YASKAWA SGM H Series User Manual page 440

Coordinate - 1
value
Value M
Final absolute data P is calculated by following formula.
M
P = M × R + P
E O
P = P - P
M E S
Use the following for reverse rotation
mode (Pn000.0 = 1).
P = -M × R + P
E
P = P - P
M E S
(3) Detailed Signal Specifications
(a) PAO Serial Data Specifications
The number of revolutions is output in five digits.
Data Transfer Method
Baud rate
Start bits
Stop bits
Parity
Character code
Data format
"+" or "- "
"P"
0 0 0 0 0 1 0 1 0 1
Data
Start bit
Even parity
Note: 1. Data is "P+00000" (CR) or "P-00000" (CR) when the number of revolutions is zero.
2. The revolution range is "+32767" to "-32768." 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 8.4.7 Multiturn Limit Setting.
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Reference position (setup)
0
0 +1
P
S
P Current value read by encoder
E
M Multiturn data (rotation count data)
P
Number of initial incremental pulses
O
P Number of initial incremental pulses read at setup (This is saved and
S
controlled by the host controller.)
P Current value required for the user's system
O
M
R Number of pulses per encoder revolution (pulse count after dividing,
value of Pn201)
9600 bps
1 bit
1 bit
Even
ASCII 7-bit code
8 characters, as shown below.
"CR"
"0" to "9"
Stop bit
Current position
+1 +2
+2 +3
P
M × R
O
P
E
P
M
Start-stop Synchronization (ASYNC)
8.4 Absolute Encoders
+3
8-33
8