ADLINK MNET-4XMO/C Motion Module Installation and Debugging Guide

Point mode: APS-relative_mave() and APS_obsolute_mov() perform relative/absolute positioning, and automatically handle small stroke trigonometric velocities internally.

Speed/Position Coverage: Calling the above function again during motion can instantly change the target speed or position (on the fly).

3.2 Interpolation motion (2-4 axes)

Linear interpolation: APS_obsolute_linear_move()/APS_delative-linear_move(), supports any combination of 2/3/4 axes, and the velocity parameter is the synthesized vector velocity.

Arc interpolation: APS_ absolute | arc_move()/APS_ radive_ arc_move(), only supports 2 axes, requires specifying the center point (absolute or relative offset) and rotation angle (clockwise or counterclockwise).

The acceleration and deceleration parameters (PRA-ACC/DEC) of the main axis (index minimum axis) are used as the common acceleration and deceleration time for interpolation.

3.3 Zero return mode (13 types)

The module provides 13 automatic zeroing modes (Home mode=20~32, pages 77~88 of the manual), covering:

Stop and reset the counter based on the rising/falling edge of the ORG signal

Accurate positioning based on EZ (Encoder Index) signal

First touch the EL limit and then reverse search ORG/EZ

Support two-stage "search speed" and "crawling speed"

After returning to zero, the ERC signal is automatically output to clear the servo drive deviation counter.

MNET-4XMO-C Advanced Features (Continuous Trigger and Path Movement)

4.1 Continuous Trigger for Position Comparison

This function is used to output a trigger pulse when the encoder count value reaches the preset point during motion, commonly used to trigger camera capture or light source flicker.

Two comparison source modes:

Linear mode: Set the starting position, step interval, and trigger frequency, and the hardware automatically generates equidistant trigger sequences with a maximum trigger frequency of 100 kHz (four axes) or 1 MHz (only the first axis ultra high speed).

Table mode: Preset up to 8192 non-uniform position points, matched in order.

Trigger output signal: CMP+/- differential pair (located on pins 7/8 of IOIF), programmable pulse width (0.1 μ s~1s), output logic can be set to normal high/low or flip mode.

Configuration process (via the Compare Trigger page or API of MotionCreatorPro 2):

Select comparison source (instruction counter or encoder feedback counter)

Set comparison direction (upward/downward/bidirectional)

Select mode (disable/always compare/forward only/reverse only/greater/less than)

Fill in linear parameters (Start, Repeat, Interval) or load a table file

Enable and start movement

4.2 Path Move

This function allows the point data of a continuous trajectory (including straight lines, arcs, and stops) to be pre stored in the onboard SRAM. The module automatically executes in sequence and smoothly connects the speed (maintaining a constant speed) without frequent intervention from the host.

Maximum points: 2048 (single axis) or reduced by interpolation dimension (1024 for 2-axis, 682 for 3-axis, 512 for 4-axis)

Support Dwell command, speed first decreases and then increases

Automatic speed planning: When the target speed of adjacent segments changes, the appropriate starting speed is automatically calculated to ensure a smooth transition

Mutually exclusive with fast indexing mode, cannot be enabled simultaneously

4.3 Fast Index Move

Pre store various motion parameters (type, axis, distance, speed, etc.) in different index positions of SRAM, and only send index numbers when starting, greatly reducing communication overhead and suitable for frequent execution of fixed actions (such as step-by-step repeated positioning).

MotionCreatorPro 2 Debugging Tool

This Windows tool (supporting 2000/XP/Vista, resolutions above 1024 × 768) is used to configure, test, and diagnose the entire Motionnet system.

Main functional pages:

Parameter management: Set acceleration and deceleration, start stop speed, curve type, limit logic, etc. for each axis, which can be saved as a file or written to Flash.

Single axis motion: Manually execute relative/absolute/velocity motion, real-time display of command position, feedback position, tracking error, speed, and support for I/O status monitoring.

Return to zero: Select 13 modes, set search/crawl speed, and observe the timing diagram for verification.

Interpolation: 2-4 axis straight lines, 2-axis arcs, with adjustable starting and ending points and center points.

Point Table (CNC): Edit a 2D point table (supports linear/circular/stationary), preview motion trajectories, and execute continuous path movements.

Comparison trigger (CmpTrg): Configure linear/table comparison parameters, monitor trigger counts, and manually force trigger tests.

High speed comparator: dedicated for triggering the first axis ultra high speed (1 MHz), setting the encoder mode and filter.

Connection management: Connect to the master station through the Field Bus Connect/Disconnect button, select the baud rate, identify all slave modules, and the status light displays communication normal/fault.

Common troubleshooting and solutions

6.1 Module not powered on or communication failure