Siemens SINUMERIK 828D Function Manual page 370

G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
Rotary axis with rotary encoder on motor
Figure 7-7 Rotary axis with rotary encoder on motor
In order to adapt the actual-value resolution to the calculation resolution, the control calculates the quotients from
the "internal increments/degree" and the "encoder increments/degree" as follows:
Example for rotary axis with encoder on motor
Basic Functions
370
Function Manual, 09/2011, 6FC5397-0BP40-2BA0