4.1.1 Encoder Model

The Encoder Model is derived from the PROFIdrive Drive Model as defined in [PDP]. The Encoder Profile defined in [ENCP] used as basis for this specification defines that a P-Device contains exactly one or multiple Encoder Units containing exactly one or multiple Encoder Objects (See Figure 1).

Figure 1 – General Encoder Unit model ([ENCP] chapter 5.2.3)