YASKAWA Sigma-II Series, User Manual

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8.4 Absolute Encoders
8-35
8
Operation
Final absolute data P
M
is calculated by following formula.
(3) Detailed Signal Specifications
(a) PAO Serial Data Specifications
The number of revolutions is output in five digits.
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 .
P
E
Current value read by encoder
P
E
= M × R + P
O
P
M
= P
E
- P
S
M Multiturn data (rotation count data)
P
O
Number of initial incremental pulses
Use the following for reverse rotation
mode (Pn000.0 = 1).
P
E
= - M × R + P
O
P
M
= P
E
- P
S
P
S
Absolute data read at setup (This is saved and controlled by the host
controller.)
P
S
= M
S
×
R + P
S
'
M
s
Multiturn data read at setup
P
S
' Number of initial incremental pulses read at setup
P
M
Current value required for the user’s system
R Number of pulses per encoder revolution (pulse count after dividing,
value of Pn201)
Coordinate
value
Value M
Reference position (setup)
- 1 0 +1 +2 +3
+3
Current position
+2 +1 0
P
E
P
M
P
S
P
O
M × R
Data Transfer Method Start-stop Synchronization (ASYNC)
Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7-bit code
Data format 8 characters, as shown below.
Data
Start bit
Even parity
"+" or "- "
"0" to "9"
"CR"
"P"
Stop bit
0 0 0 0 0 1 0 1 0 1