amt31 v

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date
10/13/2015
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1 of 10
SERIES: AMT31 │ DESCRIPTION: MODULAR COMMUTATION ENCODER
FEATURES
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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.
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max
electrical
degrees
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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
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120
electrical degrees
T/3
mechanical degrees
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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.
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TOP
COVER
SHAFT
ADAPTER
TOOL A
TOOL C
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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
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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
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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
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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.
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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.
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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)
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7
Stop
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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.
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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
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[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.
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