Datalogic AMT58 Series, Manual

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AMT58...PN
CHAPTER 7
PROFINET IO DATA DESCRIPTION
TELEGRAMS
A telegram is a rigidly defined bit stream carrying data. In each telegram the data length
and the type of data which is sent to and from the IO controller is specified. PROFINET
interface devices communicate and stay in sync by sending telegrams each other. The
encoder supports two types of telegrams: Standard Telegram 81 and manufacturer-spe -
cific Telegram 860. They are described hereafter. Standard signals are fully described in
the
Cyclic Data Exchange - Std Signals, starting on page 50
.
Standard Telegram 81
The Standard Telegram 81 is the default telegram. It uses 4 bytes to output data from
the IO controller to the encoder and 12 bytes to input data from the encoder to the IO
controller.
Output data CONTROLLER => DEVICE
Input data DEVICE => CONTROLLER
Telegram 860
The Telegram 860 is a manufacturer-specific encoder telegram.
It offers the following functionality:
• 32 bit current position value;
• 32 bit current velocity value;
• using cyclic data, in the G1_XIST1_PRESET_VALUE signal a preset value can be
entered for the position (it must be executed by forcing high and then low the
2 bytes 2 bytes
IO Data 1 2
Set point STW2_ENC G1_STW
2 bytes 2 bytes 4 byes 4 bytes
IO Data 1 2 3 4 5 6
Actual value ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2