Using BiSS encoder

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 32 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
• Clock rate 5.1 MHz

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.

List of tested BiSS 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 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+ / MA+	GPI2	12
Clock- / MA-	GPI3	11
Data+ / SLO+	C+	15
Data- / SLO-	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 Serial data encoder from Feedback deviceFBD
3. Select corresponding protocol (BiSS B, BiSS C) from Serial encoder typeFBS
4. Set number of MT and ST bits into parameters Single-turn bitsFBST and Multi-turn bitsFBMT

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