ADLINK HSL-DO32-M-N, HSL-DO32-M-P User Manual

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High Speed Link System

Master-Slave Distributed Solution

User’s Manual

Manual Rev. 2.05

Revision Date: October 15, 2007

Part No: 50-12100-2040

Advance Technologies; Automate the World.

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.

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.

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NuDAQ, NuIPC, DAQBench are registered trademarks of ADLINK TECHNOLOGY INC.

Product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies.

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Please email or FAX this completed service form for prompt and satisfactory service.

List of Tables

Table 1-1: Remote Operation .................................................. 10

Table 1-2: Slave I/O modules .................................................. 12

Table 1-3: Remote Motion modules ......................................... 12

Table 1-4: Terminal Base ......................................................... 13

Table 1-5: Polling cycle time of HSL (Full Duplex Mode) ......... 25

iv List of Tables

List of Figures

Figure 1-1: HSL topology ............................................................. 2

Figure 1-2: Traditional distributed PLC architecture .................... 5

Figure 1-3: Networking PLC......................................................... 6

Figure 1-4: HSL as distributed PLC ............................................. 7

Figure 1-5: Time-deterministic DAQ using HSL ........................... 8

Figure 1-6: HSL technology brief -1 ........................................... 14

Figure 1-7: HSL technology brief-2 ............................................ 15

Figure 1-8: HSL I/O polling cycle ............................................... 17

Figure 1-9: Master-slave communication architecture ............... 18

Figure 1-10: Multiple master cards in one IPC............................. 20

Figure 1-11: HSL system layout example-serial wiring................ 21

Figure 1-12: HSL wiring – RS-422 with multi-drop....................... 23

Figure 1-13: HSL networking topology – Serial ........................... 24

Figure 2-1: PCI-7854 front view ................................................. 29

Figure 2-2: PCI-7853/7854 Layout............................................. 31

Figure 2-3: PMC-7852/G Layout ................................................ 32

Figure 2-4: SW1 – Transmission Rate Setting........................... 34

Figure 2-5: Top View of PMC-7852/G, for JP 1, 2, 3, 4, 5, 6 jumper

settings. ................................................................... 34

Figure 2-6: Functional Block diagram of HSL master ................ 36

Figure 5-1: Type 1...................................................................... 92

Figure 5-2: Type 2...................................................................... 92

Figure 5-3: Type 3...................................................................... 93

Figure 6-1: Programming Flow ................................................ 109

List of Figures v

How to Use This Manual

This manual helps you in configuring, installing, and using the HSL series products, and describes the functions and the operational theorem of the high-speed link technology. This manual is divided into the following chapters:

Chapter 1 - HSL Introduction: Provides an overview of the HSL system, including the system features, specifications, and communication technology.

Chapter 2 - HSL Master Controller: Presents detailed information on the HSL master.

Chapter 3 - HSL Slave Module: Presents detailed information on the HSL slave modules.

Chapter 4 - HSL LinkMaster Utility: Provides instructions on how to install and use the ADLINK LinkMaster utility for testing and debugging the slave modules.

Chapter 5 - HSL Function Library: Presents the function library usage and syntax.

Chapter 6 - Programming with HSL Function Library: Provides a broad concept and knowledge of how to implement the application with the HSL library.

Appendix A - Scan Time Table: Presents the HSL cycle time based on different transmission speeds and modes.

Appendix B - Mapping Table: Provides a comparison table between old and new functions.

Appendix C - HSL-AI16AO2 Calibration: Outlines the calibration procedures for HSL-AI16AO2-M-VV and HSL-AI16AO2-M-AV.

Appendix D - HSL-HUB/Repeater information: Presents the adding time information and extension limitations.

vi How to Use This Manual

References

Master board. HSL is a master-slave communication system. In

host side, we call the control board as master board.

Slave module. HSL is a master-slave communication system. In remote side, the slave module can connect a variety of sensors.

Slave index. The basic unit in HSL system. One HSL slave module may occupy 1, 2 or 4 slave indexes. This depends on the design of slave modules.

Full duplex. Data transmission and receiving at the same scanning time.

Half duplex. Data transmission and receiving at the consecutive scanning time.

HSL master controller. One HSL ASIC plays the role of master controller. For example, PCI-7853 has one on-board HSL ASIC; it can connect a maximum of 63 slave indexes. For convenient connection, the HSL master has two ports. Using the same technology, the PCI-7854 can connect a maximum 126 slave indexes and has four ports.

Transmission speed. The data speed is between master board and slave modules. The unit is bit per second.

How to Use This Manual vii

viii How to Use This Manual

1 Introducing HSL

1.1 The HSL System

The HSL is an innovative distributed I/O technology that enables time-deterministic scanning of thousands of I/O points in milliseconds using master-slave architecture. The HSL master board comes in PCI or PMC form factors. The PMC board is used in embedded controllers. By using commercial Ethernet cable with RJ-45 connector, you can easily set up the HSL slave modules as close as possible to the sensor devices, reducing wiring effort. Aside from the I/O modules, ADLINK provides the remote motion control module with 4-axis pulse train type. The HSL network suits a variety of machine-making applications as it integrates discrete I/ O, analog I/O, thermocouple module, and motion control. This local network delivers rapid response time, time-deterministic scanning and multiple-axis control. With PMC module, you may also integrate the HSL network with embedded solution platforms.

The HSL system features:

X Distributed solution based on PC architecture or embedded

platform

X Convenient wiring for remote distributed I/O modules,

including discrete I/Os and analog I/Os

X Space-saving and discrete low-profile U-series form factor

X Hundreds of discrete I/O points

X Time-deterministic, fast scanning

X High-speed data acquisition

X Up to 120 axes of remote motion control with two HSL mas-

ter controller of master board

X Motion control features point table management and motion

script download to enhance execution efficiency

Introducing HSL 1

1.1.1 Product Overview

The illustration shows the basic HSL system topology.

Figure 1-1: HSL topology

1.1.2 Product Highlights

High-speed performance

With scanning speed as high as 1000 points per ms, it takes only 1.895 ms for an HSL master to scan all the discrete I/O points of slave modules under 6 Mbps. For example, a distributed control system with 63 slave I/O modules of HSLDI16DO16-DB-NN with 2016 discrete I/O points can be scanned or updated within 1.895 ms.

2 Introducing HSL

Time-deterministic scanning

The HSL master controller implements a deterministic time period when scanning all slave I/O modules. The total scanning cycle time is exactly proportional to the number of slave indexes. At 6 Mbps, every 30.33 µs is added for another slave index. For an HSL system with 30 discrete I/O slave modules (where every discrete I/O module occupies one slave index), the scanning time period is precisely 30 X 30.33 µs = 909.9 µs. The scan time unit based on transmission rate is illustrated below.

3 Mbps 6 Mbps 12 Mbps

Full Duplex 60.67 µs 30.33 µs 15.17 µs

Half Duplex 118 µs 59 µs 29.5 µs

Convenient wiring

The HSL master controller connects to all slave I/O modules using Ethernet cables. This dramatically reduces the wiring costs and effort. With Ethernet cables, hundreds or even thousands of I/O data can transmitted between the HSL master and slave I/O modules. The HSL wiring is the easiest and most cost-effective solution to date. For low profile series, you can make the connection by direct wiring.

Multiple I/O points

The PCI-7853 offers one HSL master controller while the PCI7854 offers two HSL master controllers. For maximum installation, users can have eight PCI-7853 and PCI-7854 in one system. That means users can have 1512 slave indexes in HSL network system. If choosing all connected modules as HSLDI16DO16-DB-NN, a total of 24,192 digital input and 24,192 digital output points are supported. For embedded solution, users can choose the PMC-7852/G.

Easy I/O expansion

Expanding I/O points for centralized configuration requires more I/O boards and available PCI or ISA slots. Problems occur when system needs more I/O points while there are no

Introducing HSL 3

available slot. In contrast with centralized configuration, the distributed I/O configuration eliminates this limitation of a centralized I/O configuration. With the HSL system, adding more I/O points only requires one more slave I/O module and an Ethernet cable for communication link.

Self-diagnostic function

The HSL provides a self-diagnostic function that eliminates communication failures. This function continuously monitors the network status while a status register keeps the accumulated slave-no-response count for every individual slave I/O module. Also, the HSL system features the CRC12 to eliminate any communication error.

Modular design of slave I/O

ADLINK offers a variety of slave module types Including the metal-cased M series, non-metal DB series, and U series for compact systems. The M and DB series require a terminal board for connection. Terminal boards act as carrier of slave I/ O module with wiring function. The Ethernet port and screw terminal on the terminal boards make it easier to replace I/O modules without turning and wiring off the system.

Remote motion control compatibility

ADLINK also offers remote motion control solution based on the HSL network Including the HSL-4XMO-CG-N/P and HSL4XMO-CD-N/P that could connect up to four axes. The HSL4XMO-CG-N/P features a general-type interface for use with stepper or linear motors, while the HSL-4XMO-CD-N/P has a D-sub interface. By using a transfer cable, you can connect to specific servo amplifier. You can easily make a distributed control application that includes discrete I/O, analog I/O, and remote motion control.

Easy to program

Every HSL master card comes with 32 KB SRAM that carries all the I/O status information of the HSL system. The ASIC on the HSL master board communicates with all remote slave I/O

4 Introducing HSL

modules at fixed scanning period and keeps the most updated I/O status information on the SRAM. You may read and write the data in the 32 KB SRAM on HSL master card through the PCI or PMC bus. You can easily read/write the most updated I/ O information and never worry with the HSL protocol.

1.1.3 HSL Applications

HSL as a Distributed PLC

The distributed PLC is an important system in the field of industry automation. Via communication modules, such as RS232, RS485, PLC also performs distributed control. The traditional architecture of distributed PLC application is shown in Figure

1.2. In this setup, the MPC (Monitoring PC) takes over as the medium for data transmission from field to MIS.

RS-485

Figure 1-2: Traditional distributed PLC architecture

With the development of communication technology and popularity of networking, networking modules with Ethernet interface became available. This improvement evolved as shown in the architecture below. The medium character of the MPC was replaced.

Introducing HSL 5

Figure 1-3: Networking PLC

PLCs that are capable of network communications are usually very expansive. And since the PLC is not an open architecture, only hardware vendors are capable of producing it.

6 Introducing HSL

The HSL distributed control architecture is illustrated in Figure 1.4. With HSL, there is no need for an extra PC for Ethernet communication. You may use only one IPC to control the entire system.

Figure 1-4: HSL as distributed PLC

Comparison between traditional PLC systems and HSL as distributed PLC

X The MPC is replaced by a PC with HSL Master

X The HSL slave I/O module is replaced by a remote side

PLC

X The RS485 or RS232 cable is replaced by simple Ethernet

cable

X The protocol handling is replaced by simple memory read/

write.

HSL as Remote Time-deterministic DAQ

The HSL system, with high-speed performance and deterministic time-deterministic scanning, is also applicable for remote time-deterministic data acquisition.

Introducing HSL 7

The time-deterministic characteristic of an HSL system is an important factor when implementing a DAQ application. With an HSL system, all I/O data are refreshed in time-deterministic. The sampling rate (or scan rate) is linearly dependent on the number of slave indexed occupied, ranging from 91 µs (less than three slave indexes) to 1.911 ms (63 slave indexes) under 6 Mbps. These two features go with HSL’s remote capability to make it suitable for remote DAQ applications, especially when time-deterministic is of utmost concern.

Figure 1-5: Time-deterministic DAQ using HSL

8 Introducing HSL

1.2 HSL System Specifications

Platform

X Hardware platform: Industrial PC with PCI Bus/Embedded

SBC with PMC connector

X Operating system platform: Windows® 98/2000/NT/XP or

Linux Redhat

Software support

X Windows XP/2k library

X Linux: Kernel 2.4.x

HSL Master Board

X PCI -7853 single HSL master controller board with two ports

X PCI -7854 dual-HSL master controller board with four ports

X PMC-7852/G dual-HSL master controller board with four

ports and PMC connector

Remote operation

One master controller has two ports. One port uses the RJ-45 phone jack as connector. One phone jack can drive a maximum 32 modules at maximum. One master controller can connect maximum 63 slave indexes.

The maximum wiring distance for each RJ-45 connector (one port) is 200 m @ 6 Mbps (serial wiring from master to last slave module). The maximum length of port connection may be 400 m @ 6 Mbps since both sides are 200 m in length.

Introducing HSL 9

Transmission Speed L (m)

3 Mbps 300

6 Mbps 200

12 Mbps 100

Table 1-1: Remote Operation

Supports maximum 2.4 km wiring via seven HSL-HUB/ Repeater modules

Without HUB HUBX1 HUBX2 HUBX5 HUBX7

12 Mbps 100 m 200 m 300 m 600 m 800 m

6 Mbps 200 m 400 m 600 m 1200 m 1600 m

3 Mbps 300 m 600 m 900 m 1800 m 2400 m

Wiring

X Connector: RJ-45 (on master controller and some of slave

modules)

X Cable: Cat-5 100 Base/TX Ethernet cable with shielding

10 Introducing HSL

Communications

X Multi-drop full-duplex RS-422 with transformer isolation

scheme

X Transmission speed: 3/6/12 Mbps (6 Mbps is factory default

setting).

X I/O refresh rate: scan time unit × numbers of slave indexes

(minimum is 3; maximum is 63)

3 Mbps 6 Mbps 12 Mbps

Full Duplex 60.67 µs 30.33 µs 15.17 µs

Half Duplex 118 µs 59 µs 29.5 µs

X Communication model: single master to multi-slave

X Communication method: command/response type hand-

shaking

X CRC12 and dedicated protocol for eliminating communica-

tion errors

Introducing HSL 11

1.3 HSL Series Products

HSL Master controller boards

See HSL Master Board on the previous section.

At least one master controller card is needed for an HSL system. With PCI-7854 or PMC-7852/G, two master controllers are available. A maximum of 12 cards are supported for a single computer system.

Slave I/O modules

A variety of HSL slave I/O modules are available.

Series Model

HSL-DI32-DB-N/P 32 (1,3, 5, …,61) 2

HSL-DO32-DB-N/P 32 (1,3, 5, …,61) 2

HSL-DI16DO16-DB-N/P 16 16 1-63 1

HSL-DI32-M-N/P 32 (1,3,…,61) 2

HSL-DO32-M-N/P 32 (1,3,…,61) 2

HSL-DI16DO16-M-NN/NP/PN//PP 16 16 1-63 1

HSL-R8DI16-M-N/P 16 8 relay 1-63 1

HSL-AI16AO2-M-VV 16 2 1-61 2

HSL-AI16AO2-M-AV 16 2 1-61 2

HSL-DI16DO16-US/UJ 16 16 1-63 1

HSL-DI16-UL 16 1-63 1

HSL-AO4 4 1-62 2

Discrete

Input

Discrete

Output

Analog

Input

Analog Output

Start Index

Setting Range

Table 1-2: Slave I/O modules

Note: Start Index Setting Range means range of the start index

address of DIP switch setting. Full duplex and half duplex mode have different ranges.

The following remote motion control modules are also supported:

Series Model Axes Interface

HSL-4XMO-CG-N/P 4 General series

Motion

HSL-4XMO-CD-N/P 4 D-sub

Table 1-3: Remote Motion modules

Start In dex

Setting Range

1~60 for Half Duplex 1~57 for Full Duplex

Slave Index Occupation

12 Introducing HSL

Note: Start Index Setting Range means range of the start index

address of DIP switch setting. Full duplex and half duplex mode have different ranges.

Terminal Base

A variety of HSL terminal base are also available.

Model Numbers Module Type Support Module Number Support

HSL-TB64-DIN All the HSL DB series 2

HSL-TB32-U-DIN All the HSL DB series 1

HSL-TB32-M-DIN All the HSL M series 1

HSL-TB32-MD All the HSL M series 1

Table 1-4: Terminal Base

Introducing HSL 13

1.4 Technical Information

1.4.1 HSL Technology Introduction

Inside an HSL system, a single master controller communicates with multi-slave through a command-response. The master controller sends commands to slave I/O modules for setting output values and requesting input information. Every slave module responds after receiving commands with address ID. The responses may either be to set output according to the received values or to reply requested input information to the master controller.

The illustration below shows the HSL working theory as regards the setting of output values.

Figure 1-6: HSL technology brief -1

14 Introducing HSL

The teacher (master) sends message “ID.#, your output values are XXX” to all students (slave I/O modules). Every student (with ID.#) then sets its output channels according to the values heard. The values that the teacher announced to the students are written on the blackboard (RAM on master cards), and can be easily modified.

The following illustration shows the working theory for gathering

input information.

Figure 1-7: HSL technology brief-2

Introducing HSL 15

The teacher (master) sends the message “ID.#, what is your latest input status” to all students (slave I/O modules). Every student (with ID.#) then gives his answer. The teacher writes the answers on the blackboard (RAM on master cards). When someone (user’s AP) wants to know the students’ answers, he refers to the blackboard. All input information are saved in the memory.

These two procedures take turn and repeat on every slave module. After each cycle, each slave module sets its newest output status and the master gathers all these information from the memory. We simulate the polling communication cycle through a teacher-student conversation:

Teacher: Student No. 1, your output vales are ##, what’s your latest input status?

Student No. 1: My input status is ##

Teacher writes the answer on the blackboard.

Teacher: Student No. 2, your output vales are ##, what’s your latest input status?

Student No. 2: My input status is ##

Teacher writes the answer on the blackboard.

Until…

Teacher: Student No. 63, your output vales are ##, what’s your latest input status?

Student No. 63: My input status is ##

Teacher writes the answer on the blackboard.

The polling cycle is now complete. The process repeats from Student No. 1.)

16 Introducing HSL

Figure 1-8: HSL I/O polling cycle

Introducing HSL 17

The HSL master-slave communication architecture is illustrated below:

Figure 1-9: Master-slave communication architecture

18 Introducing HSL

1.4.2 HSL Terminology

In addition to the input/output polling mechanism shown above, here are some HSL-related syntax for your reference.

HSL Master. Master is defined as the teacher in Figure 1.9 and

1.10. The master takes charge of giving commands, including output value announcements and latest input status requests.

Slave I/O Module. Slave I/O modules are defined are the students in Figure 1.9 and 1.10. Slave I/O modules are passive components in an HSL system. They receive commands from the master, then respond by telling their newest input status or by setting output values. The slave I/O modules may take one or two address indexes depending on the I/O module type.

Polling Cycle. When communicating with slave I/O modules, the master takes turn setting the output for and gathering input from every slave module. When all slave modules are updated, a polling cycle is completed. The polling cycle infinitely repeats when the master is working properly.

I/O Refreshing Rate. The time needed to complete an I/O updating cycle. This may also be the longest time needed for any digital I/O channel to obtain its latest status. The refreshing rate is decided linearly by the total number of slaves used in an HSL system, therefore no interference occurs between any two HSL systems or PC/IPC at the same time.

Transmission Speed. May refer to the speed of digital signal transfer or I/O refreshing rate. When referring to the speed of digital signal transfer inside the cable, the transmission speed is known as data rate. The unit of transmission speed is bits per second (bps). The unit of I/O refreshing rate speed is expressed in mini-second (ms).

Introducing HSL 19

1.4.3 System Configurations

To develop an HSL application, you must know how to configure the HSL cards and slave I/O modules. The following sections describe the configuration concepts for an HSL system. For detailed information, refer to individual chapters.

Master Card Index (card_ID). You can install one or more HSL master boards in an IPC system. The PCI BIOS assigns the card index for each HSL master board. You need to specify the card index for programming purposes. The card index is starts from 0.

Figure 1-10: Multiple master cards in one IPC

Refer to Chapter 2: HSL Master Controller for more information.

HSL Connect Index (connect_index). The PCI-7853 provides only one HSL master controller (connect_index=0), while PCI7854 or PMC-7852/G provides two HSL master controllers (connect_index=0 or 1). Connect index distinguishes the master controllers.

Ports. Port refers to the RJ-45 connector on the HSL master board. A connector is a loop of wiring that starts from the master card and connects to up to 32 slave I/O modules. There are two ports in one HSL master controller, both carrying the same signals sent from the master.

20 Introducing HSL

Slave Index. A complete HSL system is composed of one master and 1 to 63 slave indexes. The following diagram illustrates an HSL system.

Figure 1-11: HSL system layout example-serial wiring

Every master circuit can support up to 32 slaves. However, since the slave address is assigned by a 6-bit DIP-switch on the I/O module’s termination board with the value ‘0’ reserved, the maximum number of slaves is 63, not 64. The slave I/O modules in an HSL system must have different slave index. Though the slave index may not necessarily continue from 1, continuous addressing is more efficient. When an HSL system has only two slave modules addressed 1 and 63, the I/O refreshing rate is the same with an HSL system with 63 slave modules addressed from 1 to 63.

Refer to Chapter 3: HSL Slave I/O Module for procedures on how to set the addresses of slave I/O modules.

Introducing HSL 21

1.4.4 Wiring

The HSL network follows a modified RS-422 electrical specification.

Wiring

The wire cables of an HSL system are carefully selected for installation convenience and standardization without sacrificing communication quality. A 100BaseTX cable with RJ-45 connectors is used on HSL systems.

Full-duplex RS-422 with multi-drop

The typical RS-422 is not a networking specification. However, HSL modified the specification to suit network applications. The TXD of the master is connected to the RXD of every slave I/O modules, while all TXD of slaves are connected to the RXD of the master. Only the master uses TXD (of master) to RXD (of slave) channel. Through design, only one slave at a time sends message with TXD (of slave) to RXD (of master) channel. This kind of networking solution is called RS-422 with multi-drop.

Ports

An HSL master supports a 2-port segment. Inside the ports, the TXD (of master) to RXD (of slave) channels are of the same signal sent by master. In contrast, the TXD (of slave) to RXD (of master) channels are isolated from each circuit and signals inside do not pass through the master from one circuit to another.

22 Introducing HSL

The diagram below illustrates RS-422 with multi-drop:

Figure 1-12: HSL wiring – RS-422 with multi-drop

X There are two RJ-45 notches in each master. Each notch

supports one port of wiring.

X Only four lines of the RJ-45 cable are used: two for trans-

mission and two for reception.

X All slave modules are connected in parallel.

X The isolation between connection cable and individual slave

I/O modules protects the signals from interference by other slaves.

Introducing HSL 23

1.4.5 Networking Topology

Base on the RS-422/RS-485 architecture, a variety of topologies are available for an HSL circuit, including serial, multi-drop, star, etc. The following sections illustrate some applicable network topologies for your reference.

Serial wiring

All slave I/O modules are connected using a twin-head 100BaseTX cables.

Figure 1-13: HSL networking topology – Serial

Since two notches of any slave I/O module’s termination board are short circuit, this type of wiring provides the most convenient and intuitive way to form a HSL network. The longest wiring length is 200 m with under 6 Mbps.

24 Introducing HSL

1.4.6 I/O refreshing rate of an HSL system

The scan time unit for one slave index is set in 3/6/12 Mbps transmission rate. Once the maximum slave address is set, the polling cycle time of the HSL system is using the following formula:

Polling cycle time = maximum-address-of-slave * scan time unit

Maximum

address

10 606.67µs 303.33 µs 151.67 µs

20 1.213 ms 606.67 µs 303.33 µs

30 1.820 ms 910.00 µs 455.00 µs

40 2.427 ms 1.213 ms 606.67 µs

50 3.033 ms 1.516 ms 758.33 µs

60 3.640 ms 1.820 ms 910.00 µs

63 3.822 ms 1.911 ms 955.50 µs

Cycle Time

under 3 Mbps

5 303.33 µs 151.67 µs 75.83 µs

Cycle Time

under 6 Mbps

Cycle Time

under 12 Mbps

Table 1-5: Polling cycle time of HSL (Full Duplex Mode)

Note: Regardless of the transmission rate you select, the minimum

polling cycle time is 3×scan time unit, even when the maximum address is less than 3. Refer to Appendix A.

Introducing HSL 25

1.4.7 Communication error handling

The HSL communication protocol is designed to eliminate any error, there may be some chances of communication errors such as light striking, sudden off-line, etc. In an HSL system, the master holds an accumulated slave-no-response count for every individual slave I/O module. The count value is updated for each slave module in every polling cycle.

X If communication with certain slave I/O module is success-

ful, the no-response count value for this slave is set to 0.

X If the communication failed, the no-response count value

increases by 1.

X When the count is larger than or equal to 3, a binary flag

indexing communication error is set to True.

X The maximum value of no-response count is 7. The value is

retained even if the error continues to occur.

The no-response count value and the communication error flag status may be obtained by software function call. These error handling data are also returned every time the user wants to set or get the I/O values.

In addition, the HSL, through a software communication error-handling driver, supports a self-diagnosis function that detects off-line or out-of-communication slave modules. In a programmed period of time (default 20 ms), the master sends an IRQ to trigger the driver to check the slave’s no-response count value. If the count value is 7, the driver informs the system that the slave module is off-line.

26 Introducing HSL

1.5 Software Support

Window® 2000/XP DLL

The provided Windows® 2K/XP DLL (Dynamic Link Library) is a programming interface for systems using Microsoft® Windows®. The driver works with any Windows® programming language that integrates DLL such as Visual C/C++ (6.0 or above), Borland C++(5.0 or above), or Visual Basic (6.0 or above).

Linux Driver

The HSL Linux driver includes device drivers and shared library for Linux-based systems. The developing environment can be GNU C/C++ or any programming language that allows linking to a shared library. The Linux driver is included in the ADLINK All-in-one CD.

Introducing HSL 27

28 Introducing HSL

2 HSL Master Controller

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.

ADLINK presents four types of HSL master cards: PCI-7853, PCI7854 and PMC-7852, and PMC-7852/G. The main difference between these cards is the number of supported HSL master.

X PCI-7853: Single HSL Master Controller Interface Card

X PCI-7854: Dual-HSL Master Controller Interface Card

X PMC-7852/G: Dual-HSL Master Controller Interface Card

with PMC connector

2.1 Board Overview

Figure 2-1: PCI-7854 front view

HSL Master Controller 29

2.2 Specifications

PCI Bus

X PCI local bus specification Rev. 2.1-compliant

Master Controller

X HSL ASIC master controller

X 48 MHz external clock

Interface

X RS-422/RS-485 with transformer isolation

X Half/Full duplex communication

X 3/6/12 Mbps transmission rate through a S/W function set-

ting (default is 6 Mbps)

X Two ports for each master controller

Connector

X RJ-45 connector x 2 (CN1 for PCI-7853)

X RJ-45 connector x 4 (CN1, CN2 for PCI-7854; H1A, H1B,

H2A, H2B for PMC-7852/G)

Interrupt

X 16-bit programmable timer with 5µs resolution

LED Indicator

X Link status

Dimension

X PCI-7853/7854: 122 (L) × 107 (W) mm

X PMC-7852/G: 74 (W) × 149 (W) mm

Operating Temperature: 0°C to 70°C

Storage Temperature: -20°C to 80°C

Power Consumption: +5V @ 500 mA typical

30 HSL Master Controller

2.2.1 PCI-7853/7854 Layout

Figure 2-2: PCI-7853/7854 Layout

CN1: RJ-45 connector with first HSL master controller

CN2: RJ-45 connector with second HSL master controller (PCI-

S1: Card ID switch selection

HSL Master Controller 31

7854 only)

2.2.2 PMC-7852/G Layout

Figure 2-3: PMC-7852/G Layout

X H1A, H1B: RJ-45 connector with first HSL master controller

X H2A, H2B: RJ-45 connector with second HSL master con-

troller (PMC-7852 only)

32 HSL Master Controller

X JP1, 2, 3, 6: Full/Half duplex mode with first master control-

ler (Default: Full duplex mode)

X JP4, 5: Full/Half duplex mode with second master controller

(Default: Full duplex mode)

X SW1: Transmission speed option. (Default: 6 Mbps)

HSL Master Controller 33

2.3 Configuration

2.3.1 SW1 (PMC-7852/G only)

Figure 2-4: SW1 – Transmission Rate Setting

No. Set transmission rate

1OFFONOFFON

2OFFOFFONON

3OFFONOFFON

4OFFOFFONON

Rate 12M 6M 3M EXC

Default: 6 Mbps.

2.3.2 JP 1, 2, 3, 6 / JP 4, 5 (PMC-7852/G only)

1st Master Controller

2nd Master Controller

Figure 2-5: Top View of PMC-7852/G, for JP 1, 2, 3, 4, 5, 6 jumper settings.

34 HSL Master Controller

2.4 PIN Assignment (female)

HSL Master Controller 35

2.5 Software Architecture Description

The PCI-7853/PCI-7854/PMC-7852/G comes with one or two HSL master ASICs that control the HSL communication. The purpose of communicating with HSL I/O modules is to gather input data from or set output value to them. To achieve this purpose, each HSL master controller manages a 2Kbyte SRAM on PCI-7853/ PCI-7854 boards for data storage.

For every polling cycle, the master refreshes all input data from the I/O modules and sets the latest output data to the I/O modules. The SRAM keeps these data for the software drivers to read/write I/O information.

2.5.1 Functional Block Diagram

Figure 2-6: Functional Block diagram of HSL master

The diagram above shows how the HSL communicates with the user’s AP. The SRAM acts with a buffer-like characteristic.

36 HSL Master Controller

2.6 Installation

2.6.1 Hardware Installation

The PCI-7853/PCI-7854 is a plug and play device, with the system BIOS automatically assigning the interrupt channel and memory mapping address. You only need to adjust the SW1 to the desired transmission speed. For PMC-7852/G, refer to GEME user manual for details.

2.6.2 Software Installation

Refer to chapter 4.1.

HSL Master Controller 37

38 HSL Master Controller

3 HSL Slave Module

The HSL is a master-slave network system that features an innovative distributed architecture that modularizes the communication, I/O functions and signal termination. ADLINK provides a complete line of slave I/O modules and terminal bases including discrete I/O, analog I/O, and motion control to meet your application requirements. For motion control modules, refer to the HSL4XMO user’s manual.

Slave I/O Module. There are three groups of slave I/O modules with varied dimensions. The slave I/O modules provide the terminal base with different levels of I/O capability. To identify each slave I/O module in an HSL network, an electronic data sheet is embedded in the module, and each module is identified by an address ID configurable via the 6-bit DIP switch. Depending on the I/O support, each slave I/O module may be assigned one or two address IDs. Since the highest ID number in an HSL master is 63 (6-bit and ‘0’ reserved for master), up to 63 slave I/O modules are supported in one HSL master.

Terminal Base. Offers an easy wiring media. Both power and signal wiring go from the terminal base to the slave I/O modules. Also, master links to all slave I/O modules via the terminal base using an RJ-45 cable. The TB makes the slave I/O modules hotswappable without interfering other modules in the same HSL network.

HUB/Repeater. Provides sub-system support for various network topologies.

Wiring Cable. The cables connecting the HSL master and slave I/ O modules are standard 100 Base/TX with RJ-45 connectors. These are exactly the same with commercial Ethernet cables.

HSL Slave Module 39

3.1 Slave I/O Module

3.1.1 Discrete I/O Module

ADLINK provides three I/O module series: DB, M and L.

X DB: Daughterboard form factor

X M: Daughterboard form factor with aluminum cover

X U: U-series

Series Model

HSL-DI32-DB-N/P 32

HSL-DO32-DB-N/P 32

HSL-DI16DO16-DB-N/P 16 16 1

HSL-DI32-M-N/P 32

HSL-DO32-M-N/P 32

HSL-DI16DO16-M-NN/NP/PN//PP 16 16 1

HSL-R8DI16-M-N/P 16 8 1

HSL-DI16DO16-US/UJ-NN/NP/PN/PP 16 16 1

HSL-DI16-UL 16 1

Discrete

Input

Discrete

Output

Relay

Output

Slave Index Occupation

2 (Consecutive

from odd number)

2 (Consecutive

from odd number)

2 (Consecutive

from odd number)

2 (Consecutive

from odd number)

Below is the selection guide.

HSL - DIxDOx - x - XY

Discrete I/O Type:

DI16DO16 discrete outputs DI32 DO32 R8DI16 inputs

: 16 discrete inputs and 16

: 32 discrete inputs

: 32 discrete outputs

: 8 relay outputs and 16 discrete

Series:

: Daughter board

DB form factor

: Daughter board

M with aluminum cover

: U-Series

Signal Type: X

: Input Signal

PN sink-

Type: N ing and P sourcing support

: Output Signal

PN sink-

Type: N ing and P sourcing support

40 HSL Slave Module

3.1.2 Analog I/O Module

ADLINK provides M series analog I/O module.

Series Model

HSL-AI16AO2-M-VV 16 2 2 (Leap number)

HSL-AI16AO2-M-AV 16 2 2 (Leap number)

Analog

Input

Analog Output

Slave Index Occupation

UHSL-AO4 4 2

Below is the selection guide.

HSL - AIxAOx - x - XY

Signal Type:

: Input signal

Discrete I/O Type: AI16AO16 log outputs

: 16 analog inputs and 2 ana-

Series: M: Daughter board with aluminum cover

type, V means voltage and A means current.

: Output signal

Y type, V means voltage.

3.1.3 Motion Control

ADLINK provides the HSL-4XMO-CG-N/P and HSL-4XMO-CD-N/ P remote motion control cards. Below is the selection guide.

HSL - 4XMO - Cx - X

Series:

: The connection

Controllable Axes:

: 4-axis pulse train type motion

4XMO control

CG interface is general type.

: The connection

CD interface is D-sub 25.

The HSL-4XMO-CG-N/P is suitable for applications using stepper and linear motors. For HSL-4XMO-CD-N/P, ADLINK provides the accessories and transfer cable for direct connection to a servo amplifier. For details, refer to the HSL-4XMO user’s manual.

Signal Type:

: Output Signal

PN sink-

Typ e: N ing and P sourcing support

HSL Slave Module 41

3.1.4 General Specifications

Discrete I/O Module

2500 V

4.7 k

Ω

For NPN

For PNP

For NPN

For PNP

For NPN

For PNP

ON to OFF: 68 µs

OFF to ON: 1.1 µs

SPST, normally open, non-latching

30 VDC/2 A; 250 VAC/2 A

20 times/minute at rated load

ON to OFF: 3 µs (max)

OFF to ON: 6 µs (max)

Discrete Input

Discrete Output

Relay

Photo couple isolation

Input impedance

Input Voltage +24 V *

Input Current

Operation Voltage (@ 24 V

Response Time ON: 8.8 µs(Typical) ; OFF: 42 µs(Typical)

Switch capacity

Response Time

Power Supply)

Relay Type

Rating

Switching Frequency

Response Time

(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 all channels: -90 mA at 24

RMS

(1)

-10 mA

(2)

+10 mA

ON: 11.4 VDC (max)

(1)

OFF: 14.3 V

ON: 12.6 VDC (min)

(2)

OFF: 9.8 V

All channels

(3)

24V

(4)

All channels: +50mA/ch at 24V

(min)

(max)

(5)

: -50mA/ch at

42 HSL Slave Module

*Note: The HSL-DI16-UL supports 5 V, 12 V, and 24 V, selected by a jumper for each channel:

X JDI0 - JDI15 (input voltage setting)

4.7 kΩ (@24 V

DI_COM @ 24 V

DI_COM @ 12 V

DI_COM @ 5 V

Discrete Input

Input impedance

Operation Voltage

Analog I/O Module

A/D Resolution 16-bit (14-bit guaranteed)

Analog Input

Input Range

A/D Conversion 10 µs

Signal Type 16-CH single-ended; 8-CH differential

Analog Output

D/A Resolution 16-bit

DA Settling Time 10 µs

Motion Control

Refer to the HSL-4XMO user’s manual.

, 2.74 k (@12 VDC), 1.1 k (@5 VDC)

ON: 14.0 VDC (max) OFF: 18.0 V

ON: 6.0 VDC (min) OFF: 8.0 V

ON: 1.0 VDC (min) OFF: 3.0 V

(min)

(max)

For VV type: ±10, ±5, ±2.5, ±1.25 V

For AV type: 20 mA, 10 mA, 5 mA

HSL Slave Module 43

3.1.5 DIP Switch Setting:

Notes

(1) The address (or slave index) 0 is reserved.

(2) The HSL-DI32-M, HSL-DO32-M, HSL-DI32-DB, and HSL-

DO32-DB require two consecutive addresses starting from an odd number. For example, if the DIP switch is set to 3, it occupies slave index 3 and 4.

(3) The HSL-AI16AO2-M-VV/AV requires two leap addresses at

full duplex mode. For example, if the DIP switch is set to 2, the module occupies addresses 2 and 4.

(4) The HSL-4XMO-CG-N/P and HSL-4XMO-CD-N/P require

four leap addresses at full duplex mode. For example, if the DIP switch is set to 2, these modules occupy 2, 4, 6, and 8. At half duplex mode, it requires 4 consecutive addresses.

44 HSL Slave Module

3.1.6 Wiring Diagram

-N NPN Sinking type sensor Input

LED

Circuit

-N Dry Contact Input

-P PNP Sourcing type sensor Input

Circuit

Internal

Circuits

LED

Internal Circuits

LED

Internal Circuits

HSL Slave Module 45

-P Wet Contact Input

-N NPN Sinking Output

LED

Internal

Circuits

46 HSL Slave Module

-P PNP Sourcing Output

-R Relay Output

LED

NO.n

Internal

Circuit

SSR

COM.n

Analog Input (Differential Voltage Input)

Differential

ignal ource

IN(+)

IN(-)

<30V

GND

Load

HSL Slave Module 47

Analog Input (Single-End Voltage Input)

Ground Signal Source

IN(+)

GND

Analog Input (Current Measure)

Current Source

IN(+)

IN(-)

R=125 Ohm %1 accurac

Thermocouple Measurement

IN(+)

IN(-)

<30V

GND

48 HSL Slave Module

Dimension

-DB Daughterboard form factor (100 mm X 78.2 mm)

-M Daughterboard with aluminum cover (125 mm X 80 mm)

HSL Slave Module 49

-U U-series slave I/O module (71.8 mm X 138 mm)

50 HSL Slave Module

3.2 Terminal Base

Available terminal bases include:

X HSL-TB32-U-DIN

X HSL-TB64-DIN

X HSL-TB32-M-DIN

X HSL-TB32-MD

Features

X Field I/O wiring connection for HSL I/O modules

X Screw- or spring-type terminal for easy field wiring

X Power and ground connections for each signal channel

X Interlocking design for installation in rugged environments

X Power LED indicator

X DIN rail mounting

X Onboard terminator resistor

3.2.1 General Description

Model Name Specifications Supports

(1): 32 channels direct connected terminal base

(2): One DB slot

(1): 64 channels direct connected terminal base

(2): Two DB slots

32 channels direct connected terminal base for HSL M-series module

For DB Series

For M Series

HSL-TB32-U

HSL-TB64

HSL-TB32-M

HSL-TB32-MD

All HSL DB-series modules

All HSL M-series modules

HSL Slave Module 51

3.2.2 Jumper Settings

Since HSL is a serial transmission system, a terminator must be placed at the end of the cable. Each TB has an onboard jumper selectable terminator. The terminator must be enable only by the last module.

52 HSL Slave Module

3.2.3 HSL-TB32-MD Jumper Settings

HSL Slave Module 53

3.2.4 Dimensions

-DB with HSL-TB32-U-DIN (126 mm x 120.1 mm x 107.3 mm)

-DB with HSL-TB64-DIN (168.7 mm x 120.1 mm x 107.3 mm)

54 HSL Slave Module

-M module with HSL-TB32-M-DIN (128.5 mm x 85.5 mm x 108 mm)

-HSL-TB32-MD (129 mm x 107 mm)

HSL Slave Module 55

3.3 HSL-HUB/Repeater

Available HSL-HUB/Repeater includes:

X HSL-HUB

X HSL-Repeater

Features

X Master to HUB, HUB to HUB, HUB to Slave link styles

X Supports T-bracing connection/Star connection (subsystem

concept)

X Supports up to 2.4 km wiring distance via seven HSL-HUB/

Repeater modules

X One input port with three output segment ports

X Jumper configurable 3/6/12 Mbps transmission speed

X Jumper configurable full and half duplex transmission

modes

X RJ-45 phone jack for easy installation

X 24 VDC input

3.3.1 General Description

56 HSL Slave Module

3.3.2 Jumper Setting

FD/HD setting JP*(0 to 3), JFH1

3/6/12 Mbps setting: JBPS1

HSL Slave Module 57

3.3.3 Dimensions

HSL-HUB

HSL-Repeater

58 HSL Slave Module

3.4 Managing Slave Index in an HSL Network

3.4.1 Before you proceed

Before powering on the slave modules, you have to adjust the DIP switch. For more information, refer to section 3.1.6. Take note of the following:

1. A master controller can connect up to 63 slave indexes. For example, the PCI-7852 has two master controllers. Therefore, it supports a maximum 126 slave indexes.

2. The more compact the slave addresses are in an HSL network, the greater efficiency.

3. Observe the discrete I/O and relay module rule.

Module

HSL-DI16DO16-M-NN/NP/PN/PP

HSL-DI16DO16-DB-NN/NP/PN/PP

HSL-R8DI16-M-N/P

HSL-DI8-L-N/P

HSL-DO8-L-N/P

HSL-DI4DO4-L-NN/NP/PN/PP

HSL-DI16-UL

HSL-DI16DO16-UJ/US

HSL-DI32-M-N/P

HSL-DI32-DB-N/P

HSL-DO32-M-N/P

HSL-DO32-DB-N/P

Slave Index Occupation

1 (Any address)

2 (Consecutive

from odd number)

Transmission

Mode

Full Duplex (Fixed) 6 Mbps (Fixed)

4. Observe the analog I/O and thermocouple module rule.

Module

HSL-AI16AO2-M-VV

HSL-AI16AO2-M-AV

HSL-AO4-U

Slave Index Occupation

2 (Leap number) Full Duplex (Fixed)

Transmission

Mode

Transmission

Speed

Transmission

Speed

3/6/12 Mbps

Selectable

HSL Slave Module 59

Observe the motion control module rule

Module

HSL-4XMO-CG-N/P

HSL-4XMO-CD-N/P

5. Special rules

Z If you will install only one HSL-AI16AO2-M-VV or HSL-

AI16AO2-M-AV and the DIP switch is set to 1 (HSLAI16AO2-M-VV/AV only supports full duplex mode), the occupied indexes will be 1 and 3. You must assign the parameter “max_slave_No” of HSL_start(…) as 4 to ensure correct communication. You may ignore this rule when using the HSL_auto_start function.

Z If you will install only one HSL-4XMO-CG-N/P or HSL-

4XMO-CD-N/P and the DIP switch is set as to 1 and full duplex mode, the occupied indexes will be 1, 3, 5, and 7. You must assign the parameter “max_slave_No” of HSL_start(…) as 8 to ensure correct communication. You may ignore this rule when using the HSL_auto_start function. In half duplex mode, these modules occupy 1, 2, 3 and 4. Therefore, you must assign the “max_slave_No” of HSL_start(…) as 4 or call the HSL_auto_start function.

Slave Index Occupation

4 (Leap) / 4(Con-

secutive)

Transmission

Mode

Full Duplex / Half

Duplex

Transmission

Speed

3/6/12 Mbps

Selectable

60 HSL Slave Module

3.4.2 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, 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 operates at 6 Mbps.

We recommended that you use the provided slave index configuration.

Item DIP Switch Index Occupation in HSL

HSL-DI32-M-N #1 1 1, 2

HSL-DI32-M-N #2 3 3, 4

HSL-AI16AO2-VV 5 5, 7

HSL-DI16DO16 #1 6 6

HSL-DI16DO16 #2 8 8

This is an example of a compact composition. The scan time needs 30.33 µs x 8 at 6 Mbps, full duplex mode. Users can connect the modules with one master controller.

Condition 2: HSL-AI16AO2-VV operates at 12 Mbps.

We recommended that you use the provided slave index configuration.

Item DIP Switch Index Occupation in HSL

HSL-DI32-M-N #1 1 1, 2

HSL-DI32-M-N #2 3 3, 4

HSL-DI16DO16 #1 5 5

HSL-DI16DO16 #2 6 6

Another example of a compact composition. The scan time needs

30.33 µs 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 Slave Module 61

HSL-AI6AO2-M-VV is assigned as 1. Because of the special rule, users have to assign the “max_slave_No” of HSL_start(…) as 3 or call HSL_auto_start by connect_index #1. The illustration below explains this.

HSL-DI16DO16

Consequently, the cycle time of the first master controller is

30.33µs x 6 and the cycle time of the second master controller is

45.5 µs at 12 Mbps, full duplex mode.

62 HSL Slave Module

Example 2

Provided you installed two HSL-DI16DO16-UJ, one HSLDI16DO16-M-NN, two HSL-DO32-M-N, one HSL-AI16AO2-VV, and two HSL-4XMO-CG-N with all slave modules in full duplex mode, you can have the following conditions:

Condition 1: The HSL-AI16AO2-VV and two HSL-4XMO-CGN operate in 6 Mbps.

We recommended that you use the provided slave index configuration.

Item DIP Switch Index Occupation in HSL

HSL-4XMO-CG-N #1 1 1, 3, 5, 7

HSL-4XMO-CG-N #2 2 2, 4, 6, 8

HSL-DO32-M-N #1 9 9, 10

HSL-DO32-M-N #2 11 11, 12

HSL-AI16AO2M-VV 13 13, 15

HSL-DI16DO16-UJ #1 14 14

HSL-DI16DO16-UJ #2 16 16

HSL-DI16DO16-M-NN 17 17

The scan time needs 30.33µ x 17 at 6 Mbps, full duplex mode. You can connect these modules with one master controller.

Condition 2: An HSL-AI16AO2-VV and two HSL-4XMO-CG-N modules operate at 12 Mbps.

We recommended that you use the provided slave index configuration.

Group 1 DIP Switch Index Occupation in HSL

HSL-DO32-M-N #1 1 1, 2

HSL-DO32-M-N #2 3 3, 4

HSL-DI16DO16-UJ #1 5 5

HSL-DI16DO16-UJ #2 6 6

HSL-DI16DO16-M-NN 7 7

The scan time needs 30.33µs x 7. You may connect these modules with one master controller. The HSL-AI16AO2-M-VV

HSL Slave Module 63

and two HSL-4XMO-CG-N modules connect to another master controller. The management table below is for reference.

Group 2 DIP Switch Index Occupation in HSL

HSL-4XMO-CG-N #1 1 1, 3, 5, 7

HSL-4XMO-CG-N #2 2 2, 4, 6, 8

HSL-AI16AO2-M-VV 9 9, 11

Refer to the illustration below.

The cycle time of the first master controller is 30.33µs x 7, while the cycle time of second master controller is 15.17µs x 11 at 12 Mbps, full duplex mode.

64 HSL Slave Module

4 HSL LinkMaster Utility

After installing the master controller and slave modules, you are now ready to install the HSL driver and the LinkMaster utility for system testing and debugging. This utility features a user-friendly interface that enables you to easily test I/O statuses, including read/write the I/O data, calibration and motion control. It is recommended that you use this utility before implementing the whole system.

HSL LinkMaster Utility 65

4.1 Software Installation

You can install the HSL drivers from the ADLINK All-in-One CD that comes with the package or you may download the drivers from the ADLINK website. The latest driver version are available from the website.

To install the HSL drivers:

1. Locate, then double-click the SETUP.exe file from the All-in-One CD. The installation window appears. Click Next.

2. Follow screen instruction to install.

3. Restart the system when the installation process is completed.

66 HSL LinkMaster Utility

4.2 ADLINK HSL LinkMaster Utility

4.2.1 Launching the LinkMaster Utility

After installing the drivers, click Start > PCI-7853 > LinkMaster to launch the LinkMaster utility. The main window appears.

4.2.2 Before you proceed

1. LinkMaster is a testing and debugging program based

on VB 6.0 and is only available for Windows® 98/NT/ 2000/XP environments with a monitor that has a screen resolution of 800x600 or higher. The utility does not support DOS environment.

2. The LinkMaster version control may be found on the top-

right corner of the main window.

3. Any slave modules may be tested with this utility, includ-

ing discrete I/O, analog I/O, thermocouple module, and motion control modules. For motion control utility and manipulation, refer to the HSL-4XMO user’s manual.

HSL LinkMaster Utility 67

4.2.3 LinkMaster Utility Introduction

Below is the LinkMaster main user interface labeled according to function.

X A. Select card

X B. Network quality test

X C. Set hub number (Only for 7853/54)

X D. Set duplex mode (Only for 7853/54)

X E. Set speed mode (Only for 7853/54)

X F. General slave selection

X G. Auto scan slave modules

X H. Show software information

X I. Show module information

68 HSL LinkMaster Utility

X J. Test slave module

X K. Exit motion creator

X L. Version information

Below are descriptions of the main interface buttons.

1. Current Select Card ID. When LinkMaster is activated,

it searches all HSL master control cards installed in the system, such as PCI-7853, PCI-7854 and PMC-7852/G. Every card shows its index (ID) ranging from 0 to?. You can use this function to specify which card you want to operate.

2. Current Select Connect Index. For cards with two mas-

ter controllers such as PCI-7854 and PMC-7852/G, the connect index ranges from 0 to 1. For single master controller such as PCI-7853, the connect index is 0. Refer to the diagram below.

3. ALL Slave ID Connection Test. The screen capture

below shows a live scan of all I/O modules for network quality test. The LinkMaster lets you check the network environment.

Start the test by clicking on the Test button. Press Stop to stop scanning. When you start the test, the utility continuously tests each ID and shows the module type to left-column labels. Rightcolumn labels show the counter for communication error.

HSL LinkMaster Utility 69

4. Connect/Auto Scan. Clicking this button allows the utility to scan all slave modules connected to the master card with specified connect index. The utility shows all the slave modules’ information including the address and slave type within the 9th block.

5. Slaves Disconnect. Click this to stop the utility from scanning all the slave modules and to disconnect them.

6. Status Msg. Checks if the slave modules are connected or disconnected.

Test Slave: While all connected slave modules list in 9th block, you can use this function to activate the testing dialog. For example, when you connect the HSL-DI16DO16-MNN, you will see this module from the screen. Clicking on it will show a window from where you can test and debug the modules.

7. Exit. Click to close the utility.

8. About. Shows the DLL version information.

The succeeding sections outline the usage of the slave module utility.

70 HSL LinkMaster Utility

4.2.4 HSL-DI16DO16 Utility

1. Slave Address. Shows the slave index occupied by the

module.

2. Digital Input. A white circle indicates no digital input; a

red icon indicates that the digital input is not activated.

3. Digital Output. Click on the icon to activate the digital

output. Red icon indicates that the digital output is turned on, and vice-versa.

4. Slave Status: Shows the communication status between

the slave module and the master card. The functions definition are enumerated below.

Z Bit 0 is Data_Req bit.

Z Bit 2 is for CHK1. When Bit2 is equal to 1, a communica-

tion error occurred once).

Z Bit 3 is for CHK3. When Bit3 is equal to 1, a communica-

tion error occurred three times.

Z Bit 4, Bit 5 and Bit 6 bits are for CHK7. WhenBit4, Bit5,

and Bit6 are all equal to 1, a communication error occurred seven times.

HSL LinkMaster Utility 71

4.2.5 HSL-DI32 and HSL-DO32 Utility

1. Slave Address. Shows the slave index occupied by the module. These modules occupy two slave indexes starting from an odd number. For example, when you adjust the DIP switch to 3, the modules are assigned indexes 3 and 5.

2. Digital Input. A white circle indicates no digital input; a red icon indicates that the digital input is not activated.

3. Digital Output. Click on the icon to activate the digital output. Red icon indicates that the digital output is turned on, and vice-versa.

4. Slave Status: Shows the communication status between the slave module and the master card. The functions definition are enumerated below.

Z Bit 0 is Data_Req bit.

Z Bit 2 is for CHK1. When Bit2 is equal to 1, a communica-

tion error occurred once).

Z Bit 3 is for CHK3. When Bit3 is equal to 1, a communica-

tion error occurred three times.

Z Bit 4, Bit 5 and Bit 6 bits are for CHK7. WhenBit4, Bit5,

and Bit6 are all equal to 1, a communication error occurred seven times.

72 HSL LinkMaster Utility

4.2.6 HSL-DI8/HSL-DO8/HSL-DI4DO4 Utility

1. Slave Address. Shows the slave index occupied by the

module. These modules occupy only one slave index.

2. Digital Input. A white circle indicates no digital input; a

red icon indicates that the digital input is not activated.

3. Digital Output. Click on the icon to activate the digital

output. Red icon indicates that the digital output is turned on, and vice-versa.

4. Slave Status: Shows the communication status between

the slave module and the master card. The functions definition are enumerated below.

Z Bit 0 is Data_Req bit.

Z Bit 2 is for CHK1. When Bit2 is equal to 1, a communica-

tion error occurred once).

Z Bit 3 is for CHK3. When Bit3 is equal to 1, a communica-

tion error occurred three times.

Z Bit 4, Bit 5 and Bit 6 bits are for CHK7. WhenBit4, Bit5,

and Bit6 are all equal to 1, a communication error occurred seven times.

HSL LinkMaster Utility 73

4.2.7 HSL-R8DI16 Utility

1. Slave Address. Shows the slave index occupied by the module. These modules occupy only one slave index.

2. Digital Input. A white circle indicates no digital input; a red icon indicates that the digital input is not activated.

3. Digital Output. Click the icon to activate digital output. This function turns the relay ON or OFF. A red circle indicates that the relay is on, and vice versa.

4. Slave Status: Shows the communication status between the slave module and the master card. The functions definition are enumerated below.

Z Bit 0 is Data_Req bit.

Z Bit 2 is for CHK1. When Bit2 is equal to 1, a communica-

tion error occurred once).

Z Bit 3 is for CHK3. When Bit3 is equal to 1, a communica-

tion error occurred three times.

Z Bit 4, Bit 5 and Bit 6 bits are for CHK7. WhenBit4, Bit5,

and Bit6 are all equal to 1, a communication error occurred seven times.

74 HSL LinkMaster Utility

4.2.8 HSL-AI16AO2 Utility

1. Slave Address. Shows the slave index occupied by the

module. The module occupies two consecutive indexes. For example, when you adjust the DIP switch to 4, the module obtains slave indexes 4 and 6.

2. Signal Type. Indicates the module’s signal type.

3. Signal Range. Allows selection of the signal range. The

utility offers four ranges including ±10V, ±5V, ±2.5V and ±1.25V for HSL-AI16AO2-M-VV. For HSL-AI16AO2-MAV, the signal ranges are 20 mA, 10 mA, and 5 mA.

4. Firmware Version. Shows the latest firmware version.

5. AO Function. Key in the analog output value in the text

box, then press SEND to trigger the AO. The range is ±10 V.

6. Configuration. Allows you to check if the signal range is

correct before clicking on the Start Read button. The Configuration button allows you to save the information and complete the configuration task.

7. Start Read. Enables the A/D conversion task to read

back the analog input values. The values are shown in the 12th block.

8. Stop Read. Disables the A/D conversion task.

HSL LinkMaster Utility 75

9. Calibration. Calibrates the module. The modules are shipped with correct calibration. Refer to Appendix C if you want to recalibrate the module.

10.Exit. Closes the utility.

11. Slave Status: Shows the communication status between the slave module and the master card. The functions definition are enumerated below.

Z Bit 0 is Data_Req bit.

Z Bit 2 is for CHK1. When Bit2 is equal to 1, a communica-

tion error occurred once).

Z Bit 3 is for CHK3. When Bit3 is equal to 1, a communica-

tion error occurred three times.

Z Bit 4, Bit 5 and Bit 6 bits are for CHK7. WhenBit4, Bit5,

and Bit6 are all equal to 1, a communication error occurred seven times.

4.2.9 HSL-4XMO Utility

Refer to the HSL-4XMO user’s manual.

76 HSL LinkMaster Utility

5 HSL Function Library

This chapter describes the functions for developing programs in C, C++, or Visual Basic.

5.1 List of Functions

This section presents all the functions. The function prototypes and common data types are declared in HSL.h. It is recommended that you use these data types in your application programs. The

following table shows the data type names and their ranges.

Type N a m e Description Range

U8 8-bit ASCII character 0 to 255

I16 16-bit signed integer -32768 to 32767

U16 16-bit unsigned integer 0 to 65535

I32 32-bit signed long integer -2147483648 to 2147483647

U32 32-bit unsigned long integer 0 to 4294967295

F32 32-bit single-precision floating-point -3.402823E38 to 3.402823E38

F64 64-bit double-precision floating-point

Boolean Boolean logic value TRUE, FALSE

All HSL function calls were revised. Refer to the mapping table in Appendix B. All function calls have the same prefix HSL_. The function belonging to a system level purpose has the following form:

HSL_{action_name}. e.g. HSL_initial().

-1.797683134862315E308

to 1.797683134862315E309

If they belong to a discrete I/O module purpose, the function is as follows:

HSL_D_{action_name}. e.g. HSL_D_read_input()

If they belong to an analog I/O module purpose, the function is as follows.

HSL_A_{action_name}. e.g. HSL_A_write_output().

If they belong to a motion control module purpose, the function is as follows.

HSL_M_{action_name}. e.g. HSL_M_start_tr_move().

HSL Function Library 77

For the motion control library description, refer to the HSL-4XMO function library manual. This section contains the system level function, discrete I/O control, and analog I/O control.

Initialization and System Information, Section 5.2

Function Name Description

HSL_initial Master card initialization

Initialize by system automatically (sw_enable=0) or

HSL_intial_sw

HSL_close Release all resources occupied by master card

HSL_start

HSL_auto_start

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

HSL_slave_live Get the module status of the slave module

HSL_get_irq_channel Get the IRQ occupied by master card

manually via the S1 dip switch (sw_enable=1) (7853/54 only)

Start to scan all the slave modules connected to master card

Start to scan and automatically detect all the slave modules connected to master card

Get the communication status of the specified slave module

Timer Control, Section 5.3

Function Name Description

HSL_enable_timer_interrupt

HSL_disable_timer_interrupt

HSL_set_timer Set the resolution of timer (For 7851/52)

HSL_set_int_timer Set the timer parameters (For 7853/54)

HSL_set_int_timer_enable

HSL_wait_timer_interrupt Wait timer event (For 7853/54)

78 HSL Function Library

Enable timer interrupt of master card (For 7851/

52)

Disable timer interrupt of master card (For 7851/

52)

Enable/Disable timer interrupt of master card (For 7853/54)

Discrete I/O, Section 5.4

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

HSL_D_set_int_control

HSL_D_wait_di_interrupt Wait DI renewal event(Only for 7853/54)

Set the data bits of DI renewal check for each slave (Only for 7853/54)

Set DI interrupt enable or disable (Only for 7853/54)

Analog I/O, Section 5.5

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

HSL Function Library 79

Pulse Stretcher Function (HSL-DI16-UL only), Section 5.6

Function Name Description

HSL_D_set_di_latch_function Set DI-ltech function for one channel

HSL_D_set_di_latch_functionA Set DI-latch function for all channels

HSL_D_get_di_latch_function Retrieve DI-latch function

80 HSL Function Library

5.2 Initialization and System Information

@ Name

HSL_initial – Master board initialization

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 (7853/54

only)

HSL_get_scan_condition – Get scanning conditions (7853/54 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 master card

@ Description

HSL_initial:

Initializes the hardware and software states of the HSL master card (PCI-7851/52 or PMC-7852/G). 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 Function Library 81

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 (live or die).

HSL_ get_irq_channel:

This function is used to get IRQ assigned by system.

@ Syntax

C/C++ (DOS, Windows 98/NT/2K/XP)

I16 HSL_initial (U16 card_ID); 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);

82 HSL Function Library

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 (Windows 98/NT/2K/XP)

HSL_initial (ByVal card_ID 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);

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.

HSL Function Library 83

connect_index: For PCI-7851, the valid value is 0. For PCI7852 and PMC-7852/G, the valid value is 0 or 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.

X Bit 0 is Data_Req bit.

X Bit 2 is for CHK1. (If Bit2 is 1. It means that there is 1 time

communication error).

X Bit 3 is for CHK3. (If Bit3 is 1. It means that there are 3 times

communication errors).

X 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.

X 1: the module is live

X 0: the module is die.

irq_no: IRQ occupied by master card.

84 HSL Function Library

@ Return Code

ERR_No_Error ERR_Open_Driver_Fail ERR_Invalid_Board_Number ERR_Satellite_Number ERR_Connect_Index

HSL Function Library 85

5.3 Timer Control

@ Name

HSL_enable_timer_interrupt (7851/52 only) – Enable timer interrupt of master card

HSL_disable_timer_interrupt (7851/52 only) – Disable timer interrupt of master card

HSL_set_timer (7851/52 only)– Set the resolution of timer

HSL_set_int_timer (7853/54 only) – Set the timer parameters

HSL_set_int_timer_enable (7853/54 only) – Enable\Disable

timer interrupt of master card( 7853/54 only)

HSL_wait_timer_interrupt (7853/54 only) – Wait timer event

@ Description

HSL_enable_timer_interrupt (7851/52 only):

Enables the hardware timer interrupt of the master card.

HSL_disable_timer_interrupt (7851/52 only):

Disables the hardware timer interrupt of the master card.

HSL_set_timer (7851/52 only):

This function sets up Timer 1 and Timer 2. Timer 1 and Timer 2 are used as frequency dividers to generate a dedicated constant timer interrupt sampling rate. The highest timer interrupt sampling rate of the master card may not exceed 20 KHz on Windows NT platform because of system limitation. The following example is set at 6 Mbps:

If you want to have a sampling rate of 15 kHz, the function must be

HSL_set_timer (0, 20, 20)

If you want to have a sampling rate of 1.2 kHz, the function must be

HSL_set_timer (0, 100, 50)

The formula used is:

Transmission speed / (c1 x c2)

86 HSL Function Library

In addition, the values of c1 and c2 must be greater than 1. When c1=0 or c2=0, the timer interrupt stops.

HSL_set_int_timer (7853/54 only):

Sets up the Timer parameter p1. The timer is used as frequency divider to generate a dedicated constant timer interrupt sampling rate.

MHz

The formula is: Frequency(Hz) =

)11(256

+⋅ p

HSL_set_int_timer_enable (7853/54 only):

Enables or disables the hardware timer interrupt of this master card.

HSL_wait_timer_interrupt (7853/54 only):

Waits for the specific interrupt when you enabled the interrupt function by HSL_set_int_timer_enable() and set the timer parameter p1 by HSL_set_int_timer(). When this function is running, the process never stops even if it is triggered or the function has timed out. The following codes illustrate this function.

I16 ret; HSL_set_int_timer(0, 0xffff); // set the

parameter p1

HSL_set_int_timer_enable(0, 1); //enable the

timer

for(int i = 0; i< 10; i++) {

ret = HSL_wait_timer_interrupt(g_cardId,

10000); if(ret == 0)

// do something… else // time out

}

HSL Function Library 87

ADLINK HSL-DO32-M-N, HSL-DO32-M-P User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

List of Tables

List of Figures

1 Introducing HSL

1.1 The HSL System

1.1.1 Product Overview

1.1.2 Product Highlights

1.1.3 HSL Applications

1.2 HSL System Specifications

1.3 HSL Series Products

1.4 Technical Information

1.4.1 HSL Technology Introduction

1.4.2 HSL Terminology

1.4.3 System Configurations

1.4.4 Wiring

1.4.5 Networking Topology

1.4.6 I/O refreshing rate of an HSL system

1.4.7 Communication error handling

1.5 Software Support

2 HSL Master Controller

2.1 Board Overview

2.2 Specifications

2.2.1 PCI-7853/7854 Layout

2.2.2 PMC-7852/G Layout

2.3 Configuration

2.3.1 SW1 (PMC-7852/G only)

2.3.2 JP 1, 2, 3, 6 / JP 4, 5 (PMC-7852/G only)

2.4 PIN Assignment (female)

2.5 Software Architecture Description

2.5.1 Functional Block Diagram

2.6 Installation

2.6.1 Hardware Installation

2.6.2 Software Installation

3 HSL Slave Module

3.1 Slave I/O Module

3.1.1 Discrete I/O Module

3.1.2 Analog I/O Module

3.1.3 Motion Control

3.1.4 General Specifications

3.1.5 DIP Switch Setting:

3.1.6 Wiring Diagram

3.2 Terminal Base

3.2.1 General Description

3.2.2 Jumper Settings

3.2.3 HSL-TB32-MD Jumper Settings

3.2.4 Dimensions

3.3 HSL-HUB/Repeater

3.3.1 General Description

3.3.2 Jumper Setting

3.3.3 Dimensions

3.4 Managing Slave Index in an HSL Network

3.4.1 Before you proceed

3.4.2 Examples

4 HSL LinkMaster Utility

4.1 Software Installation

4.2 ADLINK HSL LinkMaster Utility

4.2.1 Launching the LinkMaster Utility

4.2.2 Before you proceed

4.2.3 LinkMaster Utility Introduction

4.2.4 HSL-DI16DO16 Utility

4.2.5 HSL-DI32 and HSL-DO32 Utility

4.2.6 HSL-DI8/HSL-DO8/HSL-DI4DO4 Utility

4.2.7 HSL-R8DI16 Utility

4.2.8 HSL-AI16AO2 Utility

4.2.9 HSL-4XMO Utility

5 HSL Function Library

5.1 List of Functions

5.2 Initialization and System Information

5.3 Timer Control