Control Techniques Digitax ST Advanced User's Manual page 65

Parameter Keypad and
structure display
Bit 15 Bit 14
0xa0ff 1 0
0xc042 1 1
As bit 14 of the second word is set to one the drive will add the checksum and transfer this message to the encoder. When the encoder response has
been received by the drive the first byte of the message will be placed in the least significant byte of Pr 90.23 and bit 15 will be set to one. This data
should be read and the parameter cleared so that the drive will put the next byte into this parameter. The sequence of data that should appear in
Pr 90.23 for an encoder with an address of 0x40 and a position of 0x03, 0x59, 0x63, 0x97 is shown in the table below.
Bit 15 Bit 14
0x8040 1
0x8042 1
0x8003 1
0x8059 1
0x8063 1
0x8097 1
0xc0ac 1
Example of Hiperface transfer: Delete data field
Transfer the "delete data field" message to the encoder comms buffer by writing the sequence of words shown in the table below to Pr 90.22. A check
should be carried out before each word is written to ensure that the parameter is zero (i.e. the drive has taken any previous data).
Bit 15 Bit 14
0xa0ff 1
0x804d 1
0x8002 1
0x8065 1
0x8055 1
The response from the encoder is a follows.
Bit 15 Bit 14
0x8040 1
0x8042 1
0x8003 1
0x8059 1
0x8063 1
SC.EnDat
The Heidenhain EnDat protocol is a synchronous protocol using the following command message format (drive to encoder).
st
Command
1 byte
Address
Data (LSB)
th
Data (MSB)
4 byte
The following commands are supported:
Code Command
0x00 Encoder to send position
0x01 Selection of memory area
0x03 Encoder to receive parameter
0x04 Encoder to send parameter
0x05 Encoder to receive reset
Digitax ST Advanced User Guide
Issue Number: 1
Parameter
Parameter x.00
description format
Bit 13 Data
1 0xff Broadcast message so address = 0xff
0 0x42 Read position command
Bit 13 Data
0 0 0x40 Encoder address
0 0 0x42 Read position command
0 0 0x03 Position byte 0 (MS byte)
0 0 0x59 Position byte 1
0 0 0x63 Position byte 2
0 0 0x97 Position byte 3 (LS byte)
1 0 0xac Checksum
Bit 13 Data
0 1 0xff Broadcast message so address = 0xff
0 0 0x4d Create data field command
0 0 0x02 Data field 2
Status of data existing data field 2 with bit 7
0 0 0x65
set to zero
1 0 0x55 Code for data field at default of 0x55
Bit 13 Data
0 0 0x40 Encoder address
0 0 0x4d Create data field command
0 0 0x02 Data field 2
0 0 0x65 Status of the data field before delete
1 0 0x78 Checksum
Address
Don't care
MRS code
Address
Address
Don't care
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Advanced parameter Serial comms
descriptions protocol
Data
Don't care
Don't care
Data
Don't care
Don't care
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