ADLINK Technology HSL-4XMO, User Manual

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68 Operation Theory
The table below summarizes all functions used for the different
counter types
Target Position Recorder
The target position recorder is used for providing target position
information. For example, if the HSL-4XMO is operating in contin-
uous motion with absolute mode, the target position lets the next
absolute motion know the target position of previous one.
It is very important to understand how the software handles the
target position recorder. Every time a new motion command is
executed, the displacement is automatically added to the target
position recorder. To ensure the correctness of the target position
recorder, users need to manually maintain it in the following two
situations using the function HSL_M_reset_target_pos():
Counter Description
Counter
Source
Function
Function
Description
Command
Counts the
number of
output pulses
Pulse output
HSL_M_set_command
Set a new value for com-
mand position
HSL_M_get_command
Read current command
position
Feedback
Counts the
number of
input pulses
EA/EB or
Pulse output
HSL_M_set_pls_iptmode
Select the input modes
of EA/EB
HSL_M_set_feedback_src
Set the counters input
source
HSL_M_set_position
Set a new value for feed-
back position
HSL_M_get_position
Read current feedback
position:
Position error
Counts the
error between
command
and feedback
pulse
EA/EB and
Pulse output
HSL_M_get_error_counter
Gets the position error
HSL_M_reset_error_counter
Resets the position error
counter
General Purpose
General pur-
pose counter
Pulse out-
put EA/EB
manual
pulse CLK/2
HSL_M_set_general_counter
Set a new counter value
HSL_M_get_general_counter
Read current counter
value
Table 4-4: Counter Summary