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- Page 1 T E C H N I C A L R E F E R E N C E M A N U A L Model A36R Absolute Bus Encoder 1-800-366-5412 | ENCODER.COM | SALES@ENCODER.COM Page 1 1-800-366-5412 | encoder.com | sales@encoder.com © 2023 Encoder Products Company, REV 11/08/2023...
- Page 2 Sagle, Idaho 83860 Phone: (208) 263-8541 Fax: (208) 263-0541 Email (USA): support@encoder.com Email (other countries): sales@encoder.com Website: encoder.com EPC Technical Reference Manual – Model A36R PAGE 2 OF 33 1-800-366-5412 | encoder.com | sales@encoder.com © 2023 Encoder Products Company, REV 11/08/2023...
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Page 3: Table Of Contents
4. A36R Configuration Options ........8... - Page 4 Figure 9: BiSS timing diagram ..........21 EPC Technical Reference Manual – Model A36R PAGE 4 OF 33 1-800-366-5412 | encoder.com | sales@encoder.com...
- Page 5 Table 14: Model A36R read register description ....... . .
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Page 6: Introduction
Encoder serial number and firmware version can be found on the product label as shown below: These values are also stored in internal memory (BiSS C only) in case encoder is inaccessible or label has been damaged. See Section 8.5. -
Page 7: Explanation Of Symbols
2.1 Work Safely The Model A36R absolute encoder with BiSS C or SSI interface is a sensor for angular measurement and is to be used for this purpose only. Encoder Products Company (EPC) denies any liability for damages caused by not following this manual. EPC absolute encoders are designed, manufactured, and distributed for use in non-safety relevant applications in industrial and commercial environments. ... -
Page 8: Quick Start Guide
Strain relief shall be no less than 2.0 inches from the encoder. For cables mating to header (RMH) units, apply strain relief to the jackets portion of the cable. Do not apply strain relief to directly to wires and avoid tight bend radii for wires. -
Page 9: Table 1: Battery Monitor Warning/Error Thresholds
Battery current demands are low while the encoder shaft is static. However, demand increases if the encoder shaft is rotating while in the Active state, defined per Table 2. Figure 1 details battery current draw at various shaft speeds. It is advised to minimize shaft rotation while in Active state to maximize battery life. -
Page 10: Multi-Turn Cable Options For Xxl Version
Figure 1: Battery current draw vs. shaft speed in Active state 4.3 Multi-Turn Cable Options for XXL Version The XXL version of the Model A36R can be configured with either an embedded battery cable (EB option) or a power ready cable as shown in Figure 2 below. -
Page 11: Low Power Option (Xxl) With Embedded Battery Cable (Eb)
3.6V Operating temperature -55° C to 85° C WARNING: Min/max operating temperatures for the battery may differ from the encoder. Each component shall not exceed its respective operating temperature. Table 3: Battery specifications for EB cable 4.3.2 Low Power Option (XXL) with Power Ready Cable (no EB option) Important: To avoid a battery error, the battery or external power source must be connected BEFORE +VDC is applied. -
Page 12: Backup Power Installation And Replacement
(less than 10nA). When main voltage at +VDC drops below the specified minimum, the encoder switches to low power mode and draws current from the backup power source. Current draw is relative to the encoder shaft speed. See Figure 1. -
Page 13: Backup Power Replacement
(RMH) connector option. If a cabled version needs backup power replacement, contact EPC. 6. Features Model A36R encoders provide user features to assist in configuration and troubleshooting. This section will detail features that are common to encoders configured with both SSI and BiSS C communication protocols. Features unique to a single communication protocol type can be found in their respective sections later in this manual. -
Page 14: Error And Warning Monitoring
6.2 Error and Warning Monitoring The Model A36R features an extensive error/warning reporting mechanism. Various events are captured by the encoder and present low-active error and warning bits in the data packet for both SSI and BiSS outputs. See Figure 3 and Figure 4 below. -
Page 15: Table 5: Model A36R Error Log
If error persists, return to EPC for evaluation. Unused These bits are unused. Table 5: Model A36R error log EPC Technical Reference Manual – Model A36R PAGE 15 OF 33 1-800-366-5412 | encoder.com | sales@encoder.com © 2023 Encoder Products Company, REV 11/08/2023... -
Page 16: Ssi Protocol
The SSI master must be configured to the correct data length and clock rate. The master must also be configured to display the correct data type (gray or binary) supplied by the encoder. This is determined by the order code and cannot be changed. -
Page 17: Ssi Packet Structure
The 6-bit CRC can be used to provide error checking to the critical encoder position data. Further details on CRC can be found in Section 9. A 16-bit CRC is available upon special request. Please contact EPC if this option is required. -
Page 18: Ssi Communication Timing
) be met before additional clock signals may be sent. If t is not met, the encoder will resend the same information and will not latch the updated position. Figure 7 and Table 7 below provide details on timing requirements while using the Model A36R with SSI. -
Page 19: Cable Length Vs. Frequency
An additional consideration with long cable lengths is voltage drop. Be advised that the minimum specified voltage at +VDC for this encoder must be met at the encoder. Long cable lengths equate to more voltage dropped on the cable and must be considered. -
Page 20: Biss C Packet Structure
The 6-bit CRC can be used to provide error checking to the critical encoder position data. Further details on CRC can be found in Section 9. A 16-bit CRC is available upon special request. Please contact EPC if this option is required. -
Page 21: Cable Length Vs. Frequency
Note: This assumes shielded twisted pair cable and proper termination are used. Lower clock frequency may be required at extreme cable lengths. Table 10: Cable length vs. max clock frequency (BiSS C) EPC Technical Reference Manual – Model A36R PAGE 21 OF 33 1-800-366-5412 | encoder.com | sales@encoder.com... -
Page 22: A36R Biss Register Mapping
8.5 A36R BiSS Register Mapping Model A36R encoders with BiSS C communication offer user-accessible memory locations. These include items such as electronic datasheet (EDS), an empty bank for customer data storage (i.e. motor nameplate data, customer serialization and part numbering, etc), and device information. -
Page 23: Biss Eds - Common Part
Maximum processing 0x0C TBUSY_S Timing 250 ns time SCD Maximum processing 0x0D BUSY_S Timing time SCD in clocks EPC Technical Reference Manual – Model A36R PAGE 23 OF 33 1-800-366-5412 | encoder.com | sales@encoder.com © 2023 Encoder Products Company, REV 11/08/2023... -
Page 24: Table 12: Biss Eds - Common Part
Prot Checksum (additional 0x3F CHKSUM Orga bytes within this bank) Table 12: BiSS EDS – Common Part EPC Technical Reference Manual – Model A36R PAGE 24 OF 33 1-800-366-5412 | encoder.com | sales@encoder.com © 2023 Encoder Products Company, REV 11/08/2023... -
Page 25: Biss Eds - Bp3: Biss Standard Encoder Profile
8.5.3 BiSS EDS – BP3: BiSS Standard Encoder Profile The BiSS EDS – BP3: BiSS Standard Encoder Profile provides additional device level information. The data here is geared towards encoder configuration and BiSS C communication. This is stored inside the device at bank 0x29. Details can be found in Table 13 below. -
Page 26: Table 13: Biss Eds - Bp3: Biss Standard Encoder Profile
** The CRC is located 32:1 as least significant bit is on active CRC checking always 1 *** The CRC start value range is limited by the BiSS Safety Profile Definition Table 13: BiSS EDS – BP3: BiSS standard encoder profile EPC Technical Reference Manual – Model A36R PAGE 26 OF 33 1-800-366-5412 | encoder.com | sales@encoder.com... -
Page 27: Read And Write Registers
Warning register; displays current warning bits with DIAG command. See 0x11 Section 6.2 for warning bit details. See Section 8.6.3 for DIAG command details. Table 14: Model A36R read register description Write/Configuration Register Space, Bank 0x45 Address Data Type Description 0x00 Command Register;... -
Page 28: Biss Commands
T E C H N I C A L R E F E R E N C E M A N U A L 8.6 BiSS Commands The Model A36R offers a variety of commands useful for initial setup and troubleshooting. The commands in Table 16 below are written to the Command Register (Bank 0x45, Address 0x00). -
Page 29: Preset Command
9. CRC Details Model A36R encoders include a CRC in the data frame for both SSI and BiSS C protocol options. The CRC can be used to verify data integrity. The CRC is the same for both communication protocol options and details can be found below. -
Page 30: Model A36R Datasheet
T E C H N I C A L R E F E R E N C E M A N U A L 10. Model A36R Datasheet For detailed specifications, wiring table, and cable configurations, see the product datasheet on the next page or at encoder.com. EPC Technical Reference Manual – Model A36R PAGE 30 OF 33 1-800-366-5412 | encoder.com | sales@encoder.com... - Page 31 6 For fixed cable lengths, enter F (feet) or M (meters) plus cable length. Example: F02 = 2 feet of cable or M02 = 2 meters of cable. For mating connectors, cables, and cord sets see Model A36R at encoder.com.
- Page 32 10 Mbits/sec. BiSS C can MODEL A36R SMALL DIAMETER SLOT TED FLEX MOUNTS address internal registers in the encoder that can be read and written to by the master, allowing configuration and monitoring of the encoder not possible with uni-directional...
- Page 33 NATURE FOR ANY TECHNICAL ERRORS OR OMISSIONS IN ANY SOFTWARE OR TECHNICAL DATA. LENGTH 'L' See encoder.com for more information. Page 3 of 3 WIRES PAGE 33 OF 33 1-800-366-5412 | encoder.com | sales@encoder.com © 2023 Encoder Products Company, V1.0 11/08/2023...
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