6.12 Absolute Encoders
6.12.5 Transmission Specifications
6-79
6.12.5
Transmission Specifications
The position data transmission specifications for the PAO (Encoder Divided Pulse Output) signal and
the PSO (Absolute Encoder Position Output) signal are given in the following table.
The PAO signal sends only the multiturn data. The PSO signal sends the multiturn data plus the
position of the absolute encoder within one rotation.
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 Encoder Using the SEN (Absolute Data Request) Signal on
page 6-77
Sequence for Reading the Position Data from the Absolute Encoder without Using the SEN (Absolute Data Request)
Signal on page 6-78
Data Format of PAO Signal
As shown below, the message format consists of eight characters: “P,” the sign, the 5-digit multiturn
data, and “CR” (which indicates the end of the message).
Data Format of PSO Signal
As shown below, the message format for a Rotary Servomotor consists of 17 characters: “P,” the sign,
the 5-digit multiturn data, a comma delineator, the 8-digit position within one rotation, and “CR” (which
indicates the end of the message).
Item PAO signal PSO 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. Refer to Data Format of PSO Signal.
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
P
+ or −
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
CR
Multiturn
data (5 digits)
P
+ or −
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
,
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
0 to 9
CR
Multiturn
data (5 digits)
Position within
one rotation
(8 digits)
To Next Page
Loading...
