TUAKA Drive is using the internal encoders from SOMANET Circulo.
Datasheet of the encoders: Encoder Specifications
TUAKA 103:
| Encoder Position | Output Encoder (Gearbox) | Input Encoder (Motor) | ||
|---|---|---|---|---|
| Communication protocol | BiSS-C | BiSS-C | ||
| Single turn Resolution | 19 bits | 19 bits | ||
| Multiturn Counter | 18 bits 1 | Not supported | ||
| Accuracy | ±90 arcsec 2 | ±72 arcsec 2 | ||
| Repeatability | ±14 arcsec | ±25 arcsec | ||
| Max external magnetic field | 20 mT | 20 mT |
| Encoder Position | Output Encoder (Gearbox) | Input Encoder (Motor) | ||
|---|---|---|---|---|
| Communication protocol | BiSS-C | BiSS-C | ||
| Single turn Resolution | 20 bits | 20 bits | ||
| Multiturn Counter | 18 bits 1 | Not supported | ||
| Accuracy | ±72 arcsec 2 | ±72 arcsec 2 | ||
| Repeatability | ±8 arcsec | ±13 arcsec | ||
| Max external magnetic field | 20 mT | 20 mT |
1 External Battery must be used for multiturn count. More information in the battery section
2 The specified accuracy corresponds to the encoder related errors only. Installation related errors are not considered.
Multi-turn battery wiring and specifications
Wiring to Encoder connector 1
| Pin N° | Battery for multiturn | |||
|---|---|---|---|---|
| 1 | . | |||
| 2 | . | |||
| 3 | . | |||
| 4 | Ground | |||
| 5 | . | |||
| 6 | . | |||
| 7 | V_Bat |
Battery specifications: 
Battery for Multiturn
Calibration of the Encoder
The encoders are calibrated before delivery.
The user does not need to do the calibration procedure of the Circulo internal encoders.
More about the encoder accuracy : Encoders Accuracy