S3: Switched on
Controlword
(6040h)
Disable Operation
Statusword
(6041h)
Enable Operation
Power supplied.
Motor power status
Power not supplied.
S4: Operation
Main circuit
power supply
Control power
supply
/S-RDY signal
ALM output signal
PAO signal
PBO signal
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
Undefined.
Undefined.
5 s max.
50 ms
Approx. 15 ms
1 ms to 3 ms
400 ms max.
90 ms
typ.
Fig. 181: Reading the Position Data from the Absolute Linear Encoder
7.10.6 Transmission Specifications
The position data transmission specifications for the PAO (Encoder Divided Pulse Output)
signal 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.
Ä
Chap. 7.10.5 ‘Reading the Position Data from the Absolute Linear Encoder’ page 241
Item PAO 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.
Data Output Period Only once after the control power supply is turned ON
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).
Data Format of PAO Signal
Sigma-7 Series SERVOPACKs
Application Functions
Absolute Linear Encoders > Transmission Specifications
| | PROFINET Communications - SIEP YEUOC7P 02A Revision 0 | en | 242
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