Advance Technologies; Automate the World.Manual Rev. 2.02Revision Date: December 21, 2006Part No: 50-1I001-200HSL-4XMOHigh Speed Link4-Axis Motion

vi List of FiguresFigure 4-11: 2 Axes Linear Interpolation ... 45Figure 4-12: 3-Axis Linear Interpolation ...

90 Motion Creator in LinkMasterdeveloped program. This function is available in a DOSenvironment as well. Figure 5-1: HSL Master Utility

Motion Creator in LinkMaster 915.3 Motion Creator Form IntroducingMain MenuThe main menu appears after running Motion Creator. It is used to:Figure 5

92 Motion Creator in LinkMasterInterface I/O Configuration MenuIn this menu, users can configure EL, ORG, EZ, ERC, ALM, INP,SD, and LTC.Figure 5-3: In

Motion Creator in LinkMaster 93ALM Logic and Response mode: Select logic and responsemodes of ALM signal. The related function call isHSL_M_set_alm()

94 Motion Creator in LinkMaster Figure 5-4: Pulse IO Configuration Menu1. Pulse Output Mode: Select the output mode of the pulsesignal (OUT/ DIR). The

Motion Creator in LinkMaster 95Operation Menu In this menu, users can change the settings a selected axis,including velocity mode motion, preset rela

96 Motion Creator in LinkMasterFigure 5-5: Operation Menu1. Position:X Command: displays the value of the command counter. The related function is HSL

Motion Creator in LinkMaster 97Figure 5-6: Show Velocity Curve6. Operation Mode: Select operation mode.X Absolute Mode: “Position1” and “position2” w

98 Motion Creator in LinkMasterFigure 5-7: Home Mode ConfigurationX ERC Output: Select if the ERC signal will be sent when home move completes. X EZ C

Motion Creator in LinkMaster 99X Close: Click this button close this window.X ORG Distance: The length during ORG is ON7. Position: Set the absolute

Introduction 11 IntroductionThe HSL-4XMO is a 4-axis motion controller module for HSL sys-tem. It can generate high frequency pulses (6.55MHz) to dri

100 Motion Creator in LinkMaster12.Speed Range: Set the max speed of motion. If “Not Fix”is selected, the “Maximum Speed” will automaticallybecome the

Motion Creator in LinkMaster 101defined in “Decel. Time.” The related function isHSL_M_sd_stop().18.I/O Status: The status of motion I/O. Light-On me

102 Motion Creator in LinkMaster

Appendix 1036 Appendix6.1 HSL-4XMO Commmand Executuion TimeThe testing is conducted at 6MHz baud rate and full-deplux mode.We list the execution time

104 AppendixNotes: The cycle time is equal to maximum slave number *30.1 us.Theoretical command time is recommend as follows:Z If the module is small

Warranty Policy 105Warranty PolicyThank you for choosing ADLINK. To understand your rights andenjoy all the after-sales services we offer, please rea

106 Warranty Policy3. Our repair service is not covered by ADLINK's guaranteein the following situations:X Damage caused by not following instruc

2Introduction1.1 Features X High Speed Link (HSL) protocol compatibleX 3M/6M/12M data transfer rate selectableX Support dual and half duplex modesX On

Introduction 3X User-friendly function libraries and utilities for DOS and Windows 9x/NT/2000/XP. Also supported under Linux1.2 SpecificationsCommand

4IntroductionDigital InputX Sink or source type can be selected via ICOMX Switching capability: 10K HzX Input voltage range:Z Logic H: 14.4~24VZ Logic

Introduction 51.3 Supported Software Programming Library The Library supports Borland C/C++ (Version: 3.1) and Windows95/98/NT/2000/XP. These functio

6Introduction

Installation 72 InstallationThis chapter describes how to install the HSL-4XMO series.Please follow these steps below: X Check what you have (section

8Installation2.2 HSL-4XMO-CG-N/P Mechanical DrawingFigure 2-1: HSL-4XMO-CG-N/P Mechanical DrawingCN1: External Power Input Connector (+24V)CN2: Digita

Installation 92.3 HSL-4XMO-CD-N/P Mechanical DrawingFigure 2-2: HSL-4XMO-CD-N/P Mechanical DrawingCN1: External Power Input Connector (+24V)CN2: Digi

Copyright 2005 ADLINK TECHNOLOGY INC.All Rights Reserved. The information in this document is subject to change without priornotice in order to improv

10 Installation2.4 CN1 Pin Assignments: External Power Input2.5 CN2 Pin Assignment: Emergency Input and General Input CommonNote: ICOM should be conn

Installation 112.6 HS1,2 Pin Assignments: HSL Communication Signal (RJ-45).2.7 HS3 Pin Assignments: HSL Communication Sig-nal (WAGO Type)2.8 CM1-CM4

12 Installation9 OUT+ Pulse signal (+) 10 OUT- Pulse signal (-)11 DIR+ Direction signal (+) 12 DIR- Direction signal (-)13 EGND Ext. power ground 14 S

Installation 132.9 CM1-CM4 Pin Assignments: For HSL-4XMO-CD-N/P2.10 IOIF1-4 Pin Assignments: Mechanical I/O and GPIO Signal Con-nectorNo. Name Functi

14 Installation2.11 S1: Switch Setting for HSL Slave IDFigure 2-3: S1: Switch Setting for HSL Slave IDNote: Each HSL-4XMO occupies 4 HSL IDs. If using

Installation 152.13 JP2 - 3: Jumper Setting for HSL Transmission ModeFigure 2-5: JP2 - 3: Jumper Setting for HSL Transmission Mode2.14 JP4: Jumper Se

16 Installation2.15 JP5-8, JP10-13: Enable/Disable DO to reset servo driverFigure 2-7: JP5-8, JP10-13: Enable/Disable DO to reset servo driver2.16 JP9

Signal Connections 173 Signal ConnectionsSignal connections of all I/O’s are described in this chapter. Referto the contents of this chapter before w

18 Signal Connections3.1 Pulse Output Signals OUT and DIR There are 4 axis pulse output signals on the HSL-4XMO. For eachaxis, two pairs of OUT and DI

Signal Connections 19Figure 3-2: Non-differential Type Wiring ExampleWarning: The sink current must not exceed 20mA or the 2631 willbe damaged!

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20 Signal Connections3.2 Encoder Feedback Signals EA, EB and EZ The encoder feedback signals include EA, EB, and EZ. Every axishas six pins for three

Signal Connections 21Figure 3-4: Connection to Line Driver OutputConnection to Open Collector OutputTo connect with an open collector output, an exte

22 Signal ConnectionsFigure 3-5: Connection to Open Collector OutputFor more operation information on the encoder feedback signals,refer to section 4.

Signal Connections 23and DIR). For detailed operations of the ORG signal, refer to sec-tion 4.8.3.4 End-Limit Signals PEL and MELThere are two end-li

24 Signal ConnectionsFigure 3-8: Ramping-down & Position Latch3.6 In-position Signal INPThe in-position signal INP from a servo motor driver indic

Signal Connections 253.7 Alarm Signal ALMThe alarm signal ALM is used to indicate the alarm status from theservo driver. The input alarm circuit is s

26 Signal ConnectionsFigure 3-11: Deviation Counter Clear Signal (ERC)3.9 General-purpose Signal SVONThe SVON signal can be used as a servomotor-on co

Signal Connections 27Figure 3-13: General-purpose Signal RDY3.11 Position Compare Output CMPThe HSL-4XMO provides 4 comparison output channels. Theco

28 Signal Connectionsclosed) contact switches can be used. The type of switch can beconfigured by software.Figure 3-15: Emergency Stop Input EMG3.13 G

Signal Connections 29NPN type general purpose Output (available in –N modules):Figure 3-17: NPN Type General Purpose OutputPNP type general purpose O

30 Signal Connections

Operation Theory 314 Operation Theory4.1 Communication Block DiagramFigure 4-1: Communication Block Diagram4.2 Host CommandInside the HSL system, tho

32 Operation Theory4.3 Command Delivering TimeHSL-4XMO supports both full duplex and half duplex mode. In fullduplex mode, one module occupies 4 HSL s

Operation Theory 33Figure 4-2: Single Command TimingThe base scan time table is as follows, N is the range of total IDs.Half Duplex Full Duplex Maxim

34 Operation Theory4.4 Command Dispatching in DSPCommand-dispatching task is executed by the DSP on the mod-ule. Once the DSP receives a new command,

Operation Theory 354.5 The role of DSP and motion ASICMotion control is executed by motion ASIC. DSP acts as a role toexecute the command dispatching

36 Operation Theorysents direction command of positive (+) or negative (-). This modeis most commonly used. The diagrams below show the outputwaveform

Operation Theory 37Figure 4-5: Dual Pulse Output Mode (CW/CCW Mode)X Relative Function: HSL_M_set_pls_outmode()Velocity Mode MotionThis mode is used

38 Operation Theorytions, tv_move or sv_move. The velocity profile is shown as fol-lows:Note: The v_change and stop functions can also be applied to

Operation Theory 39Figure 4-7: Trapezoidal MotionThere are 2 trapezoidal point-to-point functions supported by theHSL-4XMO. In the HSL_M_start_ta_mov

Table of Contents iTable of ContentsTable of Contents... iList of Tables...

40 Operation TheoryStrVel = MaxVel + decel *Tdec;Where accel/decel represents the acceleration/deceleration rate inunits of pps/sec^2. The area inside

Operation Theory 41Figure 4-8: Encoder DiagramIf this ratio is not set before issuing the start moving command, itwill cause problems when running in

42 Operation TheoryThere are several parameters that need to be set in order to makea S-curve move. They are:X Pos: target position in absolute mode,

Operation Theory 43velocity from (StrVel + VSacc) to (MaxVel - VSacc) constantly. Thedeceleration period is similar in fashion. Note: If user wants

44 Operation TheoryThe Following table shows the differences between all single axismotion functions, including preset mode (both trapezoidal and S-cu

Operation Theory 45Figure 4-11: 2 Axes Linear InterpolationThe speed ratio along X-axis and Y-axis is (ΔX: ΔY), respectively,and the vector speed is:

46 Operation TheoryHSL_M_start_ta_move_zu()HSL_M_start_sr_move_xy()HSL_M_start_sr_move_zu()HSL_M_start_sa_move_xy()HSL_M_start_sa_move_zu()The second

Operation Theory 47The speed ratio along X-axis, Y-axis, and Z-axis is (ΔX: ΔY: ΔZ),respectively, and the vector speed is: When calling 3-axis linea

48 Operation TheoryThe following functions are used for 4-axis linear interpolation:HSL_M_start_tr_line4()HSL_M_start_sr_line4()HSL_M_start_ta_line4()

Operation Theory 49To specify a circular interpolation path, the following parametersmust be clearly defined:X Center point: The coordinate of the ce

ii Table of Contents3.2 Encoder Feedback Signals EA, EB and EZ... 203.3 Origin Signal ORG ...

50 Operation Theoryand Axis1, and also Axis3 (Axis0=x, Axis1=y, Axis2=z, Axis3=u).For the full lists of functions. To check if the board supports thes

Operation Theory 51Figure 4-15: Velocity and Acceleration Time AHow do users decide an optimum value for “OverVelocity” in theHSL_M_fix_speed_range()

52 Operation TheoryHSL_M_verify_speed(0,5000,&minAccT,&maxAccT,140000); The value miniAccT will be 0.000948sec and maxAccT will be31.08sec. Th

Operation Theory 53change the (MaxV, MiniT) relationship to a higher value, (MaxV1,MiniT1). Finally, the command would be:HSL_M_fix_speed_range(AxisN

54 Operation Theorythe target position to “0” by calling the functionHSL_M_reset_target_pos(). The following figures show the various home modes and t

Operation Theory 55Figure 4-18: home_mode=1home_mode=3: ORG -> EZ -> Slow down -> Stop Figure 4-19: home_mode=3

56 Operation Theoryhome_mode=4: ORG -> Slow down -> Go back at FA speed ->EZ -> StopFigure 4-20: home_mode=4home_mode=5: ORG -> Slow do

Operation Theory 57Figure 4-21: home_mode=5home_mode=6: EL onlyFigure 4-22: home_mode=6home_mode=7: EL -> Go back -> Stop on EZ signalFigure 4-

58 Operation Theoryhome_mode=8: EL -> Go back -> Accelerate to MaxVel -> EZ -> Slow down -> StopFigure 4-24: home_mode=8home_mode=9: OR

Operation Theory 59home_mode=10: ORG -> EZ -> Slow down -> Go back -> Stopat beginning edge of EZFigure 4-26: home_mode=10home_mode=11: O

Table of Contents iiiCommand Position Counter ... 68Feedback Position Counter ...

60 Operation TheoryFigure 4-27: home_mode=11home_mode=12: EL -> Stop -> Go back (backward) -> Accel-erate to MaxVel -> EZ -> Slow down

Operation Theory 61Home Search Example (Home mode=1)Figure 4-29: Home Search Example

62 Operation TheoryMoving Steps1. Home searching start (-)2. –EL touches, slow down and reverse moving (+)3. ORG touches, slow down4. Escape from ORG

Operation Theory 634.7 The Motor Driver InterfaceThe HSL-4XMO provides the INP, ALM, ERC, SVON, and RDYsignals for a servomotor driver control interf

64 Operation TheoryThe in-position function can be enabled or disabled, and the inputlogic polarity is also programmable by the “inp_logic” parameter

Operation Theory 65designed to interact with the deviation counter clear signal of theservomotor driver.The deviation counter clear signal is inserte

66 Operation TheoryX Relative Functions:HSL_M_Set_Servo()HSL_M_get_io_status()4.8 The Limit Switch Interface and I/O Status In this section, the foll

Operation Theory 67The latch function is used to capture values on all 4 counters (referto section 4.4) at the instant the latch signal is activated.

68 Operation Theory“home_mode” argument in the functionHSL_M_set_home_config(). The logic polarity of the ORG signallevel or latched input mode is als

Operation Theory 69HSL_M_set_command() can be executed at any time to set a newcommand position value. To read current command position useHSL_M_get_

iv List of TablesList of TablesTable 2-1: CN1 Pin Assignments: External Power Input ... 10Table 2-2: CN2 Pin Assignments: Emergency Input an

70 Operation Theorymotor. The up/down counter counts up when the phase of EA sig-nal leads the phase of EB signal. The following diagram shows the wav

Operation Theory 71Position Error CounterThe position error counter is used to calculate the error betweenthe command position and the feedback posit

72 Operation TheoryThe table below summarizes all functions used for the differentcounter types Target Position RecorderThe target position recorder i

Operation Theory 731. After a home move completes2. After a new feedback position is set X Relative Function:HSL_M_reset_target_pos()4.10 Multiple HS

74 Operation Theory4.11 Change Position Or Speed On The Fly The HSL-4XMO provides the ability to change position or speedwhile an axis is moving. Chan

Operation Theory 75The first 4 functions can be used for changing speed during a sin-gle axis motion. Functions HSL_M_sd_stop() andHSL_M_emg_stop() a

76 Operation TheoryFigure 4-32: HSL_M_v_change() TheoryConstraints of HSL_M_v_change()In a single axis preset mode, there must be enough remainingpuls

Operation Theory 77.1. To set the maximum velocity, the functionHSL_M_fix_speed_range() must be used in order for thefunction HSL_M_v_change() to wor

78 Operation TheoryFigure 4-34: Velocity Suggestions BExample: There are 3 speed change sensors during an absolute move for200000 pulses. Initial maxi

Operation Theory 79if((Sensor1==High) && (Sensor2==Low) &&(Sensor3 == Low))HSL_M_v_change(axis, 25000, 0.02);else if((Sensor1==Low) &

List of Figures vList of FiguresFigure 2-1: HSL-4XMO-CG-N/P Mechanical Drawing ... 8Figure 2-2: HSL-4XMO-CD-N/P Mechanical Drawing ...

80 Operation TheoryChange Position on the FlyWhen operating in single-axis absolute pre-set motion, it is possi-ble to change the target position duri

Operation Theory 81Figure 4-38: Theory of HSL_M_p_change()HSL_M_p_change() Constraints:1. HSL_M_p_change() is only applicable on single-axisabsolute

82 Operation TheoryAt position “CurrentPos,” HSL_M_p_change(0, NewPos) isapplied. X Relative Function:HSL_M_p_change()4.12 Position CompareThe HSL-4XM

Operation Theory 83Note: Only comparator 5 has the ability to trigger an output pulse via the CMP. Comparators 1 and 2 are used for soft limits. Ref

84 Operation TheoryContinuously Comparison with Trigger OutputTo compare multiple data continuously, functions for building com-parison tables are pro

Operation Theory 85put of the HSL-4XMO. An image of the moving object is easilyobtained.X Working Spec: 34000 triggering points per stroke, trigger s

86 Operation TheoryHSL_M_set_trigger_type () 4.13 Backlash Compensator and Vibration Suppres-sionWhenever direction change has occurred, the HSL-4XMO

Operation Theory 874.14 Software Limit FunctionThe HSL-4XMO provides 2 software limits for each axis. The softlimit is extremely useful in protecting

88 Operation Theory4.16 Motion Script DownloadFor time-critical applications or specific motion sequences, userscan pre-define a motion squence with

Motion Creator in LinkMaster 895 Motion Creator in LinkMasterAfter installing the hardware (Chapters 2 and 3), it is necessary tocorrectly configure