ADLINK HSL-4XMO - Manual (Page 73)

Operation Theory 63
4.7 The Motor Driver Interface
The HSL-4XMO provides the INP, ALM, ERC, SVON, and RDY
signals for a servomotor driver control interface. The INP and ALM
are used for feedback of the servo driver status, ERC is used to
reset the servo driver’s deviation counter under special conditions,
VON is a general purpose output signal, and RDY is a general
purpose input signal. The meaning of “general purpose” is that the
processing of the signal is not a build-in procedure of the hard-
ware. The hardware processes INP, ALM, and ERC signals
according to pre-defined rules. For example, when receiving ALM
signal, the HSL-4XMO stops or decelerate to stop output pulses
automatically. However, SVON and RDY are not the case, they
actually act like common I/O’s.
INP
The processing of the INP signal is a hardware build-in procedure,
and it is designed to cooperate with the in-position signal of the
servomotor driver.
Usually, servomotor drivers with a pulse train input has a deviation
(position error) counter to detect the deviations between the input
pulse command and feedback counter. The driver controls the
motion of the servomotor to minimize the deviation until it
becomes 0. Theoretically, the servomotor operates with some time
delay from the command pulses. Likewise, when the pulse gener-
ator stops outputting pulses, the servomotor does not stop imme-
diately but keeps running until the deviation counter is zero. Only
after stopping does the servo driver send out the in-position signal
(INP) to the pulse generator to indicate the motor has stopped run-
ning.
Normally the HSL-4XMO stops outputting pulses upon completion
of outputting designated pulses. However, by setting parameter
inp_enable with the HSL_M_set_inp() function, the delay in com-
pletion of the motion to the time the INP signal is issued can be
adjusted, i.e., the motor arrives at the target position. Status of
HSL_M_motion_done() and INT signal are also delayed. That is,
when performing under position control mode, the completion of
HSL_M_start_ta_move(), HSL_M_start_sr_move(), etc, is delayed
until the INP signal is issued.