Mitsubishi Electric MELSERVO MR-J2S- A Instruction Manual page 335

15. ABSOLUTE POSITION DETECTION SYSTEM
2
C0 C1 Y41
Counter Check sum ABS
counter transfer
mode
Rotation direction
M13 judgment
D8 K4
PLS processing
command
M4 C0
Read ABS data
enabled counter
3
(Continued from preceding page)
DMOVP A0
MOVP K0
FROMP H0001 K7872 D8
WAND H0004
WAND H8000
PLS
NEG
K1
NEG
K0 D3 K1
MOV K1X30
WAND H0003
WOR D5
ROR
PLS
(To be continued)
15 - 28
2
Saving ABS 32-bit data
D3
Clearing register
A0
*1 Reading X-axis rotating
K1
direction parameter
Rotation direction parameter
D8
mask
ABS data sign mask
A1
PLS processing command
M13
Reversing polarity of upper
D4
16 bits
Subtraction for upper 16 bits
D4
Reversing polarity of lower
D3
16 bits
Lower 16 bits 0
D4
D4 1 D4
Reading 4 bits
D5
Masking 2 bits
D5
Adding 2 bits
A0
Right rotation of A0 2 bits
K2
D1
Counting check sum data
C1
reception frequency
Completion of reading, 2 bits
M5
of check sum
3
Detecting absolute
position polarity
and A1SD71
rotating direction
Reversing polarity of
absolute position
Reading checksum
6 bits
(2 bit 3 times)