encoder’s multi-turn value range from 0 to max will be mapped to 0 to max; the
second half of the measuring range will be initialized as positive; in this case, the
point of discontinuity will be found at 0.
If you set MTEnable to 1, you can use an available multi-turn encoder as a single-
turn encoder (this is only needed for testing purposes).
If you set EncObsMin to 0, SinCos wire break monitoring will be disabled. The
default value is 0.2 (20%) and stands for a calculated amplitude value (calculated
using the two SinCos signals) of x = sqrt(a^2 + b^2). If the SinCos signals are equal
to approx. 1 Vss when compared, approx. 0.8 will be calculated here (approx. 80%
magnitude at the A-D converters; approx. 0.25 Vss SinCos will yield approx. 0.2 here
(20% magnitude at the A-D converter)). The error threshold can be set with
EncObsMin within a broad range.
NOTE
l
As there are various protocol modes available for SSI encoders
(with/without wire break monitoring, with/without parity bit, etc.),
consult with your project supervisor or the Helpline provided by
KEBAbefore using any special SSI protocol modes.
6.5.2 BiSS (cyclical) X7
Ch1: BiSS (6) - Cyclical BiSS
BiSS is an ‘open' digital encoder interface, meaning it is not manufacturer-specific.
Nonetheless, in the present case, only selected encoder types are supported.
More details on BiSS can be found at
.
A point-to-point connection from the master to a single-slave device is supported.
The protocols "BiSS B" and "BiSS C unidirectional" are supported there.Moreover,
the protocol "BiSS C" is supported with some restrictions, depending on what the
operation of the selected encoder demands.
ID No.: 0842.26B.5-01 Date: 09.2020
ServoOne - Device Help
61
6 Encoder
A special software version of the ServoOne is required for operation of the BiSS
encoder interface (EnDat and SSI encoders are not supported in it).
For known encoder types (a few rotary encoder types from the manufacturer
Hengstler), the values for the parameters P 543[0] - ENC_CH1_MultiT and P 544[0]
- ENC_ CH1_ SingleT are read from the BiSS encoder and are written to these
parameters.
The value for the parameter P 542[0] - ENC_CH1_Lines is also read from the BiSS
encoder, but is not subsequently used: in the present case, a purely digital
evaluation of the BiSS encoder takes place (with no evaluation of SinCos tracks).
The parameters P 547[0] - ENC_CH1_MTBase, P 548[0] - ENC_CH1_MTEnable
and P 616[0] - ENC_CH1_CycleCount are not evaluated here: they are therefore not
listed in the following table.
ID
Index Name
Unit Description
505
0
ENC_CH1_Sel = 6
= BISS(6)
543
0
ENC_CH1_MultiT
Number of multi-turn bits for the digital interface
544
0
ENC_CH1_SingleT
Number of single-turn bits for the digital interface
598
0
ENC_CH1_Position
inc
Position encoder channel 1
618
0
ENC_CH1_AbsCRCPoly
CRC polynomial for BiSS absolute encoder
619
0
ENC_CH1_AbsCRCInv
CRC for BISS absolute encoder inverted
620
0
ENC_CH1_AbsErrMask
Mask EncoderStatusWord for standard Encoder
Error
621
0
ENC_CH1_AbsWarnMask
Mask EncoderStatusWord for Encoder Status
Error
622
0
ENC_CH1_
BISSProtocolType
Select BISS encoder protocol type AUTO, BISS-
B oder BISS-C
0: Autodetect
1: BISS-B
2: BISS-C
Table 6.7: BiSS parameters (optional)
NOTE
l
As there are various protocol modes available for BiSS encoders
(BiSS B, BiSS C, BiSS C unidirectional), make sure to consult with
your project supervisor or the KEBA Helpline before using BiSS
encoders with special BiSS protocol modes.