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Encoder parameterization
for the SIMATIC S7
Technology Functions
SIMATIC S7-1500, SINAMICS S110/120/210, G120
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Table of content
1. Encoder Connection on the Drive ................................................................................................... 4

1.1. Configuring the drive .................................................................................................................................... 4

1.2. Monitoring the encoder data......................................................................................................................... 6
1.3. Configuration of the technology object.......................................................................................................... 8

2. Encoder Connection to a Technology Module ................................................................................11

2.1. Configuring the technology module ............................................................................................................ 11

2.2. Technology module TM Count..................................................................................................................... 12
2.2.1. Parameters of TM Count.............................................................................................................................. 12
2.2.2. Monitoring the encoder data....................................................................................................................... 13
2.3. Technology module TM PosInput 2 .............................................................................................................. 14
2.3.1. Parameters of TM PosInput 2 ....................................................................................................................... 14
2.3.2. Monitoring the encoder data....................................................................................................................... 15
2.4. Configuration of the technology object........................................................................................................ 17

3. PROFINET/PROFIBUS Encoder ........................................................................................................19

3.1. Configuring the encoder ............................................................................................................................. 19

3.2. Configuration of the technology object........................................................................................................ 20
3.3. Configuration example MC encoder............................................................................................................. 22
3.4. Typical values for the Motion Control Encoder PROFINET .............................................................................. 23
3.4.1. PROFINET IO absolute encoder (single-turn, 13 or 16 bits resolution) ............................................................ 23

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[Link]. with function stand ≤ FS6 or with ≥ FS10 and previous GDSML file ............................................................... 23
[Link]. with function stand ≥ FS10 and newer GSDML file ....................................................................................... 24
3.4.2. PROFINET IO absolute encoder (multi-turn, 27 or 30 bits resolution) ............................................................. 24
[Link]. with function stand ≤ FS6 or with ≥ FS10 and previous GDSML file ............................................................... 24
[Link]. with function stand ≥ FS10 and newer GSDML file ....................................................................................... 24
3.5. Typical values for the Motion Control Encoder PROFIBUS .............................................................................. 25
3.5.1. PROFIBUS DP absolute encoder (singleturn, 13-bit resolution) ...................................................................... 27
[Link]. with function stand <FS16 or integration with GSD SIEM80F9 (SIMODRIVE sensor isochron) .......................... 27
[Link]. with function stand < FS16 and integration with SIEM81A8 (MC-ENCODER isochron) .................................... 27
[Link]. with functional stand ≥ FS16 and integration with SIEM81A8 (MC-ENCODER isochron).................................. 27
3.5.2. PROFIBUS DP absolute encoder (multiturn, 27-bit resolution) ....................................................................... 28
[Link]. with functional stand <FS16 or integration with GSD SIEM80F9 (SIMODRIVE sensor isochron) ....................... 28
[Link]. with functional stand < FS16 and integration with SIEM81A8 (MC-ENCODER isochron).................................. 28
[Link]. with function level ≥ FS18 and integration with SIEM81A8 (MC-ENCODER isochron) ..................................... 28

4. Encoder connection via data block ................................................................................................29

5. Technical Information...................................................................................................................30

5.1. PROFIdrive telegrams .................................................................................................................................. 30

5.2. Encoder values ........................................................................................................................................... 30
5.2.1. Control and status words ............................................................................................................................ 30
5.2.2. Incremental actual value G1_XIST1.............................................................................................................. 31
5.2.3. Absolute actual value G1_XIST2 .................................................................................................................. 32
5.2.4. Structure of a SSI telegram .......................................................................................................................... 32
5.2.5. Parameters of the encoder values in SINAMICS............................................................................................. 33

6. Appendix .....................................................................................................................................34

6.1. Links & Literature........................................................................................................................................ 34

6.2. Change documentation .............................................................................................................................. 34

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 Encoder Connection on the Drive

1. Encoder Connection on the Drive

For the following SINAMICS drive, there is the option to directly connect an encoder to the drive for the acquisition of
speed or position and to evaluate the encoder value in the technology object.
• SINAMICS S110, S120, S210

• SINAMICS G120 with CU250S

• SINAMICS G120D with CU250D
• SINAMICS G220 (with option modul OM-DQ)

As of TIA Portal V14, the drive or encoder parameters can be automatically transferred into the CPU for
Note
SINAMICS drives ( FW ≥ V4.x) and PROFIdrive encoders (encoder profile ≥V4.2).

1.1. Configuring the drive

The SINAMICS drive can be configured with the use of the TIA Portal V13 SP1 with the following program:

• STARTER for SINAMICS G120 or SINAMICS S110/S120

• Startdrive for SINAMICS G120 or SINAMICS S120/S210

In both cases the configuration of the drive is carried out by running the commissioning wizard. In this wizard the
technical data of the connected encoder is also entered.
Figure 1-1: Encoder configuration in Startdrive and in STARTER

In the commissioning wizard there is the option to select between several standard encoders. When it is selected this way,
the encoder parameters of the drive are automatically assigned.
Table 1-1: important encoder parameters of the SINAMICS drives

Encoder parameters in SINAMICS Meaning

p400 Encoder type
p408 Encoder pulse number
p418 Fine resolution GN_XIST1
p419 Fine resolution GN_XIST2
p410 Encoder inversion

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 Encoder Connection on the Drive

If the encoder used, is not included in the standard values, there is the option to enter the encoder data. You can enter
other parameters via “Details”. For example the fine resolution that is used in the communication to the controller.

Figure 1-2: Entry of encoder data with Startdrive

Figure 1-3: Entry of encoder data with STARTER

For encoders with a with square-wave signal a fine resolution of 2 bit is sensible. Sinus/cosinus – encoders typically have
11 bit fine resolution.

Information on permissible encoder types and the connection of the encoders can be found in the
Note
documentation of the SINAMICS drive (\3\).

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 Encoder Connection on the Drive

1.2. Monitoring the encoder data

The encoder data can be displayed in a watch table. Of particular interest is the incremental actual value G1_XIST1 here.
This value is used by a configured technology object to determine the position value of a drive.
In the present example the Standard telegram 3 was configured for the communication between controller and drive. For
the display of the encoder values in a watch table, the address area of the standard telegram has to be determined. The
address area can be viewed in the properties of the drive configuration.

Figure 1-4: Address area of the standard telegram

Watch the encoder value during a revolution of the encoder.

• After exactly one revolution, the revolution counter increments by one. This is how you can detect the position of
revolution counter bits (multi-turn bits).
• The number of bits of the pulse counter (increments) result from the encoder pulse number/resolution of the encoder.
• The bits of the fine resolution follow.

In the present example an encoder was configured with the pulse number/resolution of 1024 and a fine resolution of 11
bit. After the first revolution of the encoder, the bit pattern, as shown in the following figure, results.

Figure 1-5: Encoder values in a watch table

Multi-turn bits Increments Fine resolution

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 Encoder Connection on the Drive

For a resolution of the encoder of 1024 and a fine resolution of 11 bit (211 = 2048) there is a change of the incremental
actual value of 2097152 for each revolution of the encoder.
2097152 = 1024 ∗ 2048

The status word of the encoder as well as the incremental and the absolute actual value of the encoder can be displayed
in the technology object with the “PROFIdrive telegram” diagnostic screen.
Figure 1-6: Diagnostic screen “PROFIdrive telegram”

Monitoring the absolute actual value G1_XIST2

In G1_XIST2 the absolute positioning value is only transmitted when the bit 13 is set in the encoder control word. The
technology object controls the encoder control word. The absolute encoder value is only read when starting up and this is
why it cannot be as easily monitored as the incremental actual value.
In order to monitor G1_XIST2 in the TIA Portal you have to create a project without the respective technology object and
load it into the S7-1500. Then you can, for example, write into the IO address of the G1_STW encoder control word with a
2000hex value table and thus request the cyclic transmission of the absolute encoder value.

Figure 1-7: Display of the absolute actual value

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 Encoder Connection on the Drive

1.3. Configuration of the technology object

The configuration of the technology object is divided into several areas. The encoder is configured in the “Hardware
interface” section.

Drive
This is where you select the drive to be used. It has to already have been created and configured in “Devices & networks”.
You may have to enable “Show all modules” so that it is shown and can be selected.
Figure 1-8: Setting the drive interface

Encoder
Select “Connection to the drive” here.

Figure 1-9: Setting the encoder interface

Data exchange drive

Here, you define the data exchange with the drive. In the process it is required to have the same settings of the
parameters in the technology object and in the drive. In the table below, you can find the respective parameter numbers
of a SINAMICS drive.

Table 1-2: Data exchange with the drive

Technology object Parameters in SINAMICS Meaning

Drive telegram p922 PROFIdrive PZD
telegram selection
Reference speed p2000 Reference speed / reference frequency
Maximum speed p1082 Maximum speed

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 Encoder Connection on the Drive

Data exchange encoder

The encoder is connected to the drive. This is why the settings in the technology objects depend on the settings in the
drive parameters.

Table 1-3: Data exchange with the encoder

Technology object Entry

Encoder telegram Select the same telegram as encoder telegram as for the drive (p922).
Encoder type Rotatory incremental:
An incremental encoder mounted on a rotating shaft (provides an incremental
positioning value)
Rotatory absolute:
An absolute value encoder mounted on a rotating shaft (provides an incremental
and an absolute positioning value)
Rotatory cyclically absolute:
An absolute value encoder with overflow mounted on a rotating shaft (provides
an incremental and an absolute positioning value. The route is longer than the
acquisition area of the encoder, so that an overflow of the position has to be
taken into consideration when positioning.)
Linear incremental:
A linear incremental encoder provides an incremental positioning value
Linear absolute:
A linear absolute value encoder provides an incremental and an absolute
positioning value
Steps per revolution /distance between Enter the nominal resolution of the encoder according to the type plate here (or
two increments for programmable encoders, according to the configuration). This entry has to
correspond to the configuration in STARTER/Startdrive.
Number of revolutions Configure the number of revolutions that the absolute value encoders can record
in this field.
Fine resolution Here, you enter the same values as for the details of the encoder configuration of
the SINAMICS.
• With Startdrive see Figure 1-10
• With STARTER see Figure 1-11

The settings in the data exchange with the encoder correspond to the following drive parameters of the SINAMICS drive:
Table 1-4: Encoder parameter of the drive

Technology object Parameters in SINAMICS Meaning

Encoder telegram p922 PROFIdrive PZD telegram selection
Encoder type p400 Encoder type
Steps per revolution p408 Encoder pulse number
Gn_XIST1 p418 Fine resolution Gn_XIST1
Gn_XIST1 p419 Fine resolution Gn_XIST2
Inverting encoder direction p410 Encoder inversion

Comparing the fine resolution

The following figures show the correlation between the configuration of the fine resolution of the encoder and the entry
in the technology object.

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 Encoder Connection on the Drive

Figure 1-10: Setting the fine resolution with Startdrive

Technology object Startdrive

Figure 1-11: Setting the fine resolution with STARTER

Technology object STARTER

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 Encoder Connection to a Technology Module

2. Encoder Connection to a Technology Module

You can operate the technology module centrally on a SIMATIC S7-1500 or in a distributed I/O. Use the TM Count 2x24V
or TM PosInput 2 technology module for the connection of an incremental encoder. Only use the TM PosInput 2
technology module for the connection of an absolute value encoder.

Information on the connection and configuration of the technology module can be found in the
Note
device manuals.
• Technology module TM Count 2x24V (\5\)
• Technology module TM PosInput 2 (\6\)

2.1. Configuring the technology module

In order to configure the technology module go to “Devices & networks” and there in “Device view”. Select the S7-CPU and
add the desired technology module.

Figure 2-1: Configuring the technology module

For the operating mode the setting “Position input for Motion Control” has to be selected.

Address area of the technology module

In terms of size, the extent of the input and output addresses of the technology module in the “Position input for Motion
Control” operating mode corresponds to the Standard telegram 83.

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 Encoder Connection to a Technology Module

2.2. Technology module TM Count

2.2.1. Parameters of TM Count
In the project navigation in “Local modules” the technology module is displayed with the following objects. You get to the
desired editor via double click.
Figure 2-2: Access to the parameters of TM Count 2x24V

The parameters of the TM Count 2x24V technology module are the following:
Table 2-1: Parameters of TM Count 2x24V

Parameters of TM Count Meaning

Signal type Selection of signal type to the counter inputs A, B and N
Signal evaluation Here, you specify whether a multiple evaluation of the pulses is to be used for an
incremental encoder. Thus, the resolution of the encoder can be doubled or quadrupled.
simple Only an edge of signal A is evaluated
double Both edges of signal A are evaluated.
four fold Both edges of signal A and B are evaluated.
Filter frequency To suppress interferences, you can configure an input filter for the counting inputs A, B
and N.
Sensor type Selection of sensor type on the counter inputs.
When reading encoder signals, the “push-pull” setting is common because this enables
wire break monitoring.
Signal selection for ref. mark Selection of the external reference signal that saves the reference mark for the encoder
position.
Increments per unit Number of counting pulses per unit of the encoder used. The value of this parameter has
to match the entry in “Steps per revolution ” of the technology object.
Reference speed Entry of speed, that is to correspond to an actual value of 100%. The value of this
parameter has to match the entry in “Reference speed” of the technology object.

A detailed description of the parameters can be found in the TIA Portal online help or the function
Note
manual “Counting, measurement and position detection” (\7\) and in the manual "S7-1500/S7-1500T
Motion Control Overview V6.0 as of STEP 7 V17" (see \12\ ) in chapter "Configuring technological
modules and onboard I/O for Motion Control".

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 Encoder Connection to a Technology Module

2.2.2. Monitoring the encoder data

The encoder data can be displayed in a watch table. Of particular interest is the incremental actual value G1_XIST1 here.
This value is used by a configured technology object to determine the position value of a drive.
In the present example the Standard telegram 83 has been configured for the communication between controller and the
TM Count technology module. For the display of the encoder values in a watch table, the address area of the standard
telegram has to be determined. The address area is specified in the configuration of the technology module. (see Figure
2-1: Configuring the technology module)
Figure 2-3: Encoder values in a watch table

Increments Fine resolution

An incremental encoder with a resolution/pulse number of 500 has been selected. In order to increase the precision of a
positioning, a quadruple signal evaluation has been set in the configuration of the technology module. This results in the
resolution of the G1_XIST1 incremental actual value to increase fourfold.
The change of the resolution from 500 to 2000 means a shift of the increments in value G1_XIST1 by 2 bits to the left.
This is why a fine resolution of 2 is set in the encoder configuration in the technology object.
Figure 2-4: Configuring the encoder data in the technology object

For the “Steps per revolution” value the resolution of the encoder is entered.
The encoder value of the G1_XIST1 incremental actual value can be seen in the Diagnostic screen “PROFIdrive telegram”
of the technology object.

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 Encoder Connection to a Technology Module

2.3. Technology module TM PosInput 2

2.3.1. Parameters of TM PosInput 2

This chapter is also valid for the SIMATIC ET 200SP, TM PosInput 1 module.
Note

The technology module is displayed with the following objects in the project navigation in “Local modules”. You get to the
desired editor via double click.
Figure 2-5: Access to the parameters of TM Count 2x24V

Technology module TM PosInput 2 with incremental encoder

The parameters of the TM PosInput 2 technology module are the following, when using a pulse/incremental encoder:
Table 2-2: Parameters of the TM PosInput 2 with pulse/incremental encoders

Parameters of TM PosInput Meaning

Interfaces standard With this parameter you specify whether the encoder supplies symmetrical (RS422) or
asymmetrical signals (TTL) for the TM PosInput.
For the description of the parameters see Table 2-1.

Technology module TM PosInput 2 with SSI absolute encoder

When using an incremental encoder or pulse encoder the position acquisition is based on the counting function of the
technology module. For an SSI absolute value encoder the absolute value is read via a synchronous, serial interface and is
provided to the S7-1500 Motion Control according to the configuration.
Table 2-3: Parameters of the TM PosInput 2 with SSI absolute value encoder

Parameters of TM PosInput Meaning

Signal type Select the “Absolute value encoder (SSI)” entry
Telegram length With the configuration of the telegram length you specify the number of bits of a SSI
telegram. The telegram length of your SSI absolute value encoder can be found in the
data sheet of your encoder. An existing parity bit does not count towards the length of
the telegram.
Code type Gray: The position value supplied in the gray code by the SSI absolute encoder is
converted into dual code.
Dual: The value supplied by the SSI absolute value is not converted.
Transmission speed With the configuration of the transmission speed you specify the speed of the data
transmission from the SSI absolute value encoder to the technology module.
Monoflop time With the configuration of the monoflop time you specify the break time between two
SSI telegrams.
Parity With the configuration of the parity you specify whether the SSI absolute value
encoder transfers a parity bit.
Bit number LSB With this parameter you specify the bit number of the LSB (Least significant Bit) of the
position value in the telegram of the SSI absolute value encoder.
Bit number MSB With this parameter you specify the bit number of the MSB (Most significant Bit) of the
position value in the telegram of the SSI absolute value encoder.
Increments per unit With this parameter you specify the number of increments that the SSI absolute value
encoder supplies per revolution.
Reference speed Entry of speed, that is to correspond to an actual value of 100%. The value of this
parameter has to match the entry in “Reference speed” of the technology object.

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 Encoder Connection to a Technology Module

A detailed description of the parameters can be found in the TIA Portal online help or the function
Note
manual “Counting, measurement and position detection” (\7\) and in the manual "S7-1500/S7-1500T
Motion Control Overview V6.0 as of STEP 7 V17" (see \12\ ) in chapter "Configuring technological
modules and onboard I/O for Motion Control".

Bit numbers LSB / MSB of the position value (SSI encoder)

With the parameters of the LSB (Least significant Bit) and the MSB (Most significant Bit) you specify the length and the
position of the position value in the telegram of the SSI absolute value encoder.

2.3.2. Monitoring the encoder data

The encoder data can be displayed in a watch table. Of particular interest is the incremental actual value G1_XIST1 here.
This value is used by a configured technology object to determine the position value of a drive.
In the current example the Standard telegram 83 has been configured for the communication between controller and the
TM PosInput technology module. For the display of the encoder values in a watch table, the address area of the standard
telegram has to be determined. The address area is specified in the configuration of the technology module. (see Figure
2-1: Configuring the technology module)

Figure 2-6: Encoder values in a watch table

Multiturn Singleturn

Example
An SSI – absolute value encoder with a resolution of 25 bit is used. The number of the single-turn bits can be easily
determined by monitoring the SSI telegram in watch table. In the area of the single-turn bit any possible value is reached
once during a revolution of the encoder.
The number of bits in the multi-turn and single-turn area result in the number of steps for the encoder configuration in
the technology object.
The SSI telegram with 25 bit is divided as follows:

• 12 bit multi-turn → from this results the setting for the “Number of revolutions”, the value 2 12 = 4096.
• 13 bit single-turn → from this results the setting for the “Steps per revolution”, the value 2 13 = 8192.

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 Encoder Connection to a Technology Module

Figure 2-7: Configuring the encoder data in the technology object

When using an SSI absolute value encoder the fine resolution has to be entered as zero.

The encoder value of the G1_XIST1 incremental actual value and of the G1_XIST2 absolute actual value can be seen in the
Diagnostic screen “PROFIdrive telegram” of the technology object.

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 Encoder Connection to a Technology Module

2.4. Configuration of the technology object

The configuration of the technology object is done in the settings “Configuration” >> “Hardware interface”.

Drive
This is where you select the drive to be used. It has to already have been created and configured in “Devices & networks”.
You may have to enable “Show all modules” so that it is shown and can be selected.
Figure 2-8: Setting the drive interface

Encoder
The technology module has to already have been created and configured in “Devices & networks”. Here, you select
“Connection via technology module” now and the interface to be used for this axis on which the encoder is connected.
Figure 2-9: Setting of the encoder interface

Data exchange drive

Here, you define the data exchange with the drive. In the process it is required to have the same settings of the
parameters in the technology object and in the drive. In the table below, you can find the respective parameter numbers
of a SINAMICS drive.

Table 2-4: Data exchange with the drive

Technology object Parameters in SINAMICS Meaning

Drive telegram p922 PROFIdrive PZD telegram selection
Reference speed p2000 Reference speed / reference frequency
Maximum speed p1082 Maximum speed

Data exchange encoder

Here, you define the data exchange with the encoder (meaning the technology module).

Table 2-5: Data exchange with the encoder

Technology object Entry

Encoder telegram Select Standard telegram 83.
Encoder type Rotatory incremental:
An incremental encoder mounted on a rotating shaft (provides an incremental positioning
value)
Rotatory absolute:
An absolute value encoder mounted on a rotating shaft (provides an incremental and an
absolute positioning value)
Rotatory cyclically absolute:
An absolute value encoder with overflow mounted on a rotating shaft (provides an
incremental and an absolute positioning value. The route is longer than the acquisition area

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 Encoder Connection to a Technology Module

Technology object Entry

of the encoder, so that an overflow of the position has to be taken into consideration when
positioning.)
Linear incremental:
A linear incremental encoder provides an incremental positioning value
Linear absolute:
A linear absolute value encoder provides an incremental and an absolute positioning value
Steps per revolution Enter the nominal resolution of the encoder according to the type plate here (or for
programmable encoders, according to the configuration).
Number of revolutions Configure the number of revolutions that the absolute value encoders can record in this
field.
Fine resolution With the use of an absolute value encoder (SSI encoder with TM PosInput 2), the values of
the fine resolution in the incremental actual value (Gn_XIST1) and in the absolute actual
value (Gn_XIST2) equal zero.
When using an incremental encoder, the value for Gn_XIST1 has to correspond to the “signal
evaluation” parameter of the channel used for the technology module.
Signal evaluation Setting for Gn_XIST1
simple 0
double 1
four fold 2

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 PROFINET/PROFIBUS Encoder

3. PROFINET/PROFIBUS Encoder
The PROFINET/PROFIBUS-capable encoders transfer the information gained directly in the telegram to the technology
object.

3.1. Configuring the encoder

The encoder is configured as a usual PROFINET or PROFIBUS network component in the TIA Portal in “Network view”.

Figure 3-1: Inserting the encoder in the network view

A standard telegram is entered in the "Device view". This telegram defines the data exchange between encoder and
technology object and this is why it has to be the same in both objects.
Furthermore, the “Module parameters” of the encoder used also have to be set in the “Device view”. The number and type
of these parameters depend on the encoder used and are described in its documentation.

Parameters of the MC_Encoder_PN:

• Measuring units per revolution

• Total measuring range

• Tolerated sign of life faults

• Velocity measuring units
• Code sequence
• Scaling function control

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 PROFINET/PROFIBUS Encoder

Figure 3-2: Configuring the encoder

The operating manuals of the SIEMENS absolute value encoders with PROFINET and PROFIBUS
Note
connection are provided in the links and literature.

• for PROFINET \8\

• for PROFIBUS \9\

3.2. Configuration of the technology object

The configuration of the technology object is divided into several areas. The encoder is configured in the “Hardware
interface” part.

Drive
This is where you select the drive to be used. It has to already have been created and configured in “Devices & networks”.
You may have to enable “Show all modules” so that it is shown and can be selected.
Figure 3-3: Settings the drive interface

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 PROFINET/PROFIBUS Encoder

Encoder
Select “PROFIdrive encoder in PROFINET/PROFIBUS”. It has to already have been created and configured in “Devices &
networks”. You may have to enable “Show all modules” so that it is shown and can be selected.

Figure 3-4: Setting the encoder interface

Data exchange drive

Here, you define the data exchange with the drive. In the process it is required to have the same settings of the
parameters in the technology object and in the drive. In the table below, you can find the respective parameter numbers
of a SINAMICS drive.
Table 3-1: Data exchange with the drive

Technology object Parameters in SINAMICS Meaning

Drive telegram p922 PROFIdrive PZD telegram selection
Reference speed p2000 Reference speed / reference frequency
Maximum speed p1082 Maximum speed

Data exchange encoder

Here, you define the data exchange with the encoder.
Table 3-2: Data exchange with the encoder

Technology object Entry

Encoder telegram Select the encoder telegram as the telegram that you used for the configuration
of the encoder. (Figure 3-2)
Encoder type Rotatory incremental:
An incremental encoder mounted on a rotating shaft (provides an incremental
positioning value)
Rotatory absolute:
An absolute value encoder mounted on a rotating shaft (provides an incremental
and an absolute positioning value)
Rotatory cyclically absolute:
An absolute value encoder with overflow mounted on a rotating shaft (provides
an incremental and an absolute positioning value. The route is longer than the
acquisition area of the encoder, so that an overflow of the position has to be
taken into consideration when positioning.)
Linear incremental:
A linear incremental encoder provides an incremental positioning value
Linear absolute:
A linear absolute value encoder provides an incremental and an absolute
positioning value
Steps per revolution /distance between In this place, the same entry has to be made that has been made in the module
two increments parameters (Figure 3-2) of the encoder.
Number of revolutions Configure the number of revolutions that the absolute value encoders can record
in this field.
Fine resolution Whether the encoder uses bits for the fine resolution has to be found out in the
encoder documentation.

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 PROFINET/PROFIBUS Encoder

3.3. Configuration example MC encoder

The Siemens MC encoders for the connection to PROFIBUS or PROFINET have the following settings:
• Encoder type: rotatory absolute value encoder

• Encoder pulse number: 8192

• Fine resolution: Gn_XIST1 and Gn_XIST2 equals zero

In the following figure the respective configuration for the “Data exchange with encoder” of the technology object is
displayed.

Figure 3-5: Settings on the technology object

The encoder value of the G1_XIST1 incremental actual value and of the G1_XIST2 absolute actual value can be seen in the
Diagnostic screen “PROFIdrive telegram” of the technology object.

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 PROFINET/PROFIBUS Encoder

3.4. Typical values for the Motion Control Encoder PROFINET

It is generally recommended to use the automatic transfer of the encoder data.
If automatic data transfer is not possible (not supported, high communication load, ...), manual configuration is also
possible.
Then use the values specified in the following subsections.

Function stand und GSDML files

The Motion Control Encoder PROFINET received a redesign in 10/2021 (see \10\). The redesigned encoders have a
function stand ≥ FS10, while the encoders produced previously have a function stand ≤ FS06.
The function stand and the GSDML file used for integration into the project determine the available properties of the
encoder:

• For encoders with a function stand ≥ FS10, you can use both the newer GSDML file and the improved properties and
the previous GSDML file and the previous properties (e.g. as a spare part).

• For encoders with function status ≤ FS06, you must use the previous GSDML file.

Download GSDML file

You can download the newer GSDML file (GSDML-V2.35-SIEMENS-MC-ENCODER-20210324 or newer) in the product
notification (see \10\).
You can download the previous GSDML file (GSDML-V2_2-SIEMENS-MC-ENCODER-20121002) from Industry Online
Support (see\11\).

You can find the Motion Control Encoder PROFINET product data sheets with the technical data at:
Note
[Link]

3.4.1. PROFINET IO absolute encoder (single-turn, 13 or 16 bits resolution)

with the article numbers:

• 6FX2001-5FN13
• 6FX2001-5QN13
• 6FX2001-5WN13

[Link]. with function stand ≤ FS6 or with ≥ FS10 and previous GDSML file
Table 3-3 TIA Portal encoder settings

Setting Value
Encoder telegram 81, 82, 83, 84, Siemens telegram 860
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution 8.192 (13 bits)
Number of revolution 1
Bits in Gx_XIST1 0
Bits in Gx_XIST2 0

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 PROFINET/PROFIBUS Encoder

[Link]. with function stand ≥ FS10 and newer GSDML file

Table 3-4 TIA Portal encoder settings

Setting Value
Encoder telegram 81, 82, 83, 84, Siemens telegram 860
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution 65.536 (16 bits)
Number of revolution 1
Bits in Gx_XIST1 0
Bits in Gx_XIST2 0

3.4.2. PROFINET IO absolute encoder (multi-turn, 27 or 30 bits resolution)

with the article numbers:

• 6FX2001-5FN25
• 6FX2001-5QN25
• 6FX2001-5WN25

[Link]. with function stand ≤ FS6 or with ≥ FS10 and previous GDSML file
Table 3-5 TIA Portal encoder settings

Setting Value
Encoder telegram 81, 82, 83, 84, Siemens telegram 860
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution 8.192 (13 bit)
Number of revolutions 16.384 (14 bits)
Bits in Gx_XIST1 0
Bits in Gx_XIST2 0

[Link]. with function stand ≥ FS10 and newer GSDML file

Table 3-6 TIA Portal encoder settings

Setting Value
Encoder telegram 81, 82, 83, 84, Siemens telegram 860
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution 65.536 (16 bits)
Number of revolutions 16.384 (14 bits)
Bits in Gx_XIST1 0
Bits in Gx_XIST2 0

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 PROFINET/PROFIBUS Encoder

3.5. Typical values for the Motion Control Encoder PROFIBUS

It is generally recommended to use the automatic transfer of the encoder data.
If automatic data transfer is not possible (not supported, high communication load, ...), manual configuration is also
possible.
Then use the values specified in the following subsections.

You can find the Motion Control Encoder PROFIBUS product data sheets with the technical data at:
Note
[Link]

Function stand and GSD-files

For the Motion Control Encoder PROFIBUS, attention must be paid to the functional status (FS) and the GSD file used:

• The functional status can only be read on the type plate

FS:xx or Axx, where xx is the functional status; example FS:16 or A16 for functional status 16

• The GSD files are already installed in TIA Portal:

- [Link]
in the catalogue under: Other field devices > PROFIBUS DP > Encoders> SIMODRIVE sensor isochron
- [Link]
i in the catalogue under: Other field devices > PROFIBUS DP > Encoders> MC-ENCODER isochron

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 PROFINET/PROFIBUS Encoder

HINWEIS When using the GSD SIEM80F9 (SIMODRIVE sensor isochron), you need to know how many bits the
encoder uses to deliver its cyclic actual value. You can find this information on the nameplate:

The picture shows a multiturn encoder with 13 bit

singleturn and 14 bit multiturn resolution
or 8192 pulses/revs and 16384 revolutions

The cyclical actual value is always transmitted left-aligned in the telegram under Gx_XIST1.
Gx_XIST1 is a 32 bit value.
When using the GSD SIEM80F9 (SIMODRIVE sensor isochron), a bit shift must be specified in
Gx_XIST1.

Examples:
• Mulititurn-Encoder (siehe Bild)
The encoder uses 13+14 bits, in total 25 bits. A shift of 7 bits is necessary (32 bit - 13 bit - 14 bit) and has
to be entered in Gx_XIST1.
• Singleturn:
When you use a single-turn encoder, there are no bits for revolutions included.
If the encoder has 8192 pulse/U, then the shift is calculated with 32 bits - 13 bits - 0 bits to 19 bits.
This has to be entered in Gx_IST1.

The functional status and the GSD file used for integration into the project determine the available properties of the
encoder:
• PROFIBUS encoders with function version ≥ FS16 provide support at the technology object the option "Automatically
transfer encoder values at runtime (online)" and should be used in all applications with the GSD SIEM81A8
(MC-ENCODER isochron).

• PROFIBUS encoders with function status <FS16 do not support the technology object option "Automatically transfer
encoder values at runtime (online)". In this case, the encoder data must be entered manually at the TO and the option
"Automatically transfer encoder values at runtime (online)" at the TO must be deactivated.

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 PROFINET/PROFIBUS Encoder

3.5.1. PROFIBUS DP absolute encoder (singleturn, 13-bit resolution)

with the article numbers:
• 6FX2001-5FN12
• 6FX2001-5QN12

• 6FX2001-5WN12

[Link]. with function stand <FS16 or integration with GSD SIEM80F9 (SIMODRIVE sensor
isochron)
Table 3-7

Setting Value
Encoder telegram 81
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution Number of pulses per revolution according to the nameplate (2 Number of singleturn bits)

Number of revolution 1
Bits in Gx_XIST1 32 Bit - Bits für Inkremente (Singeleturn-Bits)
Bits in Gx_XIST2 0

Examples (see also one page before):

• At 13 bit resolution, the value 19 must be entered in Gx_IST1

• At 14 bit resolution, the value 18 must be entered in Gx_IST1

[Link]. with function stand < FS16 and integration with SIEM81A8 (MC-ENCODER isochron)
Table 3-8

Setting Value
Encoder telegram 81
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution Number of pulses per revolution according to the nameplate (2 Number of singleturn bits)

Number of revolution 1
Bits in Gx_XIST1 0
Bits in Gx_XIST2 0

[Link]. with functional stand ≥ FS16 and integration with SIEM81A8 (MC-ENCODER
isochron)
It is recommended to use the automatic transfer of the encoder data. If this is not desired, you can deselect the transfer
and enter the following data:
Table 3-9

Setting Value
Encoder telegram 81
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution Number of pulses per revolution according to the nameplate (2 Number of singleturn bits)

Number of revolution 1
Bits in Gx_XIST1 0
Bits in Gx_XIST2 0

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3.5.2. PROFIBUS DP absolute encoder (multiturn, 27-bit resolution)

with the article numbers:
• 6FX2001-5FN24
• 6FX2001-5QN24

• 6FX2001-5WN24

[Link]. with functional stand <FS16 or integration with GSD SIEM80F9 (SIMODRIVE sensor
isochron)
Table 3-10

Setting Value
Encoder telegram 81
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution Number of pulses per revolution according to the nameplate (2 Number of singleturn bits)

Number of revolutions Number of revolutions according to nameplate (2 Number of Multiturn Bits )

Bits in Gx_XIST1 32 Bit - Bits for Increments (Singeleturn-Bits) – Bits for revolutions (Multiturn-Bits)
Bits in Gx_XIST2 0

Examples (see also two pages before):

• For 12 bit resolution and 12 bit revolutions, the value 8 must be entered in Gx_IST1
• For 13 bit resolution and 14 bit revolutions, the value 5 must be entered in Gx_IST1

[Link]. with functional stand < FS16 and integration with SIEM81A8 (MC-ENCODER
isochron)
Table 3-11

Setting Value
Encoder telegram 81
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution Number of pulses per revolution according to the nameplate (2 Number of singleturn bits)

Number of revolutions Number of revolutions according to nameplate (2 Number of Multiturn Bits)

Bits in Gx_XIST1 0
Bits in Gx_XIST2 0

[Link]. with function level ≥ FS18 and integration with SIEM81A8 (MC-ENCODER isochron)
It is recommended to use the automatic transfer of the encoder data. If this is not desired, you can deselect the transfer
and enter the following data:
Table 3-12

Setting Value
Encoder telegram 81
Encoder type Cyclic absolute
Measuring system Rotary
Increments per revolution Number of pulses per revolution according to the nameplate (2 Number of singleturn bits)

Number of revolutions Number of revolutions according to nameplate (2 Number of Multiturn Bits)

Bits in Gx_XIST1 0
Bits in Gx_XIST2 0

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 Encoder connection via data block

4. Encoder connection via data block

As of TIA Portal V14, it is possible to parameterize a data block as encoder signal source.
Doing so, you have the option of reading in the encoder information in OB MC-PreServo, processing its value and storing
it in a DB (in the form of an encoder telegram, e.g. Standard telegram 81).
The technology object then accesses this DB and takes the encoder information from it.

Further Information you can find…

• in the manual" S7-1500/S7-1500T Motion Control Overview V6.0 as of STEP 7 V17 "(see \12\ ) in the section "Connect
drive/encoder via data block" and
• in the application example " Using the MC-PreServo and MC-PostServo organization blocks" (see \13\ ).

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 Technical Information

5. Technical Information
5.1. PROFIdrive telegrams
In this document, the following send and receive telegrams are used:

Table 5-1: Standard telegram 3

PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8 PZD 9

STW1 NSOLL_B STW2 G1_STW - - - -
ZSW1 NIST_B ZSW2 G1_ZSW G1_XIST1 G1_XIST2

Table 5-2: Standard telegram 5

PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8 PZD 9

STW1 NSOLL_B STW2 G1_STW XERR KPC
ZSW1 NIST_B ZSW2 G1_ZSW G1_XIST1 G1_XIST2

Table 5-3: Standard telegram 81

PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6

STW2_ENC G1_STW - - - -
ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2

Table 5-4: Standard telegram 83

PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6 PZD 7 PZD 8

STW2_ENC G1_STW - - - - - -
ZSW2_ENC G1_ZSW G1_XIST1 G1_XIST2 NIST_B

Table 5-5: Legend to telegram structure

Designation Meaning Format

STW1 and STW2 Control words (for the drive) WORD
ZSW1 and ZSW2 Status words (of the drive) WORD
NSOLL_B Setpoint value (setpoint speed) DWORD
NIST_B Actual value (current speed) DWORD
G1_STW Control word for encoder 1 WORD
G1_ZSW Status word of encoder 1 WORD
G1_XIST1 Incremental actual value of encoder 1 DWORD
G1_XIST2 Absolute actual value of encoder 1 DWORD
STW2_ENC Control word 2 (for the encoder) WORD
ZSW2_ENC Status word 2 (of encoder) WORD
XERR Position deviation DWORD
KPC Position controller gain factor DWORD

Further standard telegrams for the cyclic communication are listed in the documentation of the
Note
converter used.

5.2. Encoder values

5.2.1. Control and status words

Encoder control word G1_STW

Through the encoder control word, command signals can be transmitted to the encoder.

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 Technical Information

Table 5-6: Bit assignment of G1_STW

Bit number Description

0 … 12 Entry dependent on the use encoder/drive
13 Request absolute value cyclically
14 Request parking encoder
15 Acknowledge encoder error

Encoder status word G1_ZSW

Messages of the encoder can be displayed by the encoder status word.
Table 5-7: Bit assignment of G1_ZSW

Bit number Description

0 … 10 Entry dependent on the use encoder/drive
11 Acknowledgement of sensor error running
12 Set preset/shift reference point executed
13 Transfer absolute value cyclically
14 Enable parking encoder
15 Sensor error

Encoder control word STW2_ENC

In the STW2_ENC encoder control word a sign of live is transmitted in clock-synchronous mode from controller to
encoder. Furthermore, the controller has to set bit 10 of the control word to 1 in order to tell the encoder that the data is
valid.
Table 5-8: Bit assignment of STW2_ENC

Bit number Description

0…9 Entry dependent on the use encoder/drive
10 Control by PLC
12 … 15 Configuring the controller

Encoder status word ZSW2_ENC

In the ZSW2_ENC encoder status word, a sign of life is transmitted from the encoder to the controller in clock-
synchronous mode. Furthermore, the controller has to evaluate bit 9, in order to determine whether the cyclic data sent
by the encoder is valid.
Table 5-9: Bit assignment of ZSW2_ENC

Bit number Description

0…8 Entry dependent on the use encoder/drive
9 Control by PLC active
12 … 15 Encoder sign of life

5.2.2. Incremental actual value G1_XIST1

In G1_XIST1 the incremental actual value is transmitted with the set fine resolution. The actual value is continued
according to the actual value change and when there is an overflow of the data width of G1_XIST1, it is reset. The
incremental actual value in G1_XIST1 in incremental encoders and absolute value encoders is evaluated by the controller
according to the respective settings for the encoder pulse number and fine resolution.

In order to be able to transfer the required information, the incremental actual value of the encoder has the following
exemplary structure:

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 Technical Information

Figure 5-1: Example for G1_XIST1

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Increments/Encoder pulse number Fine resolution

(e.g. 12 Bit = 4096) (e.g. 11 Bit = 2048)

Increments/Encoder pulse number

The increments (encoder pulse number) present the resolution if the encoder. This area contains the position value as it is
transmitted from the encoder to an evaluation device (SINAMICS drive, technology module).

Fine resolution
The fine resolution is created by an evaluation device (SINAMICS drive, technology module) and added to the actual
values G1_XIST1 or G1_XIST2. This fine resolution increases the encoder pulse number/resolution of the encoder signal.
Adding a fine resolution shifts the pure encoder value into the actual values. This is why the fine resolution is also called
“shift factor”.

5.2.3. Absolute actual value G1_XIST2

However, in the G1_XIST2 absolute actual value, the positioning values but also the error telegram of the encoder are
transmitted in the event of an error.
When using an absolute encoder, the technology object requests the absolute value of the position after start up, it
evaluates it and from then on only uses the incremental actual value G1_XIST1.

The absolute actual value of the encoder has the following exemplary structure:
Figure 5-2: Example for G1_XIST2

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Multiturn resolution Encoder pulse number Fine resolution

(e.g. 10 Bit = 1024) (e.g. 11 Bit = 2048) (e.g. 9 Bit = 512)

Encoder pulse numbers and fine resolution

This values carry the same information as the G1_XIST1 incremental actual value.

Multi-turn resolution
The multi-turn resolution represents the counting stored in the encoder for the full revolutions of the encoder. The
technology object then calculates the absolute position value of the axis from the encoder pulse number and the multi-
turn resolution.

Information on the structure and orientation of the actual values can be found in the documentation
Note
of the encoder used.

5.2.4. Structure of a SSI telegram

The SSI log is a serial data transmission between an encoder and an evaluation module (drive, technology module). The
data transmission takes place in only one direction for the SSI log, i.e. data from the encoder is transmitted to the
evaluation module. This is a position value of a rotatory or linear measuring system and, if required, further bits that
describe the validity of the position value.

Example 1
The telegram of an SSI absolute encoder can have the following structure:
• The SSI telegram has a length of 25 bytes.

• The MSB of the positioning value is bit 24.

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 Technical Information

• The LSB of the positioning value is bit 0.

• The positioning value is gray-coded.
• A parity bit is not available.

Figure 5-3: Structure of a telegram of an SSI absolute value encoder

Bit
24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MG MG MG MG MG MG MG MG MG MG MG MG SG SG SG SG SG SG SG SG SG SG SG SG SG

MG → Multiturn bit
SG → Singleturn bit
Position value

Example 2
If the SSI encoder transfers other information (for example status bits) apart from the positioning value, you have to
specify where the positioning value is stored in the SSI telegram.
• The SSI telegram has a length of 28 bit.
• The MSB of the positioning value is bit 27.

• The LSB of the positioning value is bit 3.

Figure 5-4: Structure of a telegram of an SSI absolute value encoder

Bit
27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MG MG MG MG MG MG MG MG MG MG MG MG SG SG SG SG SG SG SG SG SG SG SG SG SG S1 S2 0

MG → Multiturn bit
SG → Singleturn bit
S1 → Status Bit 1 Position value
S2 → Status Bit 2

Other examples for the structure of the telegram of a SSI absolute value encoder can be found in the
Note
“Using technology function” operating manual (\7\).

5.2.5. Parameters of the encoder values in SINAMICS

The following table summarizes the encoder parameters for control, status word and actual values.
Table 5-10: Parameters of encoder values

Meaning Parameters in SINAMICS

Control word for encoder p480
Status word of encoder r481
Incremental actual value of encoder r482
Absolute actual value of encoder r483

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 Appendix

6. Appendix
6.1. Links & Literature
Table 6-1: Links & Literature

Topic
\1\ Siemens Industry Online Support
[Link]
\2\ [Link]
\3\ SINAMICS S120 List Manual
[Link]
SINAMICS S120 Device Manual
[Link]
SINAMICS G120 CU250S-2 list manual
[Link]
SINAMICS G120 CU250S-2 Operating Instruction
[Link]
\4\ The information on SSI encoder telegrams is contained in \7\
\5\ Device Manual SIMATIC S7-1500 TM Count 2x24V
[Link]
\6\ Device Manual SIMATIC S7-1500 TM PosInput 2
[Link]
\7\ Function Manual SIMATIC S7-1500, ET 200MP, ET 200SP Counting, measurement and position detection
[Link]
\8\ User Manual Absolute Value Encoders with PROFINET IO
[Link]
\9\ User Manual Absolute Value Encoders with PROFIBUS DP
[Link]
\10\ Motion Control Encoder with PROFINET – Redesign
[Link]
\11\ PROFINET GSDML file for Motion Control Encoder with PROFINET IO interface
[Link]
\12\ S7-1500/S7-1500T Motion Control Overview V8.0 as of STEP 7 V19
[Link]
\13\ Using the MC-PreServo and MC-PostServo organization blocks
[Link]

6.2. Change documentation

Version Date Modification

V1.2 10/J2024 Recreated chapter 3.5 Typical values for the Motion Control Encoder PROFIBUS

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