Design Features

The XC4 PWM digital drive is a high-performance single-axis motor drive designed for motion control applications. All versions are compatible with the Automation 3200 motion platform utilizing the HyperWire® motion bus. 

The XC4 PWM amplifiers control brushless DC, brush DC, voice coil, and 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 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.

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

SpecificationsUnits102030
Motor Style
Brush, brushless, voice coil, stepper(1)
Motor Supply
Single-phase 240 VAC; 50/60 Hz
Control Supply(2)
100-240 VAC; 50/60 Hz
Bus Voltage(3)
340 VDC
Peak Output Current (1 sec)(4)Apk102030
Continuous Output Current(4)Apk51010
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)
One-axis PSO and One-axis part-speed PSO standard
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 include:

  • Primary encoder 40 million counts-per-second square-wave input

  • Auxiliary encoder 40 million counts-per-second square-wave input

MX1, MX1 encoder multiplier include:

  • Primary encoder 450 kHz sine-wave input, encoder multiplier up to x16,384*

  • Auxiliary encoder 40 million counts-per-second square wave input

*Encoders multiplied with the MX1 multiplier cannot be echoed out. Refer to the XC4e product for this capability.
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
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 RatekHz20
Servo Loop Update RatekHz8
Power Amplifier BandwidthkHzSelectable through software (85-95% efficiency)
Minimum Load InductancemH0.1
Operating Temperature°C0 to 40
Storage Temperature°C-30 to 85
Weightkg (lb.)2.36 (5.20)
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 * A pk.

Dimensions

Ordering Information

XC4

OptionDescription
XC4XC4 PWM digital drive

Peak Current

OptionDescription
-1010 A peak, 5 A cont. current (default)
-2020 A peak, 10 A cont. current
-3030 A peak, 10 A cont. current

Expansion Board

OptionDescription
-EB0No expansion board (default)
-EB1IO expansion board

Multiplier

OptionDescription
-MX0No encoder multiplier (default)
-MX1450 kHz x16384 multiplier (primary), no multiplier (auxiliary)

PSO

OptionDescription
-PSO1One-Axis PSO (default)

External Shunt

OptionDescription
-SX0No 2-pin connector for external shunt (default)
-SX12-pin connector for external shunt