9 Fully-closed Loop Control
9.2.5 Absolute External Encoder Reception Sequence
9-16
(3) Serial Data Specifications
The serial data is output from the PAO signal.
(4) Transferring Alarm Contents
If an absolute encoder is used, the contents of alarms detected by the SERVOPACK can be transmitted in
serial data to the host controller from the PAO output when the SEN signal changes to low level from high
level.
Note: The SEN signal cannot be received during Servo 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 coder ASCII 7-bit coder
Data format 8 characters, as shown below.
Note:
• Data is "P+00000" (CR) or "P-00000" (CR) when the position is zero.
• The serial data range is "+32767" to "-32768." When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32678" to "+32767." When changing multi-
turn limit, the range changes. For details, refer to 5.9.7 Multiturn Limit Setting.
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