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Ordering Info



Design Features

  • Supports single connector axis interface including analog control output, encoder feedback, 2x EOT limit inputs, marker input, amplifier enable & fault, plus optional absolute encoder support
  • Features up to 4 axes of 20 kHz closed-loop servo control
  • Features one analog current command per axis
  • Includes one axis PSO standard with multi-axis options
  • Include 8/8 digital I/O (optically isolated), 1x high speed input & dedicated PSO output

Control Any Amplifier

The Automation1 XI4 servo controller brings precision Automation1 servo control to any analog transconductance amplifier. Each XI4 axis of control generates an analog voltage command -- required by analog amplifiers to control the output current to a servo motor -- and receives encoder and axis feedback signals. The XI4 comes in both 2- and 4- axis configurations, each with an independent 20 kHz servo control loop. For added flexibility, each axis on the XI4 can be configured to output clock and direction control signals. 


The XI4 is a part of the user-friendly Automation1 motion control platform, which includes the following:

Complete Your Machine Control

Because the XI4 connects over Automation1’s HyperWire® network, the axes it controls can be coordinated with other axes on the network to deliver contoured motion and a single, simple machine control architecture.

Feedback Features

Each axis on the XI4 includes encoder feedback inputs so that 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 +/- & marker inputs), 2x end of travel (EOT) limit switch inputs and amplifier enable and fault I/O. A dedicated digital I/O port supports 8 digital inputs, 8 digital outputs (sourcing or sinking), 1 differential high-speed input and a dedicated high-speed PSO output.

Platform Power

More than just hardware, the XI4 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 XI4 and the axes it controls into your system architecture. 

XI4 Specifications

HyperWire Communication 2x HyperWire small form-factor pluggable (SFP) ports
Control Output (1) Supports two or four axes of stepper current command (±10 V) or clock & direction control
Control Supply Voltage: 24 VDC

Current, 2 Axis Unit: 2 A max, 0.45 A typical

Current, 4 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 and marker)

Absolute encoder interface (support optional)

CW and CCW limits

5 VDC power supply

Amplifier enable and 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 inputs

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


Automation1 XI4-2P1

Automation1 XI4-4P1

Automation1 XI4-2P2

Automation1 XI4-4P2

Ordering Information

Automation1 XI4

Option Description
Automation1 XI4Automation1 XI4 Servo Controller


Option Description
-2P1 2 Axes of Control, Standard Packaging
-2P2 2 Axes of Control, OEM Packaging
-4P1 4 Axes of Control, Standard Packaging
-4P2 4 Axes of Control, OEM Packaging


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

Absolute Encoder

Option Description
-A0 No Absolute Encoder Support (default)
-A1 Absolute Encoder Support


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)
-PSO6Three-Axis Part-Speed PSO