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 Commutation Acceleration Limit position signals Operating status error sources

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 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 information is 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: Additional information 1

30 bitsAdditional information5 bitsCRCAcknowledgment of additional information8 bitsaddress or data8 bitsdata Encoder saves position valueSubsequent electronics transmit mode command

Diagnosis (valuation numbers) Position value 2 Memory parameters MRS-code acknowledgmentTest valuesEncoder temperature External industrial temperature sensors Sensor data Acknowledgment of additional information Status data Warning – WRN Reference mark – RM Parameter request – Busy

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