Automation1 XC4 PWM Digital Drive

Description

Design Features

  • Part of Aerotech's Automation1 Precision Motion Control Platform
  • Compatible with A3200 version 6.04 and newer
  • HyperWire® fiber-optic interface
  • Up to 30 A peak output current
  • Integral power supply
  • Drive brush, brushless, voice coil, and stepper motors
  • Safe Torque Off (STO) safety circuit
  • Drive array consisting of more than 4 million 32-bit elements
  • Includes single-axis Position Synchronized Output (PSO)
  • Optional two-axis or three-axis Part-Speed PSO
  • Optional I/O expansion board
  • Optional 16K encoder multiplier for amplified sine wave encoders up to 2 MHz
  • High resolution digital current, velocity, and position loops
  • CE approved, NRTL safety certification, EU 2015/863 RoHS 3 directive
The XC4 PWM digital drive is a high-performance single-axis motor drive designed for motion control applications. All versions are compatible with the Automation 3200 motion platform utilizing the HyperWire® motion bus.

The XC4 PWM amplifiers control brushless DC, brush DC, voice coil, and stepper motor types at up to 320 VDC operating voltage and 30 A peak current capability.

The current loop and servo-loop are closed digitally to ensure the highest level of positioning accuracy and rate stability. This allows loop closure rates of up to 20 kHz and allows digital and analog I/O processing, data collection, process control, and encoder multiplication tasks in real time.

See how Automation1 Servo Drives Improve In-Position Stability.

Standard features for the XC4 include Safe Torque Off (STO), a data array consisting of over 4 million 32-bit elements, digital and analog I/O (see table), one-axis Position Synchronized Output (PSO), dedicated home and end-of-travel limit inputs, and an enhanced current sense device. Encoder support includes square-wave, sine-wave, and absolute encoders.

The standard XC4 accepts square-wave encoder feedback at rates of up to 40 million counts-per-second. Sine-wave encoders can be multiplied by up to 16,384, producing high-resolution position feedback, with the optional encoder multiplier feature.

Each single-axis XC4 PWM digital drive has an optional I/O expansion board, greatly increasing the number of I/O points. This I/O board includes a dedicated PSO output and a PSO synchronization input, often used to synchronize process control with an external mode-locked frequency input.

Specifications

XC4 Specifications

Specifications102030
Motor Style Brush, brushless, voice coil, stepper(1)
Motor Supply Single-phase 0-240 VAC; 50/60 Hz
Control Supply 100-240 VAC; 50/60 Hz
Bus Voltage(2) 0-340 VDC
Peak Output Current (1 sec)(3) 10 Apk 20 Apk 30 Apk
Continuous Output Current(3) 5 Apk 10 Apk 10 Apk
Position Synchronized Output (PSO) One-axis PSO and One-axis part-speed PSO standard
25-Pin Motor Feedback Connector
  • High-speed differential inputs (encoder sin, cos and marker)*
  • CW and CCW limits
  • Hall effect sensor inputs (A, B, and C)
  • Analog motor temperature input (accepts digital)
  • Brake output
26-Pin Auxiliary Feedback Connector
  • High-speed differential inputs (encoder sin, cos and marker)*
  • 4x optically isolated digital inputs
  • 4x optically isolated digital outputs
  • 1x 16-bit differential ±10 V analog input
  • 1x 16-bit single-ended ±10 V analog output
  • 2x optically isolated high-speed inputs
*This channel is bidirectional, and can be used to echo out encoder signal
Multiplier Options MX0 Option:
Primary Encoder: 40 million counts per second square-wave input.
Auxiliary Encoder: 40 million counts per second square-wave input.

MX1 Option:
Primary Encoder: 2 MHz / 450 kHz (bandwidth selectable) sine-wave input, encoder multiplier up to x16,384*
Auxiliary Encoder: 40 million counts per second square-wave input

*Encoders multiplied with this input cannot be echoed out.
I/O Expansion Board (-EB1)
  • 1x additional PSO connection point
  • 1x PSO synchronization Input
  • 16x digital inputs, optically isolated
  • 16x digital outputs, optically isolated
  • 3x analog inputs, 16-bit, differential, ±10 V
  • 3x analog outputs, 16-bit, single-ended, ±10 V
Drive Array Memory 4,194,304 32-bit elements
High Speed Data Capture Yes (50 ns latency)
Safe Torque Off (STO) Yes, SIL3/PLe/Cat 4
HyperWire Connections 2x HyperWire small form-factor pluggable (SFP) ports
Automatic Brake Control Standard; 24 V at 1 A
Absolute Encoder Renishaw resolute BiSS; EnDat 2.1; and EnDat 2.2
Current Loop Update Rate 20 kHz
Servo Loop Update Rate 20 kHz
Power Amplifier Bandwidth Selectable through software (85-95% efficiency)
Minimum Load Inductance 0.1 mH
Operating Temperature 0 to 40 °C
Storage Temperature -30 to 85 °C
Weight 2.36 kg (5.20 lb.)
Compliance CE approved, NRTL safety certification, EU 2015/863 RoHS 3 directive
  1. For stepper motors only, one-half of bus voltage is applied across the motor (e.g., 80 VDC supply results in 40 VDC across stepper motor).
  2. Output voltage dependent upon input voltage.
  3. Peak value of the sine wave; rms current for AC motors is 0.707 * A pk.

Dimensions

Ordering Information

XC4

OptionDescription
XC4 XC4 PWM digital drive

Peak Current

OptionDescription
-10 10 A peak, 5 A cont. current (default)
-20 20 A peak, 10 A cont. current
-30 30 A peak, 10 A cont. current

Expansion Board

OptionDescription
-EB0 No expansion board (default)
-EB1 IO expansion board

Multiplier

OptionDescription
-MX0 No encoder multiplier (default)
-MX1 2 MHz / 450 kHz (bandwidth selectable) x16384 multiplier (primary), no multiplier (auxiliary)

PSO

OptionDescription
-PSO1 One-Axis PSO (default)

External Shunt

OptionDescription
-SX0 No 2-pin connector for external shunt (default)
-SX1 2-pin connector for external shunt