Transmission Specifications - YASKAWA SGD7S Product Manual

6.9 Absolute Linear Encoders

6.9.5 Transmission Specifications

Control power
supply *
Main circuit
power supply
ALM output signal
/S-RDY signal
SV_ON command
Motor power status
SENS_ON
command *
PAO signal
PBO signal
* When you turn OFF the control power supply, input the SENS_OFF command.
6.9.5

Transmission Specifications

The position data transmission specifications for the PAO (Encoder Divided Pulse Output) sig-
nal are given in the following table.
The PAO signal sends only the 16-bit data (with sign).
Refer to the following section for the timing of sending the position data from the absolute
encoder.
6.9.4
Synchronization Method
Transmission Speed
Start Bits
Stop Bits
Parity
Character Code
Data Format
Data Output Period
Data Format of PAO Signal
As shown below, the message format consists of eight characters: "P," the sign, the 5-digit upper 15-
bit position data, and "CR" (which indicates the end of the message).
P
+ or −
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
CR
6-44
OFF
OFF
OFF
OFF
OFF
Undefined.
Undefined.
90 ms
5 s max. 50 ms typ.
Reading the Position Data from the Absolute Linear Encoder
Item
Start-stop synchronization (ASYNC)
9,600 bps
1 bit
1 bit
Even
ASCII, 7 bits
Refer to Data Format of PAO Signal.
Each time the SENS_ON command is input after the
control power supply is turned ON
Upper 15 bits
of position data
ON
ON
No alarm
Power not supplied.
ON
Upper 16-bit position Lower 20-bit position data
data (with sign) (incremental pulses)
Lower 20-bit position data
(incremental pulses)
Approx. 15 ms
400 ms max.
1 ms to 3 ms
on page 6-43
PAO signal
ON
ON
Power supplied.
Incremental pulses
Incremental pulses