Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 131)

4 Operation
4.7.5 Absolute Data Reception Sequence
4-46
(4) Transferring Alarm Contents
If an absolute encoder is used, the contents of alarms detected by the SERVOPACK are transmitted in serial
data to the host controller from the PAO output when the Turn Encoder Power Supply OFF command
(SENS_OFF) is received.
Note: The SENS_OFF command cannot be received while the servomotor power is ON.
Output example of alarm contents are as shown below.
Encoder power
supply OFF
Error detection
Encoder power supply ON
Incremental pulse Serial Data
Enlarged view
Turn Encoder
Power Supply
OFF
(SENS_OFF)
Panel Display
PAO Output Serial Data Format
Upper 2 digits
A L M 5 1 . CR " " " " " " " " " " " " " "
or
Overspeed
M-II