Using SSI encoder

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:

• 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 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

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 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

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.

In no event the Product Information or parts hereof shall be regarded as guarantee of conditions or characteristics. The Product Information or any part thereof may also not be regarded as a warranty of any kind. No liability of any kind shall be assumed by Author with respect to Product Information or any use made by you thereof, nor shall Author indemnify you against or be liable for any third party claims with respect to such information or any use thereof.

As content of this Wiki may be edited by user community, Granite Devices Oy or it's affiliates do not take any responsibility of the contents of this Wiki. Use information at your own risk. However, Granite Devices staff attempts to review all changes made to this Wiki and keep information trustworthy.

Without written consent, Granite Devices' Products or Intellectual Property shall not be used in situations or installations where living beings, material property, or immaterial property could be harmed by the operation, features or failures of Product. Products may only be used in a way where hazards like moving parts, electric shock, laser radiation, or fire can't be realized even if the content of this Wiki would suggest otherwise.