MEIMotorEncoderSsiConfig

Definition

typedef struct MEIMotorEncoderSsiConfig {
    MEIMotorSsiInput   input;
    long               bitCount;
    long               baudRate;  /* units = hertz */
    MPI_BOOL           brokenWireEnable;
} MEIMotorEncoderSsiConfig;

Description

MEIMotorEncoderSsiConfig contains configurations for SSI (Synchronous-Serial Interface) feedback devices. Use this structure to configure the SSI when the MEIMotorEncoderType is configured for MEIMotorEncoderTypeSSI. Be sure to verify that the SynqNet node FPGA supports SSI feedback devices. See the Node FPGA Images: Features Table.

Sample Code

Configure the motor’s primary feedback for an RMB by using motor I/O index 0 (MEIMotorIoConfigIndex0) to drive the clock output at 500 kHz. The serial input is decoded via the encoder input channel A (MEIMotorSsiInputENC_A).

returnValue = 
    mpiMotorConfigGet(motor, 
                      NULL, 
                      &motorConfig); 

 /* Configure the IO to output the SSI Clock */
   motorConfig.Io[MEIMotorIoConfigIndex0}.Type = MEIMotorIoTypeSSI_CLOCK0;
   
   /* Configure the primary feedback for SSI */
   motorConfig.Encoder[0].type = MEIMotorEncoderTypeSSI;
   motorConfig.Encoder[0].ssiConfig.baudRate = 500000; /* 500 KHZ */
   motorConfig.Encoder[0].ssiConfig.bitCount = 13;
   motorConfig.Encoder[0].ssiConfig.input = MEIMotorSsiInputENC_A;
   motorConfig.Encoder[0].ssiConfig.brokenWireEnable = TRUE;

returnValue = 
   mpiMotorConfigSet(motor, 
                     NULL, 
                     &motorConfig);
 

For other SSI compatible SynqNet devices, I/O configuration is located in Motion Console under the I/O Summary > Motor I/O tab. The I/O configuration for SqDC4 is shown below. SSI CLOCK (MEIMotorIoConfigIndex1) is used to drive the clock output and the serial input is decoded via SSI DATA (MEIMotorSsiInputGPIO_2).

See Also

MEIMotorSsiInput | MEIMotorEncoderType | mpiMotorConfigSet | mpiMotorConfigGet

Sample Application
ssiEncCfg.c