RLS BiSS-C encoder

1

I have seen the ODrive Pro support RLS 18-bit AksIM-2 BiSS-C encoder, how can I select it from web GUI?

2

It’s a more advanced option, so by default it doesn’t show in the GUI.

  1. Select SPI encoder, leave protocol blank

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  2. Run the first two steps on the final tab:

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  3. Go to the inspector tab, search spi_encoder0, and double click on (or drag to middle “controls” pane):

  • config->mode
  • config->biss_c_bits
  • config->biss_c_multiturn_bits

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Change mode to BISSC, and biss_c_bits/multiturn_bits to the number of singleturn and multiturn bits from your encoder.

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  1. Go back to the configuration tab, run the remaining steps (starting with “Save & Reboot”)
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3

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Regarding to the mode, should I select BISSC or RLS_AKSIM2? both are available
The encoder is single turn, shall I set biss_c_multiturn_bits to 0?
After these this change, shall I click the Call button to the Save_configuration? Then go back to the configuration tab and run the remaining steps?

Thanks for your support.

4

RLS_AKSIM2 mode is for the encoder over SPI specifically: ODrive API Reference — ODrive Documentation 0.6.12 documentation

The encoder is single turn, shall I set biss_c_multiturn_bits to 0?

Yep!

After these this change, shall I click the Call button to the Save_configuration? Then go back to the configuration tab and run the remaining steps?

The “Save & Reboot” button in the configuration tab will also save configuration. So you could run save_configuration in the inspector tab, or back in the configuration tab, both works :slight_smile: