IKA AMM80 Manuale utente

User's guide
AMM80
Absolute kit encoder
•Kit encoder with optical and magnetic scanning
•Compact and low-profile design for comfortable installation
•Up to 2  bit singleturn resolution + 1 or 65,5 6 revolutions
•SSI, BiSS C-mode, & RS-485 interfaces + Sine-Cosine 1Vpp track
•Direct integration 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 - Identification 11
  - Mounting instructions 12
4 - Electrical connections 19
5 - SSI interface 0
6 - BiSS C-mode interface 4
7 – RS-485 serial interface 44
8 - Sine/Cosine output signals 52
9 - Diagnostic LEDs 54
Lika Electronic    •    Tel. + 9 0445 806600    •    [email protected]    •    www.lika.biz
Smart encoders & actuators

This docu ent and infor ation contained herein are the property of Lika Electronic s.r.l. and shall not be reproduced in whole or in

part without prior written approval of Lika Electronic s.r.l. Translation, reproduction and total or partial odification (photostat copies,

fil and icrofil included and any other eans) are forbidden without written authorisation of Lika Electronic s.r.l.

The infor ation herein is subject to change without notice and should not be construed as a co it ent by Lika Electronic s.r.l. Lika

Electronic s.r.l. reserves the right to ake all odifications at any o ents and without forewarning.

This anual is periodically reviewed and revised. As required we suggest checking if a new or updated edition of this docu ent is

available at Lika Electronic s.r.l.'s website. Lika Electronic s.r.l. assu es no responsibility for any errors or o issions in this docu ent.

Critical evaluation of this anual by the user is welco ed. Your co ents assist us in preparation of future docu entation, in order

to ake it as clear and co plete as possible. Please send an e- ail to the following address [email protected] for sub itting your

co ents, suggestions and criticis s.

Table of Contents
User's guide............................................................................................................................................................................................1
Table of Contents................................................................................................................................................................................3
Subject Index.........................................................................................................................................................................................5
Typographic and iconographic conventions........................................................................................................................6
Preliminary information..................................................................................................................................................................7
- Safety summary....................................................................................................................................... 8
1 Safety..........................................................................................................................................................................................8
2 Electrical safety.......................................................................................................................................................................8
3 Mechanical safety..................................................................................................................................................................8
4 Specific handling and cleaning instructions and safety infor ation against electrostatic 
discharges.........................................................................................................................................................................................9
- Identification.......................................................................................................................................... 11
  - Mounting instructions......................................................................................................................... 12
1 Mechanical characteristics of the  ounting support.........................................................................................12
2 Encu brance sizes..............................................................................................................................................................14
3 Mounting the code disk...................................................................................................................................................15
4 Mounting the encoder......................................................................................................................................................16
- Electrical connections........................................................................................................................... 19
1 Hirose DF19G-14S-1H(54)  ale connector (...-X1 order code).......................................................................19
1.1 SSI and BiSS C- ode connection (...BG1-... and ...SC1-... order codes)...............................................19
1.2 SSI and BiSS C- ode  ating cable connection (...G1-... and ...SC1-... order codes)......................20
1.3 RS-485 connection (...JP1-... order code)..........................................................................................................20
1.4 RS-485  ating cable connection (...JP1-... order code).............................................................................21
2 Molex 53261-1271  ale connector (...-X2 order code).....................................................................................22
2.1 SSI and BiSS C- ode connection (...BG1-... and ...SC1-... order codes)...............................................22
2.2 SSI and BiSS C- ode  ating cable connection (...G1-... and ...SC1-... order codes)......................23
2.3 RS-485 connection (...JP1-... order code)..........................................................................................................23
2.4 RS-485  ating cable connection (...JP1-... order code).............................................................................24
3 TF12 cable specifications..................................................................................................................................................24
4 Ground connection............................................................................................................................................................24
5 Battery power supply........................................................................................................................................................25
5.1 Replace ent of the battery – No ERROR active...........................................................................................25
5.2 Replace ent of the battery – ERROR active..................................................................................................26
6 1Vpp sinusoidal output signals.....................................................................................................................................27
7 Diagnostic LEDs....................................................................................................................................................................27
8 Zero setting / Preset input..............................................................................................................................................28
9 Counting direction input.................................................................................................................................................28
- SSI interface........................................................................................................................................... 0
1 SSI (Synchronous Serial Interface)...............................................................................................................................30
2 “MSB left aligned” protocol............................................................................................................................................31
3 Reco ended trans ission rates...............................................................................................................................32
4 Reco ended SSI input circuit...................................................................................................................................33
- BiSS C-mode interface......................................................................................................................... 4
1 Co unication...................................................................................................................................................................34
2 Single Cycle Data SCD.......................................................................................................................................................35
2.1 SCD structure................................................................................................................................................................35

Position........................................................................................................................................................................35
Error..............................................................................................................................................................................35
Warning.......................................................................................................................................................................36
CRC................................................................................................................................................................................36
6.3 Control Data CD...................................................................................................................................................................37
Register address.......................................................................................................................................................37
RW.................................................................................................................................................................................37
DATA.............................................................................................................................................................................37
CRC................................................................................................................................................................................37
6.4 I ple ented registers......................................................................................................................................................38
Preset..............................................................................................................................................................................38
Preset setting enable............................................................................................................................................41
Serial number............................................................................................................................................................41
Command.....................................................................................................................................................................42
Save para eters......................................................................................................................................................42
Activate Preset.........................................................................................................................................................42
Device ID.......................................................................................................................................................................42
Manufacturer ID......................................................................................................................................................42
6.5 Application notes................................................................................................................................................................43
6.6 Reco ended BiSS input circuit.................................................................................................................................43
7 – RS-485 serial interface........................................................................................................................ 44
7.1 RS-485 port settings..........................................................................................................................................................44
7.2 Fra e for at........................................................................................................................................................................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 Status Field....................................................................................................................................................................45
7.4 Data Field................................................................................................................................................................................46
7.4.1 Encoder errors..............................................................................................................................................................47
BUSY flag.....................................................................................................................................................................47
PS error..........................................................................................................................................................................47
ST error..........................................................................................................................................................................47
Battery alarm.............................................................................................................................................................47
MT error........................................................................................................................................................................47
7.4.2 Resetting an error.......................................................................................................................................................48
7.5 Address Field and EEPROM Data Field........................................................................................................................49
MEM BUSY..................................................................................................................................................................49
7.6 CRC Field.................................................................................................................................................................................50
8 - Sine/Cosine output signals.................................................................................................................. 52
8.1 Output signals voltage level...........................................................................................................................................52
9 - Diagnostic LEDs...................................................................................................................................... 54
10 - Default parameters list...................................................................................................................... 56

Subject Index

Activate Preset..................................................................42

Co and............................................................................42

CRC.................................................................................36, 37

DATA......................................................................................37

Device ID..............................................................................42

Error.......................................................................................35

Manufacturer ID...............................................................42

Position.................................................................................35

Preset.....................................................................................38

Preset setting enable......................................................41

RW..........................................................................................37

Save para eters...............................................................42

Serial nu ber....................................................................41

Warning................................................................................36

Typographic and iconographic conventions

In this guide, to ake it easier to understand and read the text the following typographic and

iconographic conventions are used:

•para eters and objects both of Lika device and interface are coloured in GREEN;

•alar s are coloured in RED;

•states are coloured in FUCSIA.

When scrolling through the text so e icons can be found on the side of the page: they are expressly

designed to highlight the parts of the text which are of great interest and significance for the user.

So eti es they are used to warn against dangers or potential sources of danger arising fro the use of

the device. You are advised to follow strictly the instructions given in this guide in order to guarantee

the safety of the user and ensure the perfor ance of the device. In this guide the following sy bols are

used:

This icon, followed by the word WARNING, is eant to highlight the parts of the

text where infor ation of great significance for the user can be found: user ust

pay the greatest attention to the ! Instructions ust 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 co ply with instructions could lead to personal injury and/or da age

to the unit or other equip ent.

This icon, followed by the word NOTE, is eant to highlight the parts of the text

where i portant notes needful for a correct and reliable use of the device can be

found. User ust pay attention to the ! Failure to co ply with instructions could

cause the equip ent to be set wrongly: hence a faulty and i proper working of

the device could be the consequence.

This icon is eant to highlight the parts of the text where suggestions useful for

aking it easier to set the device and opti ize perfor ance and reliability can be

found. So eti es this sy bol is followed by the word EXAMPLE when instructions

for setting para eters are acco panied by exa ples to clarify the explanation.

Preliminary information

This guide is designed to provide the ost co plete and exhaustive infor ation the operator needs to

correctly and safely install and operate the AMM80 absolute kit encoder.

This encoder is available with the following interfaces:

•SSI interface;

•BiSS C- ode interface;

•RS-485 serial interface.

AMM80 encoder can be both singleturn and ultiturn.

Singleturn resolution can be 17 bits (131,072 cpr), 20 bits (1,048,576 cpr), and 23 bits (8,388,608 cpr).

In ultiturn versions, the nu ber of revolutions is 65,536.

It further provides additional 1Vpp Sine-Cosine signals for speed feedback (1,024 sinusoidal signals per

revolution).

AMM80 is ideal for integration into space critical applications such as robots, robotic joints, hollow shaft

otors (direct drive torque otors, …), brushless and servo otors, electric actuators, electro- edical

devices, OEM equip ent.

To ake it easier to read and understand the text, this guide can be divided into so e ain sections.

In the first section so e general infor ation concerning the safety, the echanical installation and the

electrical connection as well as tips for setting up and running properly and efficiently the unit are

provided.

In the second section, entitled SSI interface, both general and specific infor ation is given on the SSI

interface, see on page 30.

In the third section, entitled BiSS C-mode interface, both general and specific infor ation is given on

the BiSS C- ode interface. In this section the para eters i ple ented in the unit are fully described.

See on page 34.

In the fourth section, entitled RS-485 serial interface, both general and specific infor ation is given

on the serial interface, see on page 44.

WARNING

Light alters significantly the proper operation of the syste .

Please ount the otor cap and protect the encoder fro light sources before starting the

syste and checking its operation. The encoder has been calibrated to perfor at its best

without any light interference.

WARNING

The encoder ust be adequately protected under an enclosure appropriate for the specific

application.

AMM80 • SSI, BiSS, & RS-485

1 - Safety summary

1.1 Safety

•Always adhere to the professional safety and accident prevention regulations

applicable to your country during device installation and operation;

•installation and aintenance operations have to be carried out by qualified

personnel only, with power supply disconnected and stationary echanical

parts;

•device ust be used only for the purpose appropriate to its design: use for

purposes other than those for which it has been designed could result in

serious personal and/or the environ ent da age;

•high current, voltage and oving echanical parts can cause serious or fatal

injury;

•warning! Do not use in explosive or fla able areas;

•failure to co ply with these precautions or with specific warnings elsewhere

in this anual violates safety standards of design, anufacture, and

intended use of the equip ent;

•Lika Electronic assu es no liability for the custo er's failure to co ply with

these require ents.

1.2 Electrical safety

•Turn off the power supply before connecting the device;

•connect according to explanation in the “4 - Electrical connections” section

on page 19;

•in co pliance with the 2014/30/EU nor on electro agnetic

co patibility, following precautions ust be taken:

- before handling and installing, discharge electrical charge fro

your body and tools which ay co e in touch with the device;

- power supply ust be stabilized without noise, install EMC filters on device

power supply if needed;

- always use shielded cables (twisted pair cables whenever possible);

- avoid cables runs longer than necessary;

- avoid running the signal cable near high voltage power cables;

- ount the device as far as possible fro any capacitive or inductive noise

source, shield the device fro noise source if needed;

- to guarantee a correct working of the device, avoid using strong agnets on

or near by the unit;

–ini ize noise by connecting the shield and/or the fra e to ground. Make

sure that ground is not affected by noise. The connection point to ground

can be situated both on the device side and on user’s side. The best solution

to ini ize the interference ust be carried out by the user.

1. Mechanical safety

•Install the device following strictly the infor ation in the “3 - Mounting

instructions” section on page 12;

•echanical installation has to be carried out with stationary echanical

parts;

MAN AMM80 SSI_BiSS_RS485 E 1.6.odt 1 - Safety su ary 8 of 60

AMM80 • SSI, BiSS, & RS-485

•do not disasse ble the encoder;

•do not tool the encoder or the disk/ring;

•delicate electronic equip ent: handle with care; do not subject the device

and the disk/ring to knocks or shocks;

•respect the environ ental characteristics declared by anufacturer;

•the encoder ust be adequately protected under an enclosure appropriate

for the specific application.

1.4 Specific handling and cleaning instructions and safety information

against electrostatic discharges

Please be sure to strictly observe the following safety precautions and

instructions before handling and installing the kit encoder.

•Open the box and handle the electronic co ponents only within an EPA

(Electrostatic Protective Area) and when you are properly grounded;

•before handling the kit encoder the operator ust wear:

-a wrist strap; it ust be worn on the hand and connected to ground

through a 1 egoh resistor;

-an ESD s ock ade of dissipative aterial;

-dissipative gloves; they are further used not to dirty the code disk while

ounting;

•always handle the encoder by grasping the enclosure on the sides;

•the code disk ust always be handled by grasping its outer edges or the

agnetic ring;

•avoid flexing the disk, exposing it to direct sunlight, excessive heat and/or

hu idity;

•if dust or fingerprints get on to the disk, wipe with a soft dry cloth or ca era

lens tissue; wipe the disk using circular otions; ore stubborn fingerprints

or stains can be re oved using a soft cloth lightly oistened with a few

drops of alcohol; do not use gasoline, kerosene, benzene or other solvents, as

they da age the disk.

MAN AMM80 SSI_BiSS_RS485 E 1.6.odt 1 - Safety su ary 9 of 60

AMM80 • SSI, BiSS, & RS-485

CAUTION

Keep agnets away fro the agnetic ring in the code disk, it could be

da aged by strong agnetic fields.

MAN AMM80 SSI_BiSS_RS485 E 1.6.odt 1 - Safety su ary 10 of 60

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