Lika AMM5A / BG1 Series User Manual Download

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User's guide

AMM5A
AMM5B

Absolute kit encoder

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Kit encoder with optical and magnetic scanning

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Compact and low-profile design for comfortable installation

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Up to 23 bit singleturn reso 1 or 65,536 revolutions

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SSI, BiSS C-mode, & RS-485 inte Sine-Cosine 1Vpp track

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Direct integration into robots, motors, and OEM applications

Suitable for the following models:

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AMM5Axx/xxxBG1-...

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AMM5Axx/xxxSC1-...

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AMM5Axx/xxxJP1-...

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AMM5Bxx/xxxBG1-...

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AMM5Bxx/xxxSC1-...

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AMM5Bxx/xxxJP1-...

General contents

Preliminary information

1 - Safety summary

2 - Identification

3 - Mounting instructions

4 - Electrical connections

5 - SSI interface

6 - BiSS C-mode interface

7 – RS-485 serial interface

8 - 1Vpp Sine/Cosine output signals

9 - Diagnostic LEDs

Lika Electronic

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Tel. +39 0445 806600

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[email protected]

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www.lika.biz

Smart encoders & actuators

Summary of Contents for AMM5A / BG1 Series

Page 1: ...rs and OEM applications Suitable for the following models AMM5Axx xxxBG1 AMM5Axx xxxSC1 AMM5Axx xxxJP1 AMM5Bxx xxxBG1 AMM5Bxx xxxSC1 AMM5Bxx xxxJP1 General contents Preliminary information 7 1 Safety...

Page 2: ...on 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 modifications at any moments and...

Page 3: ...e connector 20 4 1 1 SSI and BiSS C mode connection BG1 and SC1 order codes 20 4 1 2 SSI and BiSS C mode mating cable connection G1 and SC1 order codes 20 4 1 3 RS 485 connection JP1 order code 21 4 1...

Page 4: ...RS 485 port settings 41 7 2 Frame format 41 7 2 1 Encoder data capture and reset 41 7 2 2 Write register 41 7 2 3 Read register 42 7 3 Field detail 42 7 3 1 Control Field 42 7 3 2 Status Field 42 7 4...

Page 5: ...vate Preset 39 C Command 39 CRC 33 34 D DATA 34 Device ID 39 E Error 32 M Manufacturer ID 39 P Position 32 Preset 35 Preset setting enable 38 R Register address 34 RW 34 S Save parameters 39 Serial nu...

Page 6: ...t 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 g...

Page 7: ...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 eff...

Page 8: ...ons section on page 20 in compliance with the 2014 30 EU norm on electromagnetic compatibility following precautions must be taken before handling and installing discharge electrical charge from your...

Page 9: ...you are properly grounded before handling the kit encoder the operator must wear a wrist strap it must be worn on the hand and connected to ground through a 1 megohm resistor an ESD smock made of diss...

Page 10: ...MM5A AMM5B SSI BiSS RS 485 CAUTION Keep magnets away from the magnetic ring in the code disk it could be damaged by strong magnetic fields MAN AMM5A_B SSI_BiSS_RS485 E 1 9 odt 1 Safety summary 10 of 5...

Page 11: ...r code and the serial number when reaching Lika Electronic For any information on the technical characteristics of the product refer to the technical catalogue Warning encoders having order code endin...

Page 12: ...ed in the 1 4 Specific handling and cleaning instructions and safety information against electrostatic discharges section on page 9 3 1 Mechanical characteristics of the mounting support This kit enco...

Page 13: ...etic fields be present near the encoder e g in the case a magnetic brake is mounted NOTE It is important that the shaft of the code disk matches perfectly the shaft of the drive Do not install reducin...

Page 14: ...ce sizes values are expressed in mm 3 2 1 AMM5A encoder Figure 3 Encumbrance sizes of the AMM5A encoder 3 2 2 AMM5B encoder Figure 4 Encumbrance sizes of the AMM5B encoder MAN AMM5A_B SSI_BiSS_RS485 E...

Page 15: ...AMM5A AMM5B SSI BiSS RS 485 3 2 3 Code disk Figure 5 Encumbrance sizes of the code disk MAN AMM5A_B SSI_BiSS_RS485 E 1 9 odt 3 Mounting instructions 15 of 56...

Page 16: ...ne kerosene benzene or other solvents as they damage the disk the code disk must always be handled by grasping its outer edges or the magnetic ring protect the disk from scratching avoid flexing the d...

Page 17: ...G Please ensure that the grub screws 4 are tightened properly and do not stick out of their housing Make sure that they do not hit the encoder unit 5 they may damage the LEDs 3 4 Mounting the encoder...

Page 18: ...tightening Step 5 Rotate the motor shaft until the code disk 3 is aligned with the encoder unit 5 as shown in the Figure the mark 8 punched in the code disk 3 must be centred in the encoder unit 5 as...

Page 19: ...the installation procedure is successful If at the end of the operation a LED is still on please repeat the procedure again Refer also to the 9 Diagnostic LEDs section on page 51 WARNING Light alters...

Page 20: ...e cut at different lengths and insulated singularly 4 1 Hirose DF19G 14S 1H 54 male connector 4 1 1 SSI and BiSS C mode connection BG1 and SC1 order codes Function Pin Ground 1 Data OUT SLO 2 Data OUT...

Page 21: ...n Red Vb White 0Vb Blue 5Vdc 5 Brown_Green 0Vdc White_Green Only available in multiturn encoder versions 65K order code 4 1 3 RS 485 connection JP1 order code Function Pin Ground 1 B RS 485 2 A RS 485...

Page 22: ...1 5 TF12 cable specifications Model LIKA TF12 encoder cable Cross section 6 x 2 x 28AWG Jacket Special flame retardant PVC compound RZ TM2 quality Shield Tinned copper braid coverage 80 with tinned c...

Page 23: ...lacement of the battery No ERROR active NOTE Follow this procedure if at power on both LEDs are off and no BiSS alarm is active or if only the WARNING LED and the WARNING bit are active After the proc...

Page 24: ...positions are provided properly the position is exactly the same the encoder was in when you stopped it 8 if you turn the disk both WARNING and ERROR LEDs are off 4 3 2 Replacement of the battery ERR...

Page 25: ...ting the disk 13 remove the battery 14 short circuit the battery input terminals and discharge the residual voltage connect the WHITE and BLUE wires 15 switch the 5Vdc power supply off 16 install and...

Page 26: ...counting direction is fixed and cannot be changed Figure 6 Standard counting direction WARNING Light alters significantly the proper operation of the system Please mount the motor cap and protect the...

Page 27: ...equired The main advantages in comparison with parallel or asynchronous data transmissions are less conductors are required for transmission less electronic components possibility of insulting the cir...

Page 28: ...er code 5 2 MSB left aligned protocol MSB left aligned protocol allows to left align the bits beginning from MSB most significant bit to LSB least significant bit MSB is then sent at the first clock c...

Page 29: ...es The SSI interface has a frequency of data transmission ranging between 100 kHz and 4 MHz CLOCK IN and DATA OUT signals comply with the EIA standard RS 422 The SSI clock frequency baud rate depends...

Page 30: ...AMM5A AMM5B SSI BiSS RS 485 5 4 Recommended SSI input circuit MAN AMM5A_B SSI_BiSS_RS485 E 1 9 odt 5 SSI interface 30 of 56...

Page 31: ...are according to the EIA standard RS 422 WARNING Never install the encoder in a single Master multi Slave network 6 1 Communication The BiSS C mode protocol uses two types of data transmission protoco...

Page 32: ...ignificant bit and ends with lsb least significant bit Nbitres is the resolution of the encoder expressed in bits bit Nbitres 7 8 value msb lsb Nbitres is the resolution of the encoder expressed in bi...

Page 33: ...d in the magnetic multiturn system The level is high 1 when the multiturn system is operating properly 2 The battery charge level is low You are required to replace the battery as soon as possible See...

Page 34: ...RW 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 RW 10 it shows the value read in the register transmitted...

Page 35: ...r to set the Preset value The Preset function is meant to assign a desired value to a physical position of the encoder The chosen physical position i e the transmitted position value will get the valu...

Page 36: ...4 and bit 32 of byte 15 are used for singleturn information bit 32 of byte 15 is the msbit of the singleturn information and is kept fixed lsbit of the singleturn information changes according to the...

Page 37: ...te 11 Byte 12 Byte 13 Byte 14 Byte 15 7 6 5 4 3 2 1 0 15 14 13 12 11 10 9 8 23 22 21 20 19 18 17 16 31 30 29 28 27 26 25 24 39 38 37 36 35 34 33 32 0 0 0 0 0 0 0 0 0 0 1 1 0 0 0 0 0 0 1 0 0 1 0 0 1 1...

Page 38: ...ew preset value only after having entered the value 01 next to this Preset setting enable register As soon as you have entered the desired preset value you must set the value 00 next to this Preset se...

Page 39: ...o 00 automatically Wait 30 ms at least EEPROM writing time before activating a new function Device ID 78 7D ro These registers contain the Device ID name and hardware software release Identification n...

Page 40: ...the clock Time out is self adaptable to the clock frequency It is 1 5 1 clock frequency If clock frequency 50 kHz then the time out is 30 s If clock frequency 200 kHz then the time out is 7 5 s If clo...

Page 41: ...eld see the 7 3 2 Status Field section on page 42 DF Data Field see the 7 4 Data Field section on page 43 ADF Address Field see the 7 5 Address Field and EEPROM Data Field section on page 46 EDF EEPRO...

Page 42: ...value 23h 92h Data ID 3 1Ah Writing the register Data ID 6 32h Reading the register Data ID D EAh Resetting data errors Data ID 7 singleturn value BAh Data ID 8 singleturn value C2h Data ID C singletu...

Page 43: ...ed from LS byte to MS byte in binary output code High bits that are not used have fixed value 0 ABS absolute value data within singleturn information ABS0 is the low byte ABS2 is the high byte ABM mul...

Page 44: ...g and the Multiturn counting It further warns about a counting error Detection timing upon normal operation Output Latch Turn on the main power twice or reset the error ID 7 ID C see the next section...

Page 45: ...error and MT error are reset at the same time All errors resetting Data ID 7 Data ID must be transmitted to the encoder 10 times in succession at transmission intervals of 40 s or more All latch erro...

Page 46: ...6 ADD5 ADD4 ADD3 ADD2 ADD1 ADD0 MEM BUSY ADD6 ADD0 EEPROM address MEM BUSY status access status to EEPROM can be judged by MEM BUSY status The relationship between MEM BUSY status and the transmission...

Page 47: ...nsmitting Request for reading Data ID D EEPROM data field 8 bit data Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 MS bit LS bit 7 6 CRC Field Generation algorithm in accordance with G X X8 1 Data i...

Page 48: ...0 i strlen BitString i DoInvert 1 BitString i CRC 7 XOR required CRC 7 CRC 6 CRC 6 CRC 5 CRC 5 CRC 4 CRC 4 CRC 3 CRC 3 CRC 2 CRC 2 CRC 1 CRC 1 CRC 0 CRC 0 DoInvert for i 0 i 8 i CRC8 CRC i 1 i 0 retu...

Page 49: ...12 sinusoidal waves per mechanical revolution with amplitude 1Vpp 1Vpp output level results from differential signals detection The frequency of output signals is proportional to the rotational speed...

Page 50: ...AMM5A AMM5B SSI BiSS RS 485 VREF 2 5V 0 5V VA 1Vpp Av Av R2 R1 MAN AMM5A_B SSI_BiSS_RS485 E 1 9 odt 8 1Vpp Sine Cosine output signals 50 of 56...

Page 51: ...f tolerance o the circuitry is not installed properly 2 The LED 1 lights up RED when the battery is spent The encoder cannot operate You are required to replace the battery See the 4 3 2 Replacement o...

Page 52: ...parameters list BiSS C mode interface Parameters list Default value Preset 00 00 00 00 00 Preset setting enable 00 All values are expressed in hexadecimal notation MAN AMM5A_B SSI_BiSS_RS485 E 1 9 od...

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Page 56: ...B Counting direction register removed Command register updated 1 5 15 01 2020 Pin 1 connected to ground 1 6 03 04 2020 SSI and RS 485 versions added Italian version 1 7 06 05 2020 BiSS registers 44 47...

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