Automation1-XC2 PWM Digital Drive

Description

Design Features

  • Part of Aerotech's Automation1 Precision Motion Control Platform
  • Compatible with A3200 version 6.04 and newer
  • 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

FeatureUnits10
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)(3) Apk 10
Continuous Output Current(4) Apk 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)5
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 x16,3845
  • 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%(6)
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

  1. For stepper motors only, one-half of bus voltage is applied across the motor (e.g., 100 VDC supply results in 50 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.
  5. Multiplied encoder cannot be echoed out.
  6. Dependent on total output power: efficiency increases with increasing output power.

Dimensions

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.