Transmission Specifications - YASKAWA SGD7S series Product Manual

6.13.5

Transmission Specifications

The position data transmission specifications for the PAO (Encoder Divided Pulse Output) sig-
nal and the PSO (Absolute Encoder Position Output) signal are given in the following table.
The PAO signal sends only the 16-bit data (with sign). The PSO signal sends the signed 36-bit
data.
Refer to the following section for the timing of sending the position data from the absolute
encoder.
Sequence for Reading the Position Data from the Absolute Linear Encoder Using the SEN (Absolute Data Request) Signal
on page 6-91
Sequence for Reading the Position Data from the Absolute Encoder without Using the SEN (Absolute Data Request)
Signal on page 6-92
Item
Synchronization Method
Transmission Speed
Start Bits
Stop Bits
Parity
Character Code
Data Format
Data Output Period
Data Format of PAO Signal
As shown below, the message format consists of eight characters: "P," the sign, the 5-digit upper 15-
bit position data, and "CR" (which indicates the end of the message).
P
+ or −
0 to 9
0 to 9
Upper 15 bit
0 to 9
of po ition data
0 to 9
0 to 9
CR
Data Format of PSO Signal
The data format for a Linear Servomotor consists of 17 characters: "P," the sign, the 11-digit
36-bit data, and "CR" (which indicates the end of the message).
P
+ or −
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
Po ition data:
0 to 9
6 bit (11 digit )
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
CR
PAO signal
Start-stop synchronization (ASYNC)
9,600 bps
1 bit
1 bit
Even
ASCII, 7 bits
Refer to Data Format of PAO Signal on
page 6-93.
Using the SEN Signal
Each time the SEN signal is input after the
control power supply is turned ON
Not Using the SEN Signal
Only once after the control power supply
is turned ON
6.13 Absolute Linear Encoders

6.13.5 Transmission Specifications

PSO signal
Refer to Data Format of PSO Signal on
page 6-93.
40 ms
6
6-93