MITSUBISHI ELECTRIC MELSERVO MR-J2S- A - Manual (Page 336)

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15. ABSOLUTE POSITION DETECTION SYSTEM
M4 C0
D5 K1X30 MOV
K2 DROR
D2 D2 D5
C0
C1
C2
M6
M5
Y41 X32
M7
Y42 X32
Y42 X32 T200
3 3
4 4
D5 H0003 WAND
A0 D5 WOR
D0
M6 PLS
K10 RORP
A0 H003F WAND
M1
M2
D6 A0 MOV
Y4A
Y42 RST
M7 PLS
Y42 SET
T200
K1
M4
D2 A0
D2 A0
Reading ABS data
32 bits
(2 bits 16 times)
Detecting ABS data
check sum error
ABS request
control
Reading 4 bits
Masking 2 bits
Adding 2 bits
Right rotation of A0 2 bits
Adding check sum
Counting frequency of ABS
data reception
Completion of reading: 2 bits
of ABS data
Right rotation of A0 10 bits
Masking check sum
Sum check OK
Sum check NG
Sum check memory
ABS check sum error
Resetting ABS request
ABS 2 bits request
Setting ABS request
10ms delay timer
Transmission data read
enabled
(Continued from preceding page)
(To be continued)
Read
enabled ABS data
counter
Check
sum
counter
Retry counter
ABS 2 bits read
completion
Check sum 2 bits read completion
ABS transfer
mode Send data
ready
ABS 2 bits request
ABS
request Send data ready
10ms delay timer