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Technical Information
EnDat 2.2 – Bidirectional Interface for Position Encoders
Digital drive systems and feedback loops with position encoders for measured value acquisition require fast data transfer with high
transmission reliability from the encoders. Further data such as drive-specifi c parameters, compensation tables, etc. must also
be made available. For high system reliability, the encoders must be integrated in routines for error detection and have diagnostic
capabilities.
The EnDat interface from HEIDENHAIN is a digital, bidirectional interface for encoders. It is capable both of transmitting position values
from incremental and absolute encoders as well as transmitting or updating information stored in the encoder, or saving new information.
Thanks to the serial transmission method, only four signal lines are required. The data are transmitted in synchronism with the clock
signal from the subsequent electronics. The type of transmission (position values, parameters, diagnostics, etc.) is selected through
mode commands that the subsequent electronics send to the encoder. The EnDat 2.2 interface, a purely serial interface, is also suited for
safety-related applications up to SIL 3.
Voltage supply
CLOCK
16 MHz
DATA
Position values, parameters, datum shifts,
electronic ID label, diagnostics, warning, etc.
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Related Manuals for HEIDENHAIN EnDat 2.2
Summary of Contents for HEIDENHAIN EnDat 2.2
- Page 1 The type of transmission (position values, parameters, diagnostics, etc.) is selected through mode commands that the subsequent electronics send to the encoder. The EnDat 2.2 interface, a purely serial interface, is also suited for safety-related applications up to SIL 3.
- Page 2 Improved quality Safety system • A single interface for all absolute and • Higher system accuracy through specific • EnDat 2.2 was conceived for safety- incremental encoders optimization in the encoder related machine designs up to SIL 3 • Simple subsequent electronics with •...
- Page 3 • Typical voltage supply range EnDat 2.2 version (recommended for new • Command set applications). EnDat 2.2 is compatible in its EnDat01 5 V ± 0.25 V • Availability of incremental signals communication, command set and time EnDat21 •...
- Page 4 2 MHz. Propagation-delay compensation is provid- Clock frequency [kHz] EnDat 2.1; EnDat 2.2 without propagation-delay compensation ed only for order designations EnDat 21 and EnDat 22; for EnDat 02, see the note EnDat 2.2 with propagation-delay compensation below.
- Page 5 • Encoder-specific information Functional safety – Basic principle • Information of the OEM EnDat 2.2 strictly supports the use of (e.g. “electronic ID label” of the motor) encoders in safety-related applications. The • Operating parameters (datum shift, DIN EN ISO 13 849-1 (previously EN 954-1), instruction, etc.)
- Page 6 With delay compensation subsequent electronics, clock frequencies up to 16 MHz are possible at cable lengths Under certain conditions, cable lengths up to 300 m are possible after consultation with HEIDENHAIN. up to a maximum of 100 m (f 8 MHz).
- Page 7 The EnDat 2.2 interface can also transfer position value. EnDat 2.1 mode commands parameter values in the additional data should not be used for purely serial together with the position value.
- Page 8 Recovery time EnDat 2.1: 10 µs to 30 µs additional data. This information is then EnDat 2.2: 10 µs to 30 µs or 1.25 µs to 3.75 µs (f 1 MHz) transmitted with every sample until a (parameterizable) selection of a new memory area changes the content.
- Page 9 It is transmitted with the Additional data An encoder with EnDat 2.2 interface can through the transmission of a special MRS inverted value as error message 2. The two error messages must be evaluated...
- Page 10 It is 5 bits in length and • Additional sensors makes it possible to issue preventive is transmitted for inspection purposes. The The EnDat 2.2 protocol enables the warnings in order to minimize idle time. following contents are possible: connection of 16 additional sensors (4-bit The cause of the warning is stored in the address).
- Page 11 EnDat 2.1 EnDat 2.2 OEM should be consulted. Addressing Block diagram of absolute encoder with EnDat 2.2 interface Before transmission of parameters (reading or writing), the corresponding memory range must be selected. One or more “MRS codes” are therefore assigned to the respective memory areas (MRS ...
- Page 12 Parameters of the encoder manufacturer The meaning of the information contained The meanings of parameters are divided The additional data for EnDat 2.2 contained in the parameters of the encoder into evaluation categories. On the basis of in the parameters of the encoder manufac- manufacturer depends on the encoder.
- Page 13 Support of warnings – – – – For preventive maintenance EnDat command set – – – – Information on whether EnDat 2.2 mode commands are supported Reserved for measuring length – – – – L iL – Maximum processing time –...
- Page 14 Parameters of the encoder manufacturer for EnDat 2.2 Unit for Word Contents Linear Rotary/ Remark encoder Angle encoder Status of additional datum 1 – – – – Can be safety related. Cross checking of “what is required” and “what does the encoder Status of additional datum 2 –...
- Page 15 Address Address Parameters The appropriate EnDat 2.2 mode command is required for the selection of the MRS code of the “parameters of the encoder manufacturer for EnDat 2.2“ . EnDat 2.2 mode commands for the A following “transmission supplement” can...
- Page 16 • The values are output in a cyclic process; EnDat Application Note). address and value. • The data as to which valuation numbers are supported is saved in the EnDat 2.2 parameters. In addition to the online diagnostics, certain • The diagnostics information can be inductive rotary encoders provide special transmitted in the closed-loop mode.
- Page 17 • Oversampling, diagnostics reset the subsequent electronics. The temperature • EnDat 2.2 cyclic operation I/O, statuses is derived from the encoder’s internal of touch probes, referencing of incre- temperature sensor...
- Page 18 Deleting the error messages and warnings (if set) Reading the encoder parameters, for example: – The number of clock pulses for transfer of position value – Support of EnDat 2.2 mode commands – Other parameters Power-on routine (simplified). For more information, see the EnDat Application Note.
- Page 19 Connection technology Connecting elements Cable Encoders with EnDat 2.2 interface without Transmission frequencies up to 16 MHz in incremental signals use mainly 8-pin M12 combination with large cable lengths place connecting elements, but also 9-pin M23. high technological demands on the cable.
- Page 20 Versions with functional safety available on request Multiturn function via battery-buffered revolution counter This Technical Information supersedes all previous editions, which thereby become invalid. The basis for ordering from HEIDENHAIN is always the Technical Information valid when the contract is made. DR. JOHANNES HEIDENHAIN GmbH Dr.-Johannes-Heidenhain-Straße 5...
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