Mitsubishi Electric MELSERVO MR-J2S- A Instruction Manual page 336

15. ABSOLUTE POSITION DETECTION SYSTEM
3
M4 C0
Read ABS data
enabled counter
C1
Check
sum
counter
D2 A0
D2 A0
C2
Retry counter
M6
ABS 2 bits read
completion
M5
Check sum 2 bits read completion
Y41 X32
ABS transfer Send data
mode ready
M7
ABS 2 bits request
Y42 X32
ABS Send data ready
request
Y42 X32 T200
10ms delay timer
4
(Continued from preceding page)
MOV K1X30 D5
WAND H0003 D5
WOR D5 A0
DROR K2
D5 D2 D2
D0
C0
PLS M6
RORP K10
WAND H003F A0
M1
M2
MOV A0 D6
Y4A
RST Y42
PLS M7
SET Y42
K1
T200
M4
(To be continued)
15 - 29
3
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
4
Reading ABS data
32 bits
(2 bits 16 times)
Detecting ABS data
check sum error
ABS request
control