Yes, you can close the current and velocity loop using one multi-encoder interface and closing the position loop using the second multi-encoder interface. But in your case we would recommend to close as well the position loop over the encoder interface used for current and velocity loop and use the so called measuring wheel and hybrid position control functions (needs these functions activated in "productivity package") for compensating the slip if present over the second multi-encoder interface. See as well How-To: https://developer.community.boschrexroth.com/t5/Store-and-How-to/ctrlX-Drive-Measuring-wheel-function/ba-p/80046) Mind as well that - EnDat 2.2 is already supported - 5 V TTL is not yet supported (--> address to your sales responsible from Bosch Rexroth to clarify how and when this can be made available for you as this functionality is planned for the next coming release of the firmware/runtime only) as encoder interface.
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