Kübler Sendix S3674 Manual
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Kübler Sendix S3674 Manual

Rs485 + sincos; biss + sincos, biss
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R67057.0002 - 1
Manual
Sendix S3674 (Singleturn)
Sendix S3684 (Multiturn)
RS485 + SinCos
BiSS + SinCos
BiSS

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  • Page 1 R67057.0002 - 1 Sendix S3674 (Singleturn) Manual Sendix S3684 (Multiturn) RS485 + SinCos BiSS + SinCos BiSS...

  • Page 2: Table Of Contents

    Table of Contents Kübler Group Table of Contents Document ........................General Information......................General Information ....................Target Group......................Symbols used / Warnings and Safety instructions ..........Transport / Storage ....................Use According to the Intended Purpose ..............Foreseeable Misuse....................Product Description ....................... Technical Data ......................

  • Page 3: Document

    Kübler Group 1 Document 1 Document This document is the English translation of the original German version. Publisher Kübler Group, Fritz Kübler GmbH Schubertstraße 47 78054 Villingen-Schwenningen Germany www.kuebler.com Issue date 01/2020 Language version German is the original language Copyright ©...

  • Page 4: General Information

    2 General Information Kübler Group 2 General Information 2.1 General Information Please read this document carefully before working with the product, mounting it or starting it up. 2.2 Target Group The encoder may only be planned, mounted, commissioned and serviced by persons having the following qualifications and fulfilling the following conditions: •...

  • Page 5: Transport / Storage

    Kübler Group 2 General Information ATTENTION Classification: The non-compliance with the ATTENTION note may lead to material damage. NOTICE Classification: Additional information relating to the operation of the product, and hints and recommendations for efficient and trouble-free operation. 2.4 Transport / Storage Inspect the delivery immediately upon receipt for possible damages due to the transport.

  • Page 6: Product Description

    3 Product Description Kübler Group 3 Product Description 3.1 Technical Data Mechanical characteristics for the Sendix S36 encoders Maximum rotational speed ** 12000 min Maximum angular acceleration 5x10  rad/s² Ambient temperature ** -30°C ... +120°C [-22°F … +248°F] Protection level according to EN 60529 IP40 according to NEMA 250 Type 1 Installation height <...

  • Page 7: Interface Description Rs485 + Sincos

    Kübler Group 3 Product Description General technical data of the BiSS interface Interface Absolute information: RS422 (EIA422 according to IEEE 802.3) Code Binary Clock rate 50 kHz … 10 MHz Data up-to-dateness ≤ 1 µs Singleturn resolution 12…23 bits/per revolution Number of revolutions 4096 (12 bits) General technical data of the SinCos interface Max.

  • Page 8: Biss Interface Description

    3 Product Description Kübler Group • Hybrid interface from the analog process data channel, for differential and almost delay-free transmission of sine and cosine signals • Bidirectional parameters channel complying with the RS485 specification for the transmission of the absolute position and other most varied parameters •...
  • Page 9 Kübler Group 3 Product Description The BiSS protocol classifies every device in one of the following data areas: • Sensor data • Actuator data • Register data The access to and transmission performance of these data areas are configured differently in order to cover a range of different sensor applications.

  • Page 10: Installation

    4 Installation Kübler Group 4 Installation 4.1 Electrical Installation 4.1.1 General Information for the Connection ATTENTION Destruction of the device Before connecting or disconnecting the signal cable, always discon- nect the power supply and secure it against switching on again. NOTICE Current limitation Use a suitable external fuse for encoder protection, for a maximum...

  • Page 11: Sincos Interface

    Kübler Group 4 Installation Interface Interface in- Type PCB connector (male), 10-pole digital cremental con- nec- tion 2 (RS485) 1 (SinCos) Signal: 0 V +V D+ Pin: Suitable pre-assembled Wire BU RD GY GN PK BK WH BN cordset, 8-wire color: (8.0000.D112.0M50) Interface Interface in-...

  • Page 12: Rs485 Parameters Channel

    4 Installation Kübler Group 2,75 2,50 2,25 sin + cos + sin - cos - +0,5 -0,5 The upper signal path shows the absolute signal amplitudes. The lower picture area shows the differential amplitude. Parameter Value Comment SinCos peak voltage 2 …...

  • Page 13: Biss Interface

    Kübler Group 4 Installation Master Pull Up 650 Ω Line Termination Line Termination 120 Ω 120 Ω Common Pull Down 650 Ω Slave 1 Slave n The 120 … 130 ohm terminating resistor and the 650 … 1k ohm pull up/down resistors are in- tegrated as a standard.

  • Page 14: Commissioning And Operation

    5 Commissioning and Operation Kübler Group 5 Commissioning and Operation 5.1 RS485 5.1.1 Data Transmission 5.1.1.1 Frames Structure The data format is an asynchronous half-duplex UART protocol with binary data. Data Bits Stop Parity Start The data at the asynchronous interface has the following basic format: •...
  • Page 15 Kübler Group 5 Commissioning and Operation 5.1.1.2 Data Addresses The protocol allows the use of a bus topology. Consequently, an addressing scheme is imple- mented. Every frame includes an address byte, a command, and optionally various data bytes, length and a subsequent checksum, to detect transmission errors. This description applies both to master ad slave transmissions.
  • Page 16 5 Commissioning and Operation Kübler Group Frame Check sum 40h 42h 40h 4Eh 70h 00h Error displays The protocol uses two different ways to display detected errors. Errors are always transmitted only from the slave to the master. Warning bit If a slave detects an operating error that is not related to a current command, a warning bit is emitted with the query and a corresponding error code is saved for query.
  • Page 17 Kübler Group 5 Commissioning and Operation The data sheet of a slave must indicate the number of bytes a user can save in data fields. The number of bytes indicated this way includes 100% of the user content. All values required for data field management are stored separately. User memory size is normally 1792 bytes.
  • Page 18 5 Commissioning and Operation Kübler Group Offset Lengt Description Note XOR check sum complete Extended Type Label Encoder type Bit 0: 0 = rotary, 1 = linear Bit 1: 0 = unipolar count, 1 = bipolar count Other bits: not implemented, "0" Encoder resolution (unsigned 32-bit value) number of peri- ods / revolution for encoder period length in steps of 1 nm for linear encoders...
  • Page 19 Kübler Group 5 Commissioning and Operation Offset Lengt Description Note Byte 12… 13: Vector length CHANNEL value (for command 44h) Byte 14… 15: Vector length min. value (unsigned, any units) Byte 16… 17: Vector length max. value (unsigned, any units) Byte 18…...
  • Page 20 5 Commissioning and Operation Kübler Group Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Check R/W access Access Enable/disable access Data field size data field code 0 = not 0 = read access Access Code 0 0 = code disabled Calculate (Size/ found...

  • Page 21: Supported Commands

    Kübler Group 5 Commissioning and Operation Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Time out UART not used Baud rate 1*11/Baud 8 data bits, 600Bd rate Parity = none Standard 4*11/Baud 8 data bits, 1200Bd rate Parity = odd 8 data bits, 2400Bd Parity = even...
  • Page 22 5 Commissioning and Operation Kübler Group The following commands are supported by the system: 22 - EN HB RS485/BiSS/SinCos - S36x4 - R67057.0002 - 01...
  • Page 23 Kübler Group 5 Commissioning and Operation MFB supported Comment Reference commands Com- Function Code 0 MFB- MFB- mand byte Read position 20 (32) 12 (32) Command byte 42h - Read position [} 24] bits bits Set position Command byte 43h - Set position [} 24] Read analog Command byte 44h - Read analog value value...
  • Page 24 5 Commissioning and Operation Kübler Group 5.1.2.1 Command byte 42h - Read position The command "Read position" allows the motor controller to read out the absolute position value of the encoder. The slave type label must indicate the maximum speed at which the absolute position value can be acquired.
  • Page 25 Kübler Group 5 Commissioning and Operation Parameter Value Note Command identifier Access code Code 0 Default: 55h Reaction time 40 ms Master data length 5 bytes Slave data length 0 bytes Master data values Byte 0 … 3: Absolute position preset as unsigned 32-bit value, MSB first Byte 4: Code0 Slave data values...
  • Page 26 5 Commissioning and Operation Kübler Group Parameter Value Note Command identifier Access code Reaction time 5 ms Master data length 1 bytes Slave data length 3 bytes Master data values CHANNEL selector Slave data values Byte 0: CHANNEL selector Byte 1…2: Sensor value Error conditions 0Dh (Wrong argument)
  • Page 27 Kübler Group 5 Commissioning and Operation Parameter Value Note Command identifier Access code Reaction time 30 ms Master data length 0 bytes Slave data length 0 bytes Master data values Slave data values Error conditions 05h (I2C communication fault) 06h (EE checksum fault) 08h (Counter fault) 5.1.2.6 Command byte 49h - Erase counter The command "Erase counter"...
  • Page 28 5 Commissioning and Operation Kübler Group Parameter Value Note Command identifier Access code Code 0^… Code 3 Depending on the defini- tion from the data field Reaction time 30 ms Master data length 4 bytes Slave data length 4 … 131 bytes Depending on the number of bytes (1 …...
  • Page 29 Kübler Group 5 Commissioning and Operation Parameter Value Note Command identifier Access code Code 0 … Code3 Default: 55h Reaction time 250 ms Master data length 5 … 132 bytes Slave data length 3 bytes Master data values Byte 0: Data field number Byte 1: Offset in the data field Byte 2: Number of bytes Byte 3: Access code...
  • Page 30 5 Commissioning and Operation Kübler Group Parameter Value Note Command identifier Access code Reaction time 5 ms Master data length 1 bytes Slave data length 2 bytes Master data values Byte 0: Data field number Slave data values Byte 0: Data field number Code0 for data fields is identical with Byte 1: Status...
  • Page 31 Kübler Group 5 Commissioning and Operation • The access code is disabled for the data field. To modify data fields, the user gives the following information: • Data field number (as created previously). • Data field status as a Byte with the same coding as for the command "Data field status" (see Command 4Ch - Determine data field status [} 29]).
  • Page 32 5 Commissioning and Operation Kübler Group Parameter Value Note Command identifier Access code Code0 … Code3 Depending on the user definition of the data field Reaction time 70 ms Master data length 3 bytes Slave data length 2 bytes Master data values Byte 0: Data field number Byte 1: Status Bit 0 …...
  • Page 33 Kübler Group 5 Commissioning and Operation Parameter Value Note Error conditions 03h (Data field partition table fault) 05h (I2C communication fault) 06h (EE checksum fault) 0Fh (Wrong access code) 10h (Fixed data field size) 12h (Wrong data field number) 5.1.2.11 Command byte 4Eh - Determine available memory area The command "Determine available memory area"...
  • Page 34 5 Commissioning and Operation Kübler Group Parameter Value Note Command identifier Access code Reaction time 40 ms Master data length 3 bytes Slave data length 1 bytes Master data values Byte 0: Access code (00h… 03h) Default: 55h Byte 1: Old access code Byte 2: New access code Slave data values Byte 0: Access code (00h…...
  • Page 35 Kübler Group 5 Commissioning and Operation • Parameter interface settings (UART) with the same coding as for the command "Configure serial interface" (see Configure serial interface [} 38]) • Extended type label, see Extended Type Label Specification [} 17] • Global memory size in 16-byte blocks (e. g. a value of 128 / 80h is returned for 2048 imple- mented memory bytes) •...
  • Page 36 5 Commissioning and Operation Kübler Group Parameter Value Note Command identifier Access code Reaction time 5 ms Master data length 0 bytes Slave data length 4 bytes Master data values Slave data values Byte 0: Status 00h,warning or error code UART settings Bit 0 ...
  • Page 37 Kübler Group 5 Commissioning and Operation Some older products show small differences between powering and software reset. New and fu- ture products must show an identical behavior. Configuration data such as the slave address and interface settings are not modified by an "En- coder reset".
  • Page 38 5 Commissioning and Operation Kübler Group Parameter Value Note Command identifier Access code Code 0 Reaction time 40 ms No response The slave must wait for new requests after the ini- tialization time of (100 ms) plus the timeout for this request.
  • Page 39 Kübler Group 5 Commissioning and Operation This command uses the settings of the parameter interface (UART) with the same coding as for the command "Read type label". After the successful execution of this command, the slave uses the new UART settings. This only occurs after an encoder reset (see Command byte 53h –...
  • Page 40 5 Commissioning and Operation Kübler Group Parameter Value Note Command identifier Access code Code 0 Default 55h Reaction time 40 ms Master data length 2 bytes Slave data length 1 bytes Master data values Byte 0: Standard value for byte 0 = UART settings The actually available data Bit 0 ...
  • Page 41 Kübler Group 5 Commissioning and Operation The command "Set position with synchronization" is an optional command. The command "Set position with synchronization" allows the motor controller to save a position offset in the slave, e. g. with the command "Set position". The difference with this command is that "Set position with synchronization"...

  • Page 42: Status Messages

    5 Commissioning and Operation Kübler Group Parameter Value Note Command identifier Access code Code 0 Default 55h Reaction time 40 ms Master data length 5 bytes Slave data length 4 bytes Master data values Byte 0 … 3: Standard value for byte 0 = Absolute position set as unsigned 32-bit value, MSB first The actually available data...
  • Page 43 Kübler Group 5 Commissioning and Operation Error group Behavior Initialization During slave start-up, the various electronic components are configured with data from an EEPROM. This data is protected against accidental changes by check sums. If the check for position-relevant data fails, the following position com- mands are carried out.
  • Page 44 5 Commissioning and Operation Kübler Group MFB status messages Status code Description Error type The encoder detected no error Initialization Faulty compensation data Faulty internal angular offset Data field partitioning table destroyed Internal I2C bus not operational Internal check sum error Protocol Check sum of transmitted data is wrong Unknown command code...
  • Page 45 Kübler Group 5 Commissioning and Operation The position output is locked when this error is detected. A "Read position" or "Set position" command always receives a slave error response with the wrong internal angle. Possible causes: This error can be due to electrical disturbances during start-up or to hardware errors of the memory component.
  • Page 46 5 Commissioning and Operation Kübler Group Possible causes: This error can be due to electrical disturbances during start-up or to hardware errors of the memory component. Parameter Value Error message Error response Error group Initialization Code 5.1.3.5 Status code 05h – Internal I2C bus not operational "Internal I2C bus not operational"...
  • Page 47 Kübler Group 5 Commissioning and Operation Parameter Value Error message Error response Error group Initialization Code 5.1.3.7 Status code 0Bh – Unknown command code "Unknown command code" indicates that the slave received a master command message with an unknown command code. Slave reaction: The message is not analyzed further.
  • Page 48 5 Commissioning and Operation Kübler Group Parameter Value Error message Error response Error group Protocol Code 5.1.3.10 Status code 0Eh – The selected data field may not be written "The selected data field may not be written" indicates that the slave received a request for sav- ing data either in a data field set to "Read only"...
  • Page 49 Kübler Group 5 Commissioning and Operation The message is not analyzed further. Possible causes: This can be due to a faulty master request. Parameter Value Error message Error response Error group Data Code 5.1.3.13 Status code 11h – Specified word address is outside of data field Indicates that the slave received a master request message for reading or writing in a data field with an offset outside of the data field size.

  • Page 50: Examples

    5 Commissioning and Operation Kübler Group This error during start-up can be due to electrical disturbances during start-up or to hardware er- rors of the memory component. The error during operation can be due to a faulty request from the master. Parameter Value Error message...
  • Page 51 Kübler Group 5 Commissioning and Operation 5.1.4.2 Set position Example for position 0 Request: Address Com- Position Code 0 Check sum mand Response: Address Com- Check sum mand 5.1.4.3 Read analog value Analog value and channel may also vary Request: Address Command Channel...
  • Page 52 5 Commissioning and Operation Kübler Group Response: Address Command Counter High Counter Middle Counter Low Check sum 5.1.4.6 Erase counter Request: Address Command Code 0 Check sum Response: Address Command Check sum 5.1.4.7 Read data Request: Com- Data Byte Count Code 0 Check dress mand...
  • Page 53 Kübler Group 5 Commissioning and Operation Response: Address Com- Data field Byte ad- Count Check mand dress Varies 5.1.4.9 Determine the status of a data field Request: Address Command Data field Check sum Varies Response: Address Command Data field Status Byte Check sum Varies Status Byte...
  • Page 54 5 Commissioning and Operation Kübler Group Status Byte Bit 0..2 Data field size Bit 3 Code disable Bit 4..5 Access code Bit 6 Read-write access Bit 7 Delete create data field Complete description see Status Byte [} 19]. 5.1.4.11 Erase available memory area Request: Address Command...
  • Page 55 Kübler Group 5 Commissioning and Operation 5.1.4.14 Read out type label Request: Address Command Check sum Response: Address Com- UART settings Encoder type Memory size Option code Check sum mand UART settings Bit 0..2 Baud rate Bit 3 no meaning Bit 4..5 Parity Bit 6...
  • Page 56 5 Commissioning and Operation Kübler Group 5.1.4.17 Read serial number / program version Request: Com- Check dress mand Response: Com- Serial number Firmware version Firmware date Check dress mand 5.1.4.18 Configure serial interface Request: Address Command UART settings Code 0 Check sum Response: Address...

  • Page 57: Biss

    Kübler Group 5 Commissioning and Operation Response: Address Com- Absolute position Check sum mand 5.2 BiSS 5.2.1 Data Transmission 5.2.1.1 Frames Structure Source: Protocol Description (BISS C) The BiSS C-Mode bus protocol allows simultaneous transmission of sensor data (SD) from the slaves to the master and of master and control data (CD) from this master to the slaves.
  • Page 58 5 Commissioning and Operation Kübler Group The control data bits of several consecutive Biss frames (cycles) are combined together to a control frame by the master and the slaves (see illustration below). It allows reading and writing the slave register and and sending commands to the slaves. Bus reset After switching on or after an error, the master must maintain a break of 40 µs prior to data transmission.
  • Page 59 Kübler Group 5 Commissioning and Operation Master Clk Slave data Min. 100ns (max. clk frequency = 10 MHz) / max. 13µs (min. clk frequency = 77 kHz) typ. 50% of t1 t out 13µs Start Start bit Data Data string according to the list: data length and description CDM Control Data Master Data length and description NOTICE...
  • Page 60 5 Commissioning and Operation Kübler Group Control Data Slave One bit per cycle, used for register communication 1 bits (CDS) Control Data Master One bit per cycle, used for register communication, 1 bits (CDM) (standard logic level = low) Multiturn data bits (MT) Position information "Number of revolutions" 0 …...
  • Page 61 Kübler Group 5 Commissioning and Operation The second part (BP3 part) begins in bank 4 and contains the necessary information for the transmission, the product and process-relevant information for the motion control system. Bank 5 and bank 6 are reserved. Bank 7 to bank 31 are planned as memory area for user data. Manufacturer identification Every BiSS device manufacturer has a manufacturer identification for all BiSS devices.
  • Page 62 5 Commissioning and Operation Kübler Group Device ID Addr. 0x78 0x79 0x7A Bit No. 47 4 45 44 4 Series Device class Device subclass BiSS- RegC RegB MT (4:0) Device ID Addr. 0x78 0x79 0x7A Bit No. 47 46 45 44 43 42 41 40 3 30 29 2 Series Device class Device subclass...
  • Page 63 Kübler Group 5 Commissioning and Operation 5.2.1.3.1 Common Part Addr. Symbol Description Group Format Unit Value 0x00 EDS_VER EDS version Orga 0x01 (continuous number) 0x01 EDS_LEN EDS length Orga Banks 0x02 (bank count completely) Bank address USER start 0x07 (bank selection in address 64, 0x02 USR_STA Orga...
  • Page 64 5 Commissioning and Operation Kübler Group 0x0A TCLK_MA Maximum sampling periode Timing 25 ns 0x00 adaptive timeout (0= adaptives timeout not available) 0x0B TCYC Minimum cycle time Timing 250 ns 0x00 (0= no limitation) 0x0C TBUSY_S Maximum processing time SCD Timing 250 ns 0x16...
  • Page 65 Kübler Group 5 Commissioning and Operation 5.2.1.3.2 BP3 Part Adr. Symbol Description Group Format Unit Value 0x00 BP_VER BiSS Profile 3 Version Orga 0x01 0x01 BP_LEN Length of this profile Orga Banks 0x01 0x02 Non-safety 0x62 application 0x03 BP_ID Profile identification BP3 (content Orga also available in adress 0x42 and Numb.
  • Page 66 5 Commissioning and Operation Kübler Group 0x0C CO_LEN Data length COARSE Orga Number of 0x0B digital bits 0x0D CO_FMT Data format COARSE Meas Left-aligned 0x01 0x0E FI_LEN Data length FINE Orga Number of Int-bits 0x0F FI_FMT Data format FINE Meas Left-aligned 0x01 0x10...

  • Page 67: Register Access

    Kübler Group 5 Commissioning and Operation 0x30 TMP_MIN Minimum operating temperature Mech U16 1 n.a. 0x00 0x31 0x00 0x32 TMP_MAX Maximum operating temperature Mech U16 1 n.a. 0x00 0x33 0x00 0x34 VLT_MIN Minimum operating voltage Elec U16 1 n.a. 0x00 0x35 0x00 0x36 VLT_MAX...
  • Page 68 5 Commissioning and Operation Kübler Group Control frame The control frame allows the protected and confirmed reading and writing of the register of a slave and the protected and confirmed sending of commands to the slaves. The control frame results from a number of BiSS frames which generate and transmit sensor data.
  • Page 69 Kübler Group 5 Commissioning and Operation Position (output data) 0x61 ST(1:0) 0x62 ST(9:2) 0x63 ST(17:10) 0x64 ST(25:18) 0x65 MT(7:0) 0x66 MT(15:8) 0x67 MT(23:16) 5.2.2.2 Write access During the write access, both read/write bits have the value RW = "01". Then comes a start bit, 8 data bits, a 4-bit CRC and a stop bit.
  • Page 70 5 Commissioning and Operation Kübler Group Offset & interpolator 0x1B OFFS_ST(1:0) RESO_CC(1:0) 0x1C OFFS_ST(9:2) 0x1D OFFS_ST(17:10) 0x1E OFFS_ST(25:18) 0x1F OFFS_MT(7:0) 0x20 OFFS_MT(15:8) 0x21 OFFS_MT(23:16) 5.2.2.3 Sequential register access It is possible to read or write several consecutive registers in the same access. To do so, the master sends an additional start bit (CDM = "1") immediately after the stop bit of the first data value.

  • Page 71: Status Messages

    Kübler Group 5 Commissioning and Operation 5.2.2.5 Register access processing time If the slave requires additional processing time for reading or writing registers, it can request this individually for every byte be delaying the start bit. During this time, the master repeats the start bit.
  • Page 72 5 Commissioning and Operation Kübler Group Error messages NOTICE Error status The error messages are automatically reset as soon as the error is resolved. The error register has address 0x69 and has a one-byte size (8 bits). The following messages are available: Bit Error reporting Note Valu...

  • Page 73: Maintenance

    Kübler Group 6 Maintenance 6 Maintenance The device is maintenance-free. In harsh environments, we recommend regular inspections for firm seating and possible damages at the device. Repair work may only be carried out by the manufacturer, see Contact [} 76]. Prior to the work Switch off the power supply and secure it against switching on again.

  • Page 74: Annex

    7 Annex Kübler Group 7 Annex 7.1 Decimal / Hexadecimal conversion table 74 - EN HB RS485/BiSS/SinCos - S36x4 - R67057.0002 - 01...
  • Page 75 Kübler Group 7 Annex HB RS485/BiSS/SinCos - S36x4 - R67057.0002 - 01 EN - 75...

  • Page 76: Contact

    8 Contact Kübler Group 8 Contact You want to contact us: Technical support Kübler's worldwide applications team is available on site all over the world for technical advice, analysis or installation support. International support (English-speaking) +49 7720 3903 952 support@kuebler.com Kübler Germany +49 7720 3903 849 Kübler France +33 3 89 53 45 45 Kübler Italy...

  • Page 77: Glossary

    Kübler Group Glossary Glossary ASCII LVDS American Standard Code for Informa- Low Voltage Differential Signaling. In- tion Interchange. 7-bit coding terface standard for high-speed data transmission BiSS Bidirectional / Serial / Synchronous Most Significant Bit counter clock wise, counting direction Return Material Authorization (com- plaint) Cyclic Redundancy Check...

  • Page 78: Standards

    Standards Kübler Group Standards ASCII LVDS American Standard Code for Informa- Low Voltage Differential Signaling. In- tion Interchange. 7-bit coding terface standard for high-speed data transmission BiSS Bidirectional / Serial / Synchronous Most Significant Bit counter clock wise, counting direction Return Material Authorization (com- plaint) Cyclic Redundancy Check...
  • Page 79 Kübler Group Fritz Kübler GmbH Schubertstr. 47 D-78054 Villingen-Schwenningen Germany Phone +49 7720 3903-0 Fax +49 7720 21564 info@kuebler.com www.kuebler.com...

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