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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 the XI4 servo controller
  • Eliminates the PC from your control scheme
  • Enables up to 12 axes of control when more Automation1 drives are connected over the HyperWire fiber-optic bus
  • Includes up to four single connector axis interface connectors
  • Features up to four axes of 20 kHz closed-loop servo control


The iXI4 is a part of the user-friendly Automation1 motion control platform, which includes the following:

Control Your Full Machine

Because the iXI4 can run the Automation1-iSMC motion controller and up to four axes of servo-controlled devices, you can truly control a full machine or system with this single device. Use Automation1’s HyperWire® network to connect more axes of control – even additional XI4 devices. These axes can be coordinated with other axes on the network to deliver contoured motion and a single, simple machine control architecture.

Extend Your I/O

Configure the Automation1-iSMC with the appropriate industrial ethernet options and connect additional third-party devices, completing your control architecture.

Feedback Features

Each axis on the iXI4 includes encoder feedback inputs so you can control axis position very accurately. This input accepts incremental square-wave and absolute (optional) feedback devices.

The dedicated axis feedback signals include encoder feedback (sine +/-, cosine +/- and marker inputs), 2x end of travel (EOT) limit switch inputs and amplifier enable and fault I/O. A dedicated digital I/O port supports eight digital inputs, eight digital outputs (sourcing or sinking), one differential high-speed input and a dedicated high-speed PSO output.

Platform Power

More than just hardware, the iXI4 gives you access to the complete power of the Automation1 motion control platform. This includes the Automation1 motion development kit (MDK), the intelligent software-based controller (iSMC) and the powerful AeroScript™ programming language with integrated RS-274 G and M code support. The Automation1 iSMC can also be programmed by various controller APIs, which provide flexible methods of integrating the iXI4 and the axes it controls into your system architecture.

iXI4 Controller Details

Motion Controller(1) Aerotech’s Automation1-iSMC Intelligent Software-Based Motion Controller (version 2.2 and above)
Maximum Axes of Control(1) Up to 12 axes
I/O Points(1) See “Digital I/O Connector” 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)

EPICS (cross-platform Linux support) see
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 Yes
Advanced Features(1) Corner Rounding

Tool normalcy control

Cutter compensation

Programmable fixture offsets(2)

Rotation, mirroring & translation transformations

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)









Communication/Configuration Connection Ethernet


iXI4 Specifications

HyperWire Communication 1x HyperWire small form-factor pluggable (SFP) ports
Control Output(1) Supports two or four axes of current command (±10 V) or clock & direction control
Control Supply Voltage: 24 VDC

Current, one-axis unit: 2 A max, 0.45 A typical

Current, four-axis unit 2 A max, 0.6 A typical
User Power Supply Output 5 VDC
Modes of Operation Open loop

Closed loop
Protective Features Output short circuit

Control power supply undervoltage
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)

Three-axis part-speed PSO only
25-Pin Axis Connector Servo current commands / stepper clock & direction output

High-speed differential inputs (encoder sin, cos & marker)

Absolute encoder interface (support optional)

CW & CCW limits

5 VDC power supply

Amplifier enable & fault
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: 450 kHz sine-wave input, encoder multiplier up to x4,096*

Auxiliary Encoder: 40 million counts per second square-wave input

*Encoders multiplied with this input cannot be echoed out
Digital I/O Connector 8x optically isolated digital inputs (externally powered, 5-24 VDC)

8x optically isolated digital outputs (externally powered, 5-24 VDC)

1x optically isolated high-speed input

1x PSO TTL output

1x 5 VDC power supply
Drive Array Memory 67.1 MB (16,777,216 32-bit elements)
High Speed Data Capture Yes (50 ns latency)
Automatic Brake Control Assignable digital output
E-Stop Sense Input Assignable digital input
Absolute Encoder (Optional) BiSS C unidirectional; EnDat 2.1; EnDat 2.2
Position Command Update Rate 20 kHz
Operating Temperature 0 to 40 °C
Storage Temperature -30 to 85 °C
Weight 0.59 kg (1.30 lb)
Compliance CE approved, follows EU 2015/863 RoHS 3 directive






Ordering Information

Automation1 iXI4

Option Description
Automation1 iXI4Automation1 iXI4 Motion and Servo Controller


Option Description
-2P1Two axes of control, standard packaging
-2P2Two axes of control, OEM packaging
-4P1Four axes of control, standard packaging
-4P2Four axes of control, OEM packaging


Option Description
-MX0No Encoder Multiplier (default)
-MX1x4096 Multiplier (Primary), No Multiplier (Auxiliary)

Absolute Encoder

Option Description
-A0No absolute encoder support (default)
-A1Absolute encoder support


Option Description
-PSO1One-axis PSO (includes one-axis part-speed PSO) (default)
-PSO2Two-axis PSO (includes two-axis part-speed PSO)
-PSO3Three-axis PSO (includes three-axis part-speed PSO)
-PSO6Three-axis part-speed PSO

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