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Byte 0
Bits 63-56 Bits 55-48
Bit0 is the error bit from the encoder and the least significant bit of the position is in bit 1, etc.
Leading zeros are present beyond the most significant bit of the position value from the encoder.
If any other command is sent the response is as shown below.
Byte 0
Address
EnDat
Up to 4 bytes can be written to the buffer in the same format as for EnDat 2.1. The following
commands are supported:
Code
Encoder to send position value with additional
0x09
information and select memory area
Encoder to send position value with additional
0x1B
information and receive parameters
Encoder to send position value with additional
0x24
information and send parameters
Encoder to send position value with additional
0x2D
information and receive error reset
The message from the encoder contains a CRC which is checked. If there are no errors in the
message the message is transferred to the comms buffer.
Byte 0
First
additional
information
received
(B7) WRN
First
(B6) RM
additional
(B5) Busy
information
(B4) I4
received
(B3) I3
Byte 1
(B2) I2
(B1) I1
(B0) I0
If two additional items of information are used, the first one received is additional information 2. The
drive uses the relevant MRS code to enable the transmission of the required additional information
without content. Other MRS codes can be used to select the content for each additional item of
information, but the MRS codes to select additional information which are not currently selected, or
to de-select additional information must not be used.
BiSS* / SC BiSS*
Encoder user communications is not supported with these encoder types.
* BiSS is not currently supported.
SI-Universal Encoder User Guide
Issue: 2
Bits47-40
Bits 39-32 Bits 31-24 Bits 23-16
Data (MSB)
Command
First additional
information
received
Byte 2
Data (LSB)
Address
MRS code
Address
Address
Any
Second
additional
information
received
(B7) WRN
Second
(B6) RM
additional
(B5) Busy
information
(B4) I4
received
(B3) I3
Byte 1
(B2) I2
(B1) I1
(B0) I0
Byte 7
Bits 15-8
Bits 7-0
Data
Data
(MSB)
(LSB)
Block
0x00
address
Data
Data
(MSB)
(LSB)
Any
Any
Any
Any
Byte 5
Second
additional
information
received
Byte 2
125
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