SICK AFS60 PROFINET User manual

O P E R A T I N G I N S T R U CT I O N S
AFS60 PROFINET
AFM60 PROFINET
Absolute Encoder

2OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/145N/2019-05-24 | S ICK STEGMANN
Subject to change without notice
Described product
AFS60/AFM60 PROFINET
Manufacturer
SICK STEGMANN GmbH
Dürrheimer Str. 36
78166 Donaueschingen
Germany
Legal information
This document is protected by the law of copyright. Whereby all rights established
therein remain with the company SICK STEGMANN GmbH. Reproduction of this
document or parts of this document is onlypermissiblewithin the limits of the legal
determination of Copyright Law. Any modification, expurgation or translation of this
document is prohibited without the express written permissionof SICK STEGMANN
GmbH.
The trademarks stated in this document are the propertyof their respective owner.
© SICK STEGMANN GmbH. All rights reserved.
Original document
This document is an original document of SICK STEGMANN GmbH.

CONTENTS
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Contents
1 About this document.........................................................................5
1.1 Function of this document..................................................................................5
1.2 Scope.....................................................................................................................5
1.3 Target group..........................................................................................................5
1.4 Information depth.................................................................................................6
1.5 Symbols used........................................................................................................6
1.6 Abbreviations used...............................................................................................6
2 On safety...........................................................................................8
2.1 Authorized personnel...........................................................................................8
2.2 Correct use............................................................................................................8
2.3 General safety notes and protective measures...............................................9
2.4 Environmental protection....................................................................................9
3 Product description.........................................................................10
3.1 Special features.................................................................................................10
3.2 Operating principle of the encoder..................................................................11
3.2.1 Scaleable resolution.......................................................................11
3.2.2 Round axis functionality................................................................11
3.3 Integration in PROFINET...................................................................................13
3.3.1 Communication channels..............................................................14
3.3.2 Device identification in the PROFINET.........................................14
3.3.3 GSDML file.......................................................................................14
3.3.4 Encoder model................................................................................15
3.3.5 Submodules....................................................................................15
3.4 Communication telegrams for cyclic process data.......................................16
3.4.1 I/O signals.......................................................................................16
3.4.2 Structure of telegram 81 to 84 (asper encoder profile V4.1) ......16
3.4.3 Contents of the signals..................................................................20
3.5 Acyclic process data..........................................................................................24
3.5.1 Structure of the parameter Request............................................25
3.5.2 Structure of the parameter Response.........................................26
3.5.3 Examples on reading and writing a parameter...........................27
3.5.4 PROFIdrive-specific parameters...................................................29
3.5.5 Vendor specific parameters..........................................................32
3.5.6 Encoder profile-specific parameters............................................36
3.6 Configurable functions......................................................................................37
3.6.1 Code sequence...............................................................................37
3.6.2 Class 4 functionality.......................................................................37
3.6.3 G1_XIST1 preset control................................................................38
3.6.4 Scaling..............................................................................................38
3.6.5 Alarm channel control....................................................................38
3.6.6 Compatibility mode.........................................................................38

CONTENTS
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3.6.7 Measuring range per revolution...................................................38
3.6.8 Total measuring range...................................................................39
3.6.9 Speed measuring unit....................................................................39
3.6.10 Save mode for the preset value ...................................................39
3.6.11 Transmit preset value ....................................................................40
3.6.12 Round axis functionality................................................................40
3.6.13 Number of revolutions, nominator for the round axis
functionality.....................................................................................40
3.6.14 Number of revolutions, divisor for the round axis
functionality.....................................................................................40
3.6.15 Speed filter, sampling interval......................................................40
3.6.16 Speed filter, number of measurements......................................40
3.6.17 Preset value.....................................................................................40
3.7 Controls and status indicators.........................................................................41
4 Commissioning ...............................................................................42
4.1 Electrical installation.........................................................................................42
4.1.1 Connections of the AFS60/AFM60 PROFINET...........................42
4.2 Settings on the hardware.................................................................................44
4.3 Integration into the PLC....................................................................................45
4.3.1 Installing the GSDML file (onlyonce)...........................................45
4.3.2 Loadingencoder in the user interface.........................................45
4.4 Configuration of the encoder via the Parameter Access Point....................46
4.4.1 Reading the position......................................................................47
4.4.2 Setting preset value .......................................................................48
4.5 Configuring encoder as technology object.....................................................50
4.6 Test notes...........................................................................................................53
5 Troubleshooting ..............................................................................54
5.1 In the event of faults or errors.........................................................................54
5.2 SICK STEGMANN support.................................................................................54
5.3 Diagnostics.........................................................................................................54
5.3.1 Error and status indications on the LEDs....................................54
5.4 Error transmission via PROFINET....................................................................55
5.4.1 Error message on vendor specific parameters...........................56
5.4.2 Error messages on encoder profile specific parameters..........60
5.4.3 Alarm channel.................................................................................62
5.4.4 Error codes in telegram part G1_XIST2.......................................62
5.5 Replacement of an encoder in the PROFINET network................................63
6 Annex ..............................................................................................64
6.1 Compliance with EU directives.........................................................................64
7 List of illustrations...........................................................................65
8 List of tables....................................................................................66

ABOUT THIS DOCUMENT 1
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1About this document
Please read this chapter carefullybefore working with this documentationand the
AFS60/AFM60 PROFINET Absolute Encoder.
1.1 Function of this document
This technical information is designedto address the technical personnel of the
machine manufacturer or the machine operator in regards to correct configuration,
electrical installation, commissioning, operation and maintenance of the
AFS60/AFM60 PROFINET Absolute Encoder.
1.2 Scope
NOTE
This technical information applies to the AFS60/AFM60PROFINET AbsoluteEncoder
with the followingtype codes:
Singleturn Encoder Advanced = AFS60A-xxNx262144
Multiturn Encoder Advanced = AFM60A-xxNx018x12
1.3 Target group
This technical information is addressed at the planners, developers and operators of
systems in which one or more AFS60/AFM60 PROFINETAbsolute Encoders are to be
integrated. It also addresses people whoinitialize the use of the
AFS60/AFM60 PROFINET or who are in charge of servicing and maintainingthe device.
These instructions are written for trained persons whoare responsible for the in-
stallation, mounting and operation of the AFS60/AFM60 PROFINET in an industrial
environment.

1ABOUT THIS DOCUMENT
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1.4 Information depth
This technical information contains information on the AFS60/AFM60 PROFINET
Absolute Encoder on the following subjects:
Product features
Electrical installation
Puttinginto operation and
configuration
Troubleshooting
Conformity
This technical information does not contain any information on the mountingof the
AFS60/AFM60 PROFINET. You will find this information in the mounting instructions
included with the device.
It also does not contain anyinformation on technical specifications, dimensional
drawings,orderinginformation or accessories. You will find this information in the data
sheet for the AFS60/AFM60PROFINET.
Planningand using measurement systems such as the AFS60/AFM60 PROFINETalso
requires specific technical skills beyond the information in the operatinginstructions
and mountinginstructions. The information required to acquire these specific skills is
not contained in this document.
When operating the AFS60/AFM60 PROFINET, the national, local and statutoryrules
and regulations must be observed.
Further information
PROFINET/PROFIBUS Nutzerorganisatione.V. (PNO), Haid-und-Neu-Str. 7,
D-76131 Karlsruhe
Web: www.profinet.com
www.profinet.de
1.5 Symbols used
NOTE
Refer to notes for special features of the device.
LED symbols describe the state of a diagnostics LED.Examples:
The LED is illuminated constantly.
The LED is flashing.
The LED is off.
Instructions for taking action are shown by an arrow. Read carefully and follow the
instructions for action.
WARNING
Warning!
A warningnotice indicates an actual or potential risk or health hazard. They are
designed to help you to prevent accidents.
Read carefully and follow the warning notices.
1.6 Abbreviations used
Customized Number of Revolutions, Divisor = divisor of the customized number of
revolutions
, , 
Take action …
CNR_D
CNR_N

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Customized Number of Revolutions, Nominator = nominator of the customized number
of revolutions
Counts Per Revolution
Electrically Erasable ProgrammableRead-only Memory
Field Programmable Gate Array = electronic component that can be programmed to
provide an application-specific circuit
Generic Station Description Markup Language = electronic devicedata sheet based on
XML
Input and Output Data = input and output data
Link Layer DiscoveryProtocol
Least Significant Double Word
Least Significant Word
Media Access Control
Module Access Point
Counts per Measuring Range
Most Significant Double Word
Most Significant Word
Programmable Logic Controller
Physical MeasuringRange
Process Field Network
Programmable Logic Controller
Transmission Control Protocol/Internet Protocol
User Datagram Protocol (connectionless network protocol)/Internet Protocol
CPR
EEPROM
FPGA
GSDML
I/O
LLDP
LSDW
LSW
MAC
MAP
MR
MSDW
MSW
PLC
PMR
PROFINET
SPS
TCP/IP
UDP/IP

2ON SAFETY
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2On safety
This chapter deals with your own safety and the safety of the equipment operators.
Please read this chapter carefully before working with the
AFS60/AFM60 PROFINET or with the machine or system in which the
AFS60/AFM60 PROFINET is used.
2.1 Authorized personnel
The AFS60/AFM60 PROFINET Absolute Encoder must only be installed, commissioned
and serviced by authorized personnel.
NOTE
Repairs to the AFS60/AFM60 PROFINETare onlyallowedto be undertaken by trained
and authorized service personnel from SICK STEGMANN GmbH.
The following qualifications are necessaryfor the various tasks:
Activity
Qualification
Mounting
Basic technical training
Knowledge of the current safety regulations in the
workplace
Electrical installation and
replacement
Practical electrical training
Knowledge of current electrical safety regulations
Knowledge on the use and operation of devices in the
related application (e.g. industrial robots, storage and
conveyor technology)
Commissioning, operation and
configuration
Knowledge on the current safety regulations and the
use and operation of devices in the related application
Knowledge of automation systems like programmable
logic controllers
Knowledge of PROFINET
Knowledge of a projecting tool (e.g. the SIEMENS TIA
Portal V13)
Table 1: Authorized personnel
2.2 Correct use
The AFS60/AFM60 PROFINET Absolute Encoder is a measuringdevice that is manu-
factured in accordance with recognized industrial regulations and meets the quality
requirements as per ISO 9001:2008 as well as those of an environment management
system as per ISO 14001:2009.
An encoder is a device for mountingthat cannot be used independent of its foreseen
function. For this reason an encoder is not equipped with immediate safe devices.
Measures for the safety of persons and systems must be provided by the constructor of
the system as per statutoryregulations.
The AFS60/AFM60 PROFINET is only allowed to be operated in a PROFINET network as
per its purpose defined by its design. It is necessaryto comply with the PROFINETspe-
cifications and guidelines for settingup a PROFINETnetwork.
In case of any other usage or modifications to the AFS60/AFM60 PROFINET, e.g. open-
ing the housing during mounting and electrical installation, or in case of modifications
to the SICK software, any claims against SICK STEGMANN GmbH under warranty will be
rendered void.

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2.3 General safety notes and protective measures
WARNING
Please observe the following procedures in order to ensurethe correct and safe use
of the AFS60/AFM60 PROFINET!
The encoder is to be installed and maintained by trained and qualified personnel with
knowledge of electronics, precision mechanics and control systemprogramming. It is
necessaryto comply with the related standards coveringthe technical safety
stipulations.
The safety regulations are to be met by all persons who are tasked with the installation,
the operation or the maintenance of the device:
The technical information must always be availableand must always be followed.
Unqualified personnel are not allowed to be present in the vicinity of the system
during installation.
The system is to be installed in accordance with the applicablesafety stipulations
and the mountinginstructions.
All work safetyregulations of the applicable countries are to be followed during
installation.
Failure to follow all applicablehealth and safety regulations mayresult in injuryor
damage to the system.
The current and voltage sources in the encoder are designed in accordancewith
all applicable technical regulations.
2.4 Environmental protection
Please note the following information on disposal.
Assembly
Material
Disposal
Packaging
Cardboard
Waste paper
Shaft
Stainless steel
Scrap metal
Flange
Aluminium
Scrap metal
Housing
Aluminium die cast
Scrap metal
Electronic assemblies
Various
Electronic waste
Table 2: Disposal of the assemblies

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3Product description
This chapter provides information on the special features and properties of the
Absolute Encoder AFS60/AFM60PROFINET.It describes the construction and the
operatingprinciple of the device.
Please read this chapter before mounting, installing and commissioning the
device.
3.1 Special features
Properties
Singleturn Encoder
Advanced
Multiturn Encoder
Advanced
Absolute Encoder in 60 mm design


Robust nickel coded disk for harsh environments


High precision and reliability


Large ball bearing spacing of 30 mm


High level of resistance to vibration


Optimal rotational accuracy


Compact design


Face mount flange, servo flange and blind hollow
shaft


18 bit singleturn resolution
(1 to 262,144 steps)


30 bit total resolution
–

12 bit multiturn resolution
(1 to 4,096 revolutions)
–

Round axis functionality
–

PROFINET interface (as per IEC 61784-2)


Supports the encoder profile V4.1 class 3 and 4


Ethernet with Full Duplex, Switched Ethernet,
100 Mbit/s


Supports the Link Layer Discovery Protocol


Supports the diagnostic functions “General
diagnosis history” and “Error counter history”


Supports the function “External Default Setting”


Table 3: Special features of the encoder variants

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3.2 Operating principle of the encoder
The sensingsystem in the AFS60/AFM60 PROFINET Absolute Encoder is based on
absolute acquisition of revolutions without an external power supply or battery.
The AFS60/AFM60 PROFINET acquires the position of rotating axes and outputs the
position in the form of a unique digital numeric value. The number of steps in a turn is
acquired optically via an internal code disk. The number of turns is acquired using a
magnetic gearbox.
The AFS60 PROFINET is a singleturn encoder
Singleturn encoders are used if absolute acquisition of the rotation of a shaft is
required.
The AFM60 PROFINET is a multiturn encoder
Multiturn encoders are used if more than one shaft revolution must be acquired
absolutely.
3.2.1 Scaleable resolution
The steps per revolution and the total resolution can be scaled and adapted to the
related application.
The steps per revolution can be scaled from 1 …262,144as an integer. The total re-
solution of the AFS60/AFM60 PROFINET must be 2ⁿ times the resolution per revolu-
tion. This restriction is not relevant if the round axis functionalityis activated.
3.2.2 Round axis functionality
The encoder supports the function for round axes. Duringthis process, the steps per
revolution are set as a fraction (see section 3.6.12on page 40). As a result, the total
resolution does not have to be configured to 2ⁿ times the resolution per revolution and
can also be a decimal number (e.g. 12.5).
NOTE
The output position value is adjusted with the zero point correction, the counting
direction set and the gearbox parameters entered.

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Example with transmission ratio
A rotary table for a filling system is to be controlled. The resolution per revolution is pre-
defined bythe number of filling stations. There are nine fillingstations. For the precise
measurement of the distance between two filling stations, 1,000 steps are required.
Figure 1: Example position measurement on a rotary table with transmission ratio
The number of revolutions is pre-definedby the transmission ratio = 12.5 of the rotary
table gearing.
The total resolution is then 9 × 1,000 = 9,000steps, to be realized in 12.5 revolutions
of the encoder.This ratio cannot be realized via the steps per revolution and the total
resolution, as the total resolution is not 2ⁿ times the steps per revolution.
The application problem can be solved usingthe round axis functionality.Here the
resolution per revolution is ignored. The total resolution as well as the nominator and
divisor for the number of revolutions are configured.
9,000 steps are configured as the total resolution.
For the nominator for the number of revolutions 125 is configured, 10 as the divisor
(125/10 = 12.5).
After 12.5 revolutions (that is after one completerevolution of the rotarytable) the
encoder reaches the total resolution of 9,000.
125
10
Rotary table
with nine filling
stations
Encoder

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Example without transmission ratio
Figure 2: Example position measurement on a rotary table without transmission ratio
The encoder is mounted directly on the rotarytable. The transmission ratio is 1:1.
The rotary table has 9 filling stations. The encoder must be configured such that it
starts to count with 0 at one filling station and counts to 999 on moving to the next
filling station position.
1,000 steps are configured as the total resolution.
For the nominator for the number of revolutions 1 is configured, 9 as the divisor (1/9
revolutions = 1,000).
After 1/9revolutions of the encoder shaft there are 1,000 steps, then the encoder
starts to count at 0 again.
3.3 Integration in PROFINET
PROFINET is a communicationprotocol that is based on the open Ethernet standard as
per IEEE 802.3.
PROFINET defines the real-timecommunication for the fast transmission of process
data.
The AFS60/AFM60 PROFINET is a PROFINET peripheral deviceand is integrated in a
PROFINET network as a slave.
The encoder is an input/output device. This means that the encoder uses data from
the master on the PROFINET (output data) and also produces data for the PROFINET
itself (input data).
The AFS60/AFM60 PROFINET complies with the guidelines of the encoder profile
version 4.1 class 3 with the encoder profile number 3D00h.
1,000 steps
Rotary table with nine filling stations
Encoder

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3.3.1 Communication channels
Data can be communicated in PROFINET over various channels. The following channels
are available:
Real-time channel for the cyclic I/O data between master and slave
Real-time channel for alarm datafrom the slave to the master
Standard channel for configuringthe slave or for requesting the status information
UDP/IP is used, e.g., to output the I/O data and to output alarms. TCP/IPis used, e.g.,
during configuration and diagnostics.
Figure 3: PROFINET communication channels
3.3.2 Device identification in the PROFINET
The following IDs are registered with the PROFIBUS-/PROFINET-Nutzerorganisation
(PNO –PROFIBUS/PROFINET user organization).
Manufacturer ID = 0101h
Device ID = 7701h
3.3.3 GSDML file
Commonconfiguration tools (e.g. Siemens TIA Portal V13) require a GSDML file to
integrate the device into the network.
The GSDML file GSDML-V2.25-SICK-AFx60-xxxxxxxx.xml for the
AFS60/AFM60 PROFINET is availableat www.sick.com for download.

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3.3.4 Encoder model
The encoder object model defined in the encoder profileversion 4.1 is implemented in
the AFS60/AFM60 PROFINET; this profile describes the software architecture of the
encoder.
Figure 4: Encoder object model
The following encoder object functions are supported by the AFS60/AFM60 PROFINET:
Alarm Queue (e.g. for the output of alarms)
Cyclic Data Exchange (e.g. for the output of the measured data)
Acyclic Data Exchange (e.g. for configuration)
Measuring Task (e.g. for the measurement of position and speed)
3.3.5 Submodules
The submodules 81 to 84 are used for the transmission of the cyclic data. The
submodule 65,535 is used for the transmission of the acyclic data.
Number
Description
Number of output
data words
Number of input
data words
81
Telegram 81
2
6
82
Telegram 82
2
7
83
Telegram 83
2
8
84
Telegram 84
2
10
65,535
EO module representative (MAP)
0
0
Table 4: Submodules
Rotation
Measuring Task
Alarm Queue
Cyclic Data
Exchange
Acyclic Data
Exchange
Parameter

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3.4 Communication telegrams for cyclic process data
3.4.1 I/O signals
Different signals are processed in the different telegrams. Table 5 shows all the signals
implemented in the AFS60/AFM60 PROFINET.
Signal
numbers
Meaning
Abbreviation
Length (bit)
Sign
6
Speed A
NIST_A
16
Yes
8
Speed B
NIST_B
32
Yes
9
Sensor 1 control word
G1_STW
16
No
10
Sensor 1 state word
G1_ZSW
16
No
11
Position 1
G1_XIST1
32
No
12
Position 2
G1_XIST2
32
No
39
Position 3
G1_XIST3
64
No
80
Encoder control word 2
STW2_ENC
16
No
81
Encoder state word 2
ZSW2_ENC
16
No
Table 5: Signal numbers of the I/O data
3.4.2 Structure of telegram 81 to 84 (as per encoder profile V4.1)
Structureof telegram 81
Output (PLC to slave)
Input (slave to PLC): Position 1 and position 2
Data word
1
2
Value
STW2_ENC
G1_STW
Signal1)
80
9
Length
16 Bit
16 Bit
Meaning
Encoder control word 2
Sensor 1 control word
Table 6: Output data in the telegram 81
Data word
1
2
3
4
5
6
Value
ZSW2_ENC
G1_ZSW
G1_XIST1
MSW
G1_XIST1
LSW
G1_XIST2
MSW
G1_XIST2
LSW
Signal1)
81
10
11
12
Length
16 Bit
16 Bit
32 Bit
32 Bit
Meaning
Encoder
state word 2
Sensor 1
state word
Position 1
Position 2
Table 7: Input data in telegram 81
1
)Signal numbers as per encoder profile V4.1.

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Structureof telegram 82
Output (PLC to slave)
Input (slave to PLC): Position 1 and position 2 as well as speed A
Data word
1
2
Value
STW2_ENC
G1_STW
Signal2)
80
9
Length
16 Bit
16 Bit
Meaning
Encoder control word 2
Sensor 1 control word
Table 8: Output data in the telegram 82
Data word
1
2
3
4
5
6
7
Value
ZSW2_ENC
G1_ZSW
G1_XIST1
MSW
G1_XIST1
LSW
G1_XIST2
MSW
G1_XIST2
LSW
NIST_A
Signal2)
81
10
11
12
6
Length
16 Bit
16 Bit
32 Bit
32 Bit
16 Bit
Meaning
Encoder
state word
2
Sensor 1
state
word
Position 1
Position 2
Speed
A
Table 9: Input data in telegram 82
2
)Signal numbers as per encoder profile V4.1.

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Structureof telegram 83
Output (PLC to slave)
Input (slave to PLC): Position 1 and position 2 as well as speed B
Data word
1
2
Value
STW2_ENC
G1_STW
Signal2)
80
9
Length
16 Bit
16 Bit
Meaning
Encoder control word 2
Sensor 1 control word
Table 10: Output data in the telegram 83
Data word
1
2
3
4
Value
ZSW2_ENC
G1_ZSW
G1_XIST1
MSW
G1_XIST1
LSW
Signal2)
81
10
11
Length
16 Bit
16 Bit
32 Bit
Meaning
Encoder state
word 2
Sensor 1 state
word
Position 1
Data word
5
6
7
8
Value
G1_XIST2
MSW
G1_XIST2
LSW
NIST_B
MSW
NIST_B
LSW
Signal2)
12
8
Length
32 Bit
32 Bit
Meaning
Position 2
Speed B
Table 11: Input data in telegram 83

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Structureof telegram 84
Output (PLC to slave)
Input (slave to PLC): Position 2 and position 3 as well as speed B
Data word
1
2
Value
STW2_ENC
G1_STW
Signal3)
80
9
Length
16 Bit
16 Bit
Meaning
Encoder control word 2
Sensor 1 control word
Table 12: Output data in the telegram 84
Data word
1
2
Value
ZSW2_ENC
G1_ZSW
Signal3)
81
10
Length
16 Bit
16 Bit
Meaning
Encoder state word 2
Sensor 1 state word
Data word
3
4
5
6
Value
G1_XIST3
MSW
G1_XIST3
G1_XIST3
G1_XIST3
LSW
Signal3)
39
Length
64 Bit
Meaning
Position 3
Data word
7
8
9
10
Value
G1_XIST2
MSW
G1_XIST2
LSW
NIST_B
MSW
NIST_B
LSW
Signal3)
12
8
Length
32 Bit
32 Bit
Meaning
Position 2
Speed B
Table 13: Input data in telegram 84
3
)Signal numbers as per encoder profile V4.1.

3PRODUCT DESCRIPTION
20 OPERATING INSTRUCTIONS | AFS60/AFM60 PROFINET 8015078/145N/2019-05-24 | S ICK STEGMANN
Subject to change without notice
3.4.3 Contents of the signals
Signal 6: Speed value NIST_A
The current speed value is transmittedin 16 bits right-justified.
The value is output based on the units configured for the speed measurement (see
section 3.6.9 on page 39).
NOTE
Ensure that you use a unit for the speed measurement suitable for the rotational speed
of the encoder. Otherwise the valuethat can be represented within the 16 bits may be
exceeded.
Signal 8: Speed value NIST_B
The current speed value is transmittedin 32 bits right-justified.
The value is output based on the units configured for the speed measurement (see
section 3.6.9 on page 39).
Signal 9: Sensor 1 control word (G1_STW)
Bit
Designation
Description
15
Acknowledging a
sensor error
0= Encoder error message not
acknowledged by PLC
1= Encoder error message acknowledged
by the PLC
14
Activate park mode
0= Normal operation
1= Activate park mode
13
Request for the
absolute position
value
0= No request
1= Request by the master
Results in the cyclic output of the position
values in G1_XIST2
12
Activate preset value
(see note below)
Defines that a configured preset value is
used (see section 3.5 on page 24)
0= Preset value is not activated
1= Preset value is activated
11
Preset mode
Defines how a configured preset value is
used
0= Preset value is used as a new absolute
value
1= Preset value is added to the previous
value
10 …0
Reserved
–
Table 14: Sensor 1 control word (G1_STW)
NOTE
To activate the preset value, bit 10 in control word STW2_ENC has to be set:
STW2_ENC= 0400h
(Not relevant when usingencoder profile version 3)