MITSUBISHI ELECTRIC MELSERVO MR-J2S- A - Manual (Page 335)

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15. ABSOLUTE POSITION DETECTION SYSTEM
C0 C1 Y41
D3 A0 DMOVP
K1 D8 K7872 H0001 FROMP
M13 PLS
M13
M4 C0
C1
2 2
3 3
A0 K0 MOVP
D8 H0004 WAND
A1 H8000 WAND
D4 NEG
D4 K1
D3 NEG
D4 K1
D5 K1X30 MOV
D5 H0003 WAND
A0 D5 WOR
K2 ROR
M5 PLS
D1
D8 K4
K0 D3
Detecting absolute
position polarity
and A1SD71
rotating direction
Reversing polarity of
absolute position
Reading checksum
6 bits
(2 bit 3 times)
Saving ABS 32-bit data
Clearing register
*1 Reading X-axis rotating
direction parameter
Rotation direction parameter
mask
ABS data sign mask
PLS processing command
Reversing polarity of upper
16 bits
Subtraction for upper 16 bits
Reversing polarity of lower
16 bits
Reading 4 bits
Masking 2 bits
Adding 2 bits
Right rotation of A0 2 bits
Counting check sum data
reception frequency
Completion of reading, 2 bits
of check sum
Counter Check sum
counter
ABS
transfer
mode
PLS processing
command
Read
enabled ABS data
counter
Rotation direction
judgment
(Continued from preceding page)
(To be continued)
Lower 16 bits 0
D4 1 D4