Beginning with firmware version 4.42 IPA servo drive controllers support BiSS-C and BiSS-B encoder feedback.
Parameter C171 tells the drive what feedback will be connected.
C171=5 for BiSS
when C171 is changed, the drive needs to be power cycled or issued the REBOOT command to implement the change.
ACR-View 6.4.1 supports BiSS feedback. Prior to downloading the motor file ACR-View will check the current value of C171 and if the new value is different a REBOOT command will be issued following the motor file download to enable the new settings.
in addition to C171 three other parameters are required for BiSS set-up.
| Parameter | Description |
|---|---|
| C168 | Number of valid bits= single turn + multi turn |
| C179 | Set-up value |
| C180 | Multi-turn value |
These parameters are included as part of the motor file download in ACR-View for the following Parker motors.
| Parameter | C168 | C179 | C180 |
|---|---|---|---|
| Description | valid bits | Set-up value | Multi-turn value |
| PM-FAL w/o battery | 34 | 37752853 | 65535 |
| PM-FBL w/o battery | 35 | 37752853 | 65535 |
| PM-FCL w/o battery | 35 | 37752853 | 65535 |
| PM-DD | 20 | 41943061 | 1 |
| MX80L | 26 | 33554458 | 1 |
| PM-FAL w/ battery | 34 | 33558549 | 65535 |
| PM-FBL w/ battery | 35 | 33558549 | 65535 |
| PM-FCL w/ battery | 35 | 33558549 | 65535 |
BiSS ENCODER PIN-OUT
| IPA Pin | BiSS Function | P Encoder cable Wire |
|---|---|---|
| 1 | SLO | WHITE |
| 2 | /SLO | WHITE w/black |
| 3 | Encoder power return | ORANGE w/black |
| 4 | +5 VDC Encoder power | ORANGE |
| 9 | MA | yellow |
| 13 | /MA | yellow w/black |
Pre-made cables are available for IPA and P Series motors:
Cables to connect P series rotary motors to IPA series drives:
- 71-032647-xx.....Encoder cable, Single-turn, xx length in meters 03, 05, 10, 20
- 71-032751-xx.....Encoder cable, Multi-turn, xx length in meters 03, 05, 10, 20
- 71-032681-xx.....Encoder cable, Single-turn, HIGH FLEX, xx length in meters 03, 05, 10, 20
- 71-032752-xx.....Encoder cable, Multi-turn, HIGH FLEX, xx length in meters 03, 05, 10, 20
Feedback power is maintained by the IPA. If the battery fails, the IPA with fault with a feedback fault and the motor cannot be enabled until the battery is replaced.
The battery is only used while the IPA is powered down and thus under normal use will last 5years+ before needing replaced.
jw-sept 2016
