Example: Rotary Axis With Rotary Encoder On Motor - Siemens SINUMERIK 840D sl Function Manual

G2: Velocities, setpoint / actual value systems, closed-loop control
7.4 Setpoint/actual-value system
7.4.6.5

Example: Rotary axis with rotary encoder on motor

Figure 7-7
The ratio of the internal increments to the encoder increments per degree is calculated as
follows:
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Rotary axis with rotary encoder on motor
Function Manual, 01/2015, 6FC5397-0BP40-5BA2
Basic Functions