HEIDENHAIN PROFIBUS-DP (DPV2) - Manual (Page 40)

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