Siemens SINAMICS S120 Commissioning Manual page 122

Examples
4.1 Speed setpoint input and evaluation of the speed actual value
If the target velocity should be, e.g.: 3000 RPM, then the following must be sent to the bus to
SINAMICS, for an encoder with a pulse number 2048 and a fine resolution of 11:
● Without encoder
Actual speed value
The actual velocity is calculated as follows:
● With encoder
● Without encoder
Note
For "without encoder" it should be observed that this does mean modes such as encoderless
closed-loop speed control (p1300=20) or encoderless closed-loop torque control (p1300=22)
where an encoder is commissioned anyway!
122
Commissioning Manual, (IH2), V2.6, 10/2008 Edition, 6SL3097-2AA00-0BP3
CANopen interface