0x2202 BiSS encoder 2

Configuration parameters for second BISS encoder.

Name Index:Sub Type Bit Size Options Unit Access PDO Mapping
Type 0x2202:1 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 0x2202:2 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 and 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 0x2202:3 UDINT 32 1 1 Inc/Revolution readwrite

For Absolute n-bit Binary Sensor: Resolution = 2^n

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Zero velocity threshold 0x2202:4 UDINT 32 0 1000000 0 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 0x2202:5 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 0x2202:6 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 0x2202:7 UDINT 32 1000 5000 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.

The drive can only clock at some discrete frequencies. If the user enters a frequency that is not within these discrete frequencies, it will be set to the next possible lower frequency.

To calculate what's the real frequency that will be used, you can round up the result of 25000 / Clock frequency. Then divide 25000 by the rounded value obtained before.

For example, when setting 4000 KHz the real frequency will be 3571.43 kHz.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Timeout 0x2202:8 UDINT 32 36 μs readwrite

Timeout at the end of each BiSS frame, as defined in the BiSS-C standard.

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

To ensure that the BiSS encoder can properly detect it, it's better to set this value a little over the minimum timeout specified in the datasheet. This is specially important when doing BiSS register communication (OS command 0), because the CDM bit used in that communication depends on the timeout being detected consistently by the encoder.

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
CRC polynom 0x2202:9 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) 0x2202:10 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) 0x2202:11 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 0x2202:12 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 0x2202:13 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 0x2202:14 USINT 8
Status bits active low 0
Status bits active high 1
Status bits ignored 2
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.