Same thing for a 99, not as much detail but similar thought process. Just based on the detail of the 2001 procedure, it makes me think this was known problem by the Mazda engineers in the 99-00 (NB) cars.
Cam sensor is failing or has failed.
Cam sensor circuit/wiring/connector/terminal issue
Cam sensor is dirty.
Open circuit between main relay terminal D and cam sensor terminal A
Open circuit between cam sensor terminal B and PCM terminal 2H
Open circuit between cam sensor terminal C and body ground
Short to ground circuit between main relay terminal D and CMP sensor terminal A
Short to ground circuit between CMP sensor terminal B and PCM terminal 2H
Crank sensor issue in addition to cam sensor malfunction