YASKAWA SGMJV User Manual page 132

4 Operation
4.7.5 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 4.4.4 Encoder Output Pulses for details.
4-46
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 4.7.6 Multiturn Limit Setting.
Start-stop Synchronization (ASYNC)
"0" to "9"
Rotational serial data,
"+" or " - "
"P"
5 digits
0 0 0 0 0 1 0 1 0 1
Data
Stop bit
Start bit
Even parity
"CR"