HEIDENHAIN PROFINET - Manual (Page 38)

PROFINET IO data description
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4.4.2 Standard Telegram 82
Standard telegram 82 uses 4 bytes for output data from the IO
controller to the encoder and 14 bytes of input data from the en-
coder to the 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_EN G1_STW
Table 8 Output data Telegram 82
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).
2 bytes Velocity value A (NIST_A)
IO Data (word) 1 2 3 4 5 6 7
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13
Actual value ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 NIST_A
Table 9 Input data Telegram 82