AMT203-1024-8000-S

Additional Resources: Product Page | 3D Model date 08/05/2022 page 1 of 10 SERIES: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER FEATURES • patented capacitive ASIC technology • low power consumption • settings configurable with AMT Viewpoint™ GUI • digitally set zero position alignment • 12-bit absolute position via SPI (4096 positions) • incremental resolutions up to 1024 PPR • index pulse • compact modular package with locking hub for ease of installation • 7 different mounting hole options • -40~125°C operating temperature ELECTRICAL parameter conditions/description min power supply VDD 4.5 start-up time1 current consumption typ max 5 5.5 200 with unloaded output mA V 0.4 V 2 mA CMOS sink/source per channel rise/fall time Note: 10 VDD-0.8 output low level output current V ms 8 output high level units 30 ns 1. Encoder must be stationary during start-up. INCREMENTAL CHARACTERISTICS parameter conditions/description channels quadrature A, B, and Z index min waveform CMOS voltage square wave phase difference A leads B for CCW rotation (viewed from front) quadrature resolutions2 96, 192, 200, 250, 384, 400, 500, 512, 768, 800, 1000, 1024 index one pulse per 360 degree rotation typ max 90 units degrees PPR accuracy 0.2 degrees quadrature duty cycle 50 % Notes: 2. Resolution selected via AMT Viewpoint™ PC Software. Default resolution set to 1024 PPR. All resolutions are listed as pre-quadrature, meaning the final number of counts is PPR x 4. ABSOLUTE POSITION CHARACTERISTICS parameter conditions/description min typ resolution positions encoder can be zero-set via SPI or AMT Viewpoint™ PC accuracy units 12 bits Software 0.2 cuidevices.com max degrees Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 2 of 10 MECHANICAL parameter conditions/description min motor shaft length typ max 9 motor shaft tolerance mm NOM +0/-0.015 weight units mm 15.7 g axial play ±0.3 mm rotational speed 8000 RPM max units 125 °C 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 85 % 5 G 200 G max units SERIAL INTERFACE parameter conditions/description protocol Serial Peripheral Interface (SPI) controller data rate Note: min typ SPI driven by onboard Microchip PIC16F6901 1 3 3. See Microchip documentation for additional details. WAVEFORMS Figure 1 Quadrature signals with index showing counter-clockwise rotation I X A T B P S S S S The following parameters are defined by the resolution selected for each encoder. The encoders resolution is listed as Pulses Per Revolution (PPR), which is the number of periods (or high pulses) over the encoders revolution. Parameter Description PPR resolution CPR counts Units Notes Pulses Per Revolution This is the user selected value and the format all resolutions are listed in PPR x 4 Counts Per Revolution This is the number of quadrature counts the encoder has T period 360/R mechanical degrees P pulse width T/2 mechanical degrees S A/B state width T/4 mechanical degrees This is the width of a quadrature state mechanical degrees The width of a once per turn index is the state width for A & B lines I Note: Expression index width T/4 For more information regarding PPR, CPR, or LPR (Lines Per Revolution) view https://www.cuidevices.com/blog/what-is-encoder-ppr-cpr-and-lpr cuidevices.com MHz Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 3 of 10 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. AMT203 X - XXXX - XXXX - X Base Number Connector Options: "blank" = standard connector S = locking connector Note: Quadrature Resolution (PPR): 0096 0500 0192 0512 0200 0768 0250 0800 0384 1000 0400 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 Mounting Base: S = Standard W= Wide 1. Conformal coating available upon request AMT20-V KITS In order to provide maximum flexibility for our customers, the AMT20 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 AMT203X-V Connector Options: "blank" = standard connector S = locking connector 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: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 4 of 10 ENCODER INTERFACE PINOUT CONNECTOR Function # AMT203 1 N/A 2 CSB 3 MISO 4 GND 5 SCK 6 +5 V 7 MOSI 8 B 9 N/A 10 A 11 N/A 12 Z 13 N/A 14 N/A STANDARD CONNECTOR OPTION LOCKING CONNECTOR OPTION B 13 11 9 7 5 3 1 14 12 10 8 6 4 2 B 13 11 9 DETAIL B SCALE 4 : 1 7 5 3 1 14 12 10 8 6 4 2 DETAIL B SCALE 4 : 1 Mating Connector: Samtec ISDF-07-D Mating Connector: Samtec ISDF-07-D-L cuidevices.com Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 5 of 10 MECHANICAL DRAWING AMT203 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 AMT203 WIDE BASE 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 28.58 1.125 10.93 0.430 52.70 2.075 cuidevices.com Additional Resources: Product Page CUI DEVICES | SERIES: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER | 3D Model date 08/05/2022 | 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 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: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | 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 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: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 8 of 10 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 getting the absolute start position. This takes less than 100 milliseconds. • Tracking mode: 1. MCU 12 bit position register is updated from every 48 μs. 2. For accurate position information without the 48 μs incremental outputs A/B can be used for tracking. These outputs are operational up to 8000 RPM without speed error. 3. When using the incremental output there also is a Z index pulse that occurs once per turn. SERIAL PERIPHERAL INTERFACE COMMANDS The Serial Peripheral Interface (SPI) bus is a standard serial interface that operates in full duplex mode. It consists of 4 signals: 1. MOSI: Master Out Slave In 2. MISO: Master In Slave Out 3. SCK: Serial Clock 4. CSB: Chip Select (active low) SPI BUS The SPI bus transfers multiples of 8 bits in a frame. Data is captured on the rising edge of SCK and the output data is changed after the falling edge of SCK. MISO LSB MSB Terminology SCK MOSI CSB LSB MSB MSB = most significant byte LSB = least significant byte msb = most significant bit lsb = least significant bit Setup Serial Peripheral Interface Bus (SPI) on AMT203 Timing Diagram (Figure 1) The data out on MISO is valid once CSB goes low. The MOSI data is valid after the falling edge of SCK. The encoder drives data out on MISO for as long as CSB is low. Normally, CSB goes low, then after 8 clock cycles the command is interpreted. CSB high resets the clock counter, and terminates any command sequence. cuidevices.com Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 9 of 10 APPLICATION NOTES (CONTINUED) SPI COMMANDS All commands are 8 bits long. The msb is shifted in first, and is the leftmost bit shown in Figure 1. 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. First the host will issue a command, then the encoder may respond with wait responses (0xA5) until ready. Once ready the encoder will echo the original command received from the master, followed by the requested data. For example, to read the position the master will send the rd_pos command (0x10), it will then send no operation commands (nop_a5, 0x00) until it receives the original rd_pos command back. Once it receives the rd_pos response from the encoder, it knows that the next two bytes of data will be the MSB and the LSB respectively. To receive those two bytes the master will send two no operation commands. It is recommended that the master leave a 20 μs delay between reads to avoid extending the read time by forcing wait sequences. Each byte transmitted must be followed by a release of the Chip Select line (CSB). Command 0x00: nop_a5 (no operation) This no operation command is ignored by the encoder and simply causes the next byte of data to be read. The encoder will respond with 0xA5 if there is no remaining data to be sent. Command 0x10: rd_pos (read position) This command causes a read of the current position. To read position this sequence should be followed: 1. Master sends rd_pos command. Encoder responds with idle character. 2. Continue sending nop_a5 command while encoder response is 0xA5 3. If response was 0x10 (rd_pos), send nop_a5 and receive MSB position (lower 4 bits of this byte are the upper 4 of the 12-bit position) 4. Send second nop_a5 command and receive LSB position (lower 8 bits of 12-bit positon) Note that it is possible to overlap commands. For instance, instead of issuing nop_a5 for steps 3 and 4, you could begin another read position sequence since the position data is already in the buffer. The read and write FIFOs for the streams are 16 bytes long and it is up to the user to avoid overflow. Command 0x70: set_zero_point (zero set) This command sets the current position to zero and saves this setting in the EEPROM. To set the zero point this sequence should be followed: 1. Send set_zero_point command 2. Send nop_a5 command while response is not 0x80 3. A response of 0x80 means that the zero set was successful and the new position offset is stored in EEPROM. 4. The encoder must be power cycled. If the encoder is not power cycled, the position values will not be calculated off the latest zero position. When the encoder is powered on next the new offset will be used for the position calculation. cuidevices.com Additional Resources: Product Page | 3D Model CUI DEVICES | SERIES: AMT20 | DESCRIPTION: MODULAR ABSOLUTE ENCODER date 08/05/2022 | page 10 of 10 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 1.08 updated spec 12/09/2013 1.09 updated spec 11/19/2014 1.10 updated spec 05/13/2016 1.11 changed outer mounting holes to be oblong on wide base version, part number key updated 03/23/2018 1.12 added wide base to kits 10/18/2018 1.13 brand update 11/21/2019 1.14 added motor shaft tolerance details, updated start-up details 09/10/2021 logo, datasheet style update 08/05/2022 1.15 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