ADLINK HSL-4XMO - Manual (Page 6)

ii Table of Contents
3.2 Encoder Feedback Signals EA, EB and EZ....................... 20
3.3 Origin Signal ORG ............................................................. 22
3.4 End-Limit Signals PEL and MEL........................................ 23
3.5 Ramping-down & Position Latch........................................ 23
3.6 In-position Signal INP ........................................................ 24
3.7 Alarm Signal ALM .............................................................. 25
3.8 Deviation Counter Clear Signal (ERC)............................... 25
3.9 General-purpose Signal SVON.......................................... 26
3.10 General-purpose Signal RDY ............................................ 26
3.11 Position Compare Output CMP.......................................... 27
3.12 Emergency Stop Input EMG .............................................. 27
3.13 General-purpose Input ....................................................... 28
3.14 General-purpose Output .................................................... 28
4 Operation Theory .............................................................. 31
4.1 Communication Block Diagram.......................................... 31
4.2 Host Command .................................................................. 31
4.3 Command Delivering Time ................................................ 32
4.4 Command Dispatching in DSP .......................................... 34
4.5 The role of DSP and motion ASIC ..................................... 35
4.6 Motion Control Modes........................................................ 35
Pulse Command Output ............................................... 35
Velocity Mode Motion ................................................... 37
Trapezoidal Motion ....................................................... 38
S-curve Profile Motion .................................................. 41
Linear interpolation for 2-4 axes ................................... 44
Circular interpolation for 2 axes .................................... 48
Circular Interpolation with Acc/dec Time ...................... 49
Relationship between Velocity and Acceleration Time . 50
Home Return Mode ...................................................... 53
4.7 The Motor Driver Interface ................................................. 63
INP ................................................................................ 63
ALM .............................................................................. 64
ERC .............................................................................. 64
SVON and RDY ............................................................ 65
4.8 The Limit Switch Interface and I/O Status......................... 66
SD/LTC ......................................................................... 66
EL ................................................................................. 67
ORG .............................................................................. 67
4.9 The Counters ..................................................................... 68