Copley Controls Xenus R10 Series, Руководство пользователя

Страница: 12 / 30

Xenus XTL
™
DIGITAL SERVO DRIVE
for BRUSHLESS/BRUSH MOTORS
Copley Controls, 20 Dan Road, Canton, MA 02021, USA Tel: 781-828-8090 Fax: 781-828-6547
Tech Support: E-mail: sales@copleycontrols.com, Internet: http://www.copleycontrols.com Page 12 of 30
RoHS
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.
1k
22 pF
22 pF
2.2k
Secondary
Encoder Input
Input/Output
Select
Quad A/B Feedback
Encoder
26CS31
26CS32
+5V
1k
1k
22 pF
22 pF
2.2k
Secondary
Encoder Input
Input/Output
Select
Emulated Quad A/B
signals from
analog Sin/Cos encoder
or resolver
26CS31
26CS32
+5V
1k
1k
22 pF
22 pF
2.2k
Secondary
Encoder Input
Input/Output
Select
26CS31
26CS32
+5V
1k
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
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 [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.
MOTOR COnnECTIOnS (COnT’D)