Absolute position detection system – MITSUBISHI ELECTRIC MELSERVO MR-J2S- A User Manual
Page 359
15 - 52
15. ABSOLUTE POSITION DETECTION SYSTEM
M5
D0
K16
MOV
M5
Y31
C1
2
2
3
3
D1
K3
MOV
D2
K0
MOV
D5
K0
MOV
D9
K0
DMOV
A0
K0
DMOV
C0
RST
C1
RST
Y31
8)
C0
C1
Y31
D3
A0
DMOVP
K1
D8
K5
H0000
FROMP
M18
PLS
M18
A0
K0
MOVP
D8
H0001
WAND
A1
H8000
WAND
D4
NEG
D4
K1
D3
NEG
D4
K1
D8
K1
K0
D3
9)
10)
Initializing ABS data
transmission counter
Initializing checksum
transmission counter
Initializing checksum register
Initializing ABS data register
Initializing ABS data register
Initializing ABS data register
Resetting ABS transmission
counter
Resetting checksum
transmission counter
ABS transfer mode
Saving ABS 32-bit data
Clearing register
*1 Reading x-axis rotation
direction parameter
Masking rotation direction
parameter
Masking ABS data sign
PLS processing command
Reversing polarity of upper
16 bits
Decrementing upper 16 bits
by 1
Reversing polarity of lower
16 bits
Lower 16 bits 0
D4 1 D4
ABS transfer mode
initial setting
ABS transfer mode
control
Absolute position
polarity,A1SD75
rotation direction
setting detection
Reversing absolute
position polarity
(Continued from preceding page)
(To be continued)
ABS data
transfer
start
ABS data
transfer start
ABS transfer
mode
Checksum counter
Counter
Sum
counter
ABS transfer
mode
PLS
processing
command
Rotation direction
judgment