HEIDENHAIN PROFIBUS-DP (DPV0) - Manual (Page 40)

Encoder and Gateway functionality, DPV0
40
5.5 Data transfer in normal operation (DDLM_Data_Exchange)
The DDLM_Data_Exchange mode is the normal status of the
device when operated. In this mode the position value is
transmitted from the device in a cyclic manner. Output data can
also be sent to the device i.e. preset commands.
5.5.1 Data exchange mode
The actual position value is transferred to the master as 32-bit
values (double word) or optional, the device supports
a position value length of 16-bit for singleturn encoder. The
position value is right-aligned in the data field.
DDLM_Data_Exchange mode
Standard configuration:
Octet 1 2 3 4
Bits 31-24 23-16 15-8 7-0
Data 2 31 -2 24 2 23 -2 16 2 15 -2 8 2 7 -2 0
Data_Exchange -32 bits
Table 16 Data exchange -32-bits
Configuration data:
Device class 1: D1hex 2 input data words, data consistency
Device class 2: F1hex 2 input data words, 2 output data words for
preset value, data consistency