Beckhoff EL5032, Документация

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Basics of EnDat 2.2 technology
EL5032, EL5032-0090 31 Version: 2.4
Fig. 21: Illustration of instruction set for EnDat 2.2 and 2.1**
4.4 Functional description
The EnDat interface transmits position values or physical additional variables in a temporally unambiguous
order and is used for reading from, and writing to the internal memory of the measuring device.
Position values
These can be transmitted with or without additional information. The additional information itself is selectable
via the MRS code (Memory Range Select). Together with the position value, other functions can be called
after preceding memory range selection, for sample Read and write parameters. Due to the simultaneous
transmission with the position value, additional information can also be queried from axes in the control loop
and these axes can also execute functions.
Read and write parameters
Read and write parameters is possible both as a separate function and also in conjunction with the position
value. Parameters can be read or written after selection of the memory range.
Reset functions
The reset functions serve to reset the measuring device in case of a malfunction. A reset is possible in place
of or during the transmission of the position value.
Extended diagnostics from FW15
From FW15 the EL5032 offers extended diagnostics for the EnDat error message with multi-turn ro-
tary encoders with battery buffer. The battery operating state error sources are not automatically re-
set; special error handling may be necessary here.
Special error handling with multi-turn rotary encoders with battery buffer
The absolute position value loses its validity if the battery of a battery-buffered multi-turn rotary encoder is
replaced. EnDat 2.2 allows the readout and intermediate storage of the error and warning messages. After
replacement of the battery, the objects
0x9008:23 [
}
103] "Position error supported" and 0x9008:34 [
}
103]
"Battery warning supported" in the EL5032 are set to TRUE. This activates the diagnostic messages
0xA008:01 [
}
105] "Warning", 0xA008:02 [
}
105] "Error" 1, 0xA008:23 [
}
105] "Position error" and 0xA008:23
[
}
105] "Battery warning".