Hi andy, i know of 4 different protocols versions for the Mitsubishi absolute encoders: - Mitsu01 - Mit02-4 - Mit02-2 - Mit03-4
Mit02-2 uses an half-duplex UART over RS485 with 2.5Mbps. The others have an additional clock line. According to Heidenhain the four variants are similar to each other. Our motors (HA-FF38-UE-S1, 17bit absolute encoder + multi turn) use Mit02-2, therefor we implemented a small subset in STMBL (see: https://github.com/rene-dev/stmbl/blob/master/src/comps/encm.comp). see also: http://www.deltatau.com/manuals/pdfs/ACC-84E.pdf http://www.heidenhain.de/de_EN/php/documentation-information/brochures/popup/media/media/file/view/file-0668/file.pdf Siemens motors often use EnDat, which is electrically equal to BiSS (clock + bidirectional data over rs485). see also: https://www.heidenhain.de/de_DE/php/dokumentation-und-information/prospekte/popup/media/media/file/view/file-0219/file.pdf Bosch and Berger-Lahr/Schneider-Electric motors often use Hyperface (SIN/COS encoder + slow absolute position + motor data over rs485). see also: https://www.sick.com/media/pdf/0/90/190/IM0015190.PDF If you find more infos on other protocols please share. We are alway looking for new stuff to implement (next PCB version supports SSI, Biss, EnDat, Mit02-2, Hyperface, ...). Nico > I know that LinuxCNC can run nicely with conventional incremental > encoders and also with Resolvers using either the Pico convertor or > the Mesa 7i49 card. (In fact my Mill runs with a 7i49) > > Looking through eBay for servos to convert my lathe I find lots of > Mitsubishi and Yaskawa servo motors. These seem to use absolute > encoders and a proprietary interface. > > Does anyone know which, if any, use a SSI, BISS etc interface which > can be interpreted by the Mesa absolute encoder interfaces? > > I think that Fanuc is another option, but I don't know how to > differentiate between the various Fanuc encoding and commutation > schemes. > ------------------------------------------------------------------------------ _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
