Keba ServoOne User Manual

l P552 - ENC_CH1_AbsEncStatus=Errorandstatuscodes(absolute
encoder)
AbsEncStatusisusedtodisplaystatusinformationforHIPERFACE
encoders.Inindex[0],theread“TypeKey”fortheHIPERFACEencoderwill
beindicated(onebyte).Bytes1–4oftheHIPERFACEencoder’sinternal4-
byteerrorstatusmemorywillbeshowninindexes[5..8](00hmeans“no
error”).Index[9]willspecifyhowmanyerrorstatusbyteswerereadinthelast
readoperation.
ID Index Name Description
552  ENC_CH1_AbsEncStatus 0000h Errorandstatuscodes(HIPERFACEencoder)
552 0 Encoder_Type_Key  Encodertypeinformation(IDbyte)
552 1 Interface_Status  Errorandstatuscodes
552 2 Request_COMMAND_Key  Requestcommandoflasttransmission
552 3 Response_COMMAND_Key  Responsecommandoflasttransmission
552 4 Error_Bit_Response_
COMMAND
 Encodersignalserrorwithlastresponse
552 5 Encoder_Status_1_code  Encoderstatusinformation1(int.errormemory)
552 6 Encoder_Status_2_code  Encoderstatusinformation2(int.errormemory)
552 7 Encoder_Status_3_code  Encoderstatusinformation3(int.errormemory)
552 8 Encoder_Status_4_code  Encoderstatusinformation3(int.errormemory)
552 9 Communication_index  Indexofcommunicationdataset
(readcounter,statuscompletely)
552 10 Additional_1  Interfaceadditionalinformation1
552 11 Additional_2  Interfaceadditionalinformation2
552 12 Additional_3  Interfaceadditionalinformation3
552 13 Additional_4  Interfaceadditionalinformation4
552 14 Additional_5  Interfaceadditionalinformation5
552 15 Bytes_of_last_protocol  highbyte:toencoder,lowbyte:fromencoder
552 16 Bytes_of_last_protocol  
552 17... ...  
Table 6.12: Parameters for Channel 1 (X7) - HIPERFACE status
Starting from index [15], the byte sequences for the last command that was
transmitted (request to encoder “left” + response from encoder “right”) will be shown
completely.
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
70
6 Encoder
6.5.5.2.8SSI_CONTabsolutevalueinterface
P540[0] - ENC_CH1_Abs = SSI_CONT(4)
See Section "SSI absolute value interface" on page 68.
6.5.6SSI(cyclical)X7
Ch1: SSI(2) - Cyclical SSI
The software versions required to run the SSI encoder interface are the standard
software versions for the ServoOne and ServoOnejunior.
NOTE
l PleasenotethelimitationsthatapplywhenrunningEnDatand
SSIencoders(seeSection"LimitingforEnDatandSSI"onpage
52).
SSI (Synchronous Serial Interface) is a digital encoder interface that is supported by
a large number of manufacturers. It is not standardized, meaning that manufacturers
are free to support the interface as they like. The pseudo-standard described below
has however been established for motor feedback interfaces. KEBA supports this
version first and foremost.
The following table lists the parameters for cyclical SSI operation on encoder
channel Ch 1. It also points out possible differences between the use of the SSI
interface with the “cyclical” method and “one-time reading” method when using
SinCos encoders with an SSI absolute value interface.
SSI encoder basics and requirements
The SSI interface on the ServoOne has been designed as an actual motor feedback
interface. Accordingly, the connected SSI encoder must meet the following criteria:

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English