What is EnDat Signal?
Hi everybody,
EnDat Encoders:
EnDat encoders use a digital communication protocol that provides high resolution and precision. The EnDat protocol is used to transmit both position data and additional information (parameters, identification, temperature, etc.). EnDat encoders are widely used in industrial automation systems such as servo motors, linear motors, and CNC machines.
EnDat Signal Simulation (Basic Education)
This simulation demonstrates how the EnDat signal works in rotary encoders, which are devices used to measure rotational position.
The EnDat system uses digital communication to transfer data from the encoder. Two signals are used:
- Clock Signal: Sent by the controller. It means "send me data".
- Data Signal: Sent by the encoder. When a clock pulse arrives, the encoder sends a 1 or 0.
The animation below shows how the signals flow and how one bit of data is transmitted at each clock pulse.
NOTE: The data is read on each clock pulse. These bits are combined to form a binary value representing the encoder’s position.
Top Graph: Analog encoder output (Sin/Cos signals, 1Vpp)
Bottom Graph: EnDat digital signal (Clock + Data, square waves)
Voltage Level: All signals are offset to 2.5V, with ±0.5V swing (1V peak-to-peak reference)
Same Time Axis: Allows students to visually compare analog and digital signal behavior side-by-side
Sin/Cos Encoders:
Sin/Cos encoders are rotary encoders that operate with analog signals. These encoders determine the rotation angle by producing sine and cosine signals. Sin/Cos encoders are suitable for applications requiring high-speed and precise motion control. However, due to the analog signals, they are more sensitive to interference compared to digital systems.
⚡ In a Nutshell: What is EnDat?
EnDat is a digital communication protocol used by rotary encoders to transmit the exact position of a motor or shaft electronically.
Where is it used? In servo motors, CNC machines, robotic arms, and any system requiring precise position tracking.
How does it work? EnDat only uses 2 wires to communicate:
- Clock – sent by the controller (like saying “send me data”)
- Data – sent by the encoder (responds with a “1” or “0”)
Each clock pulse triggers the encoder to send one bit of information. These bits combine into a binary number representing the exact position.
Main Advantages:
- Ultra-high precision (micron-level)
- Immune to electrical noise (thanks to digital signals)
- Can transmit both position and encoder information
- Plug & play compatible with modern systems
What does the EnDat signal look like?
Clock signal appears as a square wave, and the encoder sends a data bit on each edge.
This is shown in the simulation above.
Comparison with traditional encoder signals:
| Traditional Encoder | EnDat Encoder |
|---|---|
| Analog (Sin/Cos) output | Digital Clock + Data signal |
| Susceptible to noise | Noise-resistant |
| Requires external converter | Directly readable |
| Sufficient for simple systems | Ideal for precision & advanced systems |
SSi Encoders:
Synchronous Serial Interface (SSi) encoders are encoders that provide digital serial data communication. The SSi protocol uses a synchronized clock signal between the encoder and the control unit. This ensures reliable and fast data transmission. SSi encoders are generally used in industrial automation systems, particularly in motion control systems.
Hiperface Encoders:
Hiperface encoders use a digital communication protocol that provides high resolution and precision. Hiperface is specifically designed for industrial motors such as servo motors and linear motors. This protocol enables communication between the encoder and the control unit, and it is used to transmit position, speed, and angle data. Hiperface encoders are popular for applications such as industrial automation, robotics, and CNC machines.
Each encoder type offers advantages for specific applications. Depending on your needs, you can optimize your industrial automation and control systems using one or several of these encoder types.
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