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Article   covers encoders with the following formats:


This article covers the differences when setting up an Endat 2.2 Encoder using the same X9 connector on the AKD:

1. Setup the AKD for FB3 - Endat 2.2 input in Workbench:

In October 2016, an inter-compatibility test was performed together with the company Heidenhain. In this event, the AKD was tested successfully with various types of Heidenhain Endat 2.2 encoders.

The devices tested can be found in this article.


Motor DH061M-13-1320 (link), trying to rule it with Servostar S346. In a documentation of motor it is said just Feedback: Sine Encoder. 

When configuring S346, I picked 4 Sine Enc EnDat as a in DriveGUI utilite. It worked fine for a rather long time.

But recently something happened and now S346 shows error F04.

How to Read the Raw Data of a Multi-turn Encoder when using the AKD Drive’s Primary Feedback X10

Parameter FB1.P allows the user to read the position of the primary feedback device connected to X10. The position can be read as counts or in custom units. This is the raw position read back from the device. When FB1.PUNIT = 0 the output format is 32:32, the upper 32 bits represent the multi-turns and the lower 32 bits represent the position of the feedback. 

An example of how to read the feedback data:

Endat and BiSS multi-turn encoders use a second encoder disc that is geared to the primary disc.  The multi-turn disc will turn one line for each revolution of the motor/encoder.  The muti-turn data will roll over at 2048 revs from absolute zero.  The full range between roll-overs is -2048 revs to zero to +2048 revs.  When the motor passes the roll-over point, the drive will continue counting the feedback position as normal.  But when the drive is

In order to support linear motors the following linear feedback devices have been tested with our drives:

We offer 2 absolute multiturn feedback options 1) Endat and 2) Biss. I believe that Biss is absolute for 13 bits (2^13 = 8192 turns) and Endat is absolute for 12 bits (2^12 = 4096).

Please confirm and provide any documentation that states this information. This is a typical question customers ask.

Valid for S300, S400, S600, S700

Valid for S300, S400, S600, S700

An Endat 2.2 encoder is not necessarily high resolution when used as a data-only device.  We use two very different Endat 2.2 devices.  The ECN113 is Endat 2.2/01, which is Endat 2.1 equivalent and uses sine/cosine analog signals and a data channel.  The ECN125 is Endat 2.2/22, which only has a data channel (no analog signals).