| PCIe-7856 | PCIe-7853 |
| Bus | PCI Express x1, Plug and Play |
| Master Controller | Dedicated Motion Controller | N/A |
| Motionnet ASIC master control (80 MHz external clock) | N/A |
| Dedicated I/O Controller: HSL ASIC master control (48 MHz external Clock) |
| Interface | Motion | RS-485 with transformer isolation | N/A |
| Half duplex communication | N/A |
| 2.5/5/10/20 Mbps transmission rate can be set by software (20 Mbps default) | N/A |
| HSL | RS-422 with transformer isolation |
| Full duplex communication |
| 3/6/12 Mbps transmission rate can be set by software (6 Mbps default) |
| Connectors | RJ45 connector x4 (MRJ45 connector for Motionnet; HRJ45 connector for HSL) | RJ-45 connector x2 (HRJ45 connector for HSL) |
| Interrupt | Status read back |
| Storage Temperature | -20°C to +80°C (-4°F to 176°F) |
| Power Consumption | +3.3 V @ 1.2 A (typical) |
| +5 V @ 1.5 A (typical) |
| Dimensions | 119.5 mm x 100.2 mm (L x W) (4.66" x 3.9") |
| Operating Systems | Windows 10/8/7 (32/64 bit) |
| Software Compatibility | VB, VC++, BCB, Delphi, VB.net, C# compatible | VB6, VC++, C# compatible |
| Various sample programs with source codes |
| Software Recommendations | APS SDK | HSL LinkMaster Utility |
| Certifications | FCC Part 15 B / EN 55032&55035 |
# 1.2 Supported Software
# Program Library
ADLINK provides Windows WDM drivers and DLL function libraries for the PCIe-7856. These function libraries are shipped with the board and they support Windows 7/8/10 (32/64-bit).
# 2 Installation
This chapter describes how to install and set up the PCIe-7856. Please follow these steps:
Check the product for any sign of defect or damage (use Figure 2-1 on page 6 as a reference).
Install software drivers (Section 2.3, page 7).
Understand the I/O signal connections and how to use them (Section 2.5 on page 7).
# 2.1 Package Contents
In addition to this User’s Guide, the package also includes the following item:
PCIe-7856: Distributed Motion and I/O Master Controller x1 or
PCIe-7853: High Speed Link Master Controller Controller x1
If any part of the item is 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 later in this chapter. Refer to the contents of this chapter before wiring any cables between the PCIe-7856 and any slave module.
# 2.2 PCIe-7856 Mechanical Drawing
Dimensions: mm
Figure 2-1: PCIe-7856 Mechanical Drawing
MRJ45: MNET connection port
HRJ45: HSL connection port
SW1: Card identification switch
LEDGR1: HSL/Motionnet Scan LEDs
# 2.3 Driver Installation
# 2.3.1 PCIe-7856
Open a web browser and navigate to the PCIe-7856/7853 product web page (https://www.adlinktech.com/Products/Motion\_Control/ DistributedMotionControl/PCIe-7856\_7853). Under Technical Resources, select Driver to see the list of available drivers. After downloading the required ZIP file, extract and double-click the enclosed executable file to run the installer. Follow the installation steps and, after installation is complete, restart the PC.
# 2.3.2 PCIe-7853
Open a web browser and navigate to the PCIe-7856/7853 product web page (https://www.adlinktech.com/Products/Motion\_Control/ DistributedMotionControl/PCIe-7856\_7853). Under Technical Resources, select Driver to see the list of available drivers. Download the HSL LinkMaster Utility for the PCIe-7853 and install it, following the onscreen instructions.
# 2.4 Troubleshooting
If the system doesn’t boot or if the PCIe board exhibits any erratic behavior, it is most likely caused by an interrupt conflict. After confirming the issue wasn’t caused by a simple oversight, the solution can be found by consulting the BIOS documentation that comes with your system. Check the Windows control panel on the connected PC to see if the card is listed by the system. If not, check the PCIe settings in the BIOS or use another PCIe slot.
# 2.5 Signal Connections
Signal connections of all I/O’s are described in the following two sub-sections. Please review this information before wiring any cables between the PCIe-7856 and slave modules.
# 2.5.1 Connecting HSL/MNET Slave Modules
Wiring for MNET Motion Slave Modules
Wiring for HSL I/O Slave Modules
Ethernet Cable (CAT5e Recommended)
# 2.5.2 RJ45 Pin Assignments
The Motionnet (MNET) master is the key component in charge of communicating with slave motion modules. The master sends commands to slave motion controllers and obtains motion status from them. The PCIe-7856 provides two MNET master connection ports for greater wiring flexibility. The pin assignments of the MRJ45 connector on the PCIe-7856 are as listed below:
| Item | Specifications |
| Total serial communication line length (using recommended cables) | ► Maximum of 100m (at a data transfer speed of 20 Mbps with 32 devices connected)► Maximum of 50m (at a data transfer speed of 20 Mbps with 64 devices connected)► Maximum of 100m (at a data transfer speed of 10 Mbps with 64 devices connected) |
| Serial communication interface | Pulse transformer and RS-485 specification line transceiver |
| Serial communication protocol | ADLINK proprietary protocol |
| Serial communication | NRZ signed |
| Serial communication method | Half-duplex communication |
| Connection method | Multi-drop connection using a LAN cable (CAT5/ CAT5e STP/S-STP) |
| Serial data transfer speed | 20 Mbps/10 Mbps/5 Mbps/2.5 Mbps programmable speed setting |
| Maximum number of MNET modules | 64 (the total number of axes will be 64 if all single-axis modules are connected or 256 if all modules belong to MNET-4XMO) |
Table 3-1: MNET System Specifications
# 3.1.1 Wiring Cables
The PCIe-7856 system guarantees enhanced quality for highspeed communication and is designed to be connected with userprovided LAN cables suitable for 100BASE-T and 1000BASE-T. Because these cables have well-known specifications and are cheap and easy to obtain, we do not provide them and do not include them in our product lines. When selecting cables, make sure they meet one of the following standards.
# Wiring Standards
TIA/EIA-568-B
Category 5 (CAT5)
Enhanced Category 5 (CAT5e)
Category 6 (CAT6)
Choose UTP (Unshielded Twisted Pair) or STP (Shielded Twisted Pair) cables that meet one of the standards above. For an environment with excessive electromagnetic noise, use a shielded cable (STP).
Observe the following when connecting your system.
1. Keep the total serial line length as short as possible.
2. Maximum total serial line length will vary based on the data transfer speed and the number of local boards that are connected (this system employs a multi-drop connection method).
20 Mbps with 32 modules connected: Max. 100 m
20 Mbps with 64 modules connected: Max. 50 m
10 Mbps with 64 modules connected: Max. 100 m
3. The shortest cable must be at least 60 cm long.
4. Do not mix cables of different types or models in the same serial line.
5. If 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
The following is a communication block diagram for a Missionnet (MNET) system.
| Discrete Input | Photo Couple Isolation | 2500 VRMS |
| Input Impedance | 4.7 kΩ |
| Input Voltage | +24 V |
| Input Current | For 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 Time | ON: 8.8 μs (typical)OFF: 42 μs (typical) |
| Discrete Output | Switch Capacity | For NPN(3) | All channels: -50 mA/ch at 24 VDC |
| For PNP(4) | All channels: +50 mA/ch at 24 VDC |
| Response Time | ON to OFF: 68 μs |
| OFF to ON: 1.1 μs |
| Relay | Relay Type | SPST, normally open, non-latching |
| Rating | 30 VDC/2 A, 250 VAC/2 A |
| Switching Frequency | 20 times/minute at rating load |
| Response Time | ON to OFF: 3 μs (max.) |
| OFF to ON: 6 μs (max.) |
Table 4-5: Digital I/O Module
(1) NPN sinking type sensor input modules.
(2) PNP sourcing type sensor input modules.
(3) NPN sinking type sensor output modules.
(4) PNP sourcing type sensor output modules.
# 4.2.2 Analog I/O Modules
| Button | Function | Description |
| <img src="images/88504e17baa0046c736fed90de1eb78e4bf71e295c7c112547797585595fe6fe.jpg"/> | Single Movement | Single-axis movement (PTP), including absolute and relative functions. |
| <img src="images/01580bce5b959ee46dfa7afae9918086cf55fe8e8e607c83ece2abe5fb35ffa4.jpg"/> | Home Return Movement | Home return movement. |
| <img src="images/ee5bebf14d69375b967ea6722baaa12f0e30b6cb771ddfcce806d2169b49abcd.jpg"/> | Interpolation | Interpolation function. |
| <img src="images/16e96e98caac4855d1806875e86acdba850c57dc7710fd4ff22ba915aab9b89f.jpg"/> | Sampling | Sampling function. Select this to set the source and draw its profile. |
| <img src="images/ac4588000c8749f5fa4e93e9d3599b443bf3bff44d552a1a140c2eed1f776b9d.jpg"/> | 2D Movement | Execute 2D motion. |
# Field Bus
| Function Name | Description |
| HSL_initial | Master card initialization |
| HSL_intial_sw | Initialize by system automatically (sw_enable=0) or manually via the S1 dip switch (sw_enable=1) (7853/54 only) |
| HSL_close | Release all resources occupied by master card |
| HSL_start | Start to scan all the slave modules connected to master card |
| HSL_auto_start | Start to scan and automatically detect all the slave modules connected to master card |
| HSL_stop | Stop scanning the connected slave modules |
| HSL_set_scan_condition | Set scanning conditions (only for 7853/54) |
| HSL_get_scan_condition | Get scanning conditions (only for 7853/54) |
| HSL_connect_status | Get the communication status of the specified slave module |
| HSL_slave_live | Get the module status of the slave module |
| HSL_get_irq_channel | Get the IRQ occupied by master card |
Timer Control, section 8.4
| Function Name | Description |
| HSL_D_read_input | Read back all discrete I/O with unsigned 32-bit |
| HSL_D_read_channel_input | Read back discrete I/O by channel selection |
| HSL_D_write_output | Write all discrete I/O with unsigned 32-bit |
| HSL_D_write_channel_output | Write discrete I/O by channel selection |
| HSL_D_read_ouput | Read back the output value stored in RAM |
| HSL_D_read_all_slave_input | Read back all inputs of slave modules |
| HSL_D_write_all_slave_output | Write all outputs of slave modules |
| HSL_D_set_input_logic | Set the logic of digital input |
| HSL_D_set_output_logic | Set the logic of digital output |
| HSL_D_set_int_renewal_type | Set DI renewal check type (Only for 7853/54) |
| HSL_D_set_int_renewal_bit | Set the data bits of DI renewal check for each slave (Only for 7853/54) |
| HSL_D_set_int_control | Set DI interrupt enable or disable (Only for 7853/54) |
| HSL_D_wait_di_interrupt | Wait DI renewal event(Only for 7853/54) |
Analog I/O, section 8.6
| Function Name | Description |
| HSL_A_start_read | Start A/D conversion. |
| HSL_A_stop_read | Stop A/D conversion |
| HSL_A_set_signal_range | Set the signal range of analog input channels |
| HSL_A_get_signal_range | Get the signal range of analog input channels |
| HSL_A_get_input_mode | Get the signal input mode |
| HSL_A_set_last_channel | Set the last channel of analog input channels |
| HSL_A_get_last_channel | Get the last channel of analog input channels |
| HSL_A_read_input | Read back the value of analog input channels |
| HSL_A_write_output | Send out the analog output |
| HSL_A_read_output | Read back the analog output data |
| HSL_A_sync_rw | Read and write the data synchronously |
| HSL_A_get_version | Get the kernel version of analog I/O module |
# 8.2 Initialization and System Information
# @ Name
HSL\_initial – Master board initialization
HSL\_initial\_sw – Initialize by the system automatically (sw\_enable=0) or manually via the S1 dip switch (sw\_enable=1) (7853 only)
HSL\_close – Release all resource occupied by master board
HSL\_start – Start to scan all slave module connected to master board
HSL\_auto\_start – Start to scan and automatically detect all the slave modules connected to master card
HSL\_stop –Stop scanning the connected slave modules
HSL\_set\_scan\_condition – Set scanning conditions (7853 only)
HSL\_get\_scan\_condition – Get scanning conditions (7853 only)
HSL\_connect\_status – Get the communication status of the specified slave module
HSL\_slave\_live – Get the module status of the slave module
HSL\_get\_irq\_channel – Get the IRQ occupied by the master card
# @ Description
HSL\_initial\_sw:
Like HSL\_initial, it can initialize the hardware and software states of the HSL master card. This function returns the initialized card bit. Users can use get this API to initialize all HSL master cards at one time, and check their card IDs. It also supports automatically (sw\_enable = 0) or manually (sw\_enable=1) arranged card IDs via the S1 dip switch.
HSL\_initial:
Initializes the hardware and software states of the HSL master card. You can check the return code of this function to know if the initialization is successful or not. Since the HSL master card is plug-and-play, the base address and IRQ level are automatically assigned by the BIOS.
HSL\_close:
Releases the resource occupied by the HSL master card. When terminating the program, do not forget to call this function to release all the resource occupied by the HSL master card.
HSL\_start:
Scans the total connected slave modules. You can assign the number of slave indexes the HSL master board will scan.
HSL\_auto\_start:
Automatically detects the total connected slave modules. Every master controller can connect up to 63 slave indexes.
HSL\_stop:
Stops scanning the connected slave modules.
HSL\_set\_scan\_condition:
Assigns the scan rate (3/6/12 Mbps) and communication types (full or half duplex). This function needs to be set up between the function HSL\_initial and HSL\_start.
HSL\_get\_scan\_condition:
By this function, User can get the settings of communication types and scan rate which are set by “HSL\_set\_scan\_condition”.
HSL\_connect\_status:
This function is used to check the communication status between master board and slave modules.
HSL\_slave\_live:
This function is used to check the status of the slave module (alive or dead).
HSL\_ get\_irq\_channel:
This function is used to get IRQ assigned by the system.
# @ Syntax
C/C++
```c
I16 HSL_initial (U16 card_ID);
I16 FNTYPE HSL_initial_sw(I32 *card_ID_inBit, I16 sw_enable);
I16 HSL_close (U16 card_ID);
I16 HSL_start (U16 card_ID, U16 connect_index, U16 max_slave_No);
I16 HSL_auto_start (U16 card_ID, U16 connect_index);
I16 HSL_stop (U16 card_ID, U16 connect_index);
I16 HSL_set_scan_condition(I16 card_ID, I16 connect_index, I16 comm_type, I16 transfer_rate, I16 hub_number);
I16 HSL_get_scan_condition(I16 card_ID, I16 connect_index, I16 *comm_type, I16 *transfer_rate, I16 *hub_number);
I16 HSL_connect_status (U16 card_ID, U16 connect_index, U16 slave_No, U8 *sts_data);
I16 HSL_slave_live (U16 card_ID, U16 connect_index, U16 slave_No, U8 *live_data);
void HSL_get_irq_channel (I16 card_ID, I16 *irq_no);
```
Visual Basic
```c
HSL_initial (ByVal card_ID As Integer) As Integer
HSL_initial_sw (ByRef card_ID_inBit As Integer, ByVal sw_enable As Integer) As Integer
HSL_close (ByVal card_ID As Integer) As Integer
HSL_start (ByVal card_ID As Integer, ByVal connect_index As Integer, ByVal max_slave_No As Integer) As Integer
HSL_auto_start (ByVal card_ID As Integer, ByVal connect_index As Integer) As Integer
HSL_stop (ByVal card_ID As Integer, ByVal connect_index As Integer) As Integer
HSL_set_scan_condition(ByVal card_ID As Integer, ByVal connect_index As Integer, ByVal comm_type As Integer, ByVal transfer_rate As Integer, ByVal hub_number As Integer);
```
```c
HSL_get_scan_condition((ByVal card_ID As Integer, ByVal connect_index As Integer, comm_type As Integer, transfer_rate As Integer, hub_number As Integer);
HSL_connect_status (ByVal card_ID As Integer, ByVal connect_index As Integer, ByVal slave_No As Integer, sts_data as Byte) As Integer
HSL_slave_live (ByVal card_ID As Integer, ByVal connect_index As Integer, ByVal slave_No as Integer, live_data as Byte) As Integer
HSL_get_irq_channel (ByVal card_ID As Integer, irq_no As Integer) As Integer
```
# @ Argument
card\_ID: Specify the HSL master card index. Normally, the board index sequence would be decided by the system. The index is from 0.
\*card\_ID\_inBit: Card ID information in bit format. Example: If the value of BoardID\_InBits is 0x11, there are 2 cards in your system and the card’s IDs are 0 and 4.
sw\_enable: Card ID is initialized by the system automatically (sw\_enable=0) or manually via the S1 dip switch (sw\_enable=1).
max\_slave\_No: The maximum slave index connected to the HSL master card with the connect\_index. The valid value is from 1 to 63.
slave\_No: Specifiy the slave module with slave index which want to perform this function. The valid value is from 1 to 63.
comm\_type: Half or Full duplex
0: Half duplex
1: Full duplex
transfer\_rate: transfer rate setting
1: 3M
2: 6M
3: 12M
hub\_number: cascaded Hub number. If no Hub in the system, the value of hub\_number is set to 0.
\*sts\_data: The communication status of this slave module. The definition is as follows.
Bit 0 is Data\_Req bit.
Bit 2 is for CHK1. (If Bit2 is 1. It means that there is 1 time communication error).
Bit 3 is for CHK3. (If Bit3 is 1. It means that there are 3 times communication errors).
Bit 4, BIT 5 and BIT 6 bits are for CHK7. (If Bit4, Bit5 and Bit6 all are 1. It means that there are 7 times communication errors).
\*live\_data: The module status.
1: the module is live
0: the module is die.
irq\_no: IRQ occupied by master card.
# @ Return Code
```txt
ERR_No_Error
ERR_Open_Driver_Fail
ERR_Invalid_Board_Number
ERR_Satellite_Number
ERR_Connect_Index
```
# 8.3 Error Codes
The following table provides a list of possible return values in the HSL master library. If the return value is non-zero, it means there an error or warning has occurred. The C/C++ standard header file, HSL\_ErrorCode.h, defines the error codes.