OD_33B0_00 Feedback SSI

Function

Contains configuration values for the external SSI encoder.

Object description

Index 33B0h
Object name Feedback SSI
Object Code RECORD
Data type SSI ENCODER
Savable yes, category: tuning
Access read only
PDO mapping no

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no

Description

To set the configuration according to your encoder:

  1. Set the baud rate in subindex 06h and the number of bits in subindex 05h according to the encoder data sheet.
  2. Define which bits the position data should include and set subindices 07h and 08h to the corresponding value.
  3. Define which bits the status information (e. g., status, error, etc.) should include and set subindices 09h and 0Ah to the corresponding value.
  4. 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.
  5. Store the object by writing the value "65766173h" in 1010h:06h and restart the controller.

Example

Bits 4…21 contain the position. The status information is divided into the following bits:

  • Bits 1…2 are error bits that must have the value "0", if no error occurred
  • Bit 3 is a status bit that must always have the value "1" (Ready)
  • The controller ignores the parity bit (bit 0) that is sent along.

You must enter the following values in the subindices:

  • 05h (Number Of Bits For Transfer): 16h
  • 07h(Position Bitmask Low) 3FFFF0h
  • 09h (Status Bitmask Low): Eh
  • 0Bh (Status Value Low): 8h

Subindices 08h, 0Ah and 0Ch, which would contain the most-significant 32 bits of a 64-bit message, have the value "0".