Netzer VLM-60 Absolute Position Rotary Electric Encoder User Manual

Preface

1. Version 1.0; February 2022
2. Applicable documents
   VLM-60 Electric Encoder data sheet

ESD protection

As usual for electronic circuits, during product handling do not touch electronic circuits, wires, connecters or sensors without suitable ESD protection. The integrator / operator shall use ESD equipment to avoid the risk of circuit damage.

ATTENTION

OBSERVE PRECAUTIONS FOR HANDLING ELECTROSTATIC SENSITIVE DEVICES

Product overview

Overview

The VLM multi-turn function Electric Encoders™ product line is implemented by revolution counter. The master reads the multiturn position from the encoder at power up and during operation. The resolution is limited to 32 bits for single and multi-turn together. to prevent loss of the multi turn counter when the power supply to the encoder is disconnected the VLM is backup with an internal battery.

The VLM-60 is a member of the VLM series absolute position Electric Encoder™. this product is a revolutionary position sensor originally developed for industrial environment applications. Currently it performs in a broad range of applications, including highend robotics, survey & mapping systems medical machines other industrial automation applications

The Electric Encoder™ non-contact technology relies on an interaction between the measured displacement and a space/time modulated electric field.

The VLM-60 Electric Encoder™ is semimodular, i.e., its rotor and stator are separate.

1. Encoder stator
2. Encoder rotor

Installation flow chart

Encoder mounting

Typical encoder installation includes: 

• Encoder Stator & Rotor mounting screws (3) Socket Head Cup Screw 8 x M2
• Encoder Stator & Rotor mounting dowel pins (4), 4 x M2

Encoder stator / Rotor relative position

For proper performance the air gap should be 0.6 mm +/- 0.1mm

The optimal recommended amplitude values are middle of the range according to those shown in the Encoder Explorer software and vary according to the encoder type.

Verify proper rotor mounting with the Encoder Explorer tools “Signal analyzer” or “Mechanical installation verification.”

Note: for more information please read paragraph 6

Unpacking

Standard order
The package of the standard VLM-60 contains the encoder Stator & Rotor.

Optional accessories: 

1. CB-00120-250, 250mm connection harness
2. CB-00120-500, 500mm connection harness
3. CNV-00003, RS-422 to USB converter (with USB internal 5V power supply path).
4. NanoMIC-KIT-01, RS-422 to USB converter.
   Setup & Operational modes via SSi /BiSS interface.

Interconection

On board connector – DF13A-10P-1.25H
Matting connector – DF13-10S-1.25C

Accessories – cables (optional) 

DKIT-VLM-60-SF-15-CH, Mounted SSi encoder on rotary jig, RS-422 to USB converter and cables.

Electrical interconnection

This chapter reviews the steps required to electrically connect the encoder with digital interface (SSi or BiSS-C).

Connecting the encoder
The encoder has two operational modes:
5.1 Absolute position over SSi or BiSS-C:
This is the power-up default mode

SSi / BiSS interface wires color code 

Setup mode over NCP (Netzer Communication Protocol) 

This service mode provides access via USB to a PC running Netzer Encoder Explorer application (on MS Windows 7/10). Communication is via Netzer Communication Protocol (NCP) over RS-422 using the same set of wires.

Use the following pin assignment to connect the encoder to a 9-pin D-type connector to the RS-422/USB converter CNV-0003 or the NanoMIC.

Electric encoder interface, D Type 9 pin Female

Electrical connection and grounding

The encoder does NOT come with specified cable and connector, however, do observe grounding consideration:

1. The cable shield does not connect to the power supply return line.
2. Ground the host shaft to avoid interference from the host system, which could result in encoder internal noise.

Note: 4.75 to 5.25 VDC power supply required

Connect Netzer encoder to the converter, connect the converter to the computer and run the Electric Encoder Explorer Software Tool

Software installation

The Electric Encoder Explorer (EEE) software:

• Verifies Mechanical Mounting Correctness
• Offsets Calibration
• Sets up general and signal analysis

This chapter reviews the steps associated with installing the EEE software application.

Minimum requirements 

• Operating system: MS windows 7/ 10, (32 / 64 bit)
• Memory: 4MB minimum
• Communication ports: USB 2
• Windows .NET Framework, V4 minimum

Installing the software

• Run the Electric Encoder™ Explorer file found on Netzer website: Encoder Explorer Software Tools
• After the installation you will see Electric Encoder Explorer software icon on the computer desktop.
• Click on the Electric Encoder Explorer software icon to start.

Mounting verification

Starting the Encoder Explorer

Make sure to complete the following tasks successfully:

• Mechanical Mounting
• Electrical Connection
• Connecting Encoder for Calibration
• Encoder Explore Software Installation

Run the Electric Encoder Explorer tool (EEE)

Ensure proper communication with the encoder: (Setup mode by defoult).

(a) The status bar indicates successful communication.
(b) Encoder data displays in the encoder data area. (CAT No., Serial No.)
(c) The position dial display responds to shaft rotation.

Perform mounting verification & rotation direction selection before calibration to ensure optimal performance.

It is also reccomended to observe the instaletion at the [Tools – Signal Analizer] window.

Mechanical installation verification

The Mechanical Installation Verification provides a procedure that will ensure proper mechanical mounting by collecting raw data of the fine and coarse channels during rotation.

(d) Select [Mechanical Mounting Verification] on the main screen.

(e) Select [Start] to initiate the data collection.
(f) Rotate the shaft in order to collect the fine and coarse channels data.

(g) At the end of a successful verification, the SW will show “Correct Mechanical Installation.

(h) If the SW indicates “Incorrect Mechanical Installation,” correct the mechanical position of the rotor, as presented in paragraph 3.3 – “Rotor Relative Position.”

Calibration

Auto-calibration

Auto-Calibration option enabled.
Refer to document: Auto-calibration-featureuser-manual-V01

Full manual calibration

After successfully completing the Mounting Verification procedure:
(a) Select [Calibration] on the main screen.

(b) Start the data acquisition while rotating the shaft.

The progress bar (c) indicates the collection progress.

Rotate the axis consistently during data collection-covering the working sector of the application end to end-by default the procedure collects 500 points over 75 seconds.
Rotation speed is not a parameter during data collection. Data collection indication shows for the fine/coarse channels, a clear “thin” circle appears in the center (d) (e) with some offset.

Offset compensated fine / Corse channel

CAA calibration 

The following calibration aligns the coarse/ fine channel by collecting data from each point of both channels.

Select [Continue to CAA Calibration]

In the CAA angle calibration window, select the relevant option button from the measurement range options (a):

• Full mechanical rotation – shaft movement is over 10deg recommended.
• Limited section – define operation of the shaft in a limited angle defined by degrees in case of <10deg
• Free sampling modes – define the number of calibration points in the total number of points in the text box. The system displays the recommended number of points by default. Collect a minimum of nine points over the working sector.
• Click the [Start Calibration] button (b)
• The status (c) indicates the next required operation; the shaft movement status; the current position, and the next target position to which the encoder should be rotated.
• Rotate the shaft/encoder to the next position and click the [Continue] button (c) – the shaft should be in STAND STILL during the data collection. Follow the indication/ interactions during the cyclic process for positioning the shaft –> stand still –> reading calculation.
• Repeat the above step for all defined points. Finish (d).
• Click the [Apply and contiue to MTAA] button (e).

The last step saves the offsets CAA parameters.

MTAA calibration

The MTAA stands for Multi Turn Angle Alignment, the meaning of this test is to do alignment and calculation of the full position singleturn & multiturn.

In the following window start to rotate the encoder manually to any direction.

After few rotation you will be asked to rotate to the opposite direction.

After few rotation you will get the following message that the process is done.

Setting the encoder zero point

The zero position can be defined anywhere in the working sector. Rotate the shaft to the desired zero mechanical position.

Go into “Calibration” button at the top menu bar, press “Set UZP”.

Select “Set Current Position” as zero by using the relevant option, and click [Finish].

Jitter test

Perform a jitter test to evaluate the quality of the installation; the jitter test presents the reading statistics of absolute position readings (counts) over time. Common jitter should be up +/- 3 counts; higher jitter may indicate system noise

In case the reading data (blue dots) are not evenly distributed on a thin circle, you may experience “noise” in your installation (check shaft/stator grounding).

Operational Mode

Operational Mode
SSi / BiSS
Operational mode indication of the SSi / BiSS Encoder interface available by using the NanoMIC.

For more information read about NanoMIC on Netzer website

The operational mode presents the “real” SSi / BiSS interface with 1MHz clock rate.

Protocol SSi

Mechanical drawings

Unless Otherwise Specified

Linear tolerances

WARNING
Do not use Loctite or other glues containing Cyanoacrylate.
We recommend to use 3M glue – Scotch-WeldTM Epoxy Adhesive EC-2216 B/A.

Documents / Resources

Netzer VLM-60 Absolute Position Rotary Electric Encoder [pdf] User Manual VLM-60, Absolute Position Rotary Electric Encoder, VLM-60 Absolute Position Rotary Electric Encoder, Position Rotary Electric Encoder, Rotary Electric Encoder, Electric Encoder, Encoder, VLM-60 Absolute Rotary Electric Encoder

References

• User Manual