diff options
| -rw-r--r-- | simplemotion_defs.h | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/simplemotion_defs.h b/simplemotion_defs.h index fc8d8c0..15a749f 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -450,11 +450,21 @@ /*for BiSS/SSI encoder
* bits defined as (from LSB):
- * bits 0-7: single turn bits, accepted value range 4-24
+ * bits 0-7: single turn bits, accepted value range 4-32
* bits 8-15: multi turn bits, accepted value range 0-16
- * bits 16-18: serial encoder mode: 000=BiSS, 001=SSI, 010=AMS SSI (SSI+CS+error monitoring), 011=SPI (SSI+CS) 100=GRAY SSI (i.e. SICK TTK70)
+ * ^^ sum of MT and ST must be max 32
+ * bits 16-19: serial encoder mode (see below)
* rest: reserved for future use (always 0)
*/
+ /*
+ * Serial encoder read modes
+ * 0 BiSS C
+ * 1 BiSS C gray
+ * 2 BiSS B
+ * 3 SSI
+ * 4 SSI gray
+ * 5 AMS SSI
+ */
#define SMP_SERIAL_ENC_BITS 574
//primary feedback loop 200-299
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