HEIDENHAIN PROFINET - Manual (Page 40)

PROFINET IO data description
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4.4.4 Standard Telegram 84
Standard telegram 84 uses 4 bytes for output data from the con-
troller to the encoder and 20 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 12 Output data Telegram 84
Input data to the IO controller:
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
Byte 0 1 2 3 4 5 6 7 8 9 1
0
1
1
1
2
1
3
1
4
1
5
1
6
1
7
1
8
1
9
Actual
value
ZSW2
_ENC
G1_ZS
W
G1_XIST3 G1_XIST2 NIST_B
Table 13 Input data Telegram 84
Note: In standard Telegram 84, G1_XIST2 is used to transfer
error codes and optionally position values if the meas-
uring length exceeds 64 bits.