PROFIBUS-DP User Manual for Encoder - heidenhain - DR ...
PROFIBUS-DP User Manual for Encoder - heidenhain - DR ...
PROFIBUS-DP User Manual for Encoder - heidenhain - DR ...
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<strong>PROFIBUS</strong> IO data description<br />
5.4.2 Standard telegram 82<br />
40<br />
Standard telegram 82 uses 4 bytes <strong>for</strong> output data from the<br />
master to the encoder gateway and 14 bytes of input data from<br />
the encoder gateway to the master.<br />
Output data from the master:<br />
2 bytes Control word 2 (STW2_ENC)<br />
2 bytes Control word (G1_STW)<br />
IO Data (word) 1 2<br />
Set point STW2_ENC G1_STW<br />
Input data to the master:<br />
2 bytes Status word 2 (ZSW2_ENC)<br />
2 bytes Status word (G1_ZSW)<br />
4 bytes Position value 1 (G1_XIST1)<br />
4 bytes Position value 2 (G1_XIST2)<br />
2 bytes Velocity value A (NIST_A)<br />
IO Data (word) 1 2 3 4 5 6 7<br />
Actual value ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 NIST_A<br />
Note: Telegram 82 is only supported by the encoder gateway.<br />
It is not supported by the absolute encoder.