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6.4. Input and output data
6.4.1. Telegram 870: 32 Bit I/O
The encoder cyclically transmits consistent, right-aligned 4 bytes of input and 4 bytes of output data.
Output data (preset value)
Output data will set the encoder to a defined position within the configured total value range.
Preset
31
0
Preset value (right-aligned), bit 31 triggers preset
Bit 31: Preset bit (preset will be triggered when value is changed from 0 to 1)
Input data (position value)
Position
31
0
Encoder position (right-aligned)
6.4.2. Telegram 100: 32 Bit I/O + 16 Bit Speed
Output data is the same as in telegram 870.
Input data (position value and 16 bit speed)
Position
31
0
Encoder position (right-aligned)
Drehzahl
15
0
Speed as a signed 16 bit 2’s complement value
6.4.3. Telegram 101: 32 Bit I
This telegram only contains input data. It is an optimized telegram which can be transmitted at a minimal
cycle time of 500 microseconds. The telegram contains the raw position (without scaling and preset
functionality).
Input data (position value)
Position
31
0
Encoder position (right-aligned)
6.4.4. Telegram 860: 32 bit I/O + 32 bit Speed
Output data is the same as in telegram 870.
Input data (position value and 32 bit speed)
Position
31
0
Encoder position (right-aligned)
Speed
31
0
Speed as a signed 32
bit 2’s complement value
