User guide

Xenus Plus User Guide Operational Theory
Copley Controls 28
2.6.3: Digital Input
Three Formats
In position mode, the drive 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 drive can be configured to invert the command.
Pulse Smoothing
In position mode, the drive’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.
The drive can be set to increment position on the rising or falling edge of the signal. Stepping
resolution can be programmed for electronic gearing.
Pulse Input
Velocity
Command
Direction Input