Siemens SINUMERIK 840Di Function Manual page 422

Detailed Description
2.3 Setpoint/actual-value system
Rotary axis with rotary encoder on the machine
Fig. 2-10
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:
2-48
Rotary axis with rotary encoder on the machine
Velocities, Setpoint/Actual-Value Systems, Closed-Loop Control (G2)
Function Manual, 08/2005 Edition, 6FC5397-0BP10-0BA0