DATA SHEET ®

BRD01_11
Issue 11, 27th October 2022

OrbisTM
True Absolute EASY
INSTALLATION

Rotary encoder

OrbisTM is a true absolute rotary encoder suitable for applications where HIGH SPEED
a typical OnAxis encoder cannot be mounted at the end of the rotating
shaft due to space limitations or where a hollow shaft is required.
Orbis through-hole measuring principle allows customisation with various
board and magnet sizes to suit your application.

MULTITURN
COUNTER

Features and benefits

⯈ True absolute ⯈ Optional self-calibration after
installation
⯈ 14 bit resolution
⯈ Integrated status LED
⯈ Multiturn counter option
⯈ BiSS C, SSI, SPI, Asynchronous serial
⯈ Through-hole design
and PWM communication interfaces
⯈ Buit-in self-diagnostics
⯈ Wide installation tolerances

MOTOR FEEDBACK AGRICULTURAL

GIMBALS AGVs ROBOTIC JOINTS
AND COMMUTATION AUTOMATION
DATA SHEET
BRD01_11

General information

The encoder consists of a diametrically magnetized permanent ring magnet and a printed circuit board. The geometrical
arrangement of RLS’ proprietary Hall sensors on the PCB enables the generation of one period of sine and cosine signals per
mechanical magnetic revolution. In addition, it also allows cancelation of the third harmonic component.
An adaptive filtering function provides high resolution at low rotation speeds and low angular phase delay at high rotation speeds.
Orbis also has an additional built-in self-calibration algorithm that improves the accuracy of the encoder after installation.

+ =

Orbis readhead Two options available: Orbis system

permanent magnet or
magnetic actuator with
the magnet

Choose your Orbis absolute magnetic encoder system

Orbis BR10 system Orbis BR20 system Orbis BR30 system

Max. 16 mm ID Max. 22 mm ID Max. 30 mm ID

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Storage and handling

Storage temperature Operating temperature Humidity

🌡 🌡 🌢
–40 °C to +105 °C –40 °C to +105 °C (ETR) Up to 70 % non-condensing

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.

Chemical resistance
RLS products are often used in industrial applications and exposed to chemicals that can affect their internal and external
components. While our products are designed to be resistant to many harsh chemicals and environments, long-term resistance
will depend on exposure, temperature, and concentration. Most chemicals our products are exposed to are not in continuous
contact. Therefore, a material that might not be resistant when submerged in a chemical will last indefinitely when wiped down
by that same chemical once a day.

For further information or to confirm compatibility with a chemical in your environment, contact RLS.

Packaging
Less than 20 products are packed individually in an antistatic box. If the order quantity is 20 systems and larger, the parts are
packed in antistatic plastic trays. Magnets and readheads are packed separately.

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BRD01_11

Dimensions and installation drawings

Dimensions and tolerances are in mm.

BR10 Readhead

With connector
With connector Without
Without connector
connector

max 6.9 max. 3.7

max 6.9 max 3.7
5
x Ø4
ma 0
0.3
x Ø5
ma 8
Ø15.
min
44
Ø34

min Ø22.80
Ø2.1, 3×120°

Ø2.10, 3x120˚
0.9
0.9
min 9.1 max 5.1
0.9 max 1.9
0.9

min 14.2 max 5.1 max 1.9

BR20 Readhead

With connector Without connector

With connector Without connector

max 6.9 max 6.9 max 3.7

max. 3.7

.30
45 50
Ø
x x.
mama
.80
154
min Ø 4

34
min. Ø22.80

2.10, 3x120
Ø2.10, 3×120°

max 5.1 0.9 max 1.9 0.9

min 9.1
min 14.2 max 5.1 max 1.9

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BR30 Readhead

With connector Without connector

6.9 max. 3.7 max.

62.2 max.
56

30.8 min.

3x 2.1 / 120°
0.9 0.9

5.1 max. 1.9 max.

BM magnets and magnetic actuators

ID OD H
30 44 4
ID and OD tolerances are 0.05 mm
Permanent magnet Magnetic actuator (magnet included)

Available magnets: Available actuators:

OD OD
ID ID
ID OD H ID OD H
12 19 3 6 21 9.5
ID 16 24 3.5 8 21 9.5
OD 22 32 4 10 22 9.5
30 44 4 12 27 10
H

14 27 10
ID and OD tolerances are ±0.05.
15 27 10
H

20 34 12

ID tolerances are H7.

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 DATA SHEET
BRD01_11

Installation drawing

Magnetic
Shaft * Readhead Magnet or actuator Z
Δ

R
Δ
Spacer
OD < 4 mm Fastener Fastener
L > 6 mm 3× M2, DIN 912 3× M3, DIN 913
(not provided) (not provided) (included)

ΔZ
Shaft * Readhead Magnet
ΔR

Spacer
OD < 4 mm Fastener
L > 6 mm 3x M2, DIN912
(not provided) (not provided)

* Shaft tolerance for application with magnetic actuator is g6.

Readhead should only be mounted on the gold plated surfaces around the mounting holes.
Mounting surfaces should be parallel within 0.02 mm. See Installation instructions.

For recommended tightening torques, refer to the document TTD01 available at RLS Media center.

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Installation instructions

Installation tolerances
Axial (ΔZ) displacement (ride height) Magnet with 12 mm ID: 4 mm ±1 mm ΔZ
Magnet with 16 mm ID: 5.5 mm ±1 mm
Magnet with 22 mm ID: 6.5 ±1 mm
Magnet with 30 mm ID: 4 mm ± 1 mm

ΔR
Radial (ΔR) displacement of the sensor Max. 0.3 mm

Precise magnet and readhead installation is key to achieve good overall accuracy. The nominal axial (ΔZ) displacement applies
when using a non-ferromagnetic shaft (aluminum, copper, plastic,...). When using a ferromagnetic shaft, the nominal axial
displacement must be approximately 20 % to 30 % larger. For further information, contact RLS.

Axial position adjustment (ride height)

Any non-magnetic and non-conductive tool can be used to mechanically check for correct ride height adjustment. The integrated
LED can be used as a rough indicator. When the correct ride height is achieved, the LED will glow green and should not change
colour as the magnet rotates.

External magnetic field

The operating principle of any magnetic encoder is to sense changes in the magnetic field of the magnetic actuator. External magnetic
fields generated by permanent magnets, electric motors, coils, magnetic brakes, etc. can affect the operation of the encoder.
The accuracy of Orbis is degraded in the presence of magnetic field gradients in the axial direction.

Self-calibration after installation

The self-calibration function eliminates eccentricity-related errors, which are a dominant contributor to the accuracy of the
encoder and are caused by the eccentric mounting of the ring. This function eliminates the error of one sine wave per revolution.
The self-calibration function can be triggered by the user via selected communication interfaces or via using the corresponding
USB encoder interface.
For details, refer to the description of the selected communication interface. If the multiturn counter is used in the encoder and
the rotational speed is higher than ±300 RPM, it may have an incorrect value after self-calibration. In this case the multiturn error
flag is set.

Requirements:
⦁ Free mechanical rotation for one full revolution (360°)
⦁ Good signal over the entire calibration angle
⦁ Maximum time available is 10 seconds
⦁ Direction is not important
⦁ Maximum speed during self-calibration up to 600 RPM
⦁ Suitable communication interface or adapter that allows the function to be triggered
⦁ Self-calibration must be started when no error is present (green LED)
⦁ When using the SPI encoder version, LED must be visible to check the self-calibration status

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BRD01_11

Technical specifications

System data
Reading type Axial reading

Resolution 14 bit

Repeatability ±2 LSB (counts, unidirectional)

Maximum speed 12,000 rpm

Accuracy ±0.25°, ±0.3° (BR20), ± 0,5° (BR30)

Accuracy thermal drift BR10 ETR

BR20 ±0.003°/°C

BR30

Digital hysteresis ±2 LSB (counts)

Position update rate 50 kHz

Electrical data
Supply voltage 4.5 V to 5.5 V (at the connector)

Set-up time 100 ms (worst case: 200 ms)

Current consumption Typ. 65 mA (no output load)

Connection Molex 501568-1107 or soldering pads (through holes)

Output load PWM, SPI Max. ±5 mA at 3.3 V

RS422 Max. ±100 mA at 5 V

ESD protection HBM, max. ±2 kV

Mechanical data
Mass Readhead 5.3 g

Magnetic 6 mm: 6.0 g; 8 mm: 5.5 g; 10 mm: 5.7 g; 12 mm: 8.7 g; 14 mm: 13.7 g
actuator (ID) 15 mm: 7.1 g; 20 mm: 25 g

Magnet (ID) 12 mm: 3.8 g; 16 mm: 6.4 g; 22 mm: 12.7 g; 30 mm: 16.8 g

12, 16, 22 mm NdFeB with Ni-Cu-Ni protective layer

Magnet material
30 mm NdFeB + plastic resin

Actuator material Anodised aluminium

Environmental data
Operating –40 °C to +105 °C
Temperature *
Storage –40 °C to +105 °C

Humidity 0 % to 70 % non-condensing

External magnetic field Max. ±3 mT (DC or AC) on top side of readhead

Shock 100 G (6 ms, standard EN 60068-2-27:2009)

Vibration 40 G (55 Hz – 2000 Hz, standard EN 60068-2-6:2008)

* Not valid for cables with DSUB-9 connector.

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Electrical connections

Asynchronous
Pin Wire color BiSS C serial PWM SSI SPI

1 Brown
5 V supply *
2 -

3 White
0 V (GND) *
4 -

5 Pink -

6 Grey -

7 Red MA+ RX command in+ Status out Clock+ SCK

8 Blue MA– RX command in– - Clock– NCS

9 Cable shield

10 Green SLO+ TX data out+ PWM out Data+ MISO

11 Yellow SLO– TX data out– - Data– MOSI

* Pins are internally connected on PCB.

Pinout

Pin 1

Connector Molex 501568-1107

With connector With soldering pads (through holes)

Pitch is 1.9 mm
Cable shield Cable shield
(connected to pin 9) (connected to pin 9)

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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BRD01_11

Status indicator LED

The LED provides visual feedback of signal strength, error condition and is used for set-up and diagnostic use.

LED Status

Green Normal operation; position data is valid.

Warning; position is valid, but the resolution and/or accuracy might be out of specification.
Orange
Some operating conditions are outside limits.

Red Error; position data is not valid.

Communication has not been established.

Slow flashing
Position was not requested within last 200 ms. Color of flashing - see above.

No light No power supply.

Continuously fast
System error during start-up or operation.
flashing red

3s Self-calibration results - Refer to the documents BRD04 (Programming Orbis with

3s 3 sec. fast flashing Asynchronous serial interface) or BRD05 (Orbis BiSS C register access) available at RLS
3s Media center.

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Multiturn counter

Multiturn counter is available on the following communication interfaces: BiSS, Asynchronous serial (UART), SPI and SSI.
Multiturn option is chosen with Resolution in Part numbering. Multiturn 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 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.

Multiturn 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 90° rotation or more. Read and evaluate error bit.

When encoder has moved for 90° or more or rotating at 300 RPM or more when Stop rotation before performing those
encoder is performing blocking operation (saving information to non-volatile memory, operations.
factory reset, write protect, self-calibration).

If user changes single-turn position offset for 90° 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, Keep power supply stable when
factory 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 multiturn counter value into the encoder or by power cycle. Clearing error bit
on SSI interface requires power cycle.

Battery powered multiturn counter

Orbis encoder can also be powered by external battery to keep counting the revolutions even when main power is not available.
For further information regarding Orbis battery backup multiturn (BBM) refer to the document BRD08 available at RLS Media
center.

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 ENCODER CONTROLLER

pera ng
Data- *
Data
Data+
DATA SHEET
BRD01_11

BiSS
RO C interface I
H/F E
/
DE
The encoder
DI position, in 14 bit natural binary code, and the encoder status are available
O 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
BiSS is implemented for point-to-point operation; multiple slaves are not supported.

F
Electrical connection

VCC MA+ VCC

* MA Line signals
MA-
MA+ Clock non-inverted signal
rcu

ENCODER CONTROLLER
MA– Clock inverted signal
pera ng

SLO- *
SLO
SLO+ Data non-inverted signal
SLO+
SLO– Data inverted signal

* The MA and SLO signals are 5 V RS422 compatible differential pairs. MA signal is terminated with RC (100 Ω, 1 nF) inside
the encoder.

BiSS C timing diagram (single-turn)

tMA tM tP

MA
<

Idle

SLO UART Ack Start “0” bN-1 bN-2 b1 b0 Timeout Ack

tACK
VCC RX+ VCC
RX *
MA is idle high. Communication RX- is initiated with first falling edge.
rcu

The encoder responds by setting SLO low on the second rising edge on MA.
ENCODER CONTROLLER
When the encoder is ready for the next request cycle it indicates this to the master by setting SLO high.
pera ng

The absolute TX-

TX position and CRC data is in binary format,
* left aligned, MSB first.
TX+
Communication parameters

Parameter Symbol Min Typ Max

MA period tMA 200 ns 10 µs

MA frequency fMA 100 kHz 5 MHz

ACK length tACK 5 bits

Transfer timeout tM 13.5 µs

Pause time tP 20 µs

Structure of data packet

Bit b37 : b22 b21 : b8 b7 : b6 b5 : b0

Data length 16 bits 14 bits 2 bits 6 bits

Meaning Multiturn counter Encoder position General status CRC

(if specified in part number) (inverted)

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 ®

Encoder position

b37 : b22 Multiturn counter (if specified in part number) - Left aligned, MSB first.

b21 : b8 Encoder position – Left aligned, MSB first.

General status

b7 Error - If low, the position data is not valid. Bits b21 - b8 are replaced with error status bits.

b6 Warning - If low, the position data is valid, but some operating conditions are close to limits.

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. LED is
flashing (duty cycle 50 %, frequency 2.5 Hz), when the encoder is in idle state. If the controller requests
the data every 200 ms or more often, the duty cycle of the LED is 100 % (always on).

CRC (inverted)

b5 : b0 Polynomial for CRC calculation of position, error and warning data is: x6 + x1 + 1. Represented also as
0x43. Number must be inverted before comparison with calculated CRC.

For further information regarding CRC calculation example, refer to the document CRCD01 available at RLS Media center.

Error status

b21 : b16 Reserved

b15 Warning: Limit of lower ride height tolerance. Error: Signal amplitude too high. The readhead is too close
to the magnet or an external magnetic field is present and too large.

b14 Warning: Limit of upper ride height tolerance. Error: Signal amplitude low. The distance between the
readhead and the ring is too large.

b13 Warning: The readhead temperature is out of specified range.

b12 Warning: Speed too high.

b11 Error: Multiturn counter error.

b10 : b8 Reserved.

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

Encoder programming

Encoder supports register access which allows setting position offset, multiturn counter, 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 (eg. motor parameters, assembly data or similar).
For further information regarding Orbis BiSS C register access, refer to the document BRD05 available at RLS Media center.

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 ENCODER CONTROLLER

pera ng
SLO- *
SLO
SLO+
DATA SHEET
BRD01_11

Asynchronous serial communication interface

over RS422 (UART)

Asynchronous serial communication is supported by a universal asynchronous receiver/transmitter commonly known as UART. It
comprises two unidirectional communications channels, forming a full-duplex bidirectional data link. Every channel consists of a

UART
two wire differential twisted-pair connection conforming to the RS422 signalling standard.

Electrical connection
Line signals
VCC RX+ VCC
RX * RX+ RX data in +
RX- RX– RX data in –
rcu

ENCODER CONTROLLER TX+ TX data out +

pera ng

TX- * TX– TX data out –

TX
TX+

* The RX and TX signals are 5 V RS422 compatible differential pairs. RX signal is terminated with RC (100 Ω, 1 nF) inside the encoder.

Communication parameters
Character length 8 bits

Parity None

Stop bits 1

Flow control None

Bit order LSB first (standard)

Communication speed is set with the Communication interface variant in the part number:
Communication interface variant A B C D E F

Baud rate [kbps] 115.2 128 230.4 256 500 1000

Command set

Command "1" (0x31) – position request

1 byte ASCII "1"

Response
2 bytes (4 for multiturn) hex – see Encoder position data structure

Command "3" (0x33) – short position request

Response 2 bytes (4 for multiturn) hex – see Encoder position data structure

Command "d" (0x64) – position request + detailed status

1 byte ASCII "d"

Response 2 bytes (4 for multiturn) hex – see Encoder position data structure
1 byte hex – see Detailed status data structure

Command "t" (0x74) – position request + temperature

1 byte ASCII "t"

2 bytes (4 for multiturn) hex – see Encoder position data structure
Response 2 bytes hex – temperature (temperature of the readhead in °C multiplied by 10)
(Signed binary) Temperature of the sensor in (°C). This value is typically 10 °C to 15 °C higher than ambient.
Tolerance of the readout is ±5 °C.

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Command "v" (0x76) – serial number

Response 1 byte ASCII "v"

6 bytes ASCII – serial number

Encoder position data structure

Encoder position

b31 : b16 Multiturn counter (if specified in part number) - Left aligned, MSB first.

b15 : b2 Encoder position – Left aligned, MSB first.

General status

b1 Error - If low, the position data is not valid. The last valid position is sent out.

b0 Warning - If low, the position data is valid, but some operating conditions are close to limits.

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. LED is flashing (duty
cycle 50 %, frequency 2.5 Hz), when the encoder is in idle state. If the controller requests the data every 200 ms or
more often, the duty cycle of the LED is 100 % (always on).

Detailed status

b7 Warning: Limit of lower ride height tolerance. Error: Signal amplitude too high. The readhead is too close
to the magnet or an external magnetic field is present and too large.

b6 Warning: Limit of upper ride height tolerance. Error: Signal amplitude low. The distance between the
readhead and the ring is too large.

b5 Warning: The readhead temperature is out of specified range.

b4 Warning: Speed too high.

b3 Error: Multiturn counter error.

b2 : b0 Reserved.

Encoder programming

Encoder supports changing default baud rate, position offset, multiturn counter, running self-calibration function, automatic
transmission of selected data packet at programmable frame rate.
For further information regarding Programming encoders with Async serial interface can be found in the document BRD04,
available for download at RLS Media center.

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BRD01_11

PWM - Pulse width modulation interface

The PWM interface transmits the information about the absolute angle position over the pulse width modulated PWM Out signal.
An additional digital Status signal indicates the encoder's error condition.

Electrical connection

The Status and PWM Out signals are 3.3 V LVTTL compatible. These signals have weak ESD protection. Handle with care. 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
⦁ 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.

PWM Out signal

The PWM Out is a pulse width modulated output with 14-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

tPWM = 1/fPWM

PWmin

Position 0
Angle 0°

PWmax

Position 16383
Angle 359.97803°

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Communication parameters

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

Communication interface variant

Parameter Symbol A D E Unit Note

PWM frequency fPWM 122.07 549.32 1098.63 Hz

Signal period tPWM 8192 1820.44 910.22 μs

Minimum pulse width PWmin 0.5 0.111 0.0556 μs Position 0 (Angle 0°)

Maximum pulse width PWmax 8191.5 1820.33 910.17 μs Position 16383

Min. counter frequency fCNTR 2 9 18 MHz

Resolution 14 14 14 Bit

(ton – PWmin) × 16383

Position [counts] =
PWmax – PWmin

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BRD01_11

SSI - Synchronous serial interface

The encoder position, in 14 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
Electrical connection

VCC Clock+ VCC Line signals

* Clock
Clock- Clock+ Clock non-inverted signal
rcu

ENCODER CONTROLLER Clock– Clock inverted signal

pera ng

Data- *
Data Data+ Data non-inverted signal
Data+
Data– Data inverted signal

* TheRO
Clock and Data signals are 5 V RS422 compatible differential pairs.I Clock signal is terminated with RC (100 Ω, 1 nF) inside
the encoder.
H/F E
/
DE
SSI timing
DI diagram O

tDFC tCL =2-15us tM =14us

BiSS
tP =20us
F

Clock

VCC MA+ VCC

Data Start * bN-1 bN-2 bN-3 b1 MA b0 Idle bN-1
MA-
rcu

ENCODER CONTROLLER
The controller requests the position and status data of the encoder by sending a pulse train to the Clock input. The Clock signal
pera ng

SLO- *
SLO
always starts from high. The first
SLO+
falling edge of the Clock latches the last position data available and on the first rising edge of the
Clock the most significant bit (MSB) of the position is transmitted to the Data output. The Data output should then be read on the
following falling or rising edge. On subsequent rising edges of the Clock signal the next bits are transmitted.

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

While reading the data, the half of a Clock 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.

UART
Communication parameters
Parameter Symbol Min Typ Max

Clock period tCL 2 µs (400 ns *) 15 µs

VCC RX+ VCC
RX *
Clock frequency fCL 70 kHz 500 kHz (2.5 MHz *)
RX-
Delay first clock tDFC 1.25 µs 13 µs
rcu

ENCODER CONTROLLER
Transfer timeout tM 14 µs
pera ng

TX- *
TX
Pause time TX+ tP 20 µs

* With Delay First Clock function of the controller.

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Structure of data packet

Bit b39 : b24 b23 : b10 b9 : b8 b7 : b0

Data length 16 bits 14 bits 2 bits 8 bits

Multiturn counter
Meaning Encoder position General status Detailed status
(if specified in part number)

Encoder position

b39 : b24 Multiturn counter (if specified in part number) - Left aligned, MSB first.

b23 : b10 Encoder position – Left aligned, MSB first.

General status

b9 Error - If high, the position data is not valid. The last valid position is sent out.

b8 Warning - If high, the position data is valid, but some operating conditions are close to limits.

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. LED is flashing (duty
cycle 50 %, frequency 2.5 Hz), when the encoder is in idle state. If the controller requests the data every 200 ms or
more often, the duty cycle of the LED is 100 % (always on).

Detailed status

b7 Warning: Limit of lower ride height tolerance. Error: Signal amplitude too high. The readhead si too close
to the magnet or external magnetic field is present and too large.

b6 Warning: Limit of upper ride height tolerance. Error: Signal amplitude low. The distance between the
readhead and the ring is too large.

b5 Warning: The readhead temperature is out of specified range.

b4 Warning: Speed too high.

b3 Error: Multiturn counter error.

b2 : b0 Reserved.

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DATA SHEET
BRD01_11

SPI - Serial peripheral interface

The Serial Peripheral Interface (SPI) bus is a four wire bidirectional synchronous serial communication interface, typically used
for short distance communication. It operates in full duplex mode, where master (controller) selects the slave with NCS line,
generates clock signal on SCK line, sends command over MOSI line and receives data over MISO line.

Electrical connection
All data signals are 3.3 V LVTTL. Inputs are 5 V tolerant. Maximum current sourced or sunk from signal lines should not exceed 20 mA.
Single-ended signals should be as short as possible, especially if high frequencies are used.

NCS
SCK
Encoder Controller
MOSI
MISO

Signal Description

Active low. NCS line is used for synchronisation between master and slave devices. During communication
NCS it must be held low. Idle is high. When NCS is high, MISO line is in high-Z mode. This allows connection of
multiple slaves in paralell, sharing all lines except NCS.

SCK Serial clock. Shifts out the data on rising edge.

MOSI Master output Slave input. Command from the controller to encoder.

Master input Slave output. Data is output on rising edge on SCK after NCS low. When NCS is high,
MISO
MISO line is in high-Z mode.

SPI timing diagram

tS tP

NCS

tCL
SCK
<

MOSI b7 b6 b1 b0

b15 Hi-Z
MISO b9 b8 b1 b0 rN rN-1 r0 c7 c1 c0
(b31)

Position + General Status Requested data CRC

The controller starts communication by setting the NCS signal low. At the same time, the last available position data is latched. A
delay of tS is required to allow the encoder to prepare the data to be shifted to the output MISO on rising edges of the clock signal
SCK. The command is received on 8 consecutive rising edges of SCK. Regardless of the command received, 16 bits of Position
and General Status data (active low) are sent out. The following length of the requested data and the content depend on the
command. The last eight bits contain CRC (inverted) of the complete data packet.

20
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Communication parameters

Parameter Symbol Min Max

Clock period tCL 250 ns

Clock frequency fCL 4 MHz

Time after NCS low to first SCK rising edge tS 2.5 µs for 14B resolution
8 µs for 14M resolution

Pause time tP 20 µs

Frame rate (1 / (ts + (Data length / fCL) + tp

) ) Hz

Structure of data packet

Bit b31 : b16 b15 : b2 b1 : b0 rN : r0 c7 : c0

Data length 16 bits 14 bits 2 bits Variable 8 bits

Meaning Multi-turn counter Encoder position General status Requested data CRC
(if specified in part (inverted)
number)

Encoder position - for all commands

b31 : b16 Multi-turn counter (if specified in part number) - Left aligned, MSB first.

b15 : b2 Encoder position - Left aligned, MSB first.

General status - for all commands

b1 Error - If low, position data is not valid. Last valid position is sent out.

b0 Warning - If low, position data is valid, but some operating conditions are close to limits.

Error and Warning bits can be set at the same time, in this case Error bit has priority.
The color of the LED on the readhead housing indicates the value of the General status bits. LED is flashing (duty cycle
50 %, frequency 2.5 Hz), when the encoder is in idle state. If the controller request the data every 20 ms or more often,
the duty cycle of the LED is 100 % (always on).

Requested data - Command "v" (0x76) - serial number request

r47 - r0 6 bytes (48 bits) of ASCII serial number.

Requested data - Command "t" (0x74) - temperature request

r15 - r0 16 bits, signed. Number represents temperature of the readhead in °C multiplied by 10.

Requested data - Command "d" (0x64) - detailed status request

r7 Warning: Limit of lower ride height tolerance. Error: Signal amplitude too high. The readhead is too close
to the magnet or an external magnetic field is present and too large.

r6 Warning: Limit of upper ride height tolerance. Error: Signal amplitude low. The distance between the
readhead and the ring is too large.

r5 Warning: The readhead temperature is out of specified range.

r4 Warning: Speed too high.

r3 Error: Multiturn counter error.

r2 - r0 Reserved.

CRC (inverted)

c7 : c0 Polynomial for CRC calculation of the sent data is: x8 + x7 + x4 + x2 + x1 + 1. Represented also as 0x97.
Number must be inverted before comparison with calculated CRC.

For further information regarding CRC calculation example, refer to the document CRCD01 available at RLS Media center.

21
DATA SHEET
BRD01_11

If command byte does not match any of listed commands, encoder will send only Position, Status, CRC data. If additional data is
not required, MOSI line of the encoder should be tied to GND.

Encoder programming

Encoder supports setting position offset, presetting multiturn counter value and running self-calibration function.
For further information regarding programming encoders with SPI interface can be found in the document BRD09 available at
RLS media center.

22
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Part numbering

Readhead

BR 10 SF A 14B 16 C D 00
Series
BR - Orbis board-level readhead

Size
10 - Magnet type compatibility 12 and 16
20 - Magnet type compatibility 22
30 - Magnet type compatibility 30

Communication interface
DC - BiSS C, RS422
PW - Pulse Width Modulation (PWM), LVTTL
SC - Synchronous serial interface (SSI), RS422
SF - Asynchronous serial, RS422
SP - SPI (Serial peripheral interface), LVTTL

Communication interface variant

See table next to the description of the chosen communication interface for detailed information
For DC: D - BiSS C, 5 ACK bits, bidirectional
For PW: Base frequency in Hz:
A D E
122.07 549.32 1098.63
For SC: B - Start bit and idle data line 1
For SF: Link speed in kbps:
A B C D E F
115.2 128 230.4 256 500 1000
For SP: C - Standard, full duplex

Resolution
14B - 14 bits per revolution
14M - 14 bits per revolution + 16 bit multiturn counter

Magnet type compatibility

12 - BM120A190A1ABA00 or actuator BA060–BA100
16 - BM160B240A1ABA00 or actuator BA120–BA150
22 - BM220C320A1ABA00 or actuator BA200AB03AA00
30 - BM300C440B1BBA00

Operating temperature range

D - –40 °C to +105 °C

Connector option
D - Molex 501568-1107
H - Soldering pads with through holes

Special requirements
00 - No special requrements

Not all part number combinations are valid. Refer to the table of available combinations on the following page.

23
DATA SHEET
BRD01_11

Table of available combinations

Operating
Readhead Communication Communication Magnet type temperature Connector Special
Series size interface interface variant Resolution compatibility range option requirements

14B
DC D
14M

PW A/D/E 14B

14B
SC B
10 14M 12 / 16

A/B/C/D/ 14B
SF
E/F 14M

14B
SP C
14M

14B
DC D
14M

PW A/D/E 14B

14B
SC B
BR 20 14M 22 D D/H 00

A/B/C/D/ 14B
SF
E/F 14M

14B
SP C
14M

14B
DC D
14M

PW A/D/E 14B

14B
SC B
30 14M 30

A/B/C/D/ 14B
SF
E/F 14M

14B
SP C
14M

24
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Magnet

BM 220 C 320 A 1 A B A 00

Series
BM - Orbis magnet

Inner diameter
120 - 12 mm
160 - 16 mm
220 - 22 mm
300 - 30 mm

Thickness
A - 3 mm
B - 3.5 mm
C - 4 mm

Outer diameter
190 - 19 mm
240 - 24 mm
320 - 32 mm
440 - 44 mm

Material
A - NdFeB
B - NdFeB + plastic resin

Grade
1 - Grade 1 tested magnet

Surface finishing
A - NiCuNi
B - None

Temperature range
B - –40 °C to 120 °C

Packaging
A - Standard packaging

Special requirements
00 - No special requrements

Not all part number combinations are valid. Refer to the table of available combinations below.

Table of available combinations

Inner Outer Surface Temperature Special

Series diameter Thickness diameter Material Grade finishing range Packaging requirements

120 A 190

160 B 240 A A
BM 1 B A 00
220 C 320

300 C 440 B B

25
DATA SHEET
BRD01_11

Magnetic actuator

BA 060 AB 01 A A 00

Series
BA - Orbis magnetic actuator

Shaft diameter
060 - 6 mm
080 - 8 mm
100 - 10 mm
120 - 12 mm
140 - 14 mm
150 - 15 mm
200 - 20 mm

Form
AB - With 3 fasteners

Magnet type
01 - BM120A190A1ABA00
02 - BM160B240A1ABA00
03 - BM220C320A1ABA00

Material
A - Anodized aluminium

Packaging
A - Standard packaging

Special requirements
00 - No special requrements

Not all part number combinations are valid. Refer to the table of available combinations below.

Table of available combinations

Shaft Special
Series diameter Form Magnet type Material Packaging requirements

060

080 01

100

BA 120 AB A A 00

140 02

150

200 03

26
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Accessories

Cable assembly, 1 m
ACC048
ACC012

See chapter Cable assemblies.

Cable assembly, 3 m
ACC066
ACC024

See chapter Cable assemblies.

Cable assembly, 1 m
ACC067
ACC027

See chapter Cable assemblies.

USB interface (for BiSS C communication interface)

E201-9B

USB interface (For SSI communication interface)

E201-9S

Magnet viewer
MM0001

27
DATA SHEET
BRD01_11

Cable assemblies
Cables with crimped connectors

Part number Diameter Length Connector 1 Connector 2 Notes

ACC012 1.0 m Twisted pairs,

Flying leads
ACC024 5 mm 3.0 m shielded, up to

ACC027 1.0 m Molex 501330- DSUB-9 M +100 °C

1100 and 501334-
ACC048 1.0 m 0000 Twisted pairs,
Flying leads
ACC066 6.2 mm 3.0 m shielded, up to

ACC067 Diameter 1.0 m DSUB-9 M +75 °C

Connector 1 Connector 2

25 mm ±3

Length

Connector 1 Connector 2
Asynchronous
Pin number Wire color BiSS C serial PWM SSI SPI

1 5 Brown
5 V supply *
2 - -

3 9 White
0 V (GND) *
4 - -

5 8 Pink -

6 4 Grey -

7 2 Red MA+ RX command in+ Status out Clock+ SCK

8 3 Blue MA– RX command in– - Clock– NCS

9 1 Cable shield

10 6 Green SLO+ TX data out+ PWM out Data+ MISO

11 7 Yellow SLO– TX data out– - Data– MOSI

* Pins are internally connected on PCB.

28
 ®

Cable specifications

Part numbers ACC012, ACC024, ACC027 ACC048, ACC066, ACC067

Cable specifications LI12YC12Y LiYCY (TP)

Configuration 4 × 2 × 0.14 mm2

4 × 2 × 0.14 mm2

Rated voltage 250 V 350 V

Operating –30 °C to +100 °C Operating –40 °C to +75 °C (fixed)

Storage –40 °C to +105 °C –5 °C to +70 °C (bending)
Temperature range Storage –40 °C to +80 °C
Not valid for cables with DSUB-9 M
connector.

Environmental conformation RoHS conform RoHS and REACH compliant

73/23/EWG-Guideline CE conform Flame-retardant according IEC 60332-1-2
Halogen free Approvals based on VDE 0812
Classification ETIM 5.0 Class-ID: EC000104

ACC027 and ACC067 can be used for direct connection to E201-9S or E201-9B USB encoder interface.
ACC012, ACC024 and ACC027 may be discontinued in future.

29
 ®

Head office

RLS Merilna tehnika d.o.o.

Poslovna cona Žeje pri Komendi T +386 1 5272100

Pod vrbami 2 E [email protected]
SI-1218 Komenda
Slovenia www.rls.si

Global support
Visit our website to contact your nearest sales representative.

Document issues

Issue Date Page Description

- New design
8 18. 11. 2021
7, 27 Electrical connections table amended
9 1. 3. 2022 26-28 Cable assemblies amended
10 2. 6. 2022 4, 24, 25 Packaging information amended
11 27. 10. 2022 General Orbis BR30 added

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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
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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
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