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15. ABSOLUTE POSITION DETECTION SYSTEM
M5
D0K16MOV
M5
Y31 C1
2 2
3 3
D1K3MOV
D2 K0MOV
D5K0MOV
D9K0DMOV
A0K0DMOV
C0RST
C1RST
Y31
8)
C0 C1 Y31
D3A0DMOVP
K1D8K5H0000FROMP
M18PLS
M18
A0K0MOVP
D8H0001WAND
A1H8000WAND
D4NEG
D4K1
D3NEG
D4K1
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