ME-110 Unicoder Product Manual
Contents
1. 40 Program Register Bit Name Meaning Number 0 1 Mode output mode 0 default 1 quadrature 2 sign magnitude 3 BLDC commutation 2 3 resolution 0 10 bit 1 9 bit 2 8 bit 3 7 bit 4 0 1 pulse wide 1 3 pulses wide 5 14 Zero Idx location of zero angle and index pulse always 10 bit resolution 15 CC 0 angle increases clockwise 1 angle increases counter clockwise Servo Compatibility The ME 110 s rectangular shape fits in the potentiometer recess of some makes and models of hobby servos The following is an incomplete list Manufacturer Model sws Note if your specific servo is not listed it may still fit However you will have to open up the servo case to determine the shape and size of the potentiometer Many models use a round potentiometer the result of which is that the currently shipping versions of the ME 110 would be incompatible Opening of any RC servo will most likely violate it s manufacturer s warranty Unicoder ME 110 Product Manual 6 Connector Pinout Description Quadrature Sign Magnitude Commutation lopen drain reduced magnetic field indicator lopen drain increased magnetic field indicator 1KHzPW M signal where duty cycle indicates angle lonce around index pulse or BLDC motor W phase chip select pull low to enable CHA CHB after power on data out of synchronous serial interface clock for synchronous serial interface Quadrature B rotation direction or BLDC V phase Q2. NUGUTI Cs E110 LInicoder Product Manual Entry Level Incremental and Absolute High Resolution Encoder 1 0 4 8 2003 MIE 1 10 Unicoder Features absolute nonvolatile angle sensing 1024 positions per rotation 3 3 volt operation readable angle incremental quadrature and index pulse output programmability using Austria Microsystem s AS5040 interface o index pulse location zero angle location resolution 7 8 9 and 10 bit direction of rotation CW or CCW output modes quadrature sign magnitude or BLDC motor commutation O O O O Description Nubotics breaks new ground with this unique new sensor Combining the best of both incremental and absolute encoders the Nubotics Unicoder ME 110 solves many problems for electromechanical designers And as the shaft and case are designed to replace rectangular potentiometers used for angle sensing in many standard size RC servos robot builders now have a powerful new way to measure joint position wheel velocity total distance travelled and more Inside the ME 110 contains an Austria Microsystems AS5040 magnetic encoder chip with a matching rare earth magnet carefully mounted above the chip so that it can rotate over the center of the chip s die The magnet s N and S poles are radially aligned so that no matter what the magnet s orientation is the encoder chip s 8 Hall effect sensors and DSP can determine its absolute position The chip also provides standa
3. gnals and a unique synchronous serial programming and query interface as specified on the AS5040 datasheet Note data is transferred most significant bit first Querying is done by keeping Prog low then asserting CS low with CLK high then clocking the data using the CLK line On each of 16 subsequent falling edges of CLK sample the data on pin DO Return CLK high then CS high to end the transfer Programming is done by asserting CLK and CS low then raising Prog high After a delay assert CS high After another delay start transferring data Assert each data bit in turn on the Prog line clocking it in after setting the Prog line to the value of the current bit by raising and lowering the CLK line Repeat for all 16 data bits Finally end the programming cycle with Prog and CLK low while dropping CS Please see the AS5040 data sheet for details available here http www austriamicrosystems com eng Products Magnetic Encoders Rotary Encoders AS5040 Unicoder ME 110 Product Manual 5 AS5040 Query Register Bit Name Meaning Number 0 Even parity of bits 1 15 for transmission error detection 1 High when magnet pulled away from IC 2 High when magnet pushed towards IC both high when out of range 3 Linearity alarm when high Angle data may be invalid 4 Cordic overflow when high Angle data is invalid 5 ocr offset compensation finished high when data is valid OCF 6 15 Angle Absolute angular position AS50
4. r itself again using the ME 110 as a feedback device for the customer s control system NOTE as the RC servo s feedback potentiometer has to be removed to Unicoder ME 110 Product Manual 3 allow the ME 110 to be mounted inside the RC servo control circuit will no longer be provided with the feedback signal it needs to close the loop and thus control position As a result some other means must be provided as described in points 1 and 2 External to an RC servo angle positioning By mechanically coupling the ME 110 Unicoder encoder to the RC servo output shaft externally the RC servo control electronics continue to provide angle control using the internal potentiometer for feedback Meanwhile the customer provided controller can use the ME 110 Unicoder encoder to sense the actual position of the shaft Other Applications The ME 110 Unicoder encoder is well suited for all kinds of rotary motion sensing Shatt The ME 110 Unicoder encoder s 125 diameter shaft is not designed to be load bearing Case retention The case can be press fit in a hole properly undersized for the nominal Unicoder dimention of 394 x 438 Other mounting schemes are possible Unicoder ME 110 Product Manual 4 Communications The ME 110 Unicoder encoder makes the Austria Microsystems AS5040 signals available to the user these signals include a PWM signal whose duty cycle is proportional to shaft angle Index ChA and ChB incremental si
5. rd quadrature incremental encoder outputs with a once around index pulse By changing the mode of the chip one can instead obtain sign magnitude outputs rather than quadrature In yet another mode it can even generate 3 phase BLDC motor control signals The ME 110 is designed for low speed applications only due to its reliance on the bearing properties of ABS plastic Installation Internal to an RC servo continuous rotation The ME 110 Unicoder encoder can be press fit in the rectangular depression inside a standard size RC servo depending on make and model once the RC servo s feedback potentiometer has been removed a common operation when converting an RC servo for continuous rotation operation By adding an ME 110 Unicoder encoder a customer supplied controller can accurately measure and control the operation of a continuous rotation servo Internal to an RC servo angle positioning In this application the feedback between shaft angle as sensed by the ME 110 and control of the RC servo s DC motor must be provided in one of two ways 1 External to the RC servo a customer developed controller produces RC servo control pulses to drive the RC servo electronics while using the ME 110 as a feedback device using a control system such as a PID position loop to effect desired motion 2 External to the RC servo a customer developed controller which includes a DC motor driver directly controls the RC servo s DC moto
6. uadrature A rotation clock or BLDC U phase data in for synchronous serial interface Unicoder ME 110 Product Manual 7 Specifications Overall Length Overall Height joss Interfacing Examples Value Min Max Units Supply Voltage Vcc 3 6 Volts Supply Current 21 mA Resolution ea o 1024 Ticks 360 PVV M Frequency 975 6 Hz PVVM Period HS PWM Duty Cycle HS Query Clock Rate KHz Programming Clock Rate KHz Shaft Speed RPM Shaft Diameter inches Shaft Length Case Width Case Length PCB Width PCB Length 700 Overall Width 955 Please visit www nubotics com to view and download example code for Ridgesoft RoboJDE Java and other controllers contact Nubotics for correct URL these are not public yet Document History Rev 1 0 initial draft For more information visit www nubotics com Produced by Noetic Design Inc 25 NW 23 PL STE 6 PMB 181 Portland OR 97210 Copyright 2009 Noetic Design Inc All rights reserved Unicoder ME 110 Product Manual 8
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