MITSUBISHI ELECTRIC MELSERVO MR-J2S- A - Manual (Page 349)

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15. ABSOLUTE POSITION DETECTION SYSTEM
Y1 X2
M3 PLS
M3
Y2 X2
C2
C2
C0
M64
3 3
4 4
D3 K2M52 MOV
Y2 SET
K1M10 H0003 K1X0 WANDP
K2 K38 M20 M10 SFTR
D2 D2 K1M10 ADDP
K16
C0
K19
Y2 RST
Y1 RST
D2 D2 H003F WANDP
M62 D2 K2M52 CMPP
C1
M62 C1
Y12
M2 PLS
T200
K10
M6 SET
M5 RST
ABS data 32 bits
(2 bits 16 times)
Check sum 6 bits
(2 bits 3 times)
Detection of ABS
check sum error,
retry control
Resetting ABS data
ABS request ON
Masking ABS data 2 bits
Right shift (2 bits) of ABS data
Check sum addition
Updating ABS data reception
counter
Updating all data reception
counter
Resetting ABS request
Resetting ABS transfer mode
Masking check sum 6 bits
Comparison of check sum
ABS data check sum error
Retry command
Setting retry wait timer: 100ms
Storing check sum value in the
case of check sum error
Retry flag ON
Resetting servo-on request
ABS
transfer
mode Send data ready
ABS data read
ABS
request Send data
ready
All data reception counter
Retry counter
Retry
counter
(Continued from preceding page)
(To be continued)
T204
T204
K1
ABS data waiting timer 10ms
ABS data waiting timer