Lika HS58 User manual

Hx58x BiSS C-mode + Sin/Cos
User's guide
Hx58xSCx-...
BiSS C-mode + Sin/Cos
Sections
1 - Safety summary
2 - Identification
3 - Mounting instructions
4 - Electrical connections
5 - BiSS C-mode interface
6 - 1V sine/cosine out ut signals
7 - Default arameters list
1 - Safety summary
1.1 Safety
Always adhere to the rofessional safety and accident revention regulations
a licable to your country during device installation and o eration;
installation and maintenance o erations have to be carried out by qualified
ersonnel only, with ower su ly disconnected and stationary mechanical
arts;
device must be used only for the ur ose a ro riate to its design: use for
ur oses other than those for which it has been designed could result in
serious ersonal and/or the environment damage;
high current, voltage and moving mechanical arts can cause serious or fatal
injury;
warning! Do not use in ex losive or flammable areas;
failure to com ly with these recautions or with s ecific warnings elsewhere
in this manual violates safety standards of design, manufacture, and
intended use of the equi ment;
Lika Electronic assumes no liability for the customer's failure to com ly with
these requirements.
1.2 lectrical safety
Turn off ower su ly before connecting the device;
connect according to ex lanation in the “4 - Electrical connections” section
on age 9;
if not used, connect Preset / Offset and Counting direction in uts to 0Vdc;
- to set the Preset / Offset, connect Preset / Offset in ut to +Vdc for 100 µs at
least, then disconnect +Vdc; normally voltage must be at 0Vdc; zero must be
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Hx58x BiSS C-mode + Sin/Cos
set after Counting direction; we suggest setting the zero when the encoder
shaft is not running;
- Counting direction: CW increasing count (viewed from fixing late side):
connect to 0Vdc; CCW increasing count: connect to +Vdc;
in com liance with the 2014/30/EU norm on electromagnetic
com atibility, following recautions must be taken:
- before handling and installing, discharge electrical charge from
your body and tools which may come in touch with the device;
- ower su ly must be stabilized without noise, install EMC filters on device
ower su ly if needed;
- always use shielded cables (twisted air cables whenever ossible);
- avoid cables runs longer than necessary;
- avoid running the signal cable near high voltage ower cables;
- mount the device as far as ossible from any ca acitive 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 oint 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 “3 - Mounting
instructions” section on age 4;
mechanical installation has to be carried out with stationary mechanical
arts;
do not disassemble the encoder;
do not tool the encoder or its shaft;
delicate electronic equi ment: handle with care; do not subject the device
and the shaft to knocks or shocks;
res ect the environmental characteristics declared by manufacturer;
unit with solid shaft: in order to guarantee the maximum reliability over time
of the mechanical arts, we recommend a flexible cou ling to be installed to
connect the encoder and the installation shaft; make sure the misalignment
tolerances of the flexible cou ling are res ected;
unit with hollow shaft: the encoder can be mounted directly on a shaft
whose diameter has to res ect the technical characteristics s ecified in the
urchase order and clam ed by means of the collar and the fixing late into
which an anti-rotation in has to be inserted.
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Hx58x BiSS C-mode + Sin/Cos
2 - Identification
Device can be identified through the order code and the serial number rinted
on the label a lied 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 urchasing s are arts or needing assistance. For any
information on the technical characteristics of the roduct refer to the
technical catalog.
Warning: encoders having order code ending with “/Sxxx” may
have mechanical and electrical characteristics different from
standard and be su lied with additional documentation for s ecial
connections (Technical info).
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Hx58x BiSS C-mode + Sin/Cos
3 - Mounting instructions
WARNING
Installation and maintenance o erations must be carried out by qualified
ersonnel only, with ower su ly disconnected and mechanical arts
absolutely in sto .
For any information on the mechanical data and the electrical characteristics of
the encoder lease refer to the technical catalog.
3.1 Solid shaft encoders HS58, HS58S, HM58, HM58S
•Mount the flexible cou ling 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 su ort (or the mounting bell to the motor);
•mount the flexible cou ling 1 on the motor shaft;
•make sure the misalignment tolerances of the flexible cou ling 1 are
res ected.
3.1.1 Customary installation
a [mm] b [mm] c [mm] d [mm]
HS58, HM58 - 42 50 F7 4
HS58S, HM58S 36 H7 48 - -
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Hx58x BiSS C-mode + Sin/Cos
3.1.2 Installation using fixing clamps (code LKM-386)
a [mm] b [mm] c [mm] d [mm]
HS58, HM58 - 50 F7 67 4
HS58S, HM58S 36 H7 - 67 -
3.1.3 Installation using a mounting bell (code PF4256)
NOT
In order to guarantee reliability over time of the encoder mechanical arts, we
recommend a flexible cou ling to be installed between the encoder and the
motor shaft. Make sure the misalignment tolerances of the flexible cou ling are
res ected.
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Hx58x BiSS C-mode + Sin/Cos
3.2 Hollow shaft encoders
3.2.1 HSC58, HMC58
•Fasten the anti-rotation in 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
su lied). Avoid forcing the encoder shaft;
•insert the anti-rotation in 1 into the slot on the flange of the encoder; this
secures it in lace by grub screw 2, reset at Lika;
•fix the collar 3 to the encoder shaft (a ly threadlocker to screw 3).
A = min. 8, max. 18 mm
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Hx58x BiSS C-mode + Sin/Cos
3.2.2 HSC59, HMC59
•Mount the encoder on the motor shaft using the reducing sleeve 8 (if
su lied). Avoid forcing the encoder shaft;
•fasten the fixing late 4 to the rear of the motor using two M3 cylindrical
head screws 5;
•fix the collar 3 to the encoder shaft (a ly threadlocker to screw 3).
A = min. 8, max. 18 mm
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Hx58x BiSS C-mode + Sin/Cos
3.2.3 HSC60, HMC60
•Fix the tem ered in 6 to the rear of the motor;
•mount the encoder on the motor shaft using the reducing sleeve 8 (if
su lied). Avoid forcing the encoder shaft;
•make sure the anti-rotation in 6 is inserted ro erly into the fixing late 7;
•fix the collar 3 to the encoder shaft (a ly threadlocker to screw 3).
A = min. 8, max. 18 mm
NOT
You are strongly advised not to carry out any mechanical o erations (drilling,
milling, etc.) on the encoder shaft. This could cause serious damages to the
internal arts and an immediate warranty loss. Please contact our technical
ersonnel for the com lete availability of "custom made" shafts.
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Hx58x BiSS C-mode + Sin/Cos
4 - lectrical connections
WARNING
Power su ly must be turned off before erforming any electrical connection!
WARNING
If wires of unused signals come in contact, irre arable damage could be caused
to the device. Please insulate them singularly.
M23 12 pin M12 12 pin T12 cable Function
1 4 Yellow Clock IN – (MA -)
2 3 Violet Clock IN + (MA +)
3 5 Grey Data OUT + (SLO +)
4 6 Pink Data OUT – (SLO -)
5 9 Green A (Cos + )
6 10 Brown /A (Cos -)
7 11 Red B (Sin +)
8 8 Blue Counting direction
9 7 White Preset / Offset
10 12 Black /B (Sin -)
11 2 Brown_Green +Vdc 1
12 1 White_Green 0Vdc
Case Case Shield Shielding
1 See the order code for ower su ly voltage level
XAMPL
HSx58x/SC1-... +Vdc = +5Vdc ± 5%
HSx58x/SC2-... +Vdc = +10Vdc +30Vdc
4.1 M23 12-pin connector
M23 12- in connector
Counter-clockwise
Male frontal side
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Hx58x BiSS C-mode + Sin/Cos
4.2 M12 12-pin connector
M12 12- in connector
Male frontal side
4.3 T12 cable specifications
Model: LIKA HI-FLEX twisted encoder cable ty e T12
Wires: 4 x 0.25 mm2 + 4 x 2 x 0.14 mm2 twisted airs (24/26 AWG)
Jacket: Matt Polyurethane (TPU) halogen free, oil, hydrolysis, abrasion resistant
Shield: tinned co er braid, coverage  85%
Outer diameter: Ø 6.1 mm ± 0.10 mm (0.24” ± 0.0039”)
Min. bend radius: fixed min. 25 mm / dynamic min. 45 mm
Work tem erature: -40°C +90°C (-40°F +194°F) – dynamic installation / -50°C
+90°C (-58°F +194°F) – fixed installation
Conductor resistance:  90 /km (0.25 mm2) /  148 /km (0.14 mm2)
4.4 GND 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 oint 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.
4.5 1Vpp sinusoidal output signals
For any further information on the 1V sinusoidal signals lease refer to the “6
- 1V sine/cosine out ut signals” section on age 27.
4.6 Counting direction input
The Counting direction in ut allows to set whether the osition value out ut by
the encoder increases when the encoder shaft rotates clockwise (CW) or
counter-clockwise (CCW). The clockwise rotation is intended as shown in the
Figure. If the Counting direction in ut is connected to 0Vdc, the osition value
increases when the encoder shaft rotates clockwise; on the contrary, if the
Counting direction in ut is connected to +Vdc, the osition value increases
when the encoder shaft rotates counter-clockwise. If not used, connect the
Counting direction in ut to 0Vdc (standard counting direction, see the Figure).
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Hx58x BiSS C-mode + Sin/Cos
WARNING
The counting direction can be set also via BiSS interface. The arameter Code
sequence in the Configuration register allows the o erator to choose the
o tions CW (clockwise direction) and CCW (counter-clockwise direction). When
the counting direction is set to CW (default o tion) -Code sequence = CW-, if
the Counting direction in ut has LOW logic level (0Vdc) the encoder will rovide
the increasing count when the encoder is turning clockwise (and the decreasing
count when the encoder is turning counter-clockwise); on the contrary if the
Counting direction in ut has HIGH logic level (+Vdc) the encoder will rovide
the increasing count when the encoder is turning counter-clockwise (and the
decreasing count when the encoder is turning clockwise). When the o tion CCW
is set -Code sequence = CCW-, if the Counting direction in ut has LOW logic
level (0Vdc) the encoder will rovide the increasing count when the encoder is
turning counter-clockwise (and the decreasing count when the encoder is
turning clockwise); on the contrary if the Counting direction in ut has HIGH
logic level (+Vdc) the encoder will rovide the increasing count when the
encoder is turning clockwise (and the decreasing count when the encoder is
turning counter-clockwise).
WARNING
After changing the counting direction you are required to set a new reset /
offset.
NOT
The counting direction function affects the absolute osition information, not
the sine/cosine signals.
4.7 Preset / Offset input
Preset / Offset in ut is active only when the arameter nable preset / offset
in the Configuration register is enabled (see on age 19); otherwise the
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Hx58x BiSS C-mode + Sin/Cos
hardware function is disabled. Furthermore it holds two different functions
de ending on the value of the arameter Set preset / offset in the
Configuration register whether it is set to PRESET or OFFSET. In the first case
(Set preset / offset = PRESET) the in ut is used to set the reset (Preset /
Offset register, see on age 22); while in the second case (Set preset / offset =
OFFSET) it is used to set the offset (Preset / Offset register, see on age 22).
The out ut information can be forced to a desired value (set next to the
Preset / Offset register) through a command sent via the PRESET / OFFSET
in ut by a PLC or a button. To set the reset / offset sto the encoder in the
desired osition and then connect Preset / Offset in ut to +Vdc for 100 µs at
least.
After this, the osition information out ut by the encoder in that oint will be
the one set (and then loaded to the encoder) next to the Preset / Offset
register. By default the reset value is 0. Connect Preset in ut to 0Vdc if not
used. To set the reset / offset, connect Preset / Offset in ut to +Vdc for 100 µs
at least, then disconnect +Vdc. Normally voltage must be at 0Vdc; Preset /
Offset must be set after Counting direction. We suggest erforming the reset /
offeset setting when the encoder is in sto .
WARNING
Check the value in the Preset / Offset register and activate the function (either
through the Preset / Offset in ut or by using the Configuration register) every
time you change the value next to the Counts per revolution and/or Number
of revolutions registers.
NOT
The Preset / Offset can be activated also by using the Set preset / offset
function of the Configuration register. For detailed information lease refer to
the Preset / Offset registers on age 22 and to the Configuration register on
age 19.
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Hx58x BiSS C-mode + Sin/Cos
5 - BiSS C-mode interface
Lika encoders are always Slave devices and com ly with the “BiSS C-mode
interface” and the “Standard encoder rofile”.
Refer to the official BiSS website for all information not listed in this manual
(www.biss-interface.com).
The device is designed to work in a oint-to- oint configuration and must be
installed in a “single Master, single Slave” network (not on a “single Master,
multi Slave” network).
CLOCK IN (MA) and DATA OUT (SLO) signal levels are according to the “EIA
standard RS-422”.
WARNING
Never install the encoder in a “single Master, multi Slave” network.
5.1 XML file
The roduct is su lied with an XML file idbiss4C69.xml (it can be downloaded
from Lika's web site). Install the XML file on the BiSS Master device.
5.2 Communication
The BiSS C-mode rotocol uses two ty es of data transmission rotocols:
Single Cycle Data (SCD): it is the main data transmission rotocol. It is
used to send rocess data from the Slave to the Master. For any information
refer to the “5.3 Single Cycle Data” section on age 14.
Control Data (CD): transmission of a single bit following the SCD data. It is
used to read or write data into the registers of the Slave. For any
information refer to the “5.4 Control Data CD” section on age 15.
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Hx58x BiSS C-mode + Sin/Cos
5.3 Single Cycle Data
Hsx58x and HM58x have different SCD structure.
5.3.1 SCD structure for Hsx58x (singleturn encoder)
SCD (32 bits) consists of the following elements: osition value (24 bits), 1 error
bit (nE), 1 warning bit (nW) and CRC checking (6 bits).
bits 31 … 8 7 6 5 … 0
function osition error warning CRC
Position (24 bits)
It is the rocess data transmitted from the Slave to the Master.
The transmission starts with msb (most significant bit) and ends with lsb (least
significant bit).
bit 31 … 26 25 … 8
value 000000 msb … lsb
rror (1 bit)
Not used (nE = “1”)
Warning (1 bit)
Not used (nW = “1”)
CRC (6 bits)
Correct transmission control (inverted out ut). Cyclic Redundancy Check is an
error checking which is the result of a “Redundancy Check” calculation
erformed on the message contents. This is intended to check whether
transmission has been erformed ro erly. It is 6-bit long.
Polynomial: X6+X1+1 (binary: 1000011)
Logic circuit:
MAN Hx58x BiSS E 1.3.odt 5 - BiSS C-mode interface 14 of 32
1st
stage
X1X2X3X5
In ut Data (starts from MSB)
X0
2nd
stage
3rd
stage
4th
stage
5th
stage
6th
stage
X4

Hx58x BiSS C-mode + Sin/Cos
5.3.2 SCD structure for HMx58x (multiturn encoder)
SCD (38 bits) consists of the following elements: osition value (32 bits) and
CRC checking (6 bits).
bits 37 … 6 5 … 0
function osition CRC
Position (32 bits)
It is the rocess data transmitted from the Slave to the Master.
The transmission starts with msb (most significant bit) and ends with lsb (least
significant bit).
bit 37 24 23 6
value msb ... … lsb
multiturn osition singleturn osition
CRC (6 bits)
Correct transmission control (inverted out ut). Cyclic Redundancy Check is an
error checking which is the result of a “Redundancy Check” calculation
erformed on the message contents. This is intended to check whether
transmission has been erformed ro erly. It is 6-bit long.
Polynomial: X6+X1+1 (binary: 1000011)
Logic circuit:
5.4 Control Data CD
Main control data is described in this section. Please refer to the official BiSS
documents for com lete CD structure: “BiSS C Protocol Descri tion” in the BiSS
home age.
Register address (7 bits)
It sets the number of the register you need either to read or to write. It is 7-bit
long.
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1st
stage
X1X2X3X5
In ut Data (starts from MSB)
X0
2nd
stage
3rd
stage
4th
stage
5th
stage
6th
stage
X4

Hx58x BiSS C-mode + Sin/Cos
RW (2 bits)
RW = “01”: when you need to write in the register.
RW = “10”: when you need to read in the register.
It is 2-bit long.
DATA (8 bit)
When you need to write in a register (DATA = “01”), it allows to enter the value
to be written in the register (transmitted from the Master to the Slave).
When you need to read in a register (DATA = “10”), it shows the value read in
the register (transmitted from the Slave to the Master).
It is 8-bit long.
Data bit structure:
bit 7 … … 0
msb … … lsb
CRC (4 bits)
Correct transmission control (inverted out ut). Cyclic Redundancy Check is an
error checking which is the result of a “Redundancy Check” calculation
erformed on the message contents. This is intended to check whether
transmission has been erformed ro erly. It is 4-bit long.
Polynomial: X4+X1+1 (binary: 10011)
Logic circuit:
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1st
stage
2nd
stage
3rd
stage
4th
stage
X0X1X2X3
In ut Data (starts from MSB)

Hx58x BiSS C-mode + Sin/Cos
5.5 Used registers
Register (hex) Function
42 and 43 Profile ID
44 … 47 Serial number
48 Command
49 Configuration
4B … 4D Counts per revolution
4E and 4F Number of revolutions
50 … 53 Preset / Offset
55 Device type
56 N° of bits used for singleturn
57 N° of bits used for multiturn
58 SIN/COS resolution
78 … 7D Device ID
7E and 7F Manufacturer ID
All registers described in this section are listed as follows:
Function name
[Address, Attribute]
Descri tion of the function and s ecification of the default value.
- Address: the register address is ex ressed in hexadecimal notation.
- Attribute: ro = read only
rw = read and write
wo = write only
- Default arameter value is written in bold.
Profile ID
[42 e 43, ro]
These registers contain the identification code of the used rofile.
Register 42 43
HSx58x 28 hex 12 hex
HMx58x 00 00
See “Standard encoder rofile”, “data format”, “Variant 0-24”.
Serial number
[44 … 47, ro]
These registers contain the serial number of the device ex ressed in hexadecimal
notation. They are intended to inform about the year of roduction, the week of
roduction and the serial number in ascending order.
Register 44: year of roduction
Register 45: week of roduction
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Registers 46 and 47: serial number in ascending order
Register 44 45 46 47
Hex 0A E8 69 EE
Dec 18 30 03630
18 = year of roduction (first two digits)
30 = week of roduction (third and fourth digit)
03630 = serial number in ascending order (remaining digits)
Command
[48, wo]
Value Function
00 Normal o eration
01 Save arameters on EEPROM
02 Save and activate Preset / Offset
04 Load and save default arameters
After having set a new value in some register, use the Save parameters on
PROM function in this register to store it. Set “01” in the register.
After having set a new value in some register, use the Save and activate Preset
/ Offset function in this register to both store it and activate the reset / offset
function in the same time. Set “02” in the register.
As soon as the command is sent, the register is set back to "00" (Normal
operation) automatically.
Wait min. 30 ms (EEPROM writing time) before using a new function.
Load and save default parameters: default arameters are set at the factory
by Lika Electronic engineers to allow the o erator to run the device for standard
o eration in a safe mode. As soon as the command is sent the default
arameters are u loaded and activated. All arameters which have been set
reviously are overwritten, thus reviously set values are lost. The com lete list
of machine data and relevant default arameters reset by Lika Electronic
engineers is available on age 29. Set “04” in the register.
WARNING
As soon as the command is sent, all arameters which have been set reviously
are overwritten, thus reviously set values are lost!
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Hx58x BiSS C-mode + Sin/Cos
Configuration
[49, rw]
Bit Function Bit = 0 Bit = 1
0 Not used
1 Set reset / offset Preset Offset
2 Enable reset / offset nable Disable
3 Not used
4 Not used
5 Out ut code Gray Binary
6 Code sequence CW CCW
7 Not used
Set preset / offset
This arameter is available only if the arameter nable preset / offset is set to
ENABLE. It allows to activate either the reset function (Set preset / offset =
PRESET) or the offset function (Set preset / offset = OFFSET); the Preset or
Offset value has to be set in the Preset / Offset register. After having enabled
the reset / offset functions ( nable preset / offset = ENABLE), this item allows
to activate either the reset function or the offset function. The value set in the
Preset / Offset register will have a different meaning de ending on the value
of this arameter whether it is set to PRESET or OFFSET. In the first case (Set
preset / offset = PRESET) the Preset / Offset register is used to set the reset,
i.e. any desired osition value (less than then total resolution) can be set for the
actual osition of the encoder shaft (e.g. "0", zero setting); while in the second
case (Set preset / offset = OFFSET) the Preset / Offset register is used to set
the offset, i.e. the system adds an offset to the actual osition: osition = actual
osition + Offset. To activate the reset / offset value use the Save and
activate Preset / Offset function in the Command register (set “02” in the
register 48); or use the Preset / Offset in ut, see on age 11.
For any information on the reset and the offset functions refer to the register
Preset / Offset on age 22.
nable preset / offset
It enables or disables the reset/offset function. After having enabled the use of
the functions you have to choose whether to activate the reset or the offset in
the Set preset / offset arameter. Then to activate a new value set it next to
the Preset / Offset register and send the “Save and activate Preset / Offset”
function (set “02” in the register 48 Command); or use the Preset / Offset in ut,
see on age 11.
Output code
It allows to select the code for the transmission of the osition value: 0 = Gray
code; 1 = Binary code.
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Hx58x BiSS C-mode + Sin/Cos
Code sequence
It allows to set whether the osition information out ut by the encoder
increases when the shaft rotates clockwise or counter-clockwise. Clockwise and
counter-clockwise rotations are viewed from the shaft side. Please note that the
counting direction affects the absolute osition information, not the sine/cosine
signals. It is ossible to choose the following o tions: CW and CCW. When the
counting direction is set to CW -Code sequence = CW-, if the Counting
direction in ut (see on age 10) has LOW logic level (0Vdc) the encoder will
rovide the increasing count when the encoder is turning clockwise (and the
decreasing count when the encoder is turning counter-clockwise); on the
contrary if the Counting direction in ut has HIGH logic level (+Vdc) the encoder
will rovide the increasing count when the encoder is turning counter-clockwise
(and the decreasing count when the encoder is turning clockwise). When the
o tion CCW is set -Code sequence = CCW-, if the Counting direction in ut has
LOW logic level (0Vdc) the encoder will rovide the increasing count when the
encoder is turning counter-clockwise (and the decreasing count when the
encoder is turning clockwise); on the contrary if the Counting direction in ut
has HIGH logic level (+Vdc) the encoder will rovide the increasing count when
the encoder is turning clockwise (and the decreasing count when the encoder is
turning counter-clockwise). For any information on the Counting direction in ut
refer to the “4.6 Counting direction in ut“ section on age 10.
The new setting will be active immediately after transmission. Use the “Save
parameters on PROM“ function (set “01” in the register 48 Command) to
store the new value.
Default = 20h
Counts per revolution
[4B … 4D, rw]
These registers set the number of information er revolution (singleturn
resolution). You are allowed to set whatever integer value less than or equal to
the number of hysical information er revolution. Anyway we suggest always
setting a value which is a ower of 2 in order to revent the encoder from
working within the limits of the so-called “red zone” thus causing a counting
error. For any information on the “red zone” refer to the section “5.8 Red zone”
on age 25.
The counts er revolution will be forced to the default value (number of hysical
information er revolution) if the entered value is out of the allowed range.
The new setting will be active immediately after transmission. Use the “Save
parameters on PROM“ function (set “01” in the register 48 Command) to
store the new value.
Default = 262 144 (0004 0000 hex, 18 bits) for HSx58x
Default = 65 536 (0001 0000 hex, 16 bits) for HMx58x
After the modification of registers 4B … 4D Counts per revolution Preset and
Offset values have to be u dated according to the new resolution!
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