YASKAWA Sigma-II Series, User Manual

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8 Operation
8.4.6 Absolute Encoder Reception Sequence
8-36
(b) PSO Serial Data Specifications
The number of revolutions is always output in five digits and seven digits (absolute position within one revo-
lution).
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.
(4) Transferring Alarm Contents
When an absolute encoder is used, SEN signals can be utilized to transfer the alarm detection contents from PAO
outputs to the host controller as serial data.
For alarm list, refer to
11.1.1 Alarm Display Table.
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 13 characters, as shown below.
CR
’
P
0 0 0 0 0 1 0 1 0
Data
Even parity
1
Stop bit
No. of revolutions: 0 to 9
Absolute position within
one revolution: 0 to 9
+ or -
Start bit
Forward rotation
Phase A
Phase B
Phase C
Reverse rotation
Phase A
Phase B
Phase C
t t
Low
level
High
level
Error detection
Overspeed
or
Incremental pulse ALM81 CR
Serial Data
SEN Signal
Panel Operator
(Digital Operator)
Display
PAO
Serial Data