instructions” section on page 12;
•mechanical installation has to be carried out with stationary mechanical
parts;
•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.
MAN ASC85 SSI_BiSS E 1.6.odt 1 - Sa ety summary 10 o 44

ASC85 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 ASC85 SSI_BiSS E 1.6.odt 2 - Identi ication 11 o 44

ASC85 SSI & BiSS C-mode
3 - Mounting instructions
WARNING
Installation must be carried out by quali ied personnel only, with power supply
disconnected and mechanical parts compulsorily in stop.
3.1 ASC85 encumbrance sizes
(values are expressed in mm)
3.2 Mechanical characteristics of the mounting support
(values are expressed in mm)
3.3 Mounting the encoder
MAN ASC85 SSI_BiSS E 1.6.odt 3 - Mounting instructions 12 o 44

ASC85 SSI & BiSS C-mode
Mount the encoder on the motor sha t. Avoid orcing the encoder sha t;
asten the ixing plate 1 to the rear o the motor using our M4 screws with
washers 2; max. tightening torque: 2 ±0.2 Nm;
ix the encoder sha t by tightening the three M4 eccentric screws 3 by
means o a 3.0 mm size hex key 4. Max. tightening torque: 2.5 ±0.5 Nm.
MAN ASC85 SSI_BiSS E 1.6.odt 3 - Mounting instructions 13 o 44

ASC85 SSI & BiSS C-mode
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.
Function M23 12-pin M12 12-pin TF12 cable
CLOCK IN + / MA + 2 3 Violet
CLOCK IN - / MA - 1 4 Yellow
DATA OUT + / SLO + 3 5 Grey
DATA OUT - / SLO - 4 6 Pink
A (COS +) 5 9 Green
/A (COS -) 6 10 Brown
B (SIN +) 7 11 Red
/B (SIN -) 10 12 Black
Counting direction 18 8 Blue
Zero setting / Preset 19 7 White
0Vdc 12 1 White_Green
+Vdc 211 2 Brown_Green
Shield Case Case Shield
n.c. = not connected
1 Only available or SSI inter ace (see the order codes …/BG... and …/GG...)
2 See the order code or power supply voltage level
EXAMPLE
ASC85xx/SC1-... +Vdc = +5Vdc ± 5%
ASC85xx/SC2-... +Vdc = +10Vdc +30Vdc
4.1 M23 12-pin connector
M23 12-pin connector
Counter-clockwise
Male rontal side
MAN ASC85 SSI_BiSS E 1.6.odt 4 - Electrical connections 14 o 44

ASC85 SSI & BiSS C-mode
4.2 M12 12-pin connector
M12 12-pin connector
Male rontal side
4.3 TF12 cable specifications
Model : LIKA TF12 encoder cable
Cross section : 6 x 2 twisted pairs (28 AWG)
Jacket : special lame retardant PVC compound
Shield : tinned copper braid, coverage > 80%
Outer diameter : 5.4 mm ±0.1 mm (0.21” ±0.004”)
Min. bending radius : min. 54 mm (2.12”)
Work temperature : -15°C +80°C (+5°F +176°F)
Conductor resistance : < 242.02 /km
4.4 GND connection
Minimize noise by connecting the shield and/or the connector housing 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.
4.5 1Vpp sinusoidal output signals
For any urther in ormation on the 1Vpp sinusoidal signals please re er to the “7
- 1Vpp Sine/Cosine output signals” section on page 41.
4.6 Counting direction input
NOTE
The Counting direction input is available or the SSI inter ace only (see the order
codes …/BG... and …/GG...). For the BiSS inter ace re er to the Code sequence
parameter on page 28.
The Counting direction input allows to set whether the position value output by
the encoder increases when the encoder sha t rotates clockwise (CW) or
counter-clockwise (CCW). The clockwise rotation is intended as shown in the
Figure. I the Counting direction input is connected to 0Vdc, the position value
increases when the encoder sha t rotates clockwise; on the contrary, i the
Counting direction input is connected to +Vdc, the position value increases
MAN ASC85 SSI_BiSS E 1.6.odt 4 - Electrical connections 15 o 44

ASC85 SSI & BiSS C-mode
when the encoder sha t rotates counter-clockwise. I not used, connect the
Counting direction input to 0Vdc (standard counting direction, see the Figure).
WARNING
A ter changing the counting direction you are required to set a new zero.
NOTE
The counting direction unction a ects the absolute position in ormation, not
the sine/cosine signals.
Figure 1
4.7 Zero setting input
NOTE
The Zero setting input is available or the SSI inter ace only (see the order codes
…/BG... and …/GG...). For the BiSS inter ace re er to the Preset / Offset register
on page 30.
The output position in ormation at a point in the sha t rotation can be set to 0.
The Zero setting input allows the operator to activate the zero setting unction
by using an input signal sent by a PLC or other controller. To activate the zero
setting unction, connect the Zero setting input to +Vdc or 100 µs at least,
then disconnect +Vdc; normally voltage must be at 0Vdc. Zero setting must be
set a ter Counting direction. We suggest setting the zero setting unction when
the encoder sha t is not running. I not used, connect the Zero setting input to
0Vdc.
MAN ASC85 SSI_BiSS E 1.6.odt 4 - Electrical connections 16 o 44

ASC85 SSI & BiSS C-mode
5 - SSI interface
Order code: ASC85xx/BG...
ASC85xx/GG...
5.1 SSI (Synchronous Serial Interface)
SSI (the acronym or Synchronous Serial
Interface) is a synchronous point-to-point serial
inter ace engineered or unidirectional data
transmission between one Master and one Slave.
Developed in the irst eighties, it is based on the RS-
422 serial standard. Its most peculiar eature is that data transmission is
achieved by synchronizing both the Master and the Slave devices to a common
clock signal generated by the controller; in this way the output in ormation is
clocked out at each controller's request. Furthermore only two pairs o twisted
wires are used or data and clock signals, thus a six-wire cable is required.
The main advantages in comparison with parallel or asynchronous data
transmissions are:
•less conductors are required or transmission;
•less electronic components;
•possibility o insulting the circuits galvanically by means o
optocouplers;
•high data transmission requency;
•hardware inter ace independent rom the resolution o the absolute
encoder.
Furthermore the di erential transmission increases the noise immunity and
decreases the noise emissions. It allows multiplexing rom several encoders, thus
process controls are more reliable with simpli ied line design and easier data
management.
Data transmission is carried out as ollows.
At the irst alling edge o the clock signal (1, the logic level changes rom high
to low) the absolute position value is stored while at the ollowing rising edge
(2) the transmission o data in ormation begins starting rom the MSB.
MAN ASC85 SSI_BiSS E 1.6.odt 5 - SSI inter ace 17 o 44

ASC85 SSI & BiSS C-mode
At each change o the clock signal and at each subsequent rising edge (2) one
bit is clocked out at a time, up to LSB, so completing the data word
transmission. The cycle ends at the last rising edge o the clock signal (3). This
means that up to n + 1 rising edges o the clock signals are required or each
data word transmission (where n is the bit resolution); or instance, a 13-bit
encoder needs 14 clock edges. I the number o clocks is greater than the
number o bits o the data word, then the system will send a zero (low logic
level signal) at each additional clock, zeros will either lead (LSB ALIGNED
protocol) or ollow (MSB ALIGNED protocol) or lead and/or ollow (TREE FORMAT
protocol) the data word. A ter the period Tm mono lop time, having a typical
duration o 12 µsec, calculated rom the end o the clock signal transmission,
the encoder is then ready or the next transmission and there ore the data
signal is switched high.
The clock signal has a typical logic level o 5V, the same as the output signal
which has customarily a logic level o 5V in compliance with RS-422 standard.
The output code can be either Binary or Gray (see the order code).
5.2 “MSB left aligned” protocol
“MSB le t aligned” protocol allows to le t align the bits, beginning rom MSB
(most signi icant bit) to LSB (least signi icant bit); MSB is then sent at the irst
clock cycle. I the number o clock signals is higher than the data bits, then
unused bits are orced to logic level low (0) and ollow the data word. This
protocol can be used in encoders having any resolution.
The number o clocks to be sent to the encoder must equal the number o data
bits at least, anyway it can be higher, as stated previously. The great advantage
o this protocol over the TREE ormat or the LSB RIGHT ALIGNED ormat is that
data can be transmitted with a minimum time loss and Tm mono lop time can
immediately ollow the data bits without any additional clock signal.
The length o the word is variable according to the resolution, as shown in the
ollowing table.
Model Length of the word Max. number of
information
ASC8520/... 20 bits 1,048,576
ASC8521/... 21 bits 2,097,152
ASC8522/... 22 bits 4,194,304
ASC8523/... 23 bits 8,388,608
ASC8524/... 24 bits 16,777,216
ASC8525/... 25 bits 33,554,432
The output code can be either BINARY or GRAY (see the order code).
MAN ASC85 SSI_BiSS E 1.6.odt 5 - SSI inter ace 18 o 44

ASC85 SSI & BiSS C-mode
Structure of the position information
ASC8520/... bit 1 … 0
...
ASC8525/... bit 24 … 0
value MSB … LSB
5.3 Recommended transmission rates
The SSI inter ace has a requency o data transmission ranging between 100 kHz
and 4 MHz.
CLOCK IN and DATA OUT signals comply with the “EIA standard RS-422”.
The SSI clock requency (baud rate) depends on the length o the cable and
must comply with the technical in ormation reported in the ollowing table:
Cable length Baud rate
< 50 m < 400 kHz
< 100 m < 300 kHz
< 200 m < 200 kHz
< 400 m < 100 kHz
The time interval between two Clock sequence transmissions must be at least 12
µs (Tp > 12 µs).
MAN ASC85 SSI_BiSS E 1.6.odt 5 - SSI inter ace 19 o 44

ASC85 SSI & BiSS C-mode
5.4 Recommended SSI input circuit
MAN ASC85 SSI_BiSS E 1.6.odt 5 - SSI inter ace 20 o 44