Reading The Position Data From The Absolute Linear Encoder; Transmission Specifications - YASKAWA SGD7S-1R9D Product Manual

6.9 Absolute Linear Encoders

6.9.4 Reading the Position Data from the Absolute Linear Encoder

6.9.4 Reading the Position Data from the Absolute Linear
Encoder
The sequence to read the position data from the absolute linear encoder of a Linear Servomotor is
given below.
The upper 16-bit position data (with sign) are sent according to the transmission specifications.
The lower 20-bit data is output as a pulse train.
Control power
supply
Main circuit
power supply
ALM output signal
/S-RDY signal
Controlword
(6040 hex)
Statusword
(6041 hex)
Motor power status
PAO signal
PBO signal
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
Baud Rate
Start Bits
Stop Bits
Parity
Character Code
Data Format
Data Output Period
6-42
OFF
OFF
OFF
Disable Operation
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.
Only once after the control power supply is turned ON
ON
ON
No alarm
Switched on
Power not supplied.
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 6-42
PAO signal
ON
Enable Operation
Operation Enabled
Power supplied.
Incremental pulses
Incremental pulses