Allen-Bradley Kinetix 5100 2198-E1004-ERS - Reading the Absolute Position with DI;DO

Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 397
Absolute Position Recovery Chapter 14
Reading the absolute position with DI/DO
Set ID243 (P2.070) Bit 0 to 0 so that you can read the PUU number with DI/
DO. See the following descriptions:
Set ID243 (P2.070) to 1 so that you can read the pulse number with DI/DO.
In this example, the encoder resolution of 16777216 (single-turn) and 65536
(multi-turn) are used. See the following descriptions:
Description:
Check Sum = (((((((WORD_0+0xA700) XOR WORD_1)+0x605A) XOR
WORD_2)+0x30A5) XOR WORD_3)+0x5A06)
NOTES:
1. This algorithm has no positive or negative sign.
2. 0xA700, 0x605A, 0x30A5, and 0x5A06 are the constants for hexadecimal
format.
3. WORD_0: encoder status (Bit 15 … 0)
WORD_1: encoder turn (Bit 31 … 16)
WORD_2: encoder pulse number (Bit 47 … 32)
WORD_3: encoder pulse number (Bit 63 … 48)
Bit 79 … Bit 64 Bit 63 … Bit 32 Bit 31 … Bit 16 Bit 15 … Bit 0
Check Sum
PUU
-2147483648 … +2147483647
0
Encoder status
ID109 (P0.050)
Bit 79 … Bit 64 Bit 63 … Bit 32 Bit 31 … Bit 16 Bit 15 … Bit 0
Check Sum
Pulse number in one rotation
0 … 16777215 (=16777216-1)
Encoder turn
-32768 … +32767
Encoder status