YASKAWA SGD7S-****20A Series - Reading the Position Data from the Absolute Linear Encoder; Transmission Specifications

6.9 Absolute Linear Encoders
6.9.5 Transmission Specifications
6
Application Functions
6-45
*
When you turn OFF the control power supply, input the SENS_OFF command.
6.9.5 Transmission Specifications
The position data transmission specifications for the PAO (Encoder Divided Pulse Output) sig-
nal are given in the following table.
The PAO signal sends only the 16-bit data (with sign).
Refer to the following section for the timing of sending the position data from the absolute
encoder.
6.9.4
Reading the Position Data from the Absolute Linear Encoder
on page 6-44
Data Format of PAO Signal
As shown below, the message format consists of eight characters: “P,” the sign, the 5-digit upper 15-
bit position data, and “CR” (which indicates the end of the message).
Power supplied.
Main circuit
power supply
Control power
supply
*
/S-RDY signal
ALM output signal
SV_ON command
SENS_ON
command
*
PAO signal
PBO 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.
ONOFF
Undened.
Undened.
5 s max. 50 ms Approx. 15 ms
1 ms to 3 ms
400 ms max.
90 ms
typ.
Item PAO signal
Synchronization Method Start-stop synchronization (ASYNC)
Transmission Speed 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.
Data Output Period
Each time the SENS_ON command is input after the
control power supply is turned ON
P
+ or −
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
CR
Upper 15 bits
of position data