1 Block
2 Mask
3 Description
4 Parameters
- 4.1 Additional Datum 1
  - 4.1.1 Temperature Sensors Tab
  - 4.1.2 Additional Sensors Tab
- 4.2 Additional Datum 2
- 4.3 Others
5 Inputs
- 5.1 Optional Ports
- 5.2 Additional Information 1
- 5.3 Additional Information 2
6 Outputs
7 Encoder Memory Configuration
8 Characteristics and Limitations

Block

Mask

Description

The EnDat Slave interface is a digital, bidirectional interface for encoders emulation. It is capable of both transmitting position values as well as transmitting or updating information stored in the encoder, or saving new information.

The data is transmitted in synchronization with the clock signal from the subsequent electronics. The type of transmission (position values, parameters, additional data such as temperature sensor value, etc.) is selected by mode commands that the subsequent electronics send to the encoder.

Parameters

Additional Datum 1

Temperature Sensors Tab

Provide port for Temperature Sensor X (X = [1, 2])	This option, when enabled, adds a port so that the user can provide the Temperature value of the corresponding sensor X. See Optional Ports section for more detail.

Additional Sensors Tab

Provide port for Additional Sensor X (X = [1..16])	Creates a port so the user can provide the value of Additional Sensors that the encoder might have. See Optional Ports section for more details.

Additional Datum 2

See Optional Ports section for more detail.

Provide port for Commutation	When enabled, creates a port so users can provide the Commutation value.
Provide port for Acceleration	When enabled, creates a port so users can provide the Acceleration value.
Provide port for Limit Position Signal	When enabled, creates a port so users can provide the Limit Position Signal value.
Provide port for Asynchronous Position	When enabled, creates a port so users can provide the Asynchronous Position value.
Provide port for Time Stamp	When enabled, creates a port so users can provide the Time Stamp value.

Others

Provide port for Injecting CRC Error	This option, when enabled, adds a port so that the user can activate the CRC Error Injection.

Inputs

MemAreaConfigIn	This port is used to download OEM parameters of the encoder memory (emulated EEPROM) during initialization. Note that the memory must be filled prior to sending any EnDat Commands.
RX_DATA	Serial data port received from subsequent electronics.
RX_CLK	Serial clock port received from subsequent electronics.
TcalValue	Receives the calculation time of the encoding. The value represents the integer value of the Tcal time divided by 5 ns.
Taccesstime	Receives the access time of the encoder memory. The value represents the integer value of the Tcal time divided by 5 ns.
Position	Receives the Position of the encoder.

Optional Ports

The optional ports are used to emulate the transfer of additional data. One or two additional data can be appended to the position value, depending on the type of transmission (selection via MRS code).

These ports are available only when the corresponding Provide Port parameter is checked.

TempSensorX (X = [1..2])	Provides the temperature value.
AdditionalSensorX (X = [1..16])	Provides the additional sensor value.
Commutation	Provides the commutation value.
Acceleration	Provides the acceleration value.
LimitPositionSignal	Provides the limit position signal value.
AsyncPosition	Provides the asynchronous position value.
TimeStamp	Provides the timestamp value.

EnDat Slave