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ADLINK Technology HSL-4XMO Manuals
Manuals and User Guides for ADLINK Technology HSL-4XMO. We have
1
ADLINK Technology HSL-4XMO manual available for free PDF download: User Manual
ADLINK Technology HSL-4XMO User Manual (112 pages)
High Speed Link 4-Axis Motion Control Module
Brand:
ADLINK Technology
| Category:
Control Unit
| Size: 1 MB
Table of Contents
Table of Contents
5
List of Tables
8
1 Introduction
11
Features
12
Specifications
13
Supported Software
15
Programming Library
15
Motion Creator on Linkmaster Utility
15
2 Installation
17
Package Contents
17
Pin Assignments and Jumper Settings
18
Figure 2-1: HSL-4XMO-CG-N/P Mechanical Drawing
18
Table 2-1: CN1 Pin Assignments: External Power Input
19
Table 2-2: CN2 Pin Assignments: Emergency Input and General Input Common
19
Table 2-3: HS1-HS2 Pin Assignments: HSL Communication Signal (RJ-45)
19
Table 2-4: HS3 Pin Assignments: HSL Communication Signal
19
Table 2-5: CM1-CM4 Pin Assignments: Servo Interface
20
Table 2-6: IOIF1-4 Pin Assignments: Mechanical I/O and GPIO Signal Connector
20
Figure 2-2: S1: Switch Setting for HSL Slave ID
21
Figure 2-3: JP1: HSL Communication Speed Selection Jumper Set
21
Figure 2-4: P2-3: HSL Full Duplex/Half Duplex Jumper Setting
22
Figure 2-5: JP4: HSL Termination Resistor Jumper Setting
22
3 Signal Connections
23
Pulse Output Signals out and dir
24
Figure 3-1: out and dir Signals on the 4 Axes
24
Figure 3-2: Non-Differential Type Wiring Example
25
Encoder Feedback Signals EA, EB and EZ
26
Figure 3-3: EA, EB, and EZ Signals
26
Table 3-1: Encoder Power / External Resistor
27
Figure 3-4: Connection to Line Driver Output
27
Origin Signal ORG
28
Figure 3-5: Connection to Open Collector Output
28
Figure 3-6: Origin Signal ORG
28
End-Limit Signals PEL and MEL
29
Ramping-Down & Position Latch
29
Figure 3-7: End-Limit Signals PEL and MEL
29
In-Position Signal INP
30
Figure 3-8: Ramping-Down & Position Latch
30
Figure 3-9: In-Position Signal INP
30
Alarm Signal ALM
31
Deviation Counter Clear Signal (ERC)
31
Figure 3-10: Alarm Signal ALM
31
General-Purpose Signal SVON
32
General-Purpose Signal RDY
32
Figure 3-11: Deviation Counter Clear Signal (ERC)
32
Figure 3-12: General-Purpose Signal SVON
32
Position Compare Output CMP
33
Emergency Stop Input EMG
33
Figure 3-13: General-Purpose Signal RDY
33
Figure 3-14: Position Compare Output CMP
33
General-Purpose Input
34
General-Purpose Output
34
Figure 3-15: Emergency Stop Input EMG
34
Figure 3-16: General-Purpose Input
34
Figure 3-17: NPN Type General Purpose Output
35
Figure 3-18: PNP Type General Purpose Output
35
4 Operation Theory
37
Communication Block Diagram
37
Host Command
37
Figure 4-1: Communication Block Diagram
37
Command Delivering Time
38
Table 4-1: Base Scan Times
39
Figure 4-2: Single Command Timing
39
Command Dispatching in DSP
40
Figure 4-3: DSP Multi-Tasks
40
The Role of DSP and Motion ASIC
41
Motion Control Modes
41
Pulse Command Output
41
Table 4-2: Pulse Command Output
41
Figure 4-4: Single Pulse Output Mode (OUT/DIR Mode)
42
Velocity Mode Motion
43
Figure 4-5: Dual Pulse Output Mode (CW/CCW Mode)
43
Trapezoidal Motion
44
Figure 4-6: Velocity Mode Motion
44
Figure 4-7: Trapezoidal Motion
45
S-Curve Profile Motion
47
Figure 4-8: Encoder Diagram
47
Figure 4-9: S-Curve Profile Motion
48
Figure 4-10: Automatic Velocity Decrease
49
Linear Interpolation for 2-4 Axes
50
Table 4-3: Single Axis Motion Functions
50
Figure 4-11: 2 Axes Linear Interpolation
51
Figure 4-12: 3-Axis Linear Interpolation
52
Circular Interpolation for 2 Axes
54
Figure 4-13: Circular Interpolation for 2 Axes
54
Circular Interpolation with Acc/Dec Time
55
Relationship between Velocity and Acceleration Time
56
Figure 4-14: Circular Interpolation with Acc/Dec Time
56
Figure 4-15: Velocity and Acceleration Time a
57
Figure 4-16: Velocity and Acceleration Time B
58
Home Return Mode
59
Figure 4-17: Home_Mode=0
60
Figure 4-18: Home_Mode=1
61
Figure 4-19: Home_Mode=3
61
Figure 4-20: Home_Mode=4
62
Figure 4-21: Home_Mode=5
63
Figure 4-22: Home_Mode=6
63
Figure 4-23: Home_Mode=7
63
Figure 4-24: Home_Mode=8
64
Figure 4-25: Home_Mode=9
64
Figure 4-26: Home_Mode=10
65
Figure 4-27: Home_Mode=11
66
Figure 4-28: Home_Mode=12
66
Figure 4-29: Home Search Example
67
The Motor Driver Interface
69
Inp
69
Alm
70
Erc
70
SVON and RDY
71
The Limit Switch Interface and I/O Status
72
Sd/Ltc
72
Org
73
The Counters
74
Command Position Counter
74
Feedback Position Counter
75
Figure 4-30: 90° Phase Difference Signals
76
Position Error Counter
77
General Purpose Counter
77
Target Position Recorder
78
Table 4-4: Counter Summary
78
Multiple HSL-4XMO Operations
79
Table 4-5: Multiple HSL-4XMO Operations
79
Change Position or Speed on the Fly
80
Change Speed on the Fly
80
Figure 4-31: Change Speed on the Fly
80
Figure 4-32: Hsl_M_V_Change() Theory
82
Table 4-6: Hsl_M_V_Change() Example
83
Figure 4-33: Velocity Suggestions a
83
Figure 4-34: Velocity Suggestions B
84
Figure 4-35: Velocity Example
84
Figure 4-36: Velocity Profile Example
85
Change Position on the Fly
86
Figure 4-37: Change Position on the Fly
86
Figure 4-38: Theory of Hsl_M_P_Change()
87
Position Compare
88
Comparators of the HSL-4XMO
88
Table 4-7: Hsl_M_P_Change() Constraints
88
Table 4-8: HSL-4XMO Comparators
88
Position Compare
89
Figure 4-39: Continuously Comparison with Trigger Output
90
Backlash Compensator and Vibration Suppression
92
Figure 4-40: Vibration Suppression
92
Software Limit Function
93
Point Table Management
93
Motion Script Download
94
5 Motion Creator in Linkmaster
95
Execute Motion Creator in Linkmaster
95
About Motion Creator in Linkmaster
95
Figure 5-1: HSL Master Utility
96
Motion Creator Form Introducing
97
Main Menu
97
Figure 5-2: Main Menu
97
Interface I/O Configuration Menu
98
Figure 5-3: Interface I/O Configuration Menu
98
Pulse IO Configuration Menu
99
Figure 5-4: Pulse IO Configuration Menu
100
Operation Menu
101
Figure 5-5: Operation Menu
102
Figure 5-6: Show Velocity Curve
103
Figure 5-7: Home Mode Configuration
104
6 Appendix
109
HSL-4XMO Commmand Executuion Time
109
Table 6-1: Commmand Executuion Classifications
109
Table 6-2: HSL-4XMO Commmand Executuion Times
109
Warranty Policy
111
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