Difference between revisions of "Using SSI encoder"

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== 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:

Revision as of 22:04, 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.

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:

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.

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

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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