HEIDENHAIN PROFIBUS-DP (DPV2) - Manual (Page 38)

PROFIBUS IO data description
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5.2 Application class definition
HEIDENHAIN´s PROFIBUS devices can be configured as class 3
or class 4 PROFIBUS DP device according to the encoder profile
v.4.1. Class 3 offers the basic functionality and Class 4 offers the
basic functionality and additional full scaling and preset
functionality.
CLASS 3 Device with base mode parameter access and limited
parameterization of the device functionality.
Isochronous mode is not supported.
CLASS 4 Device with scaling, preset and base-mode parameter
access. Isochronous mode is supported.
5.3 Standard signals
The table below describes the standard signals that are used to
configure the IO data.
Significance Abbreviation Length (Bits) Data type
Velocity value A NIST_A 16 Signed
Velocity value B NIST_B 32 Signed
Control word G1_STW 16 Unsigned
Status word G1_ZSW 16 Unsigned
Position value 1 G1_XIST1 32 Unsigned
Position value 2 G1_XIST2 32 Unsigned
Position value 3 G1_XIST3 64 Unsigned
Control word 2 STW2_ENC 16 Unsigned
Status word 2 ZSW2_ENC 16 Unsigned
Table 11 Standard signals