Shihlin SDH Series, Manual

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200
SDH Series Manual
Check Sum = ((((((0xA700) xor 0x605A) xor 0x30A5)xor 0x5A06
Note
：
(1)This algorithm has no plus or minus sign.
(2)0xA700, 0x605A, 0x30A5, 0x5A06 are the constants of hexadecimal.
(3)WORD_0
：
encoder status (Bit15 ~ Bit0)
WORD_1 ： encoder turn (Bit31 ~ Bit16)
WORD_2 ： encoder pulse (Bit47 ~ Bit32)
WORD_3 ： encoder pulse (Bit63 ~ Bit48)
14.2.5 Absolute position data communication protocol
The step explanation for the communicatio
n：
1.At the very beginning of communication, the host controller must enable ABSE and all the absolute system DI/DO
communication starts. A threshold time Ts for confirming the signal ABSE is necessary. After the signal has been
recognized, the DI4, DO2, and DO3 (no matter what their functions are), will be switched to the function of ABSQ,
ABSR, and ABSD respectively.
2.Switch ABSQ to low after it is defined, the servo drive will recognize that host controller wants to read data from
drive.
3.After confirming time Tq, the data for communication is already well prepared and the signal ABSR is enabled for
signaling the host controller to get data from the servo drive side.
4.When ABSR is at high level, it will read ABSQ signal. After finish reading, ABSQ will be set at high level to
recognize the servo drive that the dates have been read..