CUI AMT2030250-6000-D Modular encoder Datasheet

date
02/12/2013
page
1 of 7
SERIES: AMT203 │ DESCRIPTION: MODULAR ENCODER
FEATURES
•
•
•
•
•
•
•
•
•
12 bit (4,096 positions)
SPI communication
small size 37mm
incremental line count up to 1,024
single pulse index
capacitive ASIC technology
modular locking hub design for ease of installation
SPI adjustable settings
’One Touch’ zero position
ELECTRICAL
parameter
conditions/description
power supply
current consumption
with unloaded outputs
quadrature resolution
96, 192, 200, 250, 400, 500, 512, 1024
incremental output signals
quadrature A, B signals and index Z
incremental output waveform
TTL voltage square wave
output current
sink/source
SPI output
natural binary
SPI bus
PIC 16F690 (see datasheet)
min
typ
max
units
4.5
5
5.5
V
8
10
mA
PPR
2
mA
SPI resolution
12
bit
position accuracy
0.2
deg
max
units
8,000
RPM
max
units
125
°C
85
%
5
G
200
G
1. All resolutions stated are before quadrature decoding. (example: 1000 ppr x 4 = 4000 counts)
MECHANICAL
parameter
conditions/description
min
typ
max. rotational speed
mounting options
A) 2 each M1.6 on 16 mm (0.63”) bolt circle
B) 2 each #4 on 19.05 mm (0.75”) bolt circle
C) 2 each M1.6 or M2 on 20 mm (0.787”) bolt circle
D) 3 each M1.6 or M2 on 20.9 mm (0.823”) bolt
circle with washers in option B holes
E) 3 each M1.6 or M2 on 22 mm (0.866”) bolt circle
F) 4 each M1.6 or M2 on 25.4 mm (1”) bolt circle
ENVIRONMENTAL
parameter
conditions/description
min
operating temperature
-40
humidity
non-condensing
vibration
10 ~ 500 Hz, 5 min sweep, 2 hour each XYZ
shock
3 pulses, 6 ms, 3 each XYZ
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typ
CUI Inc │ SERIES: AMT203 │ DESCRIPTION: MODULAR ENCODER
date 02/12/2013 │ page 2 of 7
PART NUMBER KEY
The AMT203 is designed for 12 bit binary (4,096) operation. For customers who may use the optional quadrature output, one of the resolutions below may be
selected as the default quadrature output.
AMT203XXXX - XXXX - X
Base Number
Resolution(ppr):
0096
0192
0200
0250
0400
0500
0512
1024
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
Options:
“blank” = standard connector
C = locking connector
D = conformal coating with
standard connector
E = conformal coating with
locking connector
AMT203-V KIT
In order to provide maximum flexibility for our customers, the AMT203 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
8mm
1/4 inch
(6.35mm)
6mm
5mm
3/16 inch
(4.76mm)
4mm
1/8 inch
(3.175mm)
3mm
2mm
Blue
Snow
Red1
Green1
Yellow1
Gray60
Purple1
Orange
Light Sky Blue
TOOL A
BASE
TOOL C
TOP COVER
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SHAFT
ADAPTER
CUI Inc │ SERIES: AMT203 │ DESCRIPTION: MODULAR ENCODER
date 02/12/2013 │ page 3 of 7
ENCODER INTERFACE
Standard Connector Option
Locking Connector Option
PINOUT CONNECTOR 1
FUNCTION
#
SPI
14
T_Bit
13
N/A
12
X
11
N/A
10
A
9
N/A
8
B
7
MOSI
6
5 V+
5
SCK
4
GND
3
MISO
2
CSB
1
N/A
Mating Connector:
Samtec ISDF-07-D
B
13 11 9
7
5
3
1
14 12 10 8
6
4
2
DETAIL B
SCALE 4 : 1
B
13 11 9
Mating Connector:
Samtec ISDF-07-D-L
7
5
3
1
14 12 10 8
6
4
2
Demo Board Side
Encoder Side
1' 0.25"
(304.8)
Samtec
ISDF-07-D
DETAIL B
SCALE 4 : 1
Demo Board Cable
(Cable available without Demo Board Connector)
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28 AWG
10 conductor
1.27 mm pitch
CUI Inc │ SERIES: AMT203 │ DESCRIPTION: MODULAR ENCODER
date 02/12/2013 │ page 4 of 7
MECHANICAL DRAWING
10.34 0.407
R15.49 0.610
15.30 0.602
15.33 0.604
37.39 1.472
28.58 1.125
10.93 0.430
A (3 PLCS)
22.00 0.866
2.00 0.079
(4 PLCS)
21.45 0.844
R2.10 0.083
12.60 0.496
19.05 0.750
2.95 0.116
(2 PLCS)
TOLERANCE:
±0.05mm UNLESS OTHERWISE
SPECIFIED
1.70 0.067
(2 PLCS)
0.55
RoHS
20.90 0.823
DETAIL A
SCALE 4 : 1
25.48 1.003
16.00 0.630
5.30mm
18.60mm
AMT203 ABS WWYY
US Patent No. 6892590
SCALE 5:1
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R1.20mm
CUI Inc │ SERIES: AMT203 │ DESCRIPTION: MODULAR ENCODER
date 02/12/2013 │ page 5 of 7
APPLICATION NOTES
Encoder operational mode
• Initialization mode: At power up the encoder goes through an initiation and stabilization procedure.
This includes microprocessor stabilization and the program for combining Coarse
and Fine channel of the encoder for getting the absolute start position. This
takes less than 0.1 seconds.
• Tracking mode: Only the Fine channel is active and the MCU internal position register is updated with
data from Fine:
– MCU 12 bit position register is updated from Fine every 48 μs.
– For accurate position update without above time delay, outputs for incremental A quad B
or Count and Up/Dwn from the Fine channel are provided. These outputs are operational up to
8000 RPM and there is no speed error. There is an acceleration error dependent on an internal
filter constant of about 100 μs.
– When using the incremental output there also is an Index output available, with one index
pulse per turn.
Serial Peripheral Interface Commands
The SPI or Serial Peripheral Interface Bus is a standard interface promoted by Motorola and Microchip among
others. It consists of 4 signals:
MOSI: Master Out Slave In
MISO: Master In Slave Out
SCK: Serial Clock
CSB: Chip Select (active low)
SPI BUS
The SPI bus runs full duplex and transfers multiples of 8 bits in a frame. The SPI type is the most common
(CPOL=0, CPHA=0), also known as Microwire. Data is captured on the rising edge of SCK and the output data
is changed after the falling edge of SCK.
MISO
LSB
MSB
SCK
MOSI
CSB
LSB
MSB
Terminology
MSB = most significant byte
LSB = least significant byte
msb = most significant bit
lsb = least significant bit
Setup
Serial Peripheral Interface Bus (SPI) on AMT203
Figure 7: SPI BUS Timing Diagram
The msb data out on MISO is valid soon after CSB goes low. The MOSI data is valid soon after the falling edge
of SCK. The Encoder drives data out on MISO as long as CSB is low.
Normally, CSB goes low, then after 8 clocks the command is interpreted. CSB high resets the
clock counter, and terminates any command sequence.
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CUI Inc │ SERIES: AMT203 │ DESCRIPTION: MODULAR ENCODER
date 02/12/2013 │ page 6 of 7
SPI Commands:
The commands are all 8 bits long, the msb is shifted in first, and is the leftmost bit shown in Figure 7.
Encoder Protocol Considerations:
The Encoder is designed to operate with a high speed SPI link, in full duplex mode. This implies the host can
issue commands and read data as quickly as necessary but there has to be an acknowledgement from the
slave just before the data is transferred.
Essentially the host issues a command, receives zero or more wait sequences (0xA5 or 1010,0101) then the
echo of the command followed by an optional payload.
So, for example to read the position, the host issues rd_pos (0x10 or 0001,0000), receiving a series of wait
sequences (0xA5) then a reflected rd_pos (0x10), then the MSB data followed by the LSB data.
It is recommended that the host leave a 20 us gap between reads to avoid extending the read time by forcing
wait sequences.
Command 0x00: nop_a5
This command is ignored by the Encoder and simply causes the next data to be read. The encoder responds
with 0xA5 if there is nothing else to send.
Command 0x10: rd_pos
This command causes a read of the current position.
The sequence is as follows:
1) issue read command, receive idle character
2) issue NOP, receive idle character 0xA5 or 0x10
3) repeat step 2 if it is 0xA5
4) issue NOP and receive MSB position (4 bits valid data)
5) issue NOP and receive LSB position (8 bits valid data)
Note that it is possible to overlap commands, so instead of NOP is several steps above
the user could start another operation. The read and write FIFOs for the PCI streams are
16 bytes long and it is up to the user to avoid overflow.
Command 0x70: set_zero_point
This command sets the current position to zero and saves this setting in the EEPROM. The host
should send nop_a5 repeatedly after sending this command, the response will be 0xa5 while update
is proceeding and 0x80 is the response when update is finished.
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CUI Inc │ SERIES: AMT203 │ DESCRIPTION: MODULAR ENCODER
date 02/12/2013 │ page 7 of 7
REVISION HISTORY
rev.
description
date
1.0
initial release
05/01/2010
1.01
updated pin-out
10/01/2010
1.02
updated application note
01/01/2011
1.03
updated SPI commands
09/16/2011
1.04
addition of shock and incremental output current data, correction of
vibration data, updated part number key
09/30/2011
1.05
updated Part Number Key
03/09/2012
1.06
updated tools
07/13/2012
1.07
added locking connector drawing
02/12/2013
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.
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