The EnDat interface is a digital, bidirectional interface for encoders. It is capable both of transmitting position values as well as transmitting or updating information stored in the encoder, or of saving new information. Thanks to the serial transmission method, only four signal lines are required. The data is transmitted in synchronism with the clock signal from the subsequent electronics. The type of transmission (position values, parameters,diagnostics, etc.) is selected through mode commands that the subsequent electronics send to the encoder. Some functions are available only with EnDat 2.2 mode commands.

History and compatibility: The EnDat 2.1 interface available since the mid-90s has since been upgraded to the EnDat 2.2 version (recommended for new applications). EnDat 2.2 is compatible in its communication, command set and time.conditions with version 2.1, but also offers significant advantages. It makes it possible, for example, to transfer additional data (e.g. sensor values, diagnostics, etc.) with the position value without sending a separate request for it. This permits support of additional encoder types (e.g.with battery buffer, incremental encoders, etc.). The interface protocol was expanded and the time conditions (clock frequency,processing time, recovery time) were optimized.

Supported encoder types:The following encoder types are currently supported by the EnDat 2.2 interface (this information can be read out from the encoder’s memory area):

• Incremental linear encoder *• Absolute linear encoder • Rotational incremental singleturn encoder • Rotational absolute singleturn encoder • Multiturn rotary encoder with battery

buffer In some cases, parameters must be interpreted differently for the various encoder models (see EnDat Specifications) or EnDat additional data must be processed (e.g. incremental or batterybuffered encoders).

Interface	EnDat serial bidirectional
Data transfer	Position values, parameters and additional data
Data input	Differential line receiver according to EIA standard RS 485 for the signals CLOCK, CLOCK^Inverted, DATA and DATA^Inverted
Data output	Differential line driver according to EIA standard RS 485 for DATA and DATA^Inverted signals
Position values	Ascending during traverse in direction of arrow (see dimensions of the encoders)
Incremental signals	Depends on encoder ~ 1 V^PP, TTL, HTL (see the respective Incremental signals)

Order designationsThe order designations define the central specifications and giv e information about: • Typical power supply range • Command set • Availability of incremental signals • Maximum clock frequency The second character of the order designation identifies the interface generation. For encoders of the current generation the order designation can be read out from the encoder memory.

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