HEIDENHAIN PROFINET - Manual (Page 41)

PROFINET IO data description
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4.5 Manufacturer telegram 59001
The manufacturer telegram 59001 is a simplified telegram to get
cyclic data transmission and also the possibility to do a preset via
IO-data without the need of control word and status words.
The preset function can be used to set the actual position of the
encoder to any entered value within the working range of the en-
coder. If scaling is active and has been done on the encoder it is
only possible to enter a preset value within the working range of
the encoder.
The preset is activated when the most significant bit (bit 31) is set
to 1. The actual preset value should be entered in the following
bits according to below.
IO Data (word) 1 2
Byte 0 1 2 3
Bits 31(MSB) 30-24 23-16 15-8 7-0(LSB)
Preset control bit Preset value < total resolution
Table 14 Output data from IO-controller to encoder
The manufacturer telegram 59001 input data consist of a 4 bytes
position data value and a 4 byte velocity value as shown below.
The velocity value uses the format that is defined in the Velocity
measuring unit.
IO Data (word) 1 2 3 4
Byte 0(MSB) 1 2 3(LSB) 4(MSB) 5 6 7(LSB)
Actual value Position value
32 bit Unsigned in
Velocity value
32 bit Signed int
Table 15 Input data from encoder to IO-controller
Note: User parameter Class 4 functionality and G1_XIST1
Preset control must be activated in order to activate
the preset in manufacturer telegram 59001.