Difference between revisions of "Using SSI encoder"

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** Sum of MT+ST resolutions must be between 4 and 32 bits
 
** Sum of MT+ST resolutions must be between 4 and 32 bits
 
* Binary and Gray code support
 
* 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: ==
 
== List of tested SSI encoders: ==
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!Test result
 
!Test result
 
|-
 
|-
−
|[http://ams.com/eng AMS]
+
|[http://ams.com/ AMS]
 
|AS5311
 
|AS5311
 
|12 bit magnetic encoders
 
|12 bit magnetic encoders
Line 26: Line 24:
 
|-
 
|-
 
|[https://www.rls.si RLS]  
 
|[https://www.rls.si RLS]  
−
|Orbis
+
|Orbis BR10SCB14B12BD00
 
|14 bits absolute
 
|14 bits absolute
 
|All OK
 
|All OK
Line 34: Line 32:
 
|24 bits absolute, gray code
 
|24 bits absolute, gray code
 
|All OK
 
|All OK
 +
|-
 +
|[https://www.kuebler.com/ Kübler]
 +
|8.F3663.4121.G322
 +
|12 bit multiturn, 13 bit single turn, gray code
 +
|All OK
 +
 +
|-
 +
|[https://www.zettlex.com/ Zettlex]
 +
|INC-4-100-211001-SSI2-RFC6-5-AN
 +
|21 bit singleturn, Zettlex's "SSI2" format
 +
|rowspan="2"|Ok with workaround (use [FBMT] parameter as described below).
 +
 +
Zettlex encoders have uncommon SSI data formats with leading zeroes or status bits while GraniteCore drives assumes SSI data to begin with position information. Use {{param|FBMT}} to skip those non-position info bits if necessary, and in such case keep {{param|HAP}} disabled. However, if possible, choose Zettlex's SSI3, SSI5 or SSI8 formats which output position data bits first.
 +
 +
|-
 +
|[https://www.zettlex.com/ Zettlex]
 +
|INC-3-75-211001-SSI1-RFC9-12-AN and INC-4-37.080-171001-SSI1-RC371-12-S
 +
|Zettlex's "SSI1" format
 +
 
|}
 
|}
 +
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]].
  
 
== 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.  
 +
===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:
 +
{| class="wikitable"
 +
!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
 +
|
 +
|}
 +
 +
{{info|Cable termination resistors may be necessary for reliable operation, for more details, see [[Terminating differential encoder lines]].}}
 +
 
===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:

Latest revision as of 13:52, 15 April 2021

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.

SSI support details[edit | edit source]

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

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

Manufacturer Model Notes Test result
AMS AS5311 12 bit magnetic encoders All OK
RLS Orbis BR10SCB14B12BD00 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
Zettlex INC-4-100-211001-SSI2-RFC6-5-AN 21 bit singleturn, Zettlex's "SSI2" format Ok with workaround (use [FBMT] parameter as described below).

Zettlex encoders have uncommon SSI data formats with leading zeroes or status bits while GraniteCore drives assumes SSI data to begin with position information. Use Multi-turn bitsFBMT to skip those non-position info bits if necessary, and in such case keep Apply absolute position readingHAP disabled. However, if possible, choose Zettlex's SSI3, SSI5 or SSI8 formats which output position data bits first.

Zettlex INC-3-75-211001-SSI1-RFC9-12-AN and INC-4-37.080-171001-SSI1-RC371-12-S Zettlex's "SSI1" format

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.

Wiring SSI encoder[edit | edit source]

Wiring of SSI depends on the variant of SSI protocol present.

SSI encoder[edit | edit source]

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[edit | edit source]

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[edit | edit source]

SSI parameters in Granity. Example settings for AMS AS5311.

To configure SSI, use Granity version 1.11.1 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 SSI type from Serial encoder typeFBS
  4. 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.
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