- Arduino Mega
- Sparkfun RS-485 Transceiver, many alternative options are available
- AMT21 encoder
- AMT-06C-1-036 cable, or similar cable with proper connector
- AMT programming module optional, for updating firmware
- Arduino IDE
- AMT21 Arduino Sample Code
- AMT Viewpoint optional, for updating firmware
The AMT21 is an absolute encoder available with either 12-bit or 14-bit resolution. This means that over a single revolution, the encoder will have that many distinct positions. For a 12-bit encoder there are 4096 distinct positions, and for a 14-bit encoder there are 16384 positions. No matter how many times the device is rotated, the encoder will always know its absolute position. Knowing the absolute position means that you will always know the exact angle of the device.
The AMT21 comes in both single-turn and multi-turn variants. The single-turn variants keep track of the position within a single rotation (i.e.: 0-360°). The multi-turn variants also count the number of complete rotations that the encoder has passed through. The single-turn variants also have a programmable zero point, allowing you to define where the encoder should have its origin.
The AMT21 operates at multiple baud rates, depending on the part number. In this example, we will use a 2 Mbps variant.
- AMT21xA, AMT21xB, AMT21xC, and AMT21xD: fixed baud rate of 2 Mbps
- AMT21xE, AMT21xF, AMT21xG, and AMT21xH: selectable baud rate between 9.6 kbps and 115.2 kbps
You may want to ensure that the AMT21 encoder has the latest firmware. You can use the programming module for the AMT21 and our AMT Viewpoint software to verify the encoder firmware is up-to-date.
The following connections are for the Arduino Mega board, however, most all Arduino boards will be compatible with this code. The connections to various Arduino boards will be different than this example, so consult Arduino documentation for additional information.
Notes:
- Some RS-485 transceivers run on a 3.3V supply, some run on a 5V supply. Some can run on either.
- The R̅E̅ (receiver enable, negative) and DE (driver enable) signals can be tied together. This makes it easy to simultaneously disable the receiver and enable the driver, or vice-versa.
- For this test, with short cable lengths, we will not use RS-485 termination resistors. If longer cables are used to connect the encoder to the RS-485 transceiver, then termination resistors should be installed at both ends of the cable, especially at higher baud rates. The resistors should be chosen to match the characteristic impedance of the cable used.
| Encoder Function | Encoder Pin Number | AMT-06C-1-036 Color |
|---|---|---|
| +5V | 1 | White/Green |
| B | 2 | Blue/White |
| A | 3 | White/Blue |
| GND | 4 | Green/White |
| Unused | 5 | Orange/White |
| Unused | 6 | White/Orange |
| Transceiver Function | Arduino Mega Pin |
|---|---|
| VCC | +3.3V |
| RO | 19 (RX1) |
| DI | 18 (TX1) |
| R̅E̅/DE | 23 |
The AMT21 begins transmitting the absolute position immediately when SPI begins transferring data, preventing the need for a command and response structure. Therefore, the host will send 0x00 as the first byte, with valid data being returned at the same time. As a result, if the host wants to send a zero command, it will go on the second transmitted byte. We call this an extended command. For more information, please reference the AMT21 datasheet.
| Command | Byte | Notes |
|---|---|---|
| Get Position | 0x00 | |
| Get Turns | 0x01 | Multi-turn only |
| Extended Commands | 0x02 |
| Extended Command | Byte | Notes |
|---|---|---|
| Set Zero Position | 0x5E | Single-Turn only |
We will use two of the Arduino's serial interfaces: one for communication with the encoder over RS485, and the other for communication with the PC over USB.
The RS485 communication with the encoder will use a baud rate of 2 Mbps. To get the position from the Arduino to the computer, we will use the built-in USB-serial connection to the Arduino IDE, with a baud rate of 115200. We should also define the commands used by the AMT21. Because the encoder does not care about the content of the first byte, we will define it as a NOP (no-operation).
We also want to use defines at the top for the SPI pins. This way, if the code needs to be modified for a different board or we want to change which pins we use, it can easily be done here in one place. It is not necessary to define the main pins for SPI communication, but it is helpful to do as a reference.
/* Serial rates for UART */
#define BAUDRATE 115200
#define RS485_BAUDRATE 2000000
/* RS-485 commands */
#define RS485_POS 0x00
#define RS485_TURNS 0x01
#define RS485_EXT 0x02In the setup() function, we will initialize all of our RS485 pins and set up our PC serial interfaces.
We also need to initialize the two serial ports. We use Serial for PC communication and Serial1 for RS485 encoder communication.
void setup()
{
//Set the modes for the RS485 transceiver
pinMode(RS485_T_RE, OUTPUT);
pinMode(RS485_T_DE, OUTPUT);
//Initialize the UART serial connection to the PC
Serial.begin(BAUDRATE);
//Initialize the UART link to the RS485 transceiver
Serial1.begin(RS485_BAUDRATE);
}RS-485 data is transmitted by first enabling the driver of the RS-485 transceiver, then sending the data over Serial1, then disabling the transceiver driver.
The AMT21 will respond with the requested data.
It does not matter if the encoder has a resolution of 12-bits or 14-bits, it will always respond with two full bytes totaling 16 bits. The upper two bits are check-bits that allow us to confirm the data’s integrity. If the encoder is a 12-bit version, the bottom two bits will both be 0. For this data to be useful it must be shifted right 2 bits (or divided by 4).
We want to call the Serial1.write() function, sending the AMT21_POS command to the specified address. We will then wait until Serial1 finishes transmitting the command, then put the RS-485 transceiver back into receive mode.
setStateRS485(RS485_T_TX); //call the function we use to put the transciver into transmit mode
delayMicroseconds(10); //IO operations take time, let's throw in an arbitrary 10 microsecond delay to make sure the transeiver is ready
//here is where we send the command to get position. All we have to do is send the node address, but we can use the modifier for consistency
Serial1.write(address + RS485_POS);Now that we have completed the RS-485 transfer, we need to validate the data using the checksum.
Using the equation from the datasheet, we can create a function to verify that the received value has a valid checksum. The checksum is stored in the upper two bits of the received value. The check-bits are odd parity over the odd and even bits in the position response. So, we will check for parity against all the odd bits (bit 1, 3, 5, 7, 9, 11, 13) and parity against even (0, 2, 4, 6, 8, 10, 12, 14).
This function will return true if the checksum is valid.
/*
* Using the equation on the datasheet we can calculate the checksums and then make sure they match what the encoder sent.
*/
bool verifyChecksumRS485(uint16_t message)
{
//checksum is invert of XOR of bits, so start with 0b11, so things end up inverted
uint16_t checksum = 0x3;
for(int i = 0; i < 14; i += 2)
{
checksum ^= (message >> i) & 0x3;
}
return checksum == (message >> 14);
}If the check-bits are correct, then we want to update the currentPosition variable, stripping out the upper two bits. We AND our currentPosition variable with 0x3FFF (0b0011111111111111) to make sure we retain all 14 lower bits.
We also need to check the handle whether the encoder resolution is 12-bit or 14-bit. If the resolution is 12-bits, then simply shift currentPosition 2 bits to the right.
if (verifyChecksumSPI(encoderPosition)) //position was good
{
encoderPosition &= 0x3FFF; //discard upper two checksum bits
if (RESOLUTION == 12) encoderPosition = encoderPosition >> 2; //on a 12-bit encoder, the lower two bits will always be zero
Serial.print(encoderPosition, DEC); //print the position in decimal format
Serial.write('\n');
}
else //position is bad, let the user know how many times we tried
{
Serial.print("Encoder position error.\n");
}Some AMT21 variants support a programmable zero position. This is an extended command, so we must start by sending the AMT21 the proper command. Then we can send the extended command (0x5E). Once the command is received the encoder will complete a reset. To make sure we are not talking to the encoder during this power on time we will implement a delay of 250 ms to be safe.
We can have our code set the zero position of the encoder first if we want, however, in normal applications you would only set the zero position once when configuring the device for use in the system.
/*
* The AMT21 bus allows for extended commands. The first byte is 0x00 like a normal position transfer,
* but the second byte is the command.
* This function takes the pin number of the desired device as an input
*/
void setZeroRS485()
{
delay(250); //250 millisecond delay to allow the encoder to reset
}Some AMT21 variants support a multi-turn counter.
If the position is bad, let the user know there was an error. If the position is good, simply report the position in the decimal format.
setStateRS485(RS485_T_TX); //call the function we use to put the transciver into transmit mode
delayMicroseconds(10); //IO operations take time, let's throw in an arbitrary 10 microsecond delay to make sure the transeiver is ready
//here is where we send the command to get position. All we have to do is send the node address, but we can use the modifier for consistency
Serial1.write(address + RS485_TURNS);Now that our code has been created, we can load it onto the Arduino and get talking to an encoder. Open the serial monitor, make sure the data rate is set to 115200, and see the encoder work.
One benefit of an RS-485 device is that you can talk to multiple encoders on the same bus. To do this we will need to set the encoders to have different addresses using AMT Viewpoint.
In the example code, we use an array of RS485 addresses, to allow any arbitrary number of encoders to be used.
uint8_t addresses[1] = {0x54}; //only one encoder connected, using default address of 0x54
//uint8_t addresses[2] = {RS485_ENC0, RS485_ENC1}; //two encoders connected, 0x54 and 0x58 for addressesWe then loop over each CS pin and read the position from each connected encoder.
void loop()
{
//create an array of encoder addresses so we can use them in a loop
uint8_t addresses[2] = {RS485_ENC0, RS485_ENC1};
for(int encoder = 0; encoder < sizeof(addresses); ++encoder)
{
//create a 16 bit variable to hold the encoders position and give it a default value of 0xFFFF which is our error value
uint16_t encoderPosition = 0xFFFF;
//let's also create a variable where we can count how many times we've tried to obtain the position in case there are errors
uint8_t attempts = 0;
//we will use a do-while loop for getting position because we want to start with calling the getposition command first
//then repeat it if we get a failure, until we hit our limit number of attempts
do
{
//this function gets the encoder position and returns it as a uint16_t
encoderPosition = getPositionRS485(addresses[encoder], RESOLUTION);
}
while (encoderPosition == 0xFFFF && ++attempts < 3);
if (encoderPosition == 0xFFFF) //position is bad, let the user know how many times we tried
{
Serial.print("Encoder ");
Serial.print(encoder, DEC);
Serial.print(" error. Attempts: ");
Serial.print(attempts, DEC); //print out the number in decimal format.
}
else //position was good, print to serial stream
{
Serial.print("Encoder ");
Serial.print(encoder, DEC);
Serial.print(": ");
Serial.print(encoderPosition, DEC); //print the position in decimal format
}
Serial.write('\n');
}
//For the purpose of this demo we don't need the position returned that quickly so let's wait a half second between reads
//delay() is in milliseconds
delay(500);
}After data is transferred there is a minimum time before the chip select line can be released. This is specified in the datasheet as 3 microseconds. For slower data rates this is observed naturally, but we will implement it anyways.