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Smart encoders & actuators
AMM80
• Kit encoder with optical and magnetic scanning
• Compact and low-profile design for comfortable installation
• Up to 23 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:
AMM80xx/xxxBG1-...
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AMM80xx/xxxSC1-...
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AMM80xx/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 - Sine/Cosine output signals
9 - Diagnostic LEDs
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info@lika.biz
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www.lika.biz
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Table of Contents
Related Manuals for IKA AMM80
Summary of Contents for IKA AMM80
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Page 1: User's Guide
User's guide Smart encoders & actuators AMM80 Absolute kit encoder • Kit encoder with optical and magnetic scanning • Compact and low-profile design for comfortable installation • Up to 23 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. 2021. 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 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 Implemented registers..............................38 Preset....................................38 Preset setting enable............................41 Serial number................................41 Command..................................42 Save parameters..............................42 Activate Preset.................................42 Device ID..................................42 Manufacturer ID..............................42 6.5 Application notes................................43 6.6 Recommended BiSS input circuit..........................43 7 – RS-485 serial interface........................44 7.1 RS-485 port settings................................44 7.2 Frame format..................................44 7.2.1 Encoder data capture and reset..........................44...
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Page 5: Subject Index
Subject Index Activate Preset..............42 Position.................35 Preset..................38 Preset setting enable............41 Command................42 CRC.................36, 37 Register address..............37 RW..................37 DATA..................37 Device ID................42 Save parameters...............42 Serial number..............41 Error..................35 Warning................36 Manufacturer ID...............42... -
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 (1,024 sinusoidal signals per revolution). AMM80 is ideal for integration into space critical applications such as robots, robotic joints, hollow shaft motors (direct drive torque motors, …), brushless and servo motors, electric actuators, electro-medical devices, OEM equipment. -
Page 8: Safety Summary
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 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
AMM80 • 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 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 1.6.odt 1 - Safety summary 10 of 60...
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Page 11: Identification
AMM80 • 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
AMM80 • 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 AMM80 • SSI, BiSS, & RS-485 Figure 2 - Flange with pins MAN AMM80 SSI_BiSS_RS485 E 1.6.odt 3 - Mounting instructions 13 of 60...
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Page 14: Encumbrance Sizes
AMM80 • SSI, BiSS, & 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 1.6.odt 3 - Mounting instructions... -
Page 15: Mounting The Code Disk
AMM80 • 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: Mounting The Encoder
AMM80 • SSI, BiSS, & RS-485 Step 2 Gently press the code disk 3 into place on the PF5025 spacing tool 1. Tighten the two M3 x 3 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;... - Page 17 AMM80 • SSI, BiSS, & RS-485 Step 4 Insert the four M3 x 16 min. cylinder-head bolts UNI5931 7 in the holes 6, tighten the bolts 7 down to firmly fix the encoder unit 5, torque to 1.3 Nm max. Hold the encoder unit 5 down and avoid any movements while tightening.
- Page 18 AMM80 • SSI, BiSS, & RS-485 Step 6 Connect the EC-DF19-LK-TF12-... cable to the Hirose connector of the encoder unit 5; or connect the EC-X14-LK-TF12-... cable to the Molex connector of the encoder unit 5. Please make sure that the power supply is off and the battery is not wired before connecting the cable.
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Page 19: Electrical Connections
AMM80 • 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 20: Ssi And Biss C-Mode Mating Cable Connection
AMM80 • SSI, BiSS, & RS-485 * Only available with multiturn encoder versions (…/65K... order code) 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... -
Page 21: Rs-485 Mating Cable Connection
AMM80 • 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 22: Molex 53261-1271 Male Connector
AMM80 • SSI, BiSS, & RS-485 4.2 Molex 53261-1271 male connector (...-X2 order code) NOTE Molex 53261-1271 connector is available only in AMM80xx/1... versions (singleturn resolution only) 4.2.1 SSI and BiSS C-mode connection (...BG1-... and ...SC1-... order codes) Function 0Vdc +5Vdc ±5%... -
Page 23: Ssi And Biss C-Mode Mating Cable Connection
AMM80 • SSI, BiSS, & RS-485 4.2.2 SSI and BiSS C-mode mating cable connection (...G1-... and ...SC1-... order codes) EC-X14-LK-TF12-... cable, it must be ordered separately Function TF12 cable 0Vdc White_Green +5Vdc ±5% Brown_Green Clock IN + / MA +... -
Page 24: Rs-485 Mating Cable Connection
AMM80 • SSI, BiSS, & RS-485 4.2.4 RS-485 mating cable connection (...JP1-... order code) EC-X14-LK-TF12-... cable, it must be ordered separately Function TF12 cable 0Vdc White_Green Brown_Green +5Vdc ±5% not used Violet not used Yellow A (RS-485) Grey B (RS-485) -
Page 25: Battery Power Supply
AMM80 • SSI, BiSS, & RS-485 4.5 Battery power supply NOTE Battery power supply is only available in multiturn encoder versions (…/65K... order code) with Hirose DF19G-14S-1H(54) connector (...-X1 order code). +Vb / 0Vb: battery supply voltage comprised between 3V and 5.5V, it is typically 3.6V. -
Page 26: Replacement Of The Battery - Error Active
AMM80 • SSI, BiSS, & RS-485 WARNING Now you are required to replace the battery within 60 seconds! 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 27: 1Vpp Sinusoidal Output Signals
AMM80 • SSI, BiSS, & RS-485 3. remove the spent battery; 4. install and connect the new battery; 5. switch the 5Vdc power supply on; the ERROR LED is on or blinks; 6. switch the 5Vdc power supply off; 7. switch the 5Vdc power supply on;... -
Page 28: Zero Setting / Preset Input
AMM80 • SSI, BiSS, & RS-485 4.8 Zero setting / Preset input NOTE Zero setting / Preset input is only available with Molex 53261-1271 connector (...-X2 order code). The output position information at a point in the shaft rotation can be set either to 0 (SSI interface) or to a desired value called “preset”... - Page 29 AMM80 • SSI, BiSS, & RS-485 Figure 5 - Standard counting direction 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 30: Ssi Interface
AMM80 • SSI, BiSS, & RS-485 5 - SSI interface Order code: AMM80xx/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 31: Msb Left Aligned" Protocol
AMM80 • 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 32: Recommended Transmission Rates
AMM80 • SSI, BiSS, & RS-485 Structure of the position information AMM8017/1BG1... … AMM8020/1BG1... … AMM8023/1BG1... … AMM8017/65KBG1... … AMM8020/65KBG1... … AMM8023/65KBG1... … value … 5.3 Recommended transmission rates The SSI interface has a frequency of data transmission ranging between 100 kHz and 4 MHz. -
Page 33: Recommended Ssi Input Circuit
AMM80 • SSI, BiSS, & RS-485 5.4 Recommended SSI input circuit MAN AMM80 SSI_BiSS_RS485 E 1.6.odt 5 - SSI interface 33 of 60... -
Page 34: Biss C-Mode Interface
AMM80 • SSI, BiSS, & RS-485 6 - BiSS C-mode interface Order code: AMM80xx/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 35: Single Cycle Data Scd
AMM80 • 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 36: Warning
AMM80 • SSI, BiSS, & RS-485 2. The battery is spent. The encoder cannot operate. You are required to replace the battery. See the “4.5.2 Replacement of the battery – ERROR active” section on page 26. nE = “1”: no active error = “0”: error status: an error is active in the system. -
Page 37: Control Data Cd
AMM80 • 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 38: Implemented Registers
AMM80 • 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 … 7D 7E - 7F Manufacturer ID All registers described in this section are listed as follows:... - Page 39 AMM80 • SSI, BiSS, & RS-485 The Preset value must be less than the “Total Hardware resolution”. NOTE We suggest setting the preset when the encoder shaft is in stop. NOTE Preset Please note that the bit structure of the...
- Page 40 AMM80 • SSI, BiSS, & RS-485 Preset To properly set the value see the following example. PRESET SETTING EXAMPLE In the 20-bit resolution encoder (2 = 1,048,576 information), you want to set Preset the following value = 1,000,003 = 0F4243h = 1111 0100 0010 0100...
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Page 41: Preset Setting Enable
AMM80 • SSI, BiSS, & RS-485 6. To activate the new Preset value, you must use the Activate Preset Command Command function in the register (set “02” in the register). Function ADDR DATA Tx Preset setting enable Writing in the... -
Page 42: Command
AMM80 • SSI, BiSS, & RS-485 30 = week of production (third and fourth digit) 03630 = serial number in ascending order (remaining digits) Command [77, wo] Value Function Save parameters Activate Preset After having set a new value in any register use the Save parameters function... -
Page 43: Application Notes
AMM80 • SSI, BiSS, & RS-485 6.5 Application notes Data transmission: Parameter Value Clock Frequency min 50 kHz, max 10 MHz BiSS time-out Self-adaptable to the clock Time-out is self-adaptable to the clock frequency. It is 1.5 * 1 / clock frequency. -
Page 44: Rs-485 Serial Interface
AMM80 • SSI, BiSS, & RS-485 7 – RS-485 serial interface Order code: AMM80xx/xxJP1-... 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 45: Read Register
AMM80 • 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 46. -
Page 46: Data Field
AMM80 • 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 45. Data Data ID ABS0 ABS1 ABS2 Data ID... -
Page 47: Encoder Errors
AMM80 • 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 48: Resetting An Error
AMM80 • 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 49: Address Field And Eeprom Data Field
AMM80 • 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 20 bit resolution: 20 Bit 19 ... -
Page 50: Crc Field
AMM80 • SSI, BiSS, & RS-485 Request for writing is request invalid When MEM BUSY 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 51 AMM80 • 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 52: 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 AMM80 SSI_BiSS_RS485 E 1.6.odt 8 - Sine/Cosine output signals 52 of 60... - Page 53 AMM80 • SSI, BiSS, & RS-485 = 2.5V ± 0.5V = 1Vpp * Av Av = R2 / R1 MAN AMM80 SSI_BiSS_RS485 E 1.6.odt 8 - Sine/Cosine output signals 53 of 60...
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Page 54: Diagnostic Leds
AMM80 • SSI, BiSS, & RS-485 9 - Diagnostic LEDs The encoder is equipped with two LEDs, they are meant to show visually 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 55 AMM80 • SSI, BiSS, & RS-485 Replacement of the battery – No ERROR active” section on page 25. See Battery alarm on page 47. MAN AMM80 SSI_BiSS_RS485 E 1.6.odt 9 - Diagnostic LEDs 55 of 60...
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Page 56: Default Parameters List
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 AMM80 SSI_BiSS_RS485 E 1.6.odt 10 - Default parameters list 56 of 60... - Page 57 This page intentionally left blank...
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- Page 60 Document release Release date Description Interface 12.06.2019 First issue Counting direction information updated, 3B 31.07.2019 Counting direction register removed. Command register updated. 11.11.2019 Mechanical drawings updated 14.01.2020 Pin 1 connected to ground 22.04.2020 SSI and RS-485 version added, Italian version 06.05.2020 BiSS registers 44 …...
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