Difference between revisions of "Using BiSS encoder"

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* 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.  
 
* 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 multidrop BiSS supported. Only one encoder may be connected.
+
* No daisy chaining encoders is supported. Only one encoder may be connected to a drive.
−
* No cable delay compensation implemented. Encoder cable length should be less than 5 meters.
+
* No cable delay compensation implemented. Less than 5 meter cable is recommended, however up to 10 meters have been tested with success.
  
 
== Wiring BiSS encoder ==
 
== Wiring BiSS encoder ==
 +
BiSS encoder has low number of pins, mainly consisting:
 +
* 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
 +
|
 +
|}
 +
Refer to [[IONI & IONICUBE user guide]] for more info on wiring encoders.
  
 
== Configuration ==
 
== Configuration ==
 +
[[File:Bissconfig.PNG|thumb|579x579px|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:
 +
# Find out encoder MT and ST resolutions from encoder manufacturer's data sheet
 +
# Select BiSS Encoder from {{Param|FBD}}
 +
# Set number of MT and ST bits into parameters [FBST] and [FBMT]

Revision as of 18:15, 23 January 2017

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

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 24 bits
    • 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
    • Bit transfer error occurred causing large position jump to trigger tracking error

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 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.

Wiring BiSS encoder

BiSS encoder has low number of pins, mainly 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+ GPI2 12
Clock- GPI3 11
Data+ C+ 15
Data- C- 14

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

Configuration

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 BiSS Encoder from Feedback deviceFBD
  3. Set number of MT and ST bits into parameters [FBST] and [FBMT]
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