YASKAWA Sigma-V Series User Manual page 196

(3) Rotational Serial Data Specifications and Initial Incremental Pulses
Rotational Serial Data Specifications
The rotational serial data is output from PAO signal.
Data Transfer
Method
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 5.3.6 Encoder Output Pulses for details.
(4) Transferring Alarm Contents
If an 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 SEN signal changes from high level to low level.
Note: The SEN signal cannot be OFF while the servomotor power is ON.
Output example of alarm contents are as shown below.
SEN Signal
Panel Operator
Display
PAO Output
Start-stop Synchronization (ASYNC)
9600 bps
1 bit
1 bit
Even
ASCII 7-bit code
8 characters, as shown below.
"P"
0 0 0 0 0 1 0 1 0 1
Data
Start bit
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 5.9.6 Multiturn Limit Setting.
Error detection
High level
or
Incremental pulse
"0" to "9"
Rotational data
"+" or " - "
in five digits
Stop bit
Even parity
Overspeed
Enlarged view
Data format
"A" "L" "M" "5" "1"
Upper two digits
5.9 Absolute Encoders
Rotation
"CR"
Low level
Analog
Serial data
"." "CR"
5
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