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15. ABSOLUTE POSITION DETECTION SYSTEM
Y39 X26
Y31
T0
Y31 Y32
Y31 X22
T0
T1
T3
5 5
Y31RST
K50
T1
K10
T3
K10
Y39
M7
M15 C2
M16
T2
M9039
END
M15PLS
M16SET
C2
D7
T2
K1
M16RST
D110A0DMOV
Detecting ABS
communication
error
ABS transfer
retry control
Resetting ABS transfer mode
ABS transfer mode 5s timer
ABS request response
1s timer
ABS data send ready
response 1s timer
ABS communication error
ABS transfer retry start pulse
Setting retry flag
Retry counter
Retry waiting timer (100ms)
Resetting retry flag
Saving received shift data
ABS communi-
cation error
Servo-on PB
(Continued from preceding page)
ABS transfer mode
ABS transfer
mode
ABS request
ABS transfer
mode
Ready to send
ABS data
ABS transfer NG
ABS request NG
Readying to send ABS data NG
Sum check NG
Retry start Retry
counter
Retry flag set
Retry waiting timer
PC RUN