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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.
Power 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.
- Page 2 Improved quality Safety system • A single interface for all absolute and • Higher system accuracy through specifi c • EnDat 2.2 was conceived for safety- incremental encoders optimization in the encoder related machine designs • Simple subsequent electronics with •...
- Page 3 Compatibility of EnDat 2.2 > 2.1 The extended EnDat interface version 2.2 is compatible in its communication, EnDat 2.2 command set (includes EnDat 2.1 command set) • command set and time conditions with Position values for incremental and absolute encoders •...
- Page 4 Clock on-off ratio connecting elements used. To ensure proper function at clock frequencies above 2 MHz, use only original HEIDENHAIN cables. The permissible clock frequencies shown in the diagrams apply for a clock on-off ratio of 1:1.
- Page 5 The EnDat 2.2 interface can also currently requested position value. transfer parameter values in the additional EnDat 2.1 mode commands should data together with the position value.
- Page 6 1 and 2, each also Recovery time EnDat 2.1: 10 to 30 µs concluded with a CIRCLE. The content of EnDat 2.2: 10 to 30 µs or 1.25 to 3.75 µs (f ‡ 1 MHz) the additional data is determined by the (parameterizable)
- Page 7 Data packet with position value and additional data 1 and 2 Encoder saves position value Subsequent electronics transmit mode command Mode command Position value CIRCLE Additional datum 2 CIRCLE Additional datum 1 CIRCLE S = start, F1 = error 1, F2 = error 2, L = LS, M = MSB Diagram does not include the propagation-delay compensation Typical command sequence when transmitting a position value with additional data: Subsequent...
- Page 8 • Additional sensors order to minimize idle time. The cause of contents are possible: The EnDat 2.2 protocol enables the the warning is stored in the encoder connection of 16 additional sensors (4-bit memory. The alarms and warnings Additional datum 1 address).
- Page 9 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. On or more “MRS codes” are therefore assigned to the respective memory areas (MRS ƒ...
- Page 10 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 manufacturer depends on the encoder.
- Page 11 – – – – For preventive maintenance EnDat command set – – – – Information on whether EnDat 2.2 mode commands are supported Reserved for measuring length – – – – L IL Not supported by E Maximum processing time –...
- Page 12 Parameters of the encoder manufacturer for EnDat 2.2 Unit for Word Contents Linear Rotary/ Remark encoder angle encoder Status of additional data 1 – – – – Can be safety related. Cross checking of “what is required” and Status of additional data 2 –...
- Page 13 “100 011” 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 following “transmission supplement” can...
- Page 14 Support for the service technician on-site • Simple evaluation of encoder function reserves • Simplifi cation of trouble-shooting for The valuation numbers in EnDat 2.2 are provided in the additional data. repair • Generation of meaningful quality statistics On encoders with incremental signals, it is possible to use Lissajous fi...
- Page 15 • Oversampling, diagnostics reset Threshold sensitivity to temperature • EnDat 2.2 cyclic operation I/O, statuses of Specifi cation of a temperature threshold touch probes, referencing of incremental at which the encoder transmits a warning encoders can be switched off to the subsequent electronics.
- Page 16 Deleting the alarms and warnings (if set) Read out the “number of clock pulses for transfer of the position value. ” (Parameters of encoder manufacturer, word 13) Inquiry whether the encoder supports EnDat 2.2 commands. (Parameters of the encoder manufacturer, word 37)
- Page 17 Connection Technology Connecting elements Cables For the encoders with EnDat 2.2 interface Transmission frequencies up to 16 MHz in without incremental signals, 8-pin M12 combination with large cable lengths place connecting elements are used. M12 high technological demands on the cable.
- Page 18 Safety System Basic principle Field of application Function EnDat 2.2 supports the use of encoders Safety-related position measuring systems The safety strategy of the position in safety-related applications. The DIN EN from HEIDENHAIN are designed so that measuring system is based on two...
- Page 19 The EnDat 2.2 interface supports the Independent individual CIRCLE Reliable position value acquisition requires following individual safety-relevant generation for position values and that the subsequent electronics initiate functions: additional data these functions and evaluate the data Separate CIRCLE values are generated for correctly.
- Page 20 34 bits Incremental encoders Resolution Encoders with 1 V output signals over EIB Integrated 14-bit (External Interface Box) interpolation EnDat 2.1 available, EnDat 2.2 in planning. For more information • HEIDENHAIN encoder brochures • Description of the Master Component (www.mazet.de) •...
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