ADLINK HSL-4XMO - Manual (Page 92)

82 Operation Theory
At position “CurrentPos,” HSL_M_p_change(0, NewPos) is
applied.
X Relative Function:
HSL_M_p_change()
4.12 Position Compare
The HSL-4XMO provides position comparison functions for all
axes. The comparison function is used to output a trigger pulse
when the counter reaches a preset value set by the user.
CMP1~CMP4 are used as a comparison trigger.
Comparators of the HSL-4XMO
There are 5 comparators for each axis of the HSL-4XMO. Each
comparator has its unique functionality. Below is a table for com-
parison:
NewPos CurrentPos OK / Error Note
5000 4000 OK
5000 4501 Error
5000 5000 Error
5000 5499 Error
5000 6000 OK Go back
5000 9499 OK Go back
5000 9500 Error
5000 9999 Error
Table 4-7: HSL_M_p_change() Constraints
Compare Source Description Function Related
Comparator 1
Command posi-
tion counter
Soft Limit (+)
(Refer to section 4.9)
HSL_M_set_softlimit
HSL_M_enable_softlimit
HSL_M_diable_softlimit Comparator 2
Command posi-
tion counter
Soft Limit (-)
(Refer to section 4.9)
Comparator 3
Position error
counter
Step-losing detection HSL_M_error_counter_check
Table 4-8: HSL-4XMO Comparators