AMx36 SSI & BiSS C User's guide in English
Contents
1. MAN AMx36 SSI 17 E 1 0 odt 16 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 5 SSI interface Order codes AMx36xx 4096 BG AMx36xx 4096 GG 5 1 SSI Synchronous Serial Interface SSI the acronym for Synchronous Serial Interface is a synchronous point to point serial m CN interface engineered for unidirectional data PINOHADNOUE sone wTenmce transmission between one Master and one Slave Developed in the first eighties it is based on the RS 422 serial standard Its most peculiar feature is that data transmission is achieved by synchronizing both the Master and the Slave devices to a common clock signal generated by the controller in this way the output information is clocked out at each controller s request Furthermore only two pairs of twisted wires are used for data and clock signals thus a six wire cable is required The main advantages in comparison with parallel or asynchronous data transmissions are e less conductors are required for transmission e less electronic components e 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 transmission increases the noise immunity and decreases the noise emissions It allows multiplexing from several encoders thus process controls are more reliable with simplified line design and easier data ma2. e li Ka AMx36 SSI amp BiSS C 3 3 Solid shaft encoders AM36 model Mount the flexible coupling 1 on the encoder shaft fix the encoder to the flange 2 by means of screws 3 secure the flange 2 either 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 D 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 I7 E 1 0 odt 12 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 3 4 Hollow shaft encoder AMC36 model e Mount the encoder on the motor shaft Avoid forcing the encoder shaft e fasten the fixing plate 4 to the rear of the motor using a M3 cylindrical head screw 5 e fix the collar 3 to the encoder shaft by means of the screw MAN AMx36 SSI 17 E 1 0 0dt 13 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 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 Function M12 8 pin M8 type cable OVDC 1 Black 10VDC 30VDC 2 Red Clock IN B Yellow Clock IN 4 Blue Data OUT 5 Gree
3. Ch ss asina ae inn ai pes elo d teat dus 1 General COntentS peer ie Ue nr Nau Des A E OS E MM 3 SUN Saree oen na medo e A MER ETE 5 Typographic and iconographic COMMENT alise ade A 6 Preliinar npe pia Oe d scar ets esent A POE Le ORS E 7 ENT IR SUMMAN AAA A A TREE 8 Si PL 8 Electricaltsate buc eee A E UE CU I eT V CE T 8 Mechanical safety trt e 9 VASE eso eiue rM RR P MEE EERE 10 Sc Meth Age ASTUCIA io cl E 11 3 1 AM36 encumbrance SiS raras 11 3 2 AMC36 NCU IMO FANCE SIZES ct en tee lect csset ltrices rome i 11 3 3 Solid shaft encoders AM36 model sssncencntictccttnccactatcsccsccssssssssssssssssssssstttt snsssiis 12 3 4 Hollow shaft encoder AMC36 model nasa 13 A ETA exe OTT CETOTIS meee Deer maniera i e e tet te Nt tb D Mt ree NCR ere IS 14 CN EURO PP 14 4 2 Cable specifications iiine bosses circo tede rho ento cente etate Reda 14 43 NDA 14 4A Zerosetting PESA A ida 15 4 5 Counting direction APU qi P 15 Bs VD IDEO aie adiu qe armi A lati pd aul 17 5a ssi synelira notis Hali te GAC as 17 5 2 MSB left aligned protocol e e E E 18 5 3 Recommended transmissiolmEates s t te tete p tl Le ts 19 54 Recommiended SSLIriput elreult sto RUD IgE aaa ease ME 19 A A ut Lt Du d en er E 20 SAMOM meme cr D EM EP EDEN NR EER OOOO ore Oe 20 5 2 Conimunieabloria a ee LI D LM eI ES t Lu M Ed D M o do 20 6
4. ISB MAN AMx36 SSI I7 E 1 0 odt 18 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 5 3 Recommended transmission rates The SSI interface has a frequency of data transmission ranging between 100 kHz and 3 MHz 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 e lt lt 50m m lt 400 kHz 300 kHz 200 kHz 100 kHz The time interval between two Clock sequence transmissions must be at least 12 us Tp gt 12 ps Clock Tp 5 4 Recommended SSI input circuit ENCODER SSI BISS ypriven MASTER DATA VDriver_enc o CLOCK CLOCK MAN AMx36 SSI 17 E 1 0 0dt 19 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 6 BiSS C mode interface Order code AMx36xx xxxx l7 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 The device is designed to work in a point to point configuration and has to be installed in a single Master single Slave network CLOCK IN MA and DATA OUT SLO signal levels are according to the EIA standard RS 422 WARNING Never install the encoder in a single Master mul
5. flexible coupling are respected unit with hollow shaft the encoder can be mounted directly on a shaft whose diameter has to respect the technical characteristics specified in the purchase order and clamped by means of the collar and the fixing plate into which an anti rotation pin has to be inserted MAN AMx36 SSI I7 E 1 0 odt 9 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 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 For any information on the technical characteristics of the product refer to the technical catalogue mechanical and electrical characteristics different from standard and be supplied with additional documentation for special connections Technical Info Warning encoders having order code ending with Sxxx may have MAN AMx36 SSI I7 E 1 0 odt 10 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 3 Mounting instructions WARNING 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 12 520 5 3 2 AMC36 encumbrance sizes MAN AMx36 SSI 17 E 1 0 0dt 11 www lika it www lika biz
6. for setting parameters are accompanied by examples to clarify the explanation Preliminary information This guide is designed to provide the most complete and exhaustive information the operator needs to correctly and safely install and operate the AM36 and AMC36 series absolute encoders To make it easier to read and understand the text this guide can be divided into three main sections In the first section some general information concerning the safety the mechanical 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 information is given on the SSI interface In the third section entitled BISS C mode interface both general and specific information is given on the BiSS C mode interface In this section the parameters implemented in the unit are fully described e li Ka AMx36 SSI amp BiSS C 1 Safety summary 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 device must 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 seri
7. is switched high The clock signal has a typical logic level of 5V the same as the output signal which has customarily a logic 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 to logic level low 0 and follow the data word This protocol can be used in encoders having any resolution The number of clocks to be sent to the encoder must equal the number of data bits at least anyway it can be higher as stated previously The great advantage of this protocol over the TREE format or the LSB RIGHT ALIGNED format is that data can be transmitted with a minimum time loss and Tm monoflop time can immediately follow the data bits without any additional clock signal The length of the word is variable according to the resolution as shown in the following table Model Length of the word Mae amer at information AMx3616 4096 28 bits 268 425 456 AMx3619 4096 31 bits 2 147 483 648 The output code can be GRAY or BINARY see the order code Structure of the position information AMx3616 4096 AMx3619 4096 Loss EA ow pt value MSB
8. 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 AO h 100 000 10 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 Preset value at the same time you must use the Save parameters and activate Preset function in the Command register set 02 in the Command register ADDR DATA Tx Setting the Enable preset bit of the Configuration aud register Writing in the Preset register Save parameters on EEPROM function in the Command register Save parameters and activate Preset function in the Command register MAN AMx36 SSI 17 E 1 0 0dt 30 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C WARNING After having set the new counting direction or changed either the number of information per revolution or the number of revolutions it is necessary to set also a new preset f you set a new singleturn or multiturn resolution and a new preset value at the same time and then use the Save parameters and activate Preset function in order to activate the preset please consider 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 describe
9. ttttttttttnnntnnnne tret ttt ttt ttttsntononrt ttt ttt ttt ttt ttt 32 7s Default parameters I8 Eee eec pedea can tien tina spuma sema buau D MN AU A eee satay 33 Subject Index C COM 24 A A II ede 25 Counting ETE GELO ueno eoa 26 ESO USA 22 e seg D DATA 22 Device IDa ES ERU S UN DONT IUE WISIS 31 Devise PUDE eine ARR OS 31 E Enable DIOS esu Da ERE en 25 ENO a a aiaa 21 l nformation per FevoliEIOTI ese erc 27 L Load and save default parameters 24 N N of bits used for multiturn resolution 31 N of bits used for singleturn resolution 31 Normal operational Stalg sce cease 24 Number of TeVolutlDR See ERR ne 28 0 A NE NE NI cun NUN 26 P POS Minsa restet adea det etd de pau 21 A em Mead DURAS Dus DM d 29 Profe Mee no at Gotta ae ute tue 24 R REYIStE address 22 A E NETS 22 S Save parameters and activate Preset 24 Save parameters on EEPROM sss 24 Se al MUMDCK dis 24 W WOU UII O e IN Met LEE 21 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 e parameters and objects both of Lika device and interface are coloured in ORANGE alarms are coloured in RED States are coloured in FUCSIA When scrolling through the text some icons can be found on the side of the page they are expressly designe
10. 0 when you need to read from 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 the register transmitted by the Master to the Slave When you need to read from a register RW 10 it shows the value read in the register transmitted by the Slave to the Master It is 8 bit long Data bit structure bt 7 m w 0 P MB gt 1588 MAN AMx36 SSI I7 E 1 0 odt 22 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C CRC Correct transmission control inverted output Cyclical Redundancy Checking is an error checking which is the result of a Redundancy Checking calculation performed on the message contents This is intended to check whether transmission has been performed properly It is 4 bit long Polynomial X X 1 binary 10011 Logic circuit x Input Data starts from MSB 6 5 Implemented registers All registers described in this section are listed as follows Function name Address Attribute Description of the function and specification of the default value Address the register address is expressed in hexadecimal notation Attribute ro read only rw read and write wo write only Default parameter value is written in bold MAN AMx36 SSI I7 E 1 0 odt 23 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C Profile ID 42 43 ro These registers contain the identifica
11. 3 Single Cyele Data SCD e ee e ete ettet ete te lees 21 so OCD S dU uU I iS E ERE 21 PON T P A 9 e C Pa o 21 Ef Ola etudes tdeo t m De ca E M AO C alata te M sofa des 21 rcrum eO RU 21 B P Y M cheba 22 GA COMPO Da Ca UP M 22 ReGister ADOTESS adan ut bed aed e oido 22 A Ern O 22 A aaa SG 22 eel 23 6 5 Implemented EOI rr S 23 E 24 A A A 24 Command E 24 Normal operational Siteneinsninnt detta e sco ocu od c d D 24 Save parameters on EEPROIVI uses am nU aga tea RR dede ce esa ee utut 24 Save parameters and activate POSE aea eene oe dioec nein ust eee ae 24 Load and saveidefault pala Tet GEB dace ame tenentis tes tonos eee taf 24 ROBIE IL VOI ERR Tr Tr EPIRI t 25 Enable E ETT 25 CUTE X OOo cas Qoia uana da uda uda uu tua etu ct m Ec EtS E 26 COUTO CUT FS GU Teese A ARA UU Nae e e TIA 26 MOFA per tevol gt IOP ssec ada 27 ber revoltos ae i e e ut en EL iude 28 PRESO barna dace EEE 29 O Mop LAC CENE 31 N of bits used Tor singleturn resa ul TIONG ac iae A led dar dicia tede Rs 31 N of Bits used for multiturn resollbiOl0455522 5 aiii 31 Device D EAEE ES EEAS tulis chuc E D E A EE E 31 PaaS CAPT PID em v 32 6 6 Application NOES santas o e la 32 6 7 Recommended BiSS input circuit sentent
12. E 1 0 0dt 26 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C CONFIGURATION SETTING EXAMPLE You need to set the following parameters next to the Configuration register Enable preset enable 0 Output code Binary 1 Counting direction CCW 1 Thus you will have as follows Bit O 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 E Bit 8 Counting direction CCW zT Bit 7 non usato Therefore you must set 60h 01100000 1 Enter the value 60h 01100000 next to this Configuration register 2 Save the value by using the Save parameters on EEPROM function in the Command register set 01 in the Command register ADDR DATA Tx Writing in the Configuration 49 register Save parameters on EEPROM function in the Command register Information per revolution 4B 4D rw These registers allow to enter the number of information per revolution singleturn resolution You are allowed to enter any integer value which is the power of 2 1 2 4 2048 4096 and is less than or equal to the number of physical information per revolution default value Values which are not the power of 2 cannot be accepted If you set a value greater than the maximum allowed value then the parameter is forced to the default value The setting in the Information per revolution registers will be active immediately after trans
13. User s guide AM36 AMC36 E INTERFACE li a Smart encoders amp actuators This publication was produced by Lika Electronic s r l 2014 All rights reserved Tutti i diritti riservati Alle Rechte vorbehalten Todos los derechos reservados Tous droits r serv s 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 Translation reproduction and total or partial modification photostat copies film and microfilm included and any other means are forbidden without written authorisation of Lika Electronic s r l The information 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 I s website Lika Electronic s r l assumes no responsibility for any errors or omissions in this document Critical evaluation of this manual by the user is welcomed Your comments assist us in preparation of future documentation in order to make it as clear and complete as possible Please send an e mail to the following address info glika it for submitting your General contents WPS RS
14. VDC Zero setting Preset must be set after Counting direction We suggest setting the zero setting preset function when the encoder shaft is not running If not used connect the Zero setting Preset input to OVDC WARNING In the BiSS C interface model the Zero setting Preset input is active only when the Enable preset software function in the Configuration register is enabled the bit 2 in the register 49 0 see on page 25 otherwise the hardware function is disabled NOTE In the BiSS C interface model the preset can be activated also by using the Save parameters and activate Preset function of the Command register For detailed information please refer to the Command register on page 24 the Configuration register on page 25 and the Preset registers on page 29 4 5 Counting direction input It is also known as Complementary input The Counting direction input allows to set whether the position value output by the encoder increases when the encoder shaft rotates clockwise CW or counterclockwise CCW If the Counting direction input is connected to OVDC the position value increases when the encoder shaft rotates clockwise on the contrary if the Counting direction input is connected to VDC the position value increases when the encoder shaft rotates counterclockwise CW and CCW rotations are viewed from shaft end If not used connect the Counting direction input to OVDC WARNING In the BiSS interface the counting direction can
15. aptable to the clock 10 us max 6 7 Recommended BiSS input circuit ENCODER SSI BISS MASTER DATA CLOCK MAN AMx36 SSI I7 E 1 0 odt 32 www lika it www lika biz li a AMx36 SSI amp BiSS C 7 Default parameters list BiSS C mode interface Parameters list Default value Command 00 Configuration 20 Bit O not used 0 Bit 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 2 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 17 E 1 0 odt 33 www lika it www lika biz This page intentionally left blank This page intentionally left blank This device is to be supplied by a Class 2 Circuit or Low Voltage Limited Energy or Energy Source not exceeding 30 VDC Refer to the ordering code for supply voltage rate Dispose separately s lixa Lika Electronic Via S Lorenzo 25 36010 Carr VI Italy Tel 39 0445 806600 Fax 39 0445 806699 Italy eMail info lika it www lika it World eMail info lika biz www lika biz
16. ault parameters are uploaded and activated All parameters which have been set previously are overwritten thus previously set values are lost The complete list MAN AMx36 SSI I7 E 1 0 0dt 24 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C of machine data and the relevant default parameters preset by Lika Electronic engineers are available on page 33 Set 04 in the register WARNING As soon as the Load and save default parameters command is sent all parameters which have been set previously are 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 EPROM 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 value permanently set 01 in the register 48 Command Default 20h 00100000 po Noted 1 Notused o O Enable preset Enable Disable pu po 3 Notused E MR AAA Counting direction Cw CCW 7 Ntued Enable preset It enables disables the preset function When you need to enter a new preset value you have first to enable the Preset registers To do this set to 1 the bit 2 Enable preset in this register then enter the wished preset value next to the Preset regis
17. be set also via software by setting the bit 6 Counting direction in the register 49 Configuration The Counting direction parameter implies that the Counting direction input is set to OVDC 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 OVDC 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 Counting direction input has HIGH logic level VDC the encoder will MAN AMx36 SSI I7 E 1 0 odt 15 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C provide the increasing count when the shaft is turning counter clockwise and the decreasing count when the shaft is turning clockwise When the option CCW is set Counting direction 1 CCW if the Counting direction input has LOW logic level OVDC the encoder will provide the increasing count when the shaft is turning counter clockwise and the decreasing count when the shaft is turning clockwise on the contrary if the Counting direction input has HIGH logic level VDC the encoder will provide the increasing count when the shaft is turning clockwise and the decreasing count when the shaft is turning counter clockwise WARNING After having changed the counting direction you are required to set a new zero Preset
18. d to highlight the parts of the text which are of great interest and significance for the user Sometimes they are used to warn against dangers or potential sources of danger arising from 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 performance of the device In this guide the following symbols are used This icon followed by the word WARNING is meant 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 icon followed by the word NOTE is meant to highlight the parts of the text where important notes needful for a correct and reliable use of the device can be found User must pay attention to them Failure to comply with instructions could cause the equipment to be set wrongly hence a faulty and improper working of the device could be the consequence This icon is meant to highlight the parts of the text where suggestions useful for making it easier to set the device and optimize performance and reliability can be found Sometimes this symbol is followed by the word EXAMPLE when instructions
19. 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 through the Save parameters and activate Preset function of the Command register or through the Zero setting Preset input signal see the section 4 4 Zero setting Preset input on page 15 After having entered a value next to the Preset registers you can either save it without activating the preset function or both save and activate it at the same time Use the Save parameters on EEPROM function set O1 in the Command register to save the new Preset value without activating it Use the Save parameters and activate Preset function set 02 in the Command register to both save and activate the new Preset value The Preset value you are allowed to enter depends on the overall set resolution and must be less than or equal to Information per revolution Number of revolutions 1 Default 00 00 00 00 00h Min value 00 00 00 00 00h Max value OF FF FF FF FFh NOTE We suggest setting the preset when the encoder shaft is in stop MAN AMx36 SSI I7 E 1 0 odt 29 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C Preset register structure PRESET SETTING EXAMPLE You want to set the following Preset value 01 86 AOh 100 000 1 First of all you must enable the setting of
20. henever possible avoid cables runs longer than necessary avoid running the signal cable near high voltage power cables mount the device as far as possible from any capacitive or inductive noise source shield the device from noise source if needed to guarantee a correct working of the device avoid using strong magnets on or near by the unit minimize noise by connecting the shield and or the connector housing and or the frame 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 minimize the interference must be carried out by the user MAN AMx36 SSI I7 E 1 0 odt 8 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C Mechanical safety Install the device following strictly the information in the section 3 Mounting instructions mechanical installation has to be carried out with stationary mechanical parts do not disassemble the encoder donot tool the encoder or its shaft delicate electronic equipment handle with care do not subject the device and the shaft to knocks 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
21. imal value 00 OOh is intended to set the maximum number of revolutions you are allowed to enter that is 65 536 revolutions the hexadecimal values comprised between 00 O1h and FF FFh set the number of revolutions between 1 and 65 535 revolutions Thus 00 00h 65 536 revolutions 00 01h 1 revolution 00 02h 2 revolutions 07 DOh 2 000 revolutions 08 00h 2 048 revolutions FF FFh 65 535 revolutions WARNING After having entered a new value next to the Number of revolutions registers the system zero sets the preset thus you need to set it again if required MAN AMx36 SSI I7 E 1 0 odt 28 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C WARNING When the number of revolutions you set is greater than 4 096 10 00h if the encoder is turned off you are forbidden from turning the shaft more than 2 047 revolutions in either clockwise or counter clockwise directions Should this happen the absolute position information will be lost Preset 50 54 rw WARNING You are allowed to enter a value next to the Preset registers only if the Enable preset bit in the Configuration register is set to 1 These registers allow the operator to set the Preset value Preset function is meant to assign a certain value to a desired physical position of the encoder The chosen physical position i e the transmitted position value will get the value set next to these registers and all the previous and following positions will
22. mission Use the Save parameters on EEPROM function to store the new value permanently set 01 in the register 48 Command You can see the number of bits used for the current singleturn resolution at the register 56 N of bits used for singleturn resolution MAN AMx36 SSI I7 E 1 0 odt 27 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C Default 10 00 00h 1 048 576 cpr 20 bits Min value 00 00 O1h Max value 10 00 00h WARNING After having entered a new value next to the Information per revolution registers the system zero sets the preset thus you need to set it again if required Number of revolutions 4E 4F rw These registers allow to enter the desired number of revolutions multiturn resolution You are allowed to enter any value which is less than or equal to the 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 Number of revolutions registers will be active immediately after transmission Use the Save parameters on EEPROM function to store the new value permanently set 01 in the register 48 Command You can see the number of bits used for the current multiturn resolution at the register 57 N of bits used for multiturn resolution Min value 00 01h 21 revolution Max value not power of 2 FF FFh 265 535 revolutions Max value 00 00h 265 536 revolutions 16 bits Default WARNING The hexadec
23. n Data OUT 6 Orange Zero setting Preset 7 White Counting direction 8 Grey Shield Case Shield 4 1 M12 connector M12 8 pin connector A coding Male frontal side 4 2 Cable specifications Model LIKA HI FLEX SENSOR CABLE M8 type cable Wires 6x0 14 mm 2x 022 mm 26 24 AWG Shield tinned copper braid External diameter 5 3mm 5 6mm Impedance 148 Q km 0 14 mm 90 Q km 0 22 mm Minimum bend radius Mx 7 5 4 3 GND connection Minimize noise by connecting the shield and or the connector housing and or the frame 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 minimize the interference must be carried out by the user MAN AMx36 SSI I7 E 1 0 odt 14 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 4 4 Zero setting Preset input The output position information at a point in the shaft rotation can be set either to O SSI interface or to a desired value called preset BiSS C interface the preset value has to be set next to the registers Preset see on page 29 The Zero setting Preset input allows the operator to activate the zero setting preset function by using an input signal sent by a PIC or other controller To activate the zero setting preset function connect the Zero setting Preset input to VDC for 100 ys at least then disconnect VDC normally voltage must be at O
24. nagement Data transmission is carried out as follows At the first falling edge of the clock signal 1 the logic level changes from high to low the absolute position value is stored while at the following rising edge 2 the transmission of data information begins starting from the MSB 1 2 3 4 z T LIM CLOCK e DATA MSB LSB jon E O Ed DLL XO EA MAN AMx36 SSI 17 E 1 0 0dt 17 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 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 for instance a 13 bit encoder needs 14 clock edges If the number of clocks is greater than the number of bits of the data word then the system will send a zero low logic level signal at each additional clock zeros will either lead LSB ALIGNED protocol or follow MSB ALIGNED protocol or lead and or follow TREE FORMAT protocol the data word After the period Tm monoflop time having a typical duration of 12 usec calculated from the end of the clock signal transmission the encoder is then ready for the next transmission and therefore the data signal
25. ous personal and or the environment damage high current voltage and moving mechanical parts can cause serious or fatal injury warning Do not use in explosive or flammable areas failure to comply with these precautions or with specific warnings elsewhere in this manual violates safety standards of design manufacture and intended use of the equipment Lika Electronic s r l assumes no liability for the customer s failure to comply with these requirements Electrical safety Turn off power supply before connecting the device connect according to explanation in section 4 Electrical connections if not used connect Zero setting Preset and Counting direction inputs to OVDC to set the zero preset connect Zero setting Preset input to VDC for 100 us at least then disconnect VDC normally voltage must be at OVDC 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 OVDC CCW increasing count connect to VDC in compliance with the 2004 108 EC norm on electromagnetic compatibility following precautions must be taken Y 4 before handling and installing discharge electrical charge from your body and tools which may come in touch with the device power supply must be stabilized without noise install EMC filters on device power supply if needed always use shielded cables twisted pair cables w
26. s the type of device Default 02h multiturn rotary encoder with BiSS C interface AMx36xx 4096 17 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 Information per revolution parameter registers 4B 4D Default 14h 20 bits N of bits used for multiturn resolution 57 ro This register shows the number of bits used for the current multiturn resolution as set next to the Number of revolutions parameter registers 4E 4F Default 10h 16 bits Device ID 78 7D ro These registers contain the Device ID Refer also to the order code Identification name is expressed in hexadecimal ASCII code ASCH ALAN M LOL OI X To Registers 78 79 encoder model AM AMx36 model Registers 7A 7B interface I7 BiSS C interface Register 7C enclosure 2 36 mm diameter enclosure Register 7D software version see the example MAN AMx36 SSI I7 E 1 0 odt 31 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 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 ASCII pu p Li Lika Electronic 6 6 Application notes Data transmission Clock Frequency min 200KHz max 10MHz Self ad
27. sition value Position 1 error bit nE Error 1 warning bit nW Warning and a 6 bit CRC Cyclical Redundancy Checking CRC bit 433 8 7 6 5 0 function Position Error Warning CRC Position It is the process data transmitted by the Slave to the Master It has a variable length according to the resolution of the encoder and is 36 bit long at the most The transmission starts with MSB most significant bit and ends with LSB less significant bit bit 43 8 O ds LSB value MSB Error Not used nE 1 It is 1 bit long Warning Not used nW 1 It is 1 bit long MAN AMx36 SSI I7 E 1 0 odt 21 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C CRC Correct transmission control inverted output Cyclical Redundancy Checking is an error checking which is the result of a Redundancy Checking calculation performed on the message contents This is intended to check whether transmission has been performed properly It is 6 bit long Polynomial X X 1 binary 100001 1 Logic circuit Input Data starts from MSB 6 4 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 what 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 1
28. ters and finally send the Save parameters and activate Preset command set 02 in the register 48 to confirm the changes and activate the preset For detailed information refer to the Preset parameter on page 29 Default 0 Enable NOTE You can set the preset also by means of a signal from a PLC or a controller through the Zero setting Preset input see the section 4 4 Zero setting Preset input on page 15 MAN AMx36 SSI I7 E 1 0 0dt 25 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C Output code The encoder provides the absolute position information in the desired code format GRAY 0 or BINARY 1 Default 1 Binary Counting direction It allows to set whether the position information output by the encoder increases when the shaft rotates clockwise or counter clockwise Clockwise and counter clockwise rotations are viewed from the shaft It is possible to choose the following options 0 CW and 1 CCW When the counting direction is set to CW Counting direction 0 CW the encoder will provide the increasing count when it turns clockwise on the contrary when the counting direction Is set to CCW Counting direction 1 CCW the encoder will provide the increasing count when it turns counter clockwise Default 0 CW WARNING The counting direction can be set also via hardware see the Counting direction input section 4 5 Counting direction input on page 15 If not used the Counting direction inp
29. ti Slave network 6 1 XML file BiSS C mode encoders are supplied with a XML file idbiss4C69 xml it must be installed in your BiSS master device Download the XML file from www lika it gt Rotary encoders gt Absolute encoders gt SSI and BiSS interface 6 2 Communication The BiSS C mode protocol uses two types of data transmission protocols e Single Cycle Data SCD it is the main data transmission protocol It is used to send process data from the Slave to the Master For any information refer to the section 6 3 Single Cycle Data SCD on page 21 e Control Data CD transmission of a single bit following the SCD data It is used to read or write data into the registers of the Slave For any information refer to the section 6 4 Control Data CD on page 22 Cycle ph y CDM Ack Dusy pp v v fa a timeout E m E y vt Mum XE F EET es xt E Sat cos MsB K X isBY F1 X Fo a E ise Data SLO MT ST Data Er mirig CRC i la g Latch SGD z 48420004 eee n ii toye al Clock MA MAN AMx36 SSI 17 E 1 0 odt 20 www lika it www lika biz e li Ka AMx36 SSI amp BiSS C 6 3 Single Cycle Data SCD SCD structure is different according to the resolution of the AMx36 model encoders 6 3 1 SCD structure SCD data 44 bit long at the most has variable length according to the resolution of the encoder It consists of the following elements po
30. tion code of the used profile AMx36 op o See Standard encoder profile data format Variant 0 24 Serial number 44 47 ro These registers contain the serial number of the device expressed in hexadecimal notation Register 44 year of production Register 45 week of production Registers 46 and 47 serial number in ascending order Command 48 wo Value Function Normal operational state Save parameters on EEPROM Save parameters and activate Preset Load and save default parameters After having set a new value in some register use the Save parameters on EEPROM function in this register to store it Set 01 in the Command register After having set a new value in some register and a Preset value use the Save parameters and activate Preset function in this register to store the values and activate the preset at the same time Set 02 in the Command register WARNING If you set a new singleturn or multiturn resolution and a new preset value at the same time and then use this Save parameters and activate Preset function in order to activate the preset please consider that the system stores the new resolution values but zero sets the preset value Thus you need to enter it again Load and save default parameters default parameters are set at the factory by Lika Electronic engineers to allow the operator to run the device for standard operation in a safe mode As soon as the command is sent the def
31. ut must be connected to OVDC The Counting direction parameter implies that the Counting direction input is set to OVDC 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 OVDC 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 Counting direction input has HIGH logic level VDC the encoder will provide the increasing count when the shaft is turning counter clockwise and the decreasing count when the shaft is turning clockwise When the option CCW is set Counting direction 1 CCW if the Counting direction input has LOW logic level OVDC the encoder will provide the increasing count when the shaft is turning counter clockwise and the decreasing count when the shaft is turning clockwise on the contrary if the Counting direction input has HIGH logic level VDC the encoder will provide the increasing count when the shaft is turning clockwise and the decreasing count when the shaft is turning counter clockwise For any information on the electrical connection of the Counting direction input refer to the section 4 5 Counting direction input on page 15 WARNING After having set the new counting direction it is necessary to set also a new preset MAN AMx36 SSI 17
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