YASKAWA SGDV series User Manual page 140

4 Operation
4.5.5 Absolute Data Reception Sequence
(3) Rotational Serial Data Specifications and Initial Incremental Pulses
Rotational Serial Data Specifications
The rotational serial data is output from PAO signal.
Data Transfer
Baud rate
Start bits
Stop bits
Parity
Character code
Data format
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 4.2.5 Encoder Output Pulses for details.
4-44
Method
9600 bps
1 bit
1 bit
Even
ASCII 7-bit code
8 characters, as shown below.
Note 1. Data is "P+00000" (CR) or "P-00000" (CR) when the number of revolutions is zero.
2. The revolution range is "-32768" to "+32767". When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32678" to "+32767". When changing
multiturn limit, the range changes. For details, refer to 4.5.6 Multiturn Limit Setting.
Start-stop Synchronization (ASYNC)
"0" to "9"
Rotational data
"+" or " - "
"P"
in five digits
0 0 0 0 0 1 0 1 0 1
Data
Stop bit
Start bit
Even parity
Rotation
"CR"