Mitsubishi Electric Melservo MR-J3-A Instruction Manual page 423

14. ABSOLUTE POSITION DETECTION SYSTEM
2
M5
ABS data
transfer
start
M5
ABS data
transfer start
Y31 C1
ABS transfer Checksum counter
mode
C0 C1 Y31
Counter Sum ABS transfer
counter mode
Rotation direction
judgment
M18
D8 K1
PLS
processing
command
3
(Continued from preceding page)
FROMP H0000 K5
10)
K0 D3
2
Initializing ABS data
MOV K16 D0
transmission counter
Initializing checksum
MOV K3 D1
transmission counter
Initializing checksum register
MOV K0 D2
Initializing ABS data register
MOV K0 D5
Initializing ABS data register
DMOV K0 D9
Initializing ABS data register
DMOV K0 A0
Resetting ABS transmission
RST C0
counter
Resetting checksum
RST C1
transmission counter
ABS transfer mode
Y31
Saving ABS 32-bit data
DMOVP A0 D3
Clearing register
MOVP K0 A0
*1 Reading x-axis rotation
D8 K1
direction parameter
Masking rotation direction
WAND H0001 D8
parameter
Masking ABS data sign
WAND H8000 A1
PLS processing command
PLS M18
Reversing polarity of upper
NEG D4
16 bits
Decrementing upper 16 bits
K1 D4
by 1
Reversing polarity of lower
NEG D3
16 bits
Lower 16 bits 0
K1 D4
D4 1 D4
(To be continued) 3
14 - 38
ABS transfer mode
initial setting
ABS transfer mode
control
Absolute position
polarity,A1SD75
rotation direction
setting detection
Reversing absolute
position polarity