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Design Features

  • Unlocks the full motion control power of our Automation1-iSMC intelligent software-based motion controller
  • Features complete configuration & performance capability of XC6e PWM servo drive
  • Provides up to 100 amps peak output
  • Offers 240 VAC & 480 VAC voltage options
  • Connect to the controller using EtherCAT, Modbus or a Socket interface
  • Allows for up to 12 axes of control when more Automation1 drives are connected over the HyperWire fiber-optic bus
  • Includes safe torque off (STO) safety circuit


The iXC6e is a part of the user-friendly Automation1 motion control platform, which includes the following:

Control Your Full Machine

When deployed to an iXC6e drive, our Automation1-iSMC motion controller can control up to twelve axes of motion over the Automation1 HyperWire® communication bus. EtherCAT, Modbus TCP and a Socket interface enable true full machine and motion system control with this device. All axes are tightly coordinated with other axes on the network to deliver contoured motion and a single, simple machine control architecture.

Delivers Ultra-Smooth Motion

Achieve ultra-smooth motion profiles with the iXC6e’s optimized servo system response, which includes the use of up to sixteen (16) second-order loop-shaping filters, precise time-aligned feed-forward and other proprietary techniques.

Packed with Features

The features you need most come standard with the Automation1 iXC6e, including safe torque off (STO), a 67.1 MB data array (stores more than 16 million 32-bit elements), digital and analog I/O, Position Synchronized Output (PSO), dedicated home and end-of-travel limit inputs and an enhanced current sense device. The drive also includes internal bus voltage monitoring, over-voltage protection, an integral 300W shunt resistor and integral cooling fans.

Easy to Integrate

Integrating the iXC6e is simple with features like auto-ranging control supply, integral encoder interpolation options, automatic brake control, digital and analog I/O expansion board and standard absolute encoder support.

Feedback Flexibility

The standard iXC6e accepts square-wave and absolute encoder feedback signals. With the optional encoder multiplier feature, sine-wave encoders can be multiplied by up to 65,536, making iXC6e our highest-resolution position feedback drive. It also supports dual-multiplied and dual-absolute encoder feedback.

Control Your Process

The iXC6e is more than a motion control device. It also includes many process control features. Empowered with our Position Synchronized Output (PSO) functionality, a single-axis iXC6e can track up to three encoders in real-time to trigger a process tool like an industrial laser or camera.

iXC6e Controller Details

Motion Controller(1) Aerotech’s Automation1-iSMC Intelligent Software-Based Motion Controller (version 2.1 and
Maximum Axes of Control(1) Up to 12 axes
I/O Points(1) See “general specifications” below. Note: Controller can control I/O from connected devices.
Programming Language(1) AeroScript, RS-274 G-code
APIs(1) .NET (cross-platform Linux support)

C (cross-platform Linux support)

Python (cross-platform Linux support)

Instrument Driver for LabVIEW

EPICS (cross-platform Linux support) see EPICS & TANGO Drivers – Aerotech US

TANGO; see EPICS & TANGO Drivers – Aerotech US
Programming Tasks(1) 4 user tasks (standard) / 9 user tasks (optional)

1 reserved task
Position Modes Absolute, incremental, dynamic trajectory correction
Motion Types(1) Linear motion

Clockwise & counterclockwise





Many more
Acceleration Profiles Linear (time & rate based)

Sine (time & rate based)

S-curve (time & rate based)
Velocity Profiling(1) Yes
Safe Zones(1) Yes
Advanced Features(1) Corner rounding

Tool normalcy control

Cutter compensation

Programmable fixture offsets(2)

Rotation, mirroring & translation

Part profile scaling

Polar & cylindrical transformations(2)

Orthogonality correction

Electronic gearing

EasyTune® & classical tuning

Backlash compensation

Spindle motion

High-speed registration

Multi-dimensional error mapping
Access Control No
Controller File System Yes (5 GB)
Supported HyperWire Drives Automation1-XC6e(3)(4)









Industrial Ethernet
EtherCAT (optional, requires Automation1-iSMC, -IE2 option)

Modbus (standard, 1 server, 1 client connection; optional, up to 16 client connections with Automation1-iSMC, -CP1 option)
Ethernet Communication(6) Socket (standard, TCP client and TCP server)


iXC6e Specifications

Motor Style Brush, brushless, voice coil, stepper(1)
Control Supply 100-240 VAC; 50/60 Hz
Motor Supply 240 VAC (three-phase), 50/60 Hz | 480 VAC (three-phase), 50/60 Hz
Bus Voltage(2) 0-340 VDC | 340-680 VDC
PWM Frequency 20 kHz(3)
Peak Output Current (1 sec)(4)(5) 50 Apk | 100 Apk | 10 Apk | 20 Apk | 30 Apk | 50 Apk100 | Apk
Continuous Output Current(4)(5) 25 Apk | 50 Apk | 5 Apk | 10 Apk | 15 Apk | 25 Apk | 30 Apk @ 20 KHz 50 Apk@ 10 KHz
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 signals
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: 160 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

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 67.1 MB (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 1x HyperWire small form-factor pluggable (SFP) ports
Automatic Brake Control Standard; 24 V at 1 A
Absolute Encoder BiSS C Unidirectional; EnDat 2.1; 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 6.30 kg (13.89 lb
Compliance CE approved, NRTL safety certification, EU 2015/863 RoHS 3 directive


Automation1 iXC6e, -EB0 Option

Automation1 iXC6e, -EB1 Option

Ordering Information

Automation1 iXC6e

Option Description
Automation1 iXC6e Automation1 iXC6e - Enhanced, High-Powered PWM Servo Drive with Motion Controller

Peak Current

Option Description
-10 10 A peak, 5 A cont. current (480V input only)
-20 20 A peak, 10 A cont. current (480V input only)
-30 30 A peak, 15 A cont. current (480V input only)
-50 50 A peak, 25 A cont. current
-100 100 A peak, 50 A cont. current

Rated Motor Supply Voltage

Option Description
-240V1 240 VAC Rated Motor Supply Voltage (50/100 Amp Versions)
-480V1 480 VAC Rated Motor Supply Voltage (50/100 Amp Versions)
-480V2 480 VAC Rated Motor Supply Voltage (10/20/30 Amp Versions)

Expansion Board

Option Description
-EB0 No Expansion Board (Default)
-EB1 I/O Expansion Board


Option Description
-MX0 No Encoder Multiplier (Default)
-MX1 2 MHz/450 kHz x65536 Multiplier (Primary), No Multiplier (Auxiliary)
-MX2 2 MHz/450 kHz x65536 Multiplier (Primary), 450 KHz x16384


Option Description
-PSO1 One-Axis PSO (includes One-Axis Part-Speed PSO) (Default)
-PSO2 Two-Axis PSO (includes Two-Axis Part-Speed PSO)
-PSO3 Three-Axis PSO (includes Three-Axis Part-Speed PSO)
-PSO5 Two-Axis Part-Speed PSO
-PSO6 Three-Axis Part-Speed PSO

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