Appendix
A.6 Overview of measuring systems / encoders
Commissioning with Startdrive
422 Commissioning Manual, 11/2017, 6SL3097-4AA10-0BP1
EnDat 2.1 absolute encoder
Description
Absolute encoders (absolute shaft encoders) are designed on the same scanning principle
as incremental encoders, but have a greater number of tracks. For example, if there are 13
tracks, then 2
13
= 8192 steps are coded for singleturn encoders. The code used is a one-
step code (Gray code) which prevents any scanning errors from occurring. After switching on
the machine, the position value is transferred immediately to the controller. Data are
transferred between the encoder and the controller via EnDat.
A homing procedure is omitted, but an absolute encoder adjustment must be performed
during the first commissioning.
Figure A-6 EnDat absolute encoder
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