Adlink HSL-4XMO Instrukcja Użytkownika Strona 6
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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
- HSL-4XMO 1
- Getting Service from ADLINK 3
- Table of Contents 5
- Table of Contents iii 7
- List of Tables 8
- List of Figures 9
- 1 Introduction 11
- 1.1 Features 12
- 1.2 Specifications 13
- Ω @ 0.5W 14
- °C – 60°C 14
- °C – 80°C 14
- 1.3 Supported Software 15
- 6Introduction 16
- 2 Installation 17
- ±5% External power supply 20
- Speed Selection 24
- Installation 15 25
- 16 Installation 26
- 3 Signal Connections 27
- 18 Signal Connections 28
- Signal Connections 19 29
- 20 Signal Connections 30
- Ω (None) 31
- 3.3 Origin Signal ORG 32
- Signal Connections 23 33
- 3.6 In-position Signal INP 34
- 3.7 Alarm Signal ALM 35
- 26 Signal Connections 36
- 3.12 Emergency Stop Input EMG 37
- 3.13 General-purpose Input 38
- 3.14 General-purpose Output 38
- Signal Connections 29 39
- 30 Signal Connections 40
- 4 Operation Theory 41
- 4.3 Command Delivering Time 42
- 34 Operation Theory 44
- Figure 4-3: DSP Multi-Tasks 44
- 4.6 Motion Control Modes 45
- 36 Operation Theory 46
- Velocity Mode Motion 47
- Trapezoidal Motion 48
- Operation Theory 39 49
- MaxVel = StrVel + accel*Tacc; 49
- 40 Operation Theory 50
- S-curve Profile Motion 51
- 42 Operation Theory 52
- X Relative Functions: 53
- ΔX: ΔY), respectively 55
- X t – Trapezoidal profile 56
- X s – S-Curve profile 56
- X r – Relative motion 56
- X a – Absolute motion 56
- ΔX: ΔY: ΔZ) 57
- ΔX */ , 2000.0/ 57
- 50 Operation Theory 60
- Home Return Mode 63
- 54 Operation Theory 64
- Figure 4-17: home_mode=0 64
- Operation Theory 55 65
- Figure 4-18: home_mode=1 65
- Figure 4-19: home_mode=3 65
- EZ -> Stop 66
- Operation Theory 57 67
- Figure 4-21: home_mode=5 67
- Figure 4-22: home_mode=6 67
- Figure 4-23: home_mode=7 67
- > Slow down -> Stop 68
- Operation Theory 59 69
- Figure 4-26: home_mode=10 69
- 60 Operation Theory 70
- Figure 4-27: home_mode=11 70
- Figure 4-28: home_mode=12 70
- Operation Theory 61 71
- 62 Operation Theory 72
- HSL_M_set_home_config() 72
- HSL_M_home_move() 72
- HSL_M_home_search() 72
- Operation Theory 63 73
- SVON and RDY 75
- ±EL: End-limit sensor 76
- 4.9 The Counters 78
- Feedback Position Counter 79
- Position Error Counter 81
- General Purpose Counter 81
- Target Position Recorder 82
- Operation Theory 73 83
- HSL_M_reset_target_pos() 83
- Change Speed on the Fly 84
- Operation Theory 75 85
- 76 Operation Theory 86
- Relative Functions: 89
- Change Position on the Fly 90
- Operation Theory 81 91
- 4.12 Position Compare 92
- Position Compare 93
- 86 Operation Theory 96
- HSL_M_set_trigger_type () 96
- HSL_M_backlash_comp() 96
- HSL_M_suppress_vibration() 96
- 4.14 Software Limit Function 97
- 4.15 Point Table Management 97
- 4.16 Motion Script Download 98
- Main Menu 101
- SD, and LTC 102
- Pulse IO Configuration Menu 103
- Operation Menu 105
- 6 Appendix 113
- 104 Appendix 114
- 0.5 + (Num – 4)/2 * 0.24 ms 114
- Warranty Policy 115
- 106 Warranty Policy 116
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