Editing Using BiSS encoder
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* Read of multi-turn (MT) and single-turn (SD) data from encoder | * Read of multi-turn (MT) and single-turn (SD) data from encoder | ||
* Resolution | * Resolution | ||
− | ** Single-turn resolution from 6 to | + | ** Single-turn resolution from 6 to 24 bits |
** Multi-turn resolution from 0 to 16 bits | ** Multi-turn resolution from 0 to 16 bits | ||
** The sum of ST+MT bits must be between 6 and 32 bits | ** The sum of ST+MT bits must be between 6 and 32 bits | ||
* Error detection by the means of | * Error detection by the means of | ||
− | ** No response from encoder | + | ** No response from encoder |
** Bit transfer error occurred causing large position jump to trigger tracking error | ** Bit transfer error occurred causing large position jump to trigger tracking error | ||
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Current firmware version limitations: | Current firmware version limitations: | ||
− | * No data CRC verification. Suggested workaround is to apply sensible tracking error limits. | + | * No absolute encoder information is utilized, motor still needs to do [[Phasing a.k.a. phase search]] and [[Homing]] to get absolute operation. |
+ | * No data CRC verification. Suggested workaround is to apply sensible tracking error limits. | ||
* No daisy chaining encoders is supported. Only one encoder may be connected to a drive. | * No daisy chaining encoders is supported. Only one encoder may be connected to a drive. | ||
− | * No cable delay compensation implemented. Less than 5 meter cable is recommended | + | * No cable delay compensation implemented. Less than 5 meter cable is recommended, however up to 10 meters have been tested with success. |
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== Wiring BiSS encoder == | == Wiring BiSS encoder == | ||
− | BiSS encoder | + | BiSS encoder has low number of pins, mainly consisting: |
* Power supply lines (2 wires) | * Power supply lines (2 wires) | ||
* Clock input (2 wires) | * Clock input (2 wires) | ||
Line 79: | Line 45: | ||
|Pin 9 is 5V supply output from IONICUBE to encoder | |Pin 9 is 5V supply output from IONICUBE to encoder | ||
|- | |- | ||
− | |Clock | + | |Clock+ |
|GPI2 | |GPI2 | ||
|12 | |12 | ||
| | | | ||
|- | |- | ||
− | |Clock | + | |Clock- |
|GPI3 | |GPI3 | ||
|11 | |11 | ||
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|- | |- | ||
− | |Data | + | |Data+ |
|C+ | |C+ | ||
|15 | |15 | ||
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|- | |- | ||
− | |Data | + | |Data- |
|C- | |C- | ||
|14 | |14 | ||
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|} | |} | ||
− | Refer to [[IONI & IONICUBE user guide]] for more info on wiring encoders. | + | Refer to [[IONI & IONICUBE user guide]] for more info on wiring encoders. |
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== Configuration == | == Configuration == | ||
Line 107: | Line 71: | ||
To configure BiSS, use [[Granity]] version 1.11.0 or later. Configuration steps: | To configure BiSS, use [[Granity]] version 1.11.0 or later. Configuration steps: | ||
# Find out encoder MT and ST resolutions from encoder manufacturer's data sheet | # Find out encoder MT and ST resolutions from encoder manufacturer's data sheet | ||
− | # Select | + | # Select BiSS Encoder from {{Param|FBD}} |
− | + | # Set number of MT and ST bits into parameters [FBST] and [FBMT] | |
− | # Set number of MT and ST bits into parameters | + | |
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