Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 294)

8 Fully-closed Loop Control
8.3.4 External Absolute Encoder Data Reception Sequence
8-20
(3) Serial Data Specifications
The serial data is output from the PAO signal.
(4) Transferring Alarm Contents
If an external 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.
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 position is zero.
2. The serial data range is "-32768" to "+32767". When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32768" to "+32767." When changing
multiturn limit, the range changes. For details, refer to 4.7.6 Multiturn Limit Setting.
Data
Start bit Even parity
serial data
in five digits "+" or " - "
"0" to "9"
"CR" "P"
Stop bit
0 0 0 0 0 1 0 1 0 1
“A” “L” “M” “5” “1” “.” “CR”
Encoder power
supply OFF
High level
Encoder power
supply ON
Incremental pulse
Serial Data
Enlarged view
Turn Encoder
Power Supply
OFF
(SENS_OFF)
Panel Display
PAO Output
Data Format
Upper 2 digits
Error detection
or
Overspeed
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