Mitsubishi Electric MELSERVO MR-J2S- A Instruction Manual page 360

15. ABSOLUTE POSITION DETECTION SYSTEM
3
M9 C0
Read ABS data
enabled counter
M9 C0
Read ABS data
enabled counter
C1
Checksum
counter
D2 A0
D2 A0
C2
Retry counter
4
(Continued from preceding page) 3
MOV K1X20 D5
WAND H0003 D5
WOR D5 A0
ROR K2
D1
C1
PLS M10
MOV K1X20 D5
WAND H0003 D5
WOR D5 A0
DROR K2
D5 D2 D2
D0
C0
PLS M11
RORP K10
WAND H003F A0
M6
M7
MOV A0 D6
Y3A
(To be continued) 4
15 - 53
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
11)
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
11)
Reading checksum
6bits
(2 bits 3 times)
Reading ABS data
32 bits
(2 bits 16 times)
Detecting ABS
checksum error