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Control power
upply *
OFF
Main circuit
power upply
OFF
ALM output ignal
/ -RDY ignal
V_ON command
Motor power tatu
EN _ON
command *
PAO ignal
PBO ignal
* When you turn OFF the control power supply, input the SENS_OFF command.
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
Reading the Position Data from the Absolute Linear Encoder
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
OFF
OFF
OFF
Upper 16-bit po ition
Undefined.
data (with ign)
Undefined.
90 m
5 max.
50 m
typ.
Approx. 15 m
Start-stop synchronization (ASYNC)
9,600 bps
1 bit
1 bit
Even
ASCII, 7 bits
Refer to Data Format of PAO Signal.
Each time the SENS_ON command is input after the
control power supply is turned ON
ON
ON
No alarm
Power not upplied.
ON
Lower 20-bit po ition data
(incremental pul e )
Lower 20-bit po ition data
(incremental pul e )
400 m max.
1 m to
m
on page 6-44
PAO signal
6.9 Absolute Linear Encoders
6.9.5 Transmission Specifications
ON
ON
Power upplied.
Incremental pul e
Incremental pul e
6
6-45
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Troubleshooting
