Download AMPERR Amplifier error automatic subroutine

SYSTEM CONFIG
SI
Configure the special Galil SSI feature
SIm = n0, n1, n2, n3 <o >p
Usage
SIm= n
Operands _SIm
Arguments specified with a single axis mask and an assignment (=)
Operand has special meaning, see Remarks
Description
The SI command enables and configures the controller to read SSI encoder data. Synchronous Serial Interface (SSI) allows for serial transmission of
absolute position data (either binary or Gray code) from the encoder based on a timed clock pulse train from the controller. Connection between the
controller and encoder is based on two signal lines, clock and data, which are usually differential for increased noise immunity. For each sequential clock
pulse of the controller, the encoder transmits one data bit from shift registers on the encoder.
Arguments
Argument
Min
m
A
n0
0
H
2
Max
Default
N/A
0
n1
-31
31
N/A
n2
0
31
N/A
Resolution
Description
Axis
Axis to configure
1
Register to hold SSI
Total number of bits of SSI
1
(including status bits)
1
Number of single turn bits
n3
-8
8
N/A
1
Number of status bits
N/A
N/A
1
1
Clock frequency divider
Data Encoding
o
4
26
p
1
2
Clock Frequency (o)
Value
Frequency (MHz)
4
2
5
1.7
6
1.4
7
1.3
8
1.1
9
1.0
10
0.91
11
0.83
12
0.77
13
0.71
14
0.67
15
0.63
16
0.59
17
0.56
18
0.53
19
0.50
20
0.48
21
0.45
22
0.43
23
0.42
24
0.40
25
0.38
26
0.37
Notes
0=off; 1=Main encoder; 2=Aux Encoder
Negative=Rollover, Positive=No Rollover (see
Remarks)
n2 <= n1
Negative=Prepended status bits,
Positive=Appended status bits (see Remarks)
See table below
1 = Binary encoding; 2 = Gray Code
Remarks
SIm = ? Returns the configuration parameters
n1: A positive number designates No Rollover. A negative number will cause the controller to act as an incremental encoder, allowing the encoder to
count past the max value of the encoder. This prevents a discontinuity in servo error at the ends of the absolute data. When the controller is
powered down, the rollover values are lost.
n3: A negative number designates status bits as leading the SSI data. A positive number designates status bits as trailing the SSI data,
The number of Multi-turn bits of the encoder is internally calculated by the following equation:
Multi-turn Bits = (Total Bits) - (Single-Turn) - (StatusBits)
See Application Note 2438 for more information
There are two items required when connecting an SSI encoder to the controller, special SSI firmware and a controller ordered with -SSI or -SER
option.
Clocking in SSI data has a timing overhead which may be non-negligible. In the event that clocking in data may have a negative effect on servo
performance (e.g. using multiple encoders with a lowered TM sample rate) the controller will respond with an error mode. See #AUTOERR for more
Galil Motion Control
SI
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