Encoder BEPC Product manual

PROFINET® Interface
For BEPC/EPC's Absolute Bus Encoders
REV 05/5/2021
TECHNICAL REFERENCE MANUAL
[phone] | encoder.co.uk
Sagle, Idaho, USA - Worldwide Headquarters / Wales, UK , European Division

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
[phone] | encoder.co.uk | [e-mail]
Contents
1.Introduction ...................................... 5
1.1 AboutThis Manual ....................................5
1.1.1 Explanation of Symbols Used in this Manual ..........5
1.1.2 What Is Not in this Manual .........................6
1.2 Products Supported ...................................6
1.3 Specications ........................................7
1.4 Scope of Delivery .....................................7
2.Safety Information................................. 7
2.1 General .............................................7
2.2 Intended Use.........................................8
2.3 Safe Working.........................................8
2.4 Disposal .............................................8
3.Device Description ................................. 9
3.1 General .............................................9
3.2 PROFINET...........................................10
3.3 Principles of EPC'S A58E Series Encoders.................10
3.3.1 SingleTurn – ST .................................11
3.3.2 Multi-Turn – MT .................................11
3.3.3 Direction of Rotation .............................11
3.3.4 Preset ..........................................11
3.3.5 Scaling .........................................11
3.4 Connection Assignments for PROFINET Encoders..........13
3.4.1 Bus Cover with 3 x M12x1 .........................13
3.5 LEDs and Signalling ..................................13
3.6 MAC Address and IP Address...........................14
4.PROFINET ........................................ 15
4.1 Summary of Functions................................15
4.2 GSDML Modules .....................................15
4.3 Signals .............................................16
4.4 Structure of the signals ...............................16
4.5 Telegrams ..........................................24
4.6 Parameters .........................................25
4.6.1 Description of the most important parameters .......26
4.7 Warnings and errors..................................30
4.7.1 Errors ..........................................30
4.7.2 Warnings .......................................31
4.7.3 G1_XIST2 error codes.............................31
5.Web Server....................................... 31
5.1 General ............................................31
5.2 Information.........................................33
5.2.1 Overview .......................................33
5.2.2 Diagnosis .......................................34
5.2.3 Versions ........................................35
5.3 Conguration .......................................36
5.3.1 Network ........................................36
5.3.2 Encoder ........................................37
5.3.3 Firmware Update ................................38
5.4 License information ..................................42
5.5 Contact.............................................42
6.Commissioning ................................... 43
6.1 General information..................................43
6.2 Integration into aTIA project ..........................43
6.3 Scaling function .....................................54
6.3.1 Example scaling function single-turn 16-bit to 12-bit .54
6.3.2 Example scaling function multi-turn ................56
6.3.3 Executing a preset................................59
6.3.4 Resetting a preset (Telegram 81 – 84 + 59000). . . . . . .62
6.3.5 Executing a preset (Telegram 86-89) ................62
6.4 Integration into a Step 7 project........................63
7.Technical Data .................................... 69
7.1 Properties ..........................................69
7.2 Dimensions .........................................69
8.Technical support ................................. 70

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
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List of Tables
Table 3.1: Pin Connection Assignment ................. 13
Table 4.1: Functions ................................. 15
Table 4.2: GSDML Modules............................ 15
Table 4.3: Signals ................................... 16
Table 4.4: Structure of signal 6 NIST_A ................. 17
Table 4.5: Structure of signal 8 NIST_B ................. 17
Table 4.6: Structure of signal 9 G1_STW ................ 18
Table 4.7: Structure of signal 10 G1_ZSW ............... 19
Table 4.8: Structure of signal 11 G1_XIST1 .............. 19
Table 4.9: Structure of signal 12 G1_XIST2 .............. 20
Table 4.10: Structure of signal 39 G1_XIST3............. 20
Table 4.11: Structure of signal 80 STW2_ENC............ 21
Table 4.12: Structure of signal 81 ZSW2_ENC............ 22
Table 4.13: Structure of signal 238(60000) G1_XIST1_
PRESET_B.......................................... 22
Table 4.14: Structure of signal G1_XIST1_PRESET_B1 .... 23
Table 4.15: Structure of signal G1_XIST1_PRESET_C ..... 23
Table 4.16: Structure of signal 60001 DEBUG_STW ....... 23
Table 4.17: Structure of signal 60002 DEBUG_ZSW ....... 24
Table 4.18: Telegrams ............................... 25
Table 4.19: Supported parameters .................... 26
Table 4.20: Velocity measuring units................... 28
Table 4.21: Hysteresis position........................ 28
Table 4.22: Extrapolation position..................... 29
Table 4.23: Filter max. RPM........................... 29
Table 4.24: Filter position ............................ 30
Table 4.25: Filter speed .............................. 30
Table 4.26: Errors ................................... 30
Table 4.27: Warnings ................................ 31
Table 4.28: G1_XIST2 error codes ...................... 31
Table 6.1: Data content for Example ................... 59

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
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List of Figures
Figure 3.1: EPC EtherCAT-ready encoders with PROFINET-IRT
bus covers. .......................................... 9
Figure 5.1: Web server — overview ................... 33
Figure 5.2: Diagnostic page........................... 35
Figure 5.3: Versions ................................. 35
Figure 5.4: Network settings ......................... 37
Figure 5.5: Encoder information. . . . . . . . . . . . . . . . . . . . . . . 37
Figure 5.6: Firmware update. . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 5.7: Firmware update - choose le............... 39
Figure 5.8: Firmware update - Transferring le .......... 40
Figure 5.9: Firmware update - Successful ............... 40
Figure 5.10: Firmware update - Failed.................. 41
Figure 5.11: License information ...................... 42
Figure 6.1: Switching to project view .................. 44
Figure 6.2: Manage device description le (GSD)......... 45
Figure 6.3: Installing GSDML.......................... 46
Figure 6.4: Switch to Devices & Networks ............... 46
Figure 6.5: Hardware Catalogue....................... 46
Figure 6.6: Network View ............................ 47
Figure 6.7: Change device name....................... 47
Figure 6.8: Select module ............................ 48
Figure 6.9: Select telegrams .......................... 48
Figure 6.10: Change the I/O addresses ................. 49
Figure 6.11: Download to device ...................... 49
Figure 6.12: Assigning device names................... 50
Figure 6.13: Name and PG interface ................... 50
Figure 6.14: Accessible nodes ......................... 51
Figure 6.15: Online status information ................. 52
Figure 6.16: PLC variables ............................ 53
Figure 6.17: Show all ................................ 53
Figure 6.18: Default tag table ........................ 53
Figure 6.19: Example of commissioning ................ 54
Figure 6.21: Assembly parameters..................... 55
Figure 6.23: Conguration of 12-Bit Single-turn with scaling56
Figure 6.24: Example of commissioning ................ 57
Figure 6.25: Device overview - MAP .................... 58
Figure 6.26: Assembly parameters..................... 58
Figure 6.27: Conguration of 360 Steps/revolution and 10
revolutions ........................................ 59
Figure 6.28: set STW2_ENC bit 10 to TRUE .............. 60
Figure 6.29: set G1_STW bit 13 to TRUE................. 60
Figure 6.30: G1_STW Bit 11 default 0 = absolute ........ 61
Figure 6.31: set and reset G1_STW Bit 12 ............... 61
Figure 6.32: SIMATIC Manager ........................ 63
Figure 6.33: Installing the GSDML le .................. 64
Figure 6.34: Hardware catalogue...................... 65
Figure 6.35: Hardware view .......................... 65
Figure 6.36: Select via single mouse click ............... 66
Figure 6.38: Slot 1, highlighted green.................. 66
Figure 6.39: Slot 1.2 with inserted telegram 81 ......... 66
Figure 6.40: Change the I/O addresses ................. 67
Figure 6.41: "Addresses" tab.......................... 67
Figure 6.42: Save and transmit – Download to module ... 67
Figure 6.43: Variable table ........................... 68
Figure 6.44: HEX position value ....................... 68

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
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1.Introduction
1.1 About This Manual
This technical manual describes the conguration and mounting possibilities for absolute-value encoders with a PROFINET interface produced by
Encoder Products Company (EPC). It supplements the other publicly available EPC documents, e.g. data sheets, assembly instructions, leaets,
catalogues and yers.
Ensure that you read the manual before provisioning — check beforehand that you have the latest version of the manual.
When reading, pay particular attention to the information, important notices and warnings that are marked with the corresponding symbols (see
1.1.1).
This manual is intended for persons with technical knowledge in the handling of sensors, PROFINET IRT interfaces and automation elements. If you
do not have any experience in this eld, request the assistance of experienced personnel before proceeding.
Keep the information provided with our product in a safe place so that you can refer to it at a later date as necessary.
The contents of this manual are arranged with practical use in mind.
All of the information in the following sections is required to get the best possible use out of the equipment, and should be
read through thoroughly.
1.1.1 Explanation of Symbols Used in this Manual
The INFO symbol is placed next to a section of text that is particularly informative or important for what to do next with
the equipment.
The IMPORTANT symbol is placed next to a section of text in which a process is described to resolve a particular problem.
TheWARNING symbol is placed next to a section of text that should be paid particular attention to in order to ensure the

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
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correct use of the equipment and to protect against danger.
1.1.2 What Is Not in this Manual
• Basic information about automation technology
• System planning
• Risks (availability, safety)
• Shielding concepts
• Reections
• Repeaters
• Network conguration
• Bus cycle times
• FMA management services
• Transmission services
• Telegram types

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
Page 7 of 68+44(0)1978 262100 | encoder.co.uk | [e-mail]
1.2 Products Supported
This manual supports the following types of EPC Absolute Encoders:
• Model A58HE – PROFINET absolute hollow-bore encoder with bus cover
• Model A58SE – PROFINET absolute shaft encoder, synchro or clamping ange, heavy-duty or compact, with bus cover
EPC's PROFINET product range can be found on our website: encoder.com/pronet
1.3 Specications
An encoder is a sensor that is designed to detect angular positions (single-turn) and revolutions (multi-turn).The measured data and variables are
processed by the encoder and provided as electrical output signals for the connected peripherals.
Patented technologies for single-turn and for multi-turn are used in the A58SE and A58HE series encoders. As a result, these encoders from EPC are
maintenance-free and very eco-friendly.
The encoders whose article descriptions are listed in Section 1.2 communicate via the PROFINET IRT interface.
1.4 Scope of Delivery
The scope of delivery depends on the product variants and the details of your order. Before commissioning, check the contents of the delivery for
completeness.
As a rule, the A58HE and A58SE products have a PROFINET IRT interface includes the following items:
• A58HE or A58SE with PROFINET-IRT (with bus cover)
• Assembly instructions

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
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2.Safety Information
2.1 General
• When provisioning the encoder, ensure that you observe the assembly instructions, manual and data sheet.
• Failure to observe the safety instructions may lead to malfunctions, property damage and personal injury!
• Observe the operating instructions provided by the machine's manufacturer.
2.2 Intended Use
Rotary encoders are components that are intended for installation in machines. Before commissioning (operation in accordance with the intended
use), it must be determined that the machine as a whole corresponds to the EMC and Machine Directive.
A rotary encoder is a sensor that is designed to detect angular positions and revolutions and must only be used for this purpose! EPC Automation
manufactures and distributes encoders for use in non-safety-relevant industrial applications.
The encoder must not be operated outside the specied limit parameters (see product datasheet).
2.3 Safe Working
The installation and mounting of the encoder must only be carried out by a qualied electrician.
For the construction of electrical installations, all relevant national and international regulations must be strictly observed.
Failure to commission the encoder correctly may result in malfunction or failure.

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
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• All electrical connections must be tested before commissioning.
• Appropriate safety measures must be taken to ensure that no persons are harmed and no damage to the system or operating equipment
occurs in the event of a failure or malfunction.
2.4 Disposal
Devices that are no longer needed or are defective must be disposed by the user in proper compliance with the country-specic laws. It must be
taken into consideration that this is a special waste of electronics and that disposal is not permitted via normal household waste.
There is no obligation by the manufacturer to take the device back. If you have any questions regarding proper disposal, contact a disposal specialist
in your area.
3.Device Description
3.1 General
Various mechanical variants of the A58SE and A58HE-series encoders with PROFINET-IRT are available. The required variant is determined by the
need for a bus cover, the ange design and the shaft type (solid or hollow).The size is specied as 58 mm by the diameter at the ange.The follow-
ing gure shows examples of A58SE/HE-series encoders with PROFINET IRT.
The solid or hollow shaft is connected to the rotating component whose angular position or rotational speed is to be measured. Cable or plug
outlets create the interface for connection to the PROFINET network.The status LEDs mounted in the cover signal the various encoder states during
operation.They assist with conguration of the encoder and troubleshooting in the eld.The ange holes or supplied spring sheets are used for
attachment to the machine and during the respective application.

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BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
Page 10 of 68+44(0)1978 262100 | encoder.co.uk | [e-mail]
Figure 3.1: EPC EtherCAT-ready encoders with PROFINET-IRT bus covers.
From left to right: A58SE with clamping ange; A58SE with synchro ange; A58SE heavy-duty; A58SE compant; A58HE (blind hollow bore)
3.2 PROFINET
PROFINET is distributed by the PROFIBUS User Organization (PNO) as a successor to Probus. PROFINET is the standard interface for industrial Ether-
net. PROFINET provides similar functionality to Probus, but extends these by rmware upgrades.
Established IT standards are used for the transfer of information. UDP, IP and XML form the basis for this. XML is used as a description language
in the device prole (abbreviated to "GSDML le"). In order for the devices to exchange their data via IP — process data (cyclic) and parameter data
(acyclic) — a unique name must be assigned to each PROFINET node during conguration.The control can only assign an IP address to the node via
this name.
PROFINET supports the following three transmission types:
• PROFINET NRT (not real time), non-time-critical applications in automation, clock rates of around 100 milliseconds.
• PROFINET RT (real time), cyclic data trac is used to achieve clock rates of 10 milliseconds.
• PROFINET IRT (isochronous real time), clock rates of 1 millisecond and jitter of less than 1 microsecond.This is suitable for use in motion-
control applications (for example).
Further information about PROFINET is available via the homepage of the PROFIBUS User Organization (PNO) at: https://www.probus.
com/technology/pronet/

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
Page 11 of 68+44(0)1978 262100 | encoder.co.uk | [e-mail]
3.3 Principles of EPC'S A58E Series Encoders
The following sections describe the basic functions of an absolute encoder.
Unlike incremental encoders, absolute-value encoders output their position value as a digital number via a eldbus. A distinction is made here
between single-turn and multi-turn encoders.
In addition to simply outputting the position value, most encoders permit a certain degree of parameterization, such as selecting the positive direc-
tion of rotation, setting the position value to a reference value at a xed physical position, and scaling the position value to an arbitrary resolution
and a limited measuring range.This reduces the required complexity of the control program as well as the computational burden on the controller.
3.3.1 Single Turn – ST
Measurement of the angle from 0° to 360° by means of a shaft represents the minimum functionality of a rotary encoder. The sensor system is
based on optical or magnetic sampling of a measuring graduation on the encoder shaft.
The A58SE/HE encoders from EPC feature new magnetic technology, which provides maximum precision and resolution for a single-turn encoder.
3.3.2 Multi-Turn – MT
A multi-turn encoder allows the number of revolutions to be recorded.This is achieved via a rotation counter. The A58SE and A58HE encoders
include technology, which ensures that the corresponding information is retained, even in a voltage-free state.This means that buer batteries and
gearboxes, which require a comparatively large installation space and a correspondingly high degree of maintenance, are no longer needed.
3.3.3 Direction of Rotation
The positive direction of rotation can be reversed by a simple two's complement of the position value (invert every bit and add "1").
3.3.4 Preset
The desired position value can be assigned to the encoder at a specic physical position.This must be within the measuring range so that the posi-
tion value is correlated with a physical reference position. For this purpose, the dierence between the current position value and the desired value
is calculated.The result is stored in non-volatile memory and added to the position value as an oset.
3.3.5 Scaling
For the precise matching of the position value with the parameter to be measured in physical terms, adjustments can be carried out using the scal-

TECHNICAL REFERENCE MANUALPROFINET®Interface
BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
Page 12 of 68+44(0)1978 262100 | encoder.co.uk | [e-mail]
ing parameters. The scalable parameters are "Measuring units per revolution (MUPR)" and "Total measuring range in measuring units (TMR)".
The scaling parameters "Measuring units per revolution (MUPR)" – increments per revolution – indicates the resolution of the position value per
revolution (also: ST resolution). The value equates to 360°. This means that, if a value of 3600 Cts is parametrized, the encoder outputs the position
in 0.1° increments (see Equation #2).
Equation #1 MUPR = ST = 3600 Cts
Equation #2 Angular steps = Angle of one revolution = 360° = 0.1° / Cts
MUPR 36000 Cts
The scaling parameter "Total measuring range in measuring units (TMR)" – the maximum total measuring range of the position value (single-turn
and multi-turn multiplied) – indicates the total resolution of the encoder. When the position value reachesTMR -1, it jumps back to 0 and vice
versa.
As a rule, the selectedTMR parameter should be an integer multiple of the "Measuring units per revolution (MUPR)" (see equation #4), so that the
zero point is always at the same position of the encoder shaft.
Equation #3 TMR = 36000 Cts
Equation #4 MT = TMR = 36000 Cts = 10
MUPR 3600 Cts
In exceptional cases, it is suitable thatTMR is not an integer multiple of MUPR – for example, in a system in which a gear ratio ensures that the
desired measured variable is moving 10% faster relative to the encoder shaft.
In this case, a setting of MUPR = 3960 Cts andTMR = 36000 Cts would ensure that the faster (but not directly measurable) shaft can be measured
with a resolution of 0.1° and over a range of 10 revolutions. Normally, the number of revolutions would be calculated by dividing the position value
by MUPR. In this case, however, it must be divided by 3600 Cts, since the result would otherwise be the number of revolutions of the encoder shaft
and not the faster shaft of the system.
It should be noted that measurement errors occur if the result of this formula is a decimal.

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BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
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3.4 Connection Assignments for PROFINET Encoders
3.4.1 Bus Cover with 3 x M12x1
The "RNB" code in the order key refers to an encoder with a bus cover. The electrical connection is made at the bus cover via the 2 x M12 plugs and 1
x M12 socket. The connection assignment of the plugs and sockets can be found in Table 3.1.
Port 1 (In)
Assignments
RNB
Female
Connector
(Port1) IN
M12x1,
4-pin,
D-coded
Tx+ 1
Rx+ 2
Tx- 3
Rx- 4
Power
Assignments
RNB
Connector
(Power)
M12x1,
4-pin,
A-coded
(+) Vcc 1
n. c. 2
GND 3
n. c. 4
Port 2 (Out)
Assignments
RNB
Female
Connector
(Port2) OUT
M12x1,
4-pin,
D-coded
Tx+ 1
Rx+ 2
Tx- 3
Rx- 4
This chart is for:
A58SE datasheet
A58HE datasheet
TB-541
TB-542
PROFINET manual
EtherCAT manual
Tx+ 1
Rx+ 2
Tx- 3
Rx- 4
Female Connector
Port1 (IN)
M12x1,
4-pin,
D-coded
Function
(+) Vcc 1
n. c. 2
GND 3
n. c. 4
Power
M12x1,
4-pin,
A-coded
Function
Tx+ 1
Rx+ 2
Tx- 3
Rx- 4
Female Connector
Port2 (OUT)
M12x1,
4-pin,
D-coded
Function
Below is version from Daniel Konoff. Above version contains
same information, approved format from Cody Swisher and
Sarah Walter 9/19/19
PLACE AS A PDF
in the documents. Otherwise BECO can’t
open the les.
Table 3.1: Pin Connection Assignment
3.5 LEDs and Signalling
Four status LEDs on the bus cover signal the various encoder states and thus support error diagnosis and troubleshooting in the eld (seeTable
3.2).The two Link Activity LEDs (L/A) light up or ash green when the encoder is connected to another PROFINET node (PLC, switch, additional eld
device...) and data is being exchanged.The STAT LED indicates the status of the eldbus, the MOD LED the status of the encoder.

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BEPC/EPCTechnical Reference Manual
Absolute Encoders with PROFINET Interface
REV 05/5/2021
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STAT LED
dual color
MOD LED
dual color
Meaning Cause
No voltage
No connection;
no data exchange Bus disconnection or master not accessible or switched o
Parametrization error, no data exchange
Criterion:
Data exchange correct.
However, the slave does not switch to the
data-exchange mode
Slave is not congured yet.
Incorrect station address, but not out of range.
The actual conguration of the slave diers from the
nominal conguration.
System error Diagnosis exists, slave is in data-exchange mode
Data exchange, slave and operation OK
3.6 MAC Address and IP Address
EPC PROFINET encoders have three MAC addresses. These always start with D4-90-E0-xx-xx-xx.The number depends on the number of ports on the
integrated three-port switch.There is one MAC address each for Port1 and Port2, as well as one MAC address for the "internal port" to which the
encoder itself is connected.
In the delivered state, the PROFINET encoder has no IP address and no name. These are dened during conguration (e.g.,TIA Portal).
4.PROFINET
4.1 Summary of Functions
Our PROFINET encoders support the functions shown inTable 4.1, below.

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Absolute Encoders with PROFINET Interface
REV 05/5/2021
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Functions Meaning
Conformance class CC-C
Prole Encoder ProleV4.1
Prole class Encoder Prole Class 4,
as well as compatibility with Class 3
Performance Cycle time 250 μs (with clock synchronisation) and fast
start-up of 1 s
Redundancy MPR and MRPD
Web server Display and conguration of parameters,
rmware updates
Clock synchronisation RT, IRT and IRT isochronous
Table 4.1: Functions
4.2 GSDML Modules
The modules from the current GSDML le are listed inTable 4.2, below
Designation Meaning
ST0016 No multi-turn, single-turn 16 bit
MT4316 Multi-turn 43 bit + single-turn 16 bit = 59 bits in total
Table 4.2: GSDML Modules
4.3 Signals
Table 4.3, below, shows the signals that are supported by EPC PROFINET encoders.

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Signal Description Name Length (bits) Signed
6 Velocity A NIST_A 16 Y
8 Velocity B NIST_B 32 Y
9 Sensor 1 control word G1_STW 16 –
10 Sensor 1 status word G1_ZSW 16 –
11 Sensor 1 position 1 G1_XIST1 32 N
12 Sensor 1 position 2 G1_XIST2 32 N
39 Sensor 1 position 3 G1_XIST3 64 N
80 Encoder control word 2 STW2_ENC 16 –
81 Encoder status word 2 ZSW2_ENC 16 –
238
(60000) Sensor position preset control word G1_XIST_PRESET_A 32 N
TBD Sensor position preset control word G1_XIST_PRESET_B1 32 N
TBD Sensor position preset control word G1_XIST_PRESET_C 64 N
60001 Debug control word DEBUG_STW 16 N
60002 Debug status word DEBUG_ZSW 16 N
Table 4.3: Signals
4.4 Structure of the signals
NIST_A: Velocity value A
This value includes the velocity, has a width of 16 bits and is signed.
Signal NIST_A
Bits 15 ... 0
Contents
15 … 0 Velocity value A Right-aligned, output in set unit
(seeTable 4.20, Velocity Measuring Units)

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Table 4.4: Structure of signal 6 NIST_A
NIST_B: Velocity value B
This value includes the velocity, has a width of 32 bits and is signed.
Signal NIST_B
Bits 31 ... 0
Contents
31 … 0 Velocity value B Right-aligned, output in set unit
(seeTable 4.20, Velocity Measuring Units)
Table 4.5: Structure of signal 8 NIST_B
G1_STW: Sensor 1 control word
Signal G1_STW
Bit 15 14 13 12 11 10 ... 0
Contents
15 Conrm sensor error 0 = Sensor error not conrmed by controller
1 = Sensor error conrmed by controller
14 Park mode 0 = Normal operation
1 = Activate park mode
13 Cyclically query absolute position value 0 = Do not interrogate
1 = Master performs query (cyclic output of G1_XIST2)
12 Activate preset 0 = Preset not active
1 = Preset active
11 Preset mode 0 = Set preset to absolute value
1 = Move preset by value (oset)
10 ... 0 Reserved, currently not used

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Table 4.6: Structure of signal 9 G1_STW
To enable the encoder to respond to the requirements in G1_STW, the controller must set bit 10 to 1 in STW2_ENC.
G1_ZSW: Sensor 1 status word
Signal G1_ZSW
Bit 15 14 13 12 11 10 ... 0
Contents
15 Sensor error Signals a sensor error and outputs a device-specic error code in G1_XIST2
14 Park mode active Conrms "Park mode". No error messages are transmitted
13 Cyclically query absolute position value Conrms "cyclically query absolute position value"
12 Preset activated Conrms "activate preset"
11 Sensor error acknowledgement active Signals processing of the requested sensor error acknowledgement
10 ... 0 Reserved, currently not used
Table 4.7: Structure of signal 10 G1_ZSW
G1_XIST1: Sensor 1 position 1
Signal G1_XIST1
Bits 31 ... 0
Contents
31 ... 0 Absolute position value 1 Right-aligned
Table 4.8: Structure of signal 11 G1_XIST1
Structure of G1_XIST1 using the example of a 16-bit multi-turn and a 16-bit single-turn encoder:

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31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
MMMMMMMMMMMMMMMM
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
SSSSSSSSSSSSSSSS
M = multi-turn / S = single turn
This value includes the position, has a width of 32 bits, and is unsigned.The encoder parameter settings inuence this position value if "Class 4
functionality" is activated. The inuence of the preset functionality can be controlled with "G1_XIST1 Preset Control".
G1_XIST2: Sensor 1 position 2
Signal G1_XIST2
Bits 31 ... 0
Contents
31 ... 0 Absolute position value 2 Right-aligned
Table 4.9: Structure of signal 12 G1_XIST2
This value includes the position, has a width of 32 bits and is unsigned.The encoder parameter settings inuence this position value if "Class 4
functionality”is activated.When activated, the preset functionality always has an inuence on G1_XIST2.
If an error occurs, G1_XIST2 contains the error register instead of the position value.
G1_XIST3: Sensor 1 position 3
Signal G1_XIST3
Bits 63 ... 0
Contents

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Signal G1_XIST3
63 ... 0 Absolute position value 3 Right-aligned
Table 4.10: Structure of signal 39 G1_XIST3
This value includes the position, has a width of 64 bits and is unsigned.
It can be used if the measuring range of the encoder is larger than 32 bits.The encoder parameter settings inuence this position value if "Class 4
functionality" is activated.
STW2_ENC: Encoder control word 2
Signal STW2_ENC
Bits 15 ... 12 11 10 9 ... 0
Contents
15 ... 12 Sign-of-life from the PLC Receives a count value from 1 to 15 when isochro-
nous transmission is activated
11 Reserved, currently not used
10 Control by PLC 0 = No control by PLC
1 = Control by PLC
9 ... 1 Reserved, currently not used
0Controls the execution of the preset
1 = Preset executed
Table 4.11: Structure of signal 80 STW2_ENC
ZSW2_ENC: Encoder status word 2
Signal ZSW2_ENC
Bits 15 ... 12 11 .... 10 9 8... 0