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EnDat 2.2 – Transmission of Position Values
Encoder saves position valueSubsequent electronics transmit mode command
Position value without additional information EnDat 2.2 can transmit position values with or without additional information.
Mode commandPosition valueCRC S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSBDiagram does not depict the propagation-delay compensation
Data packet with position value and additional information 1 and 2 Additional information 2 CommutationAcceleration
Limit position signals
Mode commandPosition valueCRCAdditional info 2CRCAdditional info 1CRC S = start, F1 = error 1, F2 = error 2, L = LSB, M = MSBDiagram does not depict the propagation-delay compensation
Additional information 1 Additional information With EnDat 2.2, one or two pieces of additional information can be appended
to the position value. Each additional information is 30 bits long with LOW as fi rst bit, and ends with a CRC check. The additional information supported by the respective encoder is saved in the encoder parameters.The content of the additional informationis determined by the MRS code and is transmitted in the next sampling cycle for additional information. This information is then transmitted with every sampling until a selection of a new memory area changes the content.The additional information always begins with:The additional information can contain the following data: Diagnosis
Position value 2
Memory parameters
MRS-code acknowledgment
Test values
Temperature
30 bitsAdditional information5 bitsCRCAcknowledgment of additional information8 bitsaddress or data8 bitsdata
Encoder saves position valueSubsequent electronics transmit mode command
Acknowledgment of additional information Status data Warning – WRN
Reference mark – RM
Parameter request – busy
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