HEIDENHAIN PROFIBUS-DP (DPV0) - Manual (Page 30)

Profile overview, DPV0 version 1.1.
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Configuration data:
Singleturn Class 2 – 16 bits: F0hex, 1 input data word,
1 output data word for preset value,data consistency
Multiturn Class 2 – 32 bits: F1hex, 2 input data word,
2 output data words for preset value,data
consistency
Position + Velocity, Class 2 – 32+16 bits: F1+D0hex,
3 input data word, 2 output velocity data words
Velocity for preset value, data consistency
The selection of class depends on the demands required
by the application but for enabling full functionality of the
device it is recommended to choose: Encoder class 2 32
bit + velocity.