Operational Theory
Xenus XSL User Guide
28
Copley Controls Corp.
2.5.8: Digital Input
Three Formats
In position mode, the amplifier can accept position commands via two digital inputs, using one of
these signal formats: pulse and direction, count up/count down, and quadrature.
In all three formats, the amplifier can be configured to invert the command.
Pulse Smoothing
In position mode, the amplifier’s trajectory generator ensures smooth motion even when the
command source cannot control acceleration and deceleration rates.
When using digital or analog command inputs, the trajectory generator can be disabled by setting
the Max Accel limit to zero. (Note that when using the CAN bus, serial bus, or CVM Control
Program, setting Max Accel to zero prevents motion.)
Pulse and Direction Format
In pulse and direction format, one input takes a series of pulses as motion step commands, and
another input takes a high or low signal as a direction command, as shown below.
Pulse Input
Velocity
Command
Direction Input
The amplifier can be set to increment position on the rising or falling edge of the signal. Stepping
resolution can be programmed for electronic gearing.
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