Hiperface communication

The standard configuration for Hiperface communication interface is 9600 Baud with Parity Even, 8 Data Bits, 1 Stop bit.
Default encoder address is 64dec ⇒ 0x40. CRC type is XOR: https://www.scadacore.com/tools/programming-calculators/online-checksum-calculator/

Broadcast address 0xFF is always available.

These are a list of standard command.

Command Hex string to send Hex string to receive Comment
Read Position (absolute)0x40 0x42 0x020x40 0x42 B3 B2 B1 B0 CRCB3 is MSB and B0 is LSB of actual position (unsigned 32 bit)
Encoder Reset0x40 0x53 0x13No response–
Read encoder status0x40 0x50 0x100x40 0x50 B1 B0 CRCB1 is MSB B0 is LSB of encoder status (see table below for encoder faults)
Read out type label0x40 0x52 0x120x40 0x52 0xE4 0xFF 0x80 0x01 0x88–
Read Analog value0x40 0x44 CH CRC0x40 0x44 CH B1 B0 CRCCH is the channel to read, B1 is MSB and B0 LSB value of the channel.
See table below about the channel correspondences
Start calibration0x40 x054 0x14No response–
Encoder Faults Encoder Status
00No faults
01Analog signal outside specification
Channel n. Description
0x00Sine signal
0x01Cosine signal
0x02Angle in degrees (Arctan calculation)
0x03Oversampled Sine
0x04Oversampled Cosine
0x05Oversampled Arctan value
0x06Encoder status (machine state)
0x07Hiperface status (machine state)
0x08Relative position value
0x09Hall switch condition
0x0AArctan value
0x0BStatus of all Hall switches
0x48Encoder temperature