Keba ServoOne User Manual

Mode parameters and CycleCount parameters
P576[0] - ENC_CH3_Mode can be used to run a parity evaluation after the data. In
addition, ENC_CH3_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636[0] - ENC_CH3_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
507  ENC_CH3_Sel=2  =SSI(2)
573 0 ENC_CH3_MultiT  NumberofMultiTurnbits(absoluteencoder)
574 0 ENC_CH3_SingleT  NumberofSingleTurnbits(absoluteencoder)
575 0 ENC_CH3_Code  Codeselection(SSIabsoluteencoder)
576 0 ENC_CH3_Mode  Modeselection(SSIabsoluteencoder)
584 0 ENC_CH3_MTBase  MinimumMultiTurnposition(SSIabsolute
encoder)
585 0 ENC_CH3_MTEnable  Channel1:Multi-turnassingle-turn
600 0 ENC_CH3_Position inc Positionencoderchannel1
636 0 ENC_CH3_CycleCount  Channel3:Positionencodersamplingcycle(nx
125µsec)
Table 6.26: Encoder configuration channel 3 (X8) - SSI parameters
The Sel, Lines, MultiT and SingleT parameters are self-explanatory.
Other parameters, such as MTBase and MTEnable, are described elsewhere (see
Section "Channel 3: Interface X8 (optional)" on page 78 and Section "SinCos /
TTLX8" on page 85).
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.
ID No.: 0842.26B.5-01Date: 09.2020
ServoOne- Device Help
90
6 Encoder
l P 573[0] - ENC_CH3_MultiT=Numberofmulti-turnbits:0..14
DuetothedesignofthecyclicalSSIinterfaceasamotorfeedbackinterface,
thenumberofmulti-turnbitsislimitedto14(nolimitto14bitsinthecaseofa
SinCosinterfacewithSSIone-timereading).
l P 575[0] - ENC_CH3_Code=SSIdecoding:BINARY(0)orGRAY(1)
Graydecodingwillbeselectedbydefault.Theotheroptionistousebinary
decoding.
l P 576[0] - ENC_CH3_Mode=AvailableSSIauxiliarysettings
Thisparameterhasa16-bithexvalue.Withthedefaultsetting(0000h),SSI
wirebreakmonitoringwillbeenabled.Avalueof0001hwilldisableSSIwire
breakmonitoring,meaningthatonebitlesswillberead.
Followingisalistofwhatsomeofthetermsinthetablebelowstandfor:

o
Data=Sequenceofalldatabits

o
EncObs=Wirebreakbit

o
Nothing=Nobit

o
POdd=Oddparitybit

o
PEven=Evenparitybit

o
Free=Afreebit
ID Value Name
576  ENC_CH3_Mode 
 0000h Data_EncObs Default:withwirebreak
 0001h Data_Nothing 
   
 0002h Data_POdd_EncObs ODDParity
 0003h Data_Free_POdd_EncObs 
 0004h Data_POdd 
 0005h Data_Free_POdd 
   
 0006h Data_Free_EncObs 
 0007h Data_Free_Free_EncObs 
   
 000Ch Data_PEven_EncObs EVENParity
Table 6.27: SSI mode parameters (all other values are reserved)

Keba ServoOne Specifications

General

Brand	Keba
Model	ServoOne
Category	Controller
Language	English