Pinout for P Series Drives
| P Series Drive Pin | Function | P Encoder cable Wire |
P Encoder Highflex cable |
Motor Side |
|---|---|---|---|---|
| 3 | MA | YELLOW | YELLOW | 1 |
| 4 | /MA | YELLOW w/black | BLUE | 6 |
| 5 | SLO | WHITE | GREEN | 2 |
| 6 | /SLO | WHITE w/black | WHITE | 7 |
| 7 | Encoder power return | ORANGE w/black | BLACK | 4 |
| 14 | +5 VDC Encoder power | ORANGE | RED | 9 |
| Battery (RED) | Grey | 8 | ||
| battery 0V (Black) | Grey w/black | 3 |
Note: Battery is a Toshiba ER6V / 3.6V Lithium
Pinout for IPA Drives
| IPA Pin | Function | P Encoder cable Wire | Motor Side |
|---|---|---|---|
| 9 | MA | YELLOW | 1 |
| 13 | /MA | YELLOW w/black | 6 |
| 1 | SLO | WHITE | 2 |
| 2 | /SLO | WHITE w/black | 7 |
| 3 | Encoder power return | ORANGE w/black | 4 |
| 4 | +5 VDC Encoder power | ORANGE | 9 |
| Battery (RED) | Grey | 8 | |
| battery 0V (Black) | Grey w/black | 3 |
Note: Battery is a Toshiba ER6V / 3.6 V Lithium
BiSS-C encoder power requirements: 5 V, 200 mA
BiSS-C Protocol Timing
P Series Protocol Timing Constraints
| Symbol | Parameter | Conditions | Min. | Max. | Unit |
|---|---|---|---|---|---|
| tMAS | Permissible clock period | ttimeout = 1.2 μs | 100 | 2 × ttimeout | ns |
| tMASH | Clock signal high level duration | - | 50 | ttimeout | ns |
| tMASL | Clock signal low level duration | ttimeout = 1.2 μs | 50 | - | ns |
| tREQ | Req low level duration | ttimeout = 1.2 μs | 50 | ttimeout | ns |
| CLK (MA) | Permissible clock frequency MA | - | - | 10 | MHz |
Multi-Turn Serial Encoder BiSS-C Output Format
|
CDS 0/1 bits |
MT 0/12/16/20/24 bits |
ST 9-21 bits |
ERR/NERR 1 bit |
WARN/NWARN 1 bit |
LC 0/6 bits |
CRCPOS 6 bits |
Breakdown of BiSS-C Multi-Turn Encoder Format
| Data Field | Description | Data Length |
|---|---|---|
| CDS | Control data slave | 1 bit |
| MT | Multi-turn resolution | 16 bits* |
| ST | Single-turn data length | 21 bits |
| ERR/NERR | Error bit | 1 bit |
| WARN/NWARN | Warning bit | 1 bit |
| LC | Enable life counter | 0 bits |
| CRCPOS | Checksum for position data | 6 bits |
* Multi-turn resolution does not apply to the PM-DD direct drive rotary motors. These motors do not maintain mult-turn position and do not transmit MT bits.
Resolution of P Series Motor Encoders
| Motor | Multi-Turn Resolution | Single-Turn Resolution | Single-Turn Data Length | Alignment Bits |
|---|---|---|---|---|
| PM-FALxxxM8Nx | 65,536 (16 bits) | 262,144 (18 bits) | 21 bits | 3 |
| PM-FBLxxAMKx | 65,536 (16 bits) | 524,288 (19 bits) | 21 bits | 2 |
| PM-FCLxxAMKx | 65,536 (16 bits) | 524,288 (19 bits) | 21 bits | 2 |
| PM-DDxxxxxx | 0 (0 bits) | 1,048,576 (20 bits) | 21 bits | 1 |
PDF Format Specification
jw sept 2016
gh dec 2017
08JUL2019 DCLIFFE
13SEP2019 DCLIFFE -- Corrected typo on PM-DD single/multi-turn bits
20OCT2021 DCLIFFE -- Corrected typo on FCL row. Added metadata.
