Difference between revisions of "Using SSI encoder"
From Granite Devices Knowledge Wiki
| [checked revision] | [checked revision] |
(→Configuration) |
(Tag: VisualEditor) |
||
| Line 2: | Line 2: | ||
== SSI support details == | == SSI support details == | ||
| − | As SSI is loosely defined standard, drive's SSI support | + | 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: | 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 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: == | ||
| + | {| class="wikitable" | ||
| + | !Manufacturer | ||
| + | !Model | ||
| + | !Notes | ||
| + | !Test result | ||
| + | |- | ||
| + | |[http://ams.com/eng AMS] | ||
| + | |AS5311 | ||
| + | |12 bit magnetic encoders | ||
| + | |All OK | ||
| + | |- | ||
| + | |[https://www.rls.si RLS] | ||
| + | |Orbis | ||
| + | |14 bits absolute | ||
| + | |All OK | ||
| + | |- | ||
| + | |[http://www.sick.com/ SICK] | ||
| + | |TTK70-AXA0-K02 | ||
| + | |24 bits absolute, gray code | ||
| + | |All OK | ||
| + | |} | ||
== 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. | ||
| − | ==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: | ||
| Line 50: | Line 78: | ||
To configure SSI, use [[Granity]] version 1.11.1 or later. Configuration steps: | 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 | # Find out encoder MT and ST resolutions from encoder manufacturer's data sheet | ||
| − | # Select | + | # Select Serial data encoder from {{Param|FBD}} |
# Select SSI type from {{Param|FBS}} | # Select SSI type from {{Param|FBS}} | ||
# Set number of MT and ST bits into parameters {{param|FBST}} and {{param|FBMT}}. If MT not specified in encoder data sheet, set it zero. | # Set number of MT and ST bits into parameters {{param|FBST}} and {{param|FBMT}}. If MT not specified in encoder data sheet, set it zero. | ||
Revision as of 22:03, 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 |
Wiring SSI encoder
Wiring of SSI depends on the variant of SSI protocol present.
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.
