User guide

Motor/Feedback CME 2 User Guide
52 Copley Controls
5.7: Feedback Notes
5.7.1: Encoder and Resolver Support
Some Copley Controls amplifiers are offered in multiple versions to support different types
of encoder or resolver feedback. Some encoder versions support digital quadrature
encoders, some support analog sin/cos encoders, and others support both. Encoder
versions normally require Hall switches for the commutation of brushless motors. The
resolver versions support standard, single speed, transmit-type resolvers.
5.7.2: Dual Feedback Amplifiers
Some Copley Controls amplifiers can receive position feedback from sensors on the
motor, the load, or both, through the Primary Feedback channel, a Secondary Feedback
channel (multi-mode port) or both. (Some amplifiers can also operate in certain modes
without encoders or resolvers.)
When the amplifier is configured with a multi-mode port (see Miscellaneous Options, p.5)
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.