0x2201 BiSS encoder 1

Configuration parameters for first BISS encoder.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x2201:1 USINT 8
HALL 1
Incremental 2
A-Format 3
BISS 4
REM 16MT 6
SSI 7
iC-MD 8
iC-NQC 9
readonly (default)

The implementation of the BiSS service expects an encoder that has the following frame structure:

- SLO line high when ready.

- Ack bit (which can be extended to multiple bits by the encoder).

- Start bit when the encoder is ready to transmit the data.

- CDS bit for register communication.

- Payload (composed by Multiturn bits + Singleturn bits + Filling bits, in this order).

- Error and warning bits, in this order.

- 6-bit CRC.

- Timeout.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Function 0x2201:2 USINT 8
Disabled 0
Commutation & Motion Control Feedback 1
Commutation & Monitoring (#0x230A, #0x230B) 2
Motion Control Feedback only 3
Monitoring only (#0x230A, #0x230B) 4
Commutation only 5
Position 6
Commutation & Velocity 7
readwrite

Determines encoder function/purpose. The encoder can be configured for commutation, motion control feedback, monitoring. In monitoring mode, the position and velocity information will be displayed in objects #0x230A & #0x230B. There is an option to configure two motion sensors, one sensor as a motion position sensor, while the other sensor should have commutation and velocity function. 

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Resolution 0x2201:3 UDINT 32 1 1 Inc/Revolution readwrite

Number of pulses in one revolution.

Most of the BiSS encoders have a binary resolution, which means:

Resolution = 2^(number of singleturn bits).

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x2201:4 UDINT 32 0 5000 μs readwrite

Time threshold to set the velocity to 0 if no new position was received from the encoder.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Polarity 0x2201:5 USINT 8
Normal Polarity 0
Inverted Polarity 1
readwrite

If you have an axis with two encoders (one for commutation and one for position and velocity), the direction of each encoder must match for control stability. This polarity parameter can be used for flipping the direction of the position or velocity encoder relative to the sensor used for commutation.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Multiturn resolution 0x2201:6 UDINT 32 0 readwrite

Multiturn resolution in bits.

Corresponds to the total number of revolutions that are counted by the encoder.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Clock frequency 0x2201:7 UDINT 32 99 1000 kHz readwrite

Frequency for the BiSS clock line (MA).

Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Timeout 0x2201:8 UDINT 32 36 μs readwrite

Timeout at the end of each BiSS frame, it's part of the BiSS C standard.

Refer to your encoder datasheet to check what are the minimum and maximum values for this parameter.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
CRC polynom 0x2201:9 USINT 8 48 readwrite

Polynom for the CRC calculation.

This value is obtained by representing the polynom in reverse order and with the higher exponent omitted.

For example: x^0 + x^1 + x^3 + x^6 is 0b110100, which is equal to 52 in decimal.

The default value of 48 (x^0 + x^1 + x^6) is the one used for most of the BiSS encoders.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Clock port config (disabled) 0x2201:10 USINT 8 0 readonly (default)

This parameter has been disabled. Please refer to http://somanet.rocks/ in order to check how to connect MA and SLO.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Data port config (disabled) 0x2201:11 USINT 8 0 readonly (default)

This parameter has been disabled. Please refer to http://somanet.rocks/ in order to check how to connect MA and SLO.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Number of filling bits 0x2201:12 USINT 8 0 readwrite

The filling bits are bits that need to be clocked after the singleturn bits and before the error bit, but that are only used as part of the data for CRC calculation.

Most BiSS encoders don't have filling bits.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Number of bits to read while busy 0x2201:13 USINT 8 30 readwrite

This value defines the maximum number of bits that should be clocked in order to receive the start bit once the Ack bit was already received.

If the Start bit is not received after this time, the error BisSrtBt is raised.

If the Start bit is received before this number, the comunication continues normally.

It is advised to try to increase this number in case the error BisSrtBt appears, which is likely to happen because the encoder needed more time to process the data before sending the Start bit.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Status bits active value 0x2201:14 BOOL 1
Active low 0
Active high 1
readwrite

Value of the status bits when active. The BiSS-C standard recommends that these bits are active low, so most encoders should work with the default value.