Yaskawa Sigma II Indexer User Manual

Page 99

Sigma II Indexer User’s Manual

Absolute Encoders

5-44

4. The system enters a normal incremental operation state approximately 50ms

after the last serial data is received.

Detailed Signal Specifications

PAO Serial Data Specifications
The number of revolutions is output in five digits.

Note: 1.

Data is “P+00000” (CR) or “P-00000” (CR) when the number of revolutions is zero.

The revolution range is “+32767” to “-32768.” When this range is exceeded, the data change
from “+32767” to “-32768” or from “-32768” to “+32767”

PSO Serial Data Specifications

The number of revolutions and the absolute position within one revolution are
always output in five and seven digits, respectively. The data output cycle is approx-
imately 40ms.

Data Transfer Method

Start–stop Synchronization

(ASYNC)

Baud rate

9600bps

Start bits

1 bit

Stop bits

1 bit

Parity

Even

Character code

ASCII 7–bit code

Data format

8 characters, as shown below.

SEN signal

PAO

PBO

PSO

Incremental pulses

Rotation count serial data

Initial incremental pulses

Undefined

50 ms

60ms minimum
90ms typical
260ms maximum

10ms
max.

Approx. 15ms

1 to 3ms

25ms maximum

Rotation count
serial data

Initial
incremental pulses

(Phase A)

(Phase B)

Power

0 0 0 0 0 1 0 1 0

Data

Start bit

Even parity

Stop bit

“P” “+” or “-” “0” to “9” “CR”