Design Features

HyperWire^® fiber-optic interface
10 A peak output current
Drive brush, brushless, voice coil, or stepper motors
Safe torque off (STO) safety circuit
Drive array consisting of 4 million 32-bit elements
Includes single-axis Position Synchronized Output (PSO)
Optional I/O expansion board
Optional 16K encoder multiplier for amplified sine wave encoders up to 450 kHz
High resolution digital current, velocity, and position loops
NRTL safety certification and CE approval; follows the 2011/65/EU RoHS 2 Directive

The XC2 PWM digital drive is a small form-factor, 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 XC2 can control brushless DC, brush DC, voice coil, or stepper motor types at up to 100 VDC operating voltage and 10 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 XC2 include safe torque off (STO), a data array consisting of over 4 million 32-bit elements, 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 XC2 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 XC2 PWM digital drive has an optional I/O expansion board; greatly increasing the number I/O points. This I/O board also includes a dedicated PSO output.

Specifications

XC2 Specifications

Feature	Units	10
Motor Style		Brush, brushless, voice coil, stepper⁽¹⁾
Motor Supply/Bus Voltage⁽²⁾		15-100 VDC
Control Supply⁽²⁾		24 VDC
Peak Output Current (1sec)⁽⁴⁾	A_pk	10
Continuous Output Current⁽⁴⁾	A_pk	5
Digital Inputs		0 (Available with -EB1 I/O Expansion Board, see below)
Digital Outputs		0 (Available with -EB1 I/O Expansion Board, see below)
Analog Inputs		0 (Available with -EB1 I/O Expansion Board, see below)
Analog Outputs		0 (Available with -EB1 I/O Expansion Board, see below)
Position Synchronized Output (PSO)		One-axis PSO and one-axis Part-Speed PSO (Available with -EB1 I/O Expansion Board, see below)
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
Multiplier Options		MX0; no encoder multiplier includes: Primary encoder 40 million counts-per-second square-wave input Auxiliary encoder 40 million counts-per-second square-wave input MX1; MX1 encoder multiplier includes: Primary Encoder 450 kHz sine-wave input, Encoder multiplier up to x16,384* Auxiliary Encoder 40 million samples-per-second square wave input. *Multiplied encoder cannot be echoed out.
I/O Expansion Board (-EB1)		1x PSO connection point 8x digital inputs, optically isolated 8x digital outputs, optically isolated 1x analog inputs, 16-bit, differential, ±10 V 1x 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 Rate	kHz	20
Servo Loop Update Rate	kHz	8
Power Amplifier Bandwidth	kHz	2500 Hz maximum (software selectable)
Power Amplifier Efficiency	kHz	85-95%⁽⁵⁾
Minimum Load Inductance	mH	0.1
Operating Temperature	°C	0 to 40°C
Weight	kg (lb.)	0.54 (1.20)
Compliance		CE approved, NRTL safety certification, 2011/65/EU RoHS 2 directive

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).
“Keep Alive” supply.
Output voltage dependent upon input voltage.
Peak value of the sine wave; rms current for AC motors is 0.707 * Apk.
(2) Dependent on total output power: efficiency increases with increasing output power.

Ordering Information

XC2

Option	Description
XC2	XC2 PWM digital drive

Peak Current

Option	Description
-10	10 A Peak, 5 A cont. current (default)

Expansion Board

Option	Description
-EB0	No expansion board (default)
-EB1	IO expansion board

Multiplier

Option	Description
-MX0	No encoder multiplier (default)
-MX1	450 kHz x16384 multiplier (primary), no multiplier (auxiliary)

PSO

Option	Description
-PS01	One-Axis PSO (default; includes One-Axis Part-Speed PSO)

Note: PSO functionality is included in the base XC2. The -EB1 board is required to use PSO logic to generate an output signal.