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- HSL Communication Protocol:
Fully compatible with ADLINK’s High‑Speed Link (HSL) distributed I/O and motion control network.
- Selectable Transmission Speeds:
3, 6, or 12 Mbps data rates; supports both half‑duplex and full‑duplex communication modes.
- On‑board DSP (TMS320C6711):
Handles command dispatching, motion sequencing, and data management independently of the host CPU.
- 4‑Axis Pulse Train Output:
Supports up to 6.55 MHz pulse frequency for stepper or servo motor control.
- Scalable Network Architecture:
Up to 15 modules (60 axes) can be connected on a single HSL network.
- Advanced Motion Control:
- 2–4 axis linear interpolation
- 2‑axis circular interpolation
- Continuous contouring for smooth velocity transitions
- On‑the‑fly position and speed modification
- 13 selectable home return modes
- Hardware position compare and trigger output
- Automatic backlash compensation
- Trapezoidal and S‑curve velocity profiles
- High‑Speed Position Feedback:
28‑bit up/down incremental encoder interface per axis (±134,217,728 counts).
- Dedicated Motion I/O:
EL, ORG, INP, RDY, SVON, ERC, ALM signals per axis.
- Electrical Isolation:
All digital I/O channels are optically isolated to 2500 Vrms.
- Point Table Management:
Up to 2000 motion points stored locally for CPU‑independent execution.
- Motion Script Download:
Supports G‑code‑like scripting for autonomous, time‑critical motion sequences.
- Software Support:
Includes Motion Creator utility within ADLINK LinkMaster; libraries for DOS, Windows 9x/NT/2000/XP, and Linux.
Fully compatible with ADLINK’s High‑Speed Link (HSL) distributed I/O and motion control network.
- Selectable Transmission Speeds:
3, 6, or 12 Mbps data rates; supports both half‑duplex and full‑duplex communication modes.
- On‑board DSP (TMS320C6711):
Handles command dispatching, motion sequencing, and data management independently of the host CPU.
- 4‑Axis Pulse Train Output:
Supports up to 6.55 MHz pulse frequency for stepper or servo motor control.
- Scalable Network Architecture:
Up to 15 modules (60 axes) can be connected on a single HSL network.
- Advanced Motion Control:
- 2–4 axis linear interpolation
- 2‑axis circular interpolation
- Continuous contouring for smooth velocity transitions
- On‑the‑fly position and speed modification
- 13 selectable home return modes
- Hardware position compare and trigger output
- Automatic backlash compensation
- Trapezoidal and S‑curve velocity profiles
- High‑Speed Position Feedback:
28‑bit up/down incremental encoder interface per axis (±134,217,728 counts).
- Dedicated Motion I/O:
EL, ORG, INP, RDY, SVON, ERC, ALM signals per axis.
- Electrical Isolation:
All digital I/O channels are optically isolated to 2500 Vrms.
- Point Table Management:
Up to 2000 motion points stored locally for CPU‑independent execution.
- Motion Script Download:
Supports G‑code‑like scripting for autonomous, time‑critical motion sequences.
- Software Support:
Includes Motion Creator utility within ADLINK LinkMaster; libraries for DOS, Windows 9x/NT/2000/XP, and Linux.
Comprehensive Product Summary: ADLINK HSL‑4XMO‑CD‑P Remote 4‑Axis Stepper & Servo Motor Module
### 1. Product Overview
Product Name: HSL‑4XMO‑CD‑P
Model: HSL‑4XMO‑CD‑P
Series: HSL‑4XMO (High‑Speed Link 4‑Axis Motion Control Module)
Article Number: HSL‑4XMO‑CD‑P
Manufacturer: ADLINK Technology Inc.
Part Number: 50‑1I001‑200
Revision: Manual Rev. 2.02 (December 21, 2006)
The ADLINK HSL‑4XMO‑CD‑P is a distributed, high‑performance 4‑axis motion control module designed for remote control of stepper and servo motors via the High‑Speed Link (HSL) communication bus. It integrates a digital signal processor (DSP) and motion ASIC to deliver precise, real‑time motion control for industrial automation, robotics, and machine tool applications. The “CD” variant provides a D‑sub interface for servo motor connectivity, while the “CG” variant offers a general‑purpose connector for stepper or linear motor drivers.
### 2. Key Features
- HSL Communication Protocol:
Fully compatible with ADLINK’s High‑Speed Link (HSL) distributed I/O and motion control network.
- Selectable Transmission Speeds:
3, 6, or 12 Mbps data rates; supports both half‑duplex and full‑duplex communication modes.
- On‑board DSP (TMS320C6711):
Handles command dispatching, motion sequencing, and data management independently of the host CPU.
- 4‑Axis Pulse Train Output:
Supports up to 6.55 MHz pulse frequency for stepper or servo motor control.
- Scalable Network Architecture:
Up to 15 modules (60 axes) can be connected on a single HSL network.
- Advanced Motion Control:
- 2–4 axis linear interpolation
- 2‑axis circular interpolation
- Continuous contouring for smooth velocity transitions
- On‑the‑fly position and speed modification
- 13 selectable home return modes
- Hardware position compare and trigger output
- Automatic backlash compensation
- Trapezoidal and S‑curve velocity profiles
- High‑Speed Position Feedback:
28‑bit up/down incremental encoder interface per axis (±134,217,728 counts).
- Dedicated Motion I/O:
EL, ORG, INP, RDY, SVON, ERC, ALM signals per axis.
- Electrical Isolation:
All digital I/O channels are optically isolated to 2500 Vrms.
- Point Table Management:
Up to 2000 motion points stored locally for CPU‑independent execution.
- Motion Script Download:
Supports G‑code‑like scripting for autonomous, time‑critical motion sequences.
- Software Support:
Includes Motion Creator utility within ADLINK LinkMaster; libraries for DOS, Windows 9x/NT/2000/XP, and Linux.
### 3. Technical Specifications
Axes Control: 4 independent axes per module
Maximum Network Axes: 60 (15 modules)
Slave ID Consumption: 4 IDs per module
Pulse Output:
- Frequency: up to 6.55 MHz
- Modes: OUT/DIR (single pulse), CW/CCW (dual pulse), AB phase
- Output Type: differential line driver
- Logic High: ≥ 2.5 V; Logic Low: ≤ 0.5 V
- Isolation: 500 Vrms
Encoder Input:
- Incremental encoder, 28‑bit counter
- Max input frequency: 5 MHz
- Logic High: 3–5 V; Logic Low: 0–2.4 V
- Input resistance: 220 Ω @ 0.125 W
- Isolation: 500 Vrms
Digital Inputs:
- Type: NPN/PNP selectable
- Voltage: ON = 6.5–24 V; OFF = 0–3 V
- Switching: 10 kHz
- Isolation: 500 Vrms
Digital Outputs:
- Type: open‑collector (NPN sinking or PNP sourcing)
- Current: ± 90 mA max
- Switching: 2 kHz @ 24 V, 300 Ω load
- Isolation: 500 Vrms
Power Requirements:
- Supply: 22–26 V DC (nominal 24 V)
- Consumption: 5–8 W
Environmental:
- Operating Temperature: 0 °C – 60 °C
- Storage Temperature: –20 °C – 80 °C
- Humidity: 0–90 % RH, non‑condensing
Physical Dimensions:
- Width × Depth × Height: 163.5 mm × 74.9 mm × 52.7 mm
- Weight: approx. 0.5 kg
Certifications:
- CE compliant
- 2500 Vrms isolation on all I/O channels
### 4. Functionality
The HSL‑4XMO‑CD‑P functions as a distributed motion controller within ADLINK’s HSL network. It generates high‑frequency pulse trains to drive stepper or servo amplifiers. Each axis supports independent or coordinated motion, with interpolation and contouring capabilities for multi‑axis synchronization.
Use Cases & Applications:
- CNC machinery and precision positioning systems
- Pick‑and‑place robotics
- Automated inspection and packaging lines
- Semiconductor wafer handling
- Linear and rotary motion platforms
Compatibility:
- Works with stepper, AC/DC servo, and linear motors via pulse‑train amplifiers.
- Compatible with ADLINK HSL master controllers and LinkMaster software suite.
- Supports integration with external encoders, limit switches, and emergency stop circuits.
### 5. Components & Accessories
Included Items:
- HSL‑4XMO‑CD‑P module
- ADLINK all‑in‑one software CD (drivers, libraries, Motion Creator utility)
- User’s Manual
Connectors:
- CN1: External power input (+24 V DC, EGND)
- CN2: Emergency stop input and input common (EMG, ICOM)
- HS1/HS2: HSL communication (RJ‑45)
- HS3: HSL communication (WAGO type)
- CM1–CM4: Servo interface connectors (D‑sub)
- IOIF1–IOIF4: Mechanical I/O and GPIO connectors
Optional Accessories:
- HSL communication cables (RJ‑45 or WAGO)
- Servo interface cables (D‑sub to amplifier)
- Mounting brackets and DIN‑rail adapters
### 6. Installation & Setup
Requirements:
- 24 V DC power supply (± 5 %)
- HSL master controller and compatible host PC
- Proper grounding and shielding for noise immunity
Mounting Options:
- Panel or DIN‑rail mounting
- RJ‑45 or WAGO connectors for HSL bus daisy‑chain
Configuration Steps:
1. Assign Slave ID using rotary switch S1 (occupies 4 IDs).
2. Set communication speed via jumper JP1 (3/6/12 Mbps).
3. Select duplex mode using JP2–JP3.
4. Enable termination resistor with JP4 if end‑of‑line.
5. Configure NPN/PNP logic for EMG and DO signals (JP9–JP13).
6. Connect motor drivers, encoders, and I/O per pin assignments.
7. Install software drivers and LinkMaster utility.
8. Verify communication and motion via Motion Creator GUI.
### 7. Performance & Capabilities
Motion Control Performance:
- Pulse Frequency: up to 6.55 MHz
- Encoder Feedback: 5 MHz max
- Position Range: ± 134,217,728 pulses (28‑bit)
- Interpolation: 2–4 axis linear, 2‑axis circular, multi‑axis continuous contouring
- Acceleration Profiles: Trapezoidal and S‑curve
- Home Return: 13 modes with auto‑search
- Backlash Compensation: hardware‑based
- Position Compare: hardware trigger output (CMP)
- Point Table: up to 2000 entries for autonomous motion
- Command Response Time: ≈ 240 µs @ 6 Mbps
Efficiency & Throughput:
- Minimal CPU load due to on‑board DSP processing
- Real‑time command dispatching within one HSL scan cycle
- Continuous interpolation ensures velocity continuity between segments
Limitations:
- Maximum of 60 axes per HSL network
- Circular interpolation with acceleration/deceleration requires Axis 3 as auxiliary
- Position/speed change on‑the‑fly limited by remaining motion distance
### 8. Standards & Compliance
- Electrical Safety: 2500 Vrms isolation on all digital I/O
- EMC Compliance: CE certified
- Environmental: RoHS‑compliant materials (per ADLINK manufacturing standards)
- Communication Protocol: ADLINK HSL (High‑Speed Link)
- Software Interface: C/C++ libraries, Windows DLLs, and LinkMaster API
- Supported OS: DOS, Windows 95/98/NT/2000/XP, Linux
### 9. Additional Information
Software Tools:
- Motion Creator (LinkMaster Utility):
Windows‑based configuration and diagnostic tool for axis setup, I/O mapping, and motion testing.
Features include velocity curve visualization, home mode configuration, and on‑the‑fly motion control.
- Programming Library:
Function libraries for Borland C/C++ and Windows environments; includes APIs for motion commands, I/O control, and diagnostics.
Maintenance & Support:
- Firmware and driver updates available via [www.adlinktech.com](http://www.adlinktech.com)
- Technical support: service@adlinktech.com
- Telephone: +886‑2‑82265877 Fax: +886‑2‑82265717
- Address: 9F, No. 166, Jian Yi Road, Chungho City, Taipei 235, Taiwan
Warranty:
- Standard 2‑year limited warranty (1 year in China)
- Covers manufacturing defects; excludes misuse, environmental damage, or unauthorized repair
- RMA service available via [http://rma.adlinktech.com/policy](http://rma.adlinktech.com/policy)
Maintenance Recommendations:
- Ensure proper grounding and shielding of signal cables.
- Periodically inspect connectors and wiring for wear or oxidation.
- Keep module within specified temperature and humidity limits.
- Update firmware and software libraries as released by ADLINK.
Service Policy Highlights:
- Customer responsible for inbound shipping; ADLINK covers return shipping for in‑warranty repairs.
- Data backup recommended before servicing; ADLINK not liable for data loss.
- Use only licensed software with ADLINK systems.
### Summary
The ADLINK HSL‑4XMO‑CD‑P is a robust, high‑precision 4‑axis motion control module engineered for distributed automation systems. By leveraging the HSL bus architecture, it minimizes wiring complexity while enabling scalable, synchronized multi‑axis control. Its integrated DSP and motion ASIC deliver deterministic real‑time performance, supporting advanced motion profiles, interpolation, and autonomous execution through point tables and motion scripts. With comprehensive I/O isolation, flexible configuration, and extensive software support, the HSL‑4XMO‑CD‑P is ideally suited for industrial motion applications demanding reliability, precision, and modular scalability.
### 1. Product Overview
Product Name: HSL‑4XMO‑CD‑P
Model: HSL‑4XMO‑CD‑P
Series: HSL‑4XMO (High‑Speed Link 4‑Axis Motion Control Module)
Article Number: HSL‑4XMO‑CD‑P
Manufacturer: ADLINK Technology Inc.
Part Number: 50‑1I001‑200
Revision: Manual Rev. 2.02 (December 21, 2006)
The ADLINK HSL‑4XMO‑CD‑P is a distributed, high‑performance 4‑axis motion control module designed for remote control of stepper and servo motors via the High‑Speed Link (HSL) communication bus. It integrates a digital signal processor (DSP) and motion ASIC to deliver precise, real‑time motion control for industrial automation, robotics, and machine tool applications. The “CD” variant provides a D‑sub interface for servo motor connectivity, while the “CG” variant offers a general‑purpose connector for stepper or linear motor drivers.
### 2. Key Features
- HSL Communication Protocol:
Fully compatible with ADLINK’s High‑Speed Link (HSL) distributed I/O and motion control network.
- Selectable Transmission Speeds:
3, 6, or 12 Mbps data rates; supports both half‑duplex and full‑duplex communication modes.
- On‑board DSP (TMS320C6711):
Handles command dispatching, motion sequencing, and data management independently of the host CPU.
- 4‑Axis Pulse Train Output:
Supports up to 6.55 MHz pulse frequency for stepper or servo motor control.
- Scalable Network Architecture:
Up to 15 modules (60 axes) can be connected on a single HSL network.
- Advanced Motion Control:
- 2–4 axis linear interpolation
- 2‑axis circular interpolation
- Continuous contouring for smooth velocity transitions
- On‑the‑fly position and speed modification
- 13 selectable home return modes
- Hardware position compare and trigger output
- Automatic backlash compensation
- Trapezoidal and S‑curve velocity profiles
- High‑Speed Position Feedback:
28‑bit up/down incremental encoder interface per axis (±134,217,728 counts).
- Dedicated Motion I/O:
EL, ORG, INP, RDY, SVON, ERC, ALM signals per axis.
- Electrical Isolation:
All digital I/O channels are optically isolated to 2500 Vrms.
- Point Table Management:
Up to 2000 motion points stored locally for CPU‑independent execution.
- Motion Script Download:
Supports G‑code‑like scripting for autonomous, time‑critical motion sequences.
- Software Support:
Includes Motion Creator utility within ADLINK LinkMaster; libraries for DOS, Windows 9x/NT/2000/XP, and Linux.
### 3. Technical Specifications
Axes Control: 4 independent axes per module
Maximum Network Axes: 60 (15 modules)
Slave ID Consumption: 4 IDs per module
Pulse Output:
- Frequency: up to 6.55 MHz
- Modes: OUT/DIR (single pulse), CW/CCW (dual pulse), AB phase
- Output Type: differential line driver
- Logic High: ≥ 2.5 V; Logic Low: ≤ 0.5 V
- Isolation: 500 Vrms
Encoder Input:
- Incremental encoder, 28‑bit counter
- Max input frequency: 5 MHz
- Logic High: 3–5 V; Logic Low: 0–2.4 V
- Input resistance: 220 Ω @ 0.125 W
- Isolation: 500 Vrms
Digital Inputs:
- Type: NPN/PNP selectable
- Voltage: ON = 6.5–24 V; OFF = 0–3 V
- Switching: 10 kHz
- Isolation: 500 Vrms
Digital Outputs:
- Type: open‑collector (NPN sinking or PNP sourcing)
- Current: ± 90 mA max
- Switching: 2 kHz @ 24 V, 300 Ω load
- Isolation: 500 Vrms
Power Requirements:
- Supply: 22–26 V DC (nominal 24 V)
- Consumption: 5–8 W
Environmental:
- Operating Temperature: 0 °C – 60 °C
- Storage Temperature: –20 °C – 80 °C
- Humidity: 0–90 % RH, non‑condensing
Physical Dimensions:
- Width × Depth × Height: 163.5 mm × 74.9 mm × 52.7 mm
- Weight: approx. 0.5 kg
Certifications:
- CE compliant
- 2500 Vrms isolation on all I/O channels
### 4. Functionality
The HSL‑4XMO‑CD‑P functions as a distributed motion controller within ADLINK’s HSL network. It generates high‑frequency pulse trains to drive stepper or servo amplifiers. Each axis supports independent or coordinated motion, with interpolation and contouring capabilities for multi‑axis synchronization.
Use Cases & Applications:
- CNC machinery and precision positioning systems
- Pick‑and‑place robotics
- Automated inspection and packaging lines
- Semiconductor wafer handling
- Linear and rotary motion platforms
Compatibility:
- Works with stepper, AC/DC servo, and linear motors via pulse‑train amplifiers.
- Compatible with ADLINK HSL master controllers and LinkMaster software suite.
- Supports integration with external encoders, limit switches, and emergency stop circuits.
### 5. Components & Accessories
Included Items:
- HSL‑4XMO‑CD‑P module
- ADLINK all‑in‑one software CD (drivers, libraries, Motion Creator utility)
- User’s Manual
Connectors:
- CN1: External power input (+24 V DC, EGND)
- CN2: Emergency stop input and input common (EMG, ICOM)
- HS1/HS2: HSL communication (RJ‑45)
- HS3: HSL communication (WAGO type)
- CM1–CM4: Servo interface connectors (D‑sub)
- IOIF1–IOIF4: Mechanical I/O and GPIO connectors
Optional Accessories:
- HSL communication cables (RJ‑45 or WAGO)
- Servo interface cables (D‑sub to amplifier)
- Mounting brackets and DIN‑rail adapters
### 6. Installation & Setup
Requirements:
- 24 V DC power supply (± 5 %)
- HSL master controller and compatible host PC
- Proper grounding and shielding for noise immunity
Mounting Options:
- Panel or DIN‑rail mounting
- RJ‑45 or WAGO connectors for HSL bus daisy‑chain
Configuration Steps:
1. Assign Slave ID using rotary switch S1 (occupies 4 IDs).
2. Set communication speed via jumper JP1 (3/6/12 Mbps).
3. Select duplex mode using JP2–JP3.
4. Enable termination resistor with JP4 if end‑of‑line.
5. Configure NPN/PNP logic for EMG and DO signals (JP9–JP13).
6. Connect motor drivers, encoders, and I/O per pin assignments.
7. Install software drivers and LinkMaster utility.
8. Verify communication and motion via Motion Creator GUI.
### 7. Performance & Capabilities
Motion Control Performance:
- Pulse Frequency: up to 6.55 MHz
- Encoder Feedback: 5 MHz max
- Position Range: ± 134,217,728 pulses (28‑bit)
- Interpolation: 2–4 axis linear, 2‑axis circular, multi‑axis continuous contouring
- Acceleration Profiles: Trapezoidal and S‑curve
- Home Return: 13 modes with auto‑search
- Backlash Compensation: hardware‑based
- Position Compare: hardware trigger output (CMP)
- Point Table: up to 2000 entries for autonomous motion
- Command Response Time: ≈ 240 µs @ 6 Mbps
Efficiency & Throughput:
- Minimal CPU load due to on‑board DSP processing
- Real‑time command dispatching within one HSL scan cycle
- Continuous interpolation ensures velocity continuity between segments
Limitations:
- Maximum of 60 axes per HSL network
- Circular interpolation with acceleration/deceleration requires Axis 3 as auxiliary
- Position/speed change on‑the‑fly limited by remaining motion distance
### 8. Standards & Compliance
- Electrical Safety: 2500 Vrms isolation on all digital I/O
- EMC Compliance: CE certified
- Environmental: RoHS‑compliant materials (per ADLINK manufacturing standards)
- Communication Protocol: ADLINK HSL (High‑Speed Link)
- Software Interface: C/C++ libraries, Windows DLLs, and LinkMaster API
- Supported OS: DOS, Windows 95/98/NT/2000/XP, Linux
### 9. Additional Information
Software Tools:
- Motion Creator (LinkMaster Utility):
Windows‑based configuration and diagnostic tool for axis setup, I/O mapping, and motion testing.
Features include velocity curve visualization, home mode configuration, and on‑the‑fly motion control.
- Programming Library:
Function libraries for Borland C/C++ and Windows environments; includes APIs for motion commands, I/O control, and diagnostics.
Maintenance & Support:
- Firmware and driver updates available via [www.adlinktech.com](http://www.adlinktech.com)
- Technical support: service@adlinktech.com
- Telephone: +886‑2‑82265877 Fax: +886‑2‑82265717
- Address: 9F, No. 166, Jian Yi Road, Chungho City, Taipei 235, Taiwan
Warranty:
- Standard 2‑year limited warranty (1 year in China)
- Covers manufacturing defects; excludes misuse, environmental damage, or unauthorized repair
- RMA service available via [http://rma.adlinktech.com/policy](http://rma.adlinktech.com/policy)
Maintenance Recommendations:
- Ensure proper grounding and shielding of signal cables.
- Periodically inspect connectors and wiring for wear or oxidation.
- Keep module within specified temperature and humidity limits.
- Update firmware and software libraries as released by ADLINK.
Service Policy Highlights:
- Customer responsible for inbound shipping; ADLINK covers return shipping for in‑warranty repairs.
- Data backup recommended before servicing; ADLINK not liable for data loss.
- Use only licensed software with ADLINK systems.
### Summary
The ADLINK HSL‑4XMO‑CD‑P is a robust, high‑precision 4‑axis motion control module engineered for distributed automation systems. By leveraging the HSL bus architecture, it minimizes wiring complexity while enabling scalable, synchronized multi‑axis control. Its integrated DSP and motion ASIC deliver deterministic real‑time performance, supporting advanced motion profiles, interpolation, and autonomous execution through point tables and motion scripts. With comprehensive I/O isolation, flexible configuration, and extensive software support, the HSL‑4XMO‑CD‑P is ideally suited for industrial motion applications demanding reliability, precision, and modular scalability.
-
HSL-4XMO_Datasheet_17.pdf
PDF Catalog
-
HSL-4XMO_Manual_9.pdf
Manual
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