The Role Of Dsp And Motion Asic; Motion Control Modes; Pulse Command Output; Table 4-2: Pulse Command Output - ADLINK Technology HSL-4XMO User Manual

4.5 The role of DSP and motion ASIC

Motion control is executed by motion ASIC. DSP acts as a role to
execute the command dispatching, data management and motion
command sequecing. Motion ASIC is used for generating pulse
trains, position control, dedicated motion I/O control and so on.
There is no motion I/O scan time problem because the ASIC will
take care all of them.

4.6 Motion Control Modes

In this section, the pulse output signal configuration and the follow-
ing motion control modes are described.

Pulse Command Output

The HSL-4XMO uses pulse commands to control servo/stepper
motors via the drivers. A pulse command consists of two signals:
OUT and DIR. There are two command types: (1) single pulse out-
put mode (OUT/DIR), and (2) dual pulse output mode (CW/CCW
type pulse
HSL_M_set_pls_outmode(), is used to program the pulse com-
mand mode. The modes vs. signal type of OUT and DIR pins are
listed in the table below:
Mode
Dual pulse output (CW/CCW)
Single pulse output (OUT/DIR)
The interface characteristics of these signals can be differential
line driver or open collector output. Please refer to section 3.1 for
the jumper setting for different signal types.
Single Pulse Output Mode (OUT/DIR Mode)
In this mode, the OUT signal is for the command pulse (position or
velocity) chain. The numbers of OUT pulse represent the relative
"distance" or "position." The frequency of the OUT pulse repre-
sents the command for "speed" or "velocity." The DIR signal repre-
Operation Theory
output).
Output of OUT pin
Pulse signal in plus
(or CW) direction
Pulse signal

Table 4-2: Pulse Command Output

The software
Output of DIR pin
Pulse signal in minus
(or CCW) direction
Direction signal (level)
function,
31