YASKAWA Σ-V Series User Manual page 125

4 Operation
4.5.4 Absolute Linear Scale Reception Sequence
(3) Detailed Signal Specifications
The detailed signal specifications are shown below.
PAO Serial Data Specifications.
Data Transfer
Baud rate
Start bits
Stop bits
Parity
Character code
Data format
(4) Transferring Alarm Contents
If an absolute linear scale is used, the contents of alarms detected by the SERVOPACK can be transmitted in
serial data to the host controller from the PAO output when the sensor ON command is changed from ON to
OFF.
Note: Sensor ON command cannot be received during Servo ON.
An example of alarm contents output is shown below.
Sensor ON
Command
Panel Display
PAO
Output
4-38
Method
9600 bps
1 bit
1 bit
Even
ASCII 7-bit code
8 characters, as shown below.
or
Incremental pulse
Start-stop Synchronization (ASYNC)
"+" or " - "
"P"
0 0 0 0 0 1 0 1 0 1
Data
Start bit Even parity
Note 1. The absolute data range is "P+00000" (CR) or "P-00000" (CR).
2. The serial data range is "+32767" to "-32768." When this range is
exceeded, the data changes from "+32767" to "-32768" or from "-
32768" to "+32767."
3. The signs are inversed when in reverse direction mode (Pn000.0 =
1).
Error detection
ON
Overspeed
Enlarged view
A
" " " "
"0" to "9"
Movement amount
"CR"
data in five digits
Stop bit
OFF
Serial Data
CR
Serial Data Format
L M 5 1 . CR
" " " " " " " " "
Upper 2 digits
"