Hello,

the frequency of the interface modules is important.

9. Encoder system connection

https://support.industry.siemens.com/cs/de/en/view/109782370

Drivecliq cycle = current controller cycle =  standart125 us.

Hello,

Drivecliq cycle = current controller cycle= speed controller cycle.

When current controller cycle is 31,25 us, drivecliq cycle is equal, because current controller/speedcontroller need a new value in every cycle.

Hello,

an endat 2.2 encoder is connected to a SMC 40, when using S120.

You mix the frequency of the "encoder evaluation interface" with the clock cycle of the speed/current controller.

The interface must be very fast, to get every increment of the encoder.