Baumer_EAx_PROFINET_EN_202011_MNL.docx
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11.20
6.4.7. PROFIdrive Telegram 83
Output data: same as in telegram 81
Input data: same as in telegram 81, but in addition speed information NIST_B (32 bit)
Input data
ZSW2
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Slave Sign-of-Life
0
0
CR
0
0
0
0
0
0
0
0
0
G1_ZSW1
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
SE PSA TAA PA EAIP
0
0
0
0
0
0
0
0
0
0
0
G1_XIST1
31
0
Encoder position (right-aligned) with or without preset offset
G1_XIST2
31
0
Encoder position (right-aligned) or error message
NIST_B
31
0
Speed information as a 32 bit
2’s complement value
6.4.8. Control Word STW2
STW2
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Master Sign-of-Life
0
CP
0
0
0
0
0
0
0
0
0
0
Bit
Name
Function
CP
Control by PLC
Set by PLC when transmitting valid control words and
setpoints. According to encoder profile 4.1 control
words and setpoints will only be accepted if CP bit is
set.
In compatibility mode of profile V3.1 the CP bit is of no
significance so that control words and set points will
unconditionally be accepted.
Status information and actual values are output
independently from the state of the CP bit.
MLS
Master Sign-of-Life
Encoder evaluation of master life sign (MLS) starts as
soon as the MLS is non-zero.
As soon as master life sign is non-zero,
encoder starts outputting the slave life sign (see
ZSW2),
encoder starts monitoring MLS continuity. Any
MLS discontinuity is followed by error message
0x0F02 and setting SE bit.
MLS monitoring works independently from the state of
CP bit.
