0x2201 BiSS encoder 1¶
Configuration parameters for first BISS encoder.
Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
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Type | 0x2201:1 | USINT | 8 |
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readonly (default) | ||||||||||||||||||||
The implementation of the BiSS service expects an encoder that has the following frame structure: - SLO line high when ready. - Ack bit (which can be extended to multiple bits by the encoder). - Start bit when the encoder is ready to transmit the data. - CDS bit for register communication. - Payload (composed by Multiturn bits + Singleturn bits + Filling bits, in this order). - Error and warning bits, in this order. - 6-bit CRC. - Timeout. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Function | 0x2201:2 | USINT | 8 |
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readwrite | ||||||||||||||||||||
Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback, monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Resolution | 0x2201:3 | UDINT | 32 | 1 | 1 | Inc/Revolution | readwrite | ||||||||||||||||||
Number of pulses in one revolution. Most of the BiSS encoders have a binary resolution, which means: Resolution = 2^(number of singleturn bits). |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Zero velocity threshold | 0x2201:4 | UDINT | 32 | 0 | 1000000 | 0 | μs | readwrite | |||||||||||||||||
Time threshold to set the velocity to 0 if no new position was received from the encoder. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Polarity | 0x2201:5 | USINT | 8 |
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readwrite | ||||||||||||||||||||
If you have an axis with two encoders (one for commutation and one for position and velocity), the direction of each encoder must match for control stability. This polarity parameter can be used for flipping the direction of the position or velocity encoder relative to the sensor used for commutation. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Multiturn resolution | 0x2201:6 | UDINT | 32 | 0 | readwrite | ||||||||||||||||||||
Multiturn resolution in bits. Corresponds to the total number of revolutions that are counted by the encoder. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Clock frequency | 0x2201:7 | UDINT | 32 | 99 | 6000 | 1000 | kHz | readwrite | |||||||||||||||||
Frequency for the BiSS clock line (MA). Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter. The drive can only clock at some discrete frequencies. If the user enters a frequency that is not within these discrete frequencies, it will be set to the next possible lower frequency. To calculate what's the real frequency that will be used, you can round up the result of 25000 / Clock frequency. Then divide 25000 by the rounded value obtained before. For example, when setting 4000 KHz the real frequency will be 3571.43 kHz. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Timeout | 0x2201:8 | UDINT | 32 | 36 | μs | readwrite | |||||||||||||||||||
Timeout at the end of each BiSS frame, it's part of the BiSS C standard. Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
CRC polynom | 0x2201:9 | USINT | 8 | 48 | readwrite | ||||||||||||||||||||
Polynom for the CRC calculation. This value is obtained by representing the polynom in reverse order and with the higher exponent omitted. For example: x^0 + x^1 + x^3 + x^6 is 0b110100, which is equal to 52 in decimal. The default value of 48 (x^0 + x^1 + x^6) is the one used for most of the BiSS encoders. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Clock port config (disabled) | 0x2201:10 | USINT | 8 | 0 | readonly (default) | ||||||||||||||||||||
This parameter has been disabled. Please refer to http://somanet.rocks/ in order to check how to connect MA and SLO. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Data port config (disabled) | 0x2201:11 | USINT | 8 | 0 | readonly (default) | ||||||||||||||||||||
This parameter has been disabled. Please refer to http://somanet.rocks/ in order to check how to connect MA and SLO. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Number of filling bits | 0x2201:12 | USINT | 8 | 0 | readwrite | ||||||||||||||||||||
The filling bits are bits that need to be clocked after the singleturn bits and before the error bit, but that are only used as part of the data for CRC calculation. Most BiSS encoders don't have filling bits. |
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Name | Index:Sub | Type | Bit Size | Min Data | Max Data | Default Data | Unit | Access | PDO Mapping | ||||||||||||||||
Number of bits to read while busy | 0x2201:13 | USINT | 8 | 30 | readwrite | ||||||||||||||||||||
This value defines the maximum number of bits that should be clocked in order to receive the start bit once the Ack bit was already received. If the Start bit is not received after this time, the error BisSrtBt is raised. If the Start bit is received before this number, the comunication continues normally. It is advised to try to increase this number in case the error BisSrtBt appears, which is likely to happen because the encoder needed more time to process the data before sending the Start bit. |
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Name | Index:Sub | Type | Bit Size | Options | Unit | Access | PDO Mapping | ||||||||||||||||||
Status bits active value | 0x2201:14 | USINT | 8 |
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readwrite | ||||||||||||||||||||
Value of the status bits when active. The BiSS-C standard recommends that these bits are active low, so most encoders should work with the default value. |
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