XC4e High-Performance 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, 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
  • NRTL safety certification and CE approval; follows the 2011/65/EU RoHS 2 Directive Integral Safe
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.

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.

Specifications

XC4e Specifications

FeatureDescription
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 (1 sec)(4) 10 Apk 20 Apk 30 Apk
Continuous Output Current(4) 5 Apk 10 Apk 10 Apk
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) Standard:
  • One-axis PSO (includes one-axis Part-Speed PSO)
Optonal:
  • 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)*
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 includes:
  • Primary encoder 40 million counts-per-second square-wave input
  • Auxiliary encoder 40 million counts-per-second square-wave input
MX2; MX2 encoder multiplier includes:
  • Primary encoder 2 MHz sine-wave input, encoder multiplier up to x65,536
  • Auxiliary encoder 40 million counts-per-second square wave input
MX3; MX3 encoder multiplier includes:
  • Primary encoder 2 MHz sine-wave input, encoder multiplier up to x65,536
  • Auxiliary encoder 450 kHz sine-wave input, encoder multiplier up to x16,384
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 16,777,216 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 20 kHz
Servo Loop Update Rate 8 kHz
Power Amplifier Bandwidth Selectable through software (85-95% efficiency)
Minimum Load Inductance 0.1 mH @ 160 VDC (1.0 @ 320 VDC)
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, 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 * Apk.

Dimensions

Ordering Information

XC4e

OptionDescription
XC4e XC4e 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)
-MX2 2 MHz x65536 multiplier (primary), no multiplier (auxiliary)
-MX3 2 MHz x65536 multiplier (primary), 450 kHz x16384 multiplier (auxiliary)

PSO

OptionDescription
-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

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