AMT212F-V

Additional Resources: Product Page | 3D Model date 08/05/2022 page 1 of 10 SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER FEATURES • high speed protocol for fast low latency position data • patented capacitive ASIC technology • low power consumption • 12 or 14-bit absolute position with multi-turn capability • 3.3 V half-duplex RS485 - high speed 2 Mbps or adjustable data rate • settable zero position • configuration and programming via AMT Viewpoint™ software • 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 3.8 start-up time1 current consumption Note: with unloaded output typ max 5 5.5 units V 200 ms 16 mA 1. Encoder must be stationary during start-up. ABSOLUTE POSITION CHARACTERISTICS parameter conditions/description resolution 12 or 14-bit min accuracy absolute zero position settable via AMT Viewpoint™ GUI or RS485 (single-turn versions only) multi-turn multi-turn and single-turn versions available turns counter2 signed binary number absolute position update rate 12-bit 14-bit Notes: typ max units 0.2 degrees 14 bits 25 100 µs µs 2. Multi-turn encoders only. MECHANICAL parameter conditions/description min motor shaft length max 9 motor shaft tolerance mm 15.7 axial play 12-bit position resolution 14-bit position resolution cuidevices.com units mm NOM +0/-0.015 weight rotational speed at each resolution typ g ±0.3 mm 8,000 4,000 RPM RPM Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 2 of 10 ENVIRONMENTAL parameter conditions/description min operating temperature 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 yes REACH EC 1907/2006 max units 105 °C 85 % 5 G 200 G max units RS485 INTERFACE – 2 MBPS DATA RATE (A,B,C,D OPTIONS) parameter conditions/description min protocol RS485 balanced digital multi-port interface data rate 8 data bits, no parity, 1 stop bit, asynchronous transceiver Texas Instruments SN65HVD75 turnaround time time before encoder responds with position 3 driver differential output voltage magnitude load resistance = 54 Ω 1.5 typ 2 Mbps µs 2 3.3 V typ max units RS485 INTERFACE – ADJUSTABLE DATA RATE (E,F,G,H OPTIONS) parameter conditions/description protocol RS485 balanced digital multi-port interface data rate3,4 8 data bits, no parity, 1 stop bit, asynchronous 115,200; 38,400; 19,200; 9,600 transceiver Texas Instruments SN65HVD72 turnaround time time before encoder responds with position 115,200 bps 38,400 bps 19,200 bps 9,600 bps driver differential output voltage magnitude load resistance = 54 Ω Notes: min bps µs µs µs µs 10.8 30 56 110 1.5 2 3.3 V 3. Data rate configured with AMT ViewpointTM 4. Default data rate on kits is 115,200 bps. Checksum The AMT21 encoder uses a checksum calculation for detecting transmission errors. The upper two bits of every response from the encoder are check bits. Those values are shown in the examples below as K1 and K0. The check bits are odd parity; K1 for the odd bits in the response, and K0 for the even bits in the response. These check bits are not part of the position, but are used to verify its validity. The remaining lower 14 bits are the useful data. Here is an example of how to calculate the checkbits for a 16-bit response, from a 14-bit encoder. Full response: 0x61AB 14-bit position: 0x21AB (8619 decimal) Checkbit Formula Odd: K1 = !(H5^H3^H1^L7^L5^L3^L1) Even: K0 = !(H4^H2^H0^L6^L4^L2^L0) From the above response 0x61AB: Odd: 0 = !(1^0^0^1^1^1^1) = correct Even: 1 = !(0^0^1^0^0^0^1) = correct cuidevices.com Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 3 of 10 RS485 INTERFACE (CONTINUED) Addressing The AMT21 encoder supports multiple encoders on the RS485 bus. This is accomplished by giving each encoder a unique node address. This node address is 8 bits long but the low two bits must be 0. Therefore, the encoder can have any single byte value that is divisible by 4 which allows up to 64 encoders to share the bus. By default, the node address is 0x54. Node addresses configurable via AMT ViewpointTM or set at factory for specific configuration upon request. Available RS485 Node Addresses (HEX) 00 20 40 60 80 A0 C0 04 24 44 64 08 28 48 68 0C 2C 4C 6C 8C 10 30 50 70 90 14 34 54* 74 94 B4 E0 84 A4 C4 E4 88 A8 C8 E8 AC CC EC B0 D0 F0 D4 F4 18 38 58 78 98 B8 D8 F8 1C 3C 5C 7C 9C BC DC FC *Default address The node address serves also as the read position command which is why it will be referred to it as the base command. When the encoder sees a command on the RS485 it reads the first 6 bits to determine if it should be listening. If it sees its address, then it interprets the low two bits for the command. Low two bits Hex 00 0x00 Read position Command 01 0x01 Read turns counter (multi-turn encoders only) 10 0x02 Indicates extended command 11 0x03 Reserved For simplicity the user can abstract away the various bits and simply implement multiple commands in their system. For example: Byte Command 0x54 Read position 0x55 Read turns counter (multi-turn encoders only) 0x56 Begin extended command Extended Commands There are some commands that require two bytes to be received before the encoder will enact them. This includes resets and zero saves. This prevents collisions and allows the encoder to be fully functional while sharing the bus with other encoders. Note that there are no responses to these instructions, and once received the encoder initiates an immediate reset. The user’s system should expect to wait until the encoder is powered back up to send any follow up commands. Power on time is listed in the electrical section above. To send an extended command the user will send the value (0x56 by default) followed by the . Extended Commands Function 0x5E Set zero position (Single turn encoders only) 0x75 Reset encoder cuidevices.com Additional Resources: Product Page CUI DEVICES | SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER | 3D Model date 08/05/2022 | page 4 of 10 RS485 INTERFACE EXAMPLES Single character commands Read Position: The read position command is the same as the node address which has a default value of 0x54 is sent and the response is received with the low byte first. After removing the checksum the result is 0x39E4. For a 14-bit encoder nothing else is required, the position is 14820 in decimal. However if this is a 12-bit encoder, the position must be shifted to the right 2 bits to throw away the low bits of the response. Therefore the position would be 3705 in decimal. Read Turns (multi-turn encoders only): The turns counter command is . By default the turns counter command is 0x55. The encoder responds with the low byte first and includes check bits same as the read position command. The resulting number is a signed 14 bit number. The response above is showing 1 turn. Extended commands Set Zero Position (single turn encoders only): The zero set command is followed by . By default we send 0x56 and then 0x5E. The encoder zero’s the position and immediately resets. Encoder Reset: The reset command is followed by . By default the command to reset the encoder is 0x56 0x75. The encoder performs and immediate reset. cuidevices.com Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 5 of 10 PART NUMBER KEY For customers that prefer a specific AMT21 configuration, please reference the custom configuration key below. AMT21 X X - X - XX - XXXX - X Base Number Mounting Base: S = Standard W= Wide RS485 Node Address: 54 = Default node address XX = *Node address options Orientation: 2 = Radial 3 = Axial Absolute Resolution: A = 12-bit single-turn, 2 Mbps data rate B = 14-bit single-turn, 2 Mbps data rate C = 12-bit multi-turn, 2 Mbps data rate D = 14-bit multi-turn, 2 Mbps data rate E = 12-bit single-turn, adj data rate F = 14-bit single-turn, adj data rate G = 12-bit multi-turn, adj data rate H = 14-bit multi-turn, adj data rate 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 Data Rate: F1 = 2 Mbps (A,B,C,D resolutions only) A1 = 115,200 bps (E,F,G,H resolutions only) A2 = 38,400 bps (E,F,G,H resolutions only) A3 = 19,200 bps (E,F,G,H resolutions only) A4 = 9,600 bps (E,F,G,H resolutions only) *Reference RS485 Interface Addressing section on page 3 for help selecting node address. AMT21-V KITS In order to provide maximum flexibility for our customers, the AMT21 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 AMT21XX-V Orientation: 2 = Radial 3 = Axial Absolute Resolution: A = 12-bit single-turn, 2 Mbps data rate B = 14-bit single-turn, 2 Mbps data rate C = 12-bit multi-turn, 2 Mbps data rate D = 14-bit multi-turn, 2 Mbps data rate E = 12-bit single-turn, adj data rate F = 14-bit single-turn, adj data rate G = 12-bit multi-turn, adj data rate H = 14-bit multi-turn, adj data rate 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 cuidevices.com TOP COVER SHAFT ADAPTER TOOL A TOOL C Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 6 of 10 ENCODER INTERFACE PINOUT CONNECTOR # Function 1 +5 V 2 B 3 A 4 GND 51 MODE 61 MCLR AMT212 AMT213 Mating Connector2: Molex 502578-0600 Notes: 1. Pins 5 and 6 are used for configuration only and should be left disconnected for RS485. 2. Compatible with prototype cable AMT-06C-1-036 and programming cable AMT-06C-1-036-USB. cuidevices.com Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 7 of 10 MECHANICAL DRAWING AMT212 units: mm tolerance: ±0.1 10.30 0.406 R15.49 0.610 15.30 0.602 15.33 0.604 39.94 1.573 28.58 1.125 11.70 0.461 AMT213 units: mm tolerance: ±0.1 10.30 0.406 R15.49 0.610 15.30 0.602 15.33 0.604 39.06 1.538 28.58 1.125 12.60 0.496 cuidevices.com Additional Resources: Product Page CUI DEVICES | SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER | 3D Model date 08/05/2022 | page 8 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 12.60[0.496] R1.05 0.041 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) 2.96 2.87 X 2.96 (2 PLCS) A 2.87 0.09 DETAIL A SCALE 4 : 1 46.02 1.812 cuidevices.com Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 9 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 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. * 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. cuidevices.com 1. Align Tool C with flange on Base. 2. Slide Base and Tool C onto motor, centering onto the Shaft Adapter. STEP 6 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. Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT21 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 10 of 10 REVISION HISTORY rev. description date 1.0 initial release 02/20/2018 1.01 added serial interface details 05/15/2018 1.02 added multi-turn serial interface details 06/29/2018 1.03 updated RS485 interface details 06/26/2019 1.04 added adjustable data rate options 08/22/2019 1.05 brand update 11/21/2019 1.06 added motor shaft tolerance details, updated start-up details 09/10/2021 1.07 logo, datasheet style update 08/05/2022 The revision history provided is for informational purposes only and is believed to be accurate. CUI Devices offers a one (1) year limited warranty. Complete warranty information is listed on our website. CUI Devices reserves the right to make changes to the product at any time without notice. Information provided by CUI Devices is believed to be accurate and reliable. However, no responsibility is assumed by CUI Devices for its use, nor for any infringements of patents or other rights of third parties which may result from its use. CUI Devices 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. cuidevices.com