Transmission Specifications - YASKAWA SGD7S Product Manual

6.12.5

Transmission Specifications

The position data transmission specifications for the PAO (Encoder Divided Pulse Output) signal and
the PSO (Absolute Encoder Position Output) signal are given in the following table.
The PAO signal sends only the multiturn data. The PSO signal sends the multiturn data plus the
position of the absolute encoder within one rotation.
Refer to the following section for the timing of sending the position data from the absolute encoder.
Sequence for Reading the Position Data from the Absolute Encoder Using the SEN (Absolute Data Request) Signal on
page 6-77
Sequence for Reading the Position Data from the Absolute Encoder without Using the SEN (Absolute Data Request)
Signal on page 6-78
Item
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 multiturn
data, and "CR" (which indicates the end of the message).
P
+ or −
0 to 9
0 to 9
Multiturn
0 to 9
data (5 digits)
0 to 9
0 to 9
CR
Data Format of PSO Signal
As shown below, the message format for a Rotary Servomotor consists of 17 characters: "P," the sign,
the 5-digit multiturn data, a comma delineator, the 8-digit position within one rotation, and "CR" (which
indicates the end of the message).
P
+ or −
0 to 9
0 to 9
Multiturn
0 to 9
data (5 digits)
0 to 9
0 to 9
,
0 to 9
0 to 9
0 to 9
0 to 9
Position within
0 to 9
one rotation
0 to 9 (8 digits)
0 to 9
0 to 9
CR
PAO signal
Start-stop synchronization (ASYNC)
9,600 bps
1 bit
1 bit
Even
ASCII, 7 bits
Refer to Data Format of PAO Signal.
Using the SEN Signal
Each time the SEN signal is input after the
control power supply is turned ON
Not Using the SEN Signal
Only once after the control power supply is
turned ON
6.12 Absolute Encoders

6.12.5 Transmission Specifications

PSO signal
Refer to Data Format of PSO Signal.
40 ms
6
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