ADLINK HSL-4XMO - Manual (Page 9)

List of Figures v
List of Figures
Figure 2-1: HSL-4XMO-CG-N/P Mechanical Drawing ................. 8
Figure 2-2: HSL-4XMO-CD-N/P Mechanical Drawing ................. 9
Figure 2-3: S1: Switch Setting for HSL Slave ID........................ 14
Figure 2-4: JP1: HSL Communication Speed Selection Jumper Set-
ting........................................................................... 14
Figure 2-5: JP2 - 3: Jumper Setting for HSL Transmission Mode 15
Figure 2-6: JP4: HSL Termination Resistor Jumper Setting ...... 15
Figure 2-7: JP5-8, JP10-13: Enable/Disable DO to reset servo driver
16
Figure 2-8: JP9: NPN/PNP setting of EMG signal ..................... 16
Figure 3-1: OUT and DIR Signals on the 4 Axes ....................... 18
Figure 3-2: Non-differential Type Wiring Example ..................... 19
Figure 3-3: EA, EB, and EZ signals ........................................... 20
Figure 3-4: Connection to Line Driver Output ............................ 21
Figure 3-5: Connection to Open Collector Output...................... 22
Figure 3-6: Origin Signal ORG................................................... 22
Figure 3-7: End-Limit Signals PEL and MEL ............................. 23
Figure 3-8: Ramping-down & Position Latch ............................. 24
Figure 3-9: In-position Signal INP .............................................. 24
Figure 3-10: Alarm Signal ALM.................................................... 25
Figure 3-11: Deviation Counter Clear Signal (ERC) .................... 26
Figure 3-12: General-purpose Signal SVON ............................... 26
Figure 3-13: General-purpose Signal RDY .................................. 27
Figure 3-14: Position Compare Output CMP ............................... 27
Figure 3-15: Emergency Stop Input EMG.................................... 28
Figure 3-16: General-purpose Input............................................. 28
Figure 3-17: NPN Type General Purpose Output ........................ 29
Figure 3-18: PNP Type General Purpose Output ........................ 29
Figure 4-1: Communication Block Diagram ............................... 31
Figure 4-2: Single Command Timing ......................................... 33
Figure 4-3: DSP Multi-Tasks...................................................... 34
Figure 4-4: Single Pulse Output Mode (OUT/DIR Mode)........... 36
Figure 4-5: Dual Pulse Output Mode (CW/CCW Mode) ............ 37
Figure 4-6: Velocity Mode Motion .............................................. 38
Figure 4-7: Trapezoidal Motion .................................................. 39
Figure 4-8: Encoder Diagram..................................................... 41
Figure 4-9: S-curve Profile Motion ............................................. 42
Figure 4-10: Automatic Velocity Decrease................................... 43