CPB CANopen Technical Manual

33B1h Feedback SSI 2

Function

Contains configuration values for the second external SSI encoder.

Object description

Index 33B1h
Object name Feedback SSI 2
Object Code RECORD
Data type SSI ENCODER
Savable yes, category: tuning
Access read only
PDO mapping no
Allowed values
Preset value
Firmware version FIR-v2139-B1019507
Change history

Value description

Subindex 00h
Name Number Of Entries
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 0Ch
Subindex 01h
Name Configuration
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 0000h
Subindex 02h
Name Alignment
Data type UNSIGNED16
Access read / write
PDO mapping no
Allowed values
Preset value 0000h
Subindex 03h
Name Home Position Low
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 04h
Name Home Position High
Data type INTEGER32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 05h
Name Number Of Bits For Transfer
Data type UNSIGNED8
Access read / write
PDO mapping no
Allowed values
Preset value 15h
Subindex 06h
Name Baud Rate
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00280DE8h
Subindex 07h
Name Position Bitmask Low
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 001FFFFEh
Subindex 08h
Name Position Bitmask High
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 09h
Name Status Bitmask Low
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 0Ah
Name Status Bitmask High
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 0Bh
Name Status Value Low
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h
Subindex 0Ch
Name Status Value High
Data type UNSIGNED32
Access read / write
PDO mapping no
Allowed values
Preset value 00000000h

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: 21 MHz, 10.5 MHz, 5.25 MHz, 2.625 MHz, 1.3125 MHz, 656.25 KHz, 328.125 KHz, 164.0625 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.

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

The encoder sends the data in a 32-bit message. Bits 4…23 contain the position. The status information is divided into the following bits:

  • Bits 0…2 are status bits that must always have the value "0"
  • Bit 3 is the error bit that has the value "0" if an error has occurred
  • Bit 31 signals the start of the message and always has the value "1"


You must enter the following values in the subindices:

  • 05h (Number Of Bits For Transfer): 20h
  • 07h(Position Bitmask Low) 00FFFFF0h
  • 09h (Status Bitmask Low): 8000 000F‬h
  • 0Bh (Status Value Low): 8000 000F8h

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

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