HEIDENHAIN PWM 20 - Manual (Page 222)

November 2014 Interface description 223
EnDat 2.2 (includes EnDat 2.1)
 Position values for incremental and absolute encoders
 Additional information on the position value
- Diagnosis and test values
- Absolute position values after referencing incremental encoders
- Send and receive parameters
- Commutation
- Acceleration
- Limit position signal
- Temperature of encoder board
- Temperature monitoring of an external temperature sensor (e.g. in motor coil)
EnDat 2.1
 Absolute position values
 Send and receive parameters
 Reset
 Test command and test values
Bold: Standard version
* = Ordering designation
Examples of
encoders LC / ROC / ECN / ROQ / EQN/ECI/EQI ...
Interface EnDat (serial, bidirectional)
Data transfer Absolute position values, parameters and additional information
Interface Version Clock
frequency Name on ID label * Voltage supply
EnDat 2.1 With incremental signals 2 MHz EnDat 01 See specifications
Without incremental signals 2 MHz EnDat 21 of the device
EnDat 2.2 With incremental signals 2 MHz EnDat 02 Extended range
Without incremental signals 16 MHz EnDat 22 3.6 to 5.25 V or 14 V
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Data input Differential line receiver according to EIA standard
RS 485 for the signals CLOCK, CLOCK, DATA and
DATA
Data output Differential line driver according to EIA standard
RS485 for DATA and DATA signals
Signal level Differential voltage output
> 1.7 V with 120
load *
(EIA standard RS 485)
* Terminating resistor and receiver input resistor
Code Pure binary code
LC traversing direction Rising code values with traverse to the right
(ID plate is on the left side!)
ROC direction of rotation Rising code values with CCW rotation
(view onto shaft)