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RW.................................................................................................................................................................................34
DATA.............................................................................................................................................................................34
CRC................................................................................................................................................................................34

6.4 Implemented registers......................................................................................................................................................35

Preset

..............................................................................................................................................................................35

Preset setting enable

............................................................................................................................................38

Serial number

............................................................................................................................................................38

Command

.....................................................................................................................................................................39

Save parameters......................................................................................................................................................39
Activate Preset.........................................................................................................................................................39

Device ID

.......................................................................................................................................................................39

Time-out

.......................................................................................................................................................................39

Software release

......................................................................................................................................................39

Manufacturer ID

......................................................................................................................................................40

6.5 Application notes................................................................................................................................................................40
6.6 Recommended BiSS input circuit.................................................................................................................................40

7 – RS-485 serial interface........................................................................................................................ 41

7.1 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 Data Field................................................................................................................................................................................43

7.4.1 Encoder errors..............................................................................................................................................................44

BUSY flag

.....................................................................................................................................................................44

PS error

..........................................................................................................................................................................44

ST error

..........................................................................................................................................................................44

Battery alarm

.............................................................................................................................................................44

MT error

........................................................................................................................................................................44

7.4.2 Resetting an error.......................................................................................................................................................45

7.5 Address Field and EEPROM Data Field........................................................................................................................46

MEM BUSY

..................................................................................................................................................................46

7.6 CRC Field.................................................................................................................................................................................47

8 - 1Vpp Sine/Cosine output signals.......................................................................................................49

8.1 Output signals voltage level...........................................................................................................................................49

9 - Diagnostic LEDs...................................................................................................................................... 51
10 - Default parameters list...................................................................................................................... 52

Содержание AMM36

Страница 1: ...on into robots motors and OEM applications Suitable for the following models AMM36xx xxxBG1 AMM36xx xxxSC1 AMM36xx xxxJP1 General contents Preliminary information 7 1 Safety summary 8 2 Identification...

Страница 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...

Страница 3: ...d SC1 order codes 20 4 1 2 SSI and BiSS C mode mating cable connection G1 and SC1 order codes 21 4 1 3 RS 485 connection JP1 order code 21 4 1 4 RS 485 mating cable connection JP1 order code 22 4 1 5...

Страница 4: ...ort 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 Data Fie...

Страница 5: ...Command 39 CRC 33 34 D DATA 34 Device ID 39 E Error 32 M Manufacturer ID 40 P Position 32 Preset 35 Preset setting enable 38 R Register address 34 RW 34 S Save parameters 39 Serial number 38 Software...

Страница 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...

Страница 7: ...ided 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 pro...

Страница 8: ...s 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 bo...

Страница 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...

Страница 10: ...AMM36 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 AMM36 SSI_BiSS_RS485 E 1 0 odt 1 Safety summary 10 of 56...

Страница 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...

Страница 12: ...uctions and safety information reported in the 1 4 Specific handling and cleaning instructions and safety information against electrostatic discharges section on page 9 3 1 Mechanical characteristics...

Страница 13: ...485 3 2 Encumbrance sizes values are expressed in mm Figure 2 Encumbrance sizes of the encoder Figure 3 Encumbrance sizes of the encoder Section F F MAN AMM36 SSI_BiSS_RS485 E 1 0 odt 3 Mounting inst...

Страница 14: ...AMM36 SSI BiSS RS 485 Figure 4 Encumbrance sizes of the encoder Section L L Figure 5 Encoder shaft Detail MAN AMM36 SSI_BiSS_RS485 E 1 0 odt 3 Mounting instructions 14 of 56...

Страница 15: ...e gasoline 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 flexi...

Страница 16: ...k 3 make sure that the code disk 3 perfectly rests on the spacing tool 1 before fixing it the max tightening torque is 0 8 Nm WARNING Please ensure that the grub screws 4 are tightened properly and do...

Страница 17: ...e sure that the enclosure of the encoder unit 5 does not hit or touch the code disk 3 always handle the encoder unit 5 by holding the enclosure on the sides Step 4 Insert the M2 x 6 cylinder head bolt...

Страница 18: ...ly off align the code disk 3 properly and then proceed again as explained in the next step Step 6 Connect the EC000026 cable to the Hirose connector 9 of the encoder unit 5 Please make sure that the p...

Страница 19: ...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 best without any li...

Страница 20: ...the device Thus they must be 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 Grou...

Страница 21: ...Clock IN MA Violet A cos Brown A cos Green B sin Black B sin Red Vb White 0Vb Blue 5Vdc Brown_Green 0Vdc White_Green 4 1 3 RS 485 connection JP1 order code Function Pin Ground 1 B RS 485 2 A RS 485 3...

Страница 22: ...odel 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 copper drain wire Outer diameter...

Страница 23: ...n both LEDs are off and no BiSS alarm is active or if only the WARNING LED and the WARNING bit are active After the procedure is carried out the absolute position of the encoder is retained 1 Stop the...

Страница 24: ...the disk both WARNING and ERROR LEDs are off 4 3 2 Replacement of the battery ERROR active NOTE Follow this procedure if at power on the ERROR bit and or the ERROR LED are active 1 Stop the disk at a...

Страница 25: ...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 connect the battery again 1...

Страница 26: ...view from top The 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 ca...

Страница 27: ...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...

Страница 28: ...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...

Страница 29: ...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...

Страница 30: ...AMM36 SSI BiSS RS 485 5 4 Recommended SSI input circuit MAN AMM36 SSI_BiSS_RS485 E 1 0 odt 5 SSI interface 30 of 56...

Страница 31: ...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...

Страница 32: ...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...

Страница 33: ...battery charge level is low You are required to replace the battery as soon as possible See the 4 3 1 Replacement of the battery No ERROR active section on page 23 nW 1 no active warning 0 warning st...

Страница 34: ...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...

Страница 35: ...etting enable register and then save data These registers allow the operator to set the Preset value The Preset function is meant to assign a desired value to a physical position of the encoder The ch...

Страница 36: ...43 42 41 40 55 54 53 52 51 50 49 48 0 0 0 0 0 0 0 Always set to 0 msbit with all encoders NOTE Please note that bit 48 of byte 17 is the msbit of the preset value and is kept fixed bit 11 of byte 12...

Страница 37: ...0 0 0 0 0 lsbit with 21 bit encoder Byte 16 Byte 17 47 46 45 44 43 42 41 40 55 54 53 52 51 50 49 48 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 msbit with 21 bit encoder 3 It results that you must enter the foll...

Страница 38: ...set value you must set the value 00 next to this Preset setting enable register and then save data Serial number 44 47 ro These registers contain the serial number of the device expressed in hexadecim...

Страница 39: ...unction Device ID 78 7B ro These registers contain the Device ID Identification name is expressed hexadecimal ASCII code Register 78 79 7A 7B Hex 41 4D 4D 33 ASCII A M M 3 Time out 7C ro It shows the...

Страница 40: ...al ASCII code Register 7E 7F Hex 4C 69 ASCII L i Li Lika Electronic 6 5 Application notes Data transmission Parameter Value Clock Frequency Min 50 kHz max 10 MHz BiSS time out Self adaptable to the cl...

Страница 41: ...e 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 EEPROM data to...

Страница 42: ...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...

Страница 43: ...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...

Страница 44: ...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...

Страница 45: ...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...

Страница 46: ...ADD6 ADD5 ADD4 ADD3 ADD2 ADD1 ADD0 MEM 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 d...

Страница 47: ...mitting 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 is...

Страница 48: ...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...

Страница 49: ...inusoidal 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 of t...

Страница 50: ...AMM36 SSI BiSS RS 485 VREF 2 5V 0 5V VA 1Vpp Av Av R2 R1 MAN AMM36 SSI_BiSS_RS485 E 1 0 odt 8 1Vpp Sine Cosine output signals 50 of 56...

Страница 51: ...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 of...

Страница 52: ...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 AMM36 SSI_BiSS_RS485 E 1 0 odt 10...

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Страница 56: ...ocument release Release date Description HW SW Interface 1 0 26 03 2020 First issue Lika Electronic Via S Lorenzo 25 36010 Carr VI Italy Tel 39 0445 806600 Fax 39 0445 806699 info lika biz www lika bi...

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