EnDat communication protocol
Encoders use a variety of communication protocols, such as EnDat, BiSS, HIPERFACE, and Tamagawa. Although there are differences, the encoder communication protocol has similarities in terms of implementation. The interfaces to these protocols are serial bidirectional pipes that comply with RS-422 or RS-485 electrical specifications. Although the hardware layers have the same, the software required to run each protocol is unique. Both the communication stack and the required application code are protocol specific. This article mainly describes the hardware and software implementation of the host side of the EnDat2.2 interface.
Delayed influence
There are two types of delays: the first is the transmission delay of the cable, and the second is the propagation delay of the transceiver. Cable delay is determined by the speed of light and the dielectric constant of the cable, typically 6 ns/m to 10 ns/m. When the total delay exceeds half a clock cycle, communication between the master and the slave will fail. In this regard, the designer has the following options:
Reduce data rate
Reduce propagation delay
Provide delay compensation on the host side
Option 3 compensates for both cable delay and transceiver delay, so it is an effective way to ensure that the system can run over long cables at high clock rates. The disadvantage is that delay compensation increases the complexity of the system. In systems where delay compensation is not feasible, or in systems with short cables, the use of transceivers with short propagation delays has significant advantages. Low propagation delays allow for higher clock rates and eliminate the need to introduce delay compensation into the system.
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