Application note: Programming AksIM-2 encoders with EncoLink communication protocol (pdf)

EncoLink is a communication protocol which can be implemented on different physical channels, UART and SPI. It is a multi-layer communication protocol which provides position, CRC and error/warning bits in the first channel, control position and detailed status in the second channel and register access in the third channel. User can read all data simultaneously, the first channel with highest and the third channel with lowest bandwidth.