What is the simplest method for setting up EnDat communication with an encoder?

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What is the simplest method for setting up EnDat communication with an encoder?

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Example for minimum implementation: 1) Set the EnDat clock frequency to 300 kHz 2) Reset the encoder Send “Encoder receive reset” mode command to the encoder 3) Clear the errors (also see “Sequences and Data Structures”) The following mode commands are necessary for this (all values given in hexadecimals) • Selection of the memory area (MRS code 0xB9) • Encoder receive parameter (address 0x00 and parameter 0x0000) • Encoder receive reset 4) Clear the warnings (also see “Sequences and Data Structures”) The following mode commands are necessary for this (all values given in hexadecimals) • Selection of the memory area (MRS code 0xB9) • Encoder receive parameter (address 0x01 and parameter 0x0000) • Encoder receive reset 5) Check whether the expected encoder is actually connected. The test is based on the ID number of the encoder, in this example for the LIC 4000. The following mode commands are necessary for this (all values given in hexadecimals) • Selection of the memory area (MRS code