Editing Using SSI encoder
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** Sum of MT+ST resolutions must be between 4 and 32 bits | ** Sum of MT+ST resolutions must be between 4 and 32 bits | ||
* Binary and Gray code support | * Binary and Gray code support | ||
+ | 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. | ||
== List of tested SSI encoders: == | == List of tested SSI encoders: == | ||
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|12 bit multiturn, 13 bit single turn, gray code | |12 bit multiturn, 13 bit single turn, gray code | ||
|All OK | |All OK | ||
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|[https://www.zettlex.com/ Zettlex] | |[https://www.zettlex.com/ Zettlex] | ||
|INC-4-100-211001-SSI2-RFC6-5-AN | |INC-4-100-211001-SSI2-RFC6-5-AN | ||
|21 bit singleturn, Zettlex's "SSI2" format | |21 bit singleturn, Zettlex's "SSI2" format | ||
− | + | |Ok with workaround (use [MT] 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|MT}} 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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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]]. | 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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# Select SSI type from {{Param|FBS}} | # Select SSI type from {{Param|FBS}} | ||
# 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. | # 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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