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7.2. Configuration

Configuration refers to the definition of type, length and data direction of the process data, as well as the way

in which the data is further processed. The type stipulates the data type and whether the data is contiguous

(consistent). The length determines the number of data bytes available for use. The data direction defines

whether data is transferred from master to slave or vice versa. The encoder is able to read preset values or

transmit position values and if applicable also transmit speed values. The length is optionally 1 or 2 words,

and the data is consistent in both cases. The configuration is compared with the configuration stored in the

slave. The slave informs the master of the result in the following diagnosis request.

The position values of the encoder from the view point of the master are input data, preset values and output

data.

Admissible configurations

Device

Configuration Significance

Class

D1h

F1h

D0h

F0h

D1h, D0h

F1h, D0h

D0h, D0h

F0h, D0h

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11.19

2 words input data with data consistency for position values to max. 31 bit

2 words output data with data consistency for preset value to max. 31 bit

2 words input data with data consistency for position values to max. 31 bit

1 word input data with data consistency for position values to max. 15 bit

1 word output data with data consistency for preset values to max. 15 bit

1 word input data with data consistency for position values to max. 15 bit

2 words input data with data consistency for position values to max. 31 bit

1 word input data with data consistency for speed values to max. 16 bit