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15. ABSOLUTE POSITION DETECTION SYSTEM
Y1 X2
M3PLS
M3
Y2 X2
C2
C2
C0
M64
3 3
D3K2M52MOV
Y2SET
K1M10H0003K1X0WANDP
K2K38M20M10SFTR
D2D2K1M10ADDP
K16
C0
K19
Y2RST
Y1RST
D2D2H003FWANDP
M62D2K2M52CMPP
C1
M62 C1
Y12
M2PLS
T211
K2
M6SET
M4PLS
ABS data 32 bits
(2 bits 16 times)
Checksum 6 bits
(2 bits 3 times)
Detection of ABS
checksum error,
retry control
Resetting ABS data
ABS request ON
Masking ABS data 2 bits
Right shift (2 bits) of ABS data
Checksum addition
Updating ABS data reception
counter
Updating all data reception
counter
Resetting ABS request
Resetting ABS transfer mode
Masking checksum 6 bits
Comparison of checksum
ABS data checksum error
Retry command
Storing checksum value in the
case of checksum error
Retry flag ON
ABS
transfer
mode
Send data ready
ABS data read
ABS
request
Send data
ready
Retry counter
Retry
counter
(Continued from preceding page)
4
4(To be continued)
T204
T204
K1
ABS data waiting timer 10ms
C0
All data
receptin
counter
ABS data waiting timer
ABS data
reception
counter
X2
Send data
ready
Setting retry ABS transfer
mode OFF wait timer: 20ms
Servo-on request reset
permission
M5RST
Servo-on request
Setting retry wait timer: 100ms
T211
K10
T211
M4
M5 M6
Setting retry ABS transfer mode
OFF wait timer: 20ms
Servo-on request reset permission
Servo-on
request
Retry flag