Mitsubishi Electronics MR-J2S- A instruction manual Pls Abs

15. ABSOLUTE POSITION DETECTION SYSTEM

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Y1	X2
					PLS	M3
ABS	Send data ready
transfer
mode	M3
					SET	Y2
	ABS data read
	Y2	X2				K1
						T204
	ABS	Send data
	request	ready
T204
			WANDP K1X0		H0003	K1M10
ABS data waiting timer
		SFTR	M10	M20	K38	K2
		C2
			ADDP	K1M10 D2		D2
						K16
						C2
						K19
						C0
					RST	Y2
C0
					RST	Y1
All data reception counter
			WANDP H003F D2			D2
			CMPP	K2M52 D2		M62
C1
						Y12
Retry counter
M62	C1
					PLS	M2
	Retry
	counter
M64						K10
						T200
				MOV	K2M52	D3
					SET	M6
					RST	M5

Resetting ABS data

ABS request ON

ABS data waiting timer 10ms

Masking ABS data 2 bits

Right shift (2 bits) of ABS data

Check sum addition

Updating ABS data reception counter

Updating all data reception counter

Resetting ABS request

Resetting ABS transfer mode

Masking check sum 6 bits

Comparison of check sum

ABS data check sum error

Retry command

Setting retry wait timer: 100ms

Storing check sum value in the case of check sum error

Retry flag ON

Resetting servo-on request

ABS data 32 bits (2 bits 16 times)

Check sum 6 bits (2 bits 3 times)

Detection of ABS check sum error, retry control

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