YASKAWA Sigma-V Series User Manual page 353

(3) Serial Data Specifications
The serial data is output from the PAO signal.
Data Transfer
Method
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 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 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 5.9.6 Multiturn Limit Setting.
Error detection
High level
or
Incremental pulse
9.3 Parameter Settings for Fully-closed Loop Control
"0" to "9"
serial data
"+" or " - "
in five digits
Stop bit
Even parity
Overspeed
Serial Data
Enlarged view
Data Format
"A" "L" "M" "5" "1"
Upper 2 digits
"CR"
Low level
Analog
"." "CR"
9-19
9