XPL
Copley Controls, 20 Dan Road, Canton, MA 02021, USA
Tel: 781-828-8090
Fax: 781-828-6547
Tech Support: E-mail: [email protected], Web:
http://www.copleycontrols.co
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Page 16 of 28
RoHS
Xenus
Plus
CANopen
MOTOR CONNECTIONS (CONT’D)
MULTI-MODE ENCODER PORT
This port consists of three differential input/output channels that take their functions from the Basic Setup of the drive.
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 “emulated” quad A/B/X 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 commands in camming mode. In addition, the port can take
stepper command signals (CU/CD or Pulse/Direction) in differential format.
Secondary
Encoder Input
Input/Output
Select
Quad A/B/X primary
encoder
MAX3032
MAX3097
Buffered A/B/X signals
from primary encoder
Secondary
Encoder Input
Input/Output
Select
MAX3032
MAX3097
Emulated Quad A/B
signals from
analog Sin/Cos encoder
or resolver
Emulated A/B/X signals
Input/Output
Select
MAX3097
MAX3032
A/B/X signals from
digital encoder
AS BUFFERED OUTPUTS FROM A DIGITAL QUADRATURE
PRIMARY 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 J8, 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
Analog sin/cos 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.
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 single-ended
inputs. But, at higher frequencies these are likely to be differential signals in
which case the multi-mode port can be used.
Input/Output
Select
MAX3097
MAX3032
Pulse/Dir or CU/CD
differential commands
Secondary or CAM
Master encoder
