For more information, please visit the product page. date 10/13/2015 page 1 of 10 SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER FEATURES • • • • • • • • • • patented capacitive ASIC technology low power consumption U, V, W commutation phase channels 2, 4, 6, 8, 10, 12, 20 motor poles w/ incremental resolutions up to 4096 PPR resolutions and poles programmable with AMT Viewpoint™ PC software differential line driver versions digitally set zero position with AMT One Touch Zero™ module or serial commands compact modular package with locking hub for ease of installation radial and axial cable connections -40~105°C operating temperature ELECTRICAL parameter conditions/description min power supply VDD 4.5 start up time current consumption with unloaded output VDD-0.1 single ended channels output high level output low level output current (per channel) rise/fall time output high level output low level output current (per channel) rise/fall time 3 differential RS-422 channels typ max 5 5.5 units V 200 ms 16 mA 8 0.1 15 7 11 0.1 20 20 min typ max V V mA ns V V mA ns units INCREMENTAL CHARACTERISTICS parameter conditions/description waveform CMOS voltage square wave phase difference A leads B for CCW rotation (viewed from front) quadrature resolutions1 48, 96, 100, 125, 192, 200, 250, 256, 384, 400, 500, 512, 768, 800, 1000, 1024, 1600, 2000, 2048, 4096 index2 one pulse per 360 degree rotation 90 degrees PPR accuracy 0.2 degrees quadrature duty cycle 50 % COMMUTATION CHARACTERISTICS parameter conditions/description channels CMOS Voltage (S) Quadrature Line Driver (Q) Commutation Line Driver (C) Line Driver (D) min A, A, A, A, motor poles3 2, 4, 6, 8, 10, 12, 20 waveform CMOS voltage square wave phase difference WYE motor winding configurations 2 Notes: B, ¯ A, B, ¯ A, Z, B, Z, B, U, ¯ B, U, ¯ B, typ units V, W ¯ U, V, W Z, Z, ¯ V, V, ¯ W, W ¯ U, ¯ U, U, ¯ V, ¯ ¯ Z, Z, V, W, W 120 1. Resolutions programmed with AMT Viewpoint™ PC software. Default resolution set to 2048 PPR. 2. Zero position alignment set with AMT One Touch Zero™ module, AMT Viewpoint™ PC software, or serial commands 3. Pole counts and waveform direction set via AMT Viewpoint™ PC software. Default poles set to 4 poles and counter-clockwise direction. cui.com max electrical degrees For more information, please visit the product page. CUI Inc │ SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER date 10/13/2015 │ page 2 of 10 MECHANICAL parameter conditions/description min motor shaft length typ max 9 weight mm weight varies by configuration 15.7 g axial play rotational speed (at each resolution) units ±0.3 mm 48, 96, 100, 125, 192, 200, 250, 256, 384, 400, 500, 512, 800, 1000, 1024, 2048 8000 RPM 768, 1600, 2000, 4096 4000 RPM max units 105 °C 85 % ENVIRONMENTAL parameter conditions/description min operating temperature1 typ -40 humidity non-condensing vibration 10~500 Hz, 5 minute sweep, 2 hours on each XYZ shock 3 pulses, 6 ms, 3 on each XYZ RoHS 5 G 200 G max units 2011/65/EU Note: 1. Encoders with operating temperature of -40~125°C are available as a custom order SERIAL INTERFACE parameter conditions/description min protocol serial UART controller driven by onboard Microchip PIC18F25K80. See Microchip documentation for additional details. data rate 8 data bits, no parity, 1 stop bit, least significant bit first typ 115200 baud WAVEFORMS Figure 1 Quadrature signals with index showing counter-clockwise rotation Figure 2 Commutation signals with index (The programmable direction setting dictates in which direction of rotation U will lead V, and V will lead W) I Z Z U A I S S S S S S T B P S S S V S P C W T The following parameters are defined by the resolution selected for each encoder, where R = resolution. The following parameters are defined by the resolution and pole count selected for each encoder, where R = resolution and M = pole. Parameter Description Expression Units Parameter Description Expression Units T period 360/R mechanical degrees T period 720/M mechanical degrees P pulse width T/2 mechanical degrees P pulse width T/2 mechanical degrees I index width P/2 mechanical degrees I index width 90/R mechanical degrees S A/B state width P/2 mechanical degrees S U/V/W state width 60 electrical degrees T/6 mechanical degrees C phase spacing cui.com 120 electrical degrees T/3 mechanical degrees For more information, please visit the product page. CUI Inc │ SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER date 10/13/2015 │ page 3 of 10 PART NUMBER KEY For customers that prefer a specific AMT31 configuration, please reference the custom configuration key below. AMT31XX - XXXX - XXXX - XX - XX - X Mounting Base: S = Standard W= Wide Base Number Orientation: 2 = Radial 3 = Axial Output Signals: S = CMOS Voltage Q = Quadrature Line Driver C* = Commutation Line Driver D* = Line Driver *Radial orientation only. Quadrature Resolution (PPR): 0500 0048 0512 0096 0768 0100 0800 0125 1000 0192 1024 0200 1600 0250 2000 0256 2048 0384 4096 0400 Motor Poles: 0210 0412 0620 08 Sleeve Bore Diameter: 2000 = 2 mm 3000 = 3 mm 3175 = 3.175 mm (1/8”) 4000 = 4 mm 4760 = 4.76 mm (3/16”) 5000 = 5 mm 6000 = 6 mm 6350 = 6.35 mm (1/4”) 8000 = 8 mm SKIT = 8 sleeve kit Direction: “blank” = CCW CW = clockwise AMT31-V KITS In order to provide maximum flexibility for our customers, the AMT31 series is provided in kit form standard. This allows the user to implement the encoder into a range of applications using one sku#, reducing engineering and inventory costs. SLEEVES ORDERING GUIDE AMT31XX-V Orientation: 2 = Radial 3 = Axial Output Signals: S = CMOS Voltage Q = Quadrature Line Driver C* = Commutation Line Driver D* = Line Driver 2mm 3mm 1/8 inch (3.175mm) 4mm 3/16 inch (4.76mm) 5mm 6mm 1/4 inch (6.35mm) 8mm Light Sky Blue Orange Purple Gray Yellow Green Red Snow Blue BASE WIDE BASE *Radial orientation only. cui.com TOP COVER SHAFT ADAPTER TOOL A TOOL C For more information, please visit the product page. CUI Inc │ SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER date 10/13/2015 │ page 4 of 10 ENCODER INTERFACE PINOUT CONNECTOR Function # AMT312S AMT312Q AMT312C AMT312D AMT313S AMT313Q 1 TX_ENC+ TX_ENC+ TX_ENC+ TX_ENC+ RX_ENC+ RX_ENC+ 2 RX_ENC+ RX_ENC+ RX_ENC+ RX_ENC+ TX_ENC+ TX_ENC+ 3 U+ U+ U+ U+ U+ U+ 4 GND1 GND1 GND1 GND1 GND1 GND1 5 W+ W+ W+ W+ W+ W+ 6 +5 V +5 V +5 V +5 V +5 V +5 V 7 V+ V+ V+ V+ V+ V+ 8 B+ B+ B+ B+ B+ B+ 9 N/A B- N/A B- N/A B- 10 A+ A+ A+ A+ A+ A+ 11 N/A A- N/A A- N/A A- 12 Z+ Z+ Z+ Z+ Z+ Z+ 13 N/A Z- N/A Z- N/A Z- 14 MCLRB MCLRB MCLRB MCLRB MCLRB MCLRB 15 N/A N/A W- W- N/A N/A 16 N/A N/A V- V- N/A N/A 17 N/A N/A U- U- N/A N/A Note: 1. Connect encoder GND to motor chassis as closely as possible. For additional grounding techniques contact CUI Application Support. AMT312S, AMT312Q, AMT312C & AMT312D AMT313S & AMT313Q A A B 17 15 13 11 9 16 14 12 10 8 7 5 6 3 4 13 11 9 1 2 7 5 3 1 14 12 10 8 6 4 2 SECTION A-A DETAIL B SCALE 4 : 1 SCALE 4 : 1 Mating Connector: JAE FI-W17S Mating Connector: Samtec ISDF-07-D-L cui.com For more information, please visit the product page. CUI Inc │ SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER date 10/13/2015 │ page 5 of 10 MECHANICAL DRAWING AMT312S, AMT312Q, AMT312C & AMT312D units: mm tolerance: ±0.1 10.34 0.407 R15.49 0.610 15.30 0.602 15.33 0.604 37.25 1.467 28.58 1.125 10.34 0.407 AMT313S & AMT313Q units: mm tolerance: ±0.1 10.34 0.407 R15.49 0.610 15.30 0.602 15.33 0.604 37.39 1.472 10.93 0.430 28.58 1.125 cui.com For more information, please visit the product page. CUI Inc │ SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER date 10/13/2015 │ page 6 of 10 MECHANICAL DRAWING (CONTINUED) MOUNTING HOLE PATTERNS STANDARD BASE units: mm[inch] tolerance: ±0.1 22.00 0.866 21.55 0.848 20.90 0.823 R1.05 0.041 12.60[0.496] DETAIL A SCALE 4 : 1 2.00 0.079 (4 PLCS) 2.95 0.116 (2 PLCS) 16.00 0.630 0.275 0.011 A (3 PLCS) 1.70 0.067 (2 PLCS) 19.05 0.750 25.40 1.000 WIDE BASE units: mm[inch] tolerance: ±0.1 32.44 1.277 3.00 0.118 (2 PLCS) 2.87 0.113 (2 PLCS) 46.20 1.819 cui.com For more information, please visit the product page. CUI Inc │ SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER date 10/13/2015 │ page 7 of 10 ASSEMBLY PROCEDURE STEP 1 STEP 2 STEP 3 Align Tool C with flange on Base 1. Insert Tool A as a spacer that defines the distance to the mounting surface. 2. Slide appropriate sized Sleeve over shaft all the way down to Tool A. 3. Slide Shaft Adaptor over Sleeve. 4. Use Tool C to press Shaft Adaptor over Sleeve (ensure Shaft Adapter and Tool C spline alignment) until flush with Tool A. STEP 4 1. Remove Tools A and C. 2. Place Base on motor, with Tool C used as a centering tool. STEP 5 STEP 6 1. Snap the Top Cover onto the Base, carefully observing that the teeth of the Shaft Adaptor align with the grooves in the hub. * 1. Fasten the Base on the motor (Tool C may need to be rotated to allow for some mounting configurations). 2. Remove Tool C. 1. Align Tool C with flange on Base. 2. Slide Base and Tool C onto motor, centering onto the Shaft Adapter. * We recommend no more than three cycles of mounting and removal of the AMT top cover base. Multiple cycles of mounting and removing the top cover can cause base fatigue over time and affect encoder performance. cui.com 1. Make sure the snaps are fully engaged by pressing on the Hub with the reverse side of Tool C. 2. When assembly is finished, the Shaft Adaptor, Sleeve and Rotor Hub should all be flush with the Motor Shaft rotating freely. For more information, please visit the product page. CUI Inc │ SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER date 10/13/2015 │ page 8 of 10 APPLICATION NOTES SERIAL INTERFACE The AMT31 series encoder is designed to operate with a serial UART interface. This interface allows the encoder to be configured and programmed by the AMT Viewpoint™ application. Along with programming, the AMT Viewpoint™ application uses the serial interface for diagnostics and motor pole alignment. Below are instructions on how to use the serial interface for position zeroing. Table 1 Serial Commands Command Action Use 0 This command sends an ascii ‘0’ (hex value 0x30). This zeros the encoder and sets the index at the current angular position along with the rising edge of the commutation channel U. This position is stored in non-volatile memory and will remain present until a zero command is set again or the encoder is reprogrammed via the AMT Viewpoint™ application. Q This command sends an ascii ‘Q’ (hex value 0x51). This command restarts the encoder as if it were power cycled. Table 2 Serial Pins Pin Description Connection TX_ENC+ This is the pin that the encoder transmits serial data on. Connect this pin to the receiver input of your serial/UART interface. RX_ENC+ This is the pin that the encoder receives serial commands on. Connect this pin to your serial/UART interface transmitter output. This pin is used to force the encoder into reset for reprogramming via the AMT Viewpoint™ application. Connection of this pin is not required for the above serial commands. MCLRB The serial interface operates at 115200 baud with 8 data bits, no parity, and 1 stop bit, and 1 start bit. This is the standard UART protocol. Data lines TX_ENC+ and RX_ENC+ are high when inactive. Figure 3 Serial Timing Diagram RX_ENC+ Start 0 1 2 3 4 5 6 7 Stop Command: 0 (hex: 0x30, binary: 0b00001100) TX_ENC+ Start 0 1 2 3 4 5 6 Response: \r (hex: 0x0d, binary: 0b10110000) cui.com 7 Stop For more information, please visit the product page. CUI Inc │ SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER date 10/13/2015 │ page 9 of 10 APPLICATION NOTES (CONTINUED) COMMUTATION ALIGNMENT AND ZERO POSITION The AMT31 series encoder requires minimal setup time for brushless DC (BLDC) motor applications. Installation can be completed with either a PC with the AMT Viewpoint™ application installed, an AMT-OTZ-1 zero alignment module, or any 5V serial interface. The following steps explain the proper commutation alignment procedure for the AMT31 encoder. 1. Ensure AMT31 encoder is set for correct pole count. To verify or change settings use the AMT Viewpoint™ software. 2. Mount encoder following AMT Assembly procedure. 3. Use the motor manufacturer’s documentation to determine the correct motor phase to energize for alignment. Energized phase will coincide with the rising edge of the AMT31 encoders ‘U’ signal. This typically means energizing phase 1 by applying positive voltage to the wire labeled ‘phase 1’, and grounding the wire labeled ‘phase 2’. The third wire always remains unconnected. 4. Using a power supply, energize the two wires found previously. This will lock the rotor into a fixed position. 5. Connect AMT31 encoder to an AMT-OTZ-1 zero alignment module, the AMT Viewpoint™ application, or any suitable 5V serial interface. 6. Use any of the connected devices to issue an alignment command to the encoder. This will digitally set the rising edge of ‘U’ and the ‘Z’ index to the current angular position. 7. Remove power from motor phase windings; connect motor and encoder to proper motor driver. 8. If the above is done correctly your AMT31 encoder is now ready for operation. As a verification of alignment you may power the encoder, and use an oscilloscope to monitor phase 1 of the motor and the ‘U’ channel of the encoder as you hand spin the motor. If alignment is correct, the square wave generated on the ‘U’ channel will overlap perfectly with the sine wave generated by phase 1 of the motor. If alignment does not match, recheck motor documentation and retry alignment procedure. cui.com For more information, please visit the product page. CUI Inc │ SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER date 10/13/2015 │ page 10 of 10 REVISION HISTORY rev. description date 1.0 initial release 09/30/2014 1.01 updated datasheet 06/25/2015 1.02 updated datasheet 10/13/2015 The revision history provided is for informational purposes only and is believed to be accurate. Headquarters 20050 SW 112th Ave. Tualatin, OR 97062 800.275.4899 Fax 503.612.2383 cui.com [email protected] CUI offers a one (1) year limited warranty. Complete warranty information is listed on our website. CUI reserves the right to make changes to the product at any time without notice. Information provided by CUI is believed to be accurate and reliable. However, no responsibility is assumed by CUI for its use, nor for any infringements of patents or other rights of third parties which may result from its use. CUI products are not authorized or warranted for use as critical components in equipment that requires an extremely high level of reliability. A critical component is any component of a life support device or system whose failure to perform can be reasonably expected to cause the failure of the life support device or system, or to affect its safety or effectiveness.