Target Position Recorder; Table 4-4: Counter Summary - ADLINK Technology HSL-4XMO User Manual

The table below summarizes all functions used for the different
counter types
Counter Description
Counts the
Command number of
output pulses
Counts the
Feedback number of
input pulses
Counts the
error between
Position error command
and feedback
General pur-
General Purpose
pose counter

Target Position Recorder

The target position recorder is used for providing target position
information. For example, if the HSL-4XMO is operating in contin-
uous motion with absolute mode, the target position lets the next
absolute motion know the target position of previous one.
It is very important to understand how the software handles the
target position recorder. Every time a new motion command is
executed, the displacement is automatically added to the target
position recorder. To ensure the correctness of the target position
recorder, users need to manually maintain it in the following two
situations using the function HSL_M_reset_target_pos():
68
Counter
Source
Pulse output
EA/EB or
Pulse output
EA/EB and
Pulse output
pulse
Pulse out-
put EA/EB
manual
pulse CLK/2

Table 4-4: Counter Summary

Function
HSL_M_set_command
HSL_M_get_command
HSL_M_set_pls_iptmode
HSL_M_set_feedback_src
HSL_M_set_position
HSL_M_get_position
HSL_M_get_error_counter
HSL_M_reset_error_counter
HSL_M_set_general_counter
HSL_M_get_general_counter
Function
Description
Set a new value for com-
mand position
Read current command
position
Select the input modes
of EA/EB
Set the counters input
source
Set a new value for feed-
back position
Read current feedback
position:
Gets the position error
Resets the position error
counter
Set a new counter value
Read current counter
value
Operation Theory