EnDat 3 Evaluation Board (Heidenhain) Software User's Manual - en

EnDat 3 Evaluation
Board Software
User's Manual
English (en)
04/2021
Contents
Contents
1 Fundamentals....................................................................................................................................5
1.1 Overview................................................................................................................................................. 6
1.2 Note on designation.............................................................................................................................. 6
1.3 Information on the product.................................................................................................................. 6

1.3.1 Scope of function of the software............................................................................................ 6
1.4 Intended use........................................................................................................................................... 6
1.5 Improper use.......................................................................................................................................... 6
1.6 Notes on reading the documentation................................................................................................. 7
1.7 Symbols and fonts used for marking text.......................................................................................... 7
2 Software installation........................................................................................................................9
2.1 Overview............................................................................................................................................... 10
2.2 System requirements...........................................................................................................................10
2.3 Installing the FTDI driver.....................................................................................................................10
2.4 Running the software.......................................................................................................................... 10
3 Design.............................................................................................................................................. 13
3.1 Overview............................................................................................................................................... 14
3.2 System design...................................................................................................................................... 14

3.2.1 Internal master.........................................................................................................................14
3.2.2 External master........................................................................................................................15
2 HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021

Contents
4 User interface..................................................................................................................................17
4.1 Overview............................................................................................................................................... 18
4.2 User interface....................................................................................................................................... 18
4.3 Global settings..................................................................................................................................... 19
4.4 Global messages and progress indicator.......................................................................................... 19
4.5 Workspace............................................................................................................................................. 20
4.5.1 Search function........................................................................................................................ 21
4.5.2 Home........................................................................................................................................22
4.5.3 Settings.................................................................................................................................... 24
4.5.4 Foreground............................................................................................................................... 25
4.5.5 Background...............................................................................................................................26
4.5.6 Memory....................................................................................................................................27
4.5.7 LPF Config............................................................................................................................... 28
4.5.8 Registers.................................................................................................................................. 30
4.5.9 Recorder...................................................................................................................................31
4.5.10 Recordings............................................................................................................................... 32
4.5.11 BG Filter................................................................................................................................... 33
4.5.12 Manipulator.............................................................................................................................. 34
4.6 Reporting pane..................................................................................................................................... 42
5 Index.................................................................................................................................................43
6 List of Figures................................................................................................................................. 44
HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021 3

1
Fundamentals
1 Fundamentals | Overview
1.1 Overview
This chapter contains information about the product and this manual.
1.2 Note on designation

In the following documentation the EnDat 3 Evaluation Board is designated as the device. The
associated EnDat 3 Evaluation Board Software is designated as the software.
1.3 Information on the product

This document describes the software version 2.0.x.
1.3.1 Scope of function of the software

You have various possibilities for using the device in combination with the software.
Software version 2.0.x provides the following functions:
Internal EnDat 3 master (the device as a master of the EnDat 3 encoders)
EnDat 3 communication (Foreground and Background)
Display and editing of EnDat 3 memory contents
Access to the EnDat 3 master registers (snapshot, tracing, triggering)
Recorder mode (recording of the EnDat 3 communication)
External EnDat 3 master (feed-through mode between EnDat 3 master and EnDat 3 encoder)
Recorder mode
External control of the EnDat 3 master registers via the API
Basic version of the Manipulator control element. For the Advanced version, please contact your
sales contact person.
1.4 Intended use

The EnDat 3 Evaluation Board and the EnDat 3 Evaluation Board Software offer you an environment for
comprehensive testing of the EnDat 3 interface.
The device must only be operated with the associated software. The device must only be operated in
proper and safe condition under laboratory conditions. The device is intended solely for the following
use:
Evaluation of EnDat 3 communication
Integration in the communication between a numerical control and an EnDat 3 encoder (e.g.,
recording)
Operation in commercial applications and a sufficiently shielded test environment
Any other use or additional use is considered improper use and can result in damage and hazards.
1.5 Improper use
Please note the information on improper use in the EnDat 3 Evaluation Board Operating
Instructions.

Fundamentals | Notes on reading the documentation 1
1.6 Notes on reading the documentation

The table below lists the components of the documentation in the order of priority for reading.
Documentation Description
Addendum An addendum supplements or supersedes the corresponding
contents of the Operating Instructions and, if applicable, of the
Installation Instructions.
If an addendum is included in the shipment, it has the highest priority
for reading. All other contents of the documentation retain their
validity.
Operating Instructions The Operating Instructions contain all of the information and
safety instructions for the proper and intended operation of the
device. The Operating Instructions can be downloaded from
www.heidenhain.de. The Operating Instructions must be read prior
to commissioning the device.
The Operating Instructions have the third highest priority for reading.
User's Manual The User's Manual provides all information required for installing
the software on a computer and for using it as intended. The User's
Manual can be downloaded from www.heidenhain.de.
Have you found any errors or would you like to suggest changes?
We continuously strive to improve our documentation for you. Please help us by sending your
suggestions to the following e-mail address:
userdoc@heidenhain.de
1.7 Symbols and fonts used for marking text

In these instructions the following symbols and fonts are used for marking text:
Format Meaning
... Identifies an action and
... the result of this action
Example:
Tap OK
The message is closed
... Identifies an item of a list
... Example:
TTL interface
EnDat interface
...
Bold Identifies menus, displays and buttons
Example:
Tap Shut down
The operating system shuts down
Turn the power switch off

2
Software
installation
2 Software installation | Overview
2.1 Overview
This chapter provides all information needed in order to download the software as well as the necessary
driver, and to properly install them on a computer.
2.2 System requirements

If you want to run the software on a computer, the computer system must meet the following
requirements:
Computer: ≥ Pentium Dual Core; 2 GHz

Operating system: Microsoft Windows 7 (32/64 bits), Microsoft Windows 8 (32/64 bits),
Microsoft Windows 10 (32/64 bits)
RAM: ≥ 4 GB
Hard disk: ≥ 50 MB
Monitor ≥ 1024 x 768 pixels
Windows user rights: Rights to install the FTDI driver
Access to USB devices
Write-access to program folders
2.3 Installing the FTDI driver

The D2XX driver from the company Future Technology Devices International Limited (FTDI) is needed in
order to communicate with the device.
The D2XX driver with version number 2.12.28 is part of the software package from HEIDENHAIN. You
need admin rights on your computer in order to install the driver.
Please note the license terms from FTDI for the D2XX driver at www.ftdichip.com.
2.4 Running the software

Before you can run the software on a computer, you need to download the file from the HEIDENHAIN
download area.
Download the software package, extract the contents of the ZIP file, and run the software.
Download the current version of the software from here: www.heidenhain.de
Navigate to the Download folder of your browser
Move the downloaded file with the extension .zip to the desired program folder and extract the
contents. You need to have write access to the program folder and be able to create subfolders
Double-click the file with the extension .exe to execute the software
The software is now open and running

Software installation | Running the software 2
Available folders
When the software is extracted and the program is started the first time, the following subfolders are
created:
\api: Contains files that allow an external program to access the master registers (API). The
folder contains the dynamic library (.dll) for Microsoft Windows (32-bit and 64-bit), the associated
description files, and a simple example in the programming language C
\exports: Default folder for CSV files created in the display area 1)
\firmware: Default folder for firmware files
\ftdi: Contains the D2XX driver from the company FTDI necessary in order to communicate with the
device
Further information: "Installing the FTDI driver", Page 10
\memory: Default folder for saving memory contents 1)
\recordings: Default folder for saving communication data 1)
\registers: Default folder for saving accesses to registers and snapshots of the master registers 1)
1) Folder is created the first time the program is started
The software uses the program library "zlib".
The Advanced version, in conjunction with the API, additionally allows you to access the
Manipulator module; an additional folder (\manipulator) is created: it is the default folder for
saving Manipulator commands and provides simple examples.

3
Design
3 Design | Overview
3.1 Overview
This chapter describes the fundamental design of your device and the available features.
3.2 System design

The device, when used in conjunction with the software, supports the following applications regarding
the EnDat 3 interface:
Recorder mode (recording of the EnDat 3 communication)
Manipulation of EnDat 3 communication (error injector)
The API and the software can access the master registers in parallel. The software does not
monitor for possible conflicts. Conflicts can result in an unpredictable state of the master or
even a slave. The user is responsible for avoiding conflicts.
You can use the device and the software as an internal master or as an external master with one or
more encoders (slaves). The following graphics show the possible configurations and the selection of
the power supply for the encoders.
3.2.1 Internal master

PC
Software Evaluation Board
DLL Evaluation Board
EnDat 3 Encoder
API EnDat 3
12V internal
External Supply
Figure 1: Internal master
The internal master of the device is used. The internal master is identical to the master that is offered
as VHDL code by HEIDENHAIN. This means that the register addresses and register contents for
addressing the master are identical.
In this configuration, active communication with the connected slave is possible. Additionally,
communication between the software and an external API that is also running on the device is possible.
The following functions are supported:
Recorder mode
Manipulator mode

Design | System design 3
3.2.2 External master
PC
Software
Evaluation Board
EnDat 3
Control Evaluation Board

EnDat 3 Encoder
Unit
12V internal (Supply USB)

External Supply (Supply DC)
External Master (Supply CU)
Figure 2: External master
An external master is used. The device is inserted between the control unit (master) and the encoder
for listening-in to the EnDat 3 communication.
The following functions are supported:
Recorder mode
Manipulator mode
The device increases the propagation time between the external master and the encoder by
about 60 ns. If the Manipulator module is activated, then the increase in propagation time is
about 250 ns.

4
User interface
4 User interface | Overview
4.1 Overview
This chapter describes the user interface, operating elements, and basic functions of the software.
The following sections describe only topics that are not directly related to EnDat 3. For topics
specific to EnDat 3, such as functions, addresses, data contents, etc., refer to the EnDat 3
Specification.
4.2 User interface
Global
settings
Global messages
and progress indicator
Workspace
Reporting pane
Figure 3: User interface of EnDat 3 Evaluation Board Software
The user interface is divided into four different areas:

"Global settings"
"Global messages and progress indicator"
"Workspace"
"Reporting pane"

User interface | Global settings 4
4.3 Global settings

Global settings show the devices available. Only one device can be addressed by the software. It is
therefore not useful to connect more than one device at a time.
Operating elements
Operating element Function

Open Opens the connection between the software and the device
Close Closes the connection between the software and the device
Scan Determines the connected devices
Datarate Selection of the data rate at which requests are sent
Display
Display Description
Encoder Power Shows whether encoders are being supplied with power
4.4 Global messages and progress indicator

Global messages show functions that are currently active. The progress indicator shows the progress of
data for tasks that take more time.
Messages
Message Description
API Open An external program accesses the EnDat 3 master registers via the API
Recording The EnDat 3 communication is recorded
Listening The software listens in to the EnDat 3 communication, but it does not record it
Manipulating The EnDat 3 communication is manipulated
Tracing Registers Accesses to the EnDat 3 master registers are recorded
Firmware Update The firmware of the device is being updated or needs to be updated
Operating elements

Abort Cancels the execution of a longer task at the next possible point. Alternatively,
you can press the ESC key of the computer keyboard

4 User interface | Workspace
4.5 Workspace
The user interface of the workspace is divided into individual control elements. The software displays
additional control elements as needed.
Communicating with encoders

Depending on the configuration of your device, you have various possibilities for using the control
elements to communicate with connected encoders or to analyze or configure them. The following
control elements are available:
"Home"
"Settings"
"Foreground"
"Background"
"Memory"
"LPF Config "
"Registers"
"Recorder"
"Recordings"
"BG Filter"
"Manipulator "
Undocking control elements

You can undock control elements (except the Home and Settings control elements) in the workspace by
drag & drop and move them freely on the desktop of your computer.

User interface | Workspace 4
4.5.1 Search function

You can use the search function in the following control elements so that you can find information more
easily:
Foreground
Background
Memory
Recordings
BG Filter
Figure 4: Search function
Find a text or a certain character string as follows:

Enter the key combination <CTRL> + <F>
A search form opens in the display area
Enter the text
Start searching
The next cell containing matching text is selected and displayed
Next and Previous allow you to navigate between the text occurrences found.
If Highlight is active, then the matching texts are highlighted in blue.
Search is column by column starting from the currently selected cell.

4.5.2 Home
Figure 5: Home control element
Basic settings are entered in the Home control element.
Encoder Power Status
Display Function
Supply CU Encoders powered via external control.
Supply DC Encoders powered via external plug-in power supply.
Supply USB Encoders powered via USB port of a computer.
Overcurrent USB Overcurrent protection of the USB port.
Encoder Supply via USB

Sliding switch Switches encoder power supply via USB on
Signal Routing

External Master Switches to an external master

Topology

Slaves Enter the number of connected slaves
Startup Activates the slaves. You must first address all slaves correctly and set a data
rate of 12.5 Mbps
Make sure to enter the correct information for the slaves. This setting has far-reaching
consequences within the software and the EnDat 3 master.
Window Handling

Undock All Undocks all control elements
Dock All Docks all control elements
Version Info
Information about the ID number, serial number, firmware version, software version, and the FTDI driver
The main version number of the software version and firmware version must be identical,
otherwise no communication with the device is possible.
Firmware Update

Update Updates the device to a new firmware version.
Please refer to the EnDat 3 Evaluation Board Operating Instructions

4.5.3 Settings
The Settings control element allows you to read out the connected encoders.
Figure 6: Settings control element

Hpf Content By default, the POS1 data contents are transmitted in the HPF.
Readout The current SET.selHpf value is read out.
This setting has an effect on the interpretation of the HPF.

4.5.4 Foreground
Figure 7: Foreground control element
The Foreground control element enables the Foreground communication with one or more encoders.
Setting range (BUS.CODE)

--- Direct communication with one single encoder.
BUSBC Communication in broadcast mode.
BUSP2P Communication in peer-to-peer mode.
REQ.Count Number of requests to be sent.
Control pane
The buttons correspond to the requests according to the EnDat 3 specification, sometimes with transfer
parameters. If RATE and RESET requests are successful, then the data rate in the global settings will be
adapted as necessary.
Sending a freely defined request

You can use Send REQ to send a freely definable request.
In the combo box, you can either select a defined REQ.CODE or enter a freely definable REQ.CODE.
REQ.DATA allows you to enter the transfer parameters of the request. You can also use REQ.DATA to
enter a Background request bit by bit.

Display area
The communication cycles that have been sent and any errors that have occurred are shown in the
display area. In addition, data that are contained in REQ, HPF, LPH, and the LPFs are displayed.

Save Saves the data in the display area as a BBD file. The respective menus are
shown.
Export Exports the data in the display area as a CSV file. The respective menus are
shown.
Clear Clears the display.
4.5.5 Background
Figure 8: Background control element
The Background control element enables the Background communication with one or more encoders.
The Foreground communication necessary for this is executed automatically, and is displayed in the
Foreground control element.
Operating elements

Bus Address Selection of the address of the encoder to be addressed.
Send BGREQ A Background request is sent with a freely definable OpCode and arguments.
Replace The previously displayed background communication is replaced.
The other buttons correspond to those of the requests in the EnDat 3 Specification, including
the transfer parameters where applicable.

Display and interpretation of the data in the Background communication

Export Exports the data in the display area as a CSV file. The respective menus are
shown.
4.5.6 Memory
Figure 9: Memory control element
The Memory control element enables access to the memory contents of the connected encoder. You
can save the memory contents or load information from a file.
Creating a send list

You can use LPF Config to configure a send list.
Entering memory contents

You can enter new memory contents directly in the LPF Config column. When you have concluded
entry, the LPF Config will be updated accordingly. Contents that have not been saved yet are marked in
color.
If problems occur while entering memory contents, such as impermissible memory

contents, the software will show the appropriate messages.

Operating elements

Bus Address Selection of the address of the encoder to be addressed.
From Encoder Reads the memory contents from an encoder.
To Encoder Writes the memory contents to an encoder.
From File Reads the memory contents from a file.
To File Writes the memory contents to a file.
Update CS Recalculates the checksums of the individual memory areas. Changed check-
sums are entered in the Value column, but are not saved yet.
LPF Config Starts the LPF Config control element.
Messages
Message Description
Unsaved A memory area contains data that has not yet been written to a file or an
encoder
Wrong CS A checksum is incorrect
LPF Config A send list was configured incorrectly
Interpreter The memory interpreter found a problem. Details are shown in the Interpreta-
tion column
4.5.7 LPF Config
Figure 10: LPF Config control element
The LPF Config control element offers functions for editing of a send list.

Configuring a send list

You can copy entire send lists within the tree view. You can pull frame IDs (FIDs) into the table. You can
copy individual entries within the table, or change the sequence of entire columns or rows.
All FIDs contained in a row will be requested within one communication cycle.
Operating elements

LPFLIVE to LPFSET / Copies between the LPFLIVE and LPFSET memory areas.
LPFSET to LPFLIVE
LPFLIVE to Encoder Transmits the LPFLIVE memory area to the encoder.
Show all FIDs Shows all frame IDs, including undefined frame IDs.
xdim Number of simultaneously sent LPFs. The estimated minimum cycle time is
indicated for information.
ydim Number of alternatingly sent LPFs.
Export Exports the LPFSET or LPFLIVE memory area to a CSV file. You can analyze
this file with various programs, such as Microsoft Excel or Matlab.
Ok Applies the changes entered in the LPF configurator.
Cancel Discards the changes entered in the LPF configurator.
Messages
Message Description
Duplicate FID An FID (except for NOP) can be requested only once per communication
cycle.
Exceeding memory The send list exceeds the size of the available memory.
POS1 after POS2 POS1 is requested after POS2 within one communication cycle.
POS2 after SF_POS1 POS2 is requested after SF_POS1 within one communication cycle.
Memory space The amount of memory space assigned and available is shown.
A send list can also be configured even if no encoder is connected. To do so, you must open
a stored memory file and call it with LPF Config.

4.5.8 Registers
Figure 11: Registers control element
The Registers control element grants you read- and write-access to the registers of the internal master.
For addresses and contents, see the description of the EnDat 3 master.
Recording register accesses

You can record register accesses made by the software or the external interface (API).
Operating elements

Register Snapshot Creates a snapshot of all registers of the master, and saves it to a text file. The
respective menus are shown.
Write Starts a write-process to the register.
Read Starts a read-process to the register.
Start Starts the recording of register accesses in a log file. An external editor can
already read the file during recording. The respective menus are shown.
Stop Stops the recording of register accesses and closes the log file.
Trace API Records the register accesses made by the external interface.
Trace Internal Records the register accesses made by the present software.

4.5.9 Recorder
Figure 12: Recorder control element
The Recorder control element allows you to record the EnDat 3 communication.
Saving recorded data

You can save the recorded data for evaluation. The workspace displays update information about the
current recording for overview purposes.
Operating elements

Select + Record Prepares the recording of an EnDat 3 communication. You can enter
comments about the measurement. The respective menus are shown.
Record Starts the Recording mode. The data are added to the file that has been
defined using Select + Record.
Listen Starts the Listening mode without recording the EnDat 3 communication. The
Live Counters and Live Display areas are updated.
Stop Stops the Recording or Listening mode.
Stop + Show Stops the Recording mode. The recorded data are displayed in the Recordings
control element.
Clear Resets the Live Display and the Live Counters.
Live Display
The last values received for HPF and LPF are shown in HPF Live Display and LPF Live Display.
In Bus Address, you can enter the slave from which you wish to receive values. In HPF Live Display,
you can select the display format. In LPF Live Display, you can select the frame ID to be displayed.
Live Counters
The corresponding events are counted and shown here. The Data Transfer area gives information on the
utilization of the USB connection.

4.5.10 Recordings
Figure 13: Recordings control element
The Recordings control element allows you to analyze a recorded EnDat 3 communication.
Recorded data sets can be very large; as a result, the corresponding analysis and conversion
functions can take very long.
Operating elements

Extract Bg Filters out the data of any existing Background communication
Starts the BG Filter control element. The results of the filter are shown in
the BG Filter control element
Load Opens a data set of a recorded file. The respective menus are shown.
Export Exports the data to a CSV file. You can evaluate this file with various programs,
such as Excel or Matlab. The respective menus are shown.
All Pages Deactivation allows the limitation to the currently displayed page for export or
filtering.
Larger data sets are divided into several pages. The vertical
scrollbar is used for navigation within one page. Only one page
at a time is in the memory. If multiple pages are available, then a
horizontal scrollbar is shown beneath the list control element. This
scrollbar is used to navigate to other pages.
Close Closes the current file and clears the display.
The search function is available in this control element.

Further information: "Search function ", Page 21

4.5.11 BG Filter
Figure 14: BG Filter control element
The BG Filter control element is used to display the Background communication that was extracted
from a recording using Extract Bg from the Recordings control element.
Operating elements

Extract Bg Exports the data in the display area as a CSV file. The respective menus are
shown.

4.5.12 Manipulator
The Manipulator control element allows you to verify error test cases or a specific encoder behavior in
the control software. You can test how the control responds to the behavior of the encoder. The current
communication can be falsified for test purposes.
Communication can be conducted either directly by the device as a master or in feed-through mode
(external master).
You select an external master in the Home control element under Signal Routing.
Further information: "Home", Page 22
Figure 15: Manipulator control element
Two versions of the Manipulator are available:

Basic version: included in delivery
Advanced version: If you want to purchase the Advanced version, please contact your sales contact
person at HEIDENHAIN. The additional operating elements provided by the Advanced version are
separately identified in the following.
The Manipulator control element provides the following operating elements:

Enable The Manipulator module is activated/deactivated.
Trigger Enable + The Manipulator is started/stopped for direct communication.
Bus Adress set to -- Do not execute the Trigger Enable function until you have set the desired
combo box modifications and trigger conditions. Only the communication without the
BUS frames (BUSP2P or BUSBC) will be manipulated.
Trigger Enable + The Manipulator is started/stopped for BUS communication.
Bus Adress set to
0...6 combo box

Do not execute the Trigger Enable function until you have set the desired
modifications and trigger conditions.
Only the communication with the BUS frames BUSP2P (peer-to-peer) or
BUSBC (broadcast) will be manipulated for the participant that has been
selected using the bus address.
Reset The Manipulator module is reset to its default condition.
Messages
Message Description
Trigger Conditions Trigger conditions are activated in the Trigger Conditions control element.
Not Allowed A trigger condition cannot be evaluated until a modification has been carried
out. Please adapt the manipulator settings as needed.
Possibly Ignored The data of an LPF are used to evaluate the trigger conditions and the data of
another LPF are modified. The configuration of the send list thus determines
whether an LPF modification is carried out or ignored.
The LPF is modified only if the LPF to be modified is transmitted chronologi-
cally after the triggering LPF and within the same communication cycle as the
triggering LPF.
Modifications
The counters that are displayed as a green number indicate how many frames of the area
have already been modified.
Figure 16: Modifications function

Master Errors area

Set Watchdog Error Interrupts the communication so that the master detects a watchdog error.
Set Phy Error Interrupts communication within a given frame (0: HPF; 1: LPH, 2 to 16: LPF 0
to 14) so that the master detects a PHY error.
HPF area
Set F Sets F to 0 or 1 in the HPF.
Set W Sets W to 0 or 1 in the HPF.
Set RM Sets RM to 0 or 1 in the HPF.
Set Clearable F Sets F to 1 until a CLEAR request, in which ClearF is set, is received.
F1 and F2 are also set in SF_POS1 for as long as F is set, and ERMSG returns
the error message A0.
This modification resets all trigger conditions and all other modifications.
Set Clearable W Sets W to 1 until a CLEAR request, in which ClearW is set, is received.
ERRMSG returns the warning W0 for as long as W is set.
This modification resets all trigger conditions and all other modifications.
Modify Data Sets HPFV to 0 and replaces the HPF data with a given error code.
+ option !V
Modify Data Replaces the HPF data with the data from the input field.
+ option =
Modify Data Adds a given value to the HPF data.
+ option
+ (Advanced version)
Invert CS Inverts the checksum of the HPF.
Modify Bits Modifies individual bits of the HPF based on the scheme defined in the
(Advanced version) Bitwise function.
LPH area
Invert CS Inverts the checksum of the LPH.
Modify Bits Modifies individual bits of the LPH based on the scheme defined in the
(Advanced version) Bitwise function.
LPF area
FID combo box The LPF to be modified is selected based on the frame identifier (FID).
Modify Data Sets LPFV to 0 and replaces the LPF data with a given error code.
+ option !V
Modify Data Replaces the LPF data with the data from the input field.
+ option =


Modify Data Adds a given value to the LPF data.
+ option
+ (Advanced version)
Invert CS Inverts the checksum of the LPF.
Modify Bits Modifies individual bits of an LPF based on the scheme defined in the Bitwise
(Advanced version) function.
Functional Safety area

Set F1 Sets the bit F1 of the safety frame to 0 (inactive) or 1 (active).
Set F2 Sets the bit F2 of the safety frame to 0 (active) or 1 (inactive).
Remember that F2 is low-active. 1 means inactive.
Set IgF1 Sets the bit IgF1 of the safety frame to 0 (inactive) or 1 (active).
Set IgF2 Sets the bit IgF1 of the safety frame to 0 (inactive) or 1 (active).
Modify AA Inverts the axis address (AA) of the safety frame.
+ option Invert
Modify AA Replaces the axis address (AA) of the safety frame with the data from the
+ option = input field.
Modify SOL Inverts the sign of life (SOL) of the safety frame.
+ option Invert
Modify SOL Replaces the sign of life (SOL) of the safety frame with the data from the input
+ option = field.
Modify SOL The current sign of life (SOL) remains frozen for as long as this modification is
+ option Freeze active.
Modify SOL A constant, given value is added to the currently transmitted sign of life (SOL)
+ option Jump for as long as this modification is active.
Activating the modification therefore leads to a jump of the SOL, whereas the
deactivation of the modification leads to a corresponding return jump.
Invert CSS Inverts the safety-relevant checksum (CSS) of the safety frame.

Apply Scenario Automatically sets the modifications and the trigger conditions of the Manipu-
lator to a defined use case. This function can be considered a type of shortcut.
Scenario Description
Extend IgF1 / Extends the first IgF1/IgF2 phase that occurs to a given period.
Extend IgF2
IgF1 after IgF2 / After the first IgF2/IgF1 phase that occurs, an IgF1/IgF2 phase is added at a
IgF2 after IgF1 given interval.
No F1 / No F2 The bit F1/F2 remains inactive for as long as this modification is active.
IgF1 and IgF2 The bits IgF1 and IgF2 are both set.
These scenarios support you in verifying FDSTest and SFStatusTest procedures for functional safety.

Bitwise
The Bitwise function is available only in the Advanced version.
Figure 17: Bitwise function
In the display, you can set or invert any bits of a frame to a value of 0 or 1. You can select whether the
checksum (CS) of the frame should be recalculated after modification.
The corresponding Modify Bits operating element in the Modifications function must be activated for
this modification to take effect.
The shown sequence of bytes and bits does not correspond to the sequence in which the bits are
transmitted in the line; instead, it corresponds to the sequence in which they are also shown in other
operating elements.
The FID bits in the LPF cannot be modified, because they are used to check whether this LPF should be
modified. Modifications are not possible until this check has been completed. The FID bits of the LPF
have already been forwarded to the master at this point.

Background
The Background control element allows you to modify the information transmitted in the background
channel. Simultaneous modification of the foreground channel and the background channel is not
possible. The counter number that is displayed as a green number indicates how many background
communication cycles have already been modified. The counters in the LPH and LPF areas of the
Modifications control element will also be updated as needed.
Figure 18: Background function
The Background control element provides the following operating elements:

Set BG.ERR_EXEC Sets LPH.BG.ERR_EXEC to 1 and replaces the data of the LPF BGRSP with a
given error code.
Extend BUSY Extends the BUSY status of the background communication.
The current status of the background channel is shown in the LPH.S-
TATUS.BG.STATUS field.
Modify READ This function modifies the response to a READ request. You can modify the
data read from up to three addresses.
A case in which this function is used is the verification of an AcptTest proce-
dure for functional safety: In each case, 16 bits of data that have been read
out are modified and taken into account in the calculation of the XEL.safe-
tyCsPos1. The XEL.safetyCsPos1 is recalculated and, while being read out,
modified such that it matches the 16 bits of modified data. As a result,
XEL.safetyCsPos1 is correct but the AcpTest procedure nevertheless finds
that the safety test arguments have changed.
The GUI provides check boxes that you can use to select up to three address
data pairs that should be modified. You can also modify the data of only one
address and simulate a matching XEL.safetyCsPos1, provided that you have
read out the memory areas of the encoder before.
In the API, you repeat the same address data pair if you wish to modify the
data of less than three addresses.

Trigger Conditions
The trigger signal initiating a modification is usually active for as long as Trigger Enable is set. Additional
limitations and conditions for the trigger signal can be set in the Trigger Conditions control element.
Figure 19: Trigger Conditions function

Maximal Number of Limits the number of modifications.
Modifications Enables the trigger signal only for the given number of modifications.
Single Trigger with This function adds a temporal component to the Manipulator.
Delay and Hold The component is activated by the first trigger signal that may have been
filtered using further trigger conditions. The component delays the trigger
signal by a given time and keeps it active for a given time.
The component becomes active only once and cannot become active again
until a Manipulator sequence has been reactivated.
Only if Trigger Pin is Suppresses the trigger signal if the Trigger In Pin at X18 is low (external
High trigger).
Depending on HPF Permits the trigger signal only if the HPF data (48 bits) fulfill certain conditions.
Data
(Advanced version)
Depending on LPF Permits the trigger signal only if the data of the selected LPF (48 bits) fulfill
Data certain conditions.
(Advanced version) The trigger signal does not trigger, unless the selected LPF is transmitted
within the current communication cycle.
Another LPF is modified only if the LPF to be modified is transmitted chrono-
logically after the triggering LPF and within the same communication cycle as
the triggering LPF. The configuration of the send list thus determines whether
an LPF modification is carried out or ignored.
The following values apply for the trigger pin X18 2a:
Max. voltage: 5.5 V
High level at > 2 V
Low level at < 0.8 V

Commands
The Commands function displays the active commands. These commands correspond to the API
commands, including the API command parameters needed to reach the current status. The commands
can be saved or imported as a text file.
Using the commands, you can control operation via a separate program as an alternative to the GUI. You
can write and use a program for this. You need to integrate the included .dll in your program and use it
to address the Manipulator API.
The Commands function is available only in the Advanced version with Manipulator API.
Simultaneous operation of the Manipulator module using the GUI and the API may lead to
undesirable conditions due to the unpredictable processing sequence of the commands.
Figure 20: Commands function
You can work with the following commands, for example:
Function Command
Activation of Manipulator module e3m_manipulator_enable
or
e3m_manipulator_enable_with_
special_safety
Use this function only if you wish to manipulate

functional safety and your device does not
provide standardized safety settings (safety info
POS1 in the HPF, redundant info POS2, safety
frame SF_POS1).
Deactivation of Manipulator module e3m_manipulator_disable
Resetting the Manipulator module e3m_manipulator_reset
Activation of Manipulator sequence e3m_manipulator_start

(activation of Manipulator sequence for direct communica-
tion)
or
e3m_manipulator_start_for_
bus_addr
(activation of Manipulator sequence for BUS communica-
tion)
Deactivation of Manipulator sequence e3m_manipulator_stop

A corresponding API command is available for most of the operating elements.

For a description of the commands and their parameters, please refer to the
jhe3m_dll_interface.h file.
Programming notes:
The first command basically activates the Manipulator module. The Manipulator module remains active
until it is explicitly deactivated.
Every new Manipulator sequence starts with a Reset of the Manipulator module in order to set it to
a defined state. Then the individual trigger conditions and modifications that describe the desired
manipulation follow.
One of the start commands activates the Manipulator sequence. This corresponds to an activation of
the Trigger Enable operating element in the GUI.
The stop command deactivates the Manipulator sequence. The same Manipulator sequence can be
restarted by a start command.
You need to deactivate the previous Manipulator sequence before entering a new Manipulator
sequence. You need not deactivate the Manipulator module in the time between entering the last
sequence and the new sequence. You should always program a modified Manipulator sequence by
entering the complete sequence starting from Reset.

Load Loads commands from a text file and sets the Manipulator to the correspond-
ing status.
Save Saves the active commands as a text file.
4.6 Reporting pane

The Reporting pane shows general status messages and error messages.
Operating elements

Clear Clears the messages from the Reporting pane

5
5 Index
D
Documentation
Addendum............................... 7
Operating Instructions............. 7
User's Manual......................... 7
I
Information on the product.......... 6
Installing the FTDI driver............ 10
M
Manipulator................................ 34
background............................ 39
bitwise................................... 38
commands............................. 41
modifications......................... 35
Trigger Conditions.................. 40
Master
External.................................. 15
Internal................................... 14
R
Running the software................. 10
S
Scope of function of the software 6
Search function.......................... 21
Symbols and fonts used for
marking text................................. 7
System design........................... 14
System requirements................. 10
U
Use
improper.................................. 6
intended................................... 6
User interface............................ 18
Global messages and progress
indicator................................. 19
Global settings....................... 19
Reporting pane...................... 42
Workspace............................. 20
W
Workspace
Background............................ 26
BG filter................................. 33
Foreground............................. 25
Home..................................... 22
LPF Config............................. 28
Manipulator............................ 34
Memory................................. 27
Recorder................................ 31
Recordings............................. 32
Registers................................ 30
Settings.................................. 24

6 List of Figures
6 List of Figures
Figure 1: Internal master.........................................................................................................................14
Figure 2: External master........................................................................................................................15
Figure 3: User interface of EnDat 3 Evaluation Board Software ........................................................... 18
Figure 4: Search function........................................................................................................................ 21
Figure 5: Home control element.............................................................................................................22
Figure 6: Settings control element......................................................................................................... 24
Figure 7: Foreground control element.................................................................................................... 25
Figure 8: Background control element....................................................................................................26
Figure 9: Memory control element.........................................................................................................27
Figure 10: LPF Config control element.....................................................................................................28
Figure 11: Registers control element....................................................................................................... 30
Figure 12: Recorder control element........................................................................................................ 31
Figure 13: Recordings control element.....................................................................................................32
Figure 14: BG Filter control element........................................................................................................ 33
Figure 15: Manipulator control element................................................................................................... 34
Figure 16: Modifications function............................................................................................................. 35
Figure 17: Bitwise function.......................................................................................................................38
Figure 18: Background function................................................................................................................ 39
Figure 19: Trigger Conditions function......................................................................................................40
Figure 20: Commands function.................................................................................................................41

DR. JOHANNES HEIDENHAIN GmbH
Dr.-Johannes-Heidenhain-Straße 5
83301 Traunreut, Germany
 +49 8669 31-0
 +49 8669 32-5061
E-mail: info@heidenhain.de
Technical support  +49 8669 32-1000
Measuring systems  +49 8669 31-3104
E-mail: service.ms-support@heidenhain.de
NC support  +49 8669 31-3101
E-mail: service.nc-support@heidenhain.de
NC programming  +49 8669 31-3103
E-mail: service.nc-pgm@heidenhain.de
PLC programming  +49 8669 31-3102
E-mail: service.plc@heidenhain.de
APP programming  +49 8669 31-3106
E-mail: service.app@heidenhain.de
www.heidenhain.de
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EnDat 3 Evaluation

1.2 Note on designation.............................................................................................................................. 6

1.3 Information on the product.................................................................................................................. 6

1.4 Intended use........................................................................................................................................... 6

1.5 Improper use.......................................................................................................................................... 6

1.6 Notes on reading the documentation................................................................................................. 7

1.7 Symbols and fonts used for marking text.......................................................................................... 7

2.2 System requirements...........................................................................................................................10

2.3 Installing the FTDI driver.....................................................................................................................10

2.4 Running the software.......................................................................................................................... 10

3.2 System design...................................................................................................................................... 14

2 HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021

4.2 User interface....................................................................................................................................... 18

4.3 Global settings..................................................................................................................................... 19

4.4 Global messages and progress indicator.......................................................................................... 19

4.6 Reporting pane..................................................................................................................................... 42

HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021 3

1.2 Note on designation

1.3 Information on the product

1.3.1 Scope of function of the software

1.4 Intended use

1.5 Improper use

6 HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021

1.6 Notes on reading the documentation

1.7 Symbols and fonts used for marking text

HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021 7

2.2 System requirements

Computer: ≥ Pentium Dual Core; 2 GHz

2.3 Installing the FTDI driver

2.4 Running the software

10 HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021

The software uses the program library "zlib".

HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021 11

3.2 System design

3.2.1 Internal master

14 HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021

3.2.2 External master

Control Evaluation Board

12V internal (Supply USB)

HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021 15

4.2 User interface

Figure 3: User interface of EnDat 3 Evaluation Board Software

The user interface is divided into four different areas:

18 HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021

4.3 Global settings

Operating element Function

4.4 Global messages and progress indicator

Operating element Function

HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021 19

Communicating with encoders

Undocking control elements

20 HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021

4.5.1 Search function

Figure 4: Search function

Find a text or a certain character string as follows:

HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021 21

Figure 5: Home control element

Basic settings are entered in the Home control element.

Encoder Power Status

Encoder Supply via USB

Operating element Function

Operating element Function

22 HEIDENHAIN | EnDat 3 Evaluation Board Software | User's Manual | 04/2021