Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 124)

4.5 Absolute Encoders
4-41
Operation
(3) Rotational Serial Data Specifications and Initial Incremental Pulses
Rotational Serial Data Specifications
The rotational serial data is output from PAO signal.
Initial Incremental Pulses
The initial incremental pulses are output after division inside the SERVOPACK in the same way as for normal
incremental pulses. Refer to 4.2.5 Encoder Output Pulses for details.
(4) Transferring Alarm Contents
If an absolute encoder is used, the contents of alarms detected by the SERVOPACK can be transmitted in
serial data to the host controller from the PAO output when the sensor ON command is changed from ON to
OFF.
Note: Sensor ON command cannot be turned OFF while the servomotor power is ON.
An example of alarm contents output is shown below.
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 8 characters, as shown below.
Note:
• Data is “P+00000” (CR) or “P-00000” (CR) when the number of revolutions is zero.
• The allowable range of the rotational serial data is “-32768” to “+32767.” When the value is
outside the allowable range, the data changes from “+32767” to “-32678” or from “-32678”
to “+32767.” When changing the multiturn limit, the range changes. For details, refer to
4.5.6 Multiturn Limit Setting.
Data
Start bit Even parity
Rotational data
in five digits "+" or " - "
"0" to "9"
"CR" "P"
Stop bit
0 0 0 0 0 1 0 1 0 1
CR
Sensor ON
Command
OFF Error detection ON
Incremental pulse Serial Data
Enlarged view
Panel Display
PAO
Output
Data Format
Upper 2 digits
A L M 5 1 . CR " " " " " " " " " " " " " "
or
Overspeed