HEIDENHAIN PROFIBUS-DP (DPV2) - Manual (Page 42)

PROFIBUS IO data description
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5.4.4 Standard telegram 84
Standard telegram 84 uses 4 bytes for output data from the
master to the encoder gateway and 20 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)
8 bytes Position value 3 (G1_XIST3)
4 bytes Position value 2 (G1_XIST2)
4 bytes Velocity value B (NIST_B)
IO Data (word) 1 2 3 4 5 6 7 8 9 10
Actual value ZSW2_ENC G1_ZSW G1_XIST3 G1_XIST2 NIST_B
Note: Telegram 84 is only supported by the encoder gateway.
It is not supported by the absolute encoder.
Note: In standard telegram 84, G1_XIST2 is used to transfer
error codes and optionally position values if the
measuring length exceeds 64 bits.