Omron FQM1-MMA21, FQM1-CM001 Data Format of Absolute Encoder Output, Serial Data Specification

Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7

Motion Control Module

Position control,

(SPED, ACC,

PULS or PLS2

instruction)

Analog output (Speed command)

−10 to 10 V, etc. Pulse output

SEN signal

Absolute encoder data

Servo driver

Speed

control

Absolute encoder	Power cable
signal (line driver)	(U, V, W)

Servomotor

with Absolute encoder

7-7-3 Data Format of Absolute Encoder Output

The format of data from a Servo Driver compatible with an absolute encoder supported by the Motion Control Module is as follows:

Serial Data Specification

The number of digits for rotation data	5 digits
Data transmitting method	Asynchronous
Baud rate	9,600 bits/s
Start bit	1 bit
Stop bit	1 bit
Parity	Even numbers
Character code	ASCII 7 bits
Data format	8 characters

Data Format

	Byte	+0	+1	+2	+3	+4	+5	+6	+7
		P (See	Rotation data						CR
		note 1.)
			Sign	Integer (5-digit decimal)
			(+ or −)
Note
	(1) The “P” is in ASCII. It is 50 hex in hexadecimal.

(2)The range of No. of rotations that can be received by the Motion Control Module is between +65,535 to −65,535.

(3)For details of the data on the number of multi-turns received from a Servo Driver, please check the manual of the Servo Driver in use.

(4)Set the System Setup’s Counter 1 Counter operation to either an abso- lute linear (CW−) or absolute linear (CW+) counter corresponding to the setting of reverse rotation mode on the Servo Driver in use.

(5)When the mode where the data on the number of rotations is output only in the + direction is set in the absolute encoder multi-turn limit setting, the data received by the Motion Control Module is handled as described be- low according to the setting of Counter 1 Counter operation in the System Setup.

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