B&R Industries X20 System, User Manual

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X20 system modules • Digital signal processing modules • X20DS1928
X20 system User's Manual 3.10 1447
4.16.5.10.11 EnDat on Flatstream
EnDat is a synchronous interface capable of half-duplex communication. A variety of safety measures are taken
to ensure error-free signal transfer.
•
An automatically generated checksum is sent together with a signal and evaluated by the recipient.
•
The command which the encoder is responding to is repeated at the start of a response.
In Flatstream mode, the module acts as a bridge between the CPU and the EnDat slave. EnDat-specific algorithms
were implemented to monitor timeouts and handle checksums. During normal operation, the user does not have
access to these details.
More detailed information can be found in the documentation "Technical Information - EnDat 2.2" and the encoder's
manufacturer data.
4.16.5.10.11.1 Overview of conventional EnDat commands for the Flatstream mode
Command
byte [hex]
Command EnDat 2.2 only
0x00 Reset
0x01 Acknowledge error
0x04 Read parameter
0x05 Write parameter
0x06 Read parameter from memory block ●
0x07 Write parameter in memory block ●
0x08 Read word 1 from additional information ●
0x09 Read word 2 from additional information ●
0x0A Read word 3 from additional information ●
0x0B Read word 4 from additional information ●
4.16.5.10.11.2 Reset (0x00)
Master command
Protocol bytes
No. Name
Information
Master
1 0x00 Command (Reset)
Slave
Slave response
Protocol bytes
No. Name
Information
Slave
1 0x00 Repetition (safety)
Master
4.16.5.10.11.3 Acknowledge error (0x01)
Master command
Protocol bytes
No. Name
Information
Master
1 0x01 Command (acknowledge error)
Slave
Slave response
Protocol bytes
No. Name
Information
Slave
1 0x01 Repetition (safety)
Master