YASKAWA Sigma-V Series User Manual page 134

(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 multi-winding drive unit in the same way as
for normal incremental pulses. Refer to 4.4.4 Encoder Output Pulses for details.
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 4.6.6 Multiturn Limit Setting.
"0" to "9"
Rotational data
"+" or " - "
in five digits
Stop bit
Even parity
4.6 Absolute Encoders
Rotation
"CR"
4-43
4