Adlink HSL-4XMO Manual do Utilizador descarregar pdf (Página 34)

24 Signal Connections

Figure 3-8: Ramping-down & Position Latch

3.6 In-position Signal INP

The in-position signal INP from a servo motor driver indicates its

deviation error. If there is no deviation error then the servo’s posi-

tion indicates zero. The input circuit of the INP signals is shown in

the diagram below:

Figure 3-9: In-position Signal INP

The in-position signal is usually generated by the servomotor

driver and is ordinarily an open collector output signal. An external

circuit must provide at least 6mA current sink capabilities to drive

the INP signal. For more details of INP signal operations, refer to

section 4.7.

1 2 ... 29 30 31 32 33 34 35 36 37 38 39 ... 115 116

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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