This only works if the EnDat02 encoder, where we just use the digital signals, allows a clock frequency of at least 8 MHz. Most of the Heidenhain encoders don´t do that but are limited to 2 MHz only. See:
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A DC-DC converter (XMV2-Wxxxx) needs the ESI file from a supplier. BoschRexroth_ctrlX_DRIVE_XV__SoE.xml This can be recognized by the product code. see screenshot CtrlX-Drive EtherCAT: Product Code XVR 0x20004200 XCS 0x20004311 XMS 0x20004111 XMD Axis 1 0x20004121 Axis 2 0x20004122 XCD Axis 1 0x20004321 Axis 2 0x20004122
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