Hello, everybody! 

I am using S7-317T 2 DP and SINAMICS S120 to control three servo drives.

I have a problem enabling an axis via the PLC. I've tried to run the axis via the Control Panel and it works. All the enables are available. But when I wrote a simple program in the PLC (MC_Power, MC_Reset, MC_MoveAbsolute functions) I don't have all the enables available. I get error ID 8040.

The MC_Power function gives me all enables, except Operation Enable (p0852) whitch is bit3 of the control word.

My question is how can I enable this bit? 

Yes, I was missing Active Line Module enable.

I fixed this by enabling the Line Module via the MC_WritePeriphery function.

Now though, I have another problem. I cannot seem to interprete the data I get from the encoder.

I am using THIS combo (motor+encoder). The data I read from the parameter in the DB of the Axis is something I cannot understand.

When I try to rotate it from the Control panel of the axis it shows me position and speed in degrees. Those degrees are not actual. I can clearly see the motor doing a 1/10th of a revolution~ ish, while the encoder data on the control panel reads 360 degrees. One turn yieds about 3430 degrees there. The gear ratios are by default 1/1 and I haven't changed them. There are no gears between the motor shaft and the encoder shaft.

How can I liniearize this data into degrees, radians or any other kind an actual value?