Hai Dehan: Data of EnDat interface coder collects design program

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Summary: EnDat interface is HEIDENHAIN synchronism of the digital form that designs for coder only, full duplex operation is serial data transmits an agreement, have transmission rate fast, function is powerful, even the line capability of simple, interference rejection is strong wait for an advantage, it is the general interface that data of feet of coder, grating transmits. The characteristic that the article elaborated EnDat interface, function, sequential and data are transmitted, OEM data storage, introduced coder data to collect follow-up circuit to design the plan, principle that is based on FPGA module design and principle at the same time. One, coder of very form of overview 　 　 uses natural binary system, loop binary system (Grey is piled up) or PRC is piled up to piling up dish of physics that go up reticle undertakes photoelectricity is changed, change the rotational horn magnanimity of join axis into corresponding electric pulse alignment measures output with the number. It has volume small, precision the advantage such as digitlization of tall, interface and absolutely fixed position, be applied extensively at a lot of domain such as machine tool of radar, revolving stage, robot, numerical control and high accuracy servo. The data output of very form coder is given priority to with synchronous and serial output, enDat interface is synchronism of the digital form that Haidehan designs for coder only, full duplex operation serial interface. It can transmit positional value for increment type and very form coder not only, also be transmitted quite at the same time or store newlier the information in coder, or save new information. Because used serial transmission means, require 4 line only so, below the clock drive of follow-up electron equipment, data information is transmitted by synchronism. Data type (positional value, parameter, diagnostic information) the mode statement that sends coder by follow-up electron equipment selects. 2, 　 of 　 of 　 of EnDat interface introduction 1.

The characteristic 　 　 of EnDat interface is high-powered low cost: General interface applies to all increment and very form coder, more economic electric energy is used up, small size and compact join means, fast system is configured, at 0 o'clock but according to slanting buy is worth float. Better signal quality: Coder interior is optimized particularly raised systematic precision, offer better outline precision for numerical control system. Better practical: Automatic system configures a function; Digital signal raised systematic dependability; Monitoring is helpful for systematic safety with diagnostic information; Busyness complementary desired result is helpful for reliable signal transmitting. Enhanced systematic security: Two independent position information and wrong message, the desired result of data and reach respondent. Apply to advanced technical development: (high resolution, short control is periodic, clock of the fastest 16M, safety design concept) apply to direct drive technology. Data of coder of interface of graph 1 EnDat collects principle graph 　 2.

EnDat2.

Of 2 coder function raise 　 　 to be able to transmit positional value and additional information at the same time: The type of additional information can pile up a choice through storing the address chooses. Coder data stores area includes coder manufacturer parameter, OEM manufacturer parameter, moving parameter, moving state, facilitating system realizes parameter configuration. EnDat2.

2 coder realized total number word to transmit, the processing of increment signal is finished in coder interior (inside buy 14Bit fractionize) , raised the quality that signal transmits and dependability, can implement higher resolution. Monitoring and diagnostic function, call the police the condition includes: Too low or too tall, electric current uses up mistake of computation of inadequacy of amplitude of illuminant invalidation, signal, position, moving voltage too big etc; Provide admonitory signal when a few limiting value of coder are close to or exceeding. Wider voltage range (3.

6~14V) with transmission rate (16M) . 3.

Sequential and 　 of 　 of OEM data storage pass bag of a data when be defeated to be sent in data of each frame synchronization, transmission loop drops from the first of clock the edge begins measured value to be saved, computational position is worth. In two clock pulse (2T) hind, follow-up electron equipment sends mode to dictate " coder transmission position is worth " (take or do not take additional information) . After computation gave absolutely position to be worth (Tcal---2 seeing a picture) , begin coder to transmit data to follow-up electron equipment from start bit, follow-up mistake F1 and F2 (consist in EnDat2.

In 2 instructions) it is group of group signal that serve for all monitoring functions and breakdown monitoring, their generate mutual independence, with the coder breakdown that will state the likelihood causes incorrect position information. The exact cause that causes trouble maintains presence " moving condition " memery block, can be inquired by follow-up electron equipment. From lowest begin, absolutely position value is transmitted, the length of data is decided by use coder type. In the parameter that the clock pulse number that transmission position value wants protects existence coder manufacturer. The position is worth the transmission of data to pile up an end with circulating to detect redundantly. Graph the 2 positions that do not have additional information are worth transmission position to if take additional information,be worth, after buy of back-to-back v/arc be on the throne is worth is additional information 1 with 2, they also end with a CRC each. The content of additional information is decided by the choice address of memery block, be transmitted in retrospective sampling cycle next. Transmit this information all the time in follow-up transmission, be chosen till new memery block. In the ending of data word, clock signal must buy tall n. 10us arrives 30us or 1.

25us arrives 3.

75us (EnDat2.

2 programmable restore time Tm) hind, data line returns low n, next, new data is transmitted can begin below new clock signal. Graph the 3 places that take accessory news are transmitted at the same time, coder offerred different memery block for parameter, they can be read to take by follow-up electron equipment, these area are OK by manufacturer of coder manufacturer, OEM final even user is written. A few specific area can be written to protect. The OEM memery block with the coder different support of different set and distinct address range. Accordingly, each coder must read those who take OEM memery block to distribute information. Be based on this reason, follow-up electron circuit should be based on opposite address process designing, and cannot use absolutely address. 3, the person that the circuit of equipment of electron of EnDat interface follow-up designs plan 　 　 to use is OK according to EnDat interface agreement and circuit circuit of interface of design of electric and characteristic proper motion undertakes data is collected with processing, at the same time Haidehan also offerred specific data processing chip to choose for the user. If user proper motion designs circuit, need to follow the electric character of EnDat interface, need to master the agreement of EnDat interface, assure to follow sequential requirement of the agreement and data frame pattern strictly. And if use the data processing chip that Haidehan supplies, can simplify design, the user needs to configure the register of FPGA only, according to chip acceptability statement form sends a statement, with respect to the data that can obtain need. Through abiding by one 485 of RS (the signal that need branch) of the standard send and receive component, below the synchronous clock drive that gives out in follow-up electron equipment, data (positional value and parameter) can two-way between coder and follow-up electron equipment transmit. 4, the partner MAZet company of Hai Dehan of grand 　 　 is aimed at FPGA+ software the software that the Acex of the Virtex of Xilinx company and Spartan series and Altera company and Cyclone series provided EnDat agreement grand, according to client demand, MAZet company still can be offerred custom-built soft nucleus. All this functions that soft nucleus realized EnDat interface, the user can be mixed through 6 addresses line 16 digit undertake 8 according to line and small controller or 16 number is defeated as it is said. The module graph that FPGA is below and circuit are designed. Graph of module of graph 4 FPGA pursues 5 coder and graph of module of follow-up circuit join 5, the EnDat interface of company of Hai Dehan of 　 of last word 　 already received wide application in a lot of industries, it is promoted brand-new height again now. Two-way EnDat 2.

The clock frequency of 2 interface already raised 16 MHz now, can contented direct drive the application that this kind of high dynamic performance asks, especially the application of electronic industry, clock frequency raises 16 MHz to will shorten greatly not only from 8 MHz read take positional information place to need time, still can shorten considerably the cycle of operating ring. At the same time the systematic design of simple, economy was offerred for the client convenient, powerful function and versatility and the safety design concept of the look up before having guide encode to control a technology to develop ahead ceaselessly. CNC Milling CNC Machining