YASKAWA E-V Series User Manual page 169

5 Operation
5.9.6 Absolute Encoder Reception Sequence
(3) Detailed Signal Specifications
Refer to the following detailed signal specifications.
PAO Serial Data Specifications
Data Transfer
Baud rate
Start bits
Stop bits
Parity
Character coder
Data format
Incremental Pulses and Origin Pulses
Just as with normal incremental pulses, initial incremental pulses which provide absolute data are first divided
by the frequency divider inside the SERVOPACK and then output.
For details, refer to
Phase A
Phase B
Phase C
5-66
Method
9600 bps
1 bit
1 bit
Even
ASCII 7-bit coder
8 characters, as shown below.
Note:
• The range for absolute value data is "P+00000" (CR) or "P-00000" (CR).
• 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."
• In the case of reverse direction mode (Pn000.0 = 1), the sign reverses.
5.3.6 Encoder Pulse Output
Forward movement
t
Start-stop Synchronization (ASYNC)
"+" or " - "
"P"
0 0 0 0 0 1 0 1 0 1
Data
Start bit Even parity
.
Reverse movement
Phase A
Phase B
Phase C
"CR"
"0" to "9"
Stop bit
t