Yaskawa Large Capacity Sigma II Series - Manual (Page 169)

4.7 Absolute Encoders
4-93
4
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 approximately 40 ms.
Note: 1. The absolute position data within one revolution is the value before
dividing.
2. Absolute position data increases during forward rotation. (Not
valid in reverse rotation mode.)
Incremental Pulses and Origin Pulses
Just as with normal incremental pulses, initial incremental pulses which provide absolute
data are first divided by the frequency divider inside the SERVOPACK and then output.
Data Transfer Method Start-stop Synchronization (ASYNC)
Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7-bit code
Data format 13 characters, as shown below.
”+” or ”-”
”CR”
Number of revolutions:”0” to ”9”
Absolute position within one revolution: ”0” to ”9”
”,”
”P”
0 0 0 0 0 1 0 1 0
Data
Start bit
Even parity
1
Stop bit
Forward rotation
Phase A
Reverse rotation
t
Phase B
Phase C
Phase A
Phase B
Phase C
t