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Smart encoders & actuators
AMM36
• Kit encoder with optical and magnetic scanning
• Compact and low-profile design for comfortable installation
• Up to 22 bit singleturn resolution + 1 or 65,536 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:
AMM36xx/xxxBG1-...
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AMM36xx/xxxSC1-...
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AMM36xx/xxxJP1-...
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Lika Electronic
User's guide
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Tel. +39 0445 806600
Absolute kit encoder
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
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info@lika.biz
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27
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www.lika.biz
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Table of Contents
Related Manuals for IKA AMM36
Summary of Contents for IKA AMM36
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Page 1: User's Guide
User's guide Smart encoders & actuators AMM36 Absolute kit encoder • Kit encoder with optical and magnetic scanning • Compact and low-profile design for comfortable installation • Up to 22 bit singleturn resolution + 1 or 65,536 revolutions • SSI, BiSS C-mode, & RS-485 interfaces + Sine-Cosine 1Vpp track •... - Page 2 This publication was produced by Lika Electronic s.r.l. 2020. All rights reserved. Tutti i diritti riservati. Alle Rechte vorbehalten. Todos los derechos reservados. Tous droits réservés. This document and information 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.
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Page 3: Table Of Contents
Table of Contents User's guide......................................1 Table of Contents....................................3 Subject Index......................................5 Typographic and iconographic conventions........................6 Preliminary information..................................7 1 - Safety summary............................8 1.1 Safety......................................8 1.2 Electrical safety..................................8 1.3 Mechanical safety..................................8 1.4 Specific handling and cleaning instructions and safety information against electrostatic discharges......................................9 2 - Identification............................ - Page 4 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...
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Page 5: Subject Index
Subject Index Position.................32 Preset..................35 Activate Preset..............39 Preset setting enable............38 Command................39 Register address..............34 CRC.................33, 34 RW..................34 DATA..................34 Save parameters...............39 Device ID................39 Serial number..............38 Software release...............39 Error..................32 Time-out................39 Manufacturer ID...............40 Warning................33... -
Page 6: Typographic And Iconographic Conventions
Typographic and iconographic conventions In this guide, to make it easier to understand and read the text the following typographic and iconographic conventions are used: parameters and objects both of Lika device and interface are coloured in GREEN; • alarms are coloured in RED; •... -
Page 7: Preliminary Information
It further provides additional 1Vpp Sine-Cosine signals for speed feedback (256 sinusoidal signals per revolution). AMM36 is ideal for integration into space critical applications such as robots, robotic joints, hollow shaft motors (direct drive torque motors, …), brushless and servo motors, drones / UAVs, electromedical devices, OEM equipment. -
Page 8: Safety Summary
AMM36 • 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 maintenance operations have to be carried out by qualified personnel only, with power supply disconnected and stationary mechanical parts;... -
Page 9: Specific Handling And Cleaning Instructions And Safety Information Against Electrostatic Discharges
AMM36 • SSI, BiSS, & RS-485 • do not disassemble the encoder; • do not tool the encoder or the disk/ring; • delicate electronic equipment: handle with care; do not subject the device and the disk/ring to knocks or shocks;... - Page 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...
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Page 11: Identification
AMM36 • SSI, BiSS, & RS-485 2 - Identification Device can be identified through the order code and the serial number printed on the label applied to its body. Information is listed in the delivery document too. Please always quote the order code and the serial number when reaching Lika Electronic. -
Page 12: Mounting Instructions
AMM36 • SSI, BiSS, & RS-485 3 - Mounting instructions WARNING Installation must be carried out by qualified personnel only, with power supply disconnected and mechanical parts compulsorily in stop. WARNING Before handling and mounting the device please be sure to read carefully the handling instructions and safety information reported in the “1.4 Specific... -
Page 13: Encumbrance Sizes
AMM36 • SSI, BiSS, & RS-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... - Page 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...
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Page 15: Mounting The Code Disk
AMM36 • SSI, BiSS, & RS-485 3.3 Mounting the code disk WARNING The encoder must be adequately protected under an enclosure • appropriate for the specific application; before installation, carefully clean the code disk from dust or • fingerprints, wipe it with a soft dry cloth or camera lens tissue; wipe the disk using circular motions;... - Page 16 AMM36 • SSI, BiSS, & RS-485 Step 2 Gently press the code disk 3 into place on the PF5029 spacing tool 1. Tighten the two M2.5 x 5 UNI5929 grub screws 4 to firmly fasten the code disk 3; make sure that the code disk 3 perfectly rests on the spacing tool 1 before fixing it;...
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Page 17: Mounting The Encoder
AMM36 • SSI, BiSS, & RS-485 3.4 Mounting the encoder WARNING Always handle the encoder unit by grasping the enclosure on the sides. Step 3 Slide the encoder unit 5 over the code disk 3 until the screw holes 6 match up;... - Page 18 AMM36 • SSI, BiSS, & RS-485 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 shown in the Figure.
- Page 19 AMM36 • SSI, BiSS, & RS-485 WARNING Light alters significantly the proper 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 best without any light interference.
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Page 20: Electrical Connections
AMM36 • SSI, BiSS, & RS-485 4 - Electrical connections WARNING Power supply must be turned off before performing any electrical connection! If wires of unused signals come in contact, irreparable damage could be caused to the device. Thus they must be cut at different lengths and insulated singularly. -
Page 21: Ssi And Biss C-Mode Mating Cable Connection
AMM36 • SSI, BiSS, & RS-485 Mating connector: Hirose DF19G-14S-1C(05) female connector 4.1.2 SSI and BiSS C-mode mating cable connection (...G1-... and ...SC1-... order codes) EC-DF19-LK-TF12-... cable, it must be ordered separately Function TF12 cable Pink Data OUT - / SLO -... -
Page 22: Rs-485 Mating Cable Connection
AMM36 • SSI, BiSS, & RS-485 4.1.4 RS-485 mating cable connection (...JP1-... order code) EC-DF19-LK-TF12-... cable, it must be ordered separately Function TF12 cable B (RS-485) Pink Grey A (RS-485) Yellow not used Violet not used Brown not to be connected... -
Page 23: Battery Power Supply
AMM36 • SSI, BiSS, & RS-485 4.3 Battery power supply +Vb / 0Vb: battery supply voltage comprised between 3V and 5.5V, it is typically 3.6V. 4.3.1 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;... -
Page 24: Replacement Of The Battery - Error Active
AMM36 • SSI, BiSS, & RS-485 4. install and connect the new battery; 5. switch the 5Vdc power supply off; 6. switch the 5Vdc power supply 7. the singleturn and multiturn positions are provided properly (the position is exactly the same the encoder was in when you stopped it);... -
Page 25: 1Vpp Sinusoidal Output Signals
AMM36 • SSI, BiSS, & RS-485 7. switch the 5Vdc power supply on; 8. the ERROR LED is off; 9. the singleturn and multiturn positions are provided properly: the singleturn position is exactly the same the encoder was in when you stopped it;... -
Page 26: Standard Counting Direction
AMM36 • SSI, BiSS, & RS-485 4.6 Standard counting direction The standard counting direction provides the count up information when the shaft/code disk turns as shown in the Figure below (clockwise rotation viewed from the flange side; counter-clockwise rotation view from top). The counting direction is fixed and cannot be changed. -
Page 27: Ssi Interface
AMM36 • SSI, BiSS, & RS-485 5 - SSI interface Order code: AMM36xx/xxxBG1-... 5.1 SSI (Synchronous Serial Interface) (the acronym Synchronous Serial Interface) is a synchronous point-to-point serial interface engineered unidirectional data transmission between one Master and one Slave. Developed in the first eighties, it is based on the RS- 422 serial standard. -
Page 28: Msb Left Aligned" Protocol
AMM36 • SSI, BiSS, & RS-485 At each change of the clock signal and at each subsequent rising edge (2) one bit is clocked out at a time, up to LSB, so completing the data word transmission. The cycle ends at the last rising edge of the clock signal (3). This means that up to n + 1 rising edges of the clock signals are required for each data word transmission (where n is the bit resolution);... -
Page 29: Recommended Transmission Rates
AMM36 • SSI, BiSS, & RS-485 Structure of the position information AMM3617/1BG1... … AMM3621/1BG1... … AMM3622/1BG1... … AMM3617/65KBG1... … AMM3621/65KBG1... … AMM3622/65KBG1... … value … 5.3 Recommended transmission rates The SSI interface has a frequency of data transmission ranging between 100 kHz and 4 MHz. -
Page 30: Recommended Ssi Input Circuit
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... -
Page 31: Biss C-Mode Interface
AMM36 • SSI, BiSS, & RS-485 6 - BiSS C-mode interface Order code: AMM36xx/xxxSC1-... Lika encoders are always Slave devices and comply with the “BiSS C-mode interface” and the “Standard encoder profile”. Refer to the official BiSS website for all information not listed in this manual (www.biss-interface.com). -
Page 32: Single Cycle Data Scd
AMM36 • SSI, BiSS, & RS-485 6.2 Single Cycle Data SCD 6.2.1 SCD structure SCD data has a variable length according to the resolution of the encoder. It is nbitres+7 long where “nbitres” is the resolution of the encoder expressed in bits. -
Page 33: Warning
AMM36 • SSI, BiSS, & RS-485 2. The battery is spent. The encoder cannot operate. You are required to replace the battery. See the “4.3.2 Replacement of the battery – ERROR active” section on page 24. nE = “1”: no active error = “0”: error status: an error is active in the system. -
Page 34: Control Data Cd
AMM36 • SSI, BiSS, & RS-485 6.3 Control Data CD Main control data is described in this section. Please refer to the official 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. -
Page 35: Implemented Registers
AMM36 • SSI, BiSS, & RS-485 6.4 Implemented registers Register (hex) Function 11 … 17 Preset Preset setting enable Serial number 44 … 47 Command Device ID 78 … 7B Time-out Software release 7E - 7F Manufacturer ID All registers described in this section are listed as follows:... - Page 36 AMM36 • SSI, BiSS, & RS-485 If you want to activate the new Preset value, after saving use the Activate Preset function (set “02” in the Command register). The Preset value must be less than the “Total Hardware resolution”. NOTE We suggest setting the preset when the encoder shaft is in stop.
- Page 37 AMM36 • SSI, BiSS, & RS-485 Preset 1. As previously stated, first of all you must enable the setting of the Preset setting enable registers by entering the value “01” next to the register. Preset 2. Then enter the value (1,000,003 = 1111 0100 0010 0100 0011 according to the structure explained above.
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Page 38: Preset Setting Enable
AMM36 • SSI, BiSS, & RS-485 Writing in the Preset registers Preset setting enable Save parameters function in the Command register Activate Preset function in the Command register Preset setting enable [40, wo] Preset It allows the operator to enable the setting of the registers. -
Page 39: Command
AMM36 • SSI, BiSS, & RS-485 Command [77, wo] Value Function Save parameters Activate Preset After having set a new value in any register use the Save parameters function Command Command in the register to save the new value. Set “01” in the register. -
Page 40: Manufacturer Id
AMM36 • SSI, BiSS, & RS-485 Manufacturer ID [7E – 7F, ro] These registers contain the Manufacturer ID. Identification name is expressed hexadecimal ASCII code. Register ASCII Li = Lika Electronic 6.5 Application notes Data transmission: Parameter Value Clock Frequency... -
Page 41: Rs-485 Serial Interface
AMM36 • SSI, BiSS, & RS-485 7 – RS-485 serial interface Order code: AMM36xx/xxxJP1-... 7.1 RS-485 port settings Serial port settings are as follows: Serial port settings Value Baud rate (Mbit/s) Byte size Parity None Stop bits Flow control None 7.2 Frame format... -
Page 42: Read Register
AMM36 • SSI, BiSS, & RS-485 7.2.3 Read register → Master Encoder → Encoder Master 7.3 Field detail 7.3.1 Control Field Control Field CF is related to Data Field DF, for a correct Data ID see the “7.4 Data Field” section on page 43. -
Page 43: Data Field
AMM36 • SSI, BiSS, & RS-485 7.4 Data Field Data Field DF is related to Control Field CF, for a correct Data ID see the “7.3.1 Control Field” section on page 42. Data Data ID ABS0 ABS1 ABS2 Data ID... -
Page 44: Encoder Errors
AMM36 • SSI, BiSS, & RS-485 7.4.1 Encoder errors See the ALMC byte in the previous “7.4 Data Field” section. How to Flag Explanation clear Function: There is a delay which is needed for the Auto clear encoder to successfully process data at power-on. Or (turning the encoder is accomplishing a reset command. -
Page 45: Resetting An Error
AMM36 • SSI, BiSS, & RS-485 7.4.2 Resetting an error Function Data ID Description Singleturn and multiturn Data ID 8 Data ID must be transmitted to the data resetting encoder 10 times in succession at transmission intervals of 40 µs or more while the shaft is in stop. -
Page 46: Address Field And Eeprom Data Field
AMM36 • SSI, BiSS, & RS-485 Singleturn encoder position: DF0: LS byte DF2: MS byte position = (DF2 << 16) + (DF1 << 8) + DF0; with 23 bit resolution: 23 Bit 22 ... singleturn encoder position with 21 bit resolution: 21 Bit 20 ... -
Page 47: Crc Field
AMM36 • SSI, BiSS, & RS-485 Writing is being executed ADF of Request for writing is request invalid MEM BUSY When status of transmission data from the encoder is logical value “1” = Writing is being executed, the writing process based upon the request is not executed. - Page 48 AMM36 • SSI, BiSS, & RS-485 for (i=0; i<8; ++i) CRC[i] = 0;// Init before calculation for (i=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];...
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Page 49: 1Vpp Sine/Cosine Output Signals
8.1 Output signals voltage level The voltage level refers to the differential value between normal and inverted signal (differential). Recommended input circuit Encoder Input circuit MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 8 - 1Vpp Sine/Cosine output signals 49 of 56... - Page 50 AMM36 • SSI, BiSS, & RS-485 = 2.5V ± 0.5V = 1Vpp * Av Av = R2 / R1 MAN AMM36 SSI_BiSS_RS485 E 1.0.odt 8 - 1Vpp Sine/Cosine output signals 50 of 56...
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Page 51: Diagnostic Leds
AMM36 • SSI, BiSS, & RS-485 9 - Diagnostic LEDs The encoder is equipped with two LEDs, they are meant to visually show a fault condition during operation. When you install the encoder, as soon as the power supply is switched on (see Step 8), the LEDs blink for a while and then go off, if the installation procedure is successful. -
Page 52: Default Parameters List
AMM36 • SSI, BiSS, & RS-485 10 - Default parameters list BiSS C-mode interface Parameters list Default value * Preset 00 00 00 00 00 Preset setting enable * All values are expressed in hexadecimal notation. MAN AMM36 SSI_BiSS_RS485 E 1.0.odt... - Page 53 This page intentionally left blank...
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- Page 56 Document release Release date Description Interface 26.03.2020 First issue Lika Electronic Via S. Lorenzo, 25 • 36010 Carrè (VI) • Italy Tel. +39 0445 806600 Fax +39 0445 806699 info@lika.biz • www.lika.biz...
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