Lika C50MI-L1 Series User manual

User's guide
C50MI
C50MA
Incremental and absolute rotary encoder
•Small size hollow shaft encoder with magnetic scanning
•Several mounting o tions with fixing lates
•Incremental: TTL/RS-422 out ut, resolution u to 65,536 PPR
•Absolute: SSI & BiSS C-mode interfaces, resolution u to 35
bits, singleturn and multiturn versions
•Feedback on motors and automation a lications
Suitable for the following models:
•C50MI-L1-...
•C50MA-BG1-...
•C50MA-SC1-...
General contents
Preliminary information 7
1 - Safety summary 8
2 - Identification 10
3 - Mounting instructions 11
4 - Electrical connections 17
5 - Incremental signals 21
6 - SSI interface 23
7 - BiSS C-mode interface 27
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.

Table of Contents
User's guide............................................................................................................................................................................................1
Table of Contents................................................................................................................................................................................3
Subject Index.........................................................................................................................................................................................5
Ty ogra hic and iconogra hic conventions........................................................................................................................6
Preliminary information..................................................................................................................................................................7
1 - Safety summary....................................................................................................................................... 8
1.1 Sa ety..........................................................................................................................................................................................8
1.2 Electrical sa ety.......................................................................................................................................................................8
1.3 Mechanical sa ety..................................................................................................................................................................9
2 - Identification.......................................................................................................................................... 10
3 - Mounting instructions......................................................................................................................... 11
3.1 Encumbrance sizes..............................................................................................................................................................11
3.2 Installation with standard ixing plate (KIT MOL2428).......................................................................................13
3.3 Installation with B type ixing plate (KIT MOL2546)............................................................................................14
3.4 Installation with D type ixing plate (KIT MOL2433)............................................................................................15
4 - Electrical connections........................................................................................................................... 17
4.1 C50MI - Cable and connector connections.............................................................................................................17
4.2 C50MA - Cable and connector connections...........................................................................................................17
4.3 M8 cable speci ications....................................................................................................................................................18
4.4 M12 8-pin connector speci ications...........................................................................................................................18
4.5 Connection o the shield..................................................................................................................................................18
4.6 Connection to ground.......................................................................................................................................................18
4.7 Incremental signals............................................................................................................................................................18
4.8 SSI inter ace..........................................................................................................................................................................18
4.9 BiSS C-mode inter ace......................................................................................................................................................19
4.10 Absolute resolution..........................................................................................................................................................19
4.11 Counting direction...........................................................................................................................................................19
4.12 Zero setting input.............................................................................................................................................................20
5 - Incremental signals............................................................................................................................... 21
5.1 AB signals................................................................................................................................................................................21
5.2 Re erence (0) signal............................................................................................................................................................22
5.3 Recommended Line Driver incremental input circuit.........................................................................................22
6 - SSI interface........................................................................................................................................... 23
6.1 SSI (Synchronous Serial Inter ace) – General In ormation...............................................................................23
6.2 MSB Le t Aligned protocol..............................................................................................................................................24
6.3 Recommended transmission rates...............................................................................................................................25
6.4 Help ul in ormation...........................................................................................................................................................25
6.5 Recommended SSI input circuit...................................................................................................................................26
7 - BiSS C-mode interface......................................................................................................................... 27
7.1 Communication...................................................................................................................................................................27
7.2 Single Cycle Data SCD.......................................................................................................................................................28
7.2.1 SCD structure................................................................................................................................................................28
Position........................................................................................................................................................................28
Error..............................................................................................................................................................................28
Warning.......................................................................................................................................................................29
CRC................................................................................................................................................................................29

7.3 Application notes................................................................................................................................................................29
7.4 Recommended BiSS input circuit.................................................................................................................................30
8 – Warnings and errors............................................................................................................................. 31
8.1 Warnings.................................................................................................................................................................................31
Signal warning.........................................................................................................................................................31
Frequency warning.................................................................................................................................................31
8.2 Errors........................................................................................................................................................................................31
Startup error.............................................................................................................................................................31
Command execution in progress.....................................................................................................................31
Consistency error....................................................................................................................................................32
Communication error............................................................................................................................................32
Invalid checksum.....................................................................................................................................................32

Subject Index
C
Command execution in progress..............................31
Communication error.....................................................32
Consistency error.............................................................32
CRC.........................................................................................29
E
Error.......................................................................................28
F
Frequency warning..........................................................31
I
Invalid checksum..............................................................32
P
Position.................................................................................28
S
Signal warning..................................................................31
Startup error......................................................................31
W
Warning................................................................................29

Ty ogra hic and iconogra hic 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 C50MI incremental rotary encoder and the C50MA
absolute rotary encoder.
C50Mx encoder can be equi ed with incremental interface (C50MI model: Line Driver RS-422
signal level) and with absolute interface (C50MA model: SSI and BiSS C-mode interfaces).
The incremental resolution is up to 16 bits (65,536 PPR).
The absolute versions can be singleturn and multiturn, see the order code. For example: C50MA-SC1-
17-... is a 17 bit singleturn encoder; C50MA-SC1-17 M-... is a 17 + 16 bit multiturn encoder. The absolute
resolution is up to 19 bit singleturn (524,288 cpr) and 16 bit multiturn (65,536 turns).
C50MI and C50MA encoders are ideally suited or advanced osition feedback on motors, as well as on
many and varied industrial automation applications, even when the installation can be space critical.
To make it easier to read and understand the text, this guide can be divided into some 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 Incremental signals, both general and speci ic in ormation is given on
the incremental signals, see on page 21.
In the third section, entitled SSI interface, both general and speci ic in ormation is given on the SSI
inter ace, see on page 23.
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, see on page 27.

C50MI • C50MA • Incremental, SSI & BiSS
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 the explanation in the “4 - Electrical connections”
section on page 17;
•the wires o unused output signals must be cut at di erent lengths and
insulated singularly;
•(absolute version): connect the Zero setting input to 0Vdc i not used; to set
the zero, connect Zero setting to +Vdc or 100 µs at least, then disconnect
+Vdc; normally Zero setting voltage must be at 0Vdc; we suggest per orming
the zero setting when the encoder is in stop;
•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
MAN C50MI_C50MA E 1.0.odt 1 - Sa ety summary 8 o 36

C50MI • C50MA • Incremental, SSI & BiSS
out by the user. We suggest providing the ground connection as close as
possible to the encoder.
1.3 Mechanical safety
•Install the device ollowing strictly the in ormation in the “3 - Mounting
instructions” section on page 11;
•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;
•protect the unit against acid solutions or chemicals that may damage it;
•respect the environmental characteristics declared by manu acturer;
•the encoder can be mounted directly on a sha t whose diameter has to
respect the technical characteristics speci ied in the purchase order and
clamped by means o the collar and the ixing plate and, i required, an anti-
rotation pin.
MAN C50MI_C50MA E 1.0.odt 1 - Sa ety summary 9 o 36

C50MI • C50MA • Incremental, SSI & BiSS
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 C50MI_C50MA E 1.0.odt 2 - Identi ication 10 o 36

C50MI • C50MA • Incremental, SSI & BiSS
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 Encumbrance sizes
(values are expressed in mm)
Figure 1 - C50MI / C50MA with standard fixing late (KIT MOL2428)
Figure 2 - C50MI / C50MA with version B fixing late (KIT MOL2546)
MAN C50MI_C50MA E 1.0.odt 3 - Mounting instructions 11 o 36

C50MI • C50MA • Incremental, SSI & BiSS
Figure 3 - C50MI / C50MA with version D fixing late (KIT MOL2433)
MAN C50MI_C50MA E 1.0.odt 3 - Mounting instructions 12 o 36

C50MI • C50MA • Incremental, SSI & BiSS
3.2 Installation with standard fixing late (KIT MOL2428)
•Mount the encoder on the motor sha t; do not orce the encoder sha t;
•asten the ixing plate 1 to the rear o the motor using 3 M3 x 8
cylindrical head screws 2; keep the encoder at a sa ety distance rom
the motor (about 1 mm) to prevent the ixing plate 1 rom warping; the
ixing plate 1 must allow the encoder to move radially in order to absorb
the misalignment between the motor sha t and the encoder sha t;
•ix the collar 3 to the encoder sha t (we suggest applying some
threadlocker to the M2.5 screw 4);
•the ixing plate 1 is supplied already ixed to the encoder.
MAN C50MI_C50MA E 1.0.odt 3 - Mounting instructions 13 o 36

C50MI • C50MA • Incremental, SSI & BiSS
3.3 Installation with B ty e fixing late (KIT MOL2546)
•Mount the encoder on the motor sha t; do not orce the encoder sha t;
•asten the ixing plate 1 to the rear o the motor using 2 M4 x 8
cylindrical head screws 2; keep the encoder at a sa ety distance rom
the motor (about 1.8 mm) to prevent the ixing plate 1 rom warping;
the ixing plate 1 must allow the encoder to move radially in order to
absorb the misalignment between the motor sha t and the encoder
sha t;
•ix the collar 3 to the encoder sha t (we suggest applying some
threadlocker to the M2.5 screw 4);
•the ixing plate 1 can be supplied already ixed to the encoder (see the
order code).
MAN C50MI_C50MA E 1.0.odt 3 - Mounting instructions 14 o 36

C50MI • C50MA • Incremental, SSI & BiSS
3.4 Installation with D ty e fixing late (KIT MOL2433)
•Mount the encoder on the motor sha t; do not orce the encoder sha t;
•make sure the anti-rotation pin 6, that is secured to the rear o the
motor, is inserted properly into the plate 1; sa ety distance: 2 mm;
•ix the collar 3 to the encoder sha t (we suggest applying some
threadlocker to the M2.5 screw 4);
•the ixing plate 1 can be supplied already ixed to the encoder (see the
order code).
MAN C50MI_C50MA E 1.0.odt 3 - Mounting instructions 15 o 36

C50MI • C50MA • Incremental, SSI & BiSS
NOTE
You are strongly advised not to carry out any mechanical operations (drilling,
milling, etc.) on the encoder sha t. This could cause serious damages to the
internal parts and an immediate warranty loss. Please contact our technical
personnel or the complete availability o "custom made" sha ts.
MAN C50MI_C50MA E 1.0.odt 3 - Mounting instructions 16 o 36

C50MI • C50MA • Incremental, SSI & BiSS
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 C50MI - Cable and connector connections
Function M8 cable M12 8- in connector
0Vdc Black 1
+5Vdc ±5% Red 2
AYellow 3
/A Blue 4
BGreen 5
/B Orange 6
0White 7
/0 Grey 8
Shielding Shield Case
4.2 C50MA - Cable and connector connections
Function M8 cable M12 8- in connector
0Vdc Black 1
+5Vdc ±5% Red 2
Clock IN + / MA + Yellow 3
Clock IN - / MA - Blue 4
Data OUT + / SLO + Green 5
Data OUT - / SLO - Orange 6
Zero setting White 7
not connected Grey 8
Shielding Shield Case
MAN C50MI_C50MA E 1.0.odt 4 - Electrical connections 17 o 36

C50MI • C50MA • Incremental, SSI & BiSS
4.3 M8 cable s ecifications
Model LIKA HI-FLEX sensor cable type M8
Cross section 2 x 0.25 mm2 + 6 x 0.14 mm2 (24/26 AWG)
Jacket Polyurethane (PUR, ether base)
Shield tinned copper braid, coverage  85%
Outer diameter 5.5 mm ±0.2 mm (0.216” ±0.008”)
Min. bending radius Ø x 5 (static); Ø x 7.5 (dynamic)
Work temperature -50°C +90°C (-58°F +194°F) (static)
-40°C +90°C (-40°F +194°F) (dynamic)
Conductor resistance  84.7 /km /  152 /km
4.4 M12 8- in connector s ecifications
M12 8 in
Male rontal side, A coding
4.5 Connection of the shield
For signals transmission always use shielded cables. The cable shielding must be
connected properly to ensure earthing.
4.6 Connection to ground
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. We suggest providing the ground connection as close as possible to
the encoder.
4.7 Incremental signals
For complete in ormation on the incremental signals please re er to the “5 -
Incremental signals” section on page 21.
4.8 SSI interface
For complete in ormation on the SSI inter ace please re er to the “6 - SSI
inter ace” section on page 23.
MAN C50MI_C50MA E 1.0.odt 4 - Electrical connections 18 o 36

C50MI • C50MA • Incremental, SSI & BiSS
4.9 BiSS C-mode interface
For complete in ormation on the BiSS C-mode inter ace please re er to the “7 -
BiSS C-mode inter ace” section on page 27.
4.10 Absolute resolution
C50MA encoder with absolute inter ace can have a singleturn resolution o
32,768 cpr (15 bits), 131,072 cpr (17 bits), 262,144 cpr (18 bits), and 524,288 cpr
(19 bits).
The angular resolution is:
•0.01098° (0° 0' 40”) or 15-bit model;
•0.00274° (0° 0' 10”) or 17-bit model;
•0.00137° (0° 0' 5”) or 18-bit model;
•0.00068° (0° 0' 2.5”) or 19-bit model.
NOTE
To convert the absolute position value detected by the encoder into an angular
position use the ollowing ormula:
1 STEP = 360° / 32,768 cpr = 0.01098 °/cpr
angular position = position value * 1 step
EXAMPLE
Position value = 3,000
Angular position = 3,000 * 0.01098 = 32.94° = 32° 56' 24”
4.11 Counting direction
The standard counting direction is to be intended with sha t turning as
indicated by the arrow in Figure 4. When the sha t rotates in the direction
indicated by the arrow, in the absolute measuring system the count is up; in the
incremental measuring system the rising edge o A signal leads the rising edge
o B signal. The counting direction cannot be changed.
Figure 4 - Counting direction
MAN C50MI_C50MA E 1.0.odt 4 - Electrical connections 19 o 36

C50MI • C50MA • Incremental, SSI & BiSS
4.12 Zero setting in ut
(C50MA-BG1-... and C50MA-SC1-... only)
The output position in ormation at a decided point in the sha t rotation can be
set to 0. The Zero setting input allows the operator to activate the zero value
through an input signal sent by a PLC or other controller. This can be very use ul
- or instance- or setting the zero position o both the encoder and the
machine. I not used, connect the Zero setting input to 0Vdc. 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. We suggest setting
the zero when the sha t is in stop.
MAN C50MI_C50MA E 1.0.odt 4 - Electrical connections 20 o 36