Editing Using SSI encoder

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== SSI support details ==
 
== SSI support details ==
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As SSI is loosely defined standard, drive's SSI support may not cover all possible variations of the protocol. The following characteristics are supported:
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As SSI is loosely defined standard, drive's SSI support does not cover all possible variations of the protocol. The following list includes currently supported SSI encoders:
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* Read clock 1.5-2 MHz
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*[http://ams.com/eng AMS] 12 bit SSI encoders
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* Strectched first clock for slower encoders
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* Multiturn & singleturn readout
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** Multiturn resolution from 0-16 bits
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** Singleturn resolution 4-32 bits
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** Sum of MT+ST resolutions must be between 4 and 32 bits
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* Binary and Gray code support
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== List of tested SSI encoders: ==
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Current firmware version limitations:
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{| class="wikitable"
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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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!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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|[http://ams.com/ AMS]
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|AS5311
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|12 bit magnetic encoders
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|All OK
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|-
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|[https://www.rls.si RLS]
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|Orbis BR10SCB14B12BD00
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|14 bits absolute
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|All OK
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|-
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|[http://www.sick.com/ SICK]
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|TTK70-AXA0-K02
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|24 bits absolute, gray code
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|All OK
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|-
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|[https://www.kuebler.com/ Kübler]
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|8.F3663.4121.G322
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|12 bit multiturn, 13 bit single turn, gray code
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|All OK
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|-
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|[https://www.zettlex.com/ Zettlex]
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|INC-4-100-211001-SSI2-RFC6-5-AN
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|21 bit singleturn, Zettlex's "SSI2" format
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|rowspan="2"|Ok with workaround (use [FBMT] parameter as described below).
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Zettlex encoders have uncommon SSI data formats with leading zeroes or status bits while GraniteCore drives assumes SSI data to begin with position information. Use {{param|FBMT}} to skip those non-position info bits if necessary, and in such case keep {{param|HAP}} disabled. However, if possible, choose Zettlex's SSI3, SSI5 or SSI8 formats which output position data bits first.
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|-
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|[https://www.zettlex.com/ Zettlex]
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|INC-3-75-211001-SSI1-RFC9-12-AN and INC-4-37.080-171001-SSI1-RC371-12-S
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|Zettlex's "SSI1" format
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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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== Wiring SSI encoder ==
 
== Wiring SSI encoder ==
 
Wiring of SSI depends on the variant of SSI protocol present.  
 
Wiring of SSI depends on the variant of SSI protocol present.  
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===SSI encoder===
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==AMS SSI encoder chips==
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Typical SSI encoder has differential signal lines and a supply voltage lines:
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[http://ams.com/eng AMS] SSI encoders are wired following way to IONI encoder connector:
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* Power supply lines (2 wires)
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* Clock input (2 wires)
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* Data output (2 wires)
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Connection to IONI Pro drive by following table:
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{| class="wikitable"
 
{| class="wikitable"
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!BiSS wire
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!Encoder wire
 
!IONI drive pin
 
!IONI drive pin
 
!IONICUBE D-Sub 15 pin number
 
!IONICUBE D-Sub 15 pin number
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|C-
 
|C-
 
|14
 
|14
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|
 
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|}
 
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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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===AMS SSI encoder chips===
 
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[http://ams.com/eng AMS] SSI encoders are wired following way to IONI encoder connector:
 
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{| class="wikitable"
 
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!AMS wire
 
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!IONI drive pin
 
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!IONICUBE D-Sub 15 pin number
 
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!Remarks
 
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|-
 
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|VSS (Ground)
 
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|GND
 
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|10
 
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|
 
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|-
 
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|VDD5V (5V input)
 
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|
 
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|9
 
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|Pin 9 is 5V supply output from IONICUBE to encoder
 
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|-
 
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|CLK
 
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|GPI3
 
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|11
 
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|
 
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|-
 
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|CSn
 
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|GPI2
 
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|12
 
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|
 
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|-
 
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|DO
 
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|GPI1
 
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|13
 
 
|
 
|
 
|}
 
|}
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== Configuration ==
 
== Configuration ==
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[[File:granitySSI.PNG|thumb|569x569px|SSI parameters in Granity. Example settings for AMS AS5311.]]
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[[File:Bissconfig.PNG|thumb|579x579px|BiSS parameters in Granity. Example settings for Hengstler AD36 (AD36/'''1219'''AF.0XBI0:5653).]]
 
To configure SSI, use [[Granity]] version 1.11.1 or later. Configuration steps:
 
To configure SSI, use [[Granity]] version 1.11.1 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
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# Select Serial data encoder from {{Param|FBD}}
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# Select SSI Encoder from {{Param|FBD}}
 
# Select SSI type from {{Param|FBS}}
 
# Select SSI type from {{Param|FBS}}
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# Set number of MT and ST bits into parameters {{param|FBST}} and {{param|FBMT}}. If MT not specified in encoder data sheet, set it zero.
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# Set number of MT and ST bits into parameters [FBST] and [FBMT]. If MT not specified in encoder data sheet, set it zero.
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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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