Aerotech Automation1 XC4e, Hardware Manual

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2.3.1.3. Sine Wave Encoder [-MX2/-MX3 Option]
The Sine Wave Encoder option provides higher positioning resolution by subdividing the fundamental
output period of the encoder into smaller increments. The amount of subdivision is specified by the
PrimaryEncoderMultiplicationFactor [A3200: EncoderMultiplicationFactor] parameter. Use Encoder
Tuning [A3200: Feedback Tuning] to adjust the value of the gain, offset, and phase balance controller
parameters to get the best performance. For more information, refer to the Help file.
High resolution or high-speed encoders can require increased bandwidth for correct operation. Use the
High Speed Mode of the PrimaryEncoderMultiplierSetup [A3200: EncoderMultiplierSetup] parameter to
enable the high bandwidth mode. Because this mode increases sensitivity to system noise, use it only if
necessary.
The XC4e can generate emulated encoder signals. These signals can be output on the Auxiliary Encoder
(AUX) connector, SYNC port connector, or used internally by the PSO. Refer to the EncoderDivider and
PrimaryEmulatedQuadratureDivider [A3200: EmulatedQuadratureDivider] parameters and the encoder
output functions [A3200: ENCODER OUT command] in the Help file for more information.
For the highest performance, use twisted pair double-shielded cable with the inner shield connected to
signal common and the outer shield connected to frame ground. Do not join the inner and outer shields
in the cable.
Table 2-18: Sine Wave Encoder Specifications
Specification
Value
Primary Auxiliary
Input Frequency (max) 450 kHz, 2 MHz 450 kHz
Input Amplitude
(1)
0.6 to 1.75 Vpk-pk
Interpolation Factor (max)
-MX2 65,536 N/A
-MX3 65,536 16,384
-MX2/-MX3 Primary Encoder Channel
Interpolation Latency
800 nsec (analog input to quadrature output)
Input Common Mode 1.5 to 3.5 VDC
(1) Measured as SIN(+) - SIN(-) or COS(+) - COS(-)
Figure 2-21: Sine Wave Encoder Phasing Reference Diagram
2.3.1. Primary Encoder Inputs XC4e Hardware Manual
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