Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors - Manual (Page 131)

4.5 Setting Absolute Linear Scale
4-41
4
Operation
(3) Detailed Signal Specifications
The detailed signal specifications are shown below.
„ PAO Serial Data Specifications.
(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 turned OFF while the servomotor power is ON.
An example of alarm contents output is shown below.
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.
Note 1. The absolute data range is “P+00000” (CR) or “P-00000” (CR).
2. The serial data range is "-32768" to "+32767." 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).
Data
Start bit Even parity
Movement amount
data in five digits "+" or " - "
"0" to "9"
"CR" "P"
Stop bit
0 0 0 0 0 1 0 1 0 1
CR
Sensor ON
Command
OFF Error detection ON
Incremental pulse Serial Data
Enlarged view
Panel Display
PAO
Output
Serial Data Format
Upper 2 digits
A L M 5 1 . CR " " " " " " " " " " " " " "
or
Overspeed