Lika HM58 PY User manual

User's guide
HM58 PY-PN
Programmable encoder with parallel interface
Smart encoders actuators

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Electronic s.r.l. reserves the right to make all modifications at any moments and without forewarning.
This manual is periodically reviewed and revised. As required we suggest checking if a new or updated edition of this document is
available at Lika Electronic s.r.l.'s website. Lika Electronic s.r.l. assumes no responsibility for any errors or omissions in this document.
Critical evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future documentation, in order
to make it as clear and complete as possible. Please send an e-mail to the following address [email protected] for 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...................................................................................................................................................................9
1.1 Safety.............................................................................................................................................................................9
1.2 Electrical safety.........................................................................................................................................................9
1.3 Mechanical safety..................................................................................................................................................10
2 Identification......................................................................................................................................................................11
3 Mechanical installation...............................................................................................................................................12
3.1 Encoder with solid shaft....................................................................................................................................12
3.1.1 Customary installation................................................................................................................................12
3.1.2 Installation using fixing clamps (optional kit code LKM 386)....................................................13
3.1.3 Installation using a mounting bell (optional kit code PF4256).................................................13
3.2 Encoder with hollow shaft................................................................................................................................14
3.2.1 HMC58 PY-PN installation using the antirotation pin.................................................................14
3.2.2 HMC59 PY-PN installation using the fixing plate...........................................................................15
3.2.3 HMC60 PY-PN installation using the antirotation pin and the fixing plate.......................16
4 Electrical connection.....................................................................................................................................................17
4.1 Cable and connector connections..................................................................................................................17
4.2 A40 cable specifications.....................................................................................................................................18
4.3 MIL 41-pin connector specifications.............................................................................................................18
4.4 Connection of the shield....................................................................................................................................18
4.5 Ground connection...............................................................................................................................................19
4.6 Parity bit....................................................................................................................................................................19
4.7 Preset / Offset..........................................................................................................................................................20
4.8 Latch............................................................................................................................................................................21
4.9 Tri-state......................................................................................................................................................................21
4.10 Counting direction..............................................................................................................................................21
4.11 RS-232 serial connection.................................................................................................................................22
4.12 Recommended circuit, parallel output with PNP o. c. drive (PN code).......................................24
4.13 Recommended circuit, parallel output with Push-Pull drive (PY code)......................................24
5 Software tool and configuration parameters.................................................................................................25
5.1 Configuring the device using the software tool......................................................................................25
5.1.1 Available pages and commands..............................................................................................................26
5.2 IDENTIFICATION page...........................................................................................................................................29
5.2.1 COM PORT box................................................................................................................................................31
Device search.........................................................................................................................................................................31
Port...............................................................................................................................................................................................31
5.2.2 ENCODER box..................................................................................................................................................32
Device type..............................................................................................................................................................................32
Serial number........................................................................................................................................................................32
Output type............................................................................................................................................................................32
Version.......................................................................................................................................................................................32
Read parameters..................................................................................................................................................................32

Load default parameters.................................................................................................................................................33
5.3 CONFIGURATION page.........................................................................................................................................34
5.3.1 POSITION box...................................................................................................................................................34
Position......................................................................................................................................................................................34
Turns...........................................................................................................................................................................................34
Counts/rev................................................................................................................................................................................35
5.3.2 PRESET / OFFSET box....................................................................................................................................35
Preset..........................................................................................................................................................................................35
Activate preset......................................................................................................................................................................38
Offset..........................................................................................................................................................................................38
Shifted Gray code or Gray Excess code...............................................................................................................39
Activate offset.......................................................................................................................................................................42
5.3.3 DIAGNOSTICS box..........................................................................................................................................43
Encoder travel not valid: counts to be displayed greater than physical resolution between
start and stop...............................................................................................................................................................43
Encoder travel not valid: unable to reach the minimum stroke........................................................43
No error................................................................................................................................................................................43
5.3.4 ENCODER CONFIGURATION box..............................................................................................................44
Output code............................................................................................................................................................................44
Positive counting direction............................................................................................................................................46
Enable preset / offset.......................................................................................................................................................47
Select preset / offset.........................................................................................................................................................47
Enable parity bit..................................................................................................................................................................47
Select parity bit....................................................................................................................................................................48
Enable Latch...........................................................................................................................................................................48
Set logic type.........................................................................................................................................................................49
5.3.5 RESOLUTION SETTING box.........................................................................................................................50
Programming mode: Scaling........................................................................................................................................50
Counts per revolution.......................................................................................................................................................50
Number of revolutions.....................................................................................................................................................51
Total set counts....................................................................................................................................................................53
Programming mode: Start / Stop..............................................................................................................................53
Counts to be displayed.....................................................................................................................................................55
1 – Start teaching...............................................................................................................................................................55
2 - Stop teaching................................................................................................................................................................56
Programming mode: Prog..............................................................................................................................................56
Counts to be displayed.....................................................................................................................................................57
Encoder HW counts............................................................................................................................................................57
5.3.6 ENCODER SPECIFICATIONS box...............................................................................................................57
Max counts per revolution............................................................................................................................................57
Max number of revolutions..........................................................................................................................................58
Max total counts.................................................................................................................................................................58
5.4 LOAD / SAVE CONFIGURATION page.............................................................................................................60
5.4.1 Saving the encoder configuration to a file........................................................................................60
5.4.2 Loading the encoder configuration from a file................................................................................61
5.5 Error messages........................................................................................................................................................62
Attention: the maximum transmitted position requires a number of bits greater than the
available one.................................................................................................................................................................62
Counts to be displayed must be lower than the hardware counts of the encoder................62

Error creating the file..................................................................................................................................................62
Error reading the file....................................................................................................................................................62
Invalid character.............................................................................................................................................................63
Value higher than the hardware resolution, please set a lower value...........................................63
Value not valid, offset greater than the maximum value allowed...................................................63
Value not valid, preset greater than the maximum position...............................................................63
5.6 “Red zone” compensation..................................................................................................................................64
6 Default parameters list................................................................................................................................................68

Subject Index
1
1 – Start teaching............................................................55
2
2 - Stop teaching.............................................................56
A
Activate offset...................................................................42
Activate preset..................................................................38
Attention: the maximum transmitted position. .62
C
Counts per revolution....................................................50
Counts to be displayed...........................................55, 57
Counts to be displayed must be lower...................62
Counts/rev...........................................................................35
D
Device search.....................................................................31
Device type.........................................................................32
E
Enable Latch.......................................................................48
Enable parity bit...............................................................47
Enable preset / offset......................................................47
Encoder HW counts........................................................57
Encoder travel not valid: counts...............................43
Encoder travel not valid: unable...............................43
Error creating the file.....................................................62
Error reading the file......................................................62
I
Invalid character...............................................................63
L
Load default parameters...............................................33
M
Max counts per revolution...........................................57
Max number of revolutions.........................................58
Max total counts..............................................................58
N
No error................................................................................43
Number of revolutions...................................................51
O
Offset.....................................................................................38
Output code.......................................................................44
Output type........................................................................32
P
Port.........................................................................................31
Position.................................................................................34
Positive counting direction..........................................46
Preset.....................................................................................35
Programming mode: Prog............................................56
Programming mode: Scaling.......................................50
Programming mode: Start / Stop..............................53
R
Read parameters...............................................................32
S
Select parity bit.................................................................48
Select preset / offset.......................................................47
Serial number....................................................................32
Set logic type.....................................................................49
T
Total set counts.................................................................53
Turns......................................................................................34
V
Value higher than the hardware resolution.........63
Value not valid, offset....................................................63
Value not valid, preset....................................................63
Version..................................................................................32

Typographic and iconographic conventions
In this guide, to make it easier to understand and read the text the following typographic and
iconographic conventions are used:
•parameters and objects both of Lika device and interface are coloured in GREEN;
•alarms are coloured in RED;
•states are coloured in FUCSIA.
When scrolling through the text some icons can be found on the side of the page: they are expressly
designed to highlight the parts of the text which are of great interest and significance for the user.
Sometimes they are used to warn against dangers or potential sources of danger arising from the use of
the device. You are advised to follow strictly the instructions given in this guide in order to guarantee the
safety of the user and ensure the performance of the device. In this guide the following symbols are
used:
This icon, followed by the word WARNING, is meant to highlight the parts of the
text where information of great significance for the user can be found: user must
pay the greatest attention to them! Instructions must be followed strictly in order
to guarantee the safety of the user and a correct use of the device. Failure to heed
a warning or comply with instructions could lead to personal injury and/or damage
to the unit or other equipment.
This icon, followed by the word NOTE, is meant to highlight the parts of the text
where important notes needful for a correct and reliable use of the device can be
found. User must pay attention to them! Failure to comply with instructions could
cause the equipment to be set wrongly: hence a faulty and improper working of
the device could be the consequence.
This icon is meant to highlight the parts of the text where suggestions useful for
making it easier to set the device and optimize performance and reliability can be
found. Sometimes this symbol is followed by the word EXAMPLE when instructions
for setting parameters are accompanied by examples to clarify the explanation.

Preliminary information
This guide is designed to provide the most complete and exhaustive information the operator needs to
correctly and safely install and operate the absolute multiturn programmable encoder fitted with
parallel interface model HM58 PY (parallel output with Push-Pull driver) and HM58 PN (parallel
output with NPN o. c. driver).
HM58 PY-PN programmable encoder form Lika Electronic is designed to maximize customization and
versatility and really allows the operator to get, along with the absolute position information, a complete
parametrization and the better configuration that perfectly suit specific needs in a good many
applications and machines. The operator can configure not only the parallel interface by setting for
instance the output code and the logic level as well as the counting direction; but also to program the
desired resolution. Please note that in this encoder the maximum number of physical information per
revolution is 262144 (218), while the maximum number of physical revolutions is 16384 (214). However the
overall resolution (total counts) you are allowed to set is 268435456 (228). It follows that you must
arrange the counts per revolution and the number of revolutions so that the overall resolution is not
greater than 268435456 information.
HM58 PY-PN programmable encoder is available in both hollow and solid shaft versions.
The parametrization and set up of the HM58 PY-PN programmable encoder is achieved through a
software expressly developed and released by Lika Electronic. The program is supplied for free and can be
installed in any PC fitted with a Windows operating system (Windows XP or later). It allows the operator
to set the working parameters of the device and monitor whether the device is running properly.
Communication is established using RS-232 serial cable and port. The software tool is compatible with
the whole series of HM- and EM- programmable encoders: programmable encoder with SSI serial output
(PS code), programmable encoder with parallel output (PN and PY codes), programmable encoder with
analogue output (PA code).
To make it easier to read and understand the text, this guide is divided into two main sections.
In the first section some general information concerning the safety, the mechanical installation and the
electrical connection as well as tips for setting up and running properly and efficiently the unit are
provided.
In the second section, entitled Software tool and configuration parameters, the parameters
implemented in the unit are fully described.

HM58 PY-PN
1 Safety summary
1.1 Safety
•Always adhere to the professional safety and accident prevention
regulations applicable to your country during device installation and
operation;
•installation and maintenance operations have to be carried out by
qualified personnel only, with power supply disconnected and stationary
mechanical parts;
•device must be used only for the purpose appropriate to its design: use for
purposes other than those for which it has been designed could result in
serious personal and/or the environment damage;
•high current, voltage and moving mechanical parts can cause serious or
fatal injury;
•warning ! Do not use in explosive or flammable areas;
•failure to comply with these precautions or with specific warnings
elsewhere in this manual violates safety standards of design, manufacture,
and intended use of the equipment;
•Lika Electronic assumes no liability for the customer's failure to comply
with these requirements.
1.2 Electrical safety
•Turn OFF power supply before connecting the device;
•connect according to explanation in the ”Electrical connection” section;
•the wires of unused output signals must be cut at different lengths and
insulated singularly;
•connect Preset, Counting direction and Latch inputs to 0Vdc if not used;
- to set the Preset, connect Preset to +Vdc for 100 µs at least, then
disconnect +Vdc; normally Preset voltage must be at 0Vdc or floating;
preset must be performed after Counting direction; we suggest
performing the preset when the encoder is in stop;
- Counting direction: CW increasing count (viewed from shaft side) =
connect to 0Vdc; CCW increasing count = connect to +Vdc;
- Latch: 0Vdc = deactivated; +Vdc = activated (information is “frozen”);
•Tri-state: +Vdc = deactivated (encoder standard work mode); 0Vdc or
floating = activated (encoder outputs disabled);
•in compliance with 2004/108/EC norm on electromagnetic
compatibility, following precautions must be taken:
-before handling and installing the equipment, discharge
electrical charge from your body and tools which may come in touch
with the device;
MAN HM58 PY-PN E 1.1 Safety summary 9 of 72

HM58 PY-PN
- power supply must be stabilized without noise; install EMC filters on
device power supply if needed;
- always use shielded cables (twisted pair cables whenever possible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage power cables;
- mount the device as far as possible from any capacitive or inductive
noise source; shield the device from noise source if needed;
- to guarantee a correct working of 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 frame to ground. Make sure that ground is not affected by
noise. The connection point to ground can be situated both on the device
side and on user’s side. The best solution to minimize the interference
must be carried out by the user.
1.3 Mechanical safety
•Install the device following strictly the information in the “Mechanical
installation” section;
•mechanical installation has to be carried out with stationary mechanical
parts;
•do not disassemble the unit;
•do not tool the unit or its shaft;
•delicate electronic equipment: handle with care; do not subject the device
and the shaft to knocks or shocks;
•respect the environmental characteristics of the product;
•unit with solid shaft: in order to guarantee the maximum reliability over
time of the mechanical parts, we recommend a flexible coupling to be
installed to connect the encoder and the installation shaft; make sure the
misalignment tolerances of the flexible coupling are respected;
•unit with hollow shaft: the encoder can be mounted directly on a shaft
whose diameter has to respect the technical characteristics specified in the
purchase order and clamped by means of the collar and the fixing plate
into which an anti-rotation pin has to be inserted.
MAN HM58 PY-PN E 1.1 Safety summary 10 of 72

HM58 PY-PN
2 Identification
Device can be identified through the order code and the serial number printed
on the label applied to its body. Information is listed in the delivery document
too. Please always quote the order code and the serial number when reaching
Lika Electronic for purchasing spare parts or needing assistance. For any
information on the technical characteristics of the product refer to the technical
catalogue.
Warning: encoders having order code ending with "/Sxxx" may have
mechanical and electrical characteristics different from standard and
be supplied with additional documentation for special connections
(Technical Info).
MAN HM58 PY-PN E 1.1 Identification 11 of 72

HM58 PY-PN
3 Mechanical installation
WARNING
Installation has to be carried out by qualified personnel only, with power supply
disconnected and mechanical parts compulsorily in stop.
Never force the rotation of the shaft manually, it could cause irreparable
damage!
3.1 Encoder with solid shaft
•Mount the flexible coupling 1 on the encoder shaft;
•fix the encoder to the flange 2 (or to the mounting bell) by means of screws
3;
•secure the flange 2 to the support (or the mounting bell to the motor);
•mount the flexible coupling 1 on the motor shaft;
•make sure the misalignment tolerances of the flexible coupling 1 are
respected.
3.1.1 Customary installation
a
[mm]
b
[mm]
c
[mm]
d
[mm]
HM58 PY-PN - 42 50 F7 4
HM58S PY-PN 36 H7 48 - -
MAN HM58 PY-PN E 1.1 Mechanical installation 12 of 72

HM58 PY-PN
3.1.2 Installation using fixing clamps (optional kit code LKM 386)
a
[mm]
b
[mm]
c
[mm]
d
[mm]
HM58 PY-PN - 50 F7 67 4
HM58S PY-PN 36 H7 - 67 -
3.1.3 Installation using a mounting bell (optional kit code PF4256)
NOTE
In order to guarantee reliability over time of the encoder mechanical parts, we
recommend a flexible coupling to be installed between the encoder and the
motor shaft. Make sure the misalignment tolerances of the flexible coupling are
respected.
MAN HM58 PY-PN E 1.1 Mechanical installation 13 of 72

HM58 PY-PN
3.2 Encoder with hollow shaft
3.2.1 HMC58 PY-PN installation using the antirotation pin
•Fasten the anti-rotation pin 1 to the rear of the motor (secure it using a
locknut);
•mount the encoder on the motor shaft using the reducing sleeve 8 (if
supplied). Avoid forcing the encoder shaft;
•insert the anti-rotation pin 1 into the slot on the flange of the encoder; this
secures it in place by grub screw 2, preset at Lika;
•fix the collar 3 to the encoder shaft.
MAN HM58 PY-PN E 1.1 Mechanical installation 14 of 72

HM58 PY-PN
3.2.2 HMC59 PY-PN installation using the fixing plate
•Remove the antirotation pin 1 (see the Figure in the previous page);
•mount the encoder on the motor shaft using the reducing sleeve 8 (if
supplied). Avoid forcing the encoder shaft;
•fasten the fixing plate 4 to the rear of the motor using two M3 x 8 cylindrical
head screws 5;
•fix the collar 3 to the encoder shaft.
MAN HM58 PY-PN E 1.1 Mechanical installation 15 of 72

HM58 PY-PN
3.2.3 HMC60 PY-PN installation using the antirotation pin and the fixing
plate
•Remove the antirotation pin 1 (see the Figure on page 14);
•fix the tempered pin 6 to the rear of the motor;
•mount the encoder on the motor shaft using the reducing sleeve 8 (if
supplied). Avoid forcing the encoder shaft;
•make sure the anti-rotation pin 6 is inserted properly into the fixing plate 7;
•fix the collar 3 to the encoder shaft.
NOTE
You are strongly advised not to carry out any mechanical operations (drilling,
milling, etc.) on the encoder shaft. This could cause serious damages to the
internal parts and an immediate warranty loss. Please contact our technical
personnel for the complete availability of "custom made" shafts.
MAN HM58 PY-PN E 1.1 Mechanical installation 16 of 72

HM58 PY-PN
4 Electrical connection
WARNING
Electrical connection has to be carried out by qualified personnel only, with
power supply disconnected and mechanical parts compulsorily in stop.
Never force the rotation of the shaft manually, it could cause irreparable
damage!
WARNING
If wires of unused signals come in contact, irreparable damage could be caused
to the device. Please insulate them singularly.
4.1 Cable and connector connections
Function A40 cable MIL 41-pin
Bit 1 LSB Brown A
Bit 2 Red B
Bit 3 Pink C
Bit 4 Yellow D
Bit 5 Green E
Bit 6 Blue F
Bit 7 Violet G
Bit 8 Grey H
Bit 9 White J
Bit 10 Black K
Bit 11 Brown/Red L
Bit 12 White/Red M
Bit 13 Blue/Red N
Bit 14 Pink/Grey P
Bit 15 White/Yellow R
Bit 16 Brown/Green S
Bit 17 White/Green T
Bit 18 Yellow/Brown U
Bit 19 White/Blue V
Bit 20 Brown/Blue W
Bit 21 White/Pink X
Bit 22 White/Grey Y
Bit 23 Pink/Brown Z
MAN HM58 PY-PN E 1.1 Electrical connection 17 of 72

HM58 PY-PN
Bit 24 Grey/Brown a
Bit 25 Brown/Black b
Parity bit / Bit 28 MSB White/Black c
Preset / Offset Grey/Green d
Latch Yellow/Grey e
TD RS-232 Pink/Green f
RD RS-232 Yellow/Pink g
0Vdc RS-232 Green/Blue h
Tri-state Yellow/Blue i
Bit 26 Yellow/Black n
Bit 27 Pink/Blue p
Counting direction Grey/Red r
+10Vdc +30Vdc Pink/Red s
0Vdc Grey/Blue t
Shield Shield Case
4.2 A40 cable specifications
Model : LIKA A40 Li-YCY cable
Cross section : 40 x 0.14 mm2 (26 AWG)
Jacket : PVC, flame retardant
Shield : tinned copper braid, coverage > 85%
Outer diameter : Ø 10.2 mm ±0.1 mm ( Ø 0.40” ±0.0039”)
Min. bending radius : fix min. 50 mm (1.97”) / dynamic min. 100 mm (3.94”)
Work temperature : fix -40 +80°C (-40 +176°F) / dyn -5 +80°C (+23 +176°F)
Conductor resistance : < 250 /Km
4.3 MIL 41-pin connector specifications
MIL 41-pin connector
Male
Clockwise
4.4 Connection of the shield
For signals transmission always use shielded cables. The cable shielding must be
connected properly to the metal ring nut 3 of the connector in order to ensure
a good earthing through the frame of the device. To do this disentangle and
shorten the shielding 1 and then bend it over the part 2; finally place the ring
MAN HM58 PY-PN E 1.1 Electrical connection 18 of 72

HM58 PY-PN
nut 3 of the connector. Be sure that the shielding 1 is in tight contact with the
ring nut 3.
4.5 Ground connection
Minimize noise by connecting the shield and/or the connector housing and/or
the frame to ground. Make sure that ground is not affected by noise. The
connection point to ground can be situated both on the device side and on
user’s side. The best solution to minimize the interference must be carried out by
the user. You are advised to provide the ground connection as close as possible
to the encoder.
4.6 Parity bit
If the parity bit error detection is enabled (see the Enable parity bit parameter
in the ENCODER CONFIGURATION box), the value of this bit will have either
the HIGH or the LOW logic level depending on the value of the bits in the word
and the type of parity bit you have set next to the Select parity bit item in the
same box. The parity bit is used for checking in a very basic way whether errors
occur during transmission. The parity bit is the simplest form of error detecting
code and offers the advantage that only one bit is required for error detection.
On the other hand it only indicates that a parity error occurred in the
transmission and there is no way to determine which particular bit is corrupted.
Furthermore the parity bit is only guaranteed to detect an odd number of bit
MAN HM58 PY-PN E 1.1 Electrical connection 19 of 72

HM58 PY-PN
errors. If an even number of bits have errors, the parity bit records the correct
number of ones, even though the data is corrupt. It can be either even or odd
(see the Select parity bit parameter). When even parity bit is set (Select parity
bit = EVEN), the sum of the bits having HIGH logic level (=1) in the character
has to be even; therefore if, for instance, the sum of the bits having logic level 1
in the character is 3, parity bit 1 will be added before transmission in order to
have an even number of bits, namely 4 bits, having logic level 1; on the contrary
if the sum is 4, parity bit 0 will be added as an even number of bits already have
logic level 1. The reverse when odd parity bit is set (Select parity bit = ODD). In
this case the sum of the bits having HIGH logic level (=1) in the character has to
be odd.
4.7 Preset / Offset
Preset / Offset input is active only when the Enable preset / offset software
function in the ENCODER CONFIGURATION box is enabled (see on page 47);
otherwise the hardware function is disabled. Furthermore it holds two different
functions depending on the value of the Select preset / offset parameter in
the ENCODER CONFIGURATION box whether it is set to PRESET or OFFSET. In
the first case (Select preset / offset = PRESET) the input is used to set the
preset (Preset parameter in the box PRESET / OFFSET, see on page 35); while in
the second case (Select preset / offset = OFFSET) it is used to set the offset
(Offset parameter in the box PRESET / OFFSET, see on page 35). For detailed
information on the preset and offset functions refer to the “5.3.2 PRESET /
OFFSET box” section on page 35.
The output information can be forced through a command sent to the PRESET
input by a PLC or via a button. To set the preset stop the encoder in the desired
position and then connect Preset input to +Vdc for 100 µs at least.
After this, the position output by the encoder in that point will be the one set
(and then loaded to the encoder) next to the Preset parameter in the box
PRESET / OFFSET, see on page 35). By default the preset value is 0. Connect
Preset input to 0Vdc if not used. To set the preset, connect Preset input to +Vdc
for 100 µs at least, then disconnect +Vdc. Normally voltage must be at 0Vdc or
floating. We suggest performing the preset setting when the encoder is in stop.
WARNING
Check the Preset and Offset parameters and activate the functions (either
through the input Preset / Offset or by using the Activate preset or Activate
offset commands) every time you change the value next to the Counts per
revolution and/or Number of revolutions parameters when the Programming
mode: Scaling option is set; or Counts to be displayed when the
Programming mode: Start / Stop option is set; or Counts to be displayed
when the Programming mode: Prog option is set.
MAN HM58 PY-PN E 1.1 Electrical connection 20 of 72