Mitsubishi Electric MELSERVO MR-J2S- A Instruction Manual page 349

15. ABSOLUTE POSITION DETECTION SYSTEM
3
Y1 X2
ABS Send data ready
transfer
mode
M3
ABS data read
Y2 X2
ABS Send data
request ready
T204
ABS data waiting timer
C0
All data reception counter
C1
Retry counter
M62 C1
Retry
counter
M64
4
(Continued from preceding page)
WANDP
SFTR M10
C2
ADDP
WANDP
CMPP
3
Resetting ABS data
PLS M3
ABS request ON
SET Y2
K1
ABS data waiting timer 10ms
T204
Masking ABS data 2 bits
K1X0 H0003 K1M10
Right shift (2 bits) of ABS data
M20 K38 K2
Check sum addition
K1M10 D2 D2
K16
Updating ABS data reception
C2
counter
K19
Updating all data reception
C0
counter
Resetting ABS request
RST Y2
Resetting ABS transfer mode
RST Y1
Masking check sum 6 bits
H003F D2 D2
Comparison of check sum
K2M52 D2 M62
ABS data check sum error
Y12
Retry command
PLS M2
K10
Setting retry wait timer: 100ms
T200
Storing check sum value in the
MOV K2M52 D3
case of check sum error
Retry flag ON
SET M6
Resetting servo-on request
RST M5
(To be continued)
4
15 - 42
ABS data 32 bits
(2 bits 16 times)
Check sum 6 bits
(2 bits 3 times)
Detection of ABS
check sum error,
retry control