33B0h Feedback SSI 1 Function Contains configuration values for the first SSI encoder. Object description Index 33B0h Object name Feedback SSI 1 Object Code RECORD Data type SSI ENCODER Savable yes, category: sensors Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1939-B682906 Change history Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Configuration Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Alignment Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Home Position Low Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Home Position High Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Number Of Bits For Transfer Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Baud Rate Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Position Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Position Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Status Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Status Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Status Value Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Status Value High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Latency [ns] Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Description The subindices have the following function: 01h (Configuration): Bit 0: Value = "0": Alignment has not yet been determined or is not to be used. Value = "1": Alignment exists and is to be used. 02h (Alignment): This value specifies the offset between the zero position of the encoder and the rotor's magnets. The exact determination is only possible via auto setup. The presence of this value is necessary for closed-loop mode with encoder. 03h (Home Position Low) and 04h (Home Position High): The absolute encoder position after a homing has been completed is entered in these subindices. 05h (Number Of Bits For Transfer): Number of bits in a message (encoder data). Maximum 64 bits. 06h (Baud Rate): Baud rate of the interface in hertz. The following frequencies are supported: 3.375 MHz, 1.6875 MHz, 656.25 kHz, 843.75 kHz, 421.875 kHz, 210.9375 kHz, 105.46875 kHz . If the values are different, the valid frequency with the smallest difference is selected. 07h (Position Bitmask Low) and 08h (Position Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the position data (see following instructions). 09h (Status Bitmask Low) and 0Ah (Status Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the status information (see following instructions). 0Bh (Status Value Low) and 0Ch (Status Value High): In these subindices, you enter a bitmask that determines which value the status information bits (subindices 09h and 0Ah) must have (see following instructions). A different value at this point of the encoder data is interpreted as an error by the controller. 0Dh (Latency): Latency of the encoder in nanoseconds, specified in the encoder data sheet. To set the configuration according to your encoder: Set the baud rate in subindex 06h and the number of bits in subindex 05h according to the encoder data sheet. When doing so, or when you select the encoder, take into account the pause/dead time to be kept between the data packages and the fact that the controller reads the sensor at 16 kHz (62.5 µs). For example, with an encoder pause time of 40 µs, only 22.5 µs remain for transmission, which corresponds to 18.98 bits (a maximum of 2 bytes) at a baud rate of, say, 843.75 kHz. Tip: In order to keep the pause time, you can omit unused or unimportant bits at the end of the message when specifying the number of bits in subindex 05h, such as the parity bit in the example below. Define which bits the position data should include and set subindices 07h and 08h to the corresponding value. Define which bits the status information (e. g., status, error, etc.) should include and set subindices 09h and 0Ah to the corresponding value. Define which value, "0" or "1", the status information bits must have and set the corresponding bits in subindices 09h and 0Ah to the value. Store the object by writing the value "65766173h" in 1010h:06h and restart the controller. Example Bits 8…23 contain the position, Bit 0 is the parity bit, which is ignored by the controller. The status information is divided into the following bits: Bits 1…6 are error bits that should always have the value "0". Bit 7 is the status bit that has the value "1" if the encoder is ready. The controller always internally adds the latch bit and rounds up to the nearest multiple of eight. The data is therefore transmitted in a 32-bit message (transmission can only occur byte by byte), if the parity bit is not omitted. You must enter the following values in the subindices: 05h (Number Of Bits For Transfer): 24h(with the parity bit) 07h(Position Bitmask Low) FFFF00h 09h (Status Bitmask Low): FEh 0Bh (Status Value Low): 80h Subindices 08h, 0Ah and 0Ch, which would contain the most-significant 32 bits of a 64-bit message, have the value "0".
33B0h Feedback SSI 1 Function Contains configuration values for the first SSI encoder. Object description Index 33B0h Object name Feedback SSI 1 Object Code RECORD Data type SSI ENCODER Savable yes, category: sensors Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1939-B682906 Change history Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors". Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Configuration Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Alignment Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Home Position Low Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Home Position High Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Number Of Bits For Transfer Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Baud Rate Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Position Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Position Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Status Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Status Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Status Value Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Status Value High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Latency [ns] Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Description The subindices have the following function: 01h (Configuration): Bit 0: Value = "0": Alignment has not yet been determined or is not to be used. Value = "1": Alignment exists and is to be used. 02h (Alignment): This value specifies the offset between the zero position of the encoder and the rotor's magnets. The exact determination is only possible via auto setup. The presence of this value is necessary for closed-loop mode with encoder. 03h (Home Position Low) and 04h (Home Position High): The absolute encoder position after a homing has been completed is entered in these subindices. 05h (Number Of Bits For Transfer): Number of bits in a message (encoder data). Maximum 64 bits. 06h (Baud Rate): Baud rate of the interface in hertz. The following frequencies are supported: 3.375 MHz, 1.6875 MHz, 656.25 kHz, 843.75 kHz, 421.875 kHz, 210.9375 kHz, 105.46875 kHz . If the values are different, the valid frequency with the smallest difference is selected. 07h (Position Bitmask Low) and 08h (Position Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the position data (see following instructions). 09h (Status Bitmask Low) and 0Ah (Status Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the status information (see following instructions). 0Bh (Status Value Low) and 0Ch (Status Value High): In these subindices, you enter a bitmask that determines which value the status information bits (subindices 09h and 0Ah) must have (see following instructions). A different value at this point of the encoder data is interpreted as an error by the controller. 0Dh (Latency): Latency of the encoder in nanoseconds, specified in the encoder data sheet. To set the configuration according to your encoder: Set the baud rate in subindex 06h and the number of bits in subindex 05h according to the encoder data sheet. When doing so, or when you select the encoder, take into account the pause/dead time to be kept between the data packages and the fact that the controller reads the sensor at 16 kHz (62.5 µs). For example, with an encoder pause time of 40 µs, only 22.5 µs remain for transmission, which corresponds to 18.98 bits (a maximum of 2 bytes) at a baud rate of, say, 843.75 kHz. Tip: In order to keep the pause time, you can omit unused or unimportant bits at the end of the message when specifying the number of bits in subindex 05h, such as the parity bit in the example below. Define which bits the position data should include and set subindices 07h and 08h to the corresponding value. Define which bits the status information (e. g., status, error, etc.) should include and set subindices 09h and 0Ah to the corresponding value. Define which value, "0" or "1", the status information bits must have and set the corresponding bits in subindices 09h and 0Ah to the value. Store the object by writing the value "65766173h" in 1010h:06h and restart the controller. Example Bits 8…23 contain the position, Bit 0 is the parity bit, which is ignored by the controller. The status information is divided into the following bits: Bits 1…6 are error bits that should always have the value "0". Bit 7 is the status bit that has the value "1" if the encoder is ready. The controller always internally adds the latch bit and rounds up to the nearest multiple of eight. The data is therefore transmitted in a 32-bit message (transmission can only occur byte by byte), if the parity bit is not omitted. You must enter the following values in the subindices: 05h (Number Of Bits For Transfer): 24h(with the parity bit) 07h(Position Bitmask Low) FFFF00h 09h (Status Bitmask Low): FEh 0Bh (Status Value Low): 80h Subindices 08h, 0Ah and 0Ch, which would contain the most-significant 32 bits of a 64-bit message, have the value "0".
Object description Index 33B0h Object name Feedback SSI 1 Object Code RECORD Data type SSI ENCODER Savable yes, category: sensors Access read only PDO mapping no Allowed values Preset value Firmware version FIR-v1939-B682906 Change history Firmware version FIR-v2451-B1068465: "Savable" entry changed from "yes, category: tuning" to "yes, category: sensors".
Value description Subindex 00h Name Number Of Entries Data type UNSIGNED8 Access read only PDO mapping no Allowed values Preset value Subindex 01h Name Configuration Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 02h Name Alignment Data type UNSIGNED16 Access read / write PDO mapping no Allowed values Preset value Subindex 03h Name Home Position Low Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 04h Name Home Position High Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value Subindex 05h Name Number Of Bits For Transfer Data type UNSIGNED8 Access read / write PDO mapping no Allowed values Preset value Subindex 06h Name Baud Rate Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 07h Name Position Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 08h Name Position Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 09h Name Status Bitmask Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ah Name Status Bitmask High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Bh Name Status Value Low Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Ch Name Status Value High Data type UNSIGNED32 Access read / write PDO mapping no Allowed values Preset value Subindex 0Dh Name Latency [ns] Data type INTEGER32 Access read / write PDO mapping no Allowed values Preset value
Description The subindices have the following function: 01h (Configuration): Bit 0: Value = "0": Alignment has not yet been determined or is not to be used. Value = "1": Alignment exists and is to be used. 02h (Alignment): This value specifies the offset between the zero position of the encoder and the rotor's magnets. The exact determination is only possible via auto setup. The presence of this value is necessary for closed-loop mode with encoder. 03h (Home Position Low) and 04h (Home Position High): The absolute encoder position after a homing has been completed is entered in these subindices. 05h (Number Of Bits For Transfer): Number of bits in a message (encoder data). Maximum 64 bits. 06h (Baud Rate): Baud rate of the interface in hertz. The following frequencies are supported: 3.375 MHz, 1.6875 MHz, 656.25 kHz, 843.75 kHz, 421.875 kHz, 210.9375 kHz, 105.46875 kHz . If the values are different, the valid frequency with the smallest difference is selected. 07h (Position Bitmask Low) and 08h (Position Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the position data (see following instructions). 09h (Status Bitmask Low) and 0Ah (Status Bitmask High): In these subindices, you enter a bitmask that determines which bits of the encoder data contain the status information (see following instructions). 0Bh (Status Value Low) and 0Ch (Status Value High): In these subindices, you enter a bitmask that determines which value the status information bits (subindices 09h and 0Ah) must have (see following instructions). A different value at this point of the encoder data is interpreted as an error by the controller. 0Dh (Latency): Latency of the encoder in nanoseconds, specified in the encoder data sheet. To set the configuration according to your encoder: Set the baud rate in subindex 06h and the number of bits in subindex 05h according to the encoder data sheet. When doing so, or when you select the encoder, take into account the pause/dead time to be kept between the data packages and the fact that the controller reads the sensor at 16 kHz (62.5 µs). For example, with an encoder pause time of 40 µs, only 22.5 µs remain for transmission, which corresponds to 18.98 bits (a maximum of 2 bytes) at a baud rate of, say, 843.75 kHz. Tip: In order to keep the pause time, you can omit unused or unimportant bits at the end of the message when specifying the number of bits in subindex 05h, such as the parity bit in the example below. Define which bits the position data should include and set subindices 07h and 08h to the corresponding value. Define which bits the status information (e. g., status, error, etc.) should include and set subindices 09h and 0Ah to the corresponding value. Define which value, "0" or "1", the status information bits must have and set the corresponding bits in subindices 09h and 0Ah to the value. Store the object by writing the value "65766173h" in 1010h:06h and restart the controller. Example Bits 8…23 contain the position, Bit 0 is the parity bit, which is ignored by the controller. The status information is divided into the following bits: Bits 1…6 are error bits that should always have the value "0". Bit 7 is the status bit that has the value "1" if the encoder is ready. The controller always internally adds the latch bit and rounds up to the nearest multiple of eight. The data is therefore transmitted in a 32-bit message (transmission can only occur byte by byte), if the parity bit is not omitted. You must enter the following values in the subindices: 05h (Number Of Bits For Transfer): 24h(with the parity bit) 07h(Position Bitmask Low) FFFF00h 09h (Status Bitmask Low): FEh 0Bh (Status Value Low): 80h Subindices 08h, 0Ah and 0Ch, which would contain the most-significant 32 bits of a 64-bit message, have the value "0".
