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.
In no event will the manufacturer be liable for direct, indirect, spe-
cial, incidental, or consequential damages arising out of the use or
inability to use the product or documentation, even if advised of
the possibility of such damages.
This document contains proprietary information protected by copy-
right. All rights are reserved. No part of this manual may be repro-
duced by any mechanical, electronic, or other means in any form
without prior written permission of the manufacturer.
Trademarks
Product names mentioned herein are used for identification pur-
poses only and may be trademarks and/or registered trademarks
of their respective companies.

Getting Service from ADLINK
Customer Satisfaction is top priority for ADLINK Technology Inc.
Please contact us should you require any service or assistance.
ADLINK TECHNOLOGY INC.
Web Site: http://www.adlinktech.com
Sales & Service: [email protected]
TEL: [phone]
FAX: [phone]
Address: 9F, No. 166, Jian Yi Road, Chungho City,
Taipei, 235 Taiwan
Please email or FAX this completed service form for prompt and
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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

Introduction 1
1 Introduction
The HSL-4XMO is a 4-axis motion controller module for HSL sys-
tem. It can generate high frequency pulses (6.55MHz) to drive
stepper or servomotors. As a motion controller, it can provide 2-
axis circular interpolation, 4-axis linear interpolation, or continuous
interpolation for continual velocity. Also, changing position/speed
on the fly is available with a single axis operation.
Multiple HSL-4XMO modules can be used in one HSL system.
Incremental encoder interface on all four axes provide the ability to
correct positioning errors generated by inaccurate mechanical
transmissions. With the aid of on board DSP, the HSL-4XMO can
also perform many real-time applications without compromising
CPU resources. In addition, a mechanical sensor interface, servo
motor interface, and general-purposed I/O signals are provided for
easy system integration.
The HSL-4XMO uses one ASIC (PCL6045) to perform all 4 axes
motion controls and one DSP to communicate with Host PC and
HSL protocol. The motion control functions include linear and S-
curve acceleration/deceleration, circular interpolation between two
axes, linear interpolation between 2~4 axes, continuous motion
positioning, and 13 home return modes. All these functions and
complex computations are performed internally by the ASIC, thus
limiting the impact on the PC’s CPU usage. The DSP can perform
as a motion path-loading manager without consuming Host PC’s
resource. It is more powerful than traditional ASIC-based motion
control card.

2Introduction
1.1 Features
XHigh Speed Link (HSL) protocol compatible
X3M/6M/12M data transfer rate selectable
XSupport dual and half duplex modes
XOn board DSP (TMS320C6711)
X4-axis stepper or servo motor control by pulse signal com-
mand
XMaximum pulse output frequency: 6.55 MPPS
XPulse output types: OUT/DIR (single pulse), CW/CCW (dual
pulse)
XSupport up to 63 axes in one HSL network
XMotion point table management
XMotion script download for precision timing motion control
XAny 2 of 4 axes circular interpolation in one module
XAny 2-4 of 4 axes linear interpolation in one module
XContinuous interpolation for contour following motion
X3 Command buffers for special speed profile motion
XChange position and speed on the fly
XChange speed by condition comparing
X13 home return modes with auto searching
X2 ways software end-limits of each axis
X28-bit up/down incremental encoder interface of each axis
XDedicated motion I/O : home (DOG), index signal (EZ), end
limit, servo on, INP, ERC, ALM, motion interface of each
axis
X4 general-purpose DI/DO channels
XOne Emergency input with hardware motion stop function
XHigh-speed position counter latch input for each axis
XContinuous position compare with trigger pulse output of
each axis
XAll digital input and output signals are 2500Vrms isolated
XIncludes Motion Creator, a Microsoft Windows-based appli-
cation development software built in LinkMaster Utility

Introduction 3
XUser-friendly function libraries and utilities for DOS and
Windows 9x/NT/2000/XP. Also supported under Linux
1.2 Specifications
Command Response Time
XHalf Duplex: 240us for one module under 6Mhz data trans-
fer rate
XFull Duplex: 240us for two modules under 6Mhz data trans-
fer rate
Motion Control
XMaximum controllable axes in one module: 4
XInternal reference clock: 19.66 MHz
XPosition counter range: –134,217,728 to +134,217,727 (28-
bit)
XCommand counter setting range: -134,217,728 to
+134,217,728 (28-bit)
XPulse rate setting range: 1~ 65,535 (16-bit)
XPulse rate multiplier setting range: 0.1~100
Pulse Output
XLine driver output
XMax. Speed: 6.55 Mhz
XOutput Voltage:
ZLogic H: 2.5V min.
ZLogic L: 0.5V max.
XIsolated voltage: 500 Vrms
Encoder Input
XIncremental Encoder Input
XMax. Speed: 5 Mhz
XInput Voltage:
ZLogic H: 3~5V
ZLogic L: 0~2.4V
XInput resistor: 220? @ 0.125W
XIsolated voltage: 500 Vrms

4Introduction
Digital Input
XSink or source type can be selected via ICOM
XSwitching capability: 10K Hz
XInput voltage range:
ZLogic H: 14.4~24V
ZLogic L: 0~5V
XInput resistor: 4.7K? @ 0.5W
XIsolated voltage: 500 Vrms
Digital Output
XOutput type: Open-collector (PC3H7C)
XSink Current: 4 mA max.
XSwitching capability: 10 KHz @ 24V, load = 4.7 K?
XIsolated voltage: 500 Vrms
General Purpose Output
XOutput type: NPN sinking type for –N module; PNP sourcing
type for –P module
XSink Current: 90 mA max.
XSwitching capability: 2 KHz @ 24V, load = 300 ?
XIsolated voltage: 500 Vrms
General Specifications
XOperating Temperature: 0 °C – 60 °C
XStorage Temperature: -20 °C – 80 °C
XHumidity: 0 % – 90 %, non-condensing
Power Consumption
X5 Watts max. @ 24 Vin
Dimensions
X163.5 mm (W) × 74.9 mm (D) × 52.7 mm (H)

Introduction 5
1.3 Supported Software
Programming Library
The Library supports Borland C/C++ (Version: 3.1) and Windows
95/98/NT/2000/XP. These function libraries are shipped with the
module. Users can check ADLINK website for latest update.
This module supports DOS/Windows 98/NT/2000/XP. For other
OS, please contact the local vendors.
Motion Creator on LinkMaster Utility
This Windows-based utility is used to setup cards, motors, and
systems. It can also aid in debugging hardware and software prob-
lems. It allows users to set I/O logic parameters to be loaded in
their own program. This product is also bundled with the card.

6Introduction

Installation 7
2 Installation
This chapter describes how to install the HSL-4XMO series.
Please follow these steps below:
XCheck what you have (section 2.1)
XCheck the PCB (section 2.2)
XInstall the hardware (section 2.3)
XInstall the software driver (section 2.4)
XUnderstanding the I/O signal connections (chapter 3) and
their operation (chapter 4)
XUnderstanding the connector pin assignments (the remain-
ing sections) and wiring the connections
2.1 Package Contents
In addition to this User’s Guide, the package also includes the fol-
lowing items:
XHSL-4XMO: advanced 4-Axis Servo / Stepper Motion Con-
trol Card
XADLINK All-in-one Compact Disc
If any of these items are missing or damaged, contact the dealer
from whom you purchased the product. Save the shipping materi-
als and carton to ship or store the product in the future.

8Installation
2.2 Pin Assignments and Jumper Settings
Figure 2-1: HSL-4XMO-CG-N/P Mechanical Drawing
XCN1: External Power Input Connector (+24V)
XCN2: Digital Input Common and Emergency Input Pin
XHS1-2: HSL Communication Signal Connector (RJ45)
XHS3: HSL Communication Signal Connector (WAGO)
XCM1-4: Servo Interface Signal Connector
XIOIF1-4: Mechanical I/O and GPIO Signal Connector
XS1: Slave ID Switch
XJP1: Communication Speed Selection Jumper
XJP2-3: Full Duplex / Half Duplex Selection Jumper

Installation 9
XJP4: HSL Termination Resistor Jumper
Note: ICOM should be connected to either EGND or E24V
.
CN1 Pin Name Description
EGND External power ground
E24V +24VDC ±5% External power supply
Table 2-1: CN1 Pin Assignments: External Power Input
CN2 Pin Name Description
ICOM Mechanical Input and General Input Common
EMG Emergency Stop Input
Table 2-2: CN2 Pin Assignments: Emergency Input and General Input
Common
PIN NO. PIN OUT
PIN 1 NC
PIN 2 NC
PIN 3 TXD?
PIN 4 RXD?
PIN 5 RXD?
PIN 6 TXD?
PIN 7 NC
PIN 8 NC
Table 2-3: HS1-HS2 Pin Assignments: HSL Communication Signal (RJ-45)
HS3 Pin Name Description
FG Shielding ground
T+ TXD+
T- TXD-
R+ RXD+
R- RXD-
Table 2-4: HS3 Pin Assignments: HSL Communication Signal (WAGO type)

10 Installation
No. Name Function No. Name Function
1 EA+ Encoder A-phase (+) 2 EA- Encoder A-phase (-)
3 EB+ Encoder B-phase (+) 4 EB- Encoder B-phase (-)
5 EZ+ Encoder Z-phase (+) 6 EZ- Encoder Z-phase (-)
7 PGND Ground of pulse I/O signals 8 PGND Ground of pulse I/O signals
9 OUT+ Pulse signal (+) 10 OUT- Pulse signal (-)
11 DIR+ Direction signal (+) 12 DIR- Direction signal (-)
13 EGND Ext. power ground 14 SVON Servo on output signal
15 INP In-position input signal 16 ERC Deviation counter clear output signal
17 EGND External power ground 18 E24V External power supply, +24V
19 RDY Ready input signal 20 ALM Alarm input signal
Table 2-5: CM1-CM4 Pin Assignments: Servo Interface
Pin No. Pin Name Description
1 E24V External power supply, +24V
2 MEL End limit input signal (-)
3 ORG Origin input signal
4 PEL End limit input signal (+)
5 LTC/SD Ramp-down/position latch input signal (default for LTC)
6 DI/EZ General purposed input/Index Input
7 DO General purposed output
8 CMP Position compare output
9 EGND External power ground
Table 2-6: IOIF1-4 Pin Assignments: Mechanical I/O and GPIO Signal
Connector