New Resources, RIDs at the ENS35 / ENM35

Resources are needed for the acyclic communication. This kind of communication is for non safe service data like:

• Additional sensor values (encoder temperature, motor temperature, sHub data, LED current, ...)
• Data field management
• Error Log
• Histogramm
• electronic data sheet
• ...

A Long message is requesting a specific resource, to get specific data or to control the encoder.

The RID 0D5h is also existing in the EDS35 / EDM35 (default: off). At the ENS35 / ENM35, the default setting is "on".

With the error log filter, it is possible to filter less important error messages. The errors are still displayed via "Short Message", but there will be no entry in the error log. The sense is, that important error messages will not deleted by less important long message communication errors.

If the error filter is enabled all errors except encoder status 44 and 47 are stored in the error log, when it is disabled, all errors are stored in the error log.

• Error register 44: Long Message communication errors
• Error Register 47: User defined warnings

How to change the error log filter:

• value: 0x0000, disable error log filter
• value: 0x0050, enable error log filter (default)

Access information:

• data size: 2
• read access level: 0
• write access level: 4

With the RID 102h, we have the possibility to change the counting direction of the encoder. The default counting direction is cw (if you look to the shaft, the position value is counting upwards while turning cw) -> like at all other Hiperface DSL encoders.

The counting direction is changed by inverting all position bit. This leads to a position jump. Thus it is necessary to do a encoder reset after changing the counting direction. Due to the fact, that this RID has an influence to the encoder's position value, the access level must be "4".

How to change the counting direction:

• value: 0x0000, cw, (default setting)
• value: 0x000F, ccw

Access information:

• data size: 2
• read access level: 0
• write access level: 4

Have a look to the video below, how the RID 102 is used: Video Link

Only for Safety

Basically there are existing 2 RIDs for the encoder index.

• RID 109 -> used by the EKx36, EFx50, EEx37 and also EDx35
• RID 111 -> only used by the EDx35 -> this index also supports the Index in the "Safe Position 2" (LSB)

The ENS35 / ENM35 supports the RID 109h.

At the moment, the ENS35 / ENM35 is only available as a standard version (no safety). Due to the fact, that thees RIDs are only used in safety applications, it is not 100% defined, how the RID will behave. But it is planed to do it like this:

The ENS35 / ENM35 does not have the possibility to display the index in the LSB of the Safe Position 2, because the resolution of the Safe Position 2 is the same as the Safe Position 1 (du to a double sensing unit and double evaluation -> max 24 bit single turn). It is also planed, in the future, to have a safe multi turn (12 bit). Thus the size of the position value (also the Safe Position 2) is 36 bit. The maximum available position bits, in the Hiperface DSL protocol is 40 bit. Thus there are 4 MSB left, to send the encoder index (the unused MSB of the Safe Position 2).

With the resource / RID: 104h "SETACCES", it is possible to set a higher access level in the encoder.

The customer access levels are:

• access level 0: access code: no code
• access level 1: access code: 1111
• access level 2: access code: 2222
• access level 3: access code: 3333
• access level 4: access code: 4444

But there are also higher access levels available. To enter these access levels, the RID 112h is needed.

Due to the fact, that it is about internal access levels, the RID is visible, but not described.

At the ENS35 / ENM35 "optimized" (the version without ball bearing) it is necessary to to a calibration after mounting the encoder into the motor.

The "Calibration" synchronizes the SIN/COS track with the absolute track on the code disc, to get more reliability.

It is also possible to do a linearization to get a better linearity of the encoder.

The RID is described in the FAQ: "The calibration of the ENS35 / ENM35: KA-10626"

This reource indicates, if special features are available.

The only feature, which is at the moment existing, is the "time overrun" of RIDs.

The ENS35 / ENM35 also has this feature and reports this with a "1" in Bit 0.

Access information:

• data size: 2
• read access level: 0
• write access level: 15

The Bootloader resource is to update a Hiperface DSL encoder via the Hiperface DSL protocol.

So far, this resource was only used internally. But because of the "cyber resilience act" we will describe this RID, to have the possibility for updates via a drive.

Basically the RID is used, to bring the Hiperface DSL encoder into the "Bootloader Mode).

Then the existing RIDs (000h .. 0FFh) are used to write the new firmware to the encoder (the firmware is provided as a text file)

Then the encoder needs a command to exit the bootloader mode.

More information will follow.

Access information:

• data size: 8
• read access level: 4
• write access level: 4

If the functionality "data backup for customer data" is activated, the encoder is not directly writing the data field content into the encoder. It is buffering the content. This is to prevent internal checksum errors.

The function:

Sending a write command:

1. The encoder stores the data to be modified in a buffer (the old data).
2. The encoder stores the data to be written in a buffer.
3. At this point, nothing has yet been changed in the customer's area of the encoder's EEprom. The buffer is located in the encoder's internal EEprom area.

Data is written to the customer's encoder EEprom (triggered by the encoder itself):

• After the backup is completely created in the internal EEprom area of the encoder, the encoder writes the data into the customer's EEprom of the encoder.
• The next write command will overwrite the previously created backup with the next backup.

If the encoder was switched off during the write operation into the customer memory of the encoder:

• If the encoder was switched off during the write operation, not all data could be written. This results in a checksum error.
• To correct this, the old data is first written back to the customer memory → so that the encoder is in its original state.
• Then the new data is written to the customer EEPROM.

This prevents CRC errors.

The disadvantage is, that the entire procedure (writing data to the customer's EEPROM) takes longer.

This function is supported by the following encoders: EDx35, EKx36 with STM32 controller, and ENx35.

This function is disabled by default.

How to enable / disable the function at the ENS35 / ENM35?

• Enable: value 0x005A
• Disable: value 0x0000 (default)

Access information:

• data size: 2
• read access level: 0
• write access level: 2

The ENS35 / ENM35 standard (non safety version) doesn't provide a "Safe Position 2". Only the safety version of the ENS35 / ENM35 will provide the Safe Position 2.

This is a different behavior, compared to the current available Hiperface DSL motor feedback systems, which always provide a Safe Position 2 (also in the non safe version)