# PCI-7856 Master-Slave Distributed Motion and I/O Master Controller User's Manual Manual Revision: 2.00 Revision Date: August 4, 2009 Part Number: 50-11163-1000 ![Circular black-and-white recycling symbol with three white arrows forming a triangle (no text or symbols)](.pci-7856-50-11163-1000-200/8f14e2cdbb88ef9498c07919fe100aa83d57b11b2156ac5a34d312544ca315ba.jpg) Recycled Paper # Table of Contents # Table of Contents...... iii # List of Figures ...... v # List of Tables...... vii # 1 Introduction ...... 1 1.1 Specifications.... 3 1.2 Supported Software 4 # 2 Installation 5 2.1 Package Contents 5 2.2 PCI-7856 Outline Drawing 6 2.3 Software Driver Installation.... 7 2.3.1 Troubleshooting 7 2.4 Signal Connection.... 8 2.4.1 PCI-7856 Connection with HSL and MNET Slave Modules . 8 2.4.2 RJ45 Pin Assignment and LED Indicator....9 # 3 Motionnet Master-Slave Motion System 11 3.1 MNET System Specifications 13 3.1.1 Wiring Cable 14 3.1.2 MNET System Communication.... 15 3.2 MNET Motion Modules 17 3.2.1 Single Axis Motion Modules.... 18 # 4 HSL Slave Modules 25 4.1 HSL Slave I/O Module 26 4.1.1 Discrete I/O Module 26 4.1.2 Analog I/O Module 27 4.2 General Specifications 28 4.2.1 Digital I/O Module 28 4.2.2 Analog I/O Module 29 4.2.3 DIP Switch Setting 30 4.2.4 Wiring Diagram 31 4.2.5 Terminal Base Motion Control Module....38 4.2.6 HSL-HUB/Repeater 44 4.2.7 Managing Slave Index in an HSL Network 48 # 5 MotionCreatorPro 2 .... 53 5.1 Execute MotionCreatorPro 2.... 54 5.2 About MotionCreatorPro 2 54 5.3 MotionCreatorPro 2 Form Introducing .... 55 5.3.1 Main Window 55 5.3.2 HSL Distributed I/O Manager....58 5.3.3 Motionnet Distributed Motion Manager 60 5.4 Return Error Code.... 69 # 6 Scan Time Table....71 6.1 Full Duplex Mode.... 71 # 7 HSL-HUB/Repeater Information.... 73 7.1 Transfer Rates 73 7.2 Scan time table 73 # List of Figures Figure 1-1: PCI-7856 Block Diagram 2 Figure 2-1: PCI-7856 Mechanical Drawing 6 Figure 2-2: LED Indicators on the PCI-7856....10 Figure 3-1: Overview of an MNET Distributed Motion Control System .... 12 Figure 3-2: MNET-4XMO-(C) Mechanical Diagram 19 Figure 3-3: Outline of the MNET-J3 Assembly with MR-J3 Servo Driver....20 Figure 3-4: Outline of MNET-MIA Assembly with a MINAS A4 Servo Driver....21 Figure 3-5: Outline of MNET-S23 Assembly with a Sigma II, III & V Servo Driver 22 Figure 4-1: HSL System Configuration 45 This page intentionally left blank. # List of Tables Table 3-1: MNET Specifications ...... 13 Table 3-2: MNET Motion Module Series....17 Table 4-1: HSL Discrete I/O Module Series....26 Table 4-2: HSL Discrete I/O Module Selection Guide....26 Table 4-3: HSL Analog I/O Module Series....27 Table 4-4: HSL Analog I/O Module Selection Guide....27 Table 4-5: Digital I/O Module 28 Table 4-6: Analog I/O Module 29 This page intentionally left blank. # Preface # Copyright 2009 ADLINK TECHNOLOGY INC. This document contains proprietary information protected by copyright. All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer. # Disclaimer The information in this document is subject to change without prior notice in order to improve reliability, design, and function and does not represent a commitment on the part of the manufacturer. In no event will the manufacturer be liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use the product or documentation, even if advised of the possibility of such damages. # Trademarks Borland® C/C++ and Delphi® are registered trademarks of the Borland Software Corporation. Intel® is a registered trademark of Intel Corporation. LabVIEW™ is a trademark of National Instruments Corporation. Linux® and the Linux® Logo are registered trademarks of Linus Torvalds. MATLAB® and the MATLAB Logo are registered trademarks of The MathWorks, Inc. Microsoft®, MS-DOS®, Windows® 95, Windows® 98, Windows NT®, Windows® 2000, Windows® 2003 Server®, Windows® XP, Windows Vista®, ActiveX®, Visual Studio®, Visual Basic®, Visual C#®, and Visual C++® are registered trademarks of Microsoft Corporation. PCI™, CompactPCI®, and PCI Express®, are registered trademarks of the Peripheral Component Interconnect Special Interest Group (PCI-SIG). PXI™ is a trademark of the PXI systems Alliance. VEE™ is a trademark of Agilent. Product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies. # Getting Service Contact us should you require any service or assistance. # ADLINK Technology Inc. Address: 9F, No.166 Jian Yi Road, Chungho City, Taipei County 235, Taiwan 台北縣中和市建一路 166 號 9 樓 Tel: +886-2-8226-5877 Fax: +886-2-8226-5717 Email: service@adlinktech.com # Ampro ADLINK Technology Inc. Address: 5215 Hellyer Avenue, #110, San Jose, CA 95138, USA Tel: +1-408-360-0200 Toll Free: +1-800-966-5200 (USA only) Fax: +1-408-360-0222 Email: info@adlinktech.com # ADLINK Technology Beijing Address: 北京市海淀区上地东路 1 号盈创动力大厦 E 座 801 室 (100085) Rm. 801, Power Creative E, No. 1, B/D Shang Di East Rd., Beijing 100085, China Tel: +86-10-5885-8666 Fax: +86-10-5885-8625 Email: market@adlinktech.com # ADLINK Technology Shanghai Address: 上海市漕河泾高科技开发区钦江路 333 号 39 幢 4 层 (200233) Tel: +86-21-6495-5210 Fax: +86-21-5450-0414 Email: market@adlinktech.com # ADLINK Technology Shenzhen Address: 深圳市南山区科技园南区高新南七道 数字技术园 A1 栋 2 楼 C 区 (518057) 2F, C Block, Bld. A1, Cyber-Tech Zone, Gao Xin Ave. Sec 7, High-Tech Industrial Park S., Shenzhen, 518054 China Tel: +86-755-2643-4858 Fax: +86-755-2664-6353 Email: market@adlinktech.com # ADLINK Technology Inc. (German Liaison Office) Address: Nord Carree 3, 40477 Duesseldorf, Germany Tel: +49-211-495-5552 Fax: +49-211-495-5557 Email: emea@adlinktech.com # ADLINK (French Liaison Office) Address: 15 rue Emile Baudot, 91300 MASSY Cedex, France Tel: +33 (0) 1 60 12 35 66 Fax: +33 (0) 1 60 12 35 66 Email: france@adlinktech.com # ADLINK Technology Japan Corporation Address: 151-007 2 東京都渋谷区幡ヶ谷 1-1-2 朝日生命幡ヶ谷ビル 8F Asahiseimei Hatagaya Bldg. 8F 1-1-2 Hatagaya, Shibuya-ku, Tokyo 151-0072, Japan Tel: +81-3-4455-3722 Fax: +81-3-5333-6040 Email: japan@adlinktech.com # ADLINK Technology Inc. (Korean Liaison Office) Address:서울시 서초구 서초동 15 06-25 한도 B/D 2 층 2F, Hando B/D, 1506-25, Seocho-Dong, Seocho-Gu, Seoul, 137-070, Korea Tel: +82-2-2057-0565 Fax: +82-2-2057-0563 Email: korea@adlinktech.com # ADLINK Technology Singapore Pte Ltd. Address: 84 Genting Lane #07-02A, Cityneon Design Centre, Singapore 349584 Tel: +65-6844-2261 Fax: +65-6844-2263 Email: singapore@adlinktech.com # ADLINK Technology Singapore Pte Ltd. (Indian Liaison Office) Address: No. 1357, "Anupama", Sri Aurobindo Marg, 9th Cross, JP Nagar Phase I, Bangalore - 560078, India Tel: +91-80-65605817 Fax: +91-80-22443548 Email: india@adlinktech.com This page intentionally left blank. # 1 Introduction Considering the advancement of the industrial machine automation field, designers not only use centralized control systems but also need a distributed solution to develop more complex machine applications. Distributed solutions provide many benefits such as lower maintenance, reduced wiring and a vast number of modules that are easy to integrate. Motionnet and HSL technologies are innovative distributed motion and I/O technology that enable time-deterministic scanning of thousands of I/O points in milliseconds using master-slave architecture. The Motionnet bus further improves distributed motion control capability by providing control axes up to 256 axes and minimal command execution time for single axis control. The PCI-7856 is a PCI interface card which offers two ports for Motionnet and HSL systems for distributed motion and I/O in machine automation applications. HSL technology allows thousands of I/O points to be scanned at the millisecond-level in real time by using mater-slave architecture. Commercial Ethernet cables with RJ45 connector are used for simplified setup of the HSL slaves modules as close as possible to sensor devices which results in a dramatic reduction of wiring. System integrators can benefit from HSL network because it integrates discrete I/O and analog I/O modules. This local network features rapid response, real-time scanning. A Motionnet system (referred to as "MNET") is a distributed motion solution for machine systems. MNET is an innovative distributed motion technology which provides distributed motion axis control of up to 256 axes for any servo / stepper motor controlled using mater-slave architecture. This not only provides general purpose 4-axes motion control, but also allows specific 64 of single axis motion control module to be scanned in millisecond-level in real time. # MNET and HSL features: ▶ Flexible, comprehensive, extendable distributed motion and I/O solution based on PC architecture or embedded platform ▶ Convenient wiring for remote distributed motion & I/O modules, including multiple-axes motion control module, single axis motion control module, discrete I/Os and analog I/Os ▶ Space saving, reduced wiring and easier maintenance for cost saving ▶ Time-deterministic, fast scanning with hundreds of discrete I/O points (up to 2,016 points) ▶ Real-time and fast scanning to realize high-speed and high-response motion control up to 256 axes support. The PCI-7856 block diagram is as follows. ![Based on the provided image, here is the accurate description of the blocks and connections:\n\n**Labeled Blocks:**\n* PCI Bridge\n* CPLD\n* Motionnet Master Controller\n* HSL Master Controller\n* FRAM\n* MNET Transceiver IF Circuit\n* HRJ45\n* MRJ45\n* PCI BUS\n* Motionnet Topology\n* HSL Topology\n\n**Connections:**\n* **PCI Bridge** has unidirectional arrows pointing to **CPLD**, **Motionnet Master Controller**, **HSL Master Controller**, and **FRAM**.\n* **PCI Bridge** has a bidirectional (double-headed) arrow pointing down to the **PCI BUS**.\n* **Motionnet Master Controller** has a bidirectional arrow pointing to **MNET Transceiver IF Circuit**.\n* **MNET Transceiver IF Circuit** has a bidirectional arrow pointing to **MRJ45**.\n* **HSL Master Controller** has a bidirectional arrow pointing to **HSL Transceiver IF Circuit**.\n* **HSL Transceiver IF Circuit** has a bidirectional arrow pointing to **HRJ45**.\n* The text **Motionnet Topology** is positioned above the top-right connection path.\n* The text **HSL Topology** is positioned below the bottom-right connection path.](.pci-7856-50-11163-1000-200/cbd3524bf6ab21894ee4aa325075ec08c8f41bb0fd66ec86547585d7478c4e49.jpg) Figure 1-1: PCI-7856 Block Diagram # 1.1 Specifications # PCI Bus ▶ PCI local bus specification Rev. 2.1-compliant # Master Controller ▶ Dedicated Motion Controller ▶ Motionnet ASIC master control (80 MHz external clock) ▶ Dedicated I/O Controller ▷ HSL ASIC master control (48 MHz External Clock) # Interface ▶ Motionnet ▷ RS-485 with transformer isolation ▶ Half duplex communication 2.5/5/10/20 Mbps transmission rate can be set by software (20 Mbps default) ▶ HSL ▷ RS-485 with transformer isolation ▷ Full duplex communication 3/6/12 Mbps transmission rate can be set by software (6 Mbps default) # Connector ▶ RJ45 connector x 4 (MRJ45 connector for Motionnet, HRJ45 connector for HSL) # Interrupt ▶ Status read back ▶ Timer # LED Indicato ▶ Link status (Red for Motionnet Link status, Green for HSL Link status) # Dimensions ▶ 122 (L) x 107 (W) mm # Operating Temperature ▶ 0 to 60°C # Storage Temperature ▶ -20 to 80°C # Power Consumption ▶ +3.3 V @ 1.2 A (typical) ▶ +5 V @ 1.5 A (typical) # 1.2 Supported Software # Program Library ADLINK provides Windows WDM drivers and DLL function libraries for the PCI-7856. These function libraries are shipped with the board and they support Windows 2000/XP/Vista. # 2 Installation This chapter describes how to install the PCI-7856. Please follow the steps below: ▶ Check what you have ▶ Check the PCB (Section 2.2, page 10) ▶ Install the software driver (Section 2.3, page 11) ▶ Understanding the I/O signal connections (Section 2.4, page 11) # 2.1 Package Contents In addition to this User's Guide, the package also includes the following items: PCI-7856: Distributed Motion and I/O Master Board x1 ▶ Installation CD x1 If any of these items are missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materials and carton to ship or store the product in the future. Signal connections of all I/O's are described in this chapter. Refer to the contents of this chapter before wiring any cables between the PCI-7856 and any slave module. # 2.2 PCI-7856 Outline Drawing ![MNET\nHSL\n(126.4)\n106.7\n100.33\n121.69\n119.91\nLEDGR1\nMRJ45\nHRJ45\nSW1](.pci-7856-50-11163-1000-200/ecd349e9f2a9d704eeeccb53978739a7ae9b65e23660fd673e8a69fdbd685f4f.jpg) Figure 2-1: PCI-7856 Mechanical Drawing ▶ MRJ45 Connector: Motionnet connection port. ▶ HRJ45 Connector: HSL connection port. ▶ SW1: Card identification switch In addition to this User's Guide, the package also includes the following items: PCI-7856: Distributed Motion & I/O Master board x1 ▶ All-In-One CD x1 If any of these items are missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materials and carton to ship or store the product in the future. # 2.3 Software Driver Installation Using the All-In-One CD with PCI-7856 package and execute the following steps: 1. Auto-run the ADLINK All-In-One CD. 2. Follow the installation steps of the installer. 3. After installation is completed, restart your Windows operating system. Note: The latest software can be downloaded from the ADLINK website: www.adlinktech.com. # 2.3.1 Troubleshooting If the system doesn't boot or if any erratic behavior of the PCI board is experienced, it is most likely caused by an interrupt conflict. The solution, once determined it is not a simple oversight, is to consult the BIOS documentation that comes with your system. Check the control panel of the Windows system if the card is listed by the system. If not, check the PCI settings in the BIOS or use another PCI slot. # 2.4 Signal Connection Signal connections of all I/O's are described in this section. Refer to the contents of this chapter before wiring any cables between the PCI-7856 and any slave module. This section contains the following sections: ▶ Section 2.4.1: PCI-7856 connection with HSL and MNET slave modules ▶ Section 2.4.2: RJ45 Pin assignments and LED indication # 2.4.1 PCI-7856 Connection with HSL and MNET Slave Modules Wiring for MNET Motion Slave Modules ![MRJ45\nMNET Slave Modules\nEthernet Cable](.pci-7856-50-11163-1000-200/d045f85a59490a6fa64f384e2c028ea5c7962da76358ac95744ea470939289b3.jpg) Wiring for HSL I/O Slave Modules ![Based on the image provided, here is an accurate description of the flowchart:\n\n**Labeled Blocks and Components:**\n* **Left Side:** A circuit board featuring a connector highlighted by a red dashed box. This connector is labeled **'HRJ45'** in orange text.\n* **Right Side:** Three identical 3D representations of electronic modules (resembling DIN-rail mounted devices with buttons). Above these modules is a horizontal double-headed arrow labeled **'HSL Slave Modules'**.\n* **Bottom Label:** The text **'Ethernet Cable'** appears in orange on the bottom right.\n\n**Connections:**\n* A **yellow line** originates from the **'HRJ45'** connector on the circuit board and connects to the first module on the left.\n* **Orange lines** daisy-chain the three modules together horizontally.\n* An ellipsis (**'...'**) follows the third module, indicating that the chain continues.](.pci-7856-50-11163-1000-200/2a02bdd939ceb1c44a6b4274f4cbd874c26449dae079991a7642c669d56c1711.jpg) Ethernet Cable (CAT5e cable recommended) ![CAT5 CABLE\nCAT5 CABLE](.pci-7856-50-11163-1000-200/c8cbb8a637126840d6d786d5c6f4afe0cf2ded2e0ab65cb84edc7eebcc14effc.jpg) # 2.4.2 RJ45 Pin Assignment and LED Indicator The Motionnet master is the key component in charge of communicating with slave motion and I/O modules. The master sets commands to control slave motion controller or obtain the motion status from slave modules. The PCI-7856 provides two ports of Motionnet master connection for more flexibility wiring. The pin assignment of the MRJ45 connector on the PCI-7856 is listed as below: ![Two identical schematic diagrams of a connector or socket with horizontal bar patterns, no text or symbols present.](.pci-7856-50-11163-1000-200/1b749c5b6b8d880621f3cc1da51992821a35201e73a98a114d7716c32470fea7.jpg)
Pin No.Pinout
1NC
2NC
3NC
4Data-
5Data+
6NC
7NC
8NC
The HSL master is the key component in charge of communicating with slave I/O modules. The master sets output values to and gathers input information from slaves. PCI-7856 provides two ports for HSL master connections for more flexibility wiring. The pin assignment of the HRJ45 connector on the PCI-7856 is as listed below: ![Two identical schematic diagrams of a connector or socket with parallel slots, no text or symbols present.](.pci-7856-50-11163-1000-200/625b2a2d79da88c02745f5e6a3c72175f6b3f39470bf494c6b2b7ddfe8e02e5d.jpg)
Pin No.Pinout
1NC
2NC
3RX+
4TX-
5TX+
6RX-
7NC
8NC
The LED indicator on PCI-7856 provides Motionnet and HSL communication status. A red LED indicates Motionnet status and a green LED indicates HSL status. Before initialization of the PCI-7856, the red LED and green LED will be off. LEDs will be blinking at a 1 HZ frequency after initialization of PCI-7856. Once the PCI-7856 connects to HSL slave modules, the green LED will be on until the scan stops and once the PCI-7856 stops the HSL scan, the green LED will continue blinking at 1 HZ. Once the PCI-7856 connects to MNET slave modules, the red LED be on until the scan stops or a communication error occurs, and once the PCI-7856 stops the Motionnet scan, the red LED will continue blinking at 1 HZ. ![HSL Scan LED\nMotionnet Scan LED](.pci-7856-50-11163-1000-200/f90e77bd6986bc3cffca1dcb50ff5ea9fb3abdde9881f1b25dc8b39d5361fac1.jpg) Figure 2-2: LED Indicators on the PCI-7856 # 3 Motionnet Master-Slave Motion System Motionnet is an ultra-high-speed serial communication system proposed by NPM (Nippon Pulse Motor) with strong performance with MNET serial connection application. The maximum transfer speed is up to 20Mbps. The PCI-7856 is equipped with one MNET port to offer up to 256 axis control via serial connections. With an ADLINK MNET solution, we not only offer single axis configuration but also provide 4-axis control with interpolation functions. The individual devices can control Mitsubishi J3, Yaskawa Sigma series, and Panasonic A4 series servo drives. The controller can be used for executing continuous operations at constant speeds, performing linear acceleration/deceleration and S-curve acceleration/deceleration, carrying out preset positioning operations, and zero return operations, etc. In addition, a 4-axis motion controller can also support linear/circular interpolation functions. For connection distance, the cable length can be extended up to 100 m using an ordinary CAT5e LAN cable while connecting 64 axes at 20Mbps. ADLINK MNET solution highlights the easy-to-use motion control feature. All function library designs comply with ADLINK PCI series motion controller and MNET bus motion controller. ADLINK MNET solution not only offers single axis connection suitable for multiple PTP (point-to-point) movement applications but also provides 4-axis motion controller with linear and circular interpolation functions. ![The diagram illustrates a 'Multi-drop Connection' labeled 'MNET Bus Via CAT5/5e Cable,' depicted by a blue line originating from the **PCI-7856** circuit board. This single connection branches out to link the following devices:\n\n* **Mitsubishi MR-J3 Series**\n* **Panasonic A4 Series**\n* **Yaskawa Sigma II, III Series**\n* **MNET-4XMO-(C)** (labeled below as '(4-axes Motion Controller)')](.pci-7856-50-11163-1000-200/dedbdfc2e317e06768dc322d385a325089fa57ff814ccf7afb85c308db7ee006.jpg) Figure 3-1: Overview of an MNET Distributed Motion Control System # 3.1 MNET System Specifications Functions of MNET system can be classified as serial communications and motion control.
ItemSpecifications
Total serial communication line length▶ Maximum of 100 m(At a data transfer speed of 20 Mbps with 32 devices connected)▶ Maximum of 50 m(At a data transfer speed of 20 Mbps with 64 devices connected)▶ Maximum of 100 m(At a data transfer speed of 10 Mbps with 64 devices connected, using our recommended cables)
Serial communication interfacePulse transformer and RS-485 specification line transceiver
Serial communication protocolOur proprietary protocol
Serial communicationNRZ signed
Serial communication methodHalf-duplex communication
Connection methodMulti-drop connection using a LAN cable (CAT5/CAT5e STP/S-STP)
Serial data transfer speed20 Mbps/10 Mbps/5 Mbps/2.5 MbpsProgrammable speed setting
Maximum No. of MNET modules64 (Total axes shall be 64 if you connected all single axis modules, otherwise the total axes shall be 256 axes if all modules belong to MNET-4XMO)
Table 3-1: MNET Specifications # 3.1.1 Wiring Cable This system guarantees enhanced quality for high-speed communication, and is designed to be connected with LAN cables suitable for 100BASE-T and 1000BASE-T. These cables have well-known specifications, are cheap and easily obtained. Therefore, we do not include these items in our product lines and do not supply them. To select cables, make sure they meet the following specifications. # Wiring standards ▶ TIA/EIA-568-B ▶ Category 5 (CAT5) ▶ Enhanced Category 5 (CAT5e) ▶ Category 6 (CAT6) UTP (UnshieldedTwistedPair) cables or STP (ShieldedTwistedPair) cables that meet the specifications above. For an environment with excessive electromagnetic noise, use a shielded cable (STP). Observe the following when connecting your system. # 1. Total serial line length This system employs a multi-drop connection method. The maximum total extension distance of the line varies, depending on the data transfer speed and the number of local boards that are connected. Max. 100 m (Transfer speed, 20 Mbps with 32 modules connected) ▷ Max. 50 m (Transfer speed, 20 Mbps with 64 modules connected) ▷ Max. 100 m (Transfer speed, 10 Mbps with connecting 64 modules connected) 2. Minimum cable length The shortest cable must be at least 60 cm long. 3. Do not mix cables of different types and model in the same serial line. 4. Keep the total serial line length as short as possible. 5. If you are using shielded cables, do not connect the shield on both ends to the FG terminals. Connecting only one end of the shield on each cable will improve noise immunity. # 3.1.2 MNET System Communication An MNET system communication block diagram is shown below. ![The flowchart displays four rectangular blocks arranged horizontally, connected sequentially by thick red double-headed arrows. From left to right, the labeled blocks and connections are:\n\n1. **Host**: A yellow block.\n2. **Motionnet Bus**: A green block connected to 'Host' via a red bidirectional arrow.\n3. **MNET Single modules**: A blue block connected to 'Motionnet Bus' via a red bidirectional arrow.\n4. **Motion Amp.**: A pink block connected to 'MNET Single modules' via a red bidirectional arrow.](.pci-7856-50-11163-1000-200/51cbb29b6ddd044ec509c95e492bff7c9d9e3629e19f0887785135f259d84acb.jpg) ![The image displays a linear horizontal flowchart consisting of four colored rectangular blocks followed by a large red arrow.\n\n**Labeled Blocks (from left to right):**\n1. **Command Launching** (Yellow background)\n2. **Command Delivering** (Green background)\n3. **Command Dispatching** (Blue background)\n4. **Command Executing** (Pink/Salmon background)\n\n**Connections:**\nThe blocks are arranged sequentially side-by-side. A large red arrow points to the right, originating from the right edge of the 'Command Executing' block, indicating the final direction of the process.](.pci-7856-50-11163-1000-200/3a5dd6b33bba7fdb8fa61772147222fc0c37ac62537bd439a8ff3cc9a40edaa9.jpg) # Command Launching Within the MNET system, remote modules communicate with each other using MNET network packets. Users do not have to understand what the content of the packet is. Instead, several API functions are provided for controlling this module. The API functions are very easy to understand and to use. The APIs can analyze the parameters from user commands and pack them as MNET network packets. The packets are then passed to the remote modules. The remote modules will interpret the packets and execute the commands correctly. Before launching the packet, all the commands issued by users are written into the RAM and transferred on the MNET network. Consequently, the RAM is the bridge between the MNET master controller and the host PC. The access time of RAM for one packet is about 600 ns. It is quiet fast on host PC. Furthermore, the delivery time of one command on network depends on the number of modules and operating clock rate. Besides the basically RAM usage, users are able to write data into a FIFO in the central device, and issue a send command using the same method. This communication will be sent and received automatically by interrupting the cyclic communication. A complete command delivering time depends on the number of MNET packets. One packet command can be delivered in one MNET scan (cycle) time. # Command Delivery For command delivery procedures which are transferred, in a cyclic communication, the time allowed for communication by a single module is fixed. However, in a data communication, the communication time will vary, depending on how the communication is controlled by the user's program and the time needed to access the PCI-7856. We will skip these elements and simply calculate the basic data communication time in this section. Cyclic communication ![The image displays a 'Communication sequence image' diagram featuring a top block diagram connected to a 3D ring buffer.\n\n**Top Block Diagram:**\n* There are two pairs of blue rectangular blocks arranged horizontally.\n* The first pair is grouped by a bracket labeled '**Send**'. It contains a block '**Center**' connected by a red arrow pointing right to a block '**Local**'.\n* The second pair is grouped by a bracket labeled '**Response**'. It contains a block '**Local**' connected by a red arrow pointing right to a block '**Center**'.\n\n**Connections to Ring Buffer:**\n* A black line extends from the first '**Center**' block downwards to a black dot on the left side of the ring buffer.\n* A black line extends from the second '**Local**' block downwards to a black dot on the right side of the ring buffer. This connection is near a vertical label '**1**'.\n\n**Ring Buffer and Labels:**\n* The central element is a 3D cylindrical ring buffer.\n* Text above the ring reads '**Total of send and receive: 4 bytes**'.\n* Around the rim of the ring, there are numerical labels: '**1**' (near the top left connection), '**2**' (near the top right), '**3**' (far right), and '**4**' (bottom right).\n* Inside the ring, there is an arrow pointing left. On the top rim, there is an arrow labeled '**2**' pointing right. On the far right side, an arrow points upward.\n* At the bottom, there is a dashed line labeled '**5**' and text '**64(max)**'.\n* At the bottom right, there is text '**Interrupt**'.\n* At the very bottom left, the title '**Communication sequence image**' is underlined.](.pci-7856-50-11163-1000-200/b1867711cbcebf8c7c77b3265927a1be53db4754e5831bc6872ddf6470646e35.jpg) Data communication (Send, Receive) # 3.2 MNET Motion Modules MNET motion slave module is a wire-saving solution. ADLINK offers three specific types of modules for connecting to Mitsubishi J3 servos, Panasonic A4 servos and Yaskawa Sigma II, III and V servos. Each module is easy and convenient to plug into the servo drivers. All of the servos can be connected serially through the recommended cable, greatly reducing wiring requirements.
SeriesModelServo DriverAxis No.Mechanical I/O
MNET Single Axis Motion ModulesMNET- MIAPanasonic A41PEL, MEL, ORG, SD, EMG
MNET- J3Mitsubishi MR-J31PEL, MEL, ORG, SD, EMG
MNET- S23Yaskawa Sigma II, III1PEL, MEL, ORG, SD, EMG
MNET 4-axes Motion ModulesMNET-4XMOGeneral Purposed4PEL, MEL, ORG, SD, EMG
MNET-4XMO-CGeneral Purposed4PEL, MEL, ORG, SD, EMG, TRG
# Table 3-2: MNET Motion Module Series Not only are specific single axis control modules supported, but also 4-axes control modules namely “MNET-4XMO” and “MNET-4XMO-C”. Both offer the fundamental motion functions such as point-to-point, zero-position searching, programmable acceleration/ deceleration, T/S curve speed profile and so on. Besides the MNET-4XMO-C supports high-speed position comparison, trigger output function and point table for continuous contouring application, please refer to the user guide of MNET-4XMO for more details. # 3.2.1 Single Axis Motion Modules ADLINK offers three different types motion module which was used for three specific servos. 1. The MNET-J3 can control a servomotor when I/O signals from a Mitsubishi's MR-J3 series servo driver CN1 are routed directly to this connector, CN4. 2. The MNET-MIA can control a servomotor when I/O signals from a Panasonic's (Matsushita's) servo amplifier MINAS A4 series (pulse command supporting type) servo amplifier CNI/F or CNX5 are routed directly to this connector, CN4. 3. The MNET-M341-S23 controls Yasukawa ΣII, ΣIII and ΣV series servo pack (pulse train supporting types) by docking all command and feedback signals to the CN1 connector of the servo driver. These modules can control continuous operations of a servomotor with a variety of speed patterns (constant speed, linear acceleration/deceleration, S-curve acceleration/deceleration, as well as a preset positioning operation, and a zero return operation) using serial communications. Since these modules can be connected directly to the mechanical I/O signals from a servo driver, they do not need the special servo driver cable that is required for a conventional motion control module. Therefore, these modules will save you many hours in designing and wiring your system. The motion module brings many advantages such as simplified wiring, shortened wiring runs, and it eliminates problems caused by faulty wiring. It also offers high noise immunity and takes full advantage of high-speed signal lines to handle command pulses. This module is so compact that it does not need any extra space left for wiring. If you want to control a servo or stepper motor and it is not described above or you need more advanced motion function like linear / circular interpolation motion (but not PTP motion). ADLINK also provides the 4-axes motion control modules for complicated applications. By using the specific or general purposed D-Sub cables and therefore you can connect the servo drivers directly which include Mitsubishi J2S, Panasonic MINAS A4, Yaskawa Sigma II, III and V series and Delta ASDA A2 series. ![74.9\n69\nCN1\nCN4\nCN3\nCN2\nCN1\nS3\nIO1F1\nIO1F2\nJP7\nJP3\nHS1\nHS2\nJP6\nJP5\nEMG\nJ8\nS1\n1 2 3 4 5 6\nON\nON\nS2\nON\n12\n16 2.3\n16 5.3](.pci-7856-50-11163-1000-200/d16621add161b22c60cc1cb2950d5668f3d87ca72f54d683b829beafc31ec1a5.jpg) Figure 3-2: MNET-4XMO-(C) Mechanical Diagram ![The image displays technical line drawings of a **Mitsubishi J3 Servo** drive, featuring multiple views with dimensional annotations in millimeters (**Unit: mm**).\n\n* **Top Section:** On the left is a front view of the drive's ports. To the right is a side profile with a horizontal dimension of **(68.5)**. The text **Mitsubishi J3 Servo** is printed next to the side view.\n* **Middle Section:** Shows a detailed view of connectors labeled **CN2** and **CN1**. Horizontal dimensions are **52.4** and **44**, and a vertical dimension is **16.3**.\n* **Bottom Section:** Features a side profile on the left and a rear view with mounting holes on the right. Vertical dimensions include **(3)** at the top, **64.3** for the main body height, and **(2,2)** at the bottom feet. The text **Unit: mm** appears on the far right.](.pci-7856-50-11163-1000-200/1c09a1a82d4db5ecc3bca4dc42d85702a847141d26f620ea4f90475b8db3e47b.jpg) Figure 3-3: Outline of the MNET-J3 Assembly with MR-J3 Servo Driver ![Panasonic\nM\nS\nD\nS\nKM\nNV\nN\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR\nP\nR](.pci-7856-50-11163-1000-200/9aab1095b84fdbb937b48fa07b07035c1f829fb029a498924421d42ea680d06f.jpg) ![(62.6)\nSPEFIC\nADBEY35\nSEL\nTR\nSM\nSPFIC\nSLP\nQ](.pci-7856-50-11163-1000-200/97ed58c4dccc570c2fa0a1d4287a5bb7a6063753785aff1c783578bbc9a6cd10.jpg) ![52.4\n44\n16.3](.pci-7856-50-11163-1000-200/f1bd698f21a3c1bf8a50caf68c064eb2dad9e3ab667d551892799d1ba210b33c.jpg) ![Pure mechanical assembly diagram without any text, numbers, or symbols](.pci-7856-50-11163-1000-200/ead76d4752d315bbca06e1104953f76721f7a0f74a67db32507d1b9add450575.jpg) ![(3)\n64.3\n(2.2)](.pci-7856-50-11163-1000-200/e8cab7be88460770d4cfa6e474e5467530798fde43510060660be49cfe7171ce.jpg) Figure 3-4: Outline of MNET-MIA Assembly with a MINAS A4 Servo Driver ![The image is a technical engineering drawing of a YASHAWA SERVOPACK device, displaying four views with dimensional annotations.\n\n**Top Left (Front View):**\n- Top left corner: 'YASHAWA'.\n- Below logo: 'SERVOPACK'.\n- Below that: A blank label box.\n- Terminal block labels (top to bottom): 'CHARGE', 'L1', 'L2', 'L1C', 'L2C', 'B1/', 'B2', 'U', 'V', 'W'.\n- Symbols: A warning triangle next to 'CHARGE'. Ground symbol and positive (+) symbols near the bottom terminals.\n- Connectors: Two D-sub connectors labeled 'CN1' and 'CN2'. Two rectangular connectors at the bottom.\n\n**Top Right (Side View):**\n- Dimension at top: '(62,5)'.\n- Shows mounting holes (hex nuts).\n- Switch area labels: 'SW1', 'ADDR', 'SCL ON'.\n- Side profile with rectangular cutouts.\n\n**Middle (Bottom View):**\n- Horizontal dimensions: '52.4' and inner dimension '44'.\n- Vertical dimension on right: '16.3'.\n- Connectors aligned horizontally with labels 'CN3', 'CN2', 'CN1'.\n\n**Bottom Right (Rear View):**\n- Vertical dimension: '64.3'.\n- Small top dimension: '(3)'.\n- Small bottom dimension: '(2.2)'.\n- Switch area labels: 'SW1', 'ADDR', 'SCL ON'.\n- Four mounting holes (hex nuts) in the corners.\n\n**Bottom Left (Side Profile):**\n- Shows the side profile of the device.](.pci-7856-50-11163-1000-200/000011c9bd30547570a32d96b30e2a160fb2e7c05c1d1a79536c11806b178289.jpg) Figure 3-5: Outline of MNET-S23 Assembly with a Sigma II, III & V Servo Driver # 4 HSL Slave Modules The HSL is a master-slave network system, which features an innovative distributed architecture that modularizes the communication, I/O functions and signal termination. ADLINK provides slave I/O modules and terminal base to meet your particular applications requirement including discrete I/O, analog I/O, and motion control. As for motion control module, please refer to the HSL-4XMO user manuals. Slave I/O Module: There are three groups of the slave I/O module with individual dimensions. The slave I/O module gives the terminal base different I/O capability. To identify each slave I/O module in a HSL network, a module type electronic data sheet is inherent in the module itself. And the slave I/O module located by address ID, which is selectable by a 6-bit DIP-switch. Depending on different I/O supported, every slave I/O module may consume 1 or 2 address ID. Since the greatest ID number in a HSL master is 63 (6 bit and '0' reserved for master), there are at most 63 slave I/O modules in one HSL master. Terminal Base: The job of terminal base (TB) is offering an easy wiring media. Both power and signal wiring go from terminal base into the slave I/O modules. Also, the RJ-45 connector used to link the masters to all the slave I/O modules on it. With the help of TB, the slave I/O modules are hot swappable without interfering with other modules in the same HSL network. U series: In addition to Terminal Base products, ADLINK also offers the slave modules which were named U-series. U-series slave modules offer I/O signal wiring on module top directly. It is more compact size than Terminal Base slave modules, moreover, it offers several kinds of I/O interface to perform signal linking. HUB/Repeater: HSL-HUB/Repeater provides customers sub-system idea for different topology use. Wiring Cable: The communication wiring cables among the HSL master and I/O modules are standard 100 Base/TX with RJ-45 connectors. There are exactly the same as commercial Ethernet cables. # 4.1 HSL Slave I/O Module # 4.1.1 Discrete I/O Module ADLINK provides three series: DB, M and U series. ▶ DB: Daughter board form factor ▶ M: Daughter board form factor with aluminum cover ▶ U: Low-profile design These series are listed as follows:
SeriesModelDiscrete InputDiscrete OutputRelay OutputSlave Index Occupation
DBDBHSL-DI32-DB-N/P322 (Consecutive from odd number)
HSL-DO32-DB-N/P322 (Consecutive from odd number)
HSL-DI16DO16-DB-N/P16161
MHSL-DI32-M-N/P322 (Consecutive from odd number)
HSL-DO32-M-N/P322 (Consecutive from odd number)
HSL-DI16DO16-M-NN/NP/PN//PP16161
HSL-R8DI16-M-N/P1681
UHSL-DI16DO16-US/UJ-NN/NP/PN/PP16161
HSL-DI16-UL161
Table 4-1: HSL Discrete I/O Module Series The selection guide is as follows: ![HSL - DI□DO□ - □ - XY](.pci-7856-50-11163-1000-200/cfce885cfe942317212303ba643ba39ed48ad3de8e8083266b648af8fc1185db.jpg) # Discrete I/O Type: ▶ DI16DO16: 16 discrete inputs and 16 discrete outputs ▶ DI32: 32 discrete inputs ▶ DO32: 32 discrete outputs ▶ R8DI16: 8 relay outputs and 16 discrete inputs # Series: ▶ DB: Daughter board form factor ▶ M: Daughter board with aluminum cover ▶ U: U Series ▶ DB: Daughter board form factor # Signal Type: ▶ X: Input Signal Type: NPN sinking and PNP sourcing support ▶ Y: Output Signal Type: NPN sinking and PNP sourcing support Table 4-2: HSL Discrete I/O Module Selection Guide # 4.1.2 Analog I/O Module ADLINK provides an M series as follows.
SeriesModelAnalog InputAnalog OutputSlave Index Occupation
MHSL-AI16AO2-M-VV1622 (Leap number)
HSL-AI16AO2-M-AV1622 (Leap number)
UHSL-AO442
Table 4-3: HSL Analog I/O Module Series The selection guide is as follows. ![The image displays a product selection guide or part numbering system flowchart.\n\n**Top Row Blocks (connected by hyphens):**\n* **HSL**\n* **AI□AO□** (where □ represents a checkbox/square)\n* **□** (a single checkbox/square)\n* **XY**\n\n**Detailed Columns below the blocks:**\n\n**Column 1 (under AI□AO□):**\n* **Discrete I/O Type:**\n* ► AI16AO16: 16 analog inputs and 2 analog out- puts\n\n**Column 2 (under □):**\n* **Series:**\n* ► M: Daugther board with aluminum cover\n\n**Column 3 (under XY):**\n* **Signal Type:**\n* ► X: Input signal type, V means voltage and A means current.\n* ► Y: Output signal type, V means volt- age.](.pci-7856-50-11163-1000-200/8fbac441dd088e5837aac3c6ed048698de897c592e266a94fd55031540914b4d.jpg) Table 4-4: HSL Analog I/O Module Selection Guide # 4.2 General Specifications # 4.2.1 Digital I/O Module
Discrete InputPhoto couple isolation2500 VRMS
Input impedance4.7 kΩ
Input Voltage+24 V*
Input CurrentFor NPN(1)-10 mA
For PNP(2)+10 mA
Operation Voltage (@ 24 VDC Power Supply)For NPN(1)ON: 11.4 VDC(Max.)OFF: 14.3 VDC (Min.)
For PNP(2)ON: 12.6 VDC(Min.)OFF: 9.8 VDC (Max.)
Response TimeON: 8.8 μs (Typical)OFF: 42 μs (Typical)
Discrete OutputSwitch capacityFor NPN(3)All channels: -50 mA/ch at 24 VDC
For PNP(4)All channels: +50 mA/ch at 24 VDC
Response TimeON to OFF: 68 μs
OFF to ON: 1.1 μs
RelayRelay TypeSPST, normally open, non-latching
Rating30 VDC/2 A, 250 VAC/2 A
Switching Frequency20 times/minute at rating load
Response TimeON to OFF: 3 μs (Max.)
OFF to ON: 6 μs (Max.)
Table 4-5: Digital I/O Module (1): NPN sinking type sensor input module (2): PNP sourcing type sensor input modules (3): NPN sinking type sensor output module (4): PNP sourcing type sensor output modules (5): U-series single channels: -90 mA at 24 V $_{DC}$ \*Note: The HSL-DI16-UL supports 5 V, 12 V and 24 V, selected by jumper for each channel: ▶ JDI0 - JDI15 (input voltage setting) ![1\n2\n5 6](.pci-7856-50-11163-1000-200/5fbd4e6d5c9a664b72340ee7dd69c3006522fa5bbf0d6dbf292d812b3a445e71.jpg) 5 V 12 V 24 V (default) # 4.2.2 Analog I/O Module
Analog InputA/D Resolution16-bit (14-bit guaranteed)
Input RangeFor VV type: ±10 V, ±5, ±2.5, ±1.25 V
For AV type: 20 mA, 10 mA, 5 mA
A/D Conversion10 μs
Signal Type16-CH Single Ended; 8-CH Differential
Analog OutputD/A Resolution16-bit
DA Settling Time10 μs
Table 4-6: Analog I/O Module # 4.2.3 DIP Switch Setting ![ON\n1 2 3 4 5 6](.pci-7856-50-11163-1000-200/def35686809b11f8e8b584e19a8285e294e9869fe0abe8e5011abe2732befcd3.jpg) ON = 1 100000 address 1 010000 address 2 ... ... 011111 address 62 111111 address 63 OFF = 0 # Please note the following: 1. The address (or slave index) '0' is reserved. 2. HSL-DI32-M, HSL-DO32-M, HSL-DI32-DB, and HSL-DO32-DB need two consecutive addresses that start from an odd number. For example, if the DIP switch is set as 3, it would occupy slave index 3 and 4. 3. HSL-AI16AO2-M-VV/AV needs two leap addresses at full duplex mode. For example, if the DIP switch is 2, this module will occupy 2 and 4. # 4.2.4 Wiring Diagram -N NPN Sinking type sensor Input ![Circuit\nv+\nIN\nG\n4.7kΩ\nLED\nInternal Circuits](.pci-7856-50-11163-1000-200/0e88bc60c43120f7e57b0480e55859b58ee65be310806d22148a2793a1509475.jpg) -N Dry Contact Input ![v+\nIN\nG\n4.7kΩ\nLED\nInternal Circuits](.pci-7856-50-11163-1000-200/f86a54f4c9d4f675c7ecb24d5facfcf1f9590d4fedc13ef54ab57e84d4b15e90.jpg) -P PNP Sourcing type sensor Input ![Circuit\nV+\nIN\nG\n4.7kΩ\nLED\nInternal Circuits](.pci-7856-50-11163-1000-200/4fed54895563cbe8ec074340b76ef33f422a4d22385fec7d652220642c6f06db.jpg) -P Wet Contact Input ![v+\nIN\n4.7kΩ\nG\nLED\nInternal\nCircuits](.pci-7856-50-11163-1000-200/c315973ced8504468e10093d52dc535c73c4368c42f7983d632d4b51889424ac.jpg) -N NPN Sinking Output ![LED\nInternal\nCircuits\nV+\nLoad\nOut\nG](.pci-7856-50-11163-1000-200/a46ac525e07eeb4e856e9b268e7f657172b695c74cef84a612baa47485fb2acb.jpg) -P PNP Sourcing Output ![LED\nInternal\nCircuits\nV+\nOut\nLoad\nG](.pci-7856-50-11163-1000-200/77b9d8049c63f57569d145199a2814bfb6f3202fe98b38ec0e3a985214eb2a7a.jpg) -R Relay Output ![The diagram displays a block diagram for a Solid State Relay (SSR) system.\n\n**Labeled Blocks:**\n* **LED**: Depicted as a diode symbol with arrows pointing outward.\n* **Internal Circuit**: A rectangular block.\n* **SSR**: A rectangular block.\n* **NO.n**: A terminal label.\n* **COM.n**: A terminal label.\n* **Load**: A resistor symbol.\n\n**Connections:**\n* The **LED** is connected across the top portion of the **Internal Circuit** block.\n* The **Internal Circuit** block is connected to the **SSR** block.\n* The **SSR** block outputs two lines labeled **NO.n** and **COM.n**.\n* The **NO.n** line connects to the left side of the **Load** resistor.\n* The right side of the **Load** resistor connects to a battery symbol.\n* The negative terminal of the battery symbol connects to the line labeled **COM.n**.\n* An AC source symbol (circle with a tilde) is connected via a dotted line to the **COM.n** line.](.pci-7856-50-11163-1000-200/7090e355904ba20980793e1b3d20b24e5fabb85b283f2c2c2013d9560544da44.jpg) -Analog Input (Differential Voltage Input) ![Based on the provided image, here is the accurate description of the flowchart/block diagram:\n\n**Labeled Blocks and Elements:**\n* **Text:** 'Differential Signal Source' (top left)\n* **Symbol:** AC Voltage Source (circle with a sine wave)\n* **Symbol:** DC Voltage Source (battery symbol)\n* **Text:** '(30V' (next to the DC source)\n* **Symbol:** Ground (triangle pointing down)\n* **Text:** 'AGND' (below the ground symbol)\n* **Text:** 'IN(+)' (inside the dashed box)\n* **Text:** 'IN(-)' (inside the dashed box)\n* **Text:** 'ADC' (inside the rectangular block)\n* **Visual Element:** A dashed rectangular box enclosing the input terminals and the ADC block.\n\n**Connections:**\n* The top wire from the AC Voltage Source connects to the **IN(+)** terminal.\n* The bottom wire from the AC Voltage Source connects to the **IN(-)** terminal.\n* The bottom wire from the AC Voltage Source also connects to the positive terminal of the DC Voltage Source.\n* The negative terminal of the DC Voltage Source connects to the **AGND** ground symbol.\n* Arrows connect the **IN(+)** terminal and the **IN(-)** terminal to the **ADC** block.](.pci-7856-50-11163-1000-200/622e17a460ab00428879c32d74cc07e8d7474de5ff62bf674336c72825fbad27.jpg) -Analog Input (Single-End Voltage Input) ![Based on the provided diagram, here is the description:\n\n**Labels:**\n* 'Ground Signal Source'\n* 'IN(+)'\n* 'AGND'\n* 'ADC'\n\n**Connections:**\n* An AC source symbol (circle with a sine wave) is connected to a ground symbol (triangle pointing down).\n* The top terminal of the source connects via an arrow to the input labeled **IN(+)**.\n* The bottom terminal of the source connects via an arrow to the input labeled **AGND**.\n* Both **IN(+)** and **AGND** are enclosed within a dotted rectangular box.\n* Arrows extend from **IN(+)** and **AGND** into a rounded rectangular block labeled **ADC**.](.pci-7856-50-11163-1000-200/0da8cd51d32679168c589220ea0d923fc3945a25e2f92c61e54f39fe526dfb00.jpg) # -Analog Input (Current Measure) ![This diagram depicts an analog-to-digital conversion setup. On the left, a **Current Source** (symbolized by a circle with an upward arrow) is connected in parallel with a resistor labeled **R**. Text below the resistor specifies **R=125 Ohm** and **%1 accuracy**.\n\nTwo arrows connect this parallel combination to an input stage inside a dashed boundary. The top input terminal is labeled **IN(+)** and the bottom terminal is labeled **IN(-)**. Finally, two arrows connect these input terminals to a large block on the right labeled **ADC**.](.pci-7856-50-11163-1000-200/04d175e1b791782805f37458e28a9a28ad9cd2b53008afdceb2a4a00f95124ee.jpg) # Dimensions \- DB: Daughter board form factor (100 mm X 78.2 mm) ![100\n94\nØ3.2 49L\n75\n78.2\n2.26\n4.2\n2.5\n46.43\n28\n9\n4\n82\n97](.pci-7856-50-11163-1000-200/dec73fe7c3642ec15f0c1497f5698cd0eb1d2ca11f941437c3a8d5b091a2ac2a.jpg) \- M: Daughter board with aluminum cover (125 mm X 80 mm) ![125\n22.4\n108\n80\n116\n0.7\n13.4](.pci-7856-50-11163-1000-200/34b5b100e23584f92b0ff3ca0b4df7c06eedbb9caad57db6a8941a02c79b2926.jpg) - U-series slave I/O module (71.8 mm X 138 mm) ![This image is a technical engineering drawing showing two orthographic views of an electronic device.\n\n**Top View:**\nThe upper section depicts the top surface of the device.\n* **Dimensions:** Vertical measurements on the left are labeled '71.8' and '69'. Horizontal measurements at the bottom are labeled '135' and '138'.\n* **Components:** Along the top and bottom edges are long rectangular connectors with multiple pin rows. In the center is a dense grid of text labels arranged in two rows, containing identifiers such as 'L100', 'L101', 'L102', 'L103', 'L104', 'L105', 'L106' on the top row and 'L107', 'L108', 'L109', 'L110', 'L111', 'L112', 'L113' on the bottom row. To the right, there are smaller connector blocks and a large rectangular outline with small squares inside. Near the bottom right, there are square components with circular details.\n\n**Bottom View:**\nThe lower section depicts the bottom surface of the device.\n* **Dimensions:** A vertical measurement on the left is labeled '52.7'.\n* **Components:** On the left and right edges are vertical mounting brackets. In the center is a large shape with two upward protrusions. To the right are two rectangular outlines resembling ports (possibly USB or Ethernet). Along the bottom edge, there are four circular holes, likely for mounting screws.](.pci-7856-50-11163-1000-200/60f671bad3296fb92b943c0ff4aae57d3b76599764c3bb47182991a1239868c7.jpg) # 4.2.5 Terminal Base Motion Control Module The terminal bases include: ▶ HSL-TB32-U-DIN ▶ HSL-TB64-DIN ▶ HSL-TB32-M-DIN ▶ HSL-TB32-MD # Features ▶ Field I/O wiring connection for HSL I/O modules ▶ Screw or spring terminal for easy field wiring ▶ Power and ground included for each signal channel ▶ Interlocking design for rugged installation ▶ Power LED indicator ▶ DIN rail mounting ▶ Onboard Terminator resistor # General Description
Model NameDescriptionModule Support
DB SeriesHSL-TB32-U(1) 32 channels direct connected terminal base(2) One DB slotAll HSL DB-series modules
HSL-TB64(1) 64 channels direct connected terminal base(2) Two DB slotsAll HSL DB-series modules
M SeriesHSL-TB32-M32 channels direct connected terminal base for HSL M-series moduleAll HSL M-series modules
HSL-TB32-MD
# Jumper Settings Since HSL is a serial transmission system, a terminator should be placed at the end of cable. Each TB has a jumper selectable terminator on board. Only the last module have to enable the terminator. Not the last module (Default) ![5 3 1\nOFF ON\n6 4 2](.pci-7856-50-11163-1000-200/926125e3aa97fe0ebb9ea5f56809266955823f1a9fc9039729f992e1eb542836.jpg) The last module ![5 3 1\nOFF ON\n6 4 2](.pci-7856-50-11163-1000-200/a32bc77a25a8bc2bff97e786cfb34f333349bcd2ee7b012557a35ea3d1508e61.jpg) # HSL-TB32-MD Jumper Setting JP1,2 (External Power Option) ![1 2 3\n1 2 3](.pci-7856-50-11163-1000-200/d9228626292f0709b50f1fe1f35d6d9b2639d944b2d726e330ba866f7f9af722.jpg) 1, 2 short: Different Power (Default) 2, 3 short: Common Power JP3 (Tx Terminal Resistor) ![ON\n3\n2\n1\nOFF](.pci-7856-50-11163-1000-200/74726695504321df9d3636710bdf860508cca03902db386601e4e57389c8db05.jpg) OFF is default setting JP4 (Rx Terminal Resistor) ![ON\n3\n2\n1\nOFF](.pci-7856-50-11163-1000-200/03ca880eeeaf1e308120b785fdf712ed3fbf51fc011bcb346a0c5c746afbe76d.jpg) OFF is default setting JP5 (Fuse Option) ![1 2 3\nON OFF](.pci-7856-50-11163-1000-200/c723d23786141601bea0db0fab7adc9e29262333bb39b618712693c575ac420d.jpg) 1, 2 short: With Fuse 2, 3 short: Without Fuse (Default) # Dimensions -DB with HSL-TB32-U-DIN (126x120.1x107.3) mm ![10K\n10K](.pci-7856-50-11163-1000-200/31d6d5e816d43117c07c97dd487389e875d2d6063b62f06dbc25cc22509b420a.jpg) ![Pure mechanical diagram showing a spring-loaded frame with no text or symbols](.pci-7856-50-11163-1000-200/82687526ced8ebe0c75ff56ac6e78247967bc7d1feb10944ebce936d4040eb65.jpg) ![R7.5\n40.4](.pci-7856-50-11163-1000-200/11a277bf7ac0b5449563375233865e9312555a0d9999d79dcb388efdca5aac36.jpg) ![168.7\n128.7](.pci-7856-50-11163-1000-200/250018a4580e273e33bfaeea7b6b4b712014c91df9cfa7f7fe7ced87cb869a1d.jpg) ![Technical line drawing of a mechanical assembly with spring-loaded components and a 1024mm dimension label (no text or symbols beyond measurement)](.pci-7856-50-11163-1000-200/8ffe58d8404edfb1f48da0d91096d93c87b2edc5a6832ba0db12919ead6dfbc1.jpg) ![8.0 x 1.7\n6.5](.pci-7856-50-11163-1000-200/bfd055bc3c805ccbb2d34dabee08264b8ececc7785992f038d891cb81d1dd243.jpg) -DB with HSL-TB64-DIN (168.7x120.1x107.3) mm ![168.7\n128.7](.pci-7856-50-11163-1000-200/ec9880702767ed1b915e6c04383affec7267ed814d8af804e6973b11bce8316c.jpg) ![Technical line drawing of a mechanical assembly with spring and base plate (no text or symbols)](.pci-7856-50-11163-1000-200/68c3fb201ee3e3ffd94566531a7f8398181dc3f3bd252bec5b6b3084efb4d126.jpg) ![8.5\n6.7](.pci-7856-50-11163-1000-200/5ce01db8e0e3dfe4827736c301de3bee8fbfd4a7fe7259d4e193dff09c476d48.jpg) -M module with HSL-TB32-M-DIN (128.5x85.5x108) mm ![128.9\n80.4](.pci-7856-50-11163-1000-200/6bde13ba2438b54abec51846bc17ed6cf67a61a2d0fcef87f6132d0691d82eb5.jpg) ![Pure technical line drawing of a mechanical assembly without any text, numbers, or symbols](.pci-7856-50-11163-1000-200/736c54652afb102d0f709a8bb0fee7e6402c70b900b1bb65de70229864bb8937.jpg) ![Technical line drawing of a mechanical component with dimension annotations (no readable text or symbols)](.pci-7856-50-11163-1000-200/fce499e9752eabc00112ecdcb1a4c459a1b175b09755a0f45bee094113b0095f.jpg) -HSL-TB32-MD (129x107) mm ![167\n129](.pci-7856-50-11163-1000-200/4972d277c06153d862f336143a70b8567d239259c3bea1be492e412222c32382.jpg) # 4.2.6 HSL-HUB/Repeater HSL-HUB/Repeater including: ▶ HSL-HUB ▶ HSL-Repeater # Feature - Linking style: Master to HUB, HUB to HUB, HUB to Slave ▶ Support T bracing connection / Star connection (Subsystem Concept) ▶ Support Max. 2.4km by 7 HSL-HUB/Repeater modules ▶ One input port with 3 output segment ports ▶ Jumper selectable transmission speed : 3/6/12 Mbps ▶ Full and half duplex transmission mode are jumper selectable ▶ RJ45 phone jack for easy installation ▶ 24 VDC input General Description ![The diagram presents a comparison of two configurations, arranged vertically.\n\n**Top Section:**\n* **Label:** 'Without HSL-HUB'\n* **Blocks:** 'Master Controller' (pointing to a white box) and 'Add One More' (an orange box pointing to a gap between modules).\n* **Labels:** 'A' and 'B' (associated with purple dashed arrows).\n* **Connections:** Blue pipes connect a grid of white rectangular modules. Purple dashed arrows labeled 'A' and 'B' point towards the interface between the modules.\n\n**Bottom Section:**\n* **Label:** 'With HSL-HUB'\n* **Blocks:** 'Master Controller' (pointing to a white box) and 'Add One More' (an orange box pointing to a gap between modules).\n* **Graphic:** A blue starburst shape containing the text 'Excellent'.\n* **Connections:** Copper-colored pipes connect a grid of white rectangular modules. A red dashed line connects the text 'With HSL-HUB' to the 'Excellent' starburst.](.pci-7856-50-11163-1000-200/4a7bcec01ccb11fc5336f5f0837ec0e86d1059f02a61d87ced2335b83c26e315.jpg) Figure 4-1: HSL System Configuration # Jumper Settings FD / HD setting: JP\*(0-3), JFH1 Full Duplex (default) ![FA HD\nJP\nFD HD\nJFH1](.pci-7856-50-11163-1000-200/fa3c9eb895690ba9f85497d8f7dc8d71a6de615ffe7199c906e720037701ecac.jpg) Half Duplex ![FD HD\nJP\nJFH1 FD HD](.pci-7856-50-11163-1000-200/c1106a2631b93cf05d3fe7ec62910b9ebb6c098e9ed6c1cdeab0ae6f7c1b6129.jpg) 3 M / 6 M / 12 M setting JBPS1 ![Abstract geometric pattern with black squares and white outlines (no text or symbols)](.pci-7856-50-11163-1000-200/8406640a4119aac0b2f4222659ca7b32003c932c22851c0de364a0aba6d8a5ae.jpg) 6 M (default)
1 – 3 & 2 – 412 M
1 – 3 & 4 – 66 M (default)
3 – 5 & 2 – 43 M
3 – 5 & 4 – 6EXC
# Dimensions HSL-HUB ![72\n80](.pci-7856-50-11163-1000-200/a72c5af81d8c2a50e8b09353be04d130517e25765195c980abb60e2d156d2f5e.jpg) HSL-Repeaters ![72\n48](.pci-7856-50-11163-1000-200/8760151d97db4491bc388cef2b1a5664ed3d1adcf5ae6145e72e1870f388cf54.jpg) # 4.2.7 Managing Slave Index in an HSL Network # Before you proceed Before powering on the slave modules, users have to adjust the DIP switch. For this step, please refer to Section 4.2.3 to know how to do this. Please specifically note the following. 1. One master controller can connect up to 63 slave indexes. 2. The more compact slave address in HSL network, the much more efficient the HSL system can work. 3. Discrete I/O and relay module rule
ModuleSlave Index OccupationTransmission ModeTransmission Speed
HSL-DI16DO16-M-NN/NP/PN/PP1 (Any address)Full Duplex (Fixed)6 Mbps (Fixed)
HSL-DI16DO16-DB-NN/NP/PN/PP
HSL-R8DI16-M-N/P
HSL-DI32-M-N/P2 (Consecutive from odd number)
HSL-DI32-DB-N/P
HSL-DO32-M-N/P
HSL-DO32-DB-N/P
4. Observe the analog I/O and thermocouple module rule.
ModuleSlave Index OccupationTransmission ModeTransmission Speed
HSL-AI16AO2-M-VV2 (Leap number)Full Duplex (Fixed)3/6/12 Mbps Selectable
HSL-AI16AO2-M-AV
HSL-AO4-U
5. Special Rule: If you will install only one HSL-AI16AO2-M-VV or HSLAI16AO2-M-AV and the DIP switch is set to 1 (HSL-AI16AO2-M-VV/AV only supports full duplex mode), the occupied indexes will be 1 and 3. You must assign the parameter "MOD\_No" of APS\_set\_field\_bus\_slave\_param() as 4 to ensure correct communication. # Examples The following examples are provided for user reference. All modules used are set in full duplex mode. # Example 1 Provided you installed two HSL-DI16DO16-UD, two HSL-DI32-MN, and an HSL-AI16AO2-VV with all slave modules in full duplex mode, you can have two conditions as follows: Condition 1 HSL-AI16AO2-VV×1 is in 6 Mbps. ADLINK suggests users can have the slave index configuration as follows.
ItemDIP SwitchIndex Occupation in HSL
HSL-DI32-M-N #111, 2
HSL-DI32-M-N #233, 4
HSL-AI16AO2-VV55, 7
HSL-DI16DO16-UD #166
HSL-DI16DO16-UD #288
This is an example of a compact composition. The scan time needs 30.33 $\mu$ s x 8 at 6 Mbps, full duplex mode. Users can connect the modules with one master controller. Condition 2 HSL-AI16AO2-VV×1 operates at 12 Mbps. We recommended that you use the provided slave index configuration.
ItemDIP SwitchIndex Occupation in HSL
HSL-DI32-M-N #111, 2
HSL-DI32-M-N #233, 4
HSL-DI16DO16-UD #155
HSL-DI16DO16-UD #266
There is another example of a compact composition. The scan time needs 30.33 $\mu$ s x 6 at 6 Mbps, full duplex mode. You may connect these modules with one master controller. The HSL-AI16AO2-M-VV module connects to another master controller. The DIP switch of HSL-AI6AO2-M-VV is assigned as 1. HSL-D16DO2-UL ×2, HSL-DI32-UD × 2 HSL-AI16AO2-M-VV 6 Mbps ![Four red double-headed arrows are stacked vertically.](.pci-7856-50-11163-1000-200/908e14e443d3a6ba55d48c1491a0c2dac2dc1c9c1080661edbd0454cab5826a9.jpg) 12 Mbps ![This image displays a vertical green printed circuit board, likely a PCIe card, featuring gold contact pins along the bottom edge. On the left side, two network ports are visible. In the center, there are two large black square chips surrounded by smaller components. Three white labels are clearly visible on the board with the text: 'SUN', 'P/N 483-0880 A', and 'QDR 10G Ethernet Adapter'.](.pci-7856-50-11163-1000-200/53fdfc7ef507a59282e0bed07c141aec25d8ef654b081ee30a7b7adcb64c2672.jpg) Consequently, the cycle time of the first master controller is 30.33 $\mu$ s x 6 and the cycle time of the second master controller is 45.5 $\mu$ s at 12 Mbps, full duplex mode. # Example 2 Provided you installed two HSL-DI16DO16-UJ, one HSLDI16DO16-M-NN, two HSL-DO32-M-N and one HSL-AI16AO2-VV with all slave modules in full duplex mode, you can have the following conditions: Condition 1 The HSL-AI16AO2-VV module operates in 6 Mbps. We recommended that you use the provided slave index configuration.
ItemDIP SwitchIndex Occupation in HSL
HSL-DO32-M-N #111, 2
HSL-DO32-M-N #233, 4
HSL-AI16AO2M-VV55, 6
HSL-DI16DO16-UJ #177
HSL-DI16DO16-UJ #288
HSL-DI16DO16-M-NN99
The scan time needs 30.33 $\mu$ x 17 at 6 Mbps, full duplex mode. You can connect these modules with one master controller. Condition 2 An HSL-AI16AO2-VV module operates at 12 Mbps. We recommended that you use the provided slave index configuration.
Group 1DIP SwitchIndex Occupation in HSL
HSL-DO32-M-N #111, 2
HSL-DO32-M-N #233, 4
HSL-DI16-UJ #155
HSL-DI16-UJ #266
HSL-DI16DO16-M-NN77
The scan time needs 30.33 $\mu$ s x 7. You may connect these modules with one master controller. The HSL-AI16AO2-M-VV module connects to another master controller. The management table below is for reference.
Group 2DIP SwitchIndex Occupation in HSL
HSL-AI16AO2-M-VV11, 2
Refer to the illustration below.
Group 1
Group 2
![The image displays the text '6 Mbps' at the top. Below it are two red double-headed arrows pointing in opposite directions, stacked vertically.](.pci-7856-50-11163-1000-200/20f260f447bed07b1b20fbf898aad641a13191b6c69273fce0772a9b0ccd0ace.jpg) ![The image displays a green circuit board populated with various electronic components, including integrated circuits and connectors. Visible text includes:\n- 'Adaptec' (logo)\n- 'RAID' (in red)\n- 'Adapter' (in blue)\n- 'ADAPTEC' (on a white label at the top right)\n- '500' (on two vertical labels on the left edge)](.pci-7856-50-11163-1000-200/ef192e208d56f35696d71e8ad508425ee57f3009dadc439ac697316ba3812020.jpg) 12 Mbps The cycle time of the first master controller is 30.33 $\mu$ s x 7, while the cycle time of second master controller is 15.17 $\mu$ s x 11 at 12 Mbps, full duplex mode. # 5 MotionCreatorPro 2 After installing the hardware, it is necessary to correctly configure all cards and double check the system before running. This chapter gives guidelines for establishing a control system and manually testing the PCI-7856 to verify correct operation. The software provides a simple yet powerful means to setup, configure, test, and debug a motion control system that uses PCI-7856. Note that MCP2 is only available for Windows 2000, XP and Vista with a screen resolution higher than 1024x768. Recommended screen resolution is 1024x768. It cannot be executed under the DOS environment. # 5.1 Execute MotionCreatorPro 2 After installing the software drivers for the PCI-7856 in Windows, the MCP2 program can be located at <chosen path>\MCP2.exe. Double click this file to run the program. # 5.2 About MotionCreatorPro 2 Before running MotionCreatorPro2, the following should noted. 1. MotionCreatorPro2 is a program written by BCB 6.0, and is available only for Windows with a screen resolution higher than 1024x768. It cannot be run under DOS. 2. There are a couple files necessary for this program. ▷ MCP2.mdb records parameters and graphics ▶ MCPro2.ini records initial setting 3. MCP2 is a high integration program that is supports many ADLINK motion control cards. Multiple cards can be used in one system. # 5.3 MotionCreatorPro 2 Form Introducing # 5.3.1 Main Window The main menu appears after running MotionCreatorPro 2. Refer to the following illustrations for a description of the available functions: File\Exit: Close and then exit this program. ![ADLINK\nPC3-7856\nCard No 8\nHSL BusNo 8\n(0D1) HSL-D032\n(0D15) HSL-D16D016\n(0D32) HSL-D16R008\nMNET BusNo1\n(0D8) MNET-0XMO\n● AxisNo - 1588 ServoOff\n● AxisNo - 1581 ServoOff\n● AxisNo - 1582 ServoOff\n● AxisNo - 1583 ServoOff\n(0D1) MNET-0XMO-C\n● AxisNo - 1584 ServoOff\n● AxisNo - 1585 ServoOff\n● AxisNo - 1586 ServoOff\n● AxisNo - 1587 ServoOff\nADLINK\nTECHNOLOGY INC.\nBoard ID: 0\nAPS Library: 90710\nDriver: 906231\nCPLD: 3\nCarrier Board: 0\nB\nC](.pci-7856-50-11163-1000-200/96b24ac741a7f05c6305dfd5f442fdbb5c490afbd88d0596154aa74bd0bbf65e.jpg) A. Icons for operation modes. Some will be active when a filed bus / motion item in the tree view was selected and some will be active when an axis item is selected. ▶ Functions Button: Use these buttons to select function you want test. ▷ Configuration
ButtonFunctionDescription
<img src="images/957f4eb0b9783973232b54cd7560cc72c9648c2b96f32fc250804a6fc7f35468.jpg"/>Axis/Board ConfigurationConfigure axis or board parameter.
# ▶ Movement
ButtonFunctionDescription
<img src="images/25e897870e62d32e1bfc15d9875618379ede2d3da084e0b3f560363974caf776.jpg"/>Single MovementSingle Axis movement (PTP), include absolute and relative function.
<img src="images/0fe857cd1c044737600059338a4c48d36827b9ed84248bc9ac709ef3c4c2ddea.jpg"/>Home Return MovementHome return movement.
<img src="images/09e4f3f7b2339b8f7739052114453d9f38017a9cb6dfa5ab01d688536d3b3574.jpg"/>InterpolationInterpolation function.
<img src="images/61cda6bf63f683e14a5ef008488902f34014fd04ea87b1e7c195297b91981e08.jpg"/>SamplingSampling function, it can select source and drew its profile.
<img src="images/72806610d7c8b4951c942e3ce36ef3079b384d021845628428a64c54636cea9b.jpg"/>2D MovementExecute 2D motion movement
# Field Bus
ButtonFunctionDescription
<img src="images/08b2a06a8924fba5b7626b3c01143bbc071833c5d79317cd585c01a9707a57be.jpg"/>Field Bus ConnectConnect Motionnet / HSL module. Please select baud rate at button right side and connect.
<img src="images/323d2091df1a02c0ed664aba7f957d9d482ba9566e2b0b902eb596225d6066c3.jpg"/>Field Bus DisconnectDisconnect Motionnet / HSL module.
<img src="images/e624738282bdd7852e92c5060473e289cb8b8a9499bad96b6f9449ac0aeee1df.jpg"/>Field Bus Module TestIf connect correctly, select module and use this to do module test.
B. All automation products found by MotionCreatorPro2. The tree view can displayed both motion axes and field bus I/O.
ICONFunctionDescription
(Yellow)WarningServo Warning
(Red)AlarmServo Alarm
(Black)Normal (Servo OFF)No Error and servo off
(Green)Normal (Servo ON)No Error and servo on
C. Board information about software, firmware and hardware version. # 5.3.2 HSL Distributed I/O Manager This page can be used to test the HSL system and slave modules. After executing the I/O management page, the main operation window shown below will appear. You can select the module for testing in the tree list of left window. The corresponding ID will also appear with each module. For example, the following figure shows the management pane for the HSL-AI16AO2-VV module. Analog input information is presented in this window and you can use the sliding bar to control the analog output. ![A18A02_VV PCI-3000 Module ID = 5\nA1\nB\nC\nD\nA2\nA3\nA4\nA5\nA6\nA7\nA8\nA9\nA10\nA11\nA12\nA13\nA14\nA15\nA16\nA17\nA18\nA19\nA20\nA21\nA22\nA23\nA24\nA25\nA26\nA27\nA28\nA29\nA30\nA31\nA32\nA33\nA34\nA35\nA36\nA37\nA38\nA39\nA40\nA41\nA42\nA43\nA44\nA45\nA46\nA47\nA48\nA49\nA50\nA51\nA52\nA53\nA54\nA55\nA56\nA57\nA58\nA59\nA60\nA61\nA62\nA63\nA64\nA65\nA66\nA67\nA68\nA69\nA70\nA71\nA72\nA73\nA74\nA75\nA76\nA77\nA78\nA79\nA80\nA81\nA82\nA83\nA84\nA85\nA86\nA87\nA88\nA89\nA90\nA91\nA92\nA93\nA94\nStore Status Quality:\nFINE BAD DISCONNECT](.pci-7856-50-11163-1000-200/20b4089fb290ce874e4aa80811edf7dbd015ea4553f482c24ff3a81d6f98cd85.jpg) # Operation Instructions: A. Tree view of whole HSL and Motionnet modules B. Analog input presentation C. Analog output control panel D. Check the communication status of each module. ![MedicalCranioFos2\nFile Edit Options Properties About\nPC3-7856\nCard No 8\nHSL BusNo 0\n(01) HSL-0032\n(015) HSL-DI4D016\n(032) HSL-DI4R08\nMNET BusNo1\n(08) MNET-0XMO\nAxisNo = 1580 ServoOff\nAxisNo = 1581 ServoOff\nAxisNo = 1582 ServoOff\nAxisNo = 1583 ServoOff\n(01) MNET-0XMO-C\nAxisNo = 1584 ServoOff\nAxisNo = 1585 ServoOff\nAxisNo = 1586 ServoOff\nAxisNo = 1587 ServoOff\nDO\n15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0\n31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16\nStore Status Quality\nFINE BAD DISCONNECT\nDO\n15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0\n31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16\nStore Status Quality\nFINE BAD DISCONNECT\nB\nC\nA](.pci-7856-50-11163-1000-200/1b8846de66335c3b91ff5944db94c397095d801b37364ecb9a5820a59c5d8dda.jpg) # Operation Instructions: A. Tree view of whole HSL and Motionnet modules B. Digital input presentation and digital output control C. Check the communication status of each module. # 5.3.3 Motionnet Distributed Motion Manager The Motionnet manager offers motion operations that include single axis operation, homing return operation, axis parameter setting, etc. # Parameters Management ![Auto Tension MNET PL3-706 Cx80s-0\nAuto Configuration\nAxisNo1500\nAxisNo1501\nAxisNo1502\nAxisNo1503\nB\nA\nSet To Card\nLoad From Card\nSave To File\nLoad From File\nC\nPC3-7856\nCard No 0\nHSL ButoNo 0\n(01) HSL-D032\n(015) HSL-D16D016\n(032) HSL-D16F888\nMNET BusNo1\n(03) MNET-4XMO\nAxisNo = 1588 ServoOff\nAxisNo = 1581 ServoOff\nAxisNo = 1582 ServoOff\nAxisNo = 1583 ServoOff\n(01) MNET-4XMO-C\nAxisNo = 1584 ServoOff\nAxisNo = 1585 ServoOff\nAxisNo = 1586 ServoOff\nAxisNo = 1587 ServoOff](.pci-7856-50-11163-1000-200/b2282cf3d536ff788f26977fa571d0f92fb145ad23bdec14b264d2a0baded64f.jpg) # Operation Instructions: A. Parameter type display B. Parameter values of all axes C. Parameter management button for load/save parameters to flash or users' file. You must use set to card to make this table active. Operation hints: Click the mouse right button, users can apply all parameters to other axes. # Single Movement ![PCI-7856 MNET ID = 0 AxisNo 1500\nCommand: 0\nPosition: 0\nCmd Vel: 0\nFBK Vel: 0\nErr Pos: 0\nTargetPos: 0\nSet Pos: 0\nMaxVel: 500000\nABS MOVE\nPosition 1 Position 2\n1000000 0\nREL MOVE\nForward Backward\n0 0\nVEL MOVE\nForward Backward\n0 0\nSpeed Profile Preview\nPreview\nInterrupt List\nB Repeat Mode STOP\nDelayTime: 10 C\nD PPS PDW PMV CIP LIP SMV HM NSTP DIR DEC ACC VM CSTP\nPAPB GTM GDCES STPDA SMELS SPELS ECES MELS PELS WANS ALMS EMGS SVONS ASTP JOG\nABSL TLC SMEL SPEL ZSP WARN RDY SVON INP EZ EMG ORG MEL PEL ALM](.pci-7856-50-11163-1000-200/69cfac5537ada198bcce57912b1cc1355ac8a832898c835ba37dfa76e7935811.jpg) # Operation Instructions: A. Command, feedback, error and target position information. Command and feedback speed information. The minimum speed value may limit by speed calculation cycle time for low speed display. B. Optional operation setting and button. The repeat mode check box can be used in relative and absolute mode. The axes will move between two positions or forward/backward distance cyclically. You can set the delay time between each move in unit of mini-second. The minimum value is 1ms. The stop button is for relative, absolute and velocity modes. C. Operation buttons and setting for 3 modes. You can switch operation between relative, absolute and velocity modes. The parameters of each mode must be set before operations such as position 1 and 2, forward/backward distance and forward/backward velocity. Remember to set MaxVel before executing relative and absolute mode. When using jog mode, the other three modes will be disabled. D. Motion status, I/O status and interrupt status display area. # Home Return ![PCI-7856 MNET ID = 25 AxisNo 1600\nHome EZA: 0\nHome Offset: 100\nHomeVM: 10000\nHomeVO: 152\nSelect Mode: 0\nHome Direction: Positive\nCommand: 0\nFeedback: 0\nStart Stop Set Param To Card Load Param From Card\nE PPS PDW PMV CIP LIP SMV HM NSTP DIR DEC ACC VM CSTP\nPAPB GTM GDCES STPOA SMELS SPELS ECES MELS PELS WANS ALMS EMGS SVONS ASTP JOG\nABSL TLC SMEL SPEL ZSP WARN RDY SVON INP EZ EMG ORG MEL PEL ALM\nHome Search Mode=0 ORG → Down → Stop : Start Point VS: Start Velocity VM:Max Velocity\nORG SD EL\nCase 1 (SD-inactive) Reset\nCase 2 (SD-inactive) Reset\nCase 3 (SD-inactive) Reset\nCase 1 (SD-active) Reset\nCase 2 (SD-active) Reset\nCase 3 (SD-active) Reset\nORG Offset ORG Offset\nORG Offset ORG Offset\nORG Offset ORG Offset\nORG Offset ORG Offset](.pci-7856-50-11163-1000-200/85834f1ccb741a7d691e32827fd61bed7a96ec56c85239093b24070997d129d4.jpg) # Operation instructions: A. Speed parameter of homing profile, please refer to the figure of area F. B. Modes setting of homing function, you can select one of items in pull down menu C. Command and position information when homing. After the home is done, the command counter will be reset to zero at the edge of ORG ON when VA speed. D. Operation button for start homing or stop/abort homing function E. Motion and I/O status when homing F. The timing chart of homing function # Interpolation ![Interpolation MNET PCI-7856 CardNo =0\nLinear | 2D Arc |\nLinear Speed : 0\nSelect Axis No\nPosition\nAxis X AxisNo 1500\n0\nAxis Y AxisNo 1501\n0\nAxis Z None\n0\nAxis U None\n0\nAbs Move\nStart\nStop\nCommand X Command Y Command Z Command U\n0 0 0 0\nFeedback X Feedback Y Feedback Z Feedback U Reset\n0 0 0 0](.pci-7856-50-11163-1000-200/d6f44f982c7f1215138e33b5081f43e0a6e0a1e077867329ce4a4c0f80211fb4.jpg) ![Interpolation MNET PCI-7856 CardNo =0\nLinear 2D Arc\nDirection : Cw\nArc Speed : 0\nStart\nCenter X 0\nCenter Y 0\nArc Angle\n0\nNone\nX\nCommand X Command Y Command Z Command U\n0 0 0 0\nFeedback X Feedback Y Feedback Z Feedback U Reset\n0 0 0 0](.pci-7856-50-11163-1000-200/216650edfd8019b2b54576cf99b91430b8cd72701a19de5e6df2a04f503e7a06.jpg) # Operation Instructions: A. Interpolation axes selection and operation parameter settings including center position in ARC mode or target position in Linear mode. The arc angle parameter can be larger than 360. B. Absolute or relative interpolation mode selection. In ARC mode, it relates to the center position. In Linear mode, it relates to the target position. C. Command and position information. In Arc mode, only two will be active. # Dedicated Motion I/O status You are easily able to monitor or configure motion input and output channel well. ![MNET_4XMO PCI-7856 Module ID = 0\nMEL1\nORG1\nPEL1\nMEL2\nORG2\nPEL2\nMEL3\nORG3\nPEL3\nI24V\nMEL\nORG\nPEL\nDI\nDO\nCMP+/DI\nCMP-/DO\nIGND\nMEL4\nORG4\nPEL4\nLIVE](.pci-7856-50-11163-1000-200/c08820d2d15f574603c6d4cd3056408b187b088395074806cbb5e684556913a0.jpg) # NVRAM Write/Read Window The PCI-7856 equipped with 32 KB of NVRAM. By using the write/read window, you can access and store the data in this non-violated memory directly. ![PCI-7856 Operation Page CardNo = 0\nNV RAM\naddress Offset 0 Offset 2 Offset 4 Offset 6\n0x0000 0000 0000 0000 0000\n0x0008 0000 0000 0000 0000\n0x0010 0000 0000 0000 0000\n0x0018 0000 0000 0000 0000\n0x0020 0000 0000 0000 0000\n0x0028 0000 0000 0000 0000\n0x0030 0000 0000 0000 0000\n0x0038 0000 0000 0000 0000\n0x0040 0000 0000 0000 0000\nRead All Write All Go to Address Fill Memory](.pci-7856-50-11163-1000-200/22f44c599029755731dd58dbc9bbefe79e0d39e6f98968d9390ac50a4190035d.jpg) # 5.4 Return Error Code The meaning of error codes are described below: ▶ (-1) Operation System type mismatched ▶ (-2) Open device driver failed - Create driver interface failed ▶ (-3) System memory insufficient ▶ (-4) Cards not be initialized ▶ (-5) Cards not found (No card in your system) ▶ (-6) Duplicate cards ID ▶ (-7) Cards have been initialed ▶ (-8) Cards' interrupt events not enabled or not be initialized ▶ (-9) Function time out ▶ (-10) Function input parameters are invalid ▶ (-11) Set data to EEPROM failed ▶ (-12) Get data from EEPROM failed ▶ (-13) Function is not available in this step, The device is not support this function or Internal process failed ▶ (-14) Firmware error, please reboot the system ▶ (-15) Previous command is in process ▶ (-16) Duplicate Axis ID ▶ (-17) Slave module not found ▶ (-18) System ModuleNo insufficient ▶ (-51) Set data to SRAM failed ▶ (-52) Get data from SRAM failed (-1000) No such INT number, or WIN32\_API error, contact ADLINK's FAE staff # 6 Scan Time Table # 6.1 Full Duplex Mode
Slave Index NoCycle Time under 2.5 MbpsCycle Time under 5.0 MbpsCycle Time under 10 MbpsCycle Time under 20 Mbps
Base Unit60.67 μs30.33 μs15.17 μs15.17 μs
< 3(*)182.00 μs91.00 μs45.50 μs45.50 μs
5303.33 μs151.67 μs75.83 μs75.83 μs
10606.67 μs303.33 μs151.67 μs151.67 μs
201.213 ms606.67 μs303.33 μs303.33 μs
301.820 ms910.00 μs455.00 μs455.00 μs
402.427 ms1.213 ms606.67 μs606.67 μs
503.033 ms1.516 ms758.33 μs758.33 μs
603.640 ms1.820 ms910.00 μs910.00 μs
633.822 ms1.911 ms955.50 μs955.50 μs
(\*) means the minimum scan time for full duplex mode at different transmission speed. # 7 HSL-HUB/Repeater Information # 7.1 Transfer Rates Tranfer rates recommended total extension distance and the number of inserted HSL-HUB/Repeater
Transmission RateNumber of Inserted Hubs (Repeater)
Basic Configuration1234567
3 Mbps300 m600 m900 m1.2 km1.5 km1.8 km2.1 km2.4 km
6 Mbps200 m400 m600 m800 m1 km1.2 km1.4 km1.6 km
12 Mbps100 m200 m300 m400 m500 m600 m700 m800 m
# 7.2 Scan time table Full duplex / 12 Mbps
Number of inserted Hubs (Repeater)Slave Index Number
3 (Min.)3063 (Max.)
Basic Configuration (0)45.50 μs455.00 μs955.50 μs
182.00 μs820.00 μs1722.00 μs
2118.00 μs1180.00 μs2478.00 μs
3154.00 μs1540.00 μs3234.00 μs
4190.00 μs1900.00 μs3990.00 μs
5226.00 μs2260.00 μs4746.00 μs
6262.00 μs2620.00 μs5502.00 μs
7298.00 μs2980.00 μs6258.00 μs
Full duplex / 6Mbps
Number of inserted Hubs (Repeater)Slave Index Number
3 (Min.)3063 (Max.)
Basic Configuration (0)91.00 μs910.00 μs1911.00 μs
1164.00 μs1640.00 μs3444.00 μs
2236.00 μs2360.00 μs4956.00 μs
3308.00 μs3080.00 μs6468.00 μs
4380.00 μs3800.00 μs7980.00 μs
5452.00 μs4520.00 μs9492.00 μs
6524.00 μs5240.00 μs11004.00 μs
7596.00 μs5960.00 μs12516.00 μs
Full duplex / 3Mbps
Number of inserted Hubs (Repeater)Slave Index Number
3 (Min.)3063(Max.)
Basic Configuration (0)182.00 μs1820.00 μs3822.00 μs
1328.00 μs3280.00 μs6888.00 μs
2472.00 μs4720.00 μs9912.00 μs
3616.00 μs6160.00 μs12936.00 μs
4760.00 μs7600.00 μs15960.00 μs
5904.00 μs9040.00 μs18984.00 μs
61048.00 μs10480.00 μs22008.00 μs
71192.00 μs11920.00 μs25032.00 μs
[🔗 Link to the original document](.pci-7856-50-11163-1000-200/pci-7856-50-11163-1000-200.pdf)