MITSUBISHI ELECTRIC MELSERVO MR-J2S- A - Manual (Page 360)

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15. ABSOLUTE POSITION DETECTION SYSTEM
M9 C0
C1
3 3
4 4
D5 K1X20 MOV
D5 H0003 WAND
A0 D5 WOR
K2 ROR
M10 PLS
D1
M9 C0
D5 K1X20 MOV
K2 DROR
D2 D2 D5
C0
C1
C2
D5 H0003 WAND
A0 D5 WOR
D0
M11 PLS
K10 RORP
A0 H003F WAND
M6
M7
D6 A0 MOV
Y3A
D2 A0
D2 A0
11)
11)
Reading checksum
6bits
(2 bits 3 times)
Reading ABS data
32 bits
(2 bits 16 times)
Detecting ABS
checksum error
Reading 4 bits
Masking 2 bits
Adding 2 bits
Right rotation of A0 2 bits
Counting the number of
checksum data
Completion of reading
checksum 2 bits
Reading 4 bits
Masking 2 bits
Adding 2 bits
Right rotation of A0 2 bits
Adding checksum
Counting the number of ABS
data
Completion of reading ABS
2 bits data
Right rotation of A0 10 bits
Masking sum check
Sum check OK
Sum check NG
Sum check memory
ABS checksum error
(Continued from preceding page)
(To be continued)
Read
enabled ABS data
counter
Read
enabled ABS data
counter
Checksum
counter
Retry counter