Difference between revisions of "Using SSI encoder"
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|TTK70-AXA0-K02 | |TTK70-AXA0-K02 | ||
|24 bits absolute, gray code | |24 bits absolute, gray code | ||
| + | |All OK | ||
| + | |- | ||
| + | |[https://www.kuebler.com/english2/index.html Kübler] | ||
| + | |8.F3663.4121.G322 | ||
| + | |12 bit multiturn, 13 bit single turn, gray code | ||
|All OK | |All OK | ||
|} | |} | ||
Revision as of 23:47, 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 |
| Kübler | 8.F3663.4121.G322 | 12 bit multiturn, 13 bit single turn, gray code | All OK |
Wiring SSI encoder
Wiring of SSI depends on the variant of SSI protocol present.
SSI encoder
Typical SSI encoder has differential signal lines and a supply voltage lines:
- Power supply lines (2 wires)
- Clock input (2 wires)
- Data output (2 wires)
Connection to IONI Pro drive by following table:
| BiSS 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 |
 | Cable termination resistors may be necessary for reliable operation, for more details, see Terminating differential encoder lines. |
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.
