Design Features

The XC4e PWM digital drive is Aerotech’s highest performance single-axis motor drive for motion control applications. All versions are compatible with the Automation 3200 motion platform utilizing the HyperWire® motion bus.

The XC4e PWM amplifiers control brushless DC,  brush DC, voice coil, or 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 assure 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 XC4e include safe torque off (STO), a data array consisting of over 16 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 XC4e accepts square-wave encoder feedback at rates of up to 40 million counts-per-second. Sine-wave encoders can be multiplied by up to 65,536, producing Aerotech’s highest-resolution position feedback, with the optional encoder multiplier feature. Dual-multiplied encoder feedback is supported.
   
Each single-axis XC4e PWM digital drive can be ordered with the MX2 high-performance single encoder multiplier or the MX3 high-performance dual-loop encoder multiplier, enabling higher levels of position and velocity control.
   
Also available are a wide variety of extensions of the base PSO functionality. Track up to three encoders in real time with three-axis PSO or extend PSO’s functionality to kinematic arrangements through the use of Aerotech’s Part-Speed PSO feature. 

Each drive has an optional I/O expansion board to greatly increase 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

XC4e Specifications

FeatureDescription
Motor Style Brush, brushless, voice coil, stepper(1)
Motor SupplySingle-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)10 Apk20 Apk30 Apk
Continuous Output Current(4)5 Apk10 Apk10 Apk
Digital Inputs4x optically isolated  
Digital Outputs4x optically isolated   
High-Speed Inputs2x optically isolated   
Analog Inputs2x 16-bit differential; ±10 V
Analog Outputs2x 16-bit single-ended; ±10 V
Position Synchronized Output (PSO)Standard:

  • One-axis PSO (includes one-axis Part-Speed PSO)

Optional:

  • 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 ConnectorHigh-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 ConnectorHigh-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 OptionsMX0; no encoder multiplier includes:

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

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

MX2; MX2 encoder multiplier includes:

  • Primary encoder 2 MHz sine-wave input, encoder multiplier up to x65,536

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

MX3; MX3 encoder multiplier includes:

  • Primary encoder 2 MHz sine-wave input, encoder multiplier up to x65,536

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

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 Memory16,777,216 32-bit elements
High-Speed Data CaptureYes (50 ns latency)
Safe Torque Off (STO)Yes, SIL3/PLe/Cat 4
HyperWire Connections2x HyperWire small form-factor pluggable (SFP) ports
Automatic Brake ControlStandard; 24 V at 1 A
Absolute EncoderRenishaw resolute BiSS; EnDat 2.1; and EnDat 2.2
Current Loop Update Rate20 kHz
Servo Loop Update Rate8 kHz
Power Amplifier BandwidthSelectable through software (85-95% efficiency)
Minimum Load Inductance0.1
Operating Temperature0 to 40°C
Storage Temperature-30 to 85°C
Weight2.36 kg (5.20 lb)
ComplianceCE 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 * Apk.

Dimensions

Ordering Information

XC4e

OptionDescription
XC4eXC4e 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)
-MX22 MHz x65536 multiplier (primary), no multiplier (auxiliary)
-MX32 MHz x65536 multiplier (primary), 450 kHz x16384 multiplier (auxiliary)

PSO

OptionDescription
-PSO1One-Axis PSO (default)
-PSO2Two-Axis PSO
-PSO3Three-Axis PSO
-PSO5Two-Axis Part-Speed PSO
-PSO6Three-Axis Part-Speed PSO

External Shunt

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