Difference between revisions of "Using BiSS encoder"

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(30bit ST limit & renishaw added)
(List of tested BiSS encoders:)
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|[http://www.renishaw.com Renishaw]
|[http://www.renishaw.com Renishaw]
|[http://www.renishaw.com/en/resolute-encoder-series--37823 Resolute] RL32BAS001C30F
|32 bits absolute encoder
|32 bits absolute encoder
|All OK
|All OK

Revision as of 14:11, 13 June 2017

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 30 bits (however, higher than 30 bit resolution is still compatible, lowest bits are just ignored)
    • 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. Drive sets timeout or loss of connection error if encoder does not respond with a "start bit" in 20 µs.
    • 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
RLS Orbis BR10DCA14B12BD00 14 bits absolute (no multiturn data) All OK
Hengstler AD36/1219AF.0XBI0:5653 19 bits absolute encoder with 12 bits multi turn All OK
Renishaw Resolute RL32BAS001C30F 32 bits absolute encoder 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 BiSS encoder

BiSS encoder typically has 6 mandatory wires 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
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.


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