HEIDENHAIN PWM 20 - Manual (Page 230)

November 2014 Interface description 231
EnDat 2.1 –
Transmission of
position values EnDat 2.1 can transmit position values with interrupted clock pulse (as in EnDat 2.2) or
continuous clock pulse.
Interrupted clock
The interrupted clock is intended particularly for time-clocked systems such as closed control
loops. At the end of the data word the clock signal is set to HIGH level. After 10 to 30 µs (tm),
the data line falls back to LOW. Then a new data transmission can begin by starting the clock.
The additional information
always begins with The additional information can contain the following data
Status data
Warning - WRN
Reference mark - RM
Parameter request - Busy
Acknowledgment of
additional information Additional information 1
Diagnosis (valuation
numbers)
Position value 2
Memory parameters
MRS-code acknowledgment
Test values
Encoder temperature
External temperature
sensors
Sensor data Additional information 2
Commutation
Acceleration
Limit position signals
Operating status error
sources
Encoder saves
Position value
Subsequent electronics
sends Mode command
Mode command
Cyclic redundancy
check
Position value
Interrupted clock