ADLINK HSL-4XMO - Manual (Page 97)

Operation Theory 87
4.14 Software Limit Function
The HSL-4XMO provides 2 software limits for each axis. The soft
limit is extremely useful in protecting a mechanical system as it
works like a physical limit switch when correctly set.
The soft limits are built on comparators 1 and 2 (Refer to section
4.7), and the comparing source is the command position counter.
A preset limit value is set in comparators 1 and 2, then, when the
command position counter reaches the set limit value, the HSL-
4XMO reacts by generating the stop immediately or decelerates to
stop pulse output.
X
To set the soft limit: HSL_M_set_softlimit();
X
To enable soft limit: HSL_M_enable_softlimit();
X
To disable soft limit: HSL_M_diable_softlimit();
Note: The soft limit is only applied to the command position and not
the feedback position (Refer to 4.4). In cases where the mov-
ing ratio is not equal to “1,” it is necessary to manually calcu-
late its corresponding command position where the soft limit
would be, when using HSL_M_set_softlimit().
X
Relative Functions:
HSL_M_set_softlimit()
HSL_M_enable_softlimit()
HSL_M_diable_softlimit()
4.15 Point Table Management
For rapid and multiple point-to-point motion application, it would
take much more time to do communucation between host PC and
HSL-4XMO module. Consequently, we design a series of func-
tions for users to build definite points inside the modules, named
“Point Table”. Therefore, users can assign a point number of the
table to save transmission time in order to get a better response.
Before using this feature, users must know and plan the points of
their applications, download the point table into the module and
call them at any time. It will send out the pulse train to let the motor
run to the assigned position in a shortest time with the predefined
speed profile and acceleration parameters.