Baumer_BUDE-PROFINET_MA_EN.docx
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14.06.2016 / bja
5.4. Input and output data
5.4.1. Standard-Telegram 100: 32 Bit EA
The encoder cyclically transmits consistent, right-aligned 32-bit input and 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). Preset operation by bit31
Bit 31:
Preset-Bit
Input data (position value)
Encoder transmits a consistent 32-bit, right aligned data word.
Position
31
0
Encoder position (right aligned)
5.4.2. Standard Telegram 101: 32 bit EA + 16 bit speed
Output data same as in standard telegram 100.
Input data (position value and 16 bit speed)
Encoder transmits a consistent 32-bit, right aligned data word.
Additional Speed value as a signed 16bit 2’s complement value
Position
31
0
Encoder position (right aligned)
Speed
15
0
Speed as a 16bit 2’s complement value
5.4.3. Standard telegram 102: 32 Bit EA + 32 bit speed
Output data same as in standard telegram 100.
Input data (position value 32bit speed)
Encoder transmits a consistent 32-bit, right aligned data word.
Additional Speed value as a signed 32bit 2’s complement value
Position
31
0
Encoder position (right aligned)
Speed
31
0
Speed information as a signed 32bit 2’s complement value
5.4.4. PROFIdrive Telegram 81
Output data
STW2
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Master Life sign
0
CP
0
0
0
0
0
0
0
0
0
0
G1_STW1
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
SEA PS TAR PR REL
0
0
0
0
0
0
0
0
0
0
0
-
CP:
Control by PLC
-
SEA:
Sensor Error Acknowledge
-
PS:
Parking Sensor