Acuro Industry SSI+BiSS Full Manual

7/28/2019 Acuro Industry SSI+BiSS Full Manual

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Dynapar - BiSS/SSI Complete Manual

Up to 17 Bit singleturn resolution 12 Bit mult iturn resolution

Small installation depth

Safety through self-monitoring

Solid shaft and hollow shaft versions

Operating temperature from-40C...+100C

High Speed Digital Interface BiSS

SSI + sine or square wave

SSI extended

Contents

1.1 General information, applications ................................................... ............................................................... .31.3 ACURO OPTOASIC Technology ................................................... ....................................................... ............3

2. ELECTRICAL DATA............................................................................................................................4

2.1 General Design...............................................................................................................................................42.2 Supply voltage (SELV)....................................................................................................................................42.3 Intrinsic current consumption (without output current) ........................................................ ............................42.4 Resolution and accuracy ................................................... ................................................................... ..........42.5 Output signals.................................................................................................................................................4

2.5.1. Incremental signals A, B ..................................................................................................... 4

2.5.2.

Absolute Posi tioning Information via SSI ..................................................................... 5Standard SSI resolution........................................................................................................................................5

Optional SSI resolution with extended data length (> 25 data bits).......................................................................5Physical interface..................................................................................................................................................5Data format...........................................................................................................................................................5SSI Transfer sequence.........................................................................................................................................6

SSI - Standard with incremental sinewave signals .................................................................... 7Protocol SSI Extended..........................................................................................................................................8

2.5.3. Absolute position information via BiSS (Sensor-Mode) .................................................. 9Physical interface..................................................................................................................................................9

BiSS Sensor Mode - Timing Diagram ........................................................................................... 9

2.5.4. Encoder parameterization and data storage (BiSS - Register Mode)......................... 10

Diagnostic functions .................................................................................................................... 10BiSS Register Mode - Timing Diagram ...................................................................................... 10

Preset Command:......................................................................................................................... 11

2.6. CE Compliance............................................................................................................................................12

2.6.1. Noise immunity................................................................................................................... 122.6.2. Noise emission ................................................................................................................... 12

2.7 Pinout ............................................ ..................................................... ..........................................................132.8 Cable length ............................................ ..................................................... ................................................13LED Functions............................................... .................................................... .................................................14Preset key...........................................................................................................................................................14

3. MECHANICAL DATA ........................................................................................................................14

3.1. Shaft variants...............................................................................................................................................14


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2

3.2. Shaft load ..................................................... ....................................................... ........................................143.3. Max. mechanical speed.............................................. .................................................... .............................143.4. Starting torque ............................................... ....................................................... .......................................143.5. Moment of inertia.........................................................................................................................................14

3.6. Protection class ....................................................... ..................................................................... ...............143.7. Operating temperature range ...................................................... ................................................................ 15

3.8. Storage temperature range..........................................................................................................................153.9. Ambient humidity .................................................... ..................................................... ................................153.10. Vibration resistance ...................................................... ......................................................................... ....153.11. Shock resistance ................................................ ........................................................ ...............................153.12. Materials ................................................. ........................................................ ...........................................153.13. Weight .................................................. .................................................... .................................................153.14. Torque support (hollow-shaft version) .................................................... ...................................................153.15. Dimensions................................................................................................................................................16

4. ORDERINFORMATION.19

5. ADDENDUM.......................................................................................................................................20

5.1 CRC Calculation ................................................ .................................................... .......................................20


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1.1 General information, applications

The "Acuro - Industry"optical absolute encoder is available as a singleturn or multiturn version. Themultiturn design is based on a reliable high-speed gear with optical scanning and the latestgeneration of optoasics. The mechanical concept is based on a double ball bearing design, which isavailable as a solid-shaft or hollow-shaft version in common diameter sizes. The field of applicationencompasses positioning tasks in all industrial applications: from metal working and process plantsright through to CNC machines, just to name a few:

Machine tools

Automotive industry

Handling

Printing machines

Paper processing

Packaging industry

Elevators

Power generation plants

Medical equipment

1.3 ACURO OPTOASIC TechnologyThe central element ofACURO - INDUSTRY is the latest Optoasic technology, which offers the

following key benefits:

Digital resolution of up to 17 Bit

High signal quality of the sine output Unparalleled sine output bandwidth of 500 kHz at full signal quality

Highest EMC immunity through signal paths in the m range.

Outstanding reliability by reduced number of components and integrated diagnostics system

Aging compensation by integrated LED light regulation

Integrated monitoring of:

- Pollution- Disk damage- LED lifetime- Temperature

High resolution - low power consumption

The ACURO Optoasic allows singleturn resolution up to 17 Bit and, simultaneously, significantlyreduced internal power consumption of less than 45 mA for singleturn and less than 85 mA formultiturn versions. This means a reduction in power consumption by a factor of 3.Compact designHigh integration density, combined with the new compact gear design, ensure a small mountingdepth.

Enhanced safety by code redundancy, self-monitoring, CRC, and optical multiturn gearfunctions

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4

For safety-critical applications the additional incremental track, which is available as a sine orsquare-wave output, can be evaluated simultaneously with the absolute data. A permanent codeplausibility check detects any positioning errors that may have been caused for whatever reasons.

TheACURO - INDUSTRY

series works within an operating temperature range of 40C...+100C.ACURO monitors its internal temperature within the range of 40C+140C and sends an alarm

message if the user-defined limits are exceeded or fallen below. Additional permanent systemmonitoring is ensured by LED current regulation, which effects another alarm as soon as the controllimits have been reached. The optical multiturn part is immune to magnetic interference, e.g. bybrakes, welding systems, etc.

2. Electrical Data

2.1 General Design

Protection degree III

Pollution degree 2Overvoltage category II

According to DIN EN 61010 part 1 (03.94) / EN 61010-1/A2 (05.96) (VDE 0411)

2.2 Supply voltage (SELV)

5 V +10%5%

712V Optional

1030V Optional

2.3 Intrinsic current consumption (without output current)

45 mA singleturn (5V SSI)

85 mA multiturn (5V SSI)

2.4 Resolution and accuracy

Incremental signals (A, B)

2048 periods / turn

Absolute accuracy 0.01mechanical ( 36)

Repeatability 0.002mechanical ( 7.2)

2.5 Output signals

2.5.1. Incremental signals A, B

Track A leads B at 90 in clockwise direction (view on shaft end)

A = UM + A sin(zmech. )

A* = UM - A sin(zmech.)

B = UM - B cos(zmech.)

B* = UM + B cos(zmech.)

z: Number of signal periods (2048)


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*A A-

*B B-

0 360/2048

Signal amplitudes:1) 2) (A-A* ; B-B*) = 0.5V - 25% / + 20% (f 1kHz)(A-A* ; B-B*) = 0.35V ... 0.6V (f > 1kHz)

Limiting frequency fgr= 500 kHz Amplitude difference 1) (A-A*) = (B-B*) 10 % Degree of modulation (mech.) 4) m 0,1

Offset Uoff(A-A* ; B-B*)< 0,1 (A,A* ; B,B*) Phase A to B 6) = 90 3 Harmonic distortion 3) k < 2 % (typ. 1 %) DC - offset 5) UM = 2,5 V 20 %

1): Measured with 120 termination resistor at encoder output

2): at f = 1 kHz (corresponds to 30 r.p.m.)

3)k =

U U Un

U U Un

1 2

0 1

2 2

2 2 2

+ + +

+

.. .

.. .

2

U0: Basic signal , U1 ... Un : Harmonic

4) mu

u

=

5)UM same for A and A* a for B and B* signals.6)Average

2.5.2. Abso lute Positioning Information via SSI

Standard SSI resolutionSingleturn version max. 17BitSingleturn (in MT model) 13 BitMultiturn resolution 12 Bit

Optional SSI resolution with extended data length (> 25 data bits)Singleturn max 17 BitMultiturn 12 Bit

Physical interfaceNumber of wires 4 unidirectional (2 for clock; 2 for data)Driver according to RS 422Transmission speed 100 kHz 2 MHz according to SSI definition

Data formatMSB first or "pine tree" Monoflop timeout 20 < tm < 30s

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SSI Transfer sequence

For correct transfer of the data a defined number of pulses (clock pulse brush) must be applied to theclock input of the absolute shaft encoder. Next, a pause TP must be observed. As long as no clocksignal is applied to the shaft encoder, its internal parallel/ serial shift register remains switched toparallel. The data change continuously, corresponding to the current position of the shaft encodersshaft. As soon as a clock pulse brush is applied to the clock input again, the instantaneous angulardata is recorded. The first shift of the clock signal from high to low actuates the shaft encodersinternal retriggerable mono-stable element, whose storage time tm must be greater than the clocksignals period T. The output of the monostable element controls the parallel/serial register viaterminal P/S (parallel/serial).

T = clock pulse periodtm = storage time of monostable elementtm > 12.5 stv = 100 ns

With the first shift of the clock signal from low to high d the most significant bit (MSB) of the angulardata is applied to the shaft encoders serial output. With each succeeding rising edge, the next lesssignificant bit is shifted to the data output. After transmission of the least significant bit (LSB) the Alarmbit or other special bits are transferred, depending on configuration. Then the data line switches to low

e until the time tm has passed. A further transfer of data cannot be started until the data line switchesto high f again. If the clock pulse sequence is not interrupted at point e, the ring-register mode isactivated automatically. This means that the data stored at the first clock pulse transitionc arereturned to the serial input Si via the terminal SO. As long as the clock pulse is not interrupted ate, thedata can be read out as often as wanted (multiple transfer). The number of clock pulses necessary fordata transfer is independent of the resolution of the absolute shaft encoder. The clock signal can beinterrupted at any point, or continued in ring-register mode for repeated polling.

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Recommended control input:

SSI - Standard with incremental sinewave signals

Encoder Control

Code signal

Incremental signal

Dimensioning:R1 = 91 , R2 = 100 , R3 = 10 , R4 = 10k ,R5 = R4* desired adjustment., Z0 = 120 C1 = 1nF

U1 = 2.5 V 0.5V (referred to operating voltage)

*1) Alternative assembly for high transmission rates (> 2MHz) and simultaneous operation of

several encoders (i.e. common clock, separate data lines).

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Protocol SSI Extended

LatchPosition

... 2MHz

MSB LSB CRCStatus*A W CRC

Temper-ature

Data

Clock

24-29(Depending onST resolution)

8 4No. of Bits: 2 6

*Status:

A : Alarm bitW: Warning bit

Extensions compared to SSI standard format:

After the position data there are two additional bits that indicate the status of the encoder. First thealarm bit and then the warning bit. These two status bits can show the status of LED current monitoror and / or the temperature monitoring circuit according configuration.

By default the warning bit indicates out of LED current control range and the alarm bit indicates outof defined temperature limits

If one of the warning or alarm conditions occurs, the corresponding bit is set to high state (logical 1).After reading the position data the diagnostic bits are reset. Is the root cause for the warning or alarmactivation eliminated the bit will be set back to low (logical 0). Is the root cause still present thecorresponding bit will be set accordingly again.

CRC ChecksumTo guarantee a safe data transmission, there is a 6 bit CRC checksum over data and status bits. The

CRC polynomial is 43h. The CRC value is transmitted in inverted format.

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2.5.3. Absolute position information via BiSS1

(Sensor-Mode)

Singleturn resolution max. 17 Bit

Multiturn resolution 12 Bit

Physical interfaceSignals Clock unidirectional (from master to encoder)

Data unidirectional (from encoder to master)Driver according to RS 422Number of lines 4 unidirectional (2 for clock and 2 for data)Transmission speed 70 kHz 10 MHzTransmission security 1 start bit, 1 stop bit, 6 Bit CRC(43h poly.)Multi-cycle data (MCD) 8 Bit Sensor temperature + 4 Bit CRC(13h poly.)Timeout Sens > 12 sTimeout Reg > 51 sDelay for Calculation up to 14 Bit ST resolution 0 s

> 14 Bit ST resolution 5 sCRC ChecksumTo guarantee a safe data transmission, there is a CRC checksum over data and status bits in the

Sensor and Register Mode, and in the MCD. The CRC value is transmitted in inverted format.

BiSS Sensor Mode - Timing Diagram

9

StoreEncoder

Data

Clock rate100k to 10 MHz

Delay for Calculation Start MSB LSB CRC MCD StopStatusW & A

PropagationDelay

Setup < 50 nsec

m * Clock =tpropagation

Data

n * Clocks =tCAL 0 to ~ 6-12 sec

Request

Clock

Max 64 2 6 1

Timeout sensAcknowledge Ready(Start of

transmission)

For further information on the BiSS interface please consult:http://www.biss-ic.de/

1For protocol spec please see www.biss-ic.de
http://www.biss-ic.de/http://www.biss-ic.de/


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2.5.4. Encoder parameterization and data storage (BiSS - Register Mode)

Transmission via BiSS: Unidirectional in PWM format (from master to encoder)Data unidirectional (from encoder to master)13h CRC Polynomial

Detailed information for warning and alarm conditions can be viewed. NV - Memory of 128byte is available on the encoder and can be accessed in the register mode.

Diagnostic functions

(Please see manual for configuration details)LED current sensing, detects critical conditions with regard to:- Pollution- Condensation- Overtemperature

-Ageing

Warning message can be transmitted if the encoder has reached the user-defined limits.

Single-step check (check of code plausibility)The following error causes are detected:- Disk pollution or damage- CondensationMechanical overload

Temperature monitoring- Sends warning messages if the user-defined limits have been reached/exceeded

BiSS Register Mode - Timing Diagram

Read Register

Clock*

Data

Change to Register- Mode:Clock = low & Timeout

Start Data Transmission

>1.5s

Start

IIDD//AAddrr[[99::00]]**** CRC[3:0]WNR***

Start Data[7:0] CRC[3:0]Stop

Timeout

RegAcknow-ledge

Start

Stop

Lock

*Clock rate: 80...250 KHzTimeout Sens

**ID/Adr[9:0] => 2 Bit Slave-ID & 8 Bit RegisterAdress

***WNR Bit: 0 = Read; 1 = Write

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Write Register

Change Register- Mode:Clock = low & Timeout Sens

Start Datatransmission

11

Acknow-ledge

Start

ID/Adr[9:0]** CRC[3:0]WNR***

Start

Data[7:0] CRC[3:0]

ECHO

Stop

Timeout

Lock Start Data[7:0] CRC[3:0]

Clock*

Data

Timeout Sens

Stop

*Clock rate: 80...250 KHz

**ID/Adr[9:0] => 2 Bit Slave-ID & 8 Bit RegisterAdress

***WNR Bit: 0 = Read; 1 = Write

Preset Command:

A Preset function can be triggered through a command. This is achieved by writing the value0x02h into the register address 0x60h. This command sets the preset value and saves thecorresponding offset value in the EEPROM. The preset value is 0 by default.

Read Sensor Temperature:

The register 0x67h contains the actual sensor temperature in an 8 bit format.

Diagnostic functionsThe warning bit is set high when the encoder is reaching user defined limits.By default the lower limit is set to 10C and the upper limit is set to +80C.

Read Error Status:When the warning or alarm bit either in SSI or BiSS sensor mode is activated, the informationabout the condition that caused the warning or alarm can be read out of the register 0x68 asan 8 bit value.

The individual bits point to:Bit 0 = LED current out of control limit

Bit 1 = Error in the Multiturn moduleBit 2 = Single step code errorBit 3 = Error in the internal communicationBit 4 = Position data invalidBit 5 = Serial interface errorBit 6 = External device error through NERR input of optoasicBit 7 = Out of defined temperature limits.

LED-current monitoring, detects critical conditions in respect to:- Pollution- Condensation


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- Excess temperature- Ageing of LED

Single Step - Code Check (Checks every code step on plausibility)The following error conditions are detected:- Disk pollution or damage- Mechanical overload

Temperature Monitoring- Warning on under-running or exceeding user definable limits

Read and write of encoder memoryBeginning with register 0x80h reaching to 0xFEh there is 126 byte free memory for user dataavailable. The memory can be accessed via the commands read register or write register.

2.6. CE Compl iance

2.6.1. Noise immuni ty

Noise immunity according EN 61326(97) +A1 (98)+A2 )01): Class A

Test condition: With 10m shielded twisted pair cable.Criterion B: Disturbed transmission during time of interference permissible

2.6.2. Noise emission

Noise Emission according EN 61326(97) +A1 (98)+A2 )01): Class A

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2.7 Pinout

Signal

8 -pin

M12Connector

12 -pin

Conin flangesocket

TPE Cable

0 V (UB) 2 1 brown

Data 5 2 pink

Clock 6 3 yellow

A 4

Direction1

7 5 blue

B 6 red

A\ 7 violet

+5/ +1030 VDC 1 8 white

B\ 9

Data\ 8 10 gray

Clock\ 4 11 green

0 V-Signal output 2 12 black

M12 Connector

13

1

7

6

5

4

3

2

8

View on Connector

Please note:For complementary signalsplease use twisted pair leads.

2.8 Cable length

SSI: Max. cable length 100 m (70 KHz...2 MHz)BiSS: max. cable length 100 m CAT5 (0...10 MHz)

Cable capacity 100 pF/m

SSI recommended cable length depending on the baudrate:

Cable length Baudrate< 50 m < 400 kHz

< 100 m < 300 kHz

< 200 m < 200 kHz< 400 m < 100 kHz

1Direction: +UB or unconnected = ascending code values during rotation in a clockwise

direction0 V = descending code values during rotation in a clockwise direction

2Connected to 0V in the encoder. Use this output to set the direction to "logic 0", if necessary.


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LED Functions

Green LED: supply voltage present (Normal condition)

Red LED: internal Encoder ErrorGreen+Red LED: indicates that the preset key is activated

Preset key

On the back of the encoder there is a transparent rubber cover. This cover has a double function: onthe one side as alight conductor for the Status LEDs and on the other side it represents a preset key.

By operating the preset key with a thin pin, eg. a 2 mm Allen wrench the position value is set to thepreset value programmed in the encoder (default 0). Dont use a sharp or spiky item in order tomaintain the IP protection. During the activation of the preset key the green and the red LED are on asan indication of the preset command. The operation of the button will only be effective when theencoder is powered.

3. Mechanical data

3.1. Shaft variants

Synchro-flange 6 mm x 10 mm

Shaft clamp: 10 mm x 19,5 mm

Option 14 mm x 17 mm (special design)

3.2. Shaft load

6 mm shaft axial 20 N, radial 40 N (synchro flange)

10 mm shaft axial 40 N, radial 60 N (shaft clamp)14 mm shaft axial 80 N, radial 100 N (special shaft version)

3.3. Max. mechanical speed

Continuous speed, max. 10.000 min-1

Max. peak speed 12.000 min-1

The max. peak speed takes into account possible oscillations in the speed loop and must onlybe exceeded for short periods of less than 1 second.

3.4. Starting torque

1 Ncm

3.5. Moment of inert ia

Solid shaft 6 x 10 mm 1,9 x 10-6 kgm2

Solid shaft 10 x 10 mm 2.0 x 10-6 kgm2

Solid shaft 14 x 10 mm 2.8 x 10-6 kgm2 (optional)Hollow shaft 2.8 x 10

-6kgm

2(including central shaft screw)

3.6. Protection class

Shaft IP 64, optional IP 67Cover IP 67

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3.7. Operating temperature range

-40C ... +100C

3.8. Storage temperature range

-25C ... +85C (due to packaging)

3.9. Ambient humidi ty

Humidity class F (KUF annual average of 75% relative air humidity; non-condensing)

Test standard IEC 68 part 2-38 "temperature, humidity, cyclical (04.79)Test conditions adapted to humidity F (DIN 4040)

3.10. Vibration resistance100 m/s (10 ... 2000 Hz)Test standard DIN EN 60068-2-6 / 05.96

3.11. Shock resistance

1000 m/s2 (6 ms)Test standard DIN EN 60068-2-27 / 03.95 Ea test and

"Shock" guideline

3.12. Materials

Base AluminumShaft Stainless steel

Cover Aluminum

3.13. Weight

Approx. 230 g SingleturnApprox. 250 g Multiturn

3.14. Torque support (hollow-shaft version)

Motor shaft end play (axial) 0.5 mm (with spring tether 2 548 020)

Motor shaft runout (radial) 0.1 mm (with spring tether 2 548 020)Resonance frequency > 2 kHz

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3.15. Dimensions

Synchro flange

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17

Clamping flange


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Hollow shaft

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4. ORDERING INFORMATION

Code 1:Model

Code 2:Bits

Code 3:Mounting

Code 4:Shaft Size

Code 5:Protocol

Code 6:Electrical

Code 7:Connector

AI25

Single-Turn

0010 10 Bit

0012 12 Bit0013 13 Bit

0014 14 Bit

0017 17 Bit

Available whenCode 4 is 0 or A

0 Servo*

Available whenCode 4 is 2 or C

1 Clamping*

Available whenCode 4 is1 or B

2 Square flange**

AI25Size 25

AcuroAbsoluteEncoder

Multi-Turn

1212 12 Bit Multi-Turn, 12 BitSingle-Turn

1213 12 Bit Multi-Turn, 13 BitSingle-Turn

1214 12 Bit Multi-Turn, 14 BitSingle-Turn(BiSS)

1217 12 Bit Multi-Turn, 17 BitSingle-Turn(BiSS)

Available whenCode 4 is 3, 4, 5 or6

3 Hubshaftw/tether+

* 58mm Dia.** 2.5 Square+ 63mm BC

w/o shaft seal(IP64)

0 6mm

1 3/82 10mm

3 3/8 Hub Shaft

4 12mm Hubshaft5 1/2 Hubshaft

6 10mm Hubshaft

w/ shaft seal (IP67)

A 6mm

B 3/8C 10mm

2 SSI Gray

3 SSI Binary

A BiSS

0 5 VDC

2 10-30 VDC

0 1.5m axial cable

1 1.5m radialcable

2 M23 Conin 12pin axial CW

3 M23 Conin 12pin radial CW

C M12, 8-poleConnector axial

D M12, 8-poleConnectorradial

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5. ADDENDUM

5.1 CRC Calculation

The CRC value is a binary number at the end of the position value in sensor mode1, the

ID and address in register mode, and the data in register mode. It is also coded into in tothe Multi-Cycle Data in Sensor mode. The data is Exclusive-OR divided by a value calledthe Polynomial. The resulting remainder is the CRC. If the CRC of the encoder is thesame as the CRC result calculated by the receiver, then the data is valid. If not, theprocessor should complete a finite number of retries before giving an official invalid dataerror.

Example:You are reading an address in Register Mode, and in the data portion, you receive 0010 10001110.

Step 1: Recognize that this is 8 Bits of data(0010 1000) plus your 4-bit CRC(1110).

Step 2: In BiSS, before you plug the data in as the divisor, you replace the 4-Bit CRC withzeros. The leading zeros are also removed. Now your dividend is 0010 1000 0000

Step 3: Remove any leading zeros. The dividend will now be 10 1000 0000

Step 4: Using the register mode polynomial divisor 10011, you can proceed with theExclusive-OR division.

101111- - - - - - - - - -

10011)1010000000

- -

10011- - - - -01110000010011- - - - -111100010011- - - - -11010010011- - - - -1001010011

- - - - -00001 Remainder

Step 5: This value needs to be cut down to a four digit binary number(0001), and theninverted(1110).

Step 6: Compare results to see if they are equal. Our calculated result was 1110, and thetransmitted result is 1110, so the data is valid.

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1The position data length in sensor mode is variable if you have a single turn encoder and thirty-six

bits if you have a multi-turn encoder.


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Acuro Industry SSI+BiSS Full Manual