User guide

Quick Setup with CME 2 Xenus XTL User Guide
82 Copley Controls Corp.
5.5.7: Feedback Notes
Encoder and Resolver Support
The Xenus XTL is offered in three versions to support quad A/B encoder, analog sin/cos encoder, or
resolver feedback. The encoder versions normally require Hall switches for the commutation of
brushless motors. The resolver versions support standard, single speed, transmit-type resolvers.
Dual Feedback
The Xenus XTL can receive position feedback from sensors on the motor, the load, or both, through
the primary feedback channel, a multi-mode encoder port, or both. (The amplifier can also operate in
certain modes without encoders or resolvers.)
The multi-mode port can:
• Provide a buffered digital encoder output based on the digital encoder input.
• Provide an emulated digital encoder output based on the analog encoder or resolver input.
• Provide a second digital encoder input to be used in the dual encoder position mode. In this mode,
an encoder attached to the load provides position loop feedback, and the motor encoder or
resolver provides velocity loop feedback.
A dual-feedback setup is shown below. The amplifier receives feedback from an incremental motor
encoder through the primary feedback channel. Position (load) encoder feedback comes through the
multi-mode port. The ratio of motor turns to position encoder turns is 1 to 10.