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- HSL Communication Protocol: Fully compatible with ADLINK’s High‑Speed Link (HSL) distributed I/O and motion control architecture.
- Selectable Transmission Speeds: 3, 6, or 12 Mbps; 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 PC.
- 4‑Axis Pulse‑Train Control: Supports stepper, AC/DC servo, linear, or rotary motors via pulse‑train outputs.
- Pulse Output Frequency: Up to 6.55 MHz for high‑speed motion control.
- Interpolation Capabilities:
- 2–4 axis linear interpolation
- 2‑axis circular interpolation
- Continuous contouring for smooth velocity transitions
- Dynamic Motion Control: Position and velocity can be changed on‑the‑fly during motion execution.
- 13 Home Return Modes: Flexible homing sequences for diverse mechanical configurations.
- Motion Point Table Management: Up to 2000 motion points stored locally for CPU‑independent execution.
- Motion Script Download: Supports G‑code‑like scripting for autonomous motion sequences.
- Dedicated Motion I/O: EL, ORG, INP, RDY, SVON, ERC, ALM signals per axis.
- High‑Speed Position Latch & Compare: Hardware‑based position capture and trigger output with minimal latency.
- Backlash Compensation & Vibration Suppression: Automatic correction and damping functions for precision motion.
- Isolated I/O: All digital inputs/outputs are optically isolated to 2500 Vrms.
- Network Scalability: Up to 15 modules (60 axes) per HSL network.
- Software Support: Motion Creator utility within LinkMaster, plus C/C++ libraries for Windows and Linux.
- Selectable Transmission Speeds: 3, 6, or 12 Mbps; 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 PC.
- 4‑Axis Pulse‑Train Control: Supports stepper, AC/DC servo, linear, or rotary motors via pulse‑train outputs.
- Pulse Output Frequency: Up to 6.55 MHz for high‑speed motion control.
- Interpolation Capabilities:
- 2–4 axis linear interpolation
- 2‑axis circular interpolation
- Continuous contouring for smooth velocity transitions
- Dynamic Motion Control: Position and velocity can be changed on‑the‑fly during motion execution.
- 13 Home Return Modes: Flexible homing sequences for diverse mechanical configurations.
- Motion Point Table Management: Up to 2000 motion points stored locally for CPU‑independent execution.
- Motion Script Download: Supports G‑code‑like scripting for autonomous motion sequences.
- Dedicated Motion I/O: EL, ORG, INP, RDY, SVON, ERC, ALM signals per axis.
- High‑Speed Position Latch & Compare: Hardware‑based position capture and trigger output with minimal latency.
- Backlash Compensation & Vibration Suppression: Automatic correction and damping functions for precision motion.
- Isolated I/O: All digital inputs/outputs are optically isolated to 2500 Vrms.
- Network Scalability: Up to 15 modules (60 axes) per HSL network.
- Software Support: Motion Creator utility within LinkMaster, plus C/C++ libraries for Windows and Linux.
Comprehensive Product Summary: ADLINK HSL‑4XMO‑CG‑N Remote 4‑Axis Stepper & Servo Motor Module
### 1. Product Overview
Product Name: HSL‑4XMO‑CG‑N
Model: HSL‑4XMO‑CG‑N
Series: HSL‑4XMO (High‑Speed Link 4‑Axis Motion Control Module)
Article Number: HSL‑4XMO‑CG‑N
Manufacturer: ADLINK Technology Inc.
Part Number: 50‑1I001‑200
Revision: Manual Rev. 2.02 (December 21, 2006)
The ADLINK HSL‑4XMO‑CG‑N is a distributed, high‑performance 4‑axis motion control module designed for stepper and servo motor applications. It operates as a remote slave device on ADLINK’s High‑Speed Link (HSL) network, providing precise pulse‑train motion control for up to four independent or interpolated axes. The module integrates a dedicated DSP and motion ASIC to offload motion computation from the host CPU, enabling deterministic, real‑time control in industrial automation environments.
### 2. Key Features
- HSL Communication Protocol: Fully compatible with ADLINK’s High‑Speed Link (HSL) distributed I/O and motion control architecture.
- Selectable Transmission Speeds: 3, 6, or 12 Mbps; 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 PC.
- 4‑Axis Pulse‑Train Control: Supports stepper, AC/DC servo, linear, or rotary motors via pulse‑train outputs.
- Pulse Output Frequency: Up to 6.55 MHz for high‑speed motion control.
- Interpolation Capabilities:
- 2–4 axis linear interpolation
- 2‑axis circular interpolation
- Continuous contouring for smooth velocity transitions
- Dynamic Motion Control: Position and velocity can be changed on‑the‑fly during motion execution.
- 13 Home Return Modes: Flexible homing sequences for diverse mechanical configurations.
- Motion Point Table Management: Up to 2000 motion points stored locally for CPU‑independent execution.
- Motion Script Download: Supports G‑code‑like scripting for autonomous motion sequences.
- Dedicated Motion I/O: EL, ORG, INP, RDY, SVON, ERC, ALM signals per axis.
- High‑Speed Position Latch & Compare: Hardware‑based position capture and trigger output with minimal latency.
- Backlash Compensation & Vibration Suppression: Automatic correction and damping functions for precision motion.
- Isolated I/O: All digital inputs/outputs are optically isolated to 2500 Vrms.
- Network Scalability: Up to 15 modules (60 axes) per HSL network.
- Software Support: Motion Creator utility within LinkMaster, plus C/C++ libraries for Windows and Linux.
### 3. Technical Specifications
Axes Control: 4 independent or interpolated axes
Slave ID Consumption: 4 IDs per module
Maximum Modules per Network: 15 modules (60 axes total)
Internal Reference Clock: 19.66 MHz
Position Counter Range: ±134,217,727 pulses (28‑bit up/down)
Encoder Input: Incremental, 5 MHz max, 3–5 V logic, 500 Vrms isolation
Pulse Output: Line‑driver differential, 6.55 MHz max, 2.5 V min (High), 0.5 V max (Low), 500 Vrms isolation
General‑Purpose I/O:
- 4 DI / 4 DO channels (NPN or PNP selectable)
- Input voltage: ON 6.5–24 V, OFF 0–3 V
- Output current: ±90 mA max
- Isolation: 500 Vrms
Power Supply: 22–26 V DC (nominal 24 V)
Power Consumption: 5–8 W
Operating Temperature: 0 °C – 60 °C
Storage Temperature: –20 °C – 80 °C
Humidity: 0–90 % RH (non‑condensing)
Dimensions: 163.5 mm (W) × 74.9 mm (D) × 52.7 mm (H)
Weight: Approx. 0.5 kg (typical module)
Isolation Voltage: 2500 Vrms (I/O), 500 Vrms (signal lines)
Certification: CE compliant
### 4. Functionality
The HSL‑4XMO‑CG‑N generates high‑frequency pulse trains to command stepper or servo drives. Each axis can operate independently or in coordinated multi‑axis interpolation. The onboard DSP interprets host commands, manages motion profiles, and executes trajectory generation in real time.
Supported Motion Modes:
- Point‑to‑Point (Trapezoidal or S‑Curve): Absolute or relative positioning with programmable acceleration/deceleration.
- Velocity Mode: Continuous motion with adjustable speed and acceleration.
- Linear & Circular Interpolation: Multi‑axis coordinated motion for contouring and path following.
- Home Return: 13 selectable homing sequences using ORG, EZ, and EL signals.
- On‑the‑Fly Adjustments: Real‑time modification of target position or velocity.
- Position Compare & Trigger: Hardware‑based output when encoder count matches preset value.
- Backlash Compensation: Automatic corrective pulses on direction reversal.
- Software Limits: Dual programmable soft limits per axis for mechanical protection.
Applications:
- Semiconductor and electronics assembly
- CNC and precision machining
- Pick‑and‑place robotics
- Automated inspection and packaging systems
- Laboratory automation and motion platforms
Compatibility:
- Works with ADLINK HSL master controllers and LinkMaster software.
- Supports Windows 95/98/NT/2000/XP and Linux via ADLINK motion libraries.
- Compatible with standard stepper and servo amplifiers accepting pulse/direction or CW/CCW inputs.
### 5. Components & Accessories
Included Items:
- HSL‑4XMO‑CG‑N module
- ADLINK all‑in‑one software CD (drivers, libraries, Motion Creator utility)
- User’s Manual and installation guide
Connectors:
- CN1: External power input (+24 V DC, EGND)
- CN2: Emergency stop input and input common (EMG, ICOM)
- HS1/HS2: HSL communication ports (RJ‑45)
- HS3: HSL communication (WAGO terminal)
- CM1–CM4: Servo/stepper interface connectors (encoder, pulse, direction, ALM, INP, SVON, RDY, ERC)
- IOIF1–IOIF4: Mechanical I/O and GPIO (PEL, MEL, ORG, LTC, CMP, DI/DO)
Optional Accessories:
- HSL communication cables (RJ‑45 or WAGO)
- D‑Sub interface variant (HSL‑4XMO‑CD‑N) for servo motor connectivity
- Mounting brackets and DIN‑rail adapters
### 6. Installation & Setup
Requirements:
- 24 V DC regulated power supply (22–26 V DC)
- HSL master controller and compatible host PC
- Proper grounding and shielding for encoder and pulse lines
Mounting Options:
- Panel or DIN‑rail mounting (depending on enclosure)
- RJ‑45 or WAGO connectors for HSL bus daisy‑chain
Configuration:
- S1 DIP Switch: Sets HSL slave ID (occupies 4 IDs per module)
- JP1: Selects communication speed (3/6/12 Mbps)
- JP2–JP3: Sets duplex mode (half/full)
- JP4: Enables/disables HSL termination resistor
- JP5–JP8, JP10–JP13: Enable/disable DO reset for servo driver
- JP9: Selects NPN/PNP logic for EMG input
Software Setup:
- Install ADLINK LinkMaster and Motion Creator utilities.
- Configure communication parameters and I/O logic.
- Assign axis parameters, motion profiles, and homing modes.
- Verify operation using Motion Creator’s graphical interface.
### 7. Performance & Capabilities
Motion Performance:
- Pulse Output Rate: 6.55 MHz max
- Encoder Input Rate: 5 MHz max
- Command Response Time: ≈ 240 µs @ 6 Mbps (half/full duplex)
- Interpolation: 2–4 axis linear, 2‑axis circular, continuous contouring
- Acceleration Profiles: Trapezoidal and S‑curve with programmable Tacc/Tdec
- Counters: 28‑bit command, feedback, error, and general‑purpose counters
- Position Accuracy: Dependent on encoder resolution and mechanical ratio
- Point Table Capacity: Up to 2000 entries
- Backlash Compensation: Programmable pulse correction
- Vibration Suppression: Configurable T1/T2 damping pulses
Efficiency & Throughput:
- Hardware‑based motion execution minimizes CPU load.
- DSP multitasking ensures deterministic command dispatching.
- Supports up to 63 axes (16 modules) in one HSL system.
Limitations:
- On‑the‑fly position change not allowed during deceleration phase.
- Circular interpolation with acceleration/deceleration requires hardware version ≥ 1001.
- Encoder feedback limited to incremental type (no absolute encoder interface).
### 8. Standards & Compliance
- Electrical Isolation: 2500 Vrms (I/O), 500 Vrms (signal)
- EMC/EMI: CE certified
- Environmental: RoHS compliant (per ADLINK manufacturing standards)
- Safety: Meets industrial control equipment requirements for 24 V DC systems
- Software Standards: Supports G‑code‑like scripting and standard motion APIs
### 9. Additional Information
Warranty:
- Two‑year limited warranty (one year in China) from date of shipment.
- Covers manufacturing defects; excludes damage from misuse, improper installation, or environmental factors.
- RMA service available via ADLINK’s online portal (http://rma.adlinktech.com/policy).
Technical Support:
- Website: [www.adlinktech.com](http://www.adlinktech.com)
- Email: service@adlinktech.com
- Phone: +886‑2‑82265877
- Fax: +886‑2‑82265717
- Address: 9F, No. 166, Jian Yi Road, Chungho City, Taipei 235, Taiwan
Maintenance:
- Ensure proper ventilation and ambient temperature < 60 °C.
- Periodically inspect connectors and wiring for looseness or oxidation.
- Keep firmware and software libraries updated via ADLINK’s support site.
Software & Updates:
- Motion Creator (LinkMaster): Windows‑based configuration and diagnostic tool.
- Programming Libraries: C/C++ APIs for DOS, Windows, and Linux.
- Firmware Upgrades: Available through ADLINK service channels.
Service Notes:
- Use only licensed software with ADLINK systems.
- Back up configuration files (HSL‑4XMO.ini, HSL4XMOMC.ini) for system replication.
- For multi‑module systems, maintain unique slave IDs and proper termination.
### Summary
The ADLINK HSL‑4XMO‑CG‑N is a robust, high‑precision 4‑axis motion control module engineered for distributed automation systems. Leveraging the HSL network, it delivers deterministic, high‑speed pulse‑train control for stepper and servo motors while minimizing host CPU load. Its integrated DSP, versatile interpolation modes, and extensive motion I/O make it ideal for complex multi‑axis applications requiring synchronized motion, rapid response, and flexible configuration. With CE certification, isolated I/O, and comprehensive software support, the HSL‑4XMO‑CG‑N provides a scalable, reliable foundation for industrial motion control networks up to 60 axes.
### 1. Product Overview
Product Name: HSL‑4XMO‑CG‑N
Model: HSL‑4XMO‑CG‑N
Series: HSL‑4XMO (High‑Speed Link 4‑Axis Motion Control Module)
Article Number: HSL‑4XMO‑CG‑N
Manufacturer: ADLINK Technology Inc.
Part Number: 50‑1I001‑200
Revision: Manual Rev. 2.02 (December 21, 2006)
The ADLINK HSL‑4XMO‑CG‑N is a distributed, high‑performance 4‑axis motion control module designed for stepper and servo motor applications. It operates as a remote slave device on ADLINK’s High‑Speed Link (HSL) network, providing precise pulse‑train motion control for up to four independent or interpolated axes. The module integrates a dedicated DSP and motion ASIC to offload motion computation from the host CPU, enabling deterministic, real‑time control in industrial automation environments.
### 2. Key Features
- HSL Communication Protocol: Fully compatible with ADLINK’s High‑Speed Link (HSL) distributed I/O and motion control architecture.
- Selectable Transmission Speeds: 3, 6, or 12 Mbps; 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 PC.
- 4‑Axis Pulse‑Train Control: Supports stepper, AC/DC servo, linear, or rotary motors via pulse‑train outputs.
- Pulse Output Frequency: Up to 6.55 MHz for high‑speed motion control.
- Interpolation Capabilities:
- 2–4 axis linear interpolation
- 2‑axis circular interpolation
- Continuous contouring for smooth velocity transitions
- Dynamic Motion Control: Position and velocity can be changed on‑the‑fly during motion execution.
- 13 Home Return Modes: Flexible homing sequences for diverse mechanical configurations.
- Motion Point Table Management: Up to 2000 motion points stored locally for CPU‑independent execution.
- Motion Script Download: Supports G‑code‑like scripting for autonomous motion sequences.
- Dedicated Motion I/O: EL, ORG, INP, RDY, SVON, ERC, ALM signals per axis.
- High‑Speed Position Latch & Compare: Hardware‑based position capture and trigger output with minimal latency.
- Backlash Compensation & Vibration Suppression: Automatic correction and damping functions for precision motion.
- Isolated I/O: All digital inputs/outputs are optically isolated to 2500 Vrms.
- Network Scalability: Up to 15 modules (60 axes) per HSL network.
- Software Support: Motion Creator utility within LinkMaster, plus C/C++ libraries for Windows and Linux.
### 3. Technical Specifications
Axes Control: 4 independent or interpolated axes
Slave ID Consumption: 4 IDs per module
Maximum Modules per Network: 15 modules (60 axes total)
Internal Reference Clock: 19.66 MHz
Position Counter Range: ±134,217,727 pulses (28‑bit up/down)
Encoder Input: Incremental, 5 MHz max, 3–5 V logic, 500 Vrms isolation
Pulse Output: Line‑driver differential, 6.55 MHz max, 2.5 V min (High), 0.5 V max (Low), 500 Vrms isolation
General‑Purpose I/O:
- 4 DI / 4 DO channels (NPN or PNP selectable)
- Input voltage: ON 6.5–24 V, OFF 0–3 V
- Output current: ±90 mA max
- Isolation: 500 Vrms
Power Supply: 22–26 V DC (nominal 24 V)
Power Consumption: 5–8 W
Operating Temperature: 0 °C – 60 °C
Storage Temperature: –20 °C – 80 °C
Humidity: 0–90 % RH (non‑condensing)
Dimensions: 163.5 mm (W) × 74.9 mm (D) × 52.7 mm (H)
Weight: Approx. 0.5 kg (typical module)
Isolation Voltage: 2500 Vrms (I/O), 500 Vrms (signal lines)
Certification: CE compliant
### 4. Functionality
The HSL‑4XMO‑CG‑N generates high‑frequency pulse trains to command stepper or servo drives. Each axis can operate independently or in coordinated multi‑axis interpolation. The onboard DSP interprets host commands, manages motion profiles, and executes trajectory generation in real time.
Supported Motion Modes:
- Point‑to‑Point (Trapezoidal or S‑Curve): Absolute or relative positioning with programmable acceleration/deceleration.
- Velocity Mode: Continuous motion with adjustable speed and acceleration.
- Linear & Circular Interpolation: Multi‑axis coordinated motion for contouring and path following.
- Home Return: 13 selectable homing sequences using ORG, EZ, and EL signals.
- On‑the‑Fly Adjustments: Real‑time modification of target position or velocity.
- Position Compare & Trigger: Hardware‑based output when encoder count matches preset value.
- Backlash Compensation: Automatic corrective pulses on direction reversal.
- Software Limits: Dual programmable soft limits per axis for mechanical protection.
Applications:
- Semiconductor and electronics assembly
- CNC and precision machining
- Pick‑and‑place robotics
- Automated inspection and packaging systems
- Laboratory automation and motion platforms
Compatibility:
- Works with ADLINK HSL master controllers and LinkMaster software.
- Supports Windows 95/98/NT/2000/XP and Linux via ADLINK motion libraries.
- Compatible with standard stepper and servo amplifiers accepting pulse/direction or CW/CCW inputs.
### 5. Components & Accessories
Included Items:
- HSL‑4XMO‑CG‑N module
- ADLINK all‑in‑one software CD (drivers, libraries, Motion Creator utility)
- User’s Manual and installation guide
Connectors:
- CN1: External power input (+24 V DC, EGND)
- CN2: Emergency stop input and input common (EMG, ICOM)
- HS1/HS2: HSL communication ports (RJ‑45)
- HS3: HSL communication (WAGO terminal)
- CM1–CM4: Servo/stepper interface connectors (encoder, pulse, direction, ALM, INP, SVON, RDY, ERC)
- IOIF1–IOIF4: Mechanical I/O and GPIO (PEL, MEL, ORG, LTC, CMP, DI/DO)
Optional Accessories:
- HSL communication cables (RJ‑45 or WAGO)
- D‑Sub interface variant (HSL‑4XMO‑CD‑N) for servo motor connectivity
- Mounting brackets and DIN‑rail adapters
### 6. Installation & Setup
Requirements:
- 24 V DC regulated power supply (22–26 V DC)
- HSL master controller and compatible host PC
- Proper grounding and shielding for encoder and pulse lines
Mounting Options:
- Panel or DIN‑rail mounting (depending on enclosure)
- RJ‑45 or WAGO connectors for HSL bus daisy‑chain
Configuration:
- S1 DIP Switch: Sets HSL slave ID (occupies 4 IDs per module)
- JP1: Selects communication speed (3/6/12 Mbps)
- JP2–JP3: Sets duplex mode (half/full)
- JP4: Enables/disables HSL termination resistor
- JP5–JP8, JP10–JP13: Enable/disable DO reset for servo driver
- JP9: Selects NPN/PNP logic for EMG input
Software Setup:
- Install ADLINK LinkMaster and Motion Creator utilities.
- Configure communication parameters and I/O logic.
- Assign axis parameters, motion profiles, and homing modes.
- Verify operation using Motion Creator’s graphical interface.
### 7. Performance & Capabilities
Motion Performance:
- Pulse Output Rate: 6.55 MHz max
- Encoder Input Rate: 5 MHz max
- Command Response Time: ≈ 240 µs @ 6 Mbps (half/full duplex)
- Interpolation: 2–4 axis linear, 2‑axis circular, continuous contouring
- Acceleration Profiles: Trapezoidal and S‑curve with programmable Tacc/Tdec
- Counters: 28‑bit command, feedback, error, and general‑purpose counters
- Position Accuracy: Dependent on encoder resolution and mechanical ratio
- Point Table Capacity: Up to 2000 entries
- Backlash Compensation: Programmable pulse correction
- Vibration Suppression: Configurable T1/T2 damping pulses
Efficiency & Throughput:
- Hardware‑based motion execution minimizes CPU load.
- DSP multitasking ensures deterministic command dispatching.
- Supports up to 63 axes (16 modules) in one HSL system.
Limitations:
- On‑the‑fly position change not allowed during deceleration phase.
- Circular interpolation with acceleration/deceleration requires hardware version ≥ 1001.
- Encoder feedback limited to incremental type (no absolute encoder interface).
### 8. Standards & Compliance
- Electrical Isolation: 2500 Vrms (I/O), 500 Vrms (signal)
- EMC/EMI: CE certified
- Environmental: RoHS compliant (per ADLINK manufacturing standards)
- Safety: Meets industrial control equipment requirements for 24 V DC systems
- Software Standards: Supports G‑code‑like scripting and standard motion APIs
### 9. Additional Information
Warranty:
- Two‑year limited warranty (one year in China) from date of shipment.
- Covers manufacturing defects; excludes damage from misuse, improper installation, or environmental factors.
- RMA service available via ADLINK’s online portal (http://rma.adlinktech.com/policy).
Technical Support:
- Website: [www.adlinktech.com](http://www.adlinktech.com)
- Email: service@adlinktech.com
- Phone: +886‑2‑82265877
- Fax: +886‑2‑82265717
- Address: 9F, No. 166, Jian Yi Road, Chungho City, Taipei 235, Taiwan
Maintenance:
- Ensure proper ventilation and ambient temperature < 60 °C.
- Periodically inspect connectors and wiring for looseness or oxidation.
- Keep firmware and software libraries updated via ADLINK’s support site.
Software & Updates:
- Motion Creator (LinkMaster): Windows‑based configuration and diagnostic tool.
- Programming Libraries: C/C++ APIs for DOS, Windows, and Linux.
- Firmware Upgrades: Available through ADLINK service channels.
Service Notes:
- Use only licensed software with ADLINK systems.
- Back up configuration files (HSL‑4XMO.ini, HSL4XMOMC.ini) for system replication.
- For multi‑module systems, maintain unique slave IDs and proper termination.
### Summary
The ADLINK HSL‑4XMO‑CG‑N is a robust, high‑precision 4‑axis motion control module engineered for distributed automation systems. Leveraging the HSL network, it delivers deterministic, high‑speed pulse‑train control for stepper and servo motors while minimizing host CPU load. Its integrated DSP, versatile interpolation modes, and extensive motion I/O make it ideal for complex multi‑axis applications requiring synchronized motion, rapid response, and flexible configuration. With CE certification, isolated I/O, and comprehensive software support, the HSL‑4XMO‑CG‑N provides a scalable, reliable foundation for industrial motion control networks up to 60 axes.
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HSL-4XMO_Datasheet_17.pdf
PDF Catalog
-
HSL-4XMO_Manual_9.pdf
Manual
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