Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 145)

4.7 Absolute Encoders
4-49
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 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.
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