YASKAWA SGMJV User Manual page 296

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 Turn Encoder Power Supply OFF command
(SENS_OFF) is received.
Note: The
power is ON.
Output example of alarm contents are as shown below.
Turn Encoder
Power Supply
OFF
(SENS_OFF)
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 4.7.6 Multiturn Limit Setting.
Turn Encoder Power Supply OFF command (SENS_OFF)
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
Encoder power
Error detection
supply ON
Overspeed
Enlarged view
Data Format
"A" "L"
"CR"
cannot be received while the servomotor
Encoder power
supply OFF
Serial Data
"M" "5" "1" "." "CR"
Upper 2 digits