Absolute Encoder Setup
Step-By-Step GDK is not connected to a controller.
Select Encoder Type
To begin, please connect the encoder to the controller and select the type of Absolute Encoder you would like to configure.
If additional information on wiring is needed, click the link below:
BiSS Encoder Setup
To begin, an instance of the Test tool has been opened to the right of GDK. The configuration of the encoder must be entered into the Serial Encoder Configuration test. If you would like assistance in setting up the encoder, contact Galil applications support.
Pick Encoder Type
For a BiSS Encoder, select BISS as the encoder type.
Update Position
If the encoder being configured is the sole encoder on this axis, select Main (TP) as the Update Position.
Mode
Galil has two modes for interpretting BiSS data from an encoder. Continuous Mode is the recommended mode, and should always be used.
Error and Warning Active Level
In the BiSS protocol, there are two status bits which the manufacturer can use to indicate that errors are taking place on the encoder. The Warning bit is set in the event of non-critical errors, such as the encoder being close to its maximum speed. The Error bit is set when the position data from the encoder is no longer reliable. If a Galil controller sees the Error bit is set, the position will not be used until the error bit is no longer set. These two bits can either be active high, or active low, according to the Manufacturer. This is defined in the Encoder's data sheet, and must be set correctly.
Position Bits and Zero Padding Bits
Lastly, the length of the data from the encoder must be defined. Enter the total number of data bits (Multi Turn, Single Turn, and any leading zeros) into the Position Bits field. If there are any padding zeros which proceed the data, enter those into the Zero Padding Bits field.
Once all the data has been entered, press the button below to run the test.
Testing Configuration
In the Serial Encoder Configuration test, the BiSS configuration setting has been sent to the controller. Move the encoder by hand, and confirm that the position of the encoder reported in the Test tool is correct.
- If no errors are present in the test tool, and the position of the encoder is correct, move on to save the configuration.
- If no errors are present, but the position of the encoder is not correct, confirm that the number of zero padding bits is accurate.
- If there is a Timeout error, check the wiring on the encoder.
- If there is a CRC error, confirm you have correctly entered the total number of position bits.
- If there is both an Error and Warning, confirm you have set the active level for the bits correctly.
- Lastly, if there is only an error or warning, check the encoder for alignment or wiring issues.
If you would like assistance in debugging, please contact a Galil Applications engineer.
SSI Encoder Setup
To begin, an instance of the Test tool has been opened to the right of GDK. The configuration of the encoder must be entered into the Serial Encoder Configuration test. If you would like assistance in setting up the encoder, contact Galil applications support.
Pick Encoder Type
For an SSI Encoder, select SSI as the encoder type.
Update Position
If the encoder being configured is the sole encoder on this axis, select Main (TP) as the Update Position. .
Mode
Galil has two modes for interpretting SSI data from an encoder. Continuous Mode is the recommended mode, and should always be used.
Data Encoding
SSI data can be encoded in one of two ways, binary or grey code. This is defined in the Encoder's data sheet. Select the appropriate option for your SSI encoder.
Position Bits and Zero Padding Bits
Lastly, the length of the data from the encoder must be defined. Enter the total number of data bits (Multi Turn, Single Turn) into the Position Bits field. If there are any status bits in the data stream, enter those into the status bits field. If these bits are in front of the position data, select Leading, otherwise select Trailing.
Once all the data has been entered, press the button below to run the test.
Testing Configuration
In the Serial Encoder Configuration test, the SSI configuration setting
has been sent to the controller. Move the encoder by hand, and confirm
that the position of the encoder reported in the Test tool is correct.
If the position of the encoder is correct, move on to save the configuration.
If the position of the encoder is not correct, confirm that all the
data selected into the Serial Configuration test is accurate by clicking
Abort Test in the Test tool and selecting the Manual Configuraton tab.
If you would like assistance in debugging, please contact a Galil Applications engineer.
Save Settings
Now that the encoder has been set up, first, press
the button in the Serial Encoder Configuration test to end
the test, then proceed to save the axis settings.
Running
Continue
With the encoder settings now saved to the controller, you should return to the motor setup.