Netzer DS-130 Absolute Hollow Shaft Rotary Encoder User Guide

DS-130 Absolute Hollow Shaft Rotary Encoder

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Specifications

• Product Name: DS-130 Absolute Hollow Shaft Rotary Encoder
  Three-plate

• Encoder Type: Absolute Rotary Encoder

• Shaft Type: Hollow Shaft Three-plate

• Technology: Capacitive

• Manufacturer: Netzer Precision Position Sensors

• Features:

  • Low profile
  • No bearings or other contact elements
  • High resolution and excellent precision
  • Immunity to magnetic fields
  • High tolerance to shock, moisture, EMI, RFI
  • Very low weight
  • Holistic signal generation and sensing
  • Digital interfaces for absolute position

Product Usage Instructions

Installation and Mounting

The DS-130 Rotary Encoder should be mounted securely using the
provided mechanical interface control drawing as a reference.
Ensure that the encoder is properly aligned and positioned
according to the specified installation guidelines.

Electrical Connections

Connect the encoder to the appropriate electrical connections
following the ordering code instructions provided. Make sure the
connections are secure and insulated to prevent any electrical
interference.

Operational Mode Selection

The DS-130 Encoder supports different operational modes such as
SSi or BiSS. Select the desired mode based on your application
requirements by referring to the operational mode section in the
user manual.

Maintenance and Care

Regularly inspect the encoder for any signs of damage or wear.
Keep the encoder clean and free from dust or debris that could
affect its performance. Handle the encoder with care to avoid any
physical damage.

FAQ

Q: Can the DS-130 Encoder be used in harsh environments?

A: Yes, the DS-130 Encoder is designed for harsh environment
applications and is highly tolerant to shock, moisture, EMI, and
RFI.

Q: What is the advantage of the capacitive technology used in

the DS-130 Encoder?

A: The capacitive technology provides high resolution, excellent
precision, immunity to magnetic fields, and contributes to the
encoder’s low weight and failure-free performance.

Q: How do I select the operational mode for the DS-130

Encoder?

A: Refer to the user manual for instructions on selecting
operational modes such as SSi or BiSS based on your specific
application needs.

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DS-130

PRODUCT GUIDE

Absolute

Hollow Shaft

Rotary Encoder Three-plate

Absolute Rotary Encoder

Hollow Shaft Three-plate

DS-130

PRODUCT GUIDE

Table of Contents
1. DS Encoders Introduction ……………………………………………………………………………………………………………………………….4
2. Technical Specifications …………………………………………………………………………………………………………………………………..5
3. Ordering Code…………………………………………………………………………………………………………………………………………………..6
4. Mechanical Drawings……………………………………………………………………………………………………………………………………7-8
5. Mechanical Interface Control Drawing…………………………………………………………………………………………………… 9-10
6. Storage and Handling…………………………………………………………………………………………………………………………………… 11
7. ESD Protection……………………………………………………………………………………………………………………………………………….. 11
8. Product Overview …………………………………………………………………………………………………………………………………….11-12 8.1 Overview…………………………………………………………………………………………………………………………………………………………………………….. 11 8.2 Unpacking – Standard order ………………………………………………………………………………………………………………………………………. 12 8.3 Installation flow chart ……………………………………………………………………………………………………………………………………………………. 12
9. Electric Encoder Software Installation……………………………………………………………………………………………………….. 13 9.1 Minimum requirements ……………………………………………………………………………………………………………………………………………….. 13 9.2 Installing the software …………………………………………………………………………………………………………………………………………………… 13
10. Mechanical Mounting………………………………………………………………………………………………………………………………13-14 10.1 Encoder mounting – End-of-Shaft Installation …………………………………………………………………………………………………….. 13
11. Electrical Connection……………………………………………………………………………………………………………………………….15-18 11.1 Absolute position over SSi or BiSS-C ……………………………………………………………………………………………………………………….. 15 11.2 Digital SSi Interface…………………………………………………………………………………………………………………………………………………………. 16 11.3 Digital BiSS-C Interface………………………………………………………………………………………………………………………………………………….. 17 11.4 Setup mode over NCP (Netzer Communication Protocol)……………………………………………………………………………… 18 11.5 Electrical connection and grounding……………………………………………………………………………………………………………………… 18
12. Signal Verification……………………………………………………………………………………………………………………………………..19-21 12.1 Starting the Encoder Explorer…………………………………………………………………………………………………………………………………….. 19 12.2 Signal verification process……………………………………………………………………………………………………………………………………………. 20
13. Calibration………………………………………………………………………………………………………………………………………………….22-30 13.1 Auto- calibration……………………………………………………………………………………………………………………………………………………………….. 22 13.2 Manual calibration ………………………………………………………………………………………………………………………………………………………….. 25 13.3 Setting the encoder zero-position……………………………………………………………………………………………………………………………. 29 13.4 Jitter test……………………………………………………………………………………………………………………………………………………………………………… 30
14. Operational Mode…………………………………………………………………………………………………………………………………………. 31 9.1 SSi / BiSS ……………………………………………………………………………………………………………………………………………………………………………… 31

1. DS Encoders Introduction
Designed to meet the requirements of the most demanding applications
The DS series of Electric EncodersTM are a line of encoders designed for harsh environment applications. These encoders are based on capacitive technology which have been developed and improved for over 20 years by Netzer Precision Position Sensors.
The DS encoders are characterized by the following features that sets them apart from other similar encoders:
Low profile Hollow shaft (Stator / Rotor) No bearings or other contact elements High resolution and excellent precision Immunity to magnetic fields High tolerance to shock, moisture, EMI, RFI Very low weight Holistic signal generation and sensing Digital interfaces for absolute position
The holistic structure of the DS Electric EncoderTM makes it unique. Its output reading is the averaged outcome of the entire circumference area of the sensor. This inherent design characteristic provides the DS encoder with outstanding precision and accuracy. The absence of components such as ball bearings, flexible couplers, glass discs, light sources & detectors, along with very low power consumption, enables the DS encoders to deliver virtually failure-free performance.

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Absolute Rotary Encoder

Hollow Shaft Three-plate

DS-130

PRODUCT GUIDE

2. Technical Specifications

General

Angular resolution

19-21 bit

Nominal position accuracy

±0.010°

Nominal position extended accuracy (EA)

±0.006°

Maximum operational speed

2,000 rpm

Measurement range

Single turn absolute position

Built In Test BIT

Optional

Rotation direction

Adjustable CW/CCW*

• Default same direction from bottom side of the encoder

Mechanical
Allowable mounting eccentricity Allowable axial mounting tolerance Rotor inertia Total weight Outer Ø / Inner Ø / Height Material (stator / rotor)

±0.1 mm ±0.1 mm 25,963 gr · mm2 84 gr 130 / 90 / 10.5 mm UltemTM polymer

Electrical
Supply voltage Current consumption Interconnection Communication Output code Serial output Clock frequency Position update rate

5V ± 5% ~100 mA #30 shielded cable SSi, BiSS-C Binary Differential RS-422 0.1- 5.0 MHz 35 kHz (Optional – up to 375 kHz)

Environmental
EMC Operating temperature Storage temperature Relative humidity Shock endurance / functional Vibration functional Protection

IEC 6100-6-2, IEC 6100-6-4 -40°C to +85°C -50°C to +100°C 98% Non condensing 100 g for 11 ms 20 g 10 ­ 2000 Hz (per MIL-STD-810G) IP 40

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3. Ordering Code

DS – 130 – S H – S O – n n n

DS Product Line

Outer Diameter

Output

S

SSi

I

BiSS

Resolution

Code Bit

H 19

I

20

J

21*

• SSi only

CPR 524,288 1,048,578 2,097,156

BIT (Built In Test): Optional

[ ] None

B

BIT

EA Extended Accuracy nnn Custom
Interconnection 0 250 mm Flying leads (default) 1 500 mm Flying leads 2 750 mm Flying leads 3 1000 mm Flying leads C Connector (optional)
Cable Options S Jacket and shielded cable R Strain relief & shielded cable

Cable information

Netzer Cat No. CB 00014

Cable type 30 AWG twisted pair x 3

Wire type

2 x 30 AWG 25/44 tinned copper Insulation: PFE Ø 0.15 OD: Ø 0.6 ± 0.05 mm

Temp. Rating -55°C to +150°C

Braided shield

Thinned copper braided 95% min. coverage

Jacket

0.45 silicon rubber (NFA 11-A1)

Diameter

Ø 2.45 ± 0.16 mm

30 AWG twisted pairs x3 Braid shield
Jacket 0.45 mm Ø 2.45 ±0.16 mm
Pair# Color A1-A2 Red / Black A3-A4 Gray / Blue A5-A6 Green / Yellow

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A2 A1

Product Guide

Absolute Rotary Encoder

Hollow Shaft Three-plate

DS-130

PRODUCT GUIDE

4. Mechanical Drawings

130

A 0 –
0 0.30 0
DS-130 Strain Relief
130
A
0 –
0 0.30 0
Netzer Precision Position Sensors

A

20 A

Unless otherwise specified

Dimensions are in: mm Surface finish: N6

Linear tolerances

0.5-4.9: ±0.05 mm

5-30: ±0.1 mm

31-120: ±0.15 mm

121-400: ±0.2 mm

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DS-130 Mid-Shaft installation

A 0.02 A

0 0 –
A 0.02
0 *2.60- 0.10
130

0 –
0
0.30 0

8 DS-130-PG-V01

Unless otherwise specified

Dimensions are in: mm Surface finish: N6

Linear tolerances

0.5-4.9: ±0.05 mm

5-30: ±0.1 mm

31-120: ±0.15 mm

121-400: ±0.2 mm

Product Guide

Absolute Rotary Encoder

Hollow Shaft Three-plate

DS-130

PRODUCT GUIDE

5. Mechanical Interface Control Drawing
DS-130 Shaft-End installation (step)

A 0.02 A

0
0 –
A

1 0 0.02

0 – 0.10

Attention! Although the nominal

dimension in the encoder is 1.5 mm, the

recommended height between stator and

2

rotor mounting surfaces is 1.6 mm. This

is because in case of mounting assembly

inaccuracies, a positive error could be

3

easily corrected using shims, while a

negative error could only be solved by

1

machining the mounting assembly.

No Part
1 DS-130 2
MA-DS130-004 3

Description

QTY.

Included

DS-130 Encoder

1

DS-130 shaft-end spring

1

Optional Shaft-end installation kit

Screw DIN 912 M2X4

8

• Recommended height between stator and rotor mounting surfaces is 1.6 mm, despite the nominal dimension in the encoder is 1.5 mm. The difference is because of possible inaccuracies in a mounting assembly, as a positive error could be filled by shims, while the negative error is impossible to solve rather than by machining.
  WARNING Do not use Loctite or other glues containing Cyanoacrylate. We recommend to use 3M glue – Scotch-WeldTM Epoxy Adhesive EC-2216 B/A.

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DS-130-PG-V01 9

DS-130 Mid-shaft installation (step)
2 3 1 2

No Part
1 DS-130 2 3 MA-DS130-003 4

Included Optional

Mid-shaft installation kit

Description

QTY.

DS-130 Encoder

1

DS-130 Retaining ring

2

DS-130 Wave spring

1

DS-130 Mid-shaft rotor spring shim 1

• Recommended height between stator and rotor mounting surfaces is 1.6 mm (2.6 include C-ring thickness), despite the nominal dimension in the encoder is 1.5 mm.
  The difference is because of possible inaccuracies in a mounting assembly, as the negative error could be filled by shims, while the positive error is impossible to solve rather than by machining.
  WARNING Do not use Loctite or other glues containing Cyanoacrylate. We recommend to use 3M glue – Scotch-WeldTM Epoxy Adhesive EC-2216 B/A.

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Hollow Shaft Three-plate

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PRODUCT GUIDE

6. Storage and Handling
Storage temperature: -50°C to +100°C Humidity: Up to 98% non-condensing
7. ESD Protection
As usual for electronic circuits, during product handling do not touch electronic circuits, wires, connectors or sensors without suitable ESD protection. The integrator / operator shall use ESD equipment to avoid the risk of circuit damage.

ATTENTION

OBSERVE PRECAUTIONS FOR HANDLING ELECTROSTATIC SENSITIVE DEVICES

8. Product Overview
8.1 Overview
The DS-130 absolute position Electric EncoderTM is a rotary position sensor originally developed for harsh environment applications. Currently it performs in a broad range of applications, including defense, homeland security, medical robotics and industrial automation.
The Electric EncoderTM non-contact technology provides accurate position measurement through the modulation of an electric field.
The DS-130 Electric EncoderTM is semi-modular, i.e., its rotor and stator are separate, with the stator securely housing the rotor.

(1) Encoder stator (2) Encoder rotor (3) Encoder mounting ears (4) Encoder cable

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8.2 Unpacking – Standard order
The package of the standard DS-130 contains the encoder with 250 mm shielded cable AWG30. Optional accessories: (1) DS-130-R-00, Rotor shims kit (x10 stainless steel shims, 50um each) (3) MA-DS130-004, Shaft-end installation kit (Shaft-end spring x 1, Screw DIN 912 M2X4 x8) (4) MA-DS130-003, Mid shaft installation kit (Wave spring x1, Retaining ring x 2) (5) EAPK008 Kit, encoder mounting screws (3 screws M2x6)*

• 2 kits of EAPK008 are required to mount a single encoder (6 screws) (6) CNV-00003, RS-422 to USB converter (For encoder setup via NCP interface) (7) NanoMIC-KIT-01, RS-422 to USB converter. Encoder setup & operational modes via SSi /BiSS interface (8) DKIT-DS-130-SH-S0, Mounted SSi encoder on rotary jig, RS-422 to USB converter and cables (9) DKIT-DS-130-IH-S0, Mounted BiSS encoder on rotary jig, RS-422 to USB converter and cables

8.3 Installation flow chart

Electric Encoder Software
installation on PC

Mechanical mounting

Electrical connection

Signal verification

YES

NO

12 DS-130-PG-V01

Calibration

Mounting correction

Product Guide

Absolute Rotary Encoder

Hollow Shaft Three-plate

DS-130

PRODUCT GUIDE

9. Electric Encoder Software Installation
The Electric Encoder Explorer (EEE) software:
Verifies correct mounting for an adequate signal amplitude Calibration of offsets General set up and signal analysis This section describes the steps associated with installing the EEE software application.
9.1 Minimum requirements
Operating system: MS windows 7/ 10, (32 / 64 bit) Memory: 4MB minimum Communication ports: USB 2 Windows .NET Framework, V4 minimum
9.2 Installing the software
Run the Electric EncoderTM Explorer file found on Netzer website: Encoder Explorer Software Tools After the installation you will see Electric Encoder Explorer software icon on the computer desktop. Click on the Electric Encoder Explorer software icon to start.
10. Mechanical Mounting
10.1 Encoder mounting

2

1

a b c

The encoder rotor (2) is attached to the host shaft by pressing it against a dedicated shoulder (b), while using screw and a washer, or a circular spring and a washer, at the top of the rotor shoulder to maintain downward pressure. Recommended force of 0.15 Nm with M2 screw.
The encoder stator (1) is centered by circumferential step (a) and is mounted to the host stator (c) by using six M2 screws, recommended force of 0.3 Nm.

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Stator / rotor relative position
The rotor is floating, therefore, for proper relative axial position of both housing (1) and rotor (2), bottom shaft and host-stator shoulders (b and a) should be coplanar with tolerance 1.6-0.10mm towards down for the shaft.

b a
H 1.6mm – 0.10
In an optimal mounting, the signal amplitude values generated by the encoder, would be in the middle of the range of the signal plot shown in the Encoder Explorer software (see plot below). This may vary according to the encoder type.
The DS-130 amplitudes compensation
If as part of the signal validation process (section 12.2) the signal amplitudes are not optimal, it is possible to improve/correct the mounting, by using 50 um shims below the rotor (available as DS-130-R-00 kit). Each will increase the amplitude level by ~ 50mV. Verify that the rotor mounting provides a good signal amplitude, by using the “Signal analyzer” or “Signal verification process”, of the Encoder Explorer tool, as part of the procedure the described in section 12.

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Hollow Shaft Three-plate

DS-130

PRODUCT GUIDE

11. Electrical Connection
This chapter reviews the steps required to electrically connect the encoder with digital interface (SSi or BiSS-C).
Connecting the encoder
The encoder has two operational modes:
11.1 Absolute position over SSi or BiSS-C
This is the power-up default mode

Electric EncoderTM

CLK / NCP RX [+] (gray) CLK / NCP RX [-] (blue)

Host System
5V

DATA / NCP TX [-] (yellow)

5V

DATA / NCP TX [+] (green) 120

Gnd

(black)

5V

(red)

SSi / BiSS interface wires color code

Clock +

Grey

Clock –

Blue

Data –

Yellow

Data +

Green

GND

Black

+5V

Red

SSi / BiSS output signal parameters
Output code Serial output Clock Clock frequency Position update rate

Clock
Data Ground Power supply
Binary Differential RS-422 Differential RS-422 0.1- 5.0 MHz 35 kHz (Optional – up to 375 kHz)

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11.2 Digital SSi Interface

Synchronous Serial Interface (SSi) is a point to point serial interface standard between a master (e.g. controller) and a slave (e.g. sensor) for digital data transmission.
Tr

Master Clock

1 23 4

Encoder Data

T MSB n-1 n-2 n-3

n n+1

Tp Tm LSB

0

MSB

Tu
Built In Test option (BIT) The BIT indicates critical abnormality in the encoder internal signals. ‘0’ ­ the internal signals are within the normal limits, ‘1’ ­ Error The Part Number of the encoder indicates whether the encoder includes BIT. If no BIT is indicated in the PN, there is no additional error bit.
Tr

Master Clock

1 23 4

Encoder Data

T MSB BIT n-1 n-2

n+1 n+2

Tp

Tm LSB

0

MSB

n T f= 1/T Tu Tp Tm Tr fr=1/Tr

Tu

Description

Recommendations

Position resolution

12-21

Clock period

Clock frequency

0.1- 5.0 MHz

Bit update time

90 nsec

Pause time

26 – sec

Monoflop time

25 sec

Time between 2 adjacent requests Tr > n*T+26 sec

Data request frequency

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Absolute Rotary Encoder

Hollow Shaft Three-plate

DS-130

PRODUCT GUIDE

11.3 Digital BiSS-C Interface
BiSS-C Interface is unidirectional serial synchronous protocol for digital data transmission where the Encoder acts as “slave” transmits data according to “Master” clock. The BiSS protocol is designed in B mode and C mode (continuous mode). The BiSS-C interface as the SSi is based on RS-422 standards.
Built In Test option (BIT) The BIT indicates critical abnormality in the encoder internal signals. ‘1’ ­ the internal signals are within the normal limits, ‘0’ ­ Error The Part Number of the encoder indicates whether the encoder includes BIT. If no BIT is indicated in the PN, the error bit is always 1.
Master Clock

Encoder Data

Ack Start 0

Position (bits)

Err W

CRC (6 bits)

Timeout

Bit allocation per encoder-resolution 17bit 18bit 19bit 20bit
27 28 29 30 Ack
26 27 28 29 Start 25 26 27 28 “0” 8…24 8…25 8…26 8…27 AP

Description
Period during which the encoder calculates the absolute position, one clock cycle Encoder signal for “start” data transmit “Start” bit follower Absolute Position encoder data

Default Length

0

1/clock

1

1 bit

0

1 bit

Per resolution

7

7

7

7

Error BIT (Built In Test option)

1

6

6

6

6

Warn. Warning (non active)

1

0…5 0…5 0…5 0…5 CRC

The CRC polynomial for position, error and warning data is: x6 + x1 + x0. It is transmitted MSB first and inverted. The start bit and “0” bit are omitted from the CRC calculation.

Timeout Elapse between the sequential “start”request cycle’s

1 bit 1 bit 6 bits
25 s

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DS-130-PG-V01 17

11.4 Setup mode over NCP (Netzer Communication Protocol)
This service mode provides access via USB to a PC running Netzer Encoder Explorer application (on MS Windows 7/10). Communication is via Netzer Communication Protocol (NCP) over RS-422 using the same set of wires.
Use the following pin assignment to connect the encoder to a 9-pin D-type connector to the RS-422/USB converter CNV-0003 or the NanoMIC.

Electric encoder interface, D Type 9 pin Female

Description

Color

Function

Gray SSi Clock / NCP RX
Blue

Clock / RX + Clock / RX –

SSi Data / NCP TX

Yellow Green

Data / TX Data / TX +

Ground

Black

GND

Power supply

Red

+5V

Pin No 2 1 4 3 5 8

Setup USB

Blue Box or

Electric Encoder

USB
NanoMIC

Setup SSI / BiSS

Electric Encoder

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

11.5 Electrical connection and grounding
Observe the following grounding consideration: 1. The cable shield electrically floating (unconnected) by default.
2. Make sure the chassis is grounded.
3. It’s highly recommended to keep the motor PWM wires electrically shielded and/or kept away from the encoder.
Note: 4.75 to 5.25 VDC power supply required

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Absolute Rotary Encoder

Hollow Shaft Three-plate

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PRODUCT GUIDE

12. Signal Verification
12.1 Starting the Encoder Explorer
Make sure to complete the following tasks successfully: Mechanical Mounting Electrical Connection to the encoder Encoder Explore Software Installation
Run the Encoder Explorer tool (EE)
Ensure proper communication with the encoder: (Setup mode by default). The Encoder position-dial is colored blue when in Setup Mode, either through the NanoMic or the BlueBox (a). Note that the operational mode is not available through the BlueBox (b). The Signal amplitude bar indicates whether the signal is within the acceptable tolerance (c) . Note that prior to performing the Signal Verification process the bar could indicate an out of tolerance signal (d). Encoder data is displayed in the encoder data area (CAT No., Serial No.) (e). The position dial display responds to shaft rotation (f ).

a f

b e
c

d
It is important to perform the Signal Verification process prior to the calibration of the encoder to ensure optimal performance.

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12.2 Signal verification process
The Signal Verification process ensures that the encoder is mounted correctly and provides good signal amplitudes. This is performed by collecting raw data of the fine and coarse channels during rotation. Select on the main screen (a).
a
Select to initiate the process (b).
b Rotate the shaft in order to collect the fine and coarse channels data (c).
c

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If the process is successful, the status “Signal verification successful” would appear (d). The `amplitude circle’ would be centered between the two green circles, preferably in the middle of the tolerance (e).
d

e
Note however, that mounting the encoder towards the extreme mechanical tolerances might cause the amplitude circle to be offset from the exact middle of the nominal position. If the signal is out of tolerance the Error notification “Amplitude is lower/higher than the min/max limit of XXX” would appear (g). In Addition, the status “Signal verification failed ­ perform calibration amplitude” would appear at the top (h).
h

g
Stop the process and re-mount the encoder, making sure that the mechanical installation tolerances are not exceeded, removing or adding shims as required.
Repeat the Signal Verification process after the remount. Once the signal verification process is successfully completed, proceed to the encoder calibration phase, Section 13

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13. Calibration
It is important that upon every installation of the encoder, the Signal Verification process is completed prior to attempting calibration of the encoder. For encoders with FW 4 version 4.1.3 or higher, it is possible to select either a fully automated calibration process, or a manual phase-by- phase calibration process.
13.1 Auto-calibration
Auto Calibration is supported by encoders with FW 4 version 4.1.3 or higher. For these encoders an additional “Auto-calibration” button is displayed.

13.1.1 Auto-calibration process
The Auto-calibration process consists of three stages:
1. Jitter test – evaluates the electric noise for the Fine, Medium, and Coarse encoder channels. During the jitter test, the shaft must be stationary. Attention! The Pass/Fail criteria of the Jitter test is according to very strict factory criteria and failing it would abort the Auto Calibration process. However, the manual Jitter test as part of the Manual Calibration process in section 13.4, would enable the user to decide whether the jitter is acceptable to its needs.
2. Offset calibration – performs the offset calibration, the shaft must rotate continuously.
3. Absolute Position (AP) calibration – performs Coarse Amplitude Alignment (CAA) and Medium Amplitude Alignment (MAA) are calculated.
During Auto-Calibration process the encoder’s Zero-Position remain in the factory default zero position for new encoders. It is possible to set the Zero Point through the top menu bar, by selecting “Calibration” tab, and clicking “Set UZP” as defined in section 13.3.

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Absolute Rotary Encoder

Hollow Shaft Three-plate

DS-130

PRODUCT GUIDE

13.1.2 Performing Auto-calibration
Press the button. The main auto-calibration window opens. Select the appropriate measurement range applicable to your application (a).

a

Make sure to keep the shaft still and press the The Noise test would be performed and upon successful completion the “Noise test”label will be marked with a green check mark.
The Offset calibration would automatically start upon completion of the Noise test. This calibration requires that the shaft be rotated continuously.
The AP calibration would automatically start upon completion of the Accuracy Calibration. Continue rotating the shaft in this phase until the AP calibration is completed, and the encoder is reset.
Once the reset is over, the Auto-calibration process is successfully finished.

c

b

The user can review the calibration results by clicking the button (b).
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It is always possible to abort the Auto Calibration process by clicking the