HEIDENHAIN PROFINET - Manual (Page 39)

PROFINET IO data description
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4.4.3 Standard Telegram 83
Standard telegram 83 uses 4 bytes for output data from the con-
troller to the encoder and 16 bytes of input data from the encoder
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_ENC G1_STW
Table 10 Output data Telegram 83
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).
4 bytes Velocity value B (NIST_B)
IO Data (word) 1 2 3 4 5 6 7 8
Byte 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Actual value ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 NIST_B
Table 11 Input data Telegram 83