HEIDENHAIN PROFINET - Manual (Page 37)

PROFINET IO data description
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4.4 Standard telegrams
Configuration of PROFINET encoders are made by choosing dif-
ferent telegram structures. The telegrams are used to specify the
data length and which type of data that are sent to and from the
IO controller. The following standard telegrams are supported.
4.4.1 Standard Telegram 81
Standard telegram 81 uses 4 bytes for output data from the IO
controller to the encoder and 12 bytes of input data from the en-
coder to the IO-controller.
Output data from the IO controller:
2 bytes Control word 2 (STW2_ENC).
2 bytes Control word (G1_STW).
IO Data (word) 1 2
Byte 0 1 2 3
Set point STW2_ENC G1_STW
Table 6 Output data Telegram 81
Input data to the IO controller:
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).
IO Data (word) 1 2 3 4 5 6
Byte 0 1 2 3 4 5 6 7 8 9 10 11
Actual value ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2
Table 7 Input data Telegram 81