YASKAWA SGDH User Manual page 466

8 Operation
8.4.6 Absolute Encoder Reception Sequence
(b) PSO Serial Data Specifications
The number of revolutions is always output in five digits and seven digits (absolute position within one revo-
lution).
Data Transfer Method
Baud rate
Start bits
Stop bits
Parity
Character code
Data format
No. of revolutions: 0 to 9
"P"
0 0 0 0 0 1 0 1 0
Start bit
Note: 1. The absolute position data within one revolution is the value before divided.
2. The absolute position data increases during forward rotation. (The reverse rotation mode is
invalid.)
(c) Incremental Pulses and Zero-Point Pulses
Just as with normal incremental pulses, initial incremental pulses which provide absolute data are first
divided by the frequency divider inside the SERVOPACK and then output.
For details, refer to 8.5.7 Encoder Signal Output.
Phase A
Phase B
Phase C
9600 bps
1 bit
1 bit
Even
ASCII 7-bit code
13 characters, as shown below.
Absolute position within
one revolution: 0 to 9
+ or -
1
Data
Stop bit
Even parity
Forward rotation
t
Start-stop Synchronization (ASYNC)
CR
Reverse rotation
Phase A
Phase B
Phase C
8-34
t