Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 129)

4.7 Absolute Linear Scales
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(3) Serial Data Specifications and Initial Incremental Pulses
Serial Data Specifications
The 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 4.4.4 Encoder Output Pulses for details.
(4) Transferring Alarm Contents
If an absolute linear scale is used, the contents of alarms detected by the SERVOPACK are transmitted in
serial data to the host controller from the PAO output when the Turn Sensor OFF command (SENS_OFF) is
received.
Note: The SENS_OFF command cannot be received while the servomotor power is ON.
Output example of alarm contents are as 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 1. The range for absolute data is "P+00000" (CR) or "P-00000" (CR).
2. The serial data range is "-32768" to "+32767". When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32678" to "+32767".
3. In the case of reverse direction mode (Pn000.0 = 1), the sign reverses.
Data
Start bit Even parity
Movement data
in five digits "+" or " - "
"0" to "9"
"CR" "P"
Stop bit
0 0 0 0 0 1 0 1 0 1
Linear
OFF
Error detection
ON
Incremental pulse Serial Data
Enlarged view
Turn Sensor
OFF
(SENS_OFF)
Panel Display
PAO Output Serial Data Format
Upper 2 digits
A L M 5 1 . CR " " " " " " " " " " " " " "
or
Overspeed
M-III