Editing Using BiSS encoder
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* Read of multi-turn (MT) and single-turn (SD) data from encoder | * Read of multi-turn (MT) and single-turn (SD) data from encoder | ||
* Resolution | * Resolution | ||
− | ** Single-turn resolution from 6 to | + | ** Single-turn resolution from 6 to 24 bits |
** Multi-turn resolution from 0 to 16 bits | ** Multi-turn resolution from 0 to 16 bits | ||
** The sum of ST+MT bits must be between 6 and 32 bits | ** The sum of ST+MT bits must be between 6 and 32 bits | ||
* Error detection by the means of | * Error detection by the means of | ||
− | ** No response from encoder | + | ** No response from encoder |
** Bit transfer error occurred causing large position jump to trigger tracking error | ** Bit transfer error occurred causing large position jump to trigger tracking error | ||
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Current firmware version limitations: | Current firmware version limitations: | ||
− | * No data CRC verification. Suggested workaround is to apply sensible tracking error limits. | + | * No absolute encoder information is utilized, motor still needs to do [[Phasing a.k.a. phase search]] and [[Homing]] to get absolute operation. |
− | * No | + | * No data CRC verification. Suggested workaround is to apply sensible tracking error limits. |
− | * No cable delay compensation implemented. | + | * No multidrop BiSS supported. Only one encoder may be connected. |
− | + | * No cable delay compensation implemented. Encoder cable length should be less than 5 meters. | |
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== Wiring BiSS encoder == | == Wiring BiSS encoder == | ||
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== Configuration == | == Configuration == | ||
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