Encoder A36R Manual del producto

TECHNICAL REFERENCE MANUAL

Model A36R

Absolute Bus Encoder

1-800-366-5412 | encoder.com | sales@encoder.com

Page 1

1-800-366-5412 | ENCODER.COM | SALES@ENCODER.COM

PAGE 2 OF 331-800-366-5412 | encoder.com | sales@encoder.com

EPC Technical Reference Manual – Model A36R

TECHNICAL REFERENCE MANUALModel A36R

Encoder Products Company

464276 Highway 95 South

Sagle, Idaho 83860

USA

Phone: (208) 263-8541

Fax: (208) 263-0541

Email (USA): support@encoder.com

Email (other countries): sales@encoder.com

Website: encoder.com

PAGE 3 OF 331-800-366-5412 | encoder.com | sales@encoder.com

EPC Technical Reference Manual – Model A36R

TECHNICAL REFERENCE MANUALModel A36R

1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.1 Encoder Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

1.2 About This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

1.3 Explanation of Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

2. Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.1 Work Safely . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

2.2 Special Handling & Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

3. Quick Start Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.1 Cabling Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

4. A36R Conguration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4.1 Multi-Turn Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

4.2 Low Power Circuit (XXL) Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8

4.3 Multi-Turn Cable Options for XXL Version . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.3.1 Low Power Option (XXL) with Embedded Battery Cable (EB). . . . . . . . . . . . . . . 11

4.3.2 Low Power Option (XXL) with Power Ready Cable (no EB option) . . . . . . . . . . . . 11

5. Backup Power Installation and Replacement . . . . . . . . . . . . . . . . . . . . . . . . 12

5.1 Backup Power Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

5.2 Backup Power Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

6. Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

6.1 Preset Pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

6.2 Error and Warning Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

7. SSI Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

7.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

7.2 SSI Packet Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

7.3 SSI Communication Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

7.4 Cable Length vs. Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

8. BiSS C Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

8.2 BiSS C Packet Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

8.3 BiSS C Communication Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

8.4 Cable Length vs. Frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

8.5 A36R BiSS Register Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

8.5.1 A36R General Memory Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

8.5.2 BiSS EDS – Common Part. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

8.5.3 BiSS EDS – BP3: BiSS Standard Encoder Prole . . . . . . . . . . . . . . . . . . . . . . . 25

8.5.4 Read and Write Registers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

8.6 BiSS Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

8.6.1 PRESET Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

8.6.2 MEASURE Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

8.6.3 DIAG Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

8.6.4 TEMP_LIMIT_SET Command. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

9. CRC Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

10. Model A36R Datasheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Table of Contents

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EPC Technical Reference Manual – Model A36R

TECHNICAL REFERENCE MANUALModel A36R

Figure 1: Battery current draw vs. shaft speed in Active state . . . . . . . . . . . . . . . . . . . . . . . . 10

Figure 2: XXL option cable congurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Figure 3: SSI data stream with nERR and nWARN for condition reporting . . . . . . . . . . . . . . . . 14

Figure 4: BiSS data stream with nERR and nWARN for condition reporting . . . . . . . . . . . . . . . 14

Figure 5: Typical SSI point-to-point connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Figure 6: SSI data exchange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Figure 7: SSI timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Figure 8: BiSS data exchange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Figure 9: BiSS timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Index of Figures

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EPC Technical Reference Manual – Model A36R

TECHNICAL REFERENCE MANUALModel A36R

Table 1: Battery monitor warning/error thresholds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Table 2: Model A36R use cases for embedded battery cable . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Table 3: Battery specications for EB cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Table 4: Voltage requirements for backup power interface. . . . . . . . . . . . . . . . . . . . . . . . . . 12

Table 5: Model A36R error log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Table 6: Model A36R warning log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Table 7: SSI timing and performance characteristics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Table 8: Cable length vs. max clock frequency (SSI). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Table 9: BiSS timing and performance characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Table 10: Cable length vs. max clock frequency (BiSS C). . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Table 11: BiSS general memory map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Table 12: BiSS EDS – Common Part . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Table 13: BiSS EDS – BP3: BiSS standard encoder prole . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Table 14: Model A36R read register description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Table 15: Model A36R write/conguration register description . . . . . . . . . . . . . . . . . . . . . . . 27

Table 16: Model A36R BiSS commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Table 17: Command status register return codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Index of Tables

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EPC Technical Reference Manual – Model A36R

TECHNICAL REFERENCE MANUALModel A36R

1. Introduction

1.1 Encoder Types

This manual applies to the following Encoder Products Company (EPC) encoders:

Encoder Types Product Code

36 mm Blind Hollow Bore Absolute Encoder A36RHB

36 mm Thru-Bore Absolute Encoder A36RTB

Encoder serial number and rmware version can be found on the product label as shown below:

These values are also stored in internal memory (BiSS C only) in case encoder is inaccessible or label has been damaged. See

Section 8.5.

1.2 About This Manual

This technical manual describes the dierent possibilities of mounting and conguring EPC Model A36R absolute encoders with

BiSS C and SSI interfaces. Use it in addition to other documents published by EPC, such as datasheets, mounting instructions,

catalogs, and yers.

This manual is intended for individuals with technical knowledge in the use of sensors, automation equipment, and BiSS C and SSI

interfaces. If you are inexperienced in this subject, EPC recommends you seek help from experienced personnel. EPC recommends

you carefully review this manual before using the encoder, with special attention paid to the safety advice found throughout this

manual.

Detailed BiSS C specic information may also be found at the BiSS Association website at: biss-interface.com

Please retain all included documents for future reference.

PAGE 7 OF 331-800-366-5412 | encoder.com | sales@encoder.com

EPC Technical Reference Manual – Model A36R

TECHNICAL REFERENCE MANUALModel A36R

1.3 Explanation of Symbols

The IMPORTANT symbol is shown next to a section of text that describes a method for

solving a particular problem.

The WARNING symbol indicates that the adjacent instructions must be observed to ensure

correct use of the device and to protect the user against hazards.

2. Safety Information

2.1 Work Safely

The Model A36R absolute encoder with BiSS C or SSI interface is a sensor for angular measurement and is to be used for this

purpose only. Encoder Products Company (EPC) denies any liability for damages caused by not following this manual. EPC

absolute encoders are designed, manufactured, and distributed for use in non-safety relevant applications in industrial and

commercial environments.

2.2 Special Handling & Disposal

This product may be shipped with a lithium metal (primary) cell. Lithium metal cells and

batteries may present a risk of re and/or explosion. NEVER short circuit, recharge or

allow reverse current ow, puncture, incinerate, crush, drop, disassemble, immerse, or

incorrectly install lithium metal cells or batteries. Do not expose lithium metal cells or

batteries to high temperatures that are above the declared operating temperature range

of this product and never above 85° C (185° F).

This product MUST be shipped and/or disposed of or recycled in accordance with all applicable local, state, and federal laws and

regulations.

For additional questions pertaining to the lithium metal batteries or for the latest safety data sheet (SDS), please visit: tadiranbat.

com/technical-data/safety-data-sheets/ for the TL-5242/W battery. For further information, call 208-263-8541 and ask for the

Safety Manager, or email: safety@encoder.com

PAGE 8 OF 331-800-366-5412 | encoder.com | sales@encoder.com

EPC Technical Reference Manual – Model A36R

TECHNICAL REFERENCE MANUALModel A36R

3. Quick Start Guide

Encoder and cable installation instructions can be found in the quick start guide, located on the product page at encoder.com

3.1 Cabling Considerations

It is recommended that the encoder shaft and ex mount are secured prior to securing the cable. For header (RMH) units, mating

the cable prior to mechanical installation may result in connector damage.

The recommended minimum bend radius for Model A36R cables is 2.0 inches. For applications where the encoder cable is static,

tighter bend radii are acceptable.

Strain relief shall be no less than 2.0 inches from the encoder. For cables mating to header (RMH) units, apply strain relief to the

jackets portion of the cable. Do not apply strain relief to directly to wires and avoid tight bend radii for wires.

4. A36R Conguration Options

The Model A36R is available in any combination of the following conguration options:

Shaft/Bore Turns Counting Protocols Connector Types

Blind Hollow Bore Single Turn

Multi-Turn

BiSS C

SSI

Radial Mount Header

Fixed CableThru-Bore

4.1 Multi-Turn Options

The Model A36R is available in two dierent multi-turn options: XXN and XXL.

The XXN version operates as a fully functional Normal multi-turn encoder, but multi-turn count will be lost during power

interruptions to the encoder. This option is adequate if uninterruptible voltage can be supplied to the encoder at +VDC. See

product datasheet for voltage and current requirements.

The XXL version includes a Low power circuit for battery backup of multi-turn position data. A small external battery or power

source will maintain position data for many years, even in main power loss situations.

4.2 Low Power Circuit (XXL) Operation

Model A36R encoders with the XXL option use a low power circuit that continuously monitors the main voltage. If the main

voltage drops below the minimum threshold, it switches to backup voltage to maintain multi-turn position data.

The low power circuit also monitors battery voltage, featuring both error and warning thresholds. A battery warning indicates

that the battery should be replaced soon to avoid multi-turn data loss. A battery error is a latching condition that indicates battery

voltage has dropped below the usable threshold and multi-turn position data will be lost if main voltage is lost.

PAGE 9 OF 331-800-366-5412 | encoder.com | sales@encoder.com

EPC Technical Reference Manual – Model A36R

TECHNICAL REFERENCE MANUALModel A36R

Battery warning and error thresholds are xed values and can be found in Table 1 below.

Minimum Typical Maximum

Warning Threshold 3.05 V 3.15 V 3.275 V

Error Threshold 2.95 V 3.05 V 3.15 V

Table 1: Battery monitor warning/error thresholds

Battery early warnings self-clear once the voltage level returns to a level above the warning threshold. Battery errors however

are latching and must be cleared using the clear command (SCLR). See Section 6.1 (manual error clear) or Section 8.6 (error clear

command) if a battery error is detected.

The low power circuit has dierent current draw demands depending upon the state of the device. In most instances, battery

current draw is nearly zero.

The various use cases are detailed in Table 2 below.

Prole Description Battery

Connected?

Encoder

Rotating?

Primary

Power? Battery Use

Disconnected* Battery accessory cable is not at-

tached to an encoder, e.g., sitting

on a shelf waiting for deployment. No -- --

Extremely small

Battery drain due to internal

self-discharge.

Shutdown Battery is attached to an encoder

or system that is unpowered and

not in motion. Yes No No

Small

Battery drain required to maintain

static multi-turn state.

Standby Battery is attached to an encoder

or system. The system is operating

under primary power. Yes -- Yes

Small

Battery not in use but experiences

small drain from circuit parasitics.

Active

Battery is attached to an encoder

or system. The system has lost

primary power and the encoder is

still observing movement.

Yes Yes Yes

Moderate

Battery drain is required to keep

track of changing multi-turn state.

* Use case only applies to battery accessory cable (RMH encoders)

Table 2: Model A36R use cases for embedded battery cable

The battery cable is designed to meet/exceed the life of the encoder. However, certain conditions increase current draw and

decrease battery life, including operating temperature and shaft movement.

Battery current demands are low while the encoder shaft is static. However, demand increases if the encoder shaft is rotating

while in the Active state, dened per Table 2. Figure 1 details battery current draw at various shaft speeds. It is advised to minimize

shaft rotation while in Active state to maximize battery life.

PAGE 10 OF 331-800-366-5412 | encoder.com | sales@encoder.com

EPC Technical Reference Manual – Model A36R

TECHNICAL REFERENCE MANUALModel A36R

Important: IBAT,avg values in Figure 1 below are averages and coincide with room

temperature operation and 3.6V nominal battery voltage. IBAT,actual changes with changes

in VBAT and operating temperature.

Figure 1: Battery current draw vs. shaft speed in Active state

4.3 Multi-Turn Cable Options for XXL Version

The XXL version of the Model A36R can be congured with either an embedded battery cable (EB option) or a power ready cable

as shown in Figure 2 below.

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