Lika AM 3616/4096BG Series, Руководство пользователя

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AMx36 • SSI & BiSS C-mode
6.3 Single Cycle Data SCD
SCD structure is different according to the resolution of the AMx36 model
encoders.
6.3.1 SCD structure
SCD data has a variable length according to the resolution of the encoder. It is
7 bit long where “nbitres” is the resolution of the encoder expressed in
bits. It consists of the following elements: position value (
Position
), 1 error bit
nE (
Error
), 1 warning bit nW (
Warning
) and a 6-bit CRC Cyclic Redundancy
Check (
CRC
).
bit 7 … 8 7 6 5 … 0
function Position Error Warning CRC
Position
(Nbitres)
It is the process data transmitted from the Slave to the Master. It has a variable
length, it is as long as the resolution of the encoder expressed in bits.
It provides information about the current position of the encoder.
The transmission starts with msb (most significant bit) and ends with lsb (least
significant bit). “Nbitres” is the resolution of the encoder expressed in bits.
bit 7 ... ... 8
value MSB ... ... LSB
“Nbitres” is the resolution of the encoder expressed in bits. It can be 28 or 31
bits as shown in the following table.
Order code Encoder resolution
AMM3616/4096SCx... 16 + 12 bits
AMM3619/4096SCx... 19 + 12 bits
Error
(1 bit)
Not used (nE = “1”). It is 1-bit long.
Warning
(1 bit)
Not used (nW = “1”). It is 1-bit long.
MAN AMx36 SSI_BiSS E 1.1.odt 6 - BiSS C-mode interface 22 of 36