YASKAWA SGDV series User Manual page 292

8 Fully-closed Loop Control
8.3.4 External Absolute Encoder Data Reception Sequence
(3) Serial Data Specifications
The serial data is output from the PAO signal.
Data Transfer
Baud rate
Start bits
Stop bits
Parity
Character code
Data format
(4) Transferring Alarm Contents
If an external 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.
Sensor ON
Command
Panel Display
PAO Output
8-20
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 position is zero.
2. The serial data range is "-32768" to "+32767". When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32768" to "+32767." When changing
multiturn limit, the range changes. For details, refer to 4.5.6 Multiturn Limit Setting.
High level
or
Incremental pulse
Start-stop Synchronization (ASYNC)
"0" to "9"
serial data
"+" or " - "
"P"
in five digits
0 0 0 0 0 1 0 1 0 1
Data
Stop bit
Start bit
Even parity
Error detection
Overspeed
Enlarged view
Data Format
"A" "L"
"CR"
ON OFF
M-II
Serial Data
"M" "5" "1" "." "CR"
Upper 2 digits