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AksIM-2_MBD01_11

AksIM-2_MBD01_11

Product catalog summary

Overview: The AksIM-2 is a high-performance, off-axis rotary absolute magnetic encoder designed for space-constrained applications. It features a hollow ring, true absolute functionality, and high-speed operation, making it suitable for industrial and medical applications such as robotic arm joints and precision gearboxes.

Key Features:

True absolute system with a custom magnetic sensor ASIC.
Resolution up to 20 bits with a multiturn counter option.
High-speed operation and low profile, non-contact design.
Integrated status LED and high repeatability.
Self-calibration option and no hysteresis.

Technical Specifications:

Operating temperature range: -40 °C to +105 °C.
Resistant to shock and vibration.
Communication interfaces: BiSS, UART, SPI, PWM, SSI.
System accuracy: ±0.004° to ±0.014° after self-calibration.
Supply voltage: 4.5 V to 5.5 V.

Installation and Handling:

Magnetic rings should not be exposed to magnetic field densities higher than 50 mT.
Proper ESD protection is required when handling readheads.
Installation tolerances are critical for maintaining accuracy, with specific guidelines for axial and radial displacement.
Mounting can be done using glue, with specific recommendations for glue type and application process.

Packaging: Products are packed in antistatic boxes or trays, depending on the order size, with separate packaging for magnetic rings and readheads.

Applications: Suitable for collaborative robots, robotic joints, agricultural automation, gimbals, AGVs, and other high-accuracy, high-speed applications.

Specifications: The encoder operates with a typical current consumption of 130 mA and a maximum of 150 mA without load. It connects via an 8-pin low-profile connector or soldering pads, with a retention force of 20 N. The output load for RS422 is ±40 mA, and for PWM and SPI, it is 5 mA. ESD protection is provided for RS422 signals with a tolerance of ±2 kV.

Mechanical Data: Available ring sizes range from 8 mm to 68 mm in inner diameter. The rings are made from EN 1.4016 / AISI430 or EN 1.4005 / AISI416 materials, with CPE rubber filled with ferrite particles. The LED provides visual feedback on signal strength and error status, with different colors indicating normal operation, warnings, or errors.

Environmental Data: The operating temperature ranges from -40 °C to +105 °C, with humidity up to 70% non-condensing. The encoder can withstand external magnetic fields up to ±20 mT and pressures up to 600 bar with a special option.

Accuracy and Calibration: The encoder's accuracy is influenced by the centering of the ring and can be improved through self-calibration, which compensates for eccentricity errors. The self-calibration process requires a free mechanical rotation between 180° and 360° and is optimal at 360°.

Communication Interfaces: The encoder supports BiSS, Asynchronous serial (UART), SPI, and PWM interfaces, with varying clock frequencies and request rates. The multiturn counter is available on BiSS, UART, SPI, or SSI interfaces, with a 16-bit counter stored in non-volatile memory.

Latency: BiSS and UART interfaces have a latency of less than 10 μs, while other interfaces have a latency between 55 μs and 110 μs, depending on the timing of the request relative to the internal cycle of the encoder.

Additional Features: The encoder can be configured for high-pressure applications and provides pass-through signals for external temperature sensors. It is designed to withstand harsh chemicals and environments, although long-term resistance depends on exposure conditions.

Procedures: The encoder supports register access for setting zero positions, running self-calibration, and configuring the encoder. It allows storing up to 4 kB of user data. The document provides examples of data packet structures and commands for reading position data and additional information.

Communication Interface: The encoder uses a BiSS C interface and an asynchronous serial communication interface over RS422 (UART). The communication parameters include a maximum MA frequency of 5 MHz, an ACK length of 13 bits, and a latency of less than 10 µs. The encoder supports various link speeds, selectable by the communication interface variant.

Data Packet Structure: Data packets vary in length from 25 to 44 bits, depending on resolution. They include position data, status bits, and CRC bits. The document provides detailed descriptions of the data packet structure for both singleturn and multiturn variants.

Encoder Programming: The encoder allows changing the default baud rate, running self-calibration, and setting automatic transmission of selected data packets. Detailed status bits provide information on errors and warnings, such as signal amplitude issues, power supply errors, and magnetic pattern errors.

Recommendations: For optimal performance, ensure proper termination of cables, especially for lengths over 5 meters. Regularly check the detailed status bits to monitor the encoder's operational status and address any errors or warnings promptly.

SPI Interface: The SPI bus is a four-wire synchronous serial communication interface used for short-distance communication. It operates in full duplex mode, with the master selecting the slave using the NCS line, generating a clock signal on the SCK line, sending commands over the MOSI line, and receiving data over the MISO line. Key parameters include a clock period of 250 ns and a frequency of 4 MHz. Data signals are 3.3 V LVTTL, with inputs tolerant up to 5 V.

Encoder Position Data Structure: The encoder supports self-calibration, signal level reading, temperature monitoring, and diagnostic functions. The data packet includes a multiturn counter, encoder position, error and warning bits, and an inverted CRC for error checking.

PWM Interface: The PWM communication interface uses two digital signals: Status and PWM Out. The Status signal indicates the encoder's operational state, while the PWM Out signal provides a 16-bit resolution pulse width modulation output proportional to the measured position. The PWM frequency varies from 122.07 Hz to 1098.63 Hz, depending on the communication interface variant.

SSI Interface: The SSI interface uses 5 V RS422-compatible differential pairs for Clock and Data signals. It is not recommended for closed-loop applications due to low update speed and latency. The data packet includes singleturn resolution, multiturn counter, encoder position, and status bits. The interface requires a stable power supply and specific timing for accurate data transmission.

Part Numbering: The document outlines the part numbering system for AksIM board-level readheads, detailing series, ring compatibility, communication interface, resolution, and special requirements. Not all combinations are valid, and users should refer to the available combinations table.

Catalog excerpts

DATA SHEET MBD01_11 Issue 11, 6th May 2024 AksIM-2 Off-Axis Rotary Absolute Magnetic Encoder HIGH ACCURACY HIGH SPEED AksIM-2 is a non-contact, high performance off-axis absolute rotary encoder designed for integration into applications with limited space. A hollow ring, true absolute functionality and high-speed operation make this encoder suitable for many applications. The AksIM-2 encoder system consists of an axially magnetised ring and a readhead. The encoders are equipped with BiSS, Asynchronous serial (UART), SPI, PWM or SSI communication interfaces and offer a range of binary resolutions up to 20 bits per revolution. MULTITURN COUNTER True absolute system Multiturn counter option Custom magnetic sensor ASIC High speed operation Self-calibration option High repeatability COLLABORATIVE ROBOTS ROBOTIC JOINTS

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General information The AksIM-2 encoder operates in a temperature range between -40 °C and +105 °C and is highly resistant to shock and vibration. It has a built-in advanced self-monitoring function that continuously checks several internal parameters. Error reports, warnings and other status signals are available on all communication interfaces and visualised with the on-board LED. The AksIM-2 encoder system is suitable for use in industrial and medical applications. A typical application is a robotic arm joint with a cable feed through the ring, or a precision gearbox where the ring is mounted...

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Storage and handling Storage temperature Operating temperature HANDLE WITH CARE. This encoder system is a high performance metrology product and should be treated with the same care as any other precision instrument. Use of heavy duty industrial tools or exposure to strong magnets, such as a magnetic base, is unacceptable and risks of irreparable damage to the product. The magnetic ring should not be exposed to magnetic field densities higher than 50 mT on its surface, as this can damage the ring. Please see Chemical resistance or contact RLS. Readhead is ESD sensitive - handle with care. Do...

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Dimensions and installation drawings Dimensions and tolerances are in mm. MB022 readhead with MRA022HP008DMN00 magnetic ringMRA022HP008DMN00 Encoder assembly MB022 readhead with magnetic ring Detail A Mounting dimension 6.3 ±0.15 6.2 ±0.3 Ride height influences noise on the output. See chapter Installation instructions for details.

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Dimensions and installation drawings Press-fit mounting to shaft D8: recommended shaft OD tolerance is r6 (+0.019 / +0.028)

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Dimensions and installation drawings Encoder assembly MB029 readhead with MRA029BC010DSE00 magnetic ring 0RXQWLQJGLPHQVLRQ Mounting dimension: 0's Ring part number 'HWDLO$ Ride height influences noise on the output. See chapter Installation instructions for details.

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Dimensions and installation drawings s s Press-fit mounting to shaft D12.7: recommended shaft OD tolerance is p7 (+0.018 / +0.036)

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Dimensions and installation drawings Encoder assembly MB039 readhead with MRA039BC020DSE00 magnetic ring Ride height influences noise on the output. See chapter Installation instructions for details.

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Dimensions and installation drawings MRA039BC020DSE00 magnetic ring [)RUIDVWHQHUV 0,62

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Dimensions and installation drawings Encoder assembly MB049 readhead shape D and readhead shape E with MRA049BC025DSE00 magnetic ring Ring part number Ride height influences noise on the output. See chapter Installation instructions for details.

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Dimensions and installation drawings

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Dimensions and installation drawings * Also possible with suitable M2. Mounting with glue. See chapter installation instructions for more details.

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Dimensions and installation drawings 0%UHDGKHDGVL]H( ZLWK05$%&'6(ULQJ 0%UHDGKHDGVL]H( Encoder assembly MB053 ZLWK05$%&'6(ULQJ magnetic ring readhead shape E with MRA053BC030DSE00 r 'HWDLO$ Ride height influences noise on the output. See chapter Installation instructions for details. 'HWDLO$

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Dimensions and installation drawings * Also possible with suitable M2. Mounting with glue. See chapter Installation instructions for more details.

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Dimensions and installation drawings Encoder assembly MB064 readhead shape D with MRA064BC040DSE00 magnetic ring 'HWDLO$ Ride height influences noise on the output. See chapter Installation instructions for more details.

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Dimensions and installation drawings * Also possible with suitable M2.

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Dimensions and installation drawings Encoder assembly MB080 readhead with MRA080BC055DSE00 magnetic ring Ring part number Ride height influences noise on the output. See chapter Installation instructions for more details.

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Dimensions and installation drawings * Also possible with suitable M2.

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Dimensions and installation drawings Mounting with glue. See chapter installation instructions for more details.

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Installation instructions Axial position adjustment (ride height) The distance between the sensor and the ring should be between 0.05 mm and 0.35 mm. See detail A on dimension drawings of encoder assemblies. Using the gold-plated surface on the bottom as a reference surface for mounting the readhead is recommended. If the top side of the readhead is used as a reference surface, note that the thickness tolerance of the readhead must be taken into account. Also make sure that the signal traces and components are not in contact with mechanical assembly. Optionally, you may also use shims for height...

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Installation tolerances (ring to shaft) Ring / shaft fit After self-calibration See table of recommended tightening torques for RLS products available at RLS media center. Mounting rings with glue (option “G” in part number) Rings that can only be mounted with glue: MRA049BG034DSN00, MRA053BG040DSN00 and MRA080BG064DSN00. It is possible to install any type of AksIM-2 ring with glue. However, RLS does not recommend or supply any type of glue. Contact a local company that sells glue for further help in selecting the correct glue type. When choosing the correct type of glue, consider the following...

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Electrical connections Asynchronous serial Soldering pads * See chapter External isolated temperature sensor 8-pin low profile connector FCI / AMP 10114830-11108LF -horizontal FCI / AMP 10114828-11108LF -vertical (readhead MB022 only) Note: On some connectors there is “Pin 1” marking imprinted, which is sometimes in a wrong position and must be ignored. Counterpart mating connector: FCI / AMP 10114826-00008LF and 10114827-002LF Soldering pads Dimensions: 2.54 x 1.14 mm with 1.875 mm pitch Locking features of the connector: Retention system on the bottom side - bumps on the plug and dimples in...

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AksIM-2_MBD01_11

AksIM-2_MBD01_11

Catalog excerpts

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