XC4 PWM Digital Drive

Description

Design Features

  • 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 450 kHz
  • High resolution digital current, velocity, and position loops
  • NRTL safety certification and CE approval; follows the 2011/65/EU RoHS 2 Directive Integral Safe
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.

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

SpecificationsUnits102030
Motor Style   Brush, brushless, voice coil, stepper(1)
Motor Supply   Single-phase 7-240 vac; 50/60 hz
Control Supply(2)   85-240 VAC; 50/60 Hz
Bus Voltage(3)   10-320 VDC
Peak Output Current (1sec)(4) Apk 10 20 30
Analog Outputs Apk 5 10 10
Digital Inputs   4x optically isolated
Digital Outputs   4x optically isolated
High-Speed Inputs   2x optically isolated
Analog Inputs   2x 16-bit differential ±10 V
Analog Outputs   2x 16-bit single-ended; ±10 V
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)*
  • Contains the digital inputs and digital outputs listed above
  • Contains the high-speed inputs listed above
  • Contains the analog inputs and analog outputs listed above
*This channel is bidirectional, and can be used to echo out encoder signal
Multiplier Options   MX0, no encoder multiplier include:
  • Primary encoder 40 million counts-per-second square-wave input
  • Auxiliary encoder 40 million counts-per-second square-wave input
MX1, MX1 encoder multiplier include:
  • Primary encoder 450 kHz sine-wave input, encoder multiplier up to x16,384*
  • Auxiliary encoder 40 million counts-per-second square wave input
*Encoders multiplied with the MX1 multiplier cannot be echoed out. Refer to the XC4e product for this capability.
I/O Expansion Board (-EB1)  
  • 1x additional PSO connection point
  • 1x PSO synchronization Input
  • 16x digital inputs, optically isolated
  • 16x digital outputs, optically isolated
  • 2x analog inputs, 16-bit, differential, ±10 V
  • 2x 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, dual inputs
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; EnDat 2.2, and SSI
Current Loop Update Rate kHz 20
Servo Loop Update Rate kHz 8
Power Amplifier Bandwidth kHz Selectable through software (85-95% efficiency)
Minimum Load Inductance mH 0.1 @ 160 VDC (1.0 @ 320 VDC)
Operating Temperature °C 0 to 40
Storage Temperature °C -30 to 85
Weight kg (lb.) 2.36 (5.20)
Compliance   CE approved, NRTL safety certification, 2011/65/EU RoHS 2 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. “Keep Alive” supply.
  3. Output voltage dependent upon input voltage.
  4. 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, 15 A cont. current

Expansion Board

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

Multiplier

OptionDescription
-MX0 No encoder multiplier (default)
-MX1 450 kHz 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