PrimaryBissEncoderSetup Parameter
Default Value: 1
Minimum Value: None
Maximum Value: None
Units: None
Type: int
HARDWARE: This parameter applies only to the drives and configurations that follow:
Table: Applicable Drive Types and Feedback Options
| Drive Type | Feedback Option |
|---|---|
| FLEX | Using a BiSS absolute encoder |
| SI4 | Using a BiSS absolute encoder with the -A1 absolute encoder option |
| iXA4 | Using a BiSS absolute encoder |
| XA4 | Using a BiSS absolute encoder |
| iXC2 | Using a BiSS absolute encoder |
| XC2 | Using a BiSS absolute encoder |
| iXC2e | Using a BiSS absolute encoder |
| XC2e | Using a BiSS absolute encoder |
| iXC4 | Using a BiSS absolute encoder |
| XC4 | Using a BiSS absolute encoder |
| iXC4e | Using a BiSS absolute encoder |
| XC4e | Using a BiSS absolute encoder |
| iXC6e | Using a BiSS absolute encoder |
| XC6e | Using a BiSS absolute encoder |
| iXI4 | Using |
| XI4 | Using |
| iXL2e | Using a BiSS absolute encoder |
| XL2e | Using a BiSS absolute encoder |
| iXL5e | Using a BiSS absolute encoder |
| XL5e | Using a BiSS absolute encoder |
| iXR3 | Using a BiSS absolute encoder |
| XR3 | Using a BiSS absolute encoder |
Use the PrimaryBissEncoderSetup parameter to configure options related to the behavior of the drive in relation to the BiSS absolute encoder interface. The sections that follow give the possible options for this parameter.
Data Alignment
This option specifies the location of the encoder position data in the BiSS encoder serial packet when the drive reads position information from an attached BiSS absolute encoder.
Left Justified is the default. If the position data is before the status bits in the serial packet, select Left Justified.
If the position data is after the status bits in the serial packet, select Right Justified.
Initial Position
This option specifies how the drive initializes the position feedback of an axis when you use a BiSS absolute encoder for feedback.
Always Positive is the default. When the drive initializes the position of the axis, it interprets the value from the encoder as an unsigned number. Thus, the initial position is always positive. For example, if you set the PrimaryBissEncoderResolution Parameter to 16, the drive initializes the position feedback to a value between 0 and 65,535.
When you select Positive or Negative, the drive interprets the value from the encoder as a signed number when it initializes the position of the axis. Thus, the initial position can be positive or negative. For example, if you set the PrimaryBissEncoderResolution Parameter to 16, the drive initializes the position feedback to a value between -32,768 and 32,767.
CRC Error Suppression
This option controls if the drive ignores CRC errors that occur while it communicates with the encoder.
None is the default. The drive does not ignore CRC errors. If a CRC error occurs, the drive gives a FeedbackInput0 Fault or FeedbackInput1 Fault.
When you select Single cycle events, the drive ignores a CRC error for only one servo cycle. If a CRC error occurs in two cycles, one after the other, the drive generates a FeedbackInput0 Fault or FeedbackInput1 Fault. This setting is not recommended. This setting is only recommended for systems where electrical noise interrupts the encoder.
Encoder Type
This option specifies the type of BiSS encoder that you are using.
Rotary is the default. The controller is configured to communicate with a rotary BiSS encoder.
When you select Linear, the controller is configured to communicate with a linear BiSS encoder.
