Mitsubishi Electric QD75P1N User Manual page 592

12 CONTROL SUB FUNCTIONS
4) The servo amplifier outputs the ABS lower 2 bits and ABS
transmission data ready (ABST) OFF by the ABS request (ABSR).
5) After recognizing that the ABS transmission data ready (ABST)
turned OFF (the ABS2bit data is output), QD75 reads the lower
2bits of ABS and turns OFF the ABS request (ABSR).
6) The servo amplifier turns ON the ABS transmission data ready
(ABST) and prepares for the next transmission. After that,
procedures 3) to 6) are repeated until the data corresponding to
32bits and the checksum corresponding to 6bits are sent.
7) After the sum check, the QD75 turns OFF the ABS transfer mode
(ABSM). If the ABS transfer mode (ABSM) is turned OFF during the
data transmission, the ABS transfer mode will be interrupted.
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