Chapter 6 Communication function
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6.4.5
Position feedback interface
The position feedback interface is the interface between the axis and higher level control
that enables the controller to get position feedback through the PROFIDrive interface. This
position feedback comes from a sensor connected to the driver, where the functions described
in the position feedback interface are implemented.
In current versions of drives, only rotary absolute value encoders are supported. And the
resolution format of the current position information returned by the encoder is fixed,
including 17Bit single-loop data and 15Bit multi-loop data. PROFIDrive specific parameter
P979 (sensor format) structure and set values are described as follows:
subindex Meaning Set value
0 Prelude 0x00005111
1 Sensor type 0x80000002
2 Sensor resolution 131072
3 G1_XIST1 shift factor 0
4 G1_XIST2 absolute value of the shift factor 0
5 Determinable resolution 32768
6~N Reserved 0
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