Block

Mask

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.

Additional Information 1

Diagnosis: Cyclic information on encoder function and additional diagnostic values.
Position value 2:
- For incremental encoders: Relative position information (counter starts from zero at switch-on). The absolute position value is only available after the reference marks have been traversed (RM bit HIGH).
- For absolute encoders: Second absolute position value for safety-related applications. The current EnDat Slave will provide the position value as a redundant value for Position Value 2.
Memory parameters: Parameters saved in the encoder can also be transmitted along with the position values. The request is defined via memory range selection, followed by the output of the parameters with the associated address.
MRS code – Acknowledgment: Acknowledgment of the requested memory range selection.
Test values: Test values serve for inspection purposes, in service diagnostics, for example. *** Not supported ***
Temperature: Transmission of temperature in encoders with integrated evaluation of temperature sensors.
Additional sensors: The EnDat 2.2 protocol enables the connection of 16 additional sensors (with a 4-bit address). The sensor values increase by x+1 for each request. The associated sensor is identified by the address supplied.

Additional Information 2

Commutation: Incremental encoders provide "rough" position information for commutation in electric motors.
Acceleration: If the encoder has additional sensor systems for acceleration measurement, it can transmit the results.
Limit position signals: Limit position signals and homing information.
Asynchronous position value: Position formed by oversampling between two "regular" requests.
Operating status error sources: Detailed information about the cause of the present error message.

Note: Refer to D297403 - Bidirectional Synchronous-Serial Interface for Position Encoders specification from HEIDENHAIN for more details.

Outputs

MemAreaConfigOut	This port holds the value of downloadable OEM parameters of the encoder.
TX_DATA	Serial transmit data.
TX_DATA_EN	Enable serial data transmission.

Encoder Memory Configuration

Before issuing any EnDat commands, the memory must be configured. The memory in the encoder allows the end user, the OEM and the encoder manufacturer to store parameters and read them out. There are six different memory areas (see D297403 - Bidirectional Synchronous-Serial Interface for Position Encoders specification from HEIDENHAIN for more details).

Memory area for operating status
Memory area of the parameters of the encoder manufacturer
Memory area for operating parameters
Memory area for the parameters of the OEM
Memory area for compensation values of the encoder manufacturer
Memory area of the parameters of the encoder manufacturer for type 2.2 commands
Section 2 memory area for parameters of the OEM
Memory area for operating parameter 2

To download configuration parameters in the memory, the user must use the input port MemAreaConfigIn (33 bits) as command for writing/reading the memory.

Bit Position	Descriptions
32	Indicates that the current command is valid
31	1 => write, 0 => read
30:28	Unused
27:16	Address location of the memory
15:0	Data to be written in the specified memory location

Characteristics and Limitations

This block has no specific characteristics or limitations.

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