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15. ABSOLUTE POSITION DETECTION SYSTEM
C0 C1 Y41
D3A0DMOVP
K1D8K7872H0001FROMP
M13PLS
M13
M4 C0
C1
2 2
3 3
A0K0MOVP
D8H0004WAND
A1H8000WAND
D4NEG
D4K1
D3NEG
D4K1
D5K1X30MOV
D5H0003WAND
A0D5WOR
K2FOR
M5PLS
D1
D8 K4
K0 D3
Detecting absolute
position polarity
and A1SD71
rotating direction
Reversing polarity of
absolute position
Reading checksum
6 bits
(2 bit 3 times)
Saving ABS 32-bit data
Clearing register
*1 Reading X-axis rotating
direction parameter
Rotation direction parameter
mask
ABS data sign mask
PLS processing command
Reversing polarity of upper
16 bits
Subtraction for upper 16 bits
Reversing polarity of lower
16 bits
Reading 4 bits
Masking 2 bits
Adding 2 bits
Right rotation of A0 2 bits
Counting check sum data
reception frequency
Completion of reading, 2 bits
of check sum
Counter Check sum
counter
ABS
transfer
mode
PLS processing
command
Read
enabled
ABS data
counter
Rotation direction
judgment
(Continued from preceding page)
(To be continued)
Lower 16 bits 0
D4 1 D4