Configuration data

Index 80p0 FB Settings (dependent on the number of channels for Ch.1, p = 0; Ch.2, p = 1)

Index (hex)	Name	Meaning	Data type	Flags	Default
80p0:0	FB Settings	Max. subindex	UINT8	RO	> 17 <
80p0:01	Invert feedback direction	TRUE: Negates the 64-bit position value	BOOLEAN	RW	FALSE
80p0:11	Device type	02: EnDat	UINT32	RW	0x00000002 (2_dec)

Index 80p8 FB EnDat settings (dependent on the number of channels for Ch.1, p = 0; Ch.2, p = 1)

Index (hex)	Name	Meaning	Data type	Flags	Default
80p8:0	FB EnDat settings	Max. subindex	UINT8	RO	> 24 <
80p8:01	Invert feedback direction	TRUE: Negates the 64-bit position value	BOOLEAN	RW	FALSE
80p8:12	Offset value	Value that will be added to the EnDat position value	INT64	RW	00 00 00 00 00 00 00 00
80p8:13	Supply voltage	Encoder supply voltage: 50: 5.0 V 90: 9.0 V (see note below)	UINT8	RW	5.0 V (50)
80p8:15^*)	Velocity numerator	Velocity numerator value Velocity scaling	UINT32	RW	0x00000064 (100_dec)
80p8:16^*)	Velocity denominator	Velocity denominator value Velocity scaling	UINT32	RW	0x00000001 (1_dec)
80p8:17^*)	Velocity window	Minimum time over which the velocity is determined. Default value: 10 ms [resolution 1 µs]. Multiples of the cycle time are rounded up to the next larger value	UINT32	RW	0x00002710 (10000_dec)
80p8:18^*)	Velocity filter	0: None 1: IIR1 2: IIR2 3: IIR3 4: IIR4 5: IIR5 6: IIR6 7: IIR7 8: IIR8
^*)EL5032: from Firmware 16, Revision 28 / EL5032-0090 from Revision 17

	Reading or writing values of the EndDat encoder If the configuration and information data access specific memory areas of the Endat encoder, make sure that the encoder is connected and supplied with voltage to read or write to these memory areas. If no communication can be established with the EnDat encoder, an error message "Data cannot be transferred or stored to the application" is displayed.

	Setting the encoder supply voltage To write 0x8008:13 "Supply Voltage", the value 0x72657375 (ASCII:"user") must be set in 0xF008 "Code word". Specification in 0.1 V. Only the values 50 (5.0 V) and 90 (9.0 V) are permissible. This setting applies to both channels; therefore, before switching to 9.0 V, it must be ensured that both EnDat encoders support the extended voltage range! The setting is only adopted in the "INIT" state. The encoder supply voltage is set for both channels in object 0x80p8!