Data sheet ®

MBD01_02
Issue 2, 26th June 2019

AksIM-2 off-axis rotary absolute encoder

AksIM-2 is a non-contact high The AksIM-2 encoder has a built-in ●● True absolute system
performance off-axis absolute advanced self-monitoring function,
●● Custom magnetic sensor ASIC
rotary encoder designed for continually checking several internal
integration into space-constrained parameters. Error reporting, warnings ●● Self-calibration option
applications. A hollow ring, true and other status signals are available
●● No hysteresis
absolute functionality and high on all communication interfaces and
speed operation make this encoder are visualised with the on-board LED. ●● Resolutions up to 20 bits
suitable for many applications.
The AksIM-2 encoder system is ●● Multiturn counter option
The AksIM-2 encoder system consists suitable for use in industrial and
of an axially magnetised ring and a medical applications. ●● High speed operation
readhead. ●● 9 kHz bandwidth,
A typical application is a robotic arm
The encoders come with BiSS, joint with a cable feed running through 44 kHz refresh rate
asynchronous serial (UART), PWM the ring or a precision gearbox where ●● Low profile, non-contact
or SSI communication interfaces and the ring is attached onto the main
offer a range of binary resolutions to transmission shaft. ●● Built-in self-monitoring
20 bits per revolution. ●● Integrated status LED
Custom design service for OEM
The encoder operates from -40 °C to integration is also available. ●● BiSS, Asynchronous serial
+105 °C with extended temperature
(UART), PWM or SSI
range option and is resistant to shock
and vibrations. ●● Corrosion resistant magnetic ring
●● Up to 600 bar pressure

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Data sheet
MBD01_02

AksIM-2 dimensions - encoder selection table

Dimensions in mm.

Ring Readhead
Max System Mass
Part number Inner Circle for Outer Inertia Inner Circle for Outer
Thickness Arc length resolution thickness (g)
diameter fasteners diameter (kg × mm2) diameter fasteners diameter
MRA029 rings and MB029 readhead
MRA029BC010DSE00 10 15 29 2.0 0.75 7.8 5.9
MRA029GP013DMN00 12.7 none 29 7.0 1.0 12.8 9.0
MB029-F 14 35.4 38 360° 18 bit 4.5
MRA039 ring and MB039 readhead
MRA039BC020DSE00 20 25 39 2.0 2.3 9.2 9.2
MB039-E 23 49 54 196° 19 bit 4.8
MRA049 rings and MB049 readheads
MRA049BC025DSE00 25 31 49 2.0 5.5 7.8 15
MRA049AF025EMH00 25 31 49 3.9 13 9.7 32
MRA049BG034DSN00 34 none 49 2.0 4.8 7.8 11
MB049-D 34 54 59 190° 19 bit 4.5
MB049-E 26 54 59 138° 19 bit 4.2
MRA053 ring and MB053 readhead
MRA053BC030DSE00 30 36 53 2.0 7.4 9.2 16
MB053-E 36 66 74 130° 20 bit 5.3
MRA064 ring and MB064 readheads
MRA064BC040DSE00 40 46 64 2.0 15 9.2 20
MB064-D 48 69 74 140° 20 bit 6.9
MB064-E 46 80 89 130° 20 bit 6.8
MRA080 rings and MB080 readhead
MRA080BC055DSE00 55 61.5 80 2.0 32 7.8 26
MRA080AF055EMH00 55 61.5 80 3.9 74 9.7 64
MRA080DF068DMH00 68 88 95 4.9 114 10.7 72
MB080-D 64.4 85 90 97° 20 bit 4.0

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Dimensions and installation drawings

Dimensions and tolerances in mm.

MB029 readhead 0.05 A

1.6 ±0.2
( 7.8 )
Zero position mark +0.30
5 ±0.3 2.75 0 Mounting dimension

12.5 12.5 3 × Ø2.2 Thru 0.35 (Ride height)* Sensor

Ø 4.2 Metallization 0.05
A 14
.5
R16.6
R15

49°
11
16.6

A
Pin 1
Ø 14 ±0.2
Mounting surface (gold)
Detail A
Ø 38 ±0.2

1.2

2 ±0.05
* Note: Air gap influences noise on the output. See pages 13 and 17 for details.

MRA029BC010DSE00 ring MRA029GP013DMN00 ring

7 ±0.05
4x For fasteners
4.6
M2 ISO 7046
Zero position mark

Ø15.8
+0.015 +0.008
Ø10 H7 0 Ø12.7 H5 0

Ø15 Ø29 ±0.05

Ø29 ±0.1
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Data sheet
MBD01_02 0.05 A
1.6 ±0.2
+0.30
2.75 0 Mounting dimension
Dimensions and installation drawings continued
Dimensions and tolerances in mm. 0.35 (Ride height)*
0.05
MB039 readhead ( 7.8 )

5 ±0.3 Mounting surface (gold)

.2°
° ±0
196
Zero position mark R1

15
A

3×
60
°
23°
Pin 1
A
Ø54 ±0.2 R20
23 R24.5
Ø21.1 ±0.2
Sensor
4 × Ø2.2 Thru
Ø4.2 Metallization
Zero position mark Detail A

1.2

2 ±0.05

* Note: Air gap influences noise on the output. See pages 13 and 17 for details.

MRA039BC020DSE00 ring

8 × For fasteners
M2 ISO 7046

+0.021
Ø20 H7 0

Ø25

Ø39 ±0.1
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Dimensions and installation drawings continued

Dimensions and tolerances in mm.
1.6 ±0.2
0.05 A
MB049 readhead size D
( 7.8 ) +0.30
2.75 0 Mounting dimension
5 ±0.3 0.35
2°
±0. 0.05 (Ride height)*
Pin 1
0°
19
Mounting surface (gold)

45°
4x
Zero position mark
A
Ø59 ±0.2 R1
R27 Sensor
Ø34 ±0.2
A R25

15
23°
5x Ø2.2 Thru
Ø4.2 Metallization Zero position mark Detail A 28

1.2
2 ±0.05

* Note: Air gap influences noise on the output. See pages 13 and 17 for details.

MRA049BC025DSE00 ring MRA049AF025EMH00 ring MRA049BG034DSN00 ring

Ø2.9 THRU 2 ±0.05
4x For fasteners Ø5.5 1.8
M2.5 ISO 7046 3.9 ±0.05 1.2
3
X
°, 6
60
+0.05
0

30°
3

1
Ø3

+0.021
Ø25 H7 0 +0.021 +0.025
Ø25 H7 0 Ø34 H7 0
Ø31
2 15
Ø49 ±0.1
Ø49
Ø49 ±0.1

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Data sheet
MBD01_02

Dimensions and installation drawings continued 0.05 A

1.6 ±0.2
Dimensions and tolerances in mm.
+0.30
2.75 0 Mounting dimension
MB049 readhead size E
0.35
0.05 (Ride height)*

( 7.8 )
Mounting surface (gold)
5 ±0.3
°±0.2°
138
Zero position mark

2x
45
A

°
R27
R1
Pin 1
R25
Ø59 ±0.2 A

15
3x Ø2.2 Thru Ø26 ±0.2
Ø4.2 Metalization

23°
28

Zero position mark Sensor

Detail A
1.2
2 ±0.05

* Note: Air gap influences noise on the output. See pages 13 and 17 for details.

MRA049BC025DSE00 ring MRA049AF025EMH00 ring MRA049BG034DSN00 ring

Ø2.9 THRU 2 ±0.05
4x For fasteners Ø5.5 1.8
M2.5 ISO 7046 3.9 ±0.05 1.2
3
X
°, 6
60
+0.05
0

30°
3

1
Ø3

+0.021
Ø25 H7 0 +0.021 +0.025
Ø25 H7 0 Ø34 H7 0
Ø31
2 15
Ø49 ±0.1
Ø49
Ø49 ±0.1

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Dimensions and installation drawings continued

Dimensions and tolerances in mm.
1.6 ±0.2
0.05 A
( 7.8 ) +0.30
MB053 readhead size E 2.75 0 Mounting dimension
Zero position mark 0.35
5 ±0.3 0.05 (Ride height)*
.2°
° ±0
130

20°

15

A
Pin 1
Ø74 ±0.2 R1

2x
60
°
A
3x Ø2.2 Thru Ø36 ±0.2

31
Ø4.2 Metalization R27.5

R33

Detail A
Mounting surface (gold)

Zero position mark

1.2
2 ±0.05

* Note: Air gap influences noise on the output. See pages 13 and 17 for details.

MRA053BC030DSE00 ring

8x For fasteners
M2.5 ISO 7046

+0.021
Ø30 H7 0

Ø36

Ø53 ±0.1

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MBD01_02

Dimensions and installation drawings continued

Dimensions and tolerances in mm.

MB064 readhead size D 1.6 ±0.2

0.05 A
Zero position mark
( 7.8 )
+0.30
5 ±0.3 2.75 0 Mounting dimension
140
° ±0 0.35
.2° 0.05 (Ride height)*

A Mounting
surface (gold) 20°
Pin 1 40°
4x Ø2.2 Thru R1
15
°
Ø4.2 Metalization 52

Ø74 ±0.2
A

34
Zero position mark Ø48 ±0.2
R32

40°
R34.5
Detail A
Sensor
1.2

2 ±0.05

* Note: Air gap influences noise on the output. See pages 13 and 17 for details.

MRA064BC040DSE00 ring 8x For fasteners

M2.5 ISO 7046

+0.025
Ø40 H7 0

Ø46

Ø64 ±0.1

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Dimensions and installation drawings continued

Dimensions and tolerances in mm. 1.6 ±0.2
0.05 A
+0.3
MB064 readhead size E Zero position mark ( 9.1 ) 2.75 0 Mounting dimension
3x Ø2.2 Thru
0.35
Ø4.2 Metalization 6.3 ±0.3 0.05 (Ride height)*
°
0.2
0°±
13 Ø89 ±0.2 °
60 Mounting
2x
surface (gold)
Ø46 ±0.2
A

°
15

15
R1
R34
Pin 1 A
R40
Zero position mark

36
Detail A Sensor

1.2
2 ±0.05
* Note: Air gap influences noise on the output. See pages 13 and 17 for details.

MRA064BC040DSE00 ring
8x For fasteners
M2.5 ISO 7046

+0.025
Ø40 H7 0
Ø46
Ø64 ±0.1
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MBD01_02

Dimensions and installation drawings continued

Dimensions and tolerances in mm.

MB080 readhead Zero position mark

0.05 A
1.6 ±0.2
* Note: Air gap influences noise on the output.
( 7.8 )
+0.30 See pages 13 and 17 for details.
4x Ø2.1 Thru 2.75 0 Mounting dimension
97 5 ±0.3
Ø4.2 Metalization °±
0.2 0.35
° 0.05 (Ride height)*
15°

Pin 1
A 15
Mounting surface (gold) R1

°
Ø90 ±0.2

30
3x
Ø64.4 ±0.2
A

44
R41 Sensor
Zero position mark
Detail A R42.5
1.2
2 ±0.05

* Note: Air gap influences noise on the output. See pages 13 and 17 for details.

MRA080BC055DSE00 ring MRA080AF055EMH00 ring MRA080DF068DMH00 ring

8x For fasteners
M2.5 ISO 7046
Ø2.9 THRU
Ø5.5 1.8

+0.05
X
°, 6
60

3 0
.5
61
30°

Ø
+0.05
0 3

6x Ø2.9
Ø0.1
+0.030 1.67
+0.030 3 Ø68 H7 0
+0.030 4.9 ±0.05
Ø55 H7 0 Ø55 H7 0 3.9 ±0.05 2 43
Ø61.5 2 30 Ø80
0 0
Ø80 ±0.1 Ø80 -0.3 Ø94.97 -0.4
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Technical specifications
System data
Reading type Axial reading
Resolution From 17 bit to 20 bit and 16 bit multiturn counter option (see chapter Available resolutions on page 18)
Maximum speed 10,000 RPM (for higher speeds contact RLS)
±0.05° / 180 arcsec (before installation - errors caused by mounting inaccuracy of the readhead, ring and
Encoder accuracy
drive shaft are not included)
Typ. ±0.025° / 90 arcsec (after encoder self-calibration - see chapter Installation instructions on page 13).
Final system accuracy
For accuracy up to ±0.005° / 18 arcsec contact RLS.
Hysteresis Less than unit of resolution
Repeatability Better than unit of resolution
Encoder speed 9 kHz bandwidth, 18 kHz sampling rate, up to 44 kHz refresh rate
Electrical data
Supply voltage (VDD) 4.5 V to 5.5 V at the connector. Rise time should be shorter than 20 ms.
Set-up time 100 ms (first data ready after supply voltage is in range), worst case: 200 ms
Current consumption Typ. 130 mA, max. 150 mA (without load on the outputs)
Connection 11-pin locking connector, 8-pin low-profile connector or soldering pads
RS422 ±40 mA
Output load
PWM 5 mA (LVTTL logic level)
ESD protection HBM, Class 2, ±2 kV
Mechanical data
Available ring sizes
29 mm, 39 mm, 49 mm, 53 mm, 64 mm, 80 mm
(outer diameter)
2 mm thick rings EN 1.4016 / AISI430 with glued CPE rubber filled with ferrite particles
Material type 3.9 mm and EN 1.4005 / AISI416 or EN 1.4104 / AISI430F with glued CPE rubber filled with
4.9 mm thick rings ferrite particles
Mass, inertia see table on page 2
Environmental data
Operating and storage –40 °C to +105 °C (standard)
temperature –30 °C to +85 °C (obsolete, available only on request)
Humidity 0 to 70 % non-condensing (for higher contact RLS)
External magnetic field ±25 mT
Pressure Up to 600 bar with special option - contact RLS

Status indicator LED

The LED provides visual feedback of signal strength, error condition and is used for set-up and diagnostics.
Flashing LED indicates the encoder is powered but communication has not been established. When communication is running at a
rate of minimum 5 readings per second LED is constantly lit.

LED Status
Green Normal operation; position data is valid.
Orange Warning; position is valid, but the resolution and/or accuracy might be out of specification.
Some operating conditions are outside limits.
Red Error; position data is not valid.
Slow flashing Communication has not been established.
Position was not requested within last 200 ms. Color of flashing - see above.
No light No power supply.
Continuously fast flashing red System error during start-up or operation.
3 sec. fast flashing Self-calibration result - see table on page 15.

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MBD01_02

Storage and handling

WARNING: Magnetic rings should not be exposed to magnetic field

densities higher than 50 mT on its surface.
Magnetic fields higher than 50 mT can damage the ring.

Chemical resistance

Ring with CPE

Chemical Test performed with Readhead Testing parameters
rubber
Panolin Atlantis 15 - ✖ 4 weeks at 60 °C (ISO175)
ISO VG 46 (SAE MS1004) ✔ ✖ 4 weeks at 60 °C (ISO175) and 70 °C
Hydraulic oil
Catrol Hyspin AWS 32 - ✖ (✔ at 25°C) 65 °C , 25 °C 

Nytro 10 XN - ✖ 4 weeks at 60 °C (ISO175) and 70 °C

Insulating oil MIDEL 7131 - ✖ 70 °C
Shell Diala S3 ZX-I ✔ ✖ 70 °C and 85 °C
Motor oil SAE 15W-40 ✔ ✔ 4 weeks at 25 °C (ISO175)
Cutting oil Rezilol SCM BCL ✔ ✔ 4 weeks at 25 °C (ISO175)
Brake fluid DOT-4 ✔ ✔ 4 weeks at 25 °C (ISO175)
Coolant Blasocut 2000 CF, 5% - ✔ 4 weeks at 25 °C (ISO175)
Antifreeze Wolf VW G12 (100%) ✖ ✔ 70 °C and 85 °C
ISOFLEX TOPAS NB 52 ✔ ✔ 4 weeks at 25 °C (ASTM D4289)

Readheads 1 week at 80 °C (ASTM

HD Flexolub-A1 (pink) ✔ ✖
Lubricating grease D4289), rings several weeks at 25 °C

HD 4B No. 2 (yellow) ✔ ✖ 1 week at 80 °C (ASTM D4289)

HD SK-2 (green) ✔ ✖ 1 week at 80 °C (ASTM D4289)
Sea water Instant Ocean® sea salt, 3.5 % ✖** ✔ 4 weeks at 25 °C (ISO175)
Ethanol Technical, ≥ 95 % - ✔ 4 weeks at 25 °C (ISO175)
(✔ short term
Isopropyl alcohol Technical, ≥ 95 % ⭕*
cleaning)
12 hours at 25 °C

Acetone Technical, ≥ 95 % ✖ ✖ 4 weeks at 25 °C (ISO175)

✔ Resistant
✖ Not resistant (elastoferrite swelling > 0.5 % / adhesive joint failure / reading head failure)
⭕ Noticeable impact, but does not interfere with encoder operation
* Destroys conformal coating (if present). No impact on other components
** Open electronic circuit should not come in contact with conductive fluids
- Not tested

Test samples were immersed in chemicals in accordance with ISO 175:2010(E) and ASTM D4289 – 13 (2014) standards. During
testing, we closely monitored changes in CPE elastoferrite layer's mass and height as well as readhead's functionality. Metal hubs did
not corrode.

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Installation instructions
Axial position adjustment (ride height)
The nominal gap between the gold mounting areas on the PCB mounting side and the rubber band on the ring is 0.8 mm ±0.15 mm.
We recommend using gold plated surfaces on the bottom of the PCB as a reference for mounting the readhead. If the top side of the
readhead is used, user must adjust the ride height carefully due to wide PCB thickness tolerances.
Any nonmagnetic tool with 0.2 mm thickness can be used to mechanically check the ride height between the sensor and the ring.
The integrated LED can be used as an indicator. When the correct ride height is achieved, the LED glows green and does not change
colour when the ring rotates.
Center point of the ring and center point of the readhead arc must be coaxial. Allowed tolerances are listed in the table below.

Installation tolerances (readhead to ring)

Axial displacement (ride height) 0.05 mm to 0.35 mm

Smaller ride height is desired. Increasing the ride height exponentially increases
encoder noise.
Installation height (nominal distance between See installation drawings on pages 3 to 10.
readhead and ring mounting surfaces)
Readhead to ring distance 0.8 mm ±0.15 mm
Tangential displacement ±0.3 mm
Radial displacement MRA029: ±0.3 mm
MRA039: ±0.4 mm
MRA049, MRA053, MRA064, MRA080: ±0.5 mm
Non-paralell mounting tilt angle < 0.2°

Visual process of the encoder installation can be seen in the Explainer video: AksIM-2 self-calibration feature.

Measuring ride height between ring and readhead

Signal level information read over communication interface can be used to calculate ride height.

Value is proportional to the distance between the sensor and ring. To calculate real distance use following formula:
AirGap = K × (N - Ln (Sqrt (SignalLevel)))

K and N are chosen depending on the encoder size.

Encoder size K N
029 188.42 8.37
039, 049 167.24 8.647
053, 064, 080 142.08 9.023

SignalLevel value is available in BiSS register at addresses 0x4E - 0x4F (see document MBD02) and on UART interface with
command 'a' (see page 22).

Installation tolerances (ring to shaft)

Encoder accuracy
Ring / shaft fit
MRA029 MRA039 MRA049 MRA053 MRA064 MRA080
H7/g6 worst case ±0.15° ±0.15° ±0.11° ±0.11° ±0.10° ±0.09°
H7/g6 average ±0.08° ±0.07° ±0.06° ±0.06° ±0.05° ±0.05°
After self-calibration ±0.03° ±0.03° ±0.025° ±0.025° ±0.02° ±0.02°

WARNING!

ESD protection
Readhead is ESD sensitive - handle with care. Do not touch electronic
circuit, wires or sensor area without proper ESD protection or outside of
ESD controlled environment.

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MBD01_02

Accuracy of the encoder system

Precise centering of the ring is key to achieving good
0.2
overall accuracy. 0.18
0.16
0.14
By minimising the eccentricity of the ring installation (using 0.12
a gauge) and using a drive shaft with precision bearings, 0.10

the error can typically be reduced to ±0.05° on MRA080 0.08

0.06
rings or ±0.06° on MRA049 rings.

[ ° ][ ° ]
0.04
0.02

Error
0
A typical accuracy plot after good installation of MRA080

Error
-0.02
(without eccentricity) is shown in the graph below. -0.04
-0.06
-0.08
For improved accuracy after installation it is advised to run -0.10
the self-calibration function. -0.12
-0.14
-0.16
-0.18
-0.2
0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320 340 360
Position [ ° ]
Position [ ° ]

Higher harmonic components of the encoder error plot

1 2
Encoder error [arcsec]

Encoder error [mdeg]

2..253

254
508

Harmonic number

Typical encoder error has some definite higher harmonic components. Example is from the MRA080 + MB080 encoder.
Harmonic number:
1 – Eccentricity of the ring mounting
2 – Oval shape of the ring
8 – Number of mounting holes
2..253 – Absolute code influence
254 – SDE (offset)
508 – SDE (amplitude, phase)

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Self-calibration after installation

The self-calibration function eliminates eccentricity-caused error, which is a dominant part of the encoder accuracy and is caused by the
eccentric mounting of the ring. It cannot compensate the magnetisation deviations between different rings. SDE error is neglectable on
AksIM. This function removes the one sine wave per revolution error. The self-calibration function can be triggered by user over selected
communication interfaces or by using the appropriate USB encoder interface. Not available with PWM and SSI encoder output. For details
refer to the chosen communication interface description. If multiturn counter is being used in the encoder, it may have incorrect value after
self-calibration, if rotational speed is higher than ±300 RPM. Multiturn error flag will be set in such case.

Requirements:
• Free mechanical rotation between 180° and 360° (desired angle can be selected over communication interface).
• Good signal throughout the calibration angle.
• Maximum time available is 10 seconds.
• Direction and speed are not important.
• Suitable communication interface or adaptor that allows triggering the function.

Graph below shows how much the encoder accuracy can be improved with the self-calibration function.
The remaining minimum accuracy of ±0.02° has contribution from magnetisation variation and readhead noise.

0.45
Remaining error after calibration
0.4 Contribution of noise
Error before calibration
0.35

0.3
Error [°]

0.25

0.2

0.15

0.1

0.05

0
0 0.02 0.04 0.06 0.08 0.1 0.12 0.14
Eccentricity [mm]

After completing the self-calibration procedure, fast-flashing LED reports if procedure was successful.

LED colour Self-calibration status

Green fast flashing Self-calibration performed succesfully
Orange fast flashing Ring positioning is already perfect - correction was not performed. Status bit 0x20 is set.
Red fast flashing - Input parameter out of range Status bit 0x10 is set.
- Eccentricity or radial displacement is very high Status bit 0x08 is set.
- Timeout. Ring is rotating too slow. Status bit 0x04 is set.

Video on self-calibration function is available here: Explainer video: AksIM-2 self-calibration feature.

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MBD01_02

External magnetic field

Principle of operation of any magnetic encoder is sensing changes in the magnetic field of the magnetised ring. External magnetic
fields, generated by permanent magnets, electric motors, coils, magnetic brakes, etc. may influence the operation of the encoder. When
homogeneous magnetic field is between 0 mT and 25 mT perpendicularly to the readhead it might affect accuracy. When bigger than
25 mT it temporarily causes the encoder to malfunction. Fields stronger than 50 mT can permanently damage the ring.

Unwanted magnetic fields must be blocked at the source. When this is not possible, encoder can be shielded with ferromagnetic metal
plate. The ring can also be used for partial shielding. It is recommended to mount the bottom side of the ring towards the source of the
leaking magnetic field with the readhead pointing away. Contact RLS for more information.

Electrical connections

11-pin Asynchronous
8-pin connector Soldering pads BiSS-C PWM SSI
connector serial
1
VDD
2 1 1
3 2 2
GND
4
5 3 Temperature sensor pin 1
6 4 Temperature sensor pin 2
7 5 3 MA+ RX Command in+ Status out Clock+
8 6 4 MA– RX Command in– - Clock–
9 -
10 7 5 SLO+ TX Data out+ PWM out Data+
11 8 6 SLO– TX Data out– - Data–

Pinout

Pin 1
123456

Pin 1

Soldering pads 8-pin low profile connector 11-pin locking connector

Dimensions: 2.54 x 1.14 mm FCI 10114830-11108LF Molex 501568-1107
with 1.875 mm pitch Not recommended for new design.
Counterpart mating connector: Only available on sizes 039, 053 and 064.
FCI 10114826-00008LF
and 10114827-002LF Counterpart mating connector:
Molex 501330-1100 and 501334-0000

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External isolated temperature sensor

Encoders provide two pass-through signals for connecting an external temperature sensor in an application. It can be Pt100, Pt1000,
NTC, 1-wire or any other similar low-voltage analogue or digital sensor. Signals are isolated from the encoder circuit and are just routed
from the "Temp. Sens." pins on the connector to the soldering pads, where external sensor in an application is to be connected.
Purpose of this is to add temperature monitoring to applications like electric motor, gearbox, etc. where precise monitoring is required
close to the encoder. This solution simplifies cable management, as the existing encoder cable can be used to carry these two signals.
Voltage must be limited to ±30 V relatively to the other encoder signals and current to ±500 mA.
If measurement of readhead temperature is enough, Special option "05" in the readhead part numbering specifies Pt1000 sensor
soldered directly on the readhead.

1
1 Temp. sens.
Temp. sens.

Communication interfaces
BiSS
Clock frequency From 150 kHz to 5 MHz
Maximum request rate 44 kHz (38 kHz multiturn counter option)
Mechanical sample rate rate 18 kHz
Bandwidth 9 kHz
Resolution See table on page 18
Latency <10 µs
Timeout (monoflop time) 13.5 µs
Asynchronous serial RS422 (UART)
Baud rate 115.2 kbps, 128 kbps, 230.4 kbps, 256 kbps, 500 kbps, 1 Mbps (Configurable from 300 baud
to 1 Mbaud)
Data format 8 bits, no parity, 1 stop bit
Request rate On demand or continuous
Mechanical sample rate 18 kHz
Bandwidth 9 kHz
Resolution See table on page 18
Latency <10 µs
PWM *
Base frequency 122.07 Hz, 274.66 Hz, 366.21 Hz, 549.32 Hz, 1098,63 Hz (High Pressure encoder option
changes these frequencies)
Update rate Same as Base frequency
Resolution 16 bits
Latency 55 to 110 µs
SSI * (Not recommended for new design)
Clock frequency Minimum 80 kHZ
Maximum 500 kHz with standard SSI
2.5 MHz with Delay First Clock function on the controller
Mechanical sample rate 18 kHz
Resolution See table on page 18
Latency 55 µs to 110 µs
Timeout (monoflop time) 20 µs

* Note: Interfaces with big or variable latency are not suitable for high-speed closed control loops.
SSI interface is supported for legacy applications and is not recommended for new design.

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MBD01_02

Available resolutions

Resolution Ring MRA029 Ring MRA039, MRA049 Ring MRA053, MRA064, MRA080
Binary 17 bits per revolution 17 bits per revolution 17 bits per revolution
18 bits per revolution * 18 bits per revolution * 18 bits per revolution
19 bits per revolution * 19 bits per revolution *
20 bits per revolution *
* High resolution options may contain noise on the output. These resolutions are suitable for smoother operation of the control loops or
averaging to get fine position. Noise margin increases exponentially with increasing ride height between the ring and readhead.

Multiturn counter
Multi-turn counter is available on the following communication interfaces: BiSS, Asynchronous serial (UART) or SSI.
Multiturn option is chosen with Resolution in part number on page 29. Multi-turn counter is 16 bit (0 to 65535 counts). Counting is
available only when the encoder is powered, but the counter state is stored in a non-volatile memory at power-down and is restored at
power-up. Maximum permissible rotation during power-down is ±90°. If rotation is bigger, encoder will signal an error to indicate invalid
multiturn counter value. To reset this condition it is required to apply a new multiturn counter value over the communication interface or
cycle power to the encoder. If encoder is rotated for ±360° or multiple rotations, this movement is not registered and also multiturn error
is not set. If any other error is set during a 90° rotation or more the multiturn counter value might become inconsistent with mechanical
position.

User must implement multiturn counter validation method by either:

• Activating mechanical brake before encoder goes to power-down state and releasing after encoder is powered-up.
• Performing zeroing procedure after every encoder power-up.
• Other user-implemented multiturn counter validation methods.
Multiturn - shaft turn counter limitations
Counter may have invalid value in following circumstances:

Possible reasons for failure Solution

If encoder is rotated for ±360° or multiple rotations during off state. Use mechanical brake.
If Error flag (red LED) is present for 180° rotation or more. Read and evaluate Error bit.
When encoder has moved for 180° or more or rotating at 300 RPM or more when encoder Stop rotation before performing those
is performing blocking operation (saving information to non-volatile memory, factory reset, operations.
write protect, self-calibration).
If user changes single-turn position offset for 180° or more. Set new multiturn counter value right
after setting zero position offset.
If any function for saving information to non-volatile memory (save configuration, factory Keep power supply stable when
reset, write protect, self-calibration) is active when power-down happens. performing those operations.

Multiturn error flag

Error flag is set in one of the following conditions:
• Detected movement of >90° and <270° when powered off
• Detected speed of more than 300 RPM during blocking operation
• High, unexpected positional difference detected (acceleration error)
Multiturn error bit can be cleared by writting new value into the encoder or by power cycle. On SSI interface only power cycle is available.

Latency on BiSS and Asynchronous serial (UART) interface

BiSS and UART use an algorithm that recalculates new position at every request. This way request frequency can be higher than
encoder's internal cycle frequency. Typically, request rate can be up to 44 kHz. Position is latched at the first falling edge on the MA
(clock) line or first bit of the Command byte and new position value is calculated instantly, therefore latency is shorter than 10 μs.

Latency on other type interfaces (SSI, PWM)

All interfaces transmit the last valid data available from the last encoder's internal cycle. There is no additional recalculation.
Internal cycle of the encoder is 55 μs. This is the delay from the time when the mechanical position is latched by the sensor to when
the data is ready to be transmitted over the interface.
If the request comes right after the data is ready, latency will be 55 μs.
If request comes just before the new data will be calculated, then latency is 110 μs.

For example:
At t = 0 μs the physical position is latched but position data is not yet calculated. It will be available at 55 μs.
If the request comes at t = 1 μs – 54 μs, the last available data will be sent - the one from previous cycle when position was latched
at t = –55 μs.

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BiSS-C interface
The encoder position, in up to 20 bit natural binary code, and the encoder status are available through the BiSS-C protocol. The position
data is left aligned. After the position data there are two status bits (active low) followed by CRC (inverted).

BiSS is implemented for point-to-point operation; multiple slaves are not supported.
Communication is bidirectional, the readhead is user programmable and custom parameters can be stored into the readhead and
additional data can be read from the readhead.

Electrical connection

Rt* A MA Y Signals
MA MA
Master clock. Max clock frequency
B Z MA
is 5 MHz.
ENCODER CONTROLLER Slave out. Data is output on rising edge
SLO
Z SLO Rt** B on MA.
SLO
Y A SLO
GND GND

* The MA and SLO lines are 5 V RS422 compatible differential pairs. The termination resistor on the MA line is integrated inside
the encoder.
** Termination at the controller is required, if total cable length is longer than 5 m. The nominal impedance of the cable is 120 Ω.

Output protection

Excessive output current and power dissipation caused by faults or by bus contention are prevented by two mechanisms. A foldback
current limit on the output stage provides immediate protection against short circuits. In addition, a thermal shutdown circuit forces the
driver outputs into a high-impedance state, if the chip temperature becomes too high.

BiSS-C timing diagram

MA Idle

SLO ACK Start CDS Position (17-36 bits) Error Warn. CRC (6 bit) Timeout

MA is idle high. Communication is initiated with first falling edge.

The encoder responds by setting SLO low on the second rising edge on MA. ACK length is 13 bits.
When the encoder is ready for the next request cycle it indicates this to the master by setting SLO high.
The absolute position and CRC data is in binary format and sent MSB first.

Cable length compensation

The readhead needs 170 ns to respond to incoming clocks (tRESP). Change on Data signal is
delayed for 170 ns after the rising edge on Clock line. Additional delay is caused by the time
the signal needs to propagate through cable to the readhead and back (tPROP). This delay is
typically 14 ns per 1 meter of cable. Total cable length must be taken into account, from the Clock
encoder to the receiver.
Data
tDELAY = tRESP + tPROP × cable length

The data signal must be stable before the value is latched. Therefore with a cable longer than tRESP tSTABLE
1 meter and a clock frequency higher than 2.5 MHz this delay must be compensated for in
the receiver (controller) to which the encoder is connected.

Status bits
Type Value 0 Value 1 Possible reason for failure
Error Position data is invalid. OK Error bit is active low. If low, the position is not valid.
Warning Position data is valid. OK Warning bit is active low. If low, the encoder operation is close to its limits.
The position is still valid but the resolution and/or accuracy might be out of
specification.

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Communication parameters
Communication interface variant in the part number defines the functionality of the encoder.

Communication interface variant Parameter Value

MA frequency Max. 5 MHz
C ACK length 13 bit
Register access Yes

Parameter Value
Latency <10 µs (recalculated on every transmission)
Bandwidth * 9 kHz
Mechanical sample rate 18 kHz
Maximum request rate 44 kHz (38 kHz Multiturn counter option)
Timeout 13.5 µs

* Bandwidth parameter is mechanical bandwidth. AksIM samples at 18 kHz therefore any mechanical changes that are appearing faster
than 9 kHz are not detectable on the output (Nyquist theorem). If request for position comes faster than sampling frequency, AksIM
encoder recalculates the position at the time of request based on current ring velocity. 9 kHz bandwidth is valid for high dynamic
movements of 2 degrees or smaller.

Data packet description

Data packet length depends on the resolution and can be from 25 to 44 bits long. It consists of 16 bits for the multiturn counter (if
selected) and 17 to 20 bits of Position selected by (resolution), followed by 2 Status bits and 6 CRC bits (see table below).

Multiturn Status
Resolution Position CRC (inverted)
counter Error Warning
17B 17 bits
18B 18 bits
0 bits 1 bit 1 bit 6 bits
19B 19 bits
20B 20 bits
17M 17 bits
18M 18 bits
16 bits 1 bit 1 bit 6 bits
19M 19 bits
20M 20 bits

Example: 18 bits of position + 2 status bits + 6 bits CRC = 26 bits long data packet.

Polynomial for CRC calculation of position, error and warning data is: x6 + x1 + 1. Represented also as 0x43.
It is inverted and transmitted MSB first.
Example of calculation routine for 6-bit CRC can be found in application note CRCD01.

For more information regarding BiSS protocol see www.biss-interface.com.

Encoder programming

Encoder supports register access which allows setting zero position, running self-calibration function, configuring the encoder, reading
signal level indicator, temperature, detailed status bits and electronic datasheet. It also allows storing up to 4 kB of user data into the
encoder (like motor parameters, assembly data or similar).
This additional information can be found in the "Application note: AksIM-2 BiSS-C register access", document number MBD02.

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Asynchronous serial communication interface over RS422 (UART)

Encoder identification, position data and temperature are available with request-response type of communication over the asynchronous
serial link. There are two unidirectional communication channels, forming a full-duplex bidirectional data link. Every channel consists
of a two wire differential twisted-pair connection conforming to the RS422 signalling standard. Data is transmitted LSB first; big-endian
order.

Electrical connection

Rt*
Command

ENCODER CONTROLLER
Rt**

Data
GND GND

* The Command and Data signals are 5 V RS422 compatible differential pairs with RC termination inside the readhead.
** Termination at the controller is required, if total cable length is longer than 5 m. The nominal impedance of the cable is 120 Ω.

Output protection

Excessive output current and power dissipation caused by faults or by bus contention are prevented by two mechanisms. A foldback
current limit on the output stage provides immediate protection against short circuits. In addition, a thermal shutdown circuit forces the
driver outputs into a high-impedance state, if the chip temperature becomes too high.

Communication parameters

Character length 8 bits

Parity None
Stop bits 1
Flow control None
Request rate Maximum achievable, depending on selected baud rate. Can be transmitted continuously without delays
between packets.
Mechanical sample rate 18 kHz
Bandwidth * 9 kHz
Position latency <10 µs (recalculated on every transmission)

* Bandwidth parameter is mechanical bandwidth. AksIM samples at 18 kHz therefore any mechanical changes that are appearing faster
than 9 kHz are not detectable on the output (Nyquist theorem). If request for position comes faster than sampling frequency, AksIM
encoder recalculates the position at the time of request based on current ring velocity. 9 kHz bandwidth is valid for high dynamic
movements of 2 degrees or smaller.

Link speed is selectable by the Communication interface variant in the part number:

Communication interface variant A B C D E F

Link speed (baud rate) 115.2 kbps 128 kbps 230.4 kbps 256 kbps 500 kbps 1 Mbps

Link speed setting can be changed in the field by following the procedure described in the "Special commands" section.

It is not possible to revert to factory settings. New settings are permanent until encoder is reprogrammed again with different settings.

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Encoder supports a range of commands to read position data and additional information. In case multiturn option is selected, number in
brackets is to be used.

Command (ASCII) Response

'1' '1' + 3 (5) bytes (Position + E/W bits)
'3' 3 (5) bytes (Position + E/W bits)
'd' 'd' + 3 (5) bytes (Position + E/W bits) + 2 bytes (Detailed status)
's' 's' + 3 (5) bytes (Position + E/W bits) + 3 bytes (Speed in RPM)
't' 't' + 3 (5) bytes (Position + E/W bits) + 1 byte (Sensor temperature in °C)
'a' 'a' + 3 (5) bytes (Position + E/W bits) + 2 bytes (Signal level)
'i' 'i' + 1 byte (Self calibration status)
'v' 'v' + 58 bytes (Version info and serial number) (Changed in FW version 2.5)

Command '3' is used as a request for the shortest possible response. In this case, only 3 (or 5 bytes in multiturn variant) bytes of
position with integrated general error and warning bits are replied.

In case of any other command, the header byte, which should be equal to the command itself, is replied first. Then, regardless of the
command, 3 bytes (or 5 bytes if multiturn) of position with Error and Warning bits are sent. After that additional bytes are transmitted that
carry requested information.
Returned header byte should be equal to the command and can be used to determine which data packet format is to be decoded. In
case of incorrect command, only header byte is returned with no other data.

Position data packet structure

Position data consists of 3 bytes if singleturn variant is selected or 5 bytes if multiturn variant is selected. Encoder position is always left
aligned and starts with multiturn data (if available). Error and warning bits are always right aligned (bit 1 and bit 0 respectively). Between
LSB of position and error bit are padding bits with value 0. The structure of position data bytes for each encoder resolution is presented
in table below.

Position data structure for singleturn variant

Encoder resolution Position bits Zero padding bits Error bit, Warning bit
17B b23 – b7 b6 – b2 b1, b0 (both active low)
18B b23 – b6 b5 – b2 b1, b0 (both active low)
19B b23 – b5 b4 – b2 b1, b0 (both active low)
20B b23 – b4 b3 – b2 b1, b0 (both active low)

Position data structure for multiturn variant

Encoder resolution Position bits Zero padding bits Error bit, Warning bit
17M b39 – b7 b6 – b2 b1, b0 (both active low)
18M b39 – b6 b5 – b2 b1, b0 (both active low)
19M b39 – b5 b4 – b2 b1, b0 (both active low)
20M b39 – b4 b3 – b2 b1, b0 (both active low)

Error and warning bits integrated into position data are always transmitted inverted (active low). Value '0' on error bit means that the
position is not valid. Value '0' on warning bit means position is valid, but the encoder is near operational limits. In case of error, the last
valid data is transmitted.

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Commands and their respective responses for singleturn version. For multiturn add 2 bytes to the length of position data.

Command '1'
Byte transmitted Contents
B1 ASCII header '1'
B2 - B4 Position + E/W
Command '3'
Byte transmitted Contents
B1 - B3 Position + E/W
Command 'd'
Byte transmitted Contents
B1 ASCII header 'd'
B2 - B4 Position + E/W
B5 - B6 Detailed status (refer to table on next page)
Command 's'
Byte transmitted Contents
B1 ASCII header 's'
B2 - B4 Position + E/W
B5 - B7 (Signed binary) speed in number of counts per 1 μs multiplied by 65,536. Rotational speed in RPM.
Command 't'
Byte transmitted Contents
B1 ASCII header 't'
B2 - B4 Position + E/W
B5 (Signed binary) Sensor temperature in (°C). This value is typically 10 to 15 °C higher than ambient.
Tolerance of readout is ±5 °C.
Command 'a'
Byte transmitted Contents
B1 ASCII header 'a'
B2 - B4 Position + E/W
B5 - B6 (Unsigned binary) Signal level
Value is proportional to the distance between the sensor and ring. To calculate real distance see formula on
page 13.
Command 'i'
Byte transmitted Contents
B1 ASCII header 'i'
B2 Self calibration status - see document MBD03
Command 'v'
Byte transmitted Contents
B1 ASCII header 'v'
B2 - B8 ASCII identification string 'AksIM-2'
B9 ASCII space character
B10 - B17 ASCII serial number (8 characters)
B18 Space character
B19 - B34 ASCII part number (16 characters)
B35 Space character
B36 Binary firmware major version
B37 Binary firmware minor version
B38 Binary communication interface version
B39 - B42 Binary revision
B43 Space character
B44 - B59 ASCII extended serial number (16 characters)

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Structure of Detailed status bits (two bytes)

Detailed status (part 1)

b15 Error - Multiturn counter mismatch. Encoder was rotated for more than ±90° during power-down. Cycle the
power to clear this error or apply new multiturn counter value.
b14 Error - Signal amplitude too high. The readhead is too close to the ring or an external magnetic field is present.
b13 Warning - Signal amplitude too high. The readhead is too close to the ring or an external magnetic field is
present.
b12 Error - Magnetic sensor. Cycle power to the encoder.
b11 Error - Sensor reading error, probably caused by electrical interference, ground loop or RFI.
b10 Error - Encoder not configured properly.
General status
b9 Error. If bit is set, position is not valid.
b8 Warning. If bit is set, encoder is near operational limits. Position is valid. Resolution and / or accuracy might be
lower than specified.
Error and Warning bits can be set at the same time; in this case Error bit has priority.
The colour of the LED on the readhead housing indicates the value of the General status bits:
Red = Error, Orange = Warning, Green = Normal operation, No light = no power supply.
The warning or error status is more closely defined by the Detailed status bits.
Detailed status (part 2)
b7 Warning - Signal amplitude too high. The readhead is too close to the ring or an external magnetic field is
present.
b6 Warning - Signal amplitude low. The distance between the readhead and the ring is too large.
b5 Error - Signal lost. The readhead is out of alignment with the ring or the ring is damaged.
b4 Warning - Temperature. The readhead temperature is out of specified range.
b3 Error - Power supply error. The readhead power supply voltage is out of specified range.
b2 Error - System error. Malfunction inside the circuitry or inconsistent calibration data is detected. To reset the
System error bit try to cycle the power supply while the rise time is shorter than 20 ms.
b1 Error - Magnetic pattern error. A stray magnetic field is present or metal particles are present between the
readhead and the ring or radial positioning between the readhead and the ring is out of tolerances.
b0 Error - Acceleration error. The position data changed too fast. A stray magnetic field is present or metal particles
are present between the readhead and the ring.

Encoder programming

Encoder supports changing default baud rate, running self-calibration function, reading signal level value, temperature, detailed status
bits and setting automatic transmission of selected data packet at programmable frame rate.
This additional information can be found in the "Application note: Programming encoders with Async serial interface", document number
MBD03_02.

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PWM - Pulse width modulation interface

The PWM communication interface consists of two digital signals: the Status signal and the PWM Out signal.

Electrical connection

The Status and PWM Out signals are 3.3 V TTL compatible. These signal outputs have weak ESD protection, therefore the readhead must
be handled with additional care in ESD controlled environment and with ESD protection.
Maximum current sourced from or sunk into signal lines should not exceed 5 mA.

Status signal
The Status signal indicates the current status of the encoder. The Status signal is high for normal operation and valid position information.
The low state of the Status signal indicates an error state of the encoder which can be caused by:
• Operation outside the installation tolerances
• Invalid or damaged magnetisation of the ring
• Sensor malfunction
• System error
• No power supply

When the Status signal is low, the PWM Out signal is low and no pulses are output.
The encoder position is latched on the rising edge of the PWM Out signal. The Status signal should also be checked at the rising edge of the
PWM Out signal. If the Status signal changes during the PWM period, it does not affect the currently transmitted position information. Status
output signal is not linked to the PWM output cycle and is updated every encoder internal cycle. Pulses can be present as short as 50 µs.

PWM Out signal

The PWM Out is a pulse width modulation output with 16-bit resolution whose duty cycle is proportional to the measured position. The
change of the pulse width by PWmin corresponds to a change in position by one count (change in angle for 360° / 65536 ≈ 0.00549°).

PWM Out signal timing diagram

ton

PWM Out
signal
tPWM = 1/fPWM

PWmin

Position 0 steps
Angle 0°

PWmax

Position 65535 steps

Angle 359.99451°

Communication parameters
Communication interface variant in the part number defines the PWM frequency and all other dependent parameters.

Communication interface variant

Parameter Symbol A B C D E Unit Note
PWM frequency fPWM 122.07 274.66 366.21 549.32 1098.63 Hz
Signal period tPWM 8192 3640.89 2730.67 1820.44 910.22 μs
Minimum pulse width PWmin 0.125 0.0556 0.0417 0.0278 0.0278 ** μs Position 0 (Angle 0°)
Maximum pulse width PWmax 8191.875 3640.83 2730.63 1820.42 910.20 ** μs Positions 65534 and 65535 *
Min. counter frequency fCNTR 8 18 24 36 72 MHz Receiving counter frequency
Resolution 16 Bit 16 Bit 16 Bit 16 Bit 16 Bit Fixed; resolution in part
number must be set as "16B"
* Positions 65535 and 65534 are joined together; readout as 65534 (PWmax).
** At frequency 1099 Hz positions 0 and 1 are joined together; readout as 1 (PWmin). Positions 65535, 65534 and 65533 are joined together;
readout as 65533 (PWmax).

ton × 65536 (ton - PWmin) × 360°

Position [counts] = -1 Position [°] =
tPWM tPWM

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SSI - Synchronous serial interface

SSI interface is supported for legacy applications and is not recommended for new design.

The encoder position, in up to 20 bit natural binary code, and the encoder status are available through the SSI protocol. The position
data is left aligned. After the position data there are two general status bits followed by the detailed status information. SSI interface is
not recommended for closed-loop applications and motor feedback due to low update speed and noticeable (variable) latency.

Electrical connection

Rt*
Clock

ENCODER CONTROLLER

Rt**

Data
GND GND

* The Clock and Data signals are 5 V RS422 compatible differential pairs with RC termination inside the readhead.
** Termination at the controller is required, if total cable length is longer than 5 m. The nominal impedance of the cable is 120 Ω.

Output protection

Excessive output current and power dissipation caused by faults or by bus contention are prevented by two mechanisms. A foldback
current limit on the output stage provides immediate protection against short circuits. In addition, a thermal shutdown circuit forces the
driver outputs into a high-impedance state, if the chip temperature becomes too high.

SSI timing diagram

tCL
1 2 3 4

Clock
tDFC tM

Data N-1 N-2 N-3 b3 b2 b1 b0

Start MSB LSB Idle

NOTE: See table "Structure of data packet" on the page 27.

The controller interrogates the readhead for its position and status data by sending a pulse train to the Clock input. The Clock signal
always starts from high. The first falling edge 1 latches the last position data available and on the first rising edge 2 the most
significant bit (MSB) of the position is transmitted to the Data output. The Data output should then be latched on the following falling
edge. On subsequent rising edges of the Clock signal the next bits are transmitted. If time between 1 and 2 is extended for additional
1 µs, then maximum clock frequency limit is 2 MHz instead of 500 kHz. This function is called "Delay First Clock" and must be supported
by the controller to which the encoder is connected.

After the transmission of the last bit 3 the Data output goes to low. When the tM time expires the Data output is undefined 4 . The Clock
signal must remain high for at least tM before the next reading can take place.

While reading the data the period tCL must always be less than tM. However, reading the encoder position can be terminated at any time
by setting the Clock signal to high for the duration of tM.

To allow updating of the position data at least tB should pass between two subsequent readings. If the reading request arrives earlier
than tB after the previous reading, the encoder position will not be updated.
tB

The power supply must be applied at least 100 ms before the clock sequence is being sent to the encoder.

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Maximum frequency

Clock

Data

tRESP tSTABLE

The readhead needs 170 ns to respond to incoming clocks (tRESP). Change on Data signal is delayed for 170 ns after the rising edge on
Clock line. Additional delay is caused by the time the signal needs to propagate through cable to the readhead and back (tPROP). This
delay is typically 14 ns per 1 meter of cable. Data signal must be stable for at least 10 % of the clock period length before the value is
latched.
The clock frequency must be reduced with a longer cable. Total cable length must be taken into account, from the encoder to the receiver.
tDELAY = tRESP + tPROP × cable length

Frequency derating versus cable length:

3

2.5
Max. frequency [MHz]

1.5

1,01

0.5

0
0 10 20 30 40 50 60 70 80 90 100
Cable length [m]

Communication parameters

Parameter Symbol Min Typ Max

Delay first clock tDFC 1 µs 10 µs
Clock period tCL 2 µs 20 µs
Clock frequency fCL 50 kHz 500 kHz (2.5 MHz *)
Timeout (monoflop time) tM 20 µs
Request rate tB 55 µs
Readhead response delay tRESP 170 ns
Latency 55 µs 110 µs
* With Delay First Clock function on the controller.

Start bit and idle line value are defined by the Communication interface variant.
Communication interface variant Line state selection Usage
B Start bit = 1; idle line = 1 Standard

Structure of data packet

Bit number
Singleturn resolution Multiturn counter* Encoder position General status Detailed status
20 bits b45 : b30 b29 : b10 b9 : b8 b7 : b0
19 bits b44 : b29 b28 : b10 b9 : b8 b7 : b0
18 bits b43 : b28 b27 : b10 b9 : b8 b7 : b0
17 bits b42 : b27 b26 : b10 b9 : b8 b7 : b0
* If selected in part number

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Multiturn counter (if selected in part number)

First 16 bits Multiturn counter - Occupying full 16 bits. Can be interpreted as signed number (±32768) or unsigned number
(see table above) (0 to 65535) that represents number of shaft turns.
Encoder position
Following 17 to Encoder position – Left aligned, MSB first, LSB last.
20 bits
(see table above)
General status
b9 Error bit. If set, the position is not valid.
b8 Warning bit. If set, the encoder operational is close to its limits. The position is still valid, but the resolution and/
or accuracy might be out of specification.
The Error and Warning bits can be set at the same time, in this case the Error bit has priority.
The colour of the LED on the readhead housing indicates the value of the General status bits:
Red = Error, Orange = Warning, Green = Normal operation, No light = No power supply.
The warning or error status is more closely defined by the Detailed status bits.
Detailed status
b7 Warning - Signal amplitude too high. The readhead is too close to the ring or an external magnetic field is
present.
b6 Warning - Signal amplitude low. The distance between the readhead and the ring is too large.
b5 Error - Signal lost. The readhead is out of alignment with the ring or the ring is damaged.
b4 Warning - Temperature. The readhead temperature is out of specified range.
b3 Error - Power supply error. The readhead power supply voltage is out of specified range.
b2 Error - System error or Multiturn error. Malfunction inside the circuitry or inconsistent calibration data is
detected.
To reset the System error bit try to cycle the power supply while the rise time is shorter than 20 ms.
b1 Error - Magnetic pattern error. A stray magnetic field is present or metal particles are present between the
readhead and the ring or radial positioning between the readhead and the ring is out of tolerances.
b0 Error - Acceleration error. The position data changed too fast. A stray magnetic field is present or metal
particles are present between the readhead and the ring.

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Readhead part numbering

MB 049 DC C 18B D N A 00
Series
MB - AksIM board-level readhead
Special requirements
MRA ring compatibility 00 - No special requirements (standard)
029 - For use with MRA029 ring 05 - Temperature sensor Pt1000 added
039 - For use with MRA039 ring
Option
049 - For use with MRA049 ring
A - No options (obsolete)
053 - For use with MRA053 ring
T - Extended temperature range (standard)
064 - For use with MRA064 ring
P - High pressure (up to 600 bar)*
080 - For use with MRA080 ring
* Check with local sales representative
Communication interface for availability of this option
DC - BiSS-C, RS422
SF - Asynchronous serial, RS422 Connector option
PW - Pulse Width Modulation (PWM), LVTTL D - Molex 501568-1107 locking connector (NRND)
SC - Synchronous serial interface (SSI), RS422 (NRND) (only for sizes 39, 53, 64)
N - FCI 10114830-11108LF
P - Soldering pads

Communication interface variant Shape and connector orientation

See table next to the description of the chosen communication D - Partial arc, radial connector exit
interface for detailed information (only for sizes 049, 064, 080)
For DC: C - BiSS-C, bidirectional, 13 ACK bits, with register access E - Partial arc, tangential connector exit (only for sizes 039,
For SC: B - Start bit and idle data line 1 (standard) 049, 053, 064)
For SF: Link speed in kbps: F - Full circle, radial connector exit (only for size 029)

A B C D E F
Resolution
115.2 128 230.4 256 500 1000
16B - 16 bits per revolution (for PW output only)
For PW: Base frequency in Hz: 17B - 17 bits per revolution
18B - 18 bits per revolution
A B C D E 19B - 19 bits per revolution (for sizes 039 and up)
122 275 366 549 1099
20B - 20 bits per revolution (for sizes 053 and up)
Multiturn counter options
17M - 17 bits per revolution + 16 bits multiturn counter
18M - 18 bits per revolution + 16 bits multiturn counter
19M - 19 bits per revolution + 16 bits multiturn counter (for size 039 and up)
20M - 20 bits per revolution + 16 bits multiturn counter (for size 053 and up)

Available combinations for readheads:

Communication
Series Ring Compatibility Resolution Shape & connector Option Special requirements
Interface & Variant

17B - 18B
029 FN
17M - 18M

EN
039
17B - 19B ED*
17M - 19M DN
049 DC-C
EN T
SF-A/B/C/D/E/F
MB P ** 00 / 05
PW-A/B/C/D/E
ED* (A***)
053 (SC-B*)
EN

17B - 20B DN
064
17M - 20M ED*

080 DN

* - Not recommended for new design

** - Check with local sales representative for availability of high pressure option on desired encoder configuration.
*** - Obsolete

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29
 Data sheet
MBD01_02

Ring part numbering

MRA 049 B C 025 D S E 00

Series
MRA - Magnetic ring AksIM Special requirements
00 - No special requirements
(standard)
Outer diameter and readhead
compatibility Zero marking
029 - 29 mm E - Engraved
039 - 39 mm H - Hole
049 - 49 mm N - None
053 - 53 mm
064 - 64 mm Material
080 - 80 mm M - Machined stainless steel hub with CPE rubber
Thickness S - Stamped metal plate with CPE rubber
A - 3.9 mm Accuracy grade
B - 2.0 mm D - ±0.1°
D - 4.9 mm E - ±0.05°
G - 7 mm
Inner diameter
Installation type 010 - 10 mm
C - Countersunk fasteners 013 - 12.7 mm
F - Flat-head fasteners 020 - 20 mm
G - Glue 025 - 25 mm
P - Press-Fit 030 - 30 mm
034 - 34 mm
040 - 40 mm
055 - 55 mm
068 - 68 mm

Available combinations for rings:

Outer diameter
Installation Special
Series and readhead Thickness Inner diameter Accuracy grade Material Zero marking
type requirements
compatibility

B C 010 S E
029
G P 013 D M N
039 B C 020 S E
A F E M H
025
049 C E
MRA G 034 N 00
B D S
053 030
C E
064 040
A F E M H
055
080 B C S E
D
D F 068 M H

Available ring part numbers:

MRA029BC010DSE00

MRA029GP013DMN00

MRA039BC020DSE00

MRA049AF025EMH00

MRA049BC025DSE00

MRA049BG034DSN00

MRA053BC030DSE00

MRA064BC040DSE00

MRA080AF055EMH00

MRA080BC055DSE00

MRA080DF068DMH00

30
 ®

Accessories
Cables with crimped connectors

Compatible
Part number Length Connector 1 Connector 2 Notes
readhead
MB029-N
MB039-N ACC015 Flying leads
FCI 10114826-
MB049-N
1.0 m 00008LF and
MB053-N
ACC016 10114827-002LF DSUB-9 M
MB064-N
MB080-N Single-shielded

ACC012 1.0 m
MB053-D Flying leads
Molex 501330-1100
MB064-D ACC024 3.0 m
and 501334-0000
MB039-D
ACC027 1.0 m DSUB-9 M

Connector 1 Connector 2

31
12

39

1000

Connector 1 pin Connector 2 pin Wire color BiSS-C Asynchronous PWM SSI
serial
1 Shield
1 5 Brown VDD
2 9 White GND
3 8 Pink Temperature sensor pin 1
4 4 Grey Temperature sensor pin 2
5 2 Red MA+ Cmd+ Status out Clock+
6 3 Blue MA– Cmd– - Clock–
7 6 Green SLO+ Data+ PWM out Data+
8 7 Yellow SLO– Data– - Data–

Cable specifications
Part numbers ACC012, ACC015, ACC016, ACC024, ACC027
Cable specifications LI12YC12Y
Configuration 4 × 2 × 0.14 mm2
Sheath colour Grey (RAL7032)
Rated voltage 250 V
Operating –30 °C to +125 °C
Temperature range Not valid for cables with DSUB-9 M connector.
Storage –40 °C to +130 °C
Environmental conformation RoHS conform
73/23/EWG-Guideline CE conform
Halogen free
Chemical resistance Largely resistant to acids, bases and usual oils.
Free from lacquer damaging substances and silicone.
ACC016 and ACC027 can be used for direct connection to E201-9S or E201-9B USB encoder interface.

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31
 ®

Head office

RLS merilna tehnika d.o.o.

Poslovna cona Žeje pri Komendi
Pod vrbami 2
SI-1218 Komenda
Slovenia

T +386 1 5272100
F +386 1 5272129
E [email protected]
www.rls.si

Document issues
Issue Date Page Corrections made
1 18. 12. 2017 General New document
2 26. 6. 2019 21, 22 UART commands
2-10, 30 New ring sizes added
3-10, 13 Dimensions, installation drawings and installation tollerances updated
12 Chemical resistance chart ammended
11, 16, 17, 25 PWM communication interface added
16 11-pin connector marked as NRND
2-10, 29 Different shapes and connector options added
18 Latency chapter added
Multiturn counter description added
31 New cables added as Accessories

This product is not designed or intended for use outside the environmental limitations and operating parameters expressly stated on the product’s datasheet. Products are not
designed or intended for use in medical, military, aerospace, automotive or oil & gas applications or any safety-critical applications where a failure of the product could cause severe
environmental or property damage, personal injury or death. Any use in such applications must be specifically agreed to by seller in writing, and is subject to such additional terms
as the seller may impose in its sole discretion. Use of products in such applications is at buyer’s own risk, and buyer will indemnify and hold harmless seller and its affiliates against
any liability, loss, damage or expense arising from such use. Information contained in this datasheet was derived from product testing under controlled laboratory conditions and data
reported thereon is subject to the stated tolerances and variations, or if none are stated, then to tolerances and variations consistent with usual trade practices and testing methods.
The product’s performance outside of laboratory conditions, including when one or more operating parameters is at its maximum range, may not conform to the product’s datasheet.
Further, information in the product’s datasheet does not reflect the performance of the product in any application, end-use or operating environment buyer or its customer may put
the product to. Seller and its affiliates make no recommendation, warranty or representation as to the suitability of the product for buyer’s application, use, end-product, process or
combination with any other product or as to any results buyer or its customer might obtain in their use of the product. Buyer should use its own knowledge, judgment, expertise and
testing in selecting the product for buyer’s application, end-use and/or operating environment, and should not rely on any oral or written statement, representation, or samples made
by seller or its affiliates for any purpose. EXCEPT FOR THE WARRANTIES EXPRESSLY SET FORTH IN THE SELLER’S TERMS AND CONDITIONS OF SALE, SELLER MAKES
NO WARRANTY EXPRESS OR IMPLIED WITH RESPECT TO THE PRODUCT, INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR
PURPOSE, WHICH ARE DISCLAIMED AND EXCLUDED. All sales are subject to seller’s exclusive terms and conditions of sale which, where the seller is (a) RLS merilna tehnika
d.o.o., are available at https://www.rls.si/customer-service, (b) Renishaw, Inc., are available at http://www.renishaw.com/Shop/legal/en/--42186, or (c) another person, are available
on request, and in each case, are incorporated herein by reference, and are the exclusive terms of sale. No other terms and conditions apply. Buyer is not authorized to make any
statements or representations that expand upon or extend the environmental limitations and operating parameters of the products, or which imply permitted usage outside of that
expressly stated on the datasheet or agreed to in writing by seller.

RLS merilna tehnika d.o.o. has made considerable effort to ensure the content of this document is correct at the date of publication but makes no warranties or representations
regarding the content. RLS merilna tehnika d.o.o. excludes liability, howsoever arising, for any inaccuracies in this document. © 2019 RLS d.o.o.

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