ADLINK Technology HSL-4XMO User manual

Advance Technologies; Automate the World.
Manual Rev. 2.00
Revision Date: November 19, 2004
Part No: 50-1I001-200
HSL-4XMO
High Speed Link
4-Axis Motion Control Module
User’s Manual

Copyright 2004 ADLINK TECHNOLOGY INC.
All Rights Reserved.
The information in this document is subject to change without prior
notice in order to improve reliability, design, and function and does
not represent a commitment on the part of the manufacturer.
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Table of Contents i
Table of Contents
Table of Contents..................................................................... i
List of Tables........................................................................... v
List of Figures ....................................................................... vii
1 Introduction ........................................................................ 1
1.1 Features............................................................................... 2
1.2 Specifications....................................................................... 3
1.3 Supported Software ............................................................. 5
Programming Library ...................................................... 5
Motion Creator on LinkMaster Utility ............................... 5
2 Installation .......................................................................... 7
2.1 Package Contents ............................................................... 7
2.2 Pin Assignments and Jumper Settings ................................ 8
3 Signal Connections.......................................................... 13
3.1 Pulse Output Signals OUT and DIR .................................. 14
3.2 Encoder Feedback Signals EA, EB and EZ....................... 16
3.3 Origin Signal ORG ............................................................. 18
3.4 End-Limit Signals PEL and MEL........................................ 19
3.5 Ramping-down & Position Latch........................................ 19
3.6 In-position Signal INP ........................................................ 20
3.7 Alarm Signal ALM .............................................................. 21
3.8 Deviation Counter Clear Signal (ERC) .............................. 21
3.9 General-purpose Signal SVON.......................................... 22
3.10 General-purpose Signal RDY ............................................ 22
3.11 Position Compare Output CMP ......................................... 23
3.12 Emergency Stop Input EMG .............................................. 23
3.13 General-purpose Input....................................................... 24
3.14 General-purpose Output .................................................... 24
4 Operation Theory ............................................................. 27
4.1 Communication Block Diagram ......................................... 27
4.2 Host Command.................................................................. 27
4.3 Command Delivering Time ................................................ 28
4.4 Command Dispatching in DSP .......................................... 30

ii Table of Contents
4.5 The role of DSP and motion ASIC ..................................... 31
4.6 Motion Control Modes........................................................ 31
Pulse Command Output ............................................... 31
Velocity Mode Motion ................................................... 33
Trapezoidal Motion ....................................................... 34
S-curve Profile Motion .................................................. 37
Linear interpolation for 2-4 axes ................................... 40
Circular interpolation for 2 axes .................................... 44
Circular Interpolation with Acc/dec Time ...................... 45
Relationship between Velocity and Acceleration Time . 46
Home Return Mode ...................................................... 49
4.7 The Motor Driver Interface................................................. 59
INP ................................................................................ 59
ALM .............................................................................. 60
ERC .............................................................................. 60
SVON and RDY ............................................................ 61
4.8 The Limit Switch Interface and I/O Status......................... 62
SD/LTC ......................................................................... 62
EL ................................................................................. 63
ORG .............................................................................. 63
4.9 The Counters ..................................................................... 64
Command Position Counter .......................................... 64
Feedback Position Counter .......................................... 65
Position Error Counter .................................................. 67
General Purpose Counter ............................................. 67
Target Position Recorder .............................................. 68
4.10 Multiple HSL-4XMO Operations......................................... 69
4.11 Change Position Or Speed On The Fly ............................. 70
Change Speed on the Fly ............................................. 70
Change Position on the Fly ........................................... 76
4.12 Position Compare .............................................................. 78
Comparators of the HSL-4XMO .................................... 78
Position Compare ......................................................... 79
4.13 Backlash Compensator and Vibration Suppression........... 82
4.14 Software Limit Function ..................................................... 83
4.15 Point Table Management................................................... 83
4.16 Motion Script Download.................................................... 84
5 Motion Creator in LinkMaster .......................................... 85
5.1 Execute Motion Creator in LinkMaster............................... 85

Table of Contents iii
5.2 About Motion Creator in LinkMaster .................................. 85
5.3 Motion Creator Form Introducing....................................... 87
Main Menu .................................................................... 87
Interface I/O Configuration Menu .................................. 88
Pulse IO Configuration Menu ........................................ 89
Operation Menu ............................................................ 91
6 Appendix........................................................................... 99
6.1 HSL-4XMO Commmand Executuion Time ........................ 99
Warranty Policy................................................................... 101

vListofTables
List of Tables
Table 2-1: CN1 Pin Assignments: External Power Input ........... 9
Table 2-2: CN2 Pin Assignments: Emergency Input and General In-
put Common ............................................................. 9
Table 2-3: HS1-HS2 Pin Assignments: HSL Communication Signal
(RJ-45) ...................................................................... 9
Table 2-4: HS3 Pin Assignments: HSL Communication Signal (WA-
GO type) ................................................................... 9
Table 2-5: CM1-CM4 Pin Assignments: Servo Interface ......... 10
Table 2-6: IOIF1-4 Pin Assignments: Mechanical I/O and GPIO Sig-
nal Connector ......................................................... 10
Table 3-1: Encoder Power / External Resistor ......................... 17
Table 4-1: Base Scan Times ................................................... 29
Table 4-2: Pulse Command Output ......................................... 31
Table 4-3: Single Axis Motion Functions ................................. 40
Table 4-4: Counter Summary .................................................. 68
Table 4-5: Multiple HSL-4XMO Operations ............................. 69
Table 4-6: HSL_M_v_change() Example ................................. 73
Table 4-7: HSL_M_p_change() Constraints ............................ 78
Table 4-8: HSL-4XMO Comparators ....................................... 78
Table 6-1: Commmand Executuion Classifications ................. 99
Table 6-2: HSL-4XMO Commmand Executuion Times ........... 99

List of Figures vii
List of Figures
Figure 2-1: HSL-4XMO-CG-N/P Mechanical Drawing ................. 8
Figure 2-2: S1: Switch Setting for HSL Slave ID........................ 11
Figure 2-3: JP1: HSL Communication Speed Selection Jumper Set-
ting........................................................................... 11
Figure 2-4: P2-3: HSL Full Duplex/Half Duplex Jumper Setting 12
Figure 2-5: JP4: HSL Termination Resistor Jumper Setting ...... 12
Figure 3-1: OUT and DIR Signals on the 4 Axes ....................... 14
Figure 3-2: Non-differential Type Wiring Example ..................... 15
Figure 3-3: EA, EB, and EZ signals ........................................... 16
Figure 3-4: Connection to Line Driver Output ............................ 17
Figure 3-5: Connection to Open Collector Output...................... 18
Figure 3-6: Origin Signal ORG................................................... 18
Figure 3-7: End-Limit Signals PEL and MEL ............................. 19
Figure 3-8: Ramping-down & Position Latch ............................. 20
Figure 3-9: In-position Signal INP .............................................. 20
Figure 3-10: Alarm Signal ALM.................................................... 21
Figure 3-11: Deviation Counter Clear Signal (ERC) .................... 22
Figure 3-12: General-purpose Signal SVON ............................... 22
Figure 3-13: General-purpose Signal RDY .................................. 23
Figure 3-14: Position Compare Output CMP ............................... 23
Figure 3-15: Emergency Stop Input EMG.................................... 24
Figure 3-16: General-purpose Input............................................. 24
Figure 3-17: NPN Type General Purpose Output ........................ 25
Figure 3-18: PNP Type General Purpose Output ........................ 25
Figure 4-1: Communication Block Diagram ............................... 27
Figure 4-2: Single Command Timing ......................................... 29
Figure 4-3: DSP Multi-Tasks...................................................... 30
Figure 4-4: Single Pulse Output Mode (OUT/DIR Mode)........... 32
Figure 4-5: Dual Pulse Output Mode (CW/CCW Mode) ............ 33
Figure 4-6: Velocity Mode Motion .............................................. 34
Figure 4-7: Trapezoidal Motion .................................................. 35
Figure 4-8: Encoder Diagram..................................................... 37
Figure 4-9: S-curve Profile Motion ............................................. 38
Figure 4-10: Automatic Velocity Decrease................................... 39
Figure 4-11: 2 Axes Linear Interpolation...................................... 41
Figure 4-12: 3-Axis Linear Interpolation....................................... 42
Figure 4-13: Circular interpolation for 2 axes............................... 44
Figure 4-14: Circular Interpolation with Acc/dec Time ................. 46

viii List of Figures
Figure 4-15: Velocity and Acceleration Time A ............................ 47
Figure 4-16: Velocity and Acceleration Time B ............................ 48
Figure 4-17: home_mode=0......................................................... 50
Figure 4-18: home_mode=1......................................................... 51
Figure 4-19: home_mode=3......................................................... 51
Figure 4-20: home_mode=4......................................................... 52
Figure 4-21: home_mode=5......................................................... 53
Figure 4-22: home_mode=6......................................................... 53
Figure 4-23: home_mode=7......................................................... 53
Figure 4-24: home_mode=8......................................................... 54
Figure 4-25: home_mode=9......................................................... 54
Figure 4-26: home_mode=10....................................................... 55
Figure 4-27: home_mode=11....................................................... 56
Figure 4-28: home_mode=12....................................................... 56
Figure 4-29: Home Search Example............................................ 57
Figure 4-30: 90° Phase Difference Signals.................................. 66
Figure 4-31: Change Speed on the Fly ........................................ 70
Figure 4-32: HSL_M_v_change() Theory..................................... 72
Figure 4-33: Velocity Suggestions A ............................................ 73
Figure 4-34: Velocity Suggestions B ............................................ 74
Figure 4-35: Velocity Example ..................................................... 74
Figure 4-36: Velocity Profile Example .......................................... 75
Figure 4-37: Change Position on the Fly...................................... 76
Figure 4-38: Theory of HSL_M_p_change() ................................ 77
Figure 4-39: Continuously Comparison with Trigger Output........ 80
Figure 4-40: Vibration Suppression.............................................. 82
Figure 5-1: HSL Master Utility .................................................... 86
Figure 5-2: Main Menu............................................................... 87
Figure 5-3: Interface I/O Configuration Menu............................. 88
Figure 5-4: Pulse IO Configuration Menu................................... 90
Figure 5-5: Operation Menu ....................................................... 92
Figure 5-6: Show Velocity Curve................................................ 93
Figure 5-7: Home Mode Configuration....................................... 94