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● Standard Telegram 83
This telegram foresees 4 bytes of output (Master to Device) and 16 bytes of input (Device to Master)
OUTPUT DATA
Word Data
1
Byte Data
0
1
Output
STW2_ENC
value
Encoder
Meaning
control word
2
INPUT DATA
Word Data
1
Byte Data
0
1
Output
ZSW2_ENC
value
Status word
Meaning
2
● Standard Telegram 84
This telegram foresees 4 bytes of output (Master to Device) and 20 bytes of input (Device to Master)
OUTPUT DATA
Word Data
1
Byte Data
0
1
Output
STW2_ENC
value
Encoder
Meaning
control word
2
INPUT DATA
Word Data
1
Byte Data
0
1
Output
ZSW2_ENC
value
Status word
Meaning
2
Definition of contents:
● STW2_ENC = Encoder control word 2
Bit
Function
0
XIST_PRESET_CONTROL
1...6
Reserved for profile
7
Fault Acknowledge
8...9
Reserved for vendor specific extensions
10
Control by PLC
11
Reserved for vendor specific extensions
12...15
Controller Sign-Of-Life
12
2
2
3
G1_STW
Sensor
control
word
2
3
4
2
3
4
5
6
G1_ZSW
G1_XIST1
Status
Position value
word
2
2
3
G1_STW
Sensor
control
word
2
3
4
2
3
4
5
6
G1_ZSW
G1_XIST3
Status
Position value
word
5
6
7
8
9
10 11 12
G1_XIST2
Position value 2
5
6
7
8
9
10 11 12
Position value 2
Notes
Not used
Not used
7
8
13
14
15
NIST_B
Velocity
7
8
9
13
14
15
16
17
G1_XIST2
NIST_B
Velocity
80715_MAN_WPA-F_WRA-F_03-2021_ENG
10
18
19
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