YASKAWA SGMJV User Manual page 329

9 Fully-closed Loop Control
9.2.5 Absolute External Encoder 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 coder
Data format
(4) Transferring Alarm Contents
If an absolute encoder is used, the contents of alarms detected by the SERVOPACK can be transmitted in
serial data to the host controller from the PAO output when the SEN signal changes to low level from high
level.
Note: The SEN signal cannot be received during Servo ON.
Output example of alarm contents are as shown below.
SEN Signal
Digital Operator
Display
PAO Output
9-16
Method
9600 bps
1 bit
1 bit
Even
ASCII 7-bit coder
8 characters, as shown below.
Note:
• Data is "P+00000" (CR) or "P-00000" (CR) when the position is zero.
• The serial data range is "+32767" to "-32768." When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32678" to "+32767." When changing multi-
turn limit, the range changes. For details, refer to 5.9.7 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
" " A " " L
"CR"
Low level
CR
Serial Data
Serial Data Format
" " M " " 5 " " 1 " " " . CR "
upper 2 digits