IKA SMRA + MRA, Руководство пользователя

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SMRA - SSI and BiSS
6.2 Single Cycle Data SCD
6.2.1 SCD structure
SCD data has variable length according to the resolution of the SMRA encoder
model. It consists of the following elements: position value (
Position ), 1 error
bit nE (
Error (nE)
), 1 warning bit nW (
Warning (nW)
) and a 6-bit CRC Cyclic
Redundancy Checking (
CRC
).
12-bit encoder model (SMRA-SCx-12)
bit 19 … 8 7 6 5 … 0
function Position Error (nE)
Warning
(nW)
CRC
13-bit encoder model (SMRA-SCx-13)
bit 20 … 8 7 6 5 … 0
function Position Error (nE)
Warning
(nW)
CRC
14-bit encoder model (SMRA-SCx-14)
bit 21 … 8 7 6 5 … 0
function Position Error (nE)
Warning
(nW)
CRC
Position
It is the process data transmitted by the Slave to the Master. It has a variable
length according to the resolution of the encoder.
The transmission starts with MSB (most significant bit) and ends with LSB (less
significant bit).
NOTE
The number of information per revolution can be found in the order code.
EXAMPLE
SMRA-SC2-
14
-...: resolution = 2
14
= 16,384 cpr.
Error (nE)
(1 bit)
The error bit nE is intended to communicate the normal or fault status of the
Slave.
“1”:
correct status (the sensor is working properly, there are no active
errors)
MAN SMRA SSI_BiSS E 1.4.odt 6 - BiSS C-mode interface 23 of 40