Nikon-A absolute encoder receiver implementation on the TI PRU-ICSS interfaces with the Nikon encoders either via point-to-point communication or up to 8 Nikon encoders connected on a bus. Nikon encoders use a proprietary asynchronous serial bi-directional half-duplex communication protocol compliant with the RS-485. The encoder can generate either single- or multi-turn absolute position data and can operate at a baud rate of up to 16 Mhz. Besides position data, the encoder can also send status and diagnostic information well. Reliability is ensured by using a 3-bit CRC by the controller and an 8-bit CRC by the encoder. Another interesting feature of the Nikon-A encoders is the optional battery backup circuit, which can be used in case of power failure. Nikon encoders are widely used in industrial machinery, including industrial robots in automobile production lines and machine tools, and are highly valued as the next-generation standard for sensors that can detect the absolute rotational displacement values of robot arms.