0x2380 - SSI Absolute encoder configuration
Index | Sub Index | Name | Data Type | Acc. | Pdo Map. | NVM | Value range | Default value | Units |
|---|---|---|---|---|---|---|---|---|---|
0x2380 | 0x01 | Frame type | UINT8 | RW | No | Yes | 0 to 2 | 0x0000 | - |
0x2380 | 0x02 | Frame size | UINT16 | RW | No | Yes | up to 32 | 10 | bits |
| 0x2380 | 0x03 | Codification | UINT8 | RW | No | Yes | 0 to 1 | 0 | - |
| 0x2380 | 0x04 | Max. clock rate | UINT16 | RW | No | Yes | 120 to 2000 | 2000 | KHz |
| 0x2380 | 0x05 | Single-turn bits | UINT8 | RW | No | Yes | 0 to 32 | 12 | bits |
| 0x2380 | 0x06 | Single-turn start bit | UINT8 | RW | No | Yes | 0 to 32 | 0 | bits |
| 0x2380 | 0x07 | Multi-turn bits | UINT8 | RW | No | Yes | 0 to 32 | 13 | bits |
| 0x2380 | 0x08 | Multi-turn start bit | UINT8 | RW | No | Yes | 0 to 32 | 12 | bits |
| 0x2380 | 0x09 | Endianness | UINT8 | RW | No | Yes | 0 to 1 | 0 | - |
| 0x2380 | 0x0A | Error Filter | UINT8 | RW | No | Yes | 0 to 255 | 16 | Successive errors |
| 0x2380 | 0x0B | TQ. Update periods | UINT8 | RW | No | Yes | 1 to 10 | 1 | Tq loop periods |
This object is used to configure the generic decoding algorithm for encoders with SSI interface.
SubIndex description:
0x2380; 0x02 - Frame type. Indicates the frame type to be processed:
Type Description 0 Generic 1 3 status bits at the end of the frame 2 1 error bit at the end of the frame - 0x2380; 0x02 - Frame size. Indicates the total frame size, including position bits and special bits (like error flags).
0x2380; 0x03 - Codification. Indicates the codification of the position value bits (typically gray or binary codification).
Value Codification 0 Binary 1 Gray - 0x2380; 0x04 - Max. clock rate. Indicates the maximum clock rate of the SSI encoder. Supported clock rates: 2000, 1000, 500, 200 and 120 KHz. If a different value is introduced in this register, the drive will generate the nearest lower value. (i.e. Max.clock rate is written with 1500KHz, the drive will output to the encoder a clock frequency of 1000KHz).
- 0x2380; 0x05 - Single-turn bits. Indicates the number of bits used to represent the single-turn value.
- 0x2380; 0x06 - Single-turn start bit. Indicates the position in the SSI frame of the first single-turn bit.
- 0x2380; 0x07 - Multi-turn bits. Indicates the number of bits used to represent the multi-turn value.
- 0x2380; 0x08 - Multi-turn start bit . Indicates the position in the SSI frame of the first multi-turn bit.
0x2380; 0x09 - Endianness. Indicates the order of the read bits.
Value Endianness 0 MSB 1 LSB - 0x2380; 0x0A - Error Filter. Indicates the maximum allowed number of successive errors in SSI encoder read process. If more errors than this value occurs the drive will throw a fault unless there is a 0 in this subindex, which in this case the drive will never generate a fault.
- 0x2380; 0x0B - TQ. Update periods. (SSI Only variant) This subindex allow to select the SSI encoder update period when it is used as commutation sensor in SSI only mode. The default value is 1, this means that the encoder will be updated with the same period than the torque loop (typically 100 microseconds).
Note
The bits remaining to cover a 32-bit position will be calculated by the device