Automation1 XC4e High-Performance PWM Digital Drive


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, or stepper motors
  • Safe torque off (STO) safety circuit
  • Drive array consisting of more than 16 million 32-bit elements
  • Optional two-axis or three-axis Position Synchronized Output (PSO)
  • Optional two-axis or three-axis Part-Speed PSO
  • Optional I/O expansion board
  • Optional 65K 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 XC4e PWM digital drive is Aerotech’s highest performance single-axis motor drive for motion control applications. All versions are compatible with the Automation 3200 motion platform utilizing the HyperWire® motion bus.

The XC4e PWM amplifiers control brushless DC,  brush DC, voice coil, or 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 assure 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 XC4e include safe torque off (STO), a data array consisting of over 16 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 XC4e accepts square-wave encoder feedback at rates of up to 40 million counts-per-second. Sine-wave encoders can be multiplied by up to 65,536, producing Aerotech’s highest-resolution position feedback, with the optional encoder multiplier feature. Dual-multiplied encoder feedback is supported.
Each single-axis XC4e PWM digital drive can be ordered with the MX2 high-performance single encoder multiplier or the MX3 high-performance dual-loop encoder multiplier, enabling higher levels of position and velocity control.
Also available are a wide variety of extensions of the base PSO functionality. Track up to three encoders in real time with three-axis PSO or extend PSO’s functionality to kinematic arrangements through the use of Aerotech’s Part-Speed PSO feature.

Each drive has an optional I/O expansion board to greatly increase 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.


XC4e Specifications

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) Standard:
  • One-axis PSO (includes one-axis Part-Speed PSO)
  • Two-axis PSO (includes two-axis Part-Speed PSO)
  • Three-axis PSO (includes three-axis Part-Speed PSO)
  • Two-axis Part-Speed PSO only
  • Three-axis Part-Speed PSO only
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.

MX2 Option:
Primary Encoder: 2 MHz / 450 kHz (bandwidth selectable) sine-wave input, encoder multiplier up to 65,536
Auxiliary Encoder: 40 million counts per second square-wave input

MX3 Option:
Primary Encoder: 2 MHz / 450 kHz (bandwidth selectable) sine-wave input, encoder multiplier up to 65,536
Auxiliary Encoder: 450 kHz sine-wave input, encoder multiplier up to x16,384*

*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 16,777,216 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 * Apk.


Ordering Information


XC4e XC4e PWM digital drive

Peak Current

-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

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


-MX0 No encoder multiplier (default)
-MX2 2 MHz x65536 multiplier (primary), no multiplier (auxiliary)
-MX3 2 MHz x65536 multiplier (primary), 450 kHz x16384 multiplier (auxiliary)


-PSO1 One-Axis PSO (default)
-PSO2 Two-Axis PSO
-PSO3 Three-Axis PSO
-PSO5 Two-Axis Part-Speed PSO
-PSO6 Three-Axis Part-Speed PSO

External Shunt

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