AMT203-0800-3175-W [CUI]
Optical Position Encoder,;
| 型号： | AMT203-0800-3175-W |
| 厂家： | 
CUI INC |
| 描述： | Optical Position Encoder, |
| 文件： | 总10页 (文件大小：812K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
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3D Model
date 11/21/2019
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
VDD
min
typ
5
max
units
V
power supply
4.5
5.5
10
current consumption
output high level
output low level
output current
rise/fall time
with unloaded output
8
mA
V
VDD-0.8
0.4
2
V
CMOS sink/source per channel
mA
ns
30
typ
90
INCREMENTAL CHARACTERISTICS
parameter
channels
conditions/description
min
max
units
quadrature A, B, and Z index
waveform
CMOS voltage square wave
phase difference
A leads B for CCW rotation (viewed from front)
degrees
PPR
96, 192, 200, 250, 384, 400, 500, 512, 768, 800,
1000, 1024
quadrature resolutions1
index
one pulse per 360 degree rotation
accuracy
0.2
50
degrees
%
quadrature duty cycle
Notes:
1. 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
max
units
resolution
12
bits
encoder can be zero-set via SPI or AMT Viewpoint™ PC
Software
positions
accuracy
0.2
degrees
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CUI Devices │ SERIES: AMT20 │ DESCRIPTION: MODULAR ABSOLUTE ENCODER
date 11/21/2019│ page 2 of 10
MECHANICAL
parameter
motor shaft length
weight
conditions/description
min
typ
max
units
mm
g
9
15.7
axial play
±0.3
8000
mm
RPM
rotational speed
ENVIRONMENTAL
parameter
operating temperature
humidity
conditions/description
min
typ
max
125
85
units
°C
%
-40
non-condensing
vibration
10~500 Hz, 5 minute sweep, 2 hours on each XYZ
5
G
shock
3 pulses, 6 ms, 3 on each XYZ
yes
200
G
RoHS
SERIAL INTERFACE
parameter
conditions/description
min
typ
max
units
protocol
Serial Peripheral Interface (SPI)
SPI driven by onboard Microchip PIC16F6901
controller
data rate1
1
MHz
Note:
1. See Microchip documentation for additional details.
WAVEFORMS
Figure 1
Quadrature signals with index showing
counter-clockwise rotation
I
X
A
T
S
S
S
S
P
B
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
Expression
Units
Notes
This is the user selected value and the
format all resolutions are listed in
PPR
CPR
resolution
Pulses Per Revolution
This is the number of quadrature counts
counts
PPR x 4
Counts Per Revolution
the encoder has
T
P
S
period
360/R
T/2
mechanical degrees
mechanical degrees
mechanical degrees
pulse width
A/B state width
T/4
This is the width of a quadrature state
The width of a once per turn index is the
state width for A & B lines
I
index width
T/4
mechanical degrees
Note:
For more information regarding PPR, CPR, or LPR (Lines Per Revolution) view https://www.cuidevices.com/blog/what-is-encoder-ppr-cpr-and-lpr
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CUI Devices │ SERIES: AMT20 │ DESCRIPTION: MODULAR ABSOLUTE ENCODER
date 11/21/2019│ 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
Mounting Base:
S = Standard
W= Wide
Base Number
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
Quadrature
Resolution (PPR):
0096
0192
0200
0250
0384
0400
0500
0512
0768
0800
1000
1024
Connector Options:
"blank" = standard connector
S = locking connector
Note:
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
1/8 inch
3/16 inch
(4.76mm)
1/4 inch
2mm
3mm
4mm
Gray
5mm
6mm
Red
8mm
Blue
(3.175mm)
(6.35mm)
Connector Options:
"blank" = standard connector
S = locking connector
Light Sky
Blue
Orange
Purple
Yellow
Green
Snow
WIDE
BASE
TOP
COVER
SHAFT
ADAPTER
BASE
TOOL A
TOOL C
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CUI Devices │ SERIES: AMT20 │ DESCRIPTION: MODULAR ABSOLUTE ENCODER
date 11/21/2019│ page 4 of 10
ENCODER INTERFACE
STANDARD
CONNECTOR OPTION
LOCKING
CONNECTOR OPTION
PINOUT CONNECTOR
Function
#
1
AMT203
N/A
CSB
MISO
GND
SCK
+5 V
MOSI
B
2
3
4
5
6
7
8
9
N/A
A
B
10
11
12
13
14
B
N/A
Z
N/A
N/A
13 11
9
7
8
5
6
3
4
1
13 11
9
7
8
5
6
3
4
1
2
14 12 10
2
14 12 10
DETAIL B
SCALE 4 : 1
DETAIL B
SCALE 4 : 1
Mating Connector:
Samtec ISDF-07-D
Mating Connector:
Samtec ISDF-07-D-L
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CUI Devices │ SERIES: AMT20 │ DESCRIPTION: MODULAR ABSOLUTE ENCODER
date 11/21/2019│ 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
10.93 0.430
28.58 1.125
52.70 2.075
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CUI Devices │ SERIES: AMT20 │ DESCRIPTION: MODULAR ABSOLUTE ENCODER
date 11/21/2019│ 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
A
(3 PLCS)
2.00 0.079
(4 PLCS)
12.60[0.496]
R1.05 0.041
0.275 0.011
2.95 0.116
(2 PLCS)
16.00 0.630
1.70 0.067
(2 PLCS)
DETAIL A
SCALE 4 : 1
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 X 2.96
(2 PLCS)
2.96
A
2.87
0.09
DETAIL A
SCALE 4 : 1
46.02 1.812
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CUI Devices │ SERIES: AMT20 │ DESCRIPTION: MODULAR ABSOLUTE ENCODER
date 11/21/2019│ 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.
1. Align Tool C with flange on Base.
1. Remove Tools A and C.
2. Place Base on motor, with Tool C used as a centering tool.
2. Slide Base and Tool C onto motor, centering onto
the Shaft Adapter.
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
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. Make sure the snaps are fully engaged by pressing
* 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.
on the Hub with the reverse side of Tool C.
1. Fasten the Base on the motor (Tool C may need to be
rotated to allow for some mounting configurations).
2. When assembly is finished, the Shaft Adaptor, Sleeve
and Rotor Hub should all be flush with the Motor
Shaft rotating freely.
2. Remove Tool C.
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CUI Devices │ SERIES: AMT20 │ DESCRIPTION: MODULAR ABSOLUTE ENCODER
date 11/21/2019│ 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.
2.
MCU 12 bit position register is updated from every 48 μs.
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.
2.
3.
4.
MOSI: Master Out Slave In
MISO: Master In Slave Out
SCK: Serial Clock
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
SCK
LSB
MSB
Terminology
MSB = most significant byte
LSB = least significant byte
msb = most significant bit
lsb = least significant bit
MOSI
CSB
LSB
MSB
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.
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CUI Devices │ SERIES: AMT20 │ DESCRIPTION: MODULAR ABSOLUTE ENCODER
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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.
2.
3.
Master sends rd_pos command. Encoder responds with idle character.
Continue sending nop_a5 command while encoder response is 0xA5
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.
2.
3.
4.
Send set_zero_point command
Send nop_a5 command while response is not 0x80
A response of 0x80 means that the zero set was successful and the new position offset is stored in EEPROM.
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.
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CUI Devices │ SERIES: AMT20 │ DESCRIPTION: MODULAR ABSOLUTE ENCODER
date 11/21/2019│ page 10 of 10
REVISION HISTORY
rev.
description
date
1.0
initial release
updated pin-out
05/01/2010
10/01/2010
01/01/2011
09/16/2011
1.01
1.02
1.03
updated application note
updated SPI commands
addition of shock and incremental output current data, correction of
1.04
09/30/2011
vibration data, updated part number key
1.05
1.06
1.07
1.08
1.09
1.10
updated Part Number Key
updated tools
03/09/2012
07/13/2012
02/12/2013
12/09/2013
11/19/2014
05/13/2016
added locking connector drawing
updated spec
updated spec
updated spec
changed outer mounting holes to be oblong on wide base version, part
number key updated
1.11
03/23/2018
1.12
1.13
added wide base to kits
brand update
10/18/2018
11/21/2019
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.
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