Command 0x9000 - Read EnDat Word
Proceed as follows for the command 0x9000 "Read EnDat Word":
- 1. Write request
Enter the 5 byte header via the FB EnDat Command object, index 0xB0p8:01 "Request" as follows. (dependent on the number of channels with p = 0 for channel 1 and p = 1 for channel 2).
0: LOBYTE command
1: HIBYTE command
2: MRS code
3: Offset
4: Length in Words - 2. Read status 0xB0p8:02:
A valid response is present if this is 0x01. - 3. Read response:
(5 byte Header + 1 to 32 Word data)
0: Acknowledgement LOBYTE command
1: Acknowledgement HIBYTE command
2: Acknowledgement MRS code
3: Acknowledgement offset
4: Acknowledgement length in Words
5: LOBYTE Word 0
6: HIBYTE Word 0
....
5+(n*2) LOBYTE Word n
5+(n*2) HIBYTE Word n
CoE Entry / Example for command 0x9000
Example read encoder designation
Command read: 0x9000
MRS code: "Parameter of the encoder manufacturer for EnDat2.2": 0xBD
Offset Word 17: 0x11
Length: 0x04
- 1. Write request 0xB008:01: "00 90 BD 11 04"
- 2. Read status 0xB008:02: A valid response is present if this is 0x01.
- 3. Read Response
5 byte acknowledgement Header + 4 Word data
0x45 = ASCII "E"
0x43 = ASCII "C"
0x4E = ASCII "N"
0x20 = ASCII " "
0x31 = ASCII "1"
0x31 = ASCII "1"
0x32 = ASCII "2"
0x33 = ASCII "3"
- The encoder designation is "ECN 1123"