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 30 bits (however, higher than 30 bit resolution is still compatible, lowest bits are just ignored)
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** 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. Drive sets timeout or loss of connection error if encoder does not respond with a "start bit" in 20 µs.
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** 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
 
* Clock rate 5.1 MHz
 
* Clock rate 5.1 MHz
* Support utilizing absolute position information from the encoder
 
** To skip axis homing procedure
 
** To initialize rotary motor immediately (no [[Phasing a.k.a. phase search|Phasing]] needed)
 
 
Current firmware version limitations:
 
Current firmware version limitations:
* No data CRC verification. Suggested workaround is to apply sensible tracking error limits.  
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* No absolute encoder information is utilized, motor still needs to do [[Phasing a.k.a. phase search]] and [[Homing]] to get absolute operation.
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* 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 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.
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* No cable delay compensation implemented. Less than 5 meter cable is recommended, however up to 10 meters have been tested with success.
 
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== List of tested BiSS encoders: ==
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{| class="wikitable"
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!Manufacturer
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!Model
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!Notes
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!Test result
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|-
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|[https://www.rls.si RLS]
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|Orbis BR10DCA14B12BD00
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|14 bits absolute (no multiturn data)
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|All OK
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|-
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|[http://www.hengstler.de Hengstler]
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|AD36/1219AF.0XBI0:5653
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|19 bits absolute encoder with 12 bits multi turn
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|All OK
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|-
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|[http://www.renishaw.com Renishaw]
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|[http://www.renishaw.com/en/resolute-encoder-series--37823 Resolute] RL32BAS001C30F
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|32 bits absolute encoder
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|All OK
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|-
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|[http://baumer.com Baumer]
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|EFL360 - BL6.2M6B.21000.4
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|21 bits absolute encoder (no multiturn data)
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|All OK
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|}
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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]].
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{{Info|[[SimuCUBE]] supports BiSS encoder resolutions up to 21 bits (2M counts/rev).}}
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== Wiring BiSS encoder ==
 
== Wiring BiSS encoder ==
BiSS encoder typically has 6 mandatory wires consisting:
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BiSS encoder has low number of pins, mainly consisting:
 
* Power supply lines (2 wires)
 
* Power supply lines (2 wires)
 
* Clock input (2 wires)
 
* Clock input (2 wires)
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|Pin 9 is 5V supply output from IONICUBE to encoder
 
|Pin 9 is 5V supply output from IONICUBE to encoder
 
|-
 
|-
|Clock+ / MA+
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|Clock+
 
|GPI2
 
|GPI2
 
|12
 
|12
 
|
 
|
 
|-
 
|-
|Clock- / MA-
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|Clock-
 
|GPI3
 
|GPI3
 
|11
 
|11
 
|
 
|
 
|-
 
|-
|Data+ / SLO+
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|Data+
 
|C+
 
|C+
 
|15
 
|15
 
|
 
|
 
|-
 
|-
|Data- / SLO-
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|Data-
 
|C-
 
|C-
 
|14
 
|14
 
|
 
|
 
|}
 
|}
Refer to [[IONI & IONICUBE user guide]] for more info on wiring encoders.  
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Refer to [[IONI & IONICUBE user guide]] for more info on wiring encoders.
 
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{{info|Cable termination resistors may be necessary for reliable operation, for more details, see [[Terminating differential encoder lines]].}}
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== Configuration ==
 
== Configuration ==
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To configure BiSS, use [[Granity]] version 1.11.0 or later. Configuration steps:
 
To configure BiSS, use [[Granity]] version 1.11.0 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 Serial data encoder from {{Param|FBD}}
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# Select BiSS Encoder from {{Param|FBD}}
# Select corresponding protocol (BiSS B, BiSS C) from {{Param|FBS}}
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# Set number of MT and ST bits into parameters [FBST] and [FBMT]
# Set number of MT and ST bits into parameters {{param|FBST}} and {{param|FBMT}}
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[[Category:IONI_features]]
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[[Category:IONI_user_guide]]
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[[Category:IONI_wiring]]
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