Editing Using SSI encoder

[https://en.wikipedia.org/wiki/Synchronous_Serial_Interface SSI (Synchronous Serial Interface)] is a digital protocol used by many encoder [[Feedback devices|feedback device]] manufacturers. [[IONI]] Pro servo drive supports SSI encoders starting from firmware version 1.6.1.

== SSI support details ==
As SSI is loosely defined standard, drive's SSI support does not cover all possible variations of the protocol. The following list includes currently supported SSI encoders:
*[http://ams.com/eng AMS] 12 bit SSI encoders

Current firmware version limitations:
* No absolute encoder information is utilized, motor still needs to do [[Phasing a.k.a. phase search]] and [[Homing]] to get absolute operation. 

== Wiring SSI encoder ==
Wiring of SSI depends on the variant of SSI protocol present. 
==AMS SSI encoder chips==
[http://ams.com/eng AMS] SSI encoders are wired following way to IONI encoder connector:

{| class="wikitable"
!Encoder wire
!IONI drive pin
!IONICUBE D-Sub 15 pin number
!Remarks
|-
|Cable shield
|
|Connector shell
|
|-
|GND
|GND
|10
|
|-
|5V input
|
|9
|Pin 9 is 5V supply output from IONICUBE to encoder
|-
|Clock+
|GPI2
|12
|
|-
|Clock-
|GPI3
|11
|
|-
|Data+
|C+
|15
|
|-
|Data-
|C-
|14
|
|}
Refer to [[IONI & IONICUBE user guide]] for more info on wiring encoders.

== Configuration ==
[[File:Bissconfig.PNG|thumb|579x579px|BiSS parameters in Granity. Example settings for Hengstler AD36 (AD36/'''1219'''AF.0XBI0:5653).]]
To configure SSI, use [[Granity]] version 1.11.1 or later. Configuration steps:
# Find out encoder MT and ST resolutions from encoder manufacturer's data sheet
# Select SSI Encoder from {{Param|FBD}}
# Select SSI type from {{Param|FBS}}
# Set number of MT and ST bits into parameters [FBST] and [FBMT]. If MT not specified in encoder data sheet, set it zero.