Difference between revisions of "Using SSI encoder"
From Granite Devices Knowledge Wiki
| [checked revision] | [checked revision] |
(→Configuration) |
(Tag: VisualEditor) |
||
| Line 2: | Line 2: | ||
== SSI support details == | == SSI support details == | ||
| − | As SSI is loosely defined standard, drive's SSI support | + | As SSI is loosely defined standard, drive's SSI support may not cover all possible variations of the protocol. The following characteristics are supported: |
| − | * | + | * Read clock 1.5-2 MHz |
| − | + | * Strectched first clock for slower encoders | |
| + | * Multiturn & singleturn readout | ||
| + | ** Multiturn resolution from 0-16 bits | ||
| + | ** Singleturn resolution 4-32 bits | ||
| + | ** Sum of MT+ST resolutions must be between 4 and 32 bits | ||
| + | * Binary and Gray code support | ||
Current firmware version limitations: | 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. | * No absolute encoder information is utilized, motor still needs to do [[Phasing a.k.a. phase search]] and [[Homing]] to get absolute operation. | ||
| + | |||
| + | == List of tested SSI encoders: == | ||
| + | {| class="wikitable" | ||
| + | !Manufacturer | ||
| + | !Model | ||
| + | !Notes | ||
| + | !Test result | ||
| + | |- | ||
| + | |[http://ams.com/eng AMS] | ||
| + | |AS5311 | ||
| + | |12 bit magnetic encoders | ||
| + | |All OK | ||
| + | |- | ||
| + | |[https://www.rls.si RLS] | ||
| + | |Orbis | ||
| + | |14 bits absolute | ||
| + | |All OK | ||
| + | |- | ||
| + | |[http://www.sick.com/ SICK] | ||
| + | |TTK70-AXA0-K02 | ||
| + | |24 bits absolute, gray code | ||
| + | |All OK | ||
| + | |} | ||
== Wiring SSI encoder == | == Wiring SSI encoder == | ||
Wiring of SSI depends on the variant of SSI protocol present. | Wiring of SSI depends on the variant of SSI protocol present. | ||
| − | ==AMS SSI encoder chips== | + | ===AMS SSI encoder chips=== |
[http://ams.com/eng AMS] SSI encoders are wired following way to IONI encoder connector: | [http://ams.com/eng AMS] SSI encoders are wired following way to IONI encoder connector: | ||
| Line 50: | Line 78: | ||
To configure SSI, use [[Granity]] version 1.11.1 or later. Configuration steps: | 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 | # Find out encoder MT and ST resolutions from encoder manufacturer's data sheet | ||
| − | # Select | + | # Select Serial data encoder from {{Param|FBD}} |
# Select SSI type from {{Param|FBS}} | # Select SSI type from {{Param|FBS}} | ||
# Set number of MT and ST bits into parameters {{param|FBST}} and {{param|FBMT}}. If MT not specified in encoder data sheet, set it zero. | # Set number of MT and ST bits into parameters {{param|FBST}} and {{param|FBMT}}. If MT not specified in encoder data sheet, set it zero. | ||
Revision as of 22:03, 9 May 2017
SSI (Synchronous Serial Interface) is a digital protocol used by many encoder feedback device manufacturers. IONI Pro servo drive supports SSI encoders starting from firmware version 1.6.1.
Contents
[hide]SSI support details
As SSI is loosely defined standard, drive's SSI support may not cover all possible variations of the protocol. The following characteristics are supported:
- Read clock 1.5-2 MHz
- Strectched first clock for slower encoders
- Multiturn & singleturn readout
- Multiturn resolution from 0-16 bits
- Singleturn resolution 4-32 bits
- Sum of MT+ST resolutions must be between 4 and 32 bits
- Binary and Gray code support
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.
List of tested SSI encoders:
| Manufacturer | Model | Notes | Test result |
|---|---|---|---|
| AMS | AS5311 | 12 bit magnetic encoders | All OK |
| RLS | Orbis | 14 bits absolute | All OK |
| SICK | TTK70-AXA0-K02 | 24 bits absolute, gray code | All OK |
Wiring SSI encoder
Wiring of SSI depends on the variant of SSI protocol present.
AMS SSI encoder chips
AMS SSI encoders are wired following way to IONI encoder connector:
| AMS wire | IONI drive pin | IONICUBE D-Sub 15 pin number | Remarks |
|---|---|---|---|
| VSS (Ground) | GND | 10 | |
| VDD5V (5V input) | 9 | Pin 9 is 5V supply output from IONICUBE to encoder | |
| CLK | GPI3 | 11 | |
| CSn | GPI2 | 12 | |
| DO | GPI1 | 13 |
Refer to IONI & IONICUBE user guide for more info on wiring encoders.
Configuration
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 Serial data encoder from Feedback deviceFBD
- Select SSI type from Serial encoder typeFBS
- Set number of MT and ST bits into parameters Single-turn bitsFBST and Multi-turn bitsFBMT. If MT not specified in encoder data sheet, set it zero.
