![Interior view of an electronic device enclosure showing internal components like connectors, ports, and connectors (no visible text or labels)](.hsl-4xmo-datasheet-en-2/ec10d9985c6fdf99c2df5613058f05806020f577eed4ca2e11cfb95e139c64ed.jpg) # General Introduction # 4-axis Pulse Train Control Modules ADLINK HSL-4XMO-CG-N and HSL-4XMO-CD-N are 4-axis pulse train motion control modules based on the HSL bus. The HSL bus provides a cost-effective distribution solution which reduces wiring and saves space compared to traditional PCI boards. One HSL bus can support up to 60 axes pulse train motion controllers. The HSL-4XMO series also offers point table management which can reduce move points in the module and provide movement without consuming CPU resources. # Velocity and Position Override The HSL-4XMO provides powerful position and speed changing function while axis is moving. After motion begins, target of speed or position can be changed on-the-fly at the user's discretion. # Linear & Circular Interpolation In multi-axis operation, the HSL-4XMO provides linear interpolation by any 2, any 3, or even all 4 axes. Any 2 axes can also perform circular interpolation. # Continuous Contouring The pre-register architecture of HSL-4XMO offers the feature to build the continuous interpolation function, where the second motion may follow previous motion instantly without latency. Thus perfect velocity continuity can be established. # Hardware Position Compare and Trigger Output The HSL-4XMO provides position compare and trigger functions. The CMP channel will output a trigger pulse when encoder counter reaches the compared value preset by the user. Comparison is done by hardware and virtually no CPU the resource is needed. # Automatic Backlash Compensation Whenever direction change occurs, the HSL-4XMO outputs backlash corrective pulses before sending commands. During interpolation mode, this function will be ineffective. # 13 Home Return Modes To fit into various mechanical design and operating restrictions, the HSL-4XMO provides 13 home moving modes for users to choose from. # General Features ■ HSL communication protocol ■ Transmission speed selectable: 3/6/12 Mbps ■ Support for half/full duplex mode ■ On-board DSP ■ 4-axis pulse train output channels ■ Up to 60 axes on a single HSL Network ■ Motion point table management ■ Motion script download (G-Code-Like Language) Notes: 1. HSL-4XMO-CG-N provides general-purpose interface for connection. Steppers, linear motors, and other pulse train amplifiers can be easily connected. 2. HSL-4XMO-CD-N provides D-sub interface for connection. Servo motors with a transfer cable can be easily connected. # Motion Control Features ■ Pulse train frequency up to 6.55 MHz ■ Point-to-point motion ■ 13 home return modes ■ 4 axes high-speed position counter latches ■ Dedicated motion I/O: EL, ORG, INP, RDY, SVON, ERC, and ALM ■ Pulse output options: OUT/DIR, CW/CCW, AB phase ■ 2 to 4 axes linear interpolation ■ 2 axes circular interpolation ■ Multi-axis continuous interpolation ■ Position/Speed change on-the-fly ■ 13 home return modes and auto home search ■ Hardware position compare and trigger ■ High speed position latch function ■ Programmable acceleration and deceleration time ■ Trapezoidal and S-curve velocity profiles ■ 28-bit up/down counter for incremental encoder ■ Hardware backlash compensator ■ Software limit function ■ Easy interface to any stepping motors, AC or DC servo, linear or rotary motors ■ All digital inputs and outputs are 2500 VRMS isolated ■ Point table management up to 2000 sets Specifications
Slave ID Consumption4
Number of Controllable Axes4
Maximum Number of HSL-4XMO in Single HSL Network15 (60 axes)
Position RangePulse output is programmable to be OUT/DIR or CW/CCW
28-bit up/down counter for encoder feedback signal
-134,217,728 to +134,217,727 pulses (28-bit)
General-purpose Input TypeNPN jumper selectable
General-purpose Input VoltageON: 6.5 V to 24 V
OFF: 0 to 3 V
General-purpose OutputN for NPN sinking type output
General-purpose Output Current $\pm 90$ mA (max.)
Power Supply22 $V_{DC}$ to 26 $V_{DC}$
Power Consumption8 W
CE Certification $\sqrt{}$
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