Siemens SINAMICS S120 Function Manual page 379

Figure 10-13 Function chart for "measurement on-the-fly"
Encoder 2 control word (G2_CTW)
● See G1_CTW (table 4-19)
Encoder 3 control word (G3_CTW)
● See G1_CTW (table 4-19)
Encoder n status word (Gn_STW, n = 1, 2, 3)
The encoder status word is used to display states, errors and acknowledgements.
Drive Functions
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4
Communication PROFIBUS DP/PROFINET IO
10.1 Communications according to PROFIdrive
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