Lika AM 3616/4096BG Series Скачать руководство пользователя

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User's guide

AM36
AMC36

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Miniature multiturn rotary encoder with optical scanning

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Resolution up to 19 x 12 bits

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Accuracy up to ± 0.01° (± 36 arc seconds) at 16-bit resolution

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SSI and BiSS C-mode interfaces

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High protection rate, IP67

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Ideal for robots, motors, electro-medical instruments, replacement
of resolvers

Suitable for the following models:

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AM36xx/xxxxBG...

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AM36xx/xxxxSC...

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AMC36xx/xxxxBG...

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AMC36xx/xxxxSC...

Table of Contents

1 - Safety summary

2 - Identification

3 - Mounting instructions

4 - Electrical connections

5 - SSI interface

6 - BiSS C-mode interface

7 - Default parameters list

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

Содержание AM 3616/4096BG Series

Страница 1: ...r robots motors electro medical instruments replacement of resolvers Suitable for the following models AM36xx xxxxBG AM36xx xxxxSC AMC36xx xxxxBG AMC36xx xxxxSC Table of Contents 1 Safety summary 8 2 Identification 10 3 Mounting instructions 11 4 Electrical connections 14 5 SSI interface 18 6 BiSS C mode interface 21 7 Default parameters list 35 Lika Electronic Tel 39 0445 806600 info lika biz www...

Страница 2: ...ion 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 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...

Страница 3: ... connector 14 4 2 M8 cable specifications 15 4 3 GND connection 15 4 4 Zero setting Preset input 15 4 5 Counting direction input 16 5 SSI interface 18 5 1 SSI Synchronous Serial Interface 18 5 2 MSB Left Aligned protocol 19 5 3 Recommended transmission rates 20 5 4 Recommended SSI input circuit 20 6 BiSS C mode interface 21 6 1 XML file 21 6 2 Communication 21 6 3 Single Cycle Data SCD 22 6 3 1 SC...

Страница 4: ...ode 27 Counting direction 27 Information per revolution 29 Number of revolutions 29 Preset 30 Device type 32 N of bits used for singleturn resolution 32 N of bits used for multiturn resolution 32 Device ID 33 Manufacturer ID 33 6 6 Application notes 33 6 7 Recommended BiSS input circuit 34 7 Default parameters list 35 ...

Страница 5: ...on 29 L Load and save default parameters 25 N N of bits used for multiturn resolution 32 N of bits used for singleturn resolution 32 Normal operational state 25 Number of revolutions 29 O Output code 27 P Position 22 Preset 30 Profile ID 25 R Register address 23 RW 23 S Save parameters and activate Preset 25 Save parameters on EEPROM 25 Serial number 25 W Warning 22 ...

Страница 6: ...nt 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 i...

Страница 7: ...position and speed feedback and even in applications suffering from limited space Typical application fields are small motors and especially highly dynamic servomotors including product handling equipment pick place robots electronic assembly systems printing and measuring machines electro medical and laboratory instruments geared limit switches in wind turbines furthermore its compact dimensions ...

Страница 8: ...ts to 0Vdc to set the zero preset connect Zero setting Preset input to Vdc for 100 µs at least then disconnect Vdc normally voltage must be at 0Vdc zero preset must be set after Counting direction we suggest setting the zero preset when the encoder shaft is not running Counting direction CW increasing count viewed from shaft side connect to 0Vdc CCW increasing count connect to Vdc in compliance wi...

Страница 9: ...ocks or shocks respect the environmental characteristics declared by manufacturer 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 b...

Страница 10: ...der 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 with Sxxx may have mechanical and electrical characteristics different from standard and be supplied with additional documentation for special connections Technical Info MAN AMx36 SSI_BiSS E 1 1 o...

Страница 11: ...G Installation has to be carried out by qualified personnel only with power supply disconnected and mechanical parts compulsorily in stop 3 1 AM36 encumbrance sizes 3 2 AMC36 encumbrance sizes MAN AMx36 SSI_BiSS E 1 1 odt 3 Mounting instructions 11 of 36 ...

Страница 12: ...to the motor or to the mounting support mount the flexible coupling 1 on the motor shaft make sure the misalignment tolerances of the flexible coupling 1 are respected 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 MAN AMx36 SSI_BiSS E 1 1 odt 3 Mounting instructions 12 of 36 ...

Страница 13: ...fix the collar 3 to the encoder shaft by means of the M2 5 screw 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 AMx36 SSI_BiSS E 1 1 odt 3 Mounting ins...

Страница 14: ...k Vdc 1 2 Red Clock IN MA 3 Yellow Clock IN MA 4 Blue Data OUT SLO 5 Green Data OUT SLO 6 Orange Zero setting Preset 7 White Counting direction 8 Grey Shield Case Shield 1 See the order code for power supply voltage level EXAMPLE AM36xx xxxxBG1 Vdc 5Vdc 5 AM36xx xxxxBG2 Vdc 10Vdc 30Vdc WARNING When the power is switched on above 3V supply voltage Vdc must be applied with a slew rate larger than 50...

Страница 15: ... to be set next to the Preset registers see on page 30 The Zero setting Preset input allows the operator to activate the zero setting preset function by using an input signal sent by a PLC or other controller If not used connect the Zero setting Preset input to 0Vdc To activate the zero setting preset function connect the Zero setting Preset input to Vdc for 100 µs at least then disconnect Vdc nor...

Страница 16: ...c standard configuration Otherwise the resulting will be contrary to what is expected or intended Thus when the counting direction is set to CW Counting direction 0 CW if the Counting direction input has LOW logic level 0Vdc the encoder will provide the increasing count when the shaft is turning clockwise and the decreasing count when the shaft is turning counter clockwise on the contrary if the C...

Страница 17: ...AMx36 SSI BiSS C mode WARNING After having changed the counting direction you are required to set a new zero Preset MAN AMx36 SSI_BiSS E 1 1 odt 4 Electrical connections 17 of 36 ...

Страница 18: ...re cable is required 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 circuits galvanically by means of optocouplers high data transmission frequency hardware interface independent from the resolution of the absolute encoder Furthermore the differential transm...

Страница 19: ...ogic level of 5V in compliance with RS 422 standard The output code can be either 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 bit MSB is then sent at the first clock cycle If the number of clock signals is higher than the data bits then unused bits are forced...

Страница 20: ...z The CLOCK signal and the DATA signal comply with the EIA standard RS 422 The SSI clock frequency baud rate depends on the length of the cable and must comply with the technical information reported in the following table Cable length Baud rate 50 m 400 kHz 100 m 300 kHz 200 m 200 kHz 400 m 100 kHz The time interval between two Clock sequence transmissions must be at least 12 µs Tp 12 µs 5 4 Reco...

Страница 21: ...ster multi Slave network 6 1 XML file BiSS C mode encoders are supplied with an XML file idbiss4C69 xml it must be installed in your BiSS Master device Download the XML file from Lika s web site 6 2 Communication The BiSS C mode protocol uses two types of data transmission protocols Single Cycle Data SCD it is the main data transmission protocol It is used to send process data from the Slave to th...

Страница 22: ...is the process data transmitted from the Slave to the Master It has a variable length it is as long as the resolution of the encoder expressed in bits It provides information about the current position of the encoder The transmission starts with msb most significant 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 ...

Страница 23: ...l BiSS documents for complete CD structure BiSS C Protocol Description in the BiSS homepage Register address It sets the number of the register you need either to read or to write It is 7 bit long RW 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 When you need to write in a register RW 01 it allows to set the value to be written in th...

Страница 24: ...1 Logic circuit 6 5 Implemented registers Register hex Function 42 43 Profile ID 44 47 Serial number 48 Command 49 Configuration 4B 4D Information per revolution 4E 4F Number of revolutions 50 54 Preset 55 Device type 56 N of bits used for singleturn resolution 57 N of bits used for multiturn resolution 78 7D Device ID 7E 7F Manufacturer ID All registers described in this section are listed as fol...

Страница 25: ...r Command 48 wo Value Function 00 Normal operational state 01 Save parameters on EEPROM 02 Save parameters and activate Preset 04 Load and save default parameters After having set a new value in some register use the Save parameters on EEPROM function in this Command register to store it Set 01 in the Command register After having set a new value in some registers and a Preset value use the Save p...

Страница 26: ...re overwritten thus previously set values are lost As soon as the command is sent the register is set back to 00 Normal operational state automatically Wait min 30 ms EEPROM writing time before using a new function Default 00 Configuration 49 rw Any new setting in the Configuration register will be active immediately after transmission Use the Save parameters on EEPROM function to store the new va...

Страница 27: ...hardware see the Counting direction input 4 5 Counting direction input section on page 16 If not used the Counting direction input must be connected to 0Vdc The Counting direction parameter implies that the Counting direction input is set to 0Vdc Otherwise the resulting will be contrary to what is expected or intended Thus when the counting direction is set to CW Counting direction 0 CW if the Cou...

Страница 28: ...CW 1 Thus you will have as follows Bit 0 non usato 0 Bit 1 non usato 0 Bit 2 Enable preset ENABLE 0 Bit 3 non usato 0 Bit 4 non usato 0 Bit 5 Output code BINARY 1 Bit 8 Counting direction CCW 1 Bit 7 non usato 0 Therefore you must set 60h 011000002 1 Enter the value 60h 011000002 next to this Configuration register 2 Save the value by using the Save parameters on EEPROM function in the Command reg...

Страница 29: ...us you need to set it again if required Number of revolutions 4E 4F rw These registers allow to enter a custom number of revolutions multiturn resolution You are allowed to enter any value which is less than or equal to the number of physical revolutions default value If you set a value greater than the maximum allowed value then the parameter is forced to the default value The setting in the Numb...

Страница 30: ...hysical position i e the transmitted position value will get the value set next to these registers and all the previous and following positions will get a value according to it For instance this can be useful for getting the zero point of the encoder and the zero point of the application to match The preset value will be set for the position of the encoder in the moment when the command is sent th...

Страница 31: ...f the Preset registers by entering the value 0 next to the Enable preset bit of the Configuration register 2 Enter the desired preset value 01 86 A0 h 100 00010 next to this Preset parameter 3 To save the new Preset value without activating it you must use the Save parameters on EEPROM function in the Command register set 01 in the Command register 4 Otherwise to both save and activate the new Pre...

Страница 32: ...that the system stores the new resolution values but zero sets the preset value Thus you need to enter it again Device type 55 ro This register describes the type of device Default 02h multiturn rotary encoder with BiSS C mode interface AMx36xx 4096SCx N of bits used for singleturn resolution 56 ro This register shows the number of bits used for the current singleturn resolution as set next to the...

Страница 33: ...sure 2 36 mm diameter enclosure Register 7D software version see the example EXAMPLE If the value in the register 7D is 31 hex then the software version is 1 Manufacturer ID 7E 7F ro These registers contain the Manufacturer ID Identification name is expressed in hexadecimal ASCII code Register 7E 7F Hex 4C 69 ASCII L i Li Lika Electronic 6 6 Application notes Data transmission Parameter Value Cloc...

Страница 34: ...AMx36 SSI BiSS C mode 6 7 Recommended BiSS input circuit MAN AMx36 SSI_BiSS E 1 1 odt 6 BiSS C mode interface 34 of 36 ...

Страница 35: ... 1 not used 0 Bit 2 Enable preset 0 Enable Bit 3 not used 0 Bit 4 not used 0 Bit 5 Output code 1 Binary Bit 6 Counting direction 0 CW Bit 7 not used 0 Information per revolution 10 00 00 Number of revolutions 00 00 Preset 00 00 00 00 00 All values are expressed in hexadecimal notation MAN AMx36 SSI_BiSS E 1 1 odt 7 Default parameters list 35 of 36 ...

Страница 36: ...e Limited Energy or Energy Source not exceeding 30 Vdc Refer to the order code for supply voltage rate Ce dispositif doit être alimenté par un circuit de Classe 2 ou à très basse tension ou bien en appliquant une tension maxi de 30Vcc Voir le code de commande pour la tension d alimentation Lika Electronic Via S Lorenzo 25 36010 Carrè VI Italy Tel 39 0445 806600 Fax 39 0445 806699 info lika biz www...

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