Automation1 XC4 PWM Servo Drive
The XC4 PWM digital drive is a single-axis motor drive designed for precision motion control applications. All versions communicate to Automation1 PC- and drive-based controller products over the HyperWire® motion bus. The amplifiers control brushless DC, brush DC, voice coil and stepper motor types at up to 340 VDC operating voltage and 30 A peak current capability.
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Description
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, and stepper motors
- Safe Torque Off (STO) safety circuit
- Drive array consisting of more than 4 million 32-bit elements
- Available with Multi-axis Position Synchronized Output (PSO) (Single-axis is standard)
- 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 2 MHz
- High resolution digital current, velocity, and position loops
- CE approved, NRTL safety certification, EU 2015/863 RoHS 3 directive
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.
See how Automation1 Servo Drives Improve In-Position Stability.
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
| Specifications | 10, 20, 30 |
|---|---|
| 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: 10 Apk -20: 20 Apk -30: 30 Apk |
| Continuous Output Current (3)(4) | -10: 5 Apk -20: 10 Apk -30: 10 Apk |
| Position Synchronized Output (PSO) | Standard: One-axis PSO (includes one-axis part-speed PSO)(5) Optional: Three-axis part-speed PSO |
| 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. MX1 Option: Primary Encoder: 2 MHz / 450 kHz (bandwidth selectable) sine-wave input, encoder multiplier up to x16,384* Auxiliary Encoder: 40 million counts per second square-wave input *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 | 16.8 MB (4,194,304 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 |
Notes:
- 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).
- Output voltage dependent upon input voltage.
- Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.
- Maximum achievable continuous output current depends on the thermal conditions of the drive.
- Encoder feedback-based PSO requires the -MX0 multiplier option.
Dimensions
Automation1 XC4, -EB0 Option
Automation1 XC4, -EB1 Option
Ordering Info
XC4
| Option | Description |
|---|---|
| XC4 | XC4 PWM digital drive |
Peak Current
| Option | Description |
|---|---|
| -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
| Option | Description |
|---|---|
| -EB0 | No expansion board |
| -EB1 | IO expansion board |
Multiplier
| Option | Description |
|---|---|
| -MX0 | No encoder board (default) |
| -MX1 | 2 MHz / 450 kHz (bandwidth selectable) x16384 multiplier (primary), no multiplier (auxiliary) |
PSO
| Option | Description |
|---|---|
| -PSO1 (1) | One-axis PSO (includes One-axis Part-Speed PSO) (Default) |
| -PSO6 | Three-axis Part-Speed PSO |
Notes:
- Encoder feedback-based PSO requires the -MX0 multiplier option.
External Shunt
| Option | Description |
|---|---|
| -SX0 | No 2-pin connector for external shunt (default) |
| -SX1 | 2-pin connector for external shunt |
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