Copley Controls Xenus R10 Manual page 39

MULTI-MODE ENCODER PORT
This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive.
On drives with quad A/B encoder feedback, the port works as an output buffering the signals from the encoder. With resolver or sin/
cos encoder versions, the feedback is converted to quad A/B signals with programmable resolution. These signals can then be fed back
to an external motion controller that closes the position or velocity loops. As an input, the port can take quad A/B signals to produce
a dual-loop position control system or use the signals as master-encoder feedback in camming mode. In addition, the port can take
stepper command signals (CU/CD or Pulse/Direction) in differential format.
AS BUFFERED OUTPUTS FROM A DIGITAL QUADRATURE
FEEDBACK ENCODER
When using a digital quadrature feedback encoder, the A/B/X signals drive
the multi-mode port output buffers directly. This is useful in systems that use
external controllers that also need the motor feedback encoder signals because
these now come from J7, the Control connector. In addition to eliminating "Y"
cabling where the motor feedback cable has to split to connect to both controller
and motor, the buffered outputs reduce loading on the feedback cable that
could occur if the motor encoder had to drive two differential inputs in parallel,
each with it's own 121 ohm terminating resistor.
AS EMULATED QUAD A/B/X ENCODER OUTPUTS FROM AN
ANALOG SIN/COS FEEDBACK ENCODER OR RESOLVER
Analog sin/cos or resolver signals are interpolated in the drive with
programmable resolution. The incremental position data is then converted
back into digital quadrature format which drives the multi-mode port output
buffers. Some analog encoders also produce a digital index pulse which is
connected directly to the port's output buffer. The result is digital quadrature
A/B/X signals that can be used as feedback to an external control system.
Resolver signals are interpolated with programmable resolution up to 14-bits
per revolution (single-speed resolver).
AS A MASTER OR CAMMING ENCODER INPUT FROM A
DIGITAL QUADRATURE ENCODER
When operating in position mode the multi-mode port can accept digital
command signals from external encoders. These can be used to drive cam
tables, or as master-encoder signals when operating in a master/slave
configuration.
AS DIGITAL COMMAND INPUTS IN PULSE/DIRECTION,
PULSE-UP/PULSE-DOWN, OR
DIGITAL QUADRATURE ENCODER FORMAT
The multi-mode port can also be used when digital command signals are in a
differential format. These are the signals that typically go to [IN9] and [IN10]
when they are single-ended. But, at higher frequencies these are likely to be
differential signals in which case the multi-mode port can be used.
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com
Xenus R11 RUGGEDIZED DIGITAL
SERVO DRIVE FOR
BRUSHLESS/BRUSH MOTORS
+5V
22 pF
2.2k
1k
1k
22 pF
+5V
22 pF
2.2k
1k
1k
22 pF
+5V
22 pF
2.2k
1k
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22 pF
Tel: 781-828-8090
R11
RoHS
Secondary
Encoder Input
26C32
Input/Output
Select
26C31
Quad A/B Feedback
Encoder
Secondary
Encoder Input
26C32
Input/Output
Select
26C31
Emulated Quad A/B
signals from
analog Sin/Cos encoder
or resolver
Secondary
Encoder Input
26C32
Input/Output
Select
26C31
Fax: 781-828-6547
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