Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 130)

4.7 Absolute Encoders
4-45
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(3) Rotational Serial Data Specifications and Initial Incremental Pulses
Rotational Serial Data Specifications
The rotational serial data is output from PAO signal.
Initial Incremental Pulses
The initial incremental pulses are output after division inside the SERVOPACK in the same way as for normal
incremental pulses. Refer to 4.4.4 Encoder Output Pulses for details.
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. Data is "P+00000" (CR) or "P-00000" (CR) when the number of revolutions is zero.
2. The revolution range is "-32768" to "+32767". 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 4.7.6 Multiturn Limit Setting.
Data
Start bit Even parity
Rotational data
in five digits "+" or " - "
"0" to "9"
"CR" "P"
Stop bit
0 0 0 0 0 1 0 1 0 1
Rotation