Lika AMM80 User Manual Download

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User's guide

AMM80

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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AMM80xx/xxxBG1-...

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AMM80xx/xxxSC1-...

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AMM80xx/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 - 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 AMM80

Page 1: ...ation into robots motors and OEM applications Suitable for the following models AMM80xx xxxBG1 AMM80xx xxxSC1 AMM80xx xxxJP1 General contents Preliminary information 7 1 Safety summary 8 2 Identificat...

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: ...onnection JP1 order code 20 4 1 4 RS 485 mating cable connection JP1 order code 21 4 2 Molex 53261 1271 male connector X2 order code 22 4 2 1 SSI and BiSS C mode connection BG1 and SC1 order codes 22...

Page 4: ...l interface 44 7 1 RS 485 port settings 44 7 2 Frame format 44 7 2 1 Encoder data capture and reset 44 7 2 2 Write register 44 7 2 3 Read register 45 7 3 Field detail 45 7 3 1 Control Field 45 7 3 2 S...

Page 5: ...vate Preset 42 C Command 42 CRC 36 37 D DATA 37 Device ID 42 E Error 35 M Manufacturer ID 42 P Position 35 Preset 38 Preset setting enable 41 R Register address 37 RW 37 S Save parameters 42 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: ...e divided into some 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 runni...

Page 8: ...s section on page 19 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 bo...

Page 9: ...u 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 dissip...

Page 10: ...AMM80 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 AMM80 SSI_BiSS_RS485 E 1 5 odt 1 Safety summary 10 of 60...

Page 11: ...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 ending...

Page 12: ...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 encode...

Page 13: ...AMM80 SSI BiSS RS 485 Figure 2 Flange with pins MAN AMM80 SSI_BiSS_RS485 E 1 5 odt 3 Mounting instructions 13 of 60...

Page 14: ...SS RS 485 3 2 Encumbrance sizes values are expressed in mm Figure 3 Encumbrance sizes of the encoder Figure 4 Encumbrance sizes of the code disk MAN AMM80 SSI_BiSS_RS485 E 1 5 odt 3 Mounting instructi...

Page 15: ...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 dis...

Page 16: ...ick 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 WARNING Always handle the encoder unit by grasping the enclosure on the sid...

Page 17: ...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 shown in the Figure Max misalignment allowed 10 mechanical degrees WARNIN...

Page 18: ...llation procedure is successful the LEDs will blink for a while and then go off If at the end of the operation a LED is still on please repeat the procedure again Refer also to the 9 Diagnostic LEDs s...

Page 19: ...vice Thus they must be cut at different lengths and insulated singularly 4 1 Hirose DF19G 14S 1H 54 male connector X1 order code 4 1 1 SSI and BiSS C mode connection BG1 and SC1 order codes Function P...

Page 20: ...cos Green B sin Black B sin Red Vb White 0Vb Blue 5Vdc 5 Brown_Green 0Vdc White_Green Only available with multiturn encoder versions 65K order code 4 1 3 RS 485 connection JP1 order code Function Pin...

Page 21: ...not to be connected Brown not to be connected Green not to be connected Black not to be connected Red Vb White 0Vb Blue 5Vdc 5 Brown_Green 0Vdc White_Green Only available with multiturn encoder versi...

Page 22: ...olution only 4 2 1 SSI and BiSS C mode connection BG1 and SC1 order codes Function Pin 0Vdc 1 5Vdc 5 2 Clock IN MA 3 Clock IN MA 4 Data OUT SLO 5 Data OUT SLO 6 B sin 7 B sin 8 A cos 9 A cos 10 Zero s...

Page 23: ...O Pink B sin Red B sin Black A cos Green A cos Brown Zero setting Preset White Counting direction Blue 4 2 3 RS 485 connection JP1 order code Function Pin 0Vdc 1 5Vdc 5 2 not used 3 not used 4 A RS 48...

Page 24: ...a slew rate larger than 50V s 4 3 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 b...

Page 25: ...typically 3 6V 4 5 1 Replacement 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 a...

Page 26: ...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 5 2 Replacement of the battery ERRO...

Page 27: ...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 28: ...ise the hardware function is disabled NOTE In the BiSS interface the preset can be activated also by using the Activate Preset function of the Command register For detailed information please refer to...

Page 29: ...operation of the system Please mount the motor cap and protect the encoder from light sources before starting the system and checking its operation The encoder has been calibrated to perform at its b...

Page 30: ...e main advantages in comparison with parallel or asynchronous data transmissions are less conductors are required for transmission less electronic components possibility of insulting the circuits galv...

Page 31: ...t code can be Binary or Gray see the order 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 b...

Page 32: ...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 on the length of the cable and must comply w...

Page 33: ...AMM80 SSI BiSS RS 485 5 4 Recommended SSI input circuit MAN AMM80 SSI_BiSS_RS485 E 1 5 odt 5 SSI interface 33 of 60...

Page 34: ...ding 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 protocols Single...

Page 35: ...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 bits It is compr...

Page 36: ...battery charge level is low You are required to replace the battery as soon as possible See the 4 5 1 Replacement of the battery No ERROR active section on page 25 nW 1 no active warning 0 warning st...

Page 37: ...ritten 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 from the Slave to the Master It is 8 bit l...

Page 38: ...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 value...

Page 39: ...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 re...

Page 40: ...te 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 1 1 0 0 0 0 0 0 1 0 0 1 0 0 0 1 1 1 0 1 0...

Page 41: ...allowed to set a new 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...

Page 42: ...egister is set back to 00 automatically Wait 30 ms at least EPROM writing time before activating a new function Device ID 78 7D ro These registers contain the Device ID name and hardware software rele...

Page 43: ...e 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 clock...

Page 44: ...e 7 3 2 Status Field section on page 45 DF Data Field see the 7 4 Data Field section on page 46 ADF Address Field see the 7 5 Address Field and EEPROM Data Field section on page 49 EDF EEPROM data to...

Page 45: ...lue 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 singleturn...

Page 46: ...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 multi...

Page 47: ...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 ST...

Page 48: ...rror 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 errors...

Page 49: ...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 data from the e...

Page 50: ...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 is configured in accor...

Page 51: ...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 return...

Page 52: ...4 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 o...

Page 53: ...AMM80 SSI BiSS RS 485 VREF 2 5V 0 5V VA 1Vpp Av Av R2 R1 MAN AMM80 SSI_BiSS_RS485 E 1 5 odt 8 Sine Cosine output signals 53 of 60...

Page 54: ...p between the circuitry and the disk is out of tolerance 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 repl...

Page 55: ...AMM80 SSI BiSS RS 485 Replacement of the battery No ERROR active section on page 25 See the Battery alarm on page 47 MAN AMM80 SSI_BiSS_RS485 E 1 5 odt 9 Diagnostic LEDs 55 of 60...

Page 56: ...arameters 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 AMM80 SSI_BiSS_RS485 E 1 5 odt 10...

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Page 60: ...n register removed Command register updated 1 2 11 11 2019 Mechanical drawings updated 1 3 14 01 2020 Pin 1 connected to ground 1 4 22 04 2020 SSI and RS 485 version added Italian version 1 5 06 05 20...

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