ADLINK Technology HSL-4XMO Manuel utilisateur

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

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.

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of their respective companies.

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Please contact us should you require any service or assistance.

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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

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