YASKAWA E-7-Series SGD7S - Transmission Specifications

6.13 Absolute Linear Encoders
6.13.5 Transmission Specifications
6-88
6.13.5 Transmission Specifications
The position data transmission specifications for the PAO (Encoder Divided Pulse Output) sig-
nal and the PSO (Absolute Encoder Position Output) signal are given in the following table.
The PAO signal sends only the 16-bit data (with sign). The PSO signal sends the signed 36-bit
data.
Refer to the following section for the timing of sending the position data from the absolute
encoder.
Sequence for Reading the Position Data from the Absolute Linear Encoder Using the SEN (Absolute Data Request) Signal
on page 6-87
Sequence for Reading the Position Data from the Absolute Encoder without Using the SEN (Absolute Data Request)
Signal on page 6-87
Power supplied.
Main circuit
power supply
Control power
supply
/S-RDY signal
ALM signal
/S-ON signal
PAO signal
PBO signal
PSO signal
Motor power status
Upper 16-bit position
data (with sign)
Lower 20-bit position data
(incremental pulses)
Lower 20-bit position data
(incremental pulses)
Incremental pulses
Incremental pulses
ON
OFF
OFF
ON
No alarm
ONOFF
ONOFF
Power not supplied.
Undened.
Undened.
Undened.
5 s max. 50 ms Approx. 15 ms
1 ms to 3 ms
400 ms max.
90 ms
typ.
Signed 36-bit
position data
S_Analog
Item PAO signal PSO signal
Synchronization Method Start-stop synchronization (ASYNC)
Baud Rate 9,600 bps
Start Bits 1 bit
Stop Bits 1 bit
Parity Even
Character Code ASCII, 7 bits
Data Format
Refer to Data Format of PAO Signal on
page 6-89.
Refer to Data Format of PSO Signal on
page 6-89.
Data Output Period
Using the SEN Signal
Each time the SEN signal is input after the
control power supply is turned ON
40 ms
Not Using the SEN Signal
Only once after the control power supply
is turned ON