Difference between revisions of "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 24 bits
+
** Single-turn resolution from 6 to 30 bits (however, higher than 30 bit resolution is still compatible, lowest bits are just ignored)
 
** 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. Drive sets timeout or loss of connection error if encoder does not respond with a "start bit" in 20 µs.
 
** Bit transfer error occurred causing large position jump to trigger tracking error
 
** Bit transfer error occurred causing large position jump to trigger tracking error
 
* Clock rate 5.1 MHz
 
* Clock rate 5.1 MHz
 +
* Support utilizing absolute position information from the encoder
 +
** To skip axis homing procedure
 +
** To initialize rotary motor immediately (no [[Phasing a.k.a. phase search|Phasing]] needed)
 
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 data CRC verification. Suggested workaround is to apply sensible tracking error limits.  
−
* 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, however up to 10 meters have been tested with success.
+
* No cable delay compensation implemented. Less than 5 meter cable is recommended.
 +
 
 +
== List of tested BiSS encoders: ==
 +
{| class="wikitable"
 +
!Manufacturer
 +
!Model
 +
!Notes
 +
!Test result
 +
|-
 +
|[https://www.rls.si RLS]
 +
|Orbis BR10DCA14B12BD00
 +
|14 bits absolute (no multiturn data)
 +
|All OK
 +
|-
 +
|[http://www.hengstler.de Hengstler]
 +
|AD36/1219AF.0XBI0:5653
 +
|19 bits absolute encoder with 12 bits multi turn
 +
|All OK
 +
|-
 +
|[http://www.renishaw.com Renishaw]
 +
|[http://www.renishaw.com/en/resolute-encoder-series--37823 Resolute] RL32BAS001C30F
 +
|32 bits absolute encoder
 +
|All OK
 +
|-
 +
|[http://baumer.com Baumer]
 +
|EFL360 - BL6.2M6B.21000.4
 +
|21 bits absolute encoder (no multiturn data)
 +
|All OK
 +
|}
 +
If you have tested another kind of encoder, please help us to inform the community by letting us know your encoder model and result by dropping a message into [[Granite Devices support]].
 +
 
 +
{{Info|[[SimuCUBE]] supports BiSS encoder resolutions up to 21 bits (2M counts/rev).}}
  
 
== Wiring BiSS encoder ==
 
== Wiring BiSS encoder ==
−
BiSS encoder has low number of pins, mainly consisting:
+
BiSS encoder typically has 6 mandatory wires consisting:
 
* Power supply lines (2 wires)
 
* Power supply lines (2 wires)
 
* Clock input (2 wires)
 
* Clock input (2 wires)
Line 46: Line 79:
 
|Pin 9 is 5V supply output from IONICUBE to encoder
 
|Pin 9 is 5V supply output from IONICUBE to encoder
 
|-
 
|-
−
|Clock+
+
|Clock+ / MA+
 
|GPI2
 
|GPI2
 
|12
 
|12
 
|
 
|
 
|-
 
|-
−
|Clock-
+
|Clock- / MA-
 
|GPI3
 
|GPI3
 
|11
 
|11
 
|
 
|
 
|-
 
|-
−
|Data+
+
|Data+ / SLO+
 
|C+
 
|C+
 
|15
 
|15
 
|
 
|
 
|-
 
|-
−
|Data-
+
|Data- / SLO-
 
|C-
 
|C-
 
|14
 
|14
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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 BiSS Encoder from {{Param|FBD}}
+
# Select Serial data encoder from {{Param|FBD}}
 +
# Select corresponding protocol (BiSS B, BiSS C) from {{Param|FBS}}
 
# Set number of MT and ST bits into parameters {{param|FBST}} and {{param|FBMT}}
 
# Set number of MT and ST bits into parameters {{param|FBST}} and {{param|FBMT}}
  

Latest revision as of 18:05, 12 January 2021

BiSS Interface is an open standard used by many encoder feedback device manufacturers. IONI Pro servo drive supports BiSS encoders starting from firmware version 1.6.0.

BiSS support details[edit | edit source]

As BiSS is quite wide standard supporting large number of different setups and device types, it is important to acknowledge the properties BiSS interface in GD drives. In current firmware, following properties apply:

  • Support BiSS B and BiSS C devices
  • Read of multi-turn (MT) and single-turn (SD) data from encoder
  • Resolution
    • Single-turn resolution from 6 to 30 bits (however, higher than 30 bit resolution is still compatible, lowest bits are just ignored)
    • Multi-turn resolution from 0 to 16 bits
    • The sum of ST+MT bits must be between 6 and 32 bits
  • Error detection by the means of
    • No response from encoder. Drive sets timeout or loss of connection error if encoder does not respond with a "start bit" in 20 µs.
    • Bit transfer error occurred causing large position jump to trigger tracking error
  • Clock rate 5.1 MHz
  • Support utilizing absolute position information from the encoder
    • To skip axis homing procedure
    • To initialize rotary motor immediately (no Phasing needed)

Current firmware version limitations:

  • 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 cable delay compensation implemented. Less than 5 meter cable is recommended.

List of tested BiSS encoders:[edit | edit source]

Manufacturer Model Notes Test result
RLS Orbis BR10DCA14B12BD00 14 bits absolute (no multiturn data) All OK
Hengstler AD36/1219AF.0XBI0:5653 19 bits absolute encoder with 12 bits multi turn All OK
Renishaw Resolute RL32BAS001C30F 32 bits absolute encoder All OK
Baumer EFL360 - BL6.2M6B.21000.4 21 bits absolute encoder (no multiturn data) All OK

If you have tested another kind of encoder, please help us to inform the community by letting us know your encoder model and result by dropping a message into Granite Devices support.

SimuCUBE supports BiSS encoder resolutions up to 21 bits (2M counts/rev).

Wiring BiSS encoder[edit | edit source]

BiSS encoder typically has 6 mandatory wires consisting:

  • 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+ / MA+ GPI2 12
Clock- / MA- GPI3 11
Data+ / SLO+ C+ 15
Data- / SLO- C- 14

Refer to IONI & IONICUBE user guide for more info on wiring encoders.

Cable termination resistors may be necessary for reliable operation, for more details, see Terminating differential encoder lines.

Configuration[edit | edit source]

BiSS parameters in Granity. Example settings for Hengstler AD36 (AD36/1219AF.0XBI0:5653).

To configure BiSS, use Granity version 1.11.0 or later. Configuration steps:

  1. Find out encoder MT and ST resolutions from encoder manufacturer's data sheet
  2. Select Serial data encoder from Feedback deviceFBD
  3. Select corresponding protocol (BiSS B, BiSS C) from Serial encoder typeFBS
  4. Set number of MT and ST bits into parameters Single-turn bitsFBST and Multi-turn bitsFBMT
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