This command is used to set a particular BiSS mode when using an iC-MU encoder, which is primarily employed for iC-MU calibration.
The supported modes are explained below:
Configuration mode: The BiSS service clocks the encoder normally, but it only utilizes the bits for register communication and discards the rest,
thereby not updating the encoder data.
This also implies that the BisCrc error is not triggered while in this mode.
This mode is intended to allow the user to change the configuration in the encoder BiSS registers without encountering a BisCrc error.
Raw mode: The BiSS service clocks the encoder assuming it was correctly configured for raw mode.
It continues to calculate all the encoder data, but additionally, it averages the raw data and makes it available in 0x2704 User MISO, as follows:
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
0
Nonius count
Master count
This data can also be read by using OS command 3.
Standard mode: The BiSS service clocks the encoder normally.
When transitioning from any mode to Configuration mode, the current position is saved.
If we subsequently switch to Raw mode, this saved position serves as the starting point for position calculation because the raw data is relative.
Therefore, the motor should not be moved while in Configuration mode if there are plans to switch to Raw mode afterward.
Parameters
encoderOrdinal: number = 1
(A) 2^3=8 encoder ordinals. Counting starts from 1, so '1' refers to Encoder 1 configured in 0x2110.
OS command 1: iC-MU calibration mode
This command is used to set a particular BiSS mode when using an iC-MU encoder, which is primarily employed for iC-MU calibration.
The supported modes are explained below:
Configuration mode: The BiSS service clocks the encoder normally, but it only utilizes the bits for register communication and discards the rest, thereby not updating the encoder data. This also implies that the BisCrc error is not triggered while in this mode. This mode is intended to allow the user to change the configuration in the encoder BiSS registers without encountering a BisCrc error.
Raw mode: The BiSS service clocks the encoder assuming it was correctly configured for raw mode. It continues to calculate all the encoder data, but additionally, it averages the raw data and makes it available in 0x2704 User MISO, as follows:
This data can also be read by using OS command 3.
Standard mode: The BiSS service clocks the encoder normally.
When transitioning from any mode to Configuration mode, the current position is saved. If we subsequently switch to Raw mode, this saved position serves as the starting point for position calculation because the raw data is relative. Therefore, the motor should not be moved while in Configuration mode if there are plans to switch to Raw mode afterward.