8 Operation
8.4.6 Absolute Encoder Reception Sequence
8-34
(b) PSO Serial Data Specifications
The number of revolutions is always output in five digits and seven digits (absolute position within one revo-
lution).
Note: 1. The absolute position data within one revolution is the value before divided.
2. The absolute position data increases during forward rotation. (The reverse rotation mode is
invalid.)
(c) Incremental Pulses and Zero-Point Pulses
Just as with normal incremental pulses, initial incremental pulses which provide absolute data are first
divided by the frequency divider inside the SERVOPACK and then output.
For details, refer to 8.5.7 Encoder Signal Output.
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 13 characters, as shown below.
CR
"P"
000001010
Data
Even parity
1
Stop bit
No. of revolutions: 0 to 9
Absolute position within
one revolution: 0 to 9
+ or -
Start bit
Forward rotation
Phase A
Phase B
Phase C
Reverse rotation
Phase A
Phase B
Phase C
tt
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