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
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.
