cui .com 05/07/2014 1 of 10 series: amt31 description: modular commutation encoder electrical parameter conditions/description min typ max units power supply vdd 4.5 5 5.5 v current consumption with unloaded output 8 10 ma single ended channels output high level output low level output current (per channel) rise/fall time vdd-0.1 8 0.1 15 v v ma ns differential rs-422 channels output high level output low level output current (per channel) rise/fall time 3 7 11 0.1 20 20 v v ma ns incremental characteristics parameter conditions/description min typ max units waveform cmos voltage square wave phase difference a leads b for ccw rotation (viewed from front) 90 degrees quadrature resolutions 1 48, 96, 100, 125, 192, 200, 250, 256, 384, 400, 500, 512, 768, 800, 1000, 1024, 1600, 2000, 2048, 4096 ppr index 2 one pulse per 360 degree rotation accuracy 0.2 degrees quadrature duty cycle 50 % features ? patented capacitive asic technology ? low power consumption ? u, v, w commutation phase channels ? 2, 4, 6, 8, 10, 12, 20 motor pole pairs w/ incremental resolutions up to 4096 ppr ? resolutions and pole pairs programmable with amt viewpoint? pc software ? differential line driver versions ? digitally set zero position with amt one touch zero? module or serial commands ? compact modular package with locking hub for ease of installation ? radial and axial cable connections ? -40~105c operating temperature commutation characteristics parameter conditions/description min typ max units channels cmos voltage (s) quadrature line driver (q) commutation line driver (c) line driver (d) a, b, z a, a, b, b, z, z a, b, z, u, u, v, v, w, w a, a, b, b, z, z, u, u, v, v, w, w motor pole pairs 3 2, 4, 6, 8, 10, 12, 20 waveform 2 cmos voltage square wave phase difference wye motor winding confgurations 120 electrical degrees notes: 1. r esolutions programmed with amt viewpoint? pc software 2. z ero position alignment set with amt one touch zero? module, amt viewpoint? pc software, or serial commands 3. pole counts and waveform direction set via amt viewpoint? pc software date page preliminary
cui .com date 05/07/2014 page 2 of 10 cui inc series: amt31 description: modular commutation encoder waveforms z a b i p t s s s s quadrature signals with index showing counter-clockwise rotation figure 1 mechanical parameter conditions/description min typ max units motor shaft length 9 mm weight weight varies by confguration 15.7 g axial play 0.3 mm rotational speed (at each resolution) 48, 96, 100, 125, 192, 200, 250, 256, 384, 400, 500, 512, 800, 1000, 1024, 2048 8000 rpm 768, 1600, 2000, 4096 4000 rpm environmental parameter conditions/description min typ max units operating temperature 1 -40 105 c humidity non-condensing 85 % vibration 10~500 hz, 5 minute sweep, 2 hours on each xyz 5 g shock 3 pulses, 6 ms, 3 on each xyz 200 g rohs 2011/65/eu note: 1. encoders with oper ating temperature of -40~125c are available as a custom order serial interface parameter conditions/description min typ max units protocol serial uart controller driven by onboard microchip pic18f25k80. see microchip documentation for additional details. data rate 8 data bits, no parity, 1 stop bit, least signifcant bit frst 115200 baud parameter description expression units t period 360/r mechanical degrees p pulse width t/2 mechanical degrees i index width p/2 mechanical degrees s a/b state width p/2 mechanical degrees the following parameters are defned by the resolution selected for each encoder, where r = resolution. z u v w i p c t s s s s s s commutation signals with index (the programmable direction setting dictates in which direction of rotation u will lead v, and v will lead w) figure 2 parameter description expression units t period 720/r mechanical degrees p pulse width t/2 mechanical degrees i index width p/2 mechanical degrees s u/v/w state width 60 electrical degrees t/6 mechanical degrees c phase spacing 120 electrical degrees t/3 mechanical degrees the following parameters are defned by the resolution and pole pair count selected for each encoder, where r = resolution and m = pole pairs. preliminary
cui .com date 05/07/2014 page 3 of 10 cui inc series: amt31 description: modular commutation encoder part number key for customers that prefer a specifc amt31 confguration, please reference the custom confguration key below. amt31xx - xxxx - xxxx - xx - xx - x quadrature resolution (ppr): 0048 0096 0100 0125 0192 0200 0250 0256 0384 0400 0500 0512 0768 0800 1000 1024 1600 2000 2048 4096 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 skit = 8 sleeve kit orientation: 2 = radial 3 = axial base number amt31-v kits in order to provide maximum fexibility for our customers, the amt31 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 2mm 3mm 1/8 inch (3.175mm ) 4m m 3/16 inch (4.76mm ) 5mm6 mm 1/4 inch (6.35mm ) 8m m light sky blue orange purple gray yello wg reen re ds no wb lu e base wide base top cove r shaf t adapte r tool a tool c base wide base top cove r shaf t adapte r tool a tool c output signals: s = cmos voltage q = quadrature line driver c* = commutation line driver d* = line driver *radial orientation only. motor poles: 02 10 04 12 06 20 08 direction: blank = ccw cw = clockwise amt31xx-v orientation: 2 = radial 3 = axial output signals: s = cmos voltage q = quadrature line driver c* = commutation line driver d* = line driver *radial orientation only. ordering guide mounting base: s = standard w= wide preliminary
cui .com date 05/07/2014 page 4 of 10 cui inc series: amt31 description: modular commutation encoder b 7 95 3 scale 4 : 1 13 14 12 10 8642 11 detail b 1 15 14 13 16 scale 4 : 1 1 2 3 4 5 6 7 8 9 10 11 12 section a-a 17 a a encoder interface pinout connector function # amt312s AMT312Q amt312c amt312d amt313s amt313q 1 tx_enc+ tx_enc+ tx_enc+ tx_enc+ rx_enc+ rx_enc+ 2 rx_enc+ rx_enc+ rx_enc+ rx_enc+ tx_enc+ tx_enc+ 3 u+ u+ u+ u+ u+ u+ 4 gnd gnd gnd gnd gnd gnd 5 w+ w+ w+ w+ w+ w+ 6 +5 v +5 v +5 v +5 v +5 v +5 v 7 v+ v+ v+ v+ v+ v+ 8 b+ b+ b+ b+ b+ b+ 9 n/a b- n/a b- n/a b- 10 a+ a+ a+ a+ a+ a+ 11 n/a a- n/a a- n/a a- 12 z+ z+ z+ z+ z+ z+ 13 n/a z- n/a z- n/a z- 14 mclrb mclrb mclrb mclrb mclrb mclrb 15 n/a n/a w- w- n/a n/a 16 n/a n/a v- v- n/a n/a 17 n/a n/a u- u- n/a n/a amt313s & amt313q amt312s, AMT312Q, amt312c & amt312d mating connector: samtec isdf-07-d-l mating connector: jae fi-w17s preliminary
cui .com date 05/07/2014 page 5 of 10 cui inc series: amt31 description: modular commutation encoder amt312s, AMT312Q, amt312c & amt312d mechanical drawing units: mm tolerance: 0.1 units: mm tolerance: 0.1 amt313s & amt313q 15.33 0.604 15.30 0.602 r0 .610 15.49 28.581 .125 37.39 1.472 10.34 0.407 10.93 0.430 15.33 0.604 0.60 2 15.30 r 15.49 0.610 28.58 1.12 5 0.40 7 10.34 37.25 1.467 10.34 0.40 7 preliminary
cui .com date 05/07/2014 page 6 of 10 cui inc series: amt31 description: modular commutation encoder mechanical drawing (continued) units: mm[inch] tolerance: 0.1 mounting hole patterns 25.40 1.00 0 16.00 0.630 20.90 0.823 21.55 0.84 8 22.00 0.86 6 19.05 0.75 0 0.275 0.011 (3 plcs ) a 0.116 0.067 (2 plcs ) 2.95 (4 plcs ) 0.079 2.00 (2 plcs ) 1.70 12.60[0.496] detail a scale 4 : 1 r1.0 5 0.041 standard base units: mm[inch] tolerance: 0.1 46.2 0 1.81 9 32.4 4 1.27 7 2.87 0.11 3 (2 plcs ) 3.00 0.11 8 (2 plcs ) wide base preliminary
cui .com date 05/07/2014 page 7 of 10 cui inc series: amt31 description: modular commutation encoder 1. insert to ol a as a spacer that de?nes the distance to the mounting surf ace. 2. slide appropriate sized sleeve over shaft all the way down to t ool a. 3. slide shaft adaptor over sleeve. 4. use t ool c to press shaft adaptor over sleeve (ensure shaft adapter and to ol c spline alignment) until ?ush with tool a. 1. remove to ols a and c. 2. place base on moto r, with to ol c used as a centering tool. 1. fasten the base on the motor (t ool c may need to be rotated to allow for some mounting con?gurations). 2. remove t ool c. 1. make sure the snaps are fully engaged by pressing on the hub with the reverse side of tool c. 2. when assembly is ?nished, the shaft adapto r, sleeve and rotor hub should all be ?ush with the motor shaft rotating freely. 1. snap the to p cover onto the base, carefully observing that the teeth of the shaft adaptor align with the grooves in the hub. * * w e 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 a?ect encoder performance . 1. align to ol c with ?ange on base. 2. slide base and to ol c onto moto r, centering onto the shaft adapter. step 1 step 4 step 2 step 5 step 3 step 6 align tool c with ?ange on base assembly procedure preliminary
cui .com date 05/07/2014 page 8 of 10 cui inc series: amt31 description: modular commutation encoder command action use 0 this command sends an ascii 0 (hex value 0x30). this zeros the encoder and sets the index at the current angular position along with the rising edge of the commutation channel u. this position is stored in non-volatile memory and will remain present until a zero command is set again or the encoder is reprogrammed via the amt viewpoint? application. q this command sends an ascii q (hex value 0x51). this command restarts the encoder as if it were power cycled. application notes pin description connection tx_enc+ this is the pin that the encoder transmits serial data on. connect this pin to the receiver input of your serial/uart interface. rx_enc+ this is the pin that the encoder receives serial commands on. connect this pin to your serial/uart interface transmitter output. mclrb this pin is used to force the encoder into reset for reprogramming via the amt viewpoint? application. connection of this pin is not required for the above serial commands. 43 command: 0 (hex: 0x30, bi na ry : 0b00110000 ) start 8765 response: \r (hex: 0x0d, bi na ry : 0b00001101 ) stop stop 1 tx_enc + start 8765432 rx_enc+ 21 the amt31 series encoder is designed to operate with a serial uart interface. this interface allows the encoder to be confgured and programmed by the amt viewpoint? application. along with programming, the amt viewpoint? application uses the serial interface for diagnostics and motor pole alignment. below are instructions on how to use the serial interface for position zeroing. serial commands table 1 serial pins table 2 serial timing diagram figure 3 the serial interface operates at 115200 baud with 8 data bits, no parity, and 1 stop bit, and 1 start bit. this is the standard uart protocol. data lines tx_enc+ and rx_enc+ are high when inactive. serial interface preliminary
cui .com date 05/07/2014 page 9 of 10 cui inc series: amt31 description: modular commutation encoder application notes (continued) the amt31 series encoder requires minimal setup time for brushless dc (bldc) motor applications. installation can be completed with either a pc with the amt viewpoint? application installed, an amt-otz-1 zero alignment module, or any 5v serial interface. the following steps explain the proper commutation alignment procedure for the amt31 encoder. 1. ensure amt31 encoder is set for correct pole pair count. to verify or change settings use the amt viewpoint? software. 2. mount encoder following amt assembly procedure. 3. use the motor manufacturers documentation to determine the correct motor phase to energize for alignment. energized phase will coincide with the rising edge of the amt31 encoders u signal. this typically means energizing phase 1 by applying positive voltage to the wire labeled phase 1, and grounding the wire labeled phase 2. the third wire always remains unconnected. 4. using a power supply, energize the two wires found previously. this will lock the rotor into a fxed position. 5. connect amt31 encoder to an amt-otz-1 zero alignment module, the amt viewpoint? application, or any suitable 5v serial interface. 6. use any of the connected devices to issue an alignment command to the encoder. this will digitally set the rising edge of u and the z index to the current angular position. 7. remove power from motor phase windings; connect motor and encoder to proper motor driver. 8. if the above is done correctly your amt31 encoder is now ready for operation. as a verifcation of alignment you may power the encoder, and use an oscilloscope to monitor phase 1 of the motor and the u channel of the encoder as you hand spin the motor. if alignment is correct, the square wave generated on the u channel will overlap perfectly with the sine wave generated by phase 1 of the motor. if alignment does not match, recheck motor documentation and retry alignment procedure. commutation alignment and zero position preliminary
date 05/07/2014 page 10 of 10 cui inc series: amt31 description: modular commutation encoder headquarters 20050 sw 112th ave. tualatin, or 97062 800.275.4899 fax 503.612.2383 cui .com techsupport@cui.com rev. description date 0.9 preliminary release 05/07/2014 the revision history provided is for informational purposes only and is believed to be accurate. revision history 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 safet y or effectiv eness. preliminary
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