Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Command Option Interface - Manual (Page 141)

4.5 Absolute Encoders
4-45
4
Ope
rat
ion
(4) Transferring Alarm Contents
If an absolute encoder 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 Sensor ON command is changed from ON to OFF.
Note: The Sensor ON command cannot be turned OFF while the servomotor power is ON.
Output example of alarm contents are as shown below.
OFF
Error detection
ON
Incremental pulse Serial Data
Enlarged view
Sensor ON
command
Panel Display
PAO Output Serial Data Format
Upper 2 digits
A L M 5 1 . CR " " " " " " " " " " " " " "
or
Overspeed
M-II