EnDat 2.

2
Implementation Guide

English (en)
09/2021
 Contents

Contents

1 Fundamentals....................................................................................................................................3

1.1 About these instructions.......................................................................................................................3

1.2 Implementation in four stages............................................................................................................. 3

1.3 Various documents available as an aid............................................................................................... 3

1.4 Notes on reading the documentation................................................................................................. 4

2 Association of documentation and implementation stages........................................................6

2.1 Documentation on the development of the hardware...................................................................... 6

2.1.1 Stage 1: physical layer, digital design, timing / "bits and bytes"................................................ 6

2.2 Documentation on the development of the software....................................................................... 6

2.2.1 Stage 2: Communication on the basis of mode commands..................................................... 6
2.2.2 Stage 3: Implementation of complex processes, such as a memory access............................7
2.2.3 Stage 4: Integration of EnDat 2.2 communication into the controller structure........................ 7

2.3 Documentation on the implementation in functionally safe applications.......................................7

2.4 EnDat Application Notes....................................................................................................................... 8

2.5 FAQ...........................................................................................................................................................9

3 Aids for the implementation of hardware and software........................................................... 10

3.1 EnDat 2.2 Master..................................................................................................................................10

3.1.1 Overview.................................................................................................................................. 10
3.1.2 Versions from HEIDENHAIN....................................................................................................10

3.2 Example programs............................................................................................................................... 11

3.3 PWM 21 and EnDat 2.2 Demotool software..................................................................................... 12

3.4 The PWM 21 and ATS software......................................................................................................... 13

3.5 EnDat 2.2 error injector....................................................................................................................... 13

4 Overview of encoder characteristics............................................................................................ 14

5 References....................................................................................................................................... 15

2 HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021

Fundamentals | About these instructions 1

1 Fundamentals

1.1 About these instructions

These instructions are a guide for the implementation of the EnDat 2.2 interface. The implementation
guide provides an overview of which documents, document contents, devices, and software can be
used as an aid during the respective implementation stages.

For further information, please refer to: www.endat.de ► EnDat 2.1 and 2.2

For individual advice on optimal implementation of the EnDat 2.2 interface, please consult
with your HEIDENHAIN contact person.

1.2 Implementation in four stages

The EnDat 2.2 interface is implemented in four stages:
Stage 1: Implementation of the physical layer: digital design, timing / “bits and bytes,” etc.
Stage 2: Communication on the basis of mode commands
Stage 3: Implementation of complex processes, such as a memory access
Stage 4: Integration of EnDat 2.2 communication into the controller structure, taking the various
encoder profiles into account (absolute, incremental, linear, rotatory, etc.)

1.3 Various documents available as an aid

HEIDENHAIN provides a variety of aids and documents for the individual implementation stages.

For the implementation of Stage 1, HEIDENHAIN recommends that you use one of the
available EnDat Masters.
Further information: "EnDat 2.2 Master", Page 10

For individual advice on optimal implementation of the EnDat interface, please consult with
your HEIDENHAIN contact person.

HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021 3

1 Fundamentals | Notes on reading the documentation

1.4 Notes on reading the documentation

Pertinent documentation
The table below lists the various parts of the documentation in their order of reading priority.

Documentation Description
EnDat 2.2 Technical Information This Technical Information document provides an overview
of the interface. It is not an interface specification.
EnDat 2.2 Implementation Guide The Implementation Guide provides an overview of which
documents and document content are intended for which
readers, and which aids are available for implementation.
EnDat 2.2 Interface Specification The Interface Specification contains detailed and complete
information regarding the physical interface, timing, and
transmitted data contents. This information is required for
implementation of the EnDat 2.2 interface.
EnDat 2.2 Master Instructions The Master Instructions describe the EnDat 2.2 Master
provided by HEIDENHAIN.
EnDat 2.2 Application Notes The Application Notes describe the functionalities, process-
es, mechanisms, encoder functions, and other topics from
the perspective of the application.
Electrical safety and electromagnetic Information about electrical safety and electromagnetic
compatibility compatibility can be found in the corresponding section of
the “Interfaces of HEIDENHAIN Encoders” brochure.
The documentation for the respective encoder must be
observed as well.
EnDat Seminar The EnDat Seminar provides detailed information surround-
ing the various aspects of the EnDat 2.2 interface, such
as the EnDat 2.2 interface specification, information on
cables and connecting elements, information about the
EnDat Master, practical exercises for communicating with
EnDat encoders via mode commands, and information on
online diagnostics, datum shift, etc.
Functional safety Documents for the implementation of functional safety
with the EnDat 2.2 interface:
Catalog of measures, requirements for position value
comparison, supplementary catalog of measures for SIL 3,
use of a non-functionally-safe EnDat 2.2 Master, etc.

4 HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021

Fundamentals | Notes on reading the documentation 1

Further information on the pertinent documentation

For further information, please refer to: www.endat.de ► EnDat 2.1 and 2.2
To request the EnDat 2.2 documentation package, please use the contact form at
www.endat.de
The EnDat 2.2 Master Instructions are part of the items supplied with the corresponding
EnDat Master.

If you have any questions, please contact your HEIDENHAIN contact person.

Would you like to see any changes, or have you found any errors?
We are continuously striving to improve our documentation for you. Please help us by sending your
requests to the following e-mail address:
[email protected]

HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021 5

2 Association of documentation and implementation stages | Documentation on the development of the
hardware

2 Association of documentation and implementation stages

This chapter shows which documents can be used as an aid during the respective implementation
stages of EnDat 2.2.

2.1 Documentation on the development of the hardware

Development of the hardware corresponds to Stage 1 of the implementation.

2.1.1 Stage 1: physical layer, digital design, timing / "bits and bytes"
Physical layer
The following aids can be used for the implementation of the physical layer:
EnDat 2.2 Interface Specification
Chapter "Electrical safety" in "Interfaces of HEIDENHAIN Encoders"
Chapter "Electromagnetic compatibility" in "Interfaces of HEIDENHAIN Encoders"

Digital design
The following aids can be used for the implementation of the digital design:
EnDat 2.2 Interface Specification

Timing / "bits and bytes"

All of the information on the timing and "bits and bytes" that is required for the implementation of the
EnDat 2.2 interface is provided in the following document:
EnDat 2.2 Interface Specification

For the implementation of Stage 1, HEIDENHAIN recommends that you use one of the
solutions described in the chapter "EnDat 2.2 Master".
Further information: "EnDat 2.2 Master", Page 10
Using one of these solutions reduces the time to market and ensures error-free
communication.
It also minimizes the effort needed for testing.

2.2 Documentation on the development of the software

Software development corresponds to Stages 2 through 4 of the implementation.
You can use the following aids for the implementation of Stages 2 through 4:
EnDat 2.2 Master Manual
EnDat 2.2 Interface Specification
EnDat 2.2 Application Notes
PWM 21 with the EnDat Demotool software
Sample programs

2.2.1 Stage 2: Communication on the basis of mode commands

Communication between the control and the EnDat encoder is based on the mode commands.
In Stage 2 of the implementation, the mode commands are used in order to establish basic
communication with the encoder.
HEIDENHAIN offers the Demotool software, which makes it possible to send individual mode
commands to the encoder. The customer can very simply add a “low-level” application software to
test the mode commands together with the EnDat 2.2 Master Softmacro. Communication is based on
simple register accesses.

6 HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021

Association of documentation and implementation stages | Documentation on the development of the 2
software

2.2.2 Stage 3: Implementation of complex processes, such as a memory access

Stage 3 of the implementation requires processes that encompass the sending of multiple mode
commands. With these processes, more complex tasks, such as a memory access, are handled.

Further information: "EnDat Application Notes", Page 8 and "Example programs",

Page 11

2.2.3 Stage 4: Integration of EnDat 2.2 communication into the controller structure
In Stage 4 of the implementation, the processes must be integrated into the controller structure, taking
the various encoder profiles into consideration (absolute, incremental, linear, rotatory, etc.).

Further information: "EnDat Application Notes", Page 8 and "Example programs",

Page 11

2.3 Documentation on the implementation in functionally safe

applications

For functionally safe applications, additional documents must be taken into consideration.
Further information: "Notes on reading the documentation", Page 4

Regarding the EnDat 2.2 Master, in functionally safe applications, both the EnDat 2.2 Master
Safe and the non-functionally safe versions can be used, of which the EnDat 2.2 Master
Basic is specifically designed for this.

For further information, please refer to: www.endat.de ► EnDat 2.1 and 2.2

HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021 7

2 Association of documentation and implementation stages | EnDat Application Notes

2.4 EnDat Application Notes

The EnDat Application Notes describe the functionalities, processes, mechanisms, encoder functions,
and other topics from the perspective of the application, also refer to the Chapter "How to get started."
In addition to the information from the EnDat 2.2 interface specification, the implementation process is
supported this way:

Implementation steps EnDat Application Notes Required actions / customer

specifications

Read-out and cycle times Calculation of readout time and Definition of the configuration
cycle time for the EnDat Master, e.g., clock
frequency (with regard to the
required cycle time), ...

Basic communication

Power-up "Sequences and data structures"

Reading out parameters "Position data formats"

Cyclic reading of position "Implementation examples, Implementation of the basic

specifically the section on basic communication (based on EnDat
communication with purely serial 2.1 mode commands) for the
absolute linear, singleturn and gear- typical encoders
based multiturn encoders from
HEIDENHAIN"

Evaluation of 1 VPP "EnDat01 encoders" Evaluation of 1 VPP required?

Monitoring functions "EnDat monitoring functions" Which monitoring functions are

to be implemented?

Advanced functions

OEM memory "OEM memory area" Which miscellaneous functions

are to be supported?
Datum shift "EnDat datum shift"

Temperature "Temperature sensor models"

Diagnostics "Online diagnostics"

Memory access in the "Sequences and data structures"

closed control loop

Mounting parameters "Mounting parameters"

Further encoder profiles

Battery buffered multiturn "Rotary encoders with battery- Which other encoder profiles are
buffered revolution counter" to be supported?

Incremental encoders "Incremental encoders"

Strain sensors "Strain sensors"

KCI 419 Dplus "KCI 419 Dplus"

8 HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021

Association of documentation and implementation stages | FAQ 2

Implementation steps EnDat Application Notes Required actions / customer

specifications

Functional safety Leading documents are the Catalog Supported yes/no?

of Measures D533095 and Applica- Which EnDat Master is to be
tion Note D1128897, depending on used?
which type of EnDat Master is to
Implementation based on
be used.
Master safe/non-safe decision

2.5 FAQ
The Frequently Asked Questions (FAQ) are a collection of frequently asked questions and their
answers regarding specific topics. FAQ can also be used as an aid for the implementation of the EnDat
2.2 interface, if needed.
HEIDENHAIN provides a comprehensive list of frequently asked questions in connection with the
implementation of the EnDat 2.2 interface at www.endat.de.

The FAQ can be found at www.endat.de ► EnDat 2.1 and 2.2

HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021 9

3 Aids for the implementation of hardware and software | EnDat 2.2 Master

3 Aids for the implementation of hardware and software

3.1 EnDat 2.2 Master

3.1.1 Overview
The EnDat 2.2 Master controls communication with the EnDat 2.2 encoders from HEIDENHAIN. This
makes it easy to transfer the information transmitted via the EnDat 2.2 interface to the higher-level
application. The EnDat 2.2 Master can be integrated via either a microcontroller (µC) or an FPGA (Field
Programmable Gate Array) or ASIC.
The solutions with a µC are used when the desired clock frequencies are relatively low. For integration
into a µC, HEIDENHAIN offers a sample code for the implementation of the EnDat mode commands.
There are also µC-based solutions with an integrated EnDat 2.2 Master (e.g., from Texas Instruments,
Renesas Electronics, or Hilscher).
Integration into an FPGA or ASIC is usually opted for when high transmission frequencies are desired
with purely serial data transmission. Different versions are available for integration into an FPGA or
ASIC.

3.1.2 Versions from HEIDENHAIN

EnDat 2.2 Master Basic
For implementation of the EnDat 2.2 interface into the subsequent electronics, an FPGA or ASIC is
sufficient as a master. This is due to the purely serial data transmission. To facilitate integration of the
EnDat 2.2 Master into the subsequent electronics, HEIDENHAIN has developed an EnDat 2.2 Master
Softmacro (EnDat 2.2 Master Basic) that exhibits the following key characteristics:
Encapsulated, HEIDENHAIN-tested code block
The implementation of the code block is secured through test vectors
Designed for a short time to market
All EnDat 2.2 encoders from HEIDENHAIN are supported

EnDat 2.2 Master Reduced

Only the pure EnDat functionality (EnDat protocol machine) is integrated
All EnDat encoders from HEIDENHAIN are supported
Time to market: unfavorable in comparison with EnDat 2.2 Master Basic, because more extensive
testing is required
There is no further support regarding the convenient handling of the code, nor is there a micro-
controller interface
Due to the limited functionality, the code size is smaller compared with that of the EnDat 2.2 Master
Basic
The code was tested only in an example application
Concise documentation is available

EnDat 2.2 Master Mini

Specially designed for the FPGA Lattice MachXO2-1200 in order to take advantage of the special
features of this FPGA
Based on the EnDat 2.2 Master Reduced with an additional register interface and SPI interface
Time-to-market: optimal, since, in the simplest case, the programming file provided with shipment is
used

10 HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021

Aids for the implementation of hardware and software | EnDat 2.2 Master 3

EnDat 2.2 Master Light

VHDL example code, which covers only a part of the EnDat 2.2 functionality
Only absolute EnDat 2.2 encoders are supported; no incremental encoders or encoders with battery
buffer backup are supported
Time to market: unfavorable in comparison with EnDat 2.2 Master Basic, because more extensive
testing is required
In purely serial operation, only the position is transferred without any EnDat 2.2 additional data. Thus,
only a part of the functionality of the EnDat 2.2 interface is modelled
There is no further support regarding the convenient handling of the code, nor is there a micro-
controller interface
The code size is considerably smaller than of the Basic and Reduced variants
The code was tested only in an example application
Concise documentation is available (in English only)

For further information, please refer to: www.endat.de ► EnDat 2.1 and 2.2

3.2 Example programs

EnDat 2.2 Master
For the EnDat 2.2 Master Basic and EnDat 2.2 Master Safe from HEIDENHAIN, example programs for
driving the master are included in delivery.

EnDat 2.2 Master based on a µC

For integration into a µC, HEIDENHAIN offers an example code for the implementation of the EnDat 2.1
mode commands.
Examples for the implementation of the EnDat 2.2 communication are additionally available, as well as
an example for demonstration of fundamental processes of functional safety.

EIB 700
The EIB 700 series are external signal converters for precise position measurement, especially for
inspection stations and multipoint inspection apparatuses, as well as for mobile data acquisition, such
as during machine calibration. For the sake of processing measured values on a PC, the items supplied
include driver software for Windows, Linux and LabVIEW, as well as example programs and the EIB
application software. The driver software enables customers to easily program their own applications.
For the EIB 700, an example program is available that demonstrates how various EnDat 2.2 features can
be implemented from the perspective of the subsequent electronics.

EnDat 2.2 Application Note

The EnDat 2.2 Application Note contains implementation examples that show how communication with
the encoder is established and how certain features are implemented.

HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021 11

3 Aids for the implementation of hardware and software | PWM 21 and EnDat 2.2 Demotool software

3.3 PWM 21 and EnDat 2.2 Demotool software

The communication between the encoder and the subsequent electronics via the EnDat 2.2 interface is
based on mode commands sent to the encoder by the subsequent electronics. The mode commands
determine the specific data content to be transmitted, such as the position value, parameters,
diagnostics, etc.
The EnDat 2.2 Demotool software can run on the PWM 21 and enables easy communication with the
encoder based on the mode commands:
Display of the values returned by the encoder (position data and additional data)
Entry of the parameters to be transmitted to the encoder for each mode command
Display of communication error conditions
Adjustment of the transmission frequency
The communication is recorded on a log page for later analysis
EnDat 2.1 and EnDat 2.2 mode commands are supported
These features support the design process in the following manner:
In the first step, communication can be tested with mode commands outside of the control loop
Provides a reference when integrating the EnDat 2.2 Master into the control loop
Servicing of encoders by means of the ATS software and the PWM 21

For further information, please visit: www.heidenhain.com

Downloads ► Software ► Category PC Software

Figure 1: PWM 21 with the EnDat 2.2 Demotool software

12 HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021

Aids for the implementation of hardware and software | The PWM 21 and ATS software 3

3.4 The PWM 21 and ATS software

HEIDENHAIN encoders provide all of the information needed for commissioning, monitoring, and
diagnostics.
For analysis of its encoders, HEIDENHAIN offers the PWM inspection devices and the PWT testing
devices. The PWM inspection devices are universally deployable, feature low measuring tolerances,
and can be calibrated. In conjunction with the ATS software, the PWM 21 enables an analysis of
an EnDat 2.2 encoder in the event of servicing.

Figure 2: The PWM 21 and ATS software

For further information, please visit: www.heidenhain.com

Downloads ► Software ► Category Inspection and Testing Equipment

3.5 EnDat 2.2 error injector

For manipulating the EnDat 2.2 communication during continuous operation (error injector),
HEIDENHAIN offers a solution based on the PWM 21.

If you require more information on the error injector, please consult with your HEIDENHAIN
contact person.

HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021 13

4 Overview of encoder characteristics |

4 Overview of encoder characteristics

The extensive HEIDENHAIN product portfolio of linear encoders, angle encoders, and rotary encoders
covers applications in the fields of machine tools, the electronics industry, and automation technology.
The requirements arising within these applications and industries are reflected by the different
characteristics of the various encoder types. These characteristics are modelled by the EnDat 2.2
interface and are reflected in the memory contents or functions of the encoder.

For further information, please refer to: www.endat.de ► EnDat 2.1 and 2.2

14 HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021

References | 5

5 References
References
Title Document no.
EnDat 2.2 Interface Specification 297403-xx
EnDat 2.2 Application Notes 722024-xx
EnDat 2.2 Application Conditions for Functional Safety 533095-xx
Safety with EnDat 2.2 and Non-Safe EnDat Master 1128897-xx

HEIDENHAIN | EnDat 2.2 Implementation Guide | 09/2021 15

DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 5
83301 Traunreut, Germany
 +49 8669 31-0
 +49 8669 32-5061
E-mail: [email protected]
Technical support  +49 8669 32-1000
Measuring systems  +49 8669 31-3104
E-mail: [email protected]
NC support  +49 8669 31-3101
E-mail: [email protected]
NC programming  +49 8669 31-3103
E-mail: [email protected]
PLC programming  +49 8669 31-3102
E-mail: [email protected]
APP programming  +49 8669 31-3106
E-mail: [email protected]
www.heidenhain.de

Original document
1302637 · 01 · A · 02 · 09/2021 · PDF
*I1302637*