AR49-M49M BOARDCOM | Alldatasheet
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Preliminary AR49 Series DS003 Aug. 23rd 2024 Preliminary Datasheet AR49-M49M/M25S Series Reflective Encoder Module Absolute Encoder with Energy Harvesting Multi-Turn Counter
Description
The Broadcom ® AR49 Series is an optical absolute encoder module, which offers up to 25-bit single-turn (ST) position information and 24-bit multi -turn (MT) counts, hence a combined 49 bits high resolution output. The ST block of the encoder consists of a patterned disk, a light source and photosensitive elements to translate the mechanical motion into electrical signal. It is designed with a selection of serial communication protocol s, with dedicated electron ic circuit designed for a robust signal communication. Broadcom® AR49 series encoders offer bundles of intelligent features such as Built-In Temperature Sensor, User Programmable Resolution, Zero Reset, System Alarm and more. It comes with a recommended high temperature range of –40°C to 115°C. One of the key advantages is its multi-turn tracking that employs a proprietary energy harvesting (EH) technology by harvesting the magnetic energy as the patterned disk with magnet rotates. The counter ASIC harvests the energy generated by EH Sensor for processing rotational count and generate counting logics to the non- volatile memory, which updates and stores the counting. The entire operation of energy generation, counting and storage processing is completed within a limited energy and short duration; hence, the kit encoder is suited for both low and high-speed measurement. Features & Benefits 24-bit energy harvesting multi-turn & 25-bit optical single-turn Accuracy upon calibration of +/-30 arc-seconds Encoder Fault and Status bits with CRC Integrated differential transceiver for SSI/BiSS- C/RS485/ESL communication protocols Single-ended Serial Protocol Interface (SPI 4-Wire option) Overall encoder outer diameter Ø35 mm and maximum height of 17.5 mm 8K bits of user accessible memory in EEPROM Immediate position detection on power up No battery or capacitor required for position detection during power failure RoHS Compliant
Applications
AC/DC Servo Motor Feedback Medical & laboratory equipment Robotics Factory automation CAUTION This product is not specifically designed nor manufactured for use in any specific devices. Customers are solely responsible for determining the suitability of the product for its intended application and solely liable for all loss, damage, expense, or liability in connection with such use. Please contact factory for further enquiry.
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003
1 Product Specifications
Table 1 Absolute Maximum Ratings Parameters Symbol Min Max Units Notes Storage Temperature TS -40 125 °C Operating Temperature1 Ta -40 115 °C Supply Voltage Vdd -0.3 6.5 V Electrostatic Discharge Immunity, ESD -8k +8k V Contact discharge -12k +12k V Air discharge Electrical Fast Transient/Burst Immunity, EFT -2k +2k V 5mins, 5kHz Permissible Speed ̶ 12,000 RPM Note (2) Relative Humidity RH ̶ 90 % T=60°C (non- condensing) Single-Turn Resolution 15 25 Bit 15 to 25 bits Multi-Turn Resolution 0 24 Bit 12,14,16, 18, 20, 22 & 24 bits Transmission Length(3) ̶ 25 meter SSI/BiSS-C/RS485 Differential Line NOTE 1. Maximum junction temperature of PCB shall not exceed 125 °C Encoder works reliably up until this permissible speed. Twisted pair and shielded cable is recommended for robustness against environmental n oise. Frame Ground (FG) termination near the motor frame is recommended. Exposure to absolute maximum rating conditions for extended periods may affect reliability. Stress greater than the absolute maximum rating may cause permanent damage to the device.
Electrical Characteristics
DC Characteristics over recommended operating VDD 4.5 to 5.5V, Ta = -40 to 115°C Parameters Symbol Min. Typical Max. Unit Remark Supply Voltage VDD 4.5 5.0 5.5 V Supply Current IDD 50 90 100 mA Power on Standby ̶ ̶ 500 ms Protocol IO drive strength IDIO 5 20 40 mA Differential driver Electrically Permissible Speed -12,000 ̶ +12,000 RPM Differential Transceiver Hysteresis Vhys ̶ 100 ̶ mV 220Ω termination Opening Vopen 200 ̶ ̶ mV Peak-Peak Voltage VPP ̶ 2 ̶ V
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 Parameters Symbol Min. Typical Max. Unit Remark IO Line Output High Voltage VOH 4.4 ̶ ̶ V No Load(VDD = 5V) Output Low Voltage VOL ̶ ̶ 0.5 V Input High Voltage VIH 2.8 ̶ 5.5 V Input Low Voltage VIL 0 ̶ 1.8 V Table 3 Mechanical and environmental specifications Mechanical characteristics over recommended operating conditions of VDD 4.5 to 5.5V, Ta = -40 to 115°C Parameters Conditions Min Typ Max Units Storage Temperature -40 ̶ 125 °C Operating Temperature1 -40 ̶ 115 °C Encoder Accuracy2 With reference encoder correction, Tamb = 25˚C ̶ ±30 ̶ Arc-sec Mechanical Permissible Speed -12,000 ̶ +12,000 RPM Relative Air Humidity (Non-Condensing) Ta = 60˚C ̶ 90 ̶ RH% Vibration EN 60068-2-6 ̶ ̶ 30 G Shock EN 60068-2-27, 6ms ̶ ̶ 100 G NOTE 1. Maximum junction temperature of PCB shall not exceed 125 °C 2. Typical values represent the accuracy and repeatability when calibrated with a reference encoder having 10× higher accuracy than the AR49. Reference Encoder ≈ 3 arc-seconds. 3. Refrained from placing the codewheel magnet or any magnet near to the EH sensor on top of the encoder assembly (maintain <20mT storage condition)
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 Table 5 General encoder specifications Parameter Remarks Counting Direction Increase with counter-clockwise (CCW) codewheel rotation, view from encoder top (Figure 1) User accessible Memory size 8K bits Encoder Temperature 8-bit data output at 1°C resolution Initialization Time 500ms Figure 1 Counting ‘Up’ direction from top view top view
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003
2 Mechanical Specifications
Figure 2 MT Encoder mechanical dimensions NOTE 4. Dimensions are in millimeters. 5. 3rd angle projection. 6. Motor shaft outer diameter requirement: 6g6 (-0.004, -0.012)mm
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 Figure 3 ST Encoder mechanical dimensions NOTE 1. Dimensions are in millimeters. 2. 3rd angle projection. 3. Motor shaft outer diameter requirement: 6g6 (-0.004, -0.012)mm
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 Recommended Motor Mounting Dimensions Figure 4 Mounting dimensions when using module outer diameter as the position guide NOTE 4. Dimensions are in millimeters. 5. 3rd angle projection 6. Use stainless steel M3 screw to secure codewheel-hub assembly to the motor shaft 7. Use screw with pre-applied thread locker 8. Motor shaft-end where code wheel is mounted must be made of non-ferromagnetic material. Recommended motor shaft material: SUS316L Non-ferromagnetic material
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 Figure 5 Mounting dimensions when using module inner diameter as the position guide NOTE 9. Dimensions are in millimeters. 10. 3rd Angle Projection 11. Use stainless steel M3 screw to secure codewheel-hub assembly to the motor shaft 12. Use screw with pre-applied thread locker 13. Motor shaft-end where code wheel is mounted must be made of non-ferromagnetic material. Recommended motor shaft material: SUS316L Non-ferromagnetic material
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 Recommended Shield Cover Dimensions To eliminate or minimize the influence of the external magnetic field interference on encoder operation, use of shielding is mandatory. Shield cover material requirement: Mild steel SPCC-SD, thickness 0.8 mm (minimum) Finishing: Ni plating 8 µm to 12 µm thick, with Cu under coating 2 µm to 4 µm Figure 6 Reference shield cover design
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003
3 Encoder Calibration
Broadcom encoder employs intelligent calibration method by performing auto signal optimization once the encoder is mounted within assembly tolerances. This eliminates the hassle to mechanically adjust the encoder positi on to a very tight gap and mechanical center. Position accuracy correction is optional and can be carried out with a high accuracy reference encoder, e.g. Broadcom’s AR25-AC25 calibration station. For initial development and early evaluation of the AR49 encoders, the versatile AR49-M49-E01 programming kit can be used to perform the basic encoder configuration and calibration process. Figure 7 Overview of the AR49 series encoder calibration flow Install AR49 assembly with code disc onto the DUT Motor Assemble the DUT Motor to the Calibration Station End Connect the AR49 Encoder to the Test & Calibration Station Start the Multi-Turn Calibration & Measurement Process Ensure correct connection between PC GUI Software and Calibration Station Calibration completed. Data recording & Result Display Start Single- Turn Signal Calibration & Measurement Process (Optional) Start Position Accuracy Calibration & Measurement Process
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003
4 Interface Protocol
AR49-M49M-Kxx with RS485 Half-Duplex Protocol A one-to-one half-duplex serial communication is established between the Client encoder and the Host (e.g. a servo driver). The communications are in a differential transmission format. The encoder will carry out specific operations based on the command requests made by the Host. An acknowledgment of the command request is necessary before the encoder executes the requested operation, i.e. by checking the Start Bit, Information Data Field and Stop Bit. Failing this checking, the encoder will not acknowledge and execute the received command request. Figure 8 General transmission frames format on half-duplex line NOTE Start of transmission frames set: Upon detecting of the first logic of Low State “0” on the transmission line after an idling state, and if the following 3 bits conform to the sync code, the encoder will acknowledge it as a valid Request Control Field (RCF) and indicates the start of a transmission frame set. Otherwise, the encoder will continue to search for the next available logic of Low State ”0”. End of transmission frames set: After the Command Frame is detected, if there is no Start Bit after the End Bit of the last frame read, and no subsequent frame detected, end of transmission frame set is concluded. Idle state: Idle state means a space between each transmission frames set and subsequent transmission frames. At idling state, logic of output in transmission line is kept to high state “1”. RS485 Protocol Specifications Over recommended operating conditions, Vdd 4.5 to 5.5V, Ta = -40 to 115°C Parameters Conditions Min. Typ. Max. Unit Remarks Communication Baud Rate ̶ 2.5 10 Mbps 2.5, 5, 10 Mbps Frame Length ̶ 10 ̶ Bit/Frame Cycle Time Between Frames Sets Request Command ID3 62.5 ̶ ̶ µs 2.5 Mbps 35 ̶ ̶ 5 Mbps 20 ̶ ̶ 10 Mbps Jitter Every Frame -100 ̶ +100 ns 2.5 Mbps -50 ̶ 50 ns 5 Mbps -25 ̶ 25 ns 10 Mbps IDLE IDLE RCF CF SF DF0 CRC Host request frames set Transmission Frame (Host Request) Transmission Frames set (Client Encoder Response) Data Frames
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003
4.1.1 RS485 Differential Connection
The recommended I/O connection between the encoder and the Host driver has the following basic requirements. 1. Ensure the encoder power supply, VCC should be within the range of 4.5V ~ 5.5V. 2. For best noise immunity, use a twisted-pair shielded cable for connection to the servo driver. 3. To prevent undesirable signal reflection, terminate with 220Ω resistors. 4. Terminate the shield-wire to Frame Ground (FG) at both ends of the communication line. RS485 Half-Duplex I/O Connection ControllerEncoder DATA+ DATA- 220Ω GND FG RO DI DE /RE D RGND B/Z A/Y 0.1uF 1.2kΩ 1.2kΩ 220Ω GND B/Z A/Y 1.2kΩ 1.2kΩ FG GND Vcc Vcc (5V) GND
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 AR49-M49M-Bxx with BiSS-C Serial Interface Table 4 BiSS-C Timing Characteristics Over recommended operating Vdd 4.5 to 5.5V, Ta = -40 to 115°C Parameter Symbol Condition Min Typ. Max Units Notes MA Frequency fMA 0.08 10 MHz MA duty DUTCLK - - 50 - % Busy Tbusy fMA = 5 to 10MHz 2/ fMA µs 100kHz ≤ fMA < 5MHz 1/ fMA Busy Tbusy - - - 5 µs Timeout tBiSS-timeout 1.5/ fMA 5 µs Frame to Frame - - - 1 µs Figure 10 BiSS-C Data Field and Interface Timing Diagram NOTE 1. CRC Polynomial = Invert of (X6 + X1 + X0). 2. nErr bit is active low. (Combine all the Error Status and reflect in nErr bit) 3. nWar bit is active low. (Combine all the Warning Status and reflect in nWar bit) 4. Position data varies depending on Single-turn and Multi-turn resolution. The recommended I/O connection between the encoder and the Master driver has the following basic requirements. Position Data npos bits + 1 nErr bit + 1 nWar bit + 6 bits CRC (npos bits) (6bits) (1bit) (1bit) (1bit) (1bit) CRC Position data Position data Bits (npos-1) … 0 MSB … LSB CRC Bits 5 … 0 MSB … LSB T SLO Ack Start CDS nErr nWar Timeout TBiSS-timeout Tbusy MA CDM(invert) MT[23:0] ST[24:0] Error[0] Warning[0] CRC[5:0]
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003
4.2.1 BiSS-C Full-Duplex Connection
- Provide the following encoder power supply: – For the 5.0V supply, VCC should be within the range of 4.5V ~ 5.5V. 2. For best noise immunity, use a twisted-pair shielded cable for connection to the servo driver. 3. To prevent undesirable signal reflection, terminate with 120Ω resistors. 4. Terminate the shield-wire to Frame Ground (FG) at both ends of the communication line. BiSS-C Full-Duplex I/O Connection
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 AR49-M49M-Sxx with SSI 2-Wire Serial Interface SSI Protocol Specifications Over recommended operating Vdd 4.5 to 5.5V, Ta = -40 to 115°C SSI Data Field and Timing Diagram For the SSI option, the encoder calibration and device configuration is achieved by switching to the SPI mode during calibration. By toggling the logic levels of SEL0 and SEL1 pins, the SPI calibration mode can be enabled.
4.3.1 SSI 2-Wire Full-Duplex Connection
- Provide the following encoder power supply: – For the 5.0V supply, VCC should be within the range of 4.5V ~ 5.5V. 2. For best noise immunity, use a twisted-pair shielded cable for connection to the servo driver. 3. To prevent undesirable signal reflection, terminate with 120Ω resistor. 4. Terminate the shield-wire to Frame Ground (FG) at both ends of the communication line. SSI Communication Parameters Symbol Conditions Min Typ Max Unit Remark Clock frequency fCLK - 100 - 10,000 kHz Clock duty DUTCLK - - 50 - % Monoflop time tm - - - 20 µs Pause time tp - 21 - µs SCLK DATA MT[23:0] ST[24:0] nError[0] nWarning[0] 24 bits 25 bits 1 bit 1 bit
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 SSI Full Duplex Connection
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003 AR49-M49M-Sxx with SPI 4-Wire Protocol SPI Timing Diagram SPI Protocol Specifications Over recommended operating VDD 4.5 to 5.5V, Ta = -40 to 115°C Symbol Description Min. Typ. Max. Units tL Time between NCS falling edge and CLK rising edge 350 — — ns tclk Serial clock period 100 — — ns tclkL Low period of serial clock 50 — — ns tclkH High period of serial clock 50 — — ns tH Time between last falling edge of SCK and rising edge of NCS tclk /2 — — ns tNCS High time of NCS between two transmission 350 — — ns tMOSI Data input valid to clock edge 20 — — ns tMISO SCK edge to data output valid — 51 — ns tOZ Time between NCS rising edge and MISO Hi-Z — 10 — ns NOTE: The user should read back data to confirm data is written successfully.
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003
5 Connector Information
Figure 15 Horizontal and Vertical Connector Information Table 7 Recommended Connector Information Part Location Manufacturer Part Number Description Header On PCB JST SM08B-SRSS-TB Horizontal/Radial connector JST BM08B-SRSS-TB Vertical/Axial connector Wire Plug Mating plug for wires JST SHR-08V-S Crimp Pins Crimp pins for wires JST SSH-003T-P0.2-H Terminal Pin for Wire 32~28AWG Table 8 Encoder Pinout Description Pin # BiSS-C SPI SSI 1, 2 RS485 1 +5V +5V +5V +5V 2 0V 0V 0V 0V
3 MA+ SPI-NCS SCLK+/ SPI-NCS NC
4 MA- SPI-CLK SCLK-/ SPI-CLK NC
5 SLO+ SPI- DO/MISO DATA+/ SPI-DO/MISO DATA+
6 SLO- SPI- DIN/MOSI DATA-/ SPI-DIN/MOSI DATA-
7 NC NC SEL0 NC
8 NC NC SEL1 NC
- SSI option is configured via the shared SPI pins and setting the correct logic level to the SEL0 and SEL1 pins. 2. The SPI-CLK and MOSI lines of SSI option require a strong driver current. Recommended to be achieved with a level shifter or a line driver circuit. Vertical Connector Pin 1 Horizontal Connector Pin 1
AR49-M49M/M25S Series Reflective Encoder Module Preliminary Datasheet Absolute Encoder with Energy Harvesting Multi-Turn Counter Preliminary AR49 Series DS003
6 Preliminary Part Numbering
Table 9 Encoder Ordering Information Table 10 Accessories Ordering Information # Part Number Description
1 AS20-C300 8-pin mating connector with 300mm cable length
Programming Kit (applicable for all protocol options) Contents: 1 unit of MCU based programming kit, 1 unit of USB cable for PC interface, DUT cable and the associated programming software. AR25-AC25 Accuracy Calibration Station for AR25/AR49 Series Rotary Reflective Encoder Contents: Mechanical setup including servo motor control, high accuracy reference encoder, programming kits, associated cables assemblies (for PC interface, motor handler communication, DUT encoder connection), and the associated GUI programming software. # Multi-Turn Part Number Description
1 AR49-M49M-S12V 49-Bit MT, Differential SSI, 6mm Shaft, M3 Mounting Screw, Vertical Connector
2 AR49-M49M-P12V 49-Bit MT, Single-Ended SPI 4-Wire, 6mm Shaft, M3 Mounting Screw, Vertical Connector
3 AR49-M49M-K12V 49-Bit MT, Differential RS485, 6mm Shaft, M3 Mounting Screw, Vertical Connector
4 AR49-M49M-B12V 49-Bit MT, Differential BiSS-C, 6mm Shaft, M3 Mounting Screw, Vertical Connector
5 AR49-M49M-S12H 49-Bit MT, Differential SSI, 6mm Shaft, M3 Mounting Screw, Horizontal Connector
6 AR49-M49M-S12H 49-Bit MT, Single-Ended SPI 4-Wire, 6mm Shaft, M3 Mounting Screw, Horizontal Connector
7 AR49-M49M-K12H 49-Bit MT, Differential RS485, 6mm Shaft, M3 Mounting Screw, Horizontal Connector
8 AR49-M49M-B12H 49-Bit MT, Differential BiSS-C, 6mm Shaft, M3 Mounting Screw, Horizontal Connector
# Single-Turn Part Number Description
9 AR49-M25S-S12V 25-Bit ST, Differential SSI, 6mm Shaft, M3 Mounting Screw, Vertical Connector
10 AR49-M25S-P12V 25-Bit ST, Single-Ended SPI 4-Wire, 6mm Shaft, M3 Mounting Screw, Vertical Connector
11 AR49-M25S-K12V 25-Bit ST, Differential RS485, 6mm Shaft, M3 Mounting Screw, Vertical Connector
12 AR49-M25S-B12V 25-Bit ST, Differential BiSS-C, 6mm Shaft, M3 Mounting Screw, Vertical Connector
13 AR49-M25S-S12H 25-Bit ST, Differential SSI, 6mm Shaft, M3 Mounting Screw, Horizontal Connector
14 AR49-M25S-P12H 25-Bit ST, Single-Ended SPI 4-Wire, 6mm Shaft, M3 Mounting Screw, Horizontal Connector
15 AR49-M25S-K12H 25-Bit ST, Differential RS485, 6mm Shaft, M3 Mounting Screw, Horizontal Connector
16 AR49-M25S-B12H 25-Bit ST, Differential BiSS-C, 6mm Shaft, M3 Mounting Screw, Horizontal Connector
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