Keba ServoOne User Manual

l Clockanddatainactivelevel=HIGH
l Thecurrentpositionmustbeinternallystoredatthefirstfallingclockedge
l Nolengthenedcalculationtime(infirstcycle)
l Withthefirstrisingclockedge,theencodermustshiftthedatatothefirst
positionbittobetransmitted(MSB)
l 1Mbpsrate
l Datacoding=BinaryorGray
l Readingdataafterthedatabitsendispermissible
l 125µscycle(i.e.internalpositionrefreshrate≪125µs)
l Monofloptime≥6µs
l Datalinesdrivenwithlogic0duringmonofloptime
l Noparitybit
l Noerrorbitsorotherstatusbits
l ≤14MultiTurnbits
SSI wire break monitoring (bit monitoring during monoflop time)
If monitoring is enabled, the controller, as the SSI clock master, will read data for one
more clock cycle after the data bits (reading data after the data bits end is
permissible). The bit that the master reads in addition to the data bits this way comes
from the SSI encoder’s monoflop time. At the time corresponding to this bit, the SSI
encoder must drive the data lines with a logic 0. If the data lines on connector X7 are
open, a logic 1 will be read here. The bit monitoring at this point makes it possible to
determine whether the SSI data lines are being actively driven with a logic 0 at this
point (no “wire break”) or are not (“wire break”). SSI wire break monitoring can be
disabled by setting P546[0] - ENC_CH1_Modeto0001h.
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
71
6 Encoder
Mode parameters and CycleCount parameters
P546[0] - ENC_CH1_Mode can be used to run a parity evaluation after the data. In
addition, ENC_CH1_Mode makes it possible to run special SSI encoders that deliver
one or more special bits after the data. In this case, the ServoOne will not evaluate
these bits – this mode is meant to make it possible to work with SSI encoders that
require for these bits to be sampled. P616[0] - ENC_CH1_CycleCount makes it
possible to run slower SSI encoders that cannot handle the required cycle of 125µs.
The control characteristics will deteriorate when using this type of SSI encoder,
which is why doing so is not recommended.
ID Index Name Unit Description
505 0 ENC_CH1_Sel=2  =SSI(2)
543 0 ENC_CH1_MultiT  NumberofMultiTurnbits(absoluteencoder)
544 0 ENC_CH1_SingleT  NumberofSingleTurnbits(absoluteencoder)
545 0 ENC_CH1_Code  Codeselection(SSIabsoluteencoder)
546 0 ENC_CH1_Mode  Modeselection(SSIabsoluteencoder)
547 0 ENC_CH1_MTBase  MinimumMultiTurnposition(SSIabsolute
encoder)
548 0 ENC_CH1_MTEnable  Channel1:Multi-turnassingle-turn
598 0 ENC_CH1_Position inc Positionencoderchannel1
616 0 ENC_CH1_CycleCount  Channel1:Positionencodersamplingcycle(nx
125µsec)
Table 6.13: Encoder configuration channel 1 (X7) - SSI parameters
The Sel, Lines, MultiT and SingleT parameters are self-explanatory.
Other parameters, such as MTBase and MTEnable, are described elsewhere (see
Section "SinCos incremental encoders with absolute value interface" on page 66).
NOTE
l LinearSSIencoderswillbetreatedasrotarySSIencoders.Inthis
case,itisimpossibletodeterminethatthesystemisalinear
encodersystembasedontheencoderhead.

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English