Aerotech Automation1 iXC4e User manual

Revision 2.06
Automation1 iXC4e and XC4e
PWMHigh-Performance Digital Drives
HARDWAREMANUAL

GLOBALTECHNICALSUPPORT
Go to the Global Technical Support Portal for information and support about your
Aerotech, Inc. products. The website supplies software, product manuals, Help files,
training schedules, and PC-to-PC remote technical support. If necessary, you can
complete Product Return (RMA) forms and get information about repairs and spare
or replacement parts. To get help immediately, contact a service office or your sales
representative. Include your customer order number in your email or have it
available before you call.
This manual contains proprietary information and may not be reproduced,
disclosed, or used in whole or in part without the express written permission of
Aerotech, Inc. Product names mentioned herein are used for identification purposes
only and may be trademarks of their respective companies.
Copyright © 2018-2022, Aerotech, Inc., All rights reserved.

Table of Contents
Automation1 iXC4e and XC4e PWMHigh-Performance Digital Drives 1
Table of Contents 3
List of Figures 5
List of Tables 7
EU Declaration of Conformity 9
Agency Approvals 10
Safety Procedures and Warnings 11
Handling and Storage 13
Installation Overview 14
Chapter 1: iXC4e/XC4e Overview 17
1.1. Electrical Specifications 21
1.1.1. System Power Requirements 22
1.2. Mechanical Specifications 23
1.2.1. Mounting and Cooling 23
1.2.2. Dimensions 24
1.3. Environmental Specifications 26
1.4. Drive and Software Compatibility 26
Chapter 2: Installation and Configuration 27
2.1. Input Power Connections 27
2.1.1. Control Supply Connector 27
2.1.2. Motor Supply Connector 28
2.1.3. Transformer Options 29
2.1.4. Minimizing Noise for EMC/CECompliance 36
2.2. Motor Power Output Connector 37
2.2.1. Brushless Motor Connections 38
2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 39
2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 40
2.2.2. DCBrush Motor Connections 41
2.2.2.1. DC Brush Motor Phasing 41
2.2.3. Stepper Motor Connections 42
2.2.3.1. Stepper Motor Phasing 42
2.2.4. Three Phase Stepper Motor Connections 43
2.2.4.1. Stepper Motor Phasing 43
2.3. Feedback Connector 44
2.3.1. Primary Encoder Inputs 45
2.3.1.1. Square WaveEncoder (Primary) 46
2.3.1.2. Absolute Encoder (Primary) 47
2.3.1.3. Sine Wave Encoder (Primary) [-MX2/-MX3 Option] 48
2.3.1.4. Encoder Phasing 50
2.3.2. Hall-Effect Inputs 51
2.3.3. Thermistor Input 52
2.3.4. Encoder Fault Input 53
2.3.5. End of Travel and Home Limit Inputs 54
2.3.5.1. End of Travel and Home Limit Phasing 56
2.3.6. Brake Outputs 57
2.4. Safe Torque Off Input (STO) 58
2.4.1. STOStandards 60
2.4.2. STO Functional Description 61
2.4.3. STO Startup Validation Testing 62
2.4.4. STO Diagnostics 63
2.5. Auxiliary I/O Connector 64
2.5.1. Auxiliary Encoder Interface 65
2.5.1.1. Square WaveEncoder (Auxiliary) 66
2.5.1.2. Absolute Encoder (Auxiliary) 67
2.5.1.3. Sine Wave Encoder (Auxiliary) [-MX3 Option] 68
2.5.2. Position Synchronized Output (PSO) 70
2.5.3. Digital Outputs 72
Hardware Manual iXC4e/XC4e
www.aerotech.com 3

2.5.4. Digital Inputs 75
2.5.5. High-Speed Inputs 77
2.5.6. Analog Output 0 78
2.5.7. Analog Input 0 (Differential) 79
2.6. Brake Power Supply Connector 80
2.7. HyperWire Interface 81
2.8. External Shunt Option [-SX1] 82
2.9. Sync Port 84
2.10. Industrial Ethernet (iXC4e Only) 84
2.11. System Interconnection 85
2.12. PC Configuration and Operation Information 88
Chapter 3: -EB1 Option Expansion Board 89
3.1. Digital Outputs [-EB1] 90
3.2. Digital Inputs [-EB1] 94
3.3. Analog Outputs [-EB1] 97
3.4. Analog Inputs [-EB1] 98
3.5. PSOInterface [-EB1] 99
Chapter 4: Cables and Accessories 101
4.1. Joystick Interface 102
4.2. Handwheel Interface 104
Chapter 5: Maintenance 105
5.1. Preventative Maintenance 106
5.2. Fuse Specifications 107
Appendix A: Warranty and Field Service 109
Appendix B: Revision History 111
Index 113
iXC4e/XC4e Hardware Manual
4 www.aerotech.com

List of Figures
Figure 1-1: iXC4e Digital Drive-Based Controller 17
Figure 1-2: XC4e Digital Drive 18
Figure 1-3: Functional Diagram 20
Figure 1-4: Dimensions 24
Figure 1-5: Dimensions [-EB1] 25
Figure 2-1: Control Supply Connections 27
Figure 2-2: Motor Supply Connections 28
Figure 2-3: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (40 VDC Bus) 30
Figure 2-4: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (80 VDC Bus) 31
Figure 2-5: TV0.3-28-56-ST Transformer Control and Motor Power Wiring (160 VDC Bus) 32
Figure 2-6: TV0.3-28 Transformer Control and Motor Power Wiring (40 VDC Bus) 33
Figure 2-7: TV0.3-56 Transformer Control and Motor Power Wiring (80 VDC Bus) 34
Figure 2-8: TM3/TM5 Transformer Control and Motor Power Wiring 35
Figure 2-9: Brushless Motor Configuration 38
Figure 2-10: Positive Motor Direction 39
Figure 2-11: Encoder and Hall Signal Diagnostics 39
Figure 2-12: Brushless Motor Phasing Oscilloscope Example 40
Figure 2-13: Brushless Motor Phasing Goal 40
Figure 2-14: DC Brush Motor Configuration 41
Figure 2-15: Positive Motor Direction 41
Figure 2-16: Stepper Motor Configuration 42
Figure 2-17: Positive Motor Direction 42
Figure 2-18: Three Phase Stepper Motor Configuration 43
Figure 2-19: Positive Motor Direction 43
Figure 2-20: Square Wave Encoder Schematic (Feedback Connector) 46
Figure 2-21: Absolute Encoder Schematic (Feedback Connector) 47
Figure 2-22: Sine Wave Encoder Phasing Reference Diagram 48
Figure 2-23: Sine Wave Encoder Schematic (Feedback Connector) 49
Figure 2-24: Encoder Phasing Reference Diagram (Standard) 50
Figure 2-25: Position Feedback in the DiagnosticDisplay 50
Figure 2-26: Hall-Effect Inputs Schematic (Feedback Connector) 51
Figure 2-27: Thermistor Input Schematic (Feedback Connector) 52
Figure 2-28: Encoder Fault Input Schematic (Feedback Connector) 53
Figure 2-29: End of Travel and Home Limit Input Connections 55
Figure 2-30: End of Travel and Home Limit Input Schematic (Feedback Connector) 55
Figure 2-31: End of Travel and Home Limit Input Diagnostic Display 56
Figure 2-32: Brake Connected to the 25-Pin Feedback Connector (Typical) 57
Figure 2-33: Typical STO Configuration 59
Figure 2-34: STO Timing 63
Figure 2-35: Square Wave Encoder Interface (Aux I/OConnector) 66
Figure 2-36: Absolute Encoder Schematic (Auxiliary I/O Connector) 67
Figure 2-37: Sine Wave Encoder Phasing Reference Diagram 68
Figure 2-38: Sine Wave Encoder Schematic (Auxiliary I/OConnector) 69
Figure 2-39: PSO Interface 71
Figure 2-40: Digital Output Schematic (Aux I/OConnector) 73
Figure 2-41: Digital Outputs Connected in Current Sourcing Mode 74
Figure 2-42: Digital Outputs Connected in Current Sinking Mode 74
Figure 2-43: Digital Inputs Schematic (Aux I/OConnector) 75
Hardware Manual iXC4e/XC4e
www.aerotech.com 5

Figure 2-44: Digital Inputs Connected to Current Sourcing Devices 76
Figure 2-45: Digital Inputs Connected to Current Sinking Devices 76
Figure 2-46: High-Speed Inputs 77
Figure 2-47: Analog Output 0 Schematic 78
Figure 2-48: Analog Input 0 Schematic 79
Figure 2-49: Drive-Based System Wiring Drawing (Best Practice) 85
Figure 2-50: PC-Based System Wiring Drawing (Best Practice) 85
Figure 2-51: Drive-Based Controller System Interconnection (Best Practice) 86
Figure 2-52: PC-Based Controller System Interconnection (Best Practice) 87
Figure 3-1: -EB1 I/O Option Board Connectors (iXC4e shown) 89
Figure 3-2: Digital Outputs Schematic [-EB1] 92
Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] 93
Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] 93
Figure 3-5: Digital Inputs Schematic [-EB1] 95
Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 96
Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 96
Figure 3-8: Analog Output Typical Connection [-EB1] 97
Figure 3-9: Analog Input Typical Connection [-EB1] 98
Figure 3-10: PSO Output Sources Current 100
Figure 3-11: PSOOutput Sinks Current 100
Figure 3-12: PSO TTLOutputs Schematic 100
Figure 4-1: Two Axis Joystick Interface (to the Aux I/O of two drives) 102
Figure 4-2: Two Axis Joystick Interface (to the I/Oboard) 103
Figure 4-3: Handwheel Interconnection to Aux I/O Connector 104
Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module 104
iXC4e/XC4e Hardware Manual
6 www.aerotech.com

List of Tables
Table 1-1: Featuresand Options 19
Table 1-2: Electrical Specifications (Common) 21
Table 1-3: Electrical Specifications (by Ordering Option) 21
Table 1-4: Mounting Specifications 23
Table 1-5: Environmental Specifications 26
Table 1-6: Drive and Software Compatibility 26
Table 2-1: Control Supply Connector Pinout 27
Table 2-2: Control Supply Mating Connector Ratings 27
Table 2-3: Motor Supply Connector Pinout 28
Table 2-4: Motor Supply Mating Connector Ratings 28
Table 2-5: Nominal Motor Operating Voltages / Required ACVoltages 29
Table 2-6: TransformerOptions 29
Table 2-7: Motor Power Output Connector Pinout 37
Table 2-8: Motor Power Output Mating Connector Ratings 37
Table 2-9: Wire Colors for Aerotech-Supplied Brushless Motor Cables 38
Table 2-10: Hall Signal Diagnostics 39
Table 2-11: Wire Colors for Aerotech-Supplied DCBrush Motor Cables 41
Table 2-12: Wire Colors for Aerotech-Supplied Stepper Motor Cables 42
Table 2-13: Feedback Connector Pinout 44
Table 2-14: Feedback Mating Connector Ratings 44
Table 2-15: Multiplier Options 45
Table 2-16: Primary Encoder Pins on the Feedback Connector 45
Table 2-17: Square Wave Encoder Specifications 46
Table 2-18: Sine Wave Encoder Specifications 48
Table 2-19: Hall-Effect Feedback Pins on the Feedback Connector 51
Table 2-20: Thermistor Input Pin on the Feedback Connector 52
Table 2-21: Encoder Fault Input Pin on the Feedback Connector 53
Table 2-22: End of Travel and Home Limit Pins on the Feedback Connector 54
Table 2-23: Brake Output Pins on the Feedback Connector 57
Table 2-24: Brake Control Specifications 57
Table 2-25: STO Connector Pinout 58
Table 2-26: STOMating ConnectorRatings 58
Table 2-27: STOElectrical Specifications 59
Table 2-28: STOStandards 60
Table 2-29: STOStandards Data 60
Table 2-30: STOSignal Delay 62
Table 2-31: Motor Function Relative to STOInput State 62
Table 2-32: STOTiming 63
Table 2-33: Auxiliary I/O Connector Pinout 64
Table 2-34: Auxiliary I/OMating Connector Ratings 64
Table 2-35: Auxiliary Encoder Pins on the Auxiliary I/OConnector 65
Table 2-36: Square Wave Encoder Specifications 66
Table 2-37: Sine Wave Encoder Specifications 68
Table 2-38: PSO Specifications 70
Table 2-39: PSOPins on the Auxiliary I/OConnector 70
Table 2-40: Digital Output Specifications 72
Table 2-41: Digital Output Pins on the Auxiliary I/O Connector 72
Table 2-42: Digital Input Specifications 75
Hardware Manual iXC4e/XC4e
www.aerotech.com 7

Table 2-43: Digital Input Pins on the Auxiliary I/O Connector 75
Table 2-44: High-Speed Input Specifications 77
Table 2-45: High-Speed Input Pins on the Auxiliary I/O Connector 77
Table 2-46: Analog Output Specifications 78
Table 2-47: Analog Output Pins on the Auxiliary I/O Connector 78
Table 2-48: Analog Input Specifications 79
Table 2-49: Analog Input Pins on the Auxiliary I/O Connector 79
Table 2-50: Brake Power Supply Connector Pinout 80
Table 2-51: Brake Power Supply Mating Connector Ratings 80
Table 2-52: HyperWire Card Part Number 81
Table 2-53: HyperWire Cable Part Numbers 81
Table 2-54: -SX1Component Information 82
Table 2-55: Maximum Additional Storage Energy for a Standard iXC4e/XC4e 83
Table 2-56: Sync-Related Functions 84
Table 2-57: SyncPort Cables 84
Table 3-1: Digital Output Specifications [-EB1] 90
Table 3-2: Digital Output 1 Connector Pinout [-EB1] 91
Table 3-3: Digital Output 2 Connector Pinout [-EB1] 91
Table 3-4: Digital Output 1 and 2 Mating Connector Ratings [-EB1] 91
Table 3-5: Digital Input Specifications [-EB1] 94
Table 3-6: Digital Input 1 Connector Pinout [-EB1] 94
Table 3-7: Digital Input 2 Connector Pinout [-EB1] 95
Table 3-8: Digital Input 1 and 2 Mating Connector Ratings [-EB1] 95
Table 3-9: Analog Output Specifications [-EB1] 97
Table 3-10: Analog Output Connector Pinout [-EB1] 97
Table 3-11: Analog Output Mating Connector Ratings [-EB1] 97
Table 3-12: Differential Analog Input Specifications [-EB1] 98
Table 3-13: Analog Input Connector Pinout [-EB1] 98
Table 3-14: Analog Input Mating Connector Ratings [-EB1] 98
Table 3-15: PSO Specifications [-EB1] 99
Table 3-16: PSO Interface Connector Pinout [-EB1] 99
Table 3-17: PSO Interface Mating Connector Ratings [-EB1] 99
Table 4-1: Standard Interconnection Cables 101
Table 5-1: LEDDescription 105
Table 5-2: Troubleshooting 105
Table 5-3: Preventative Maintenance 106
Table 5-4: Control Board Fuse Specifications 107
iXC4e/XC4e Hardware Manual
8 www.aerotech.com

EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product iXC4e/XC4e
Model/Types All
This is to certify that the aforementioned product is in accordance with the applicable requirements
of the following directive(s):
2014/30/EU Electromagnetic Compatibility (EMC)
2014/35/EU Low Voltage Directive
2006/42/EC Machinery Directive
2011/65/EU RoHS 2 Directive
EU 2015/863 Amendment RoHS 3 Directive
and has been designed to be in conformity with the applicable requirements of the following
standard(s) when installed and used in accordance with the manufacturer’s supplied installation
instructions.
EN 61010-1:2010/AMD1:2016 Safety Requirements for Electrical Equipment
EN 61800-3:2004/A1:2011 EMCRequirements for Power Drives
IEC 61800-5-1:2016 Electrical Safety for Power Drive Systems
IEC 61800-5-2:2016 Functional Safety for Power Drive Systems
EN 55011:2000/A2:2003 Conducted and Radiated Emissions
EN 55022:1998 Conducted and Radiated Emissions
Authorized
Representative / Simon Smith, European Director
Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Engineer Verifying
Compliance / Alex Weibel
Aerotech, Inc.
101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Date 7/25/2022
Hardware Manual iXC4e/XC4e
www.aerotech.com 9

Agency Approvals
Aerotech tested its XC4e drives and found that they obey the standards that follow:
Approval: CUS NRTL
Approving Agency: TUV SUD America Inc.
Certificate #: U10 068995 0033 Rev. 00
Standards: CSA C22.2 No. 61010-1:2012/A1:2018-11,
UL 61010-1:2012/R2019-07
Certificate #: N8AUS 068995 0032 Rev. 01
Standards: CE Attestation of Conformity,
Low Voltage Directive 2014/35/EU,
EN 61010-1:2010/AMD1:2019
IMPORTANT: The safety components (STO) certification is pending for the iXC4e.
Approval: Safety Components (STO)
Approving Agency: TUVSUD
Certificate #: Z10 068995 0030 Rev. 00
Standards: EN ISO 13849-1:2015 (up to PL e),
IEC 61508-1:2010 (up to SIL3),
IEC 61508-2:2010 (up to SIL3),
IEC 61800-5-2:2016,
IEC 62061:2005 (up to SILCL3),
IEC 62061:2005/AMD1:2012 (up to SILCL3),
IEC 62061:2005/AMD2:2015 (up to SILCL3)
Visit https://www.tuev-sued.de/product-testing/certificates to view Aerotech's TÜV SÜD certificates.
Type the certificate number listed above in the search bar or type "Aerotech" for a list of all Aerotech
certificates.
iXC4e/XC4e Hardware Manual
10 www.aerotech.com

Safety Procedures and Warnings
IMPORTANT: This manual tells you how to carefully and correctly use and operate the
drive.
lRead all parts of this manual before you install or operate the drive or before you do
maintenance to your system.
lTo prevent injury to you and damage to the equipment, obey the precautions in this
manual.
lAll specifications and illustrations are for reference only and were complete and
accurate as of the release of this manual. To find the newest information about this
product, refer to www.aerotech.com.
If you do not understand the information in this manual, contact Aerotech Global
Technical Support.
IMPORTANT: This product has been designed for light industrial manufacturing or
laboratory environments. If the product is used in a manner not specified by the
manufacturer:
lThe protection provided by the equipment could be impaired.
lThe life expectancy of the product could be decreased.
Safety notes and symbols are placed throughout this manual to warn you of the potential risks at the
moment of the safety note or if you fail to obey the safety note.
The voltage can cause shock, burn, or death.
You are at risk of physical injury.
You could damage the drive.
A surface can be hot enough to burn you.
Your actions, the temperature of the system, or the condition of the atmosphere
that surround the system could start a fire.
Components are sensitive to electrostatic discharge.
Unsecured cables could cause you to:
ltrip and fall
ldrag the product off of its mounting location
ldamage the cable connections.
A blue circle symbol is an action or tip that you should obey. Some examples
include:
lGeneral tip
lRead the manual/section
lWear protective safety equipment (eye protection, ear protection, gloves)
lIf applicable, do not lift unassisted
Hardware Manual iXC4e/XC4e
www.aerotech.com 11

DANGER: To decrease the risk of electrical shock, injury, death, and damage to the
equipment, obey the precautions that follow.
1. Before you do maintenance to the equipment, disconnect the electrical power.
2. Restrict access to the drive when it is connected to a power source.
3. Do not connect or disconnect electrical components, wires, and cables while this
product is connected to a power source.
4. Wait at least ten (10) minutes after removing the power supply before doing
maintenance or an inspection. Otherwise, there is the danger of electric shock.
5. Supply each operator with the necessary protection from live electrical circuits.
6. Make sure that all components are grounded correctly and that they obey the local
electrical safety requirements.
7. Install the necessary precautions to supply safety and protection to the operator.
DANGER: System travel can cause crush, shear, or pinch injuries. Restrict access to all
motor and stage parts while your system is connected to a power source.
WARNING: To prevent damage to the equipment and decrease the risk of electrical
shock and injury, obey the precautions that follow.
1. Make sure that all system cables are correctly attached and positioned.
2. Do not use the cables or the connectors to lift or move this product.
3. Use this product only in environments and operating conditions that are approved
in this manual.
4. Only trained operators should operate this equipment.
iXC4e/XC4e Hardware Manual
12 www.aerotech.com

Handling and Storage
Unpacking the drive
IMPORTANT: All electronic equipment and instrumentation is wrapped in antistatic
material and packaged with desiccant. Ensure that the antistatic material is not
damaged during unpacking.
Inspect the shipping container for any evidence of shipping damage. If any damage exists, notify the
shipping carrier immediately.
Remove the packing list from the shipping container. Make sure that all the items specified on the
packing list are contained within the package.
The documentation for the drive is on the included installation device. The documents include
manuals, interconnection drawings, and other documentation pertaining to the system. Save this
information for future reference. Additional information about the system is provided on the Serial
and Power labels that are placed on the chassis.
The system serial number label contains important information such as the:
lCustomer order number (please provide this number when requesting product support)
lDrawing number
lSystem part number
Handling
IMPORTANT: It is the responsibility of the customer to safely and carefully lift and
move the drive.
lBe careful when you move or transport the drive.
lRefer to Section 1.2. Mechanical Specifications for dimensions and weight spe-
cifications.
lRetain the shipping materials for future use.
lTransport or store the drive in its protective packaging.
WARNING: Electrostatic Discharge (ESD) Sensitive Components!
You could damage the power supply or drives if you fail to observe the correct
ESDpractices.
Wear an ESDwrist strap when you handle, install, or do service to the system assembly.
Storage
Store the drive in the original shipping container. If the original packaging included ESDprotective
packaging, make sure to store the drive in it. The storage location must be dry, free of dust, free of
vibrations, and flat.
Refer to Section 1.3. Environmental Specifications.
Hardware Manual iXC4e/XC4e
www.aerotech.com 13

Installation Overview
The images that follow show the order in which to make connections and settings that are typical to
the iXC4e/XC4e. If a custom interconnect drawing was supplied with your system, that drawing is on
your Storage Device and shows as a line item on your Sales Order in the Integration section.
Figure 1: Installation ConnectionOverviewfor the iXC4e
1Connect the motor to the amplifier Motor Output connector. Section 2.2.
Connect the motor to the amplifier Feedback connector. Section 2.3.
2Connect the PCto the USB or Ethernet port. N/A
3Connect the next drive in the system to the HyperWire Out port. Section 2.7.
4Connect additional I/O as required by your application
(if you purchased the I/O option).
Section 2.5./
Chapter 3
5Connect the Safe Torque Off (STO). Section 2.4.
6Connect the power supply to the Control Supply connector. Section 2.1.1.
7Connect the motor power to the Motor Supply connector. Section 2.1.2.
iXC4e/XC4e Hardware Manual
14 www.aerotech.com

Figure 2: Installation ConnectionOverviewfor the XC4e
1Connect the motor to the amplifier Motor Output connector. Section 2.2.
Connect the motor to the amplifier Feedback connector. Section 2.3.
2Connect a PCor drive-based controller HyperWire port to the HyperWire In
port. Section 2.7.
3Connect additional I/O as required by your application
(if you purchased the I/O option).
Section 2.5./
Chapter 3
4Connect the Safe Torque Off (STO). Section 2.4.
5Connect the power supply to the Control Supply connector. Section 2.1.1.
6Connect the motor power to the Motor Supply connector. Section 2.1.2.
Hardware Manual iXC4e/XC4e
www.aerotech.com 15

This page intentionally left blank.
iXC4e/XC4e Hardware Manual
16 www.aerotech.com

Chapter 1: iXC4e/XC4e Overview
The iXC4e is a high-performance digital drive-based controller. It runs the Automation1-iSMC
controller to generate commands for itself as well as for additional drives on the chain.
The XC4e is a high performance digital drive. The XC4e is based on the HyperWire communication
protocol and receives commands from a PC or drive-based controller.
Both drives provide deterministic behavior, auto-identification, and are fully software configurable. A
double precision floating point DSP controls the digital PID and current loops. Both drives offer
standard Safe Torque Off (STO) inputs and optional Position Synchronized Output (PSO) outputs.
And both drives are offered with optional encoder interpolation features (-MX2/-MX3), an auxiliary
encoder input for dual loop control, dedicated analog and digital I/O (expandable with the -EB1
option), and separate power connections for motor and control supply voltages.
Figure 1-1: iXC4e Digital Drive-Based Controller
Hardware Manual iXC4e/XC4e
www.aerotech.com 17

Figure 1-2: XC4e Digital Drive
iXC4e/XC4e Hardware Manual
18 www.aerotech.com

Table 1-1: Featuresand Options
Standard Features
l100-240 VAC control supply inputs (Section 2.1.1.)
l0-240 VAC motor supply inputs (producing 340 VDC) (Section 2.1.2.)
lLine driver square wave quadrature encoder input for position and velocity feedback (Section 2.3.1.)
lAbsolute Encoder support on the Feedback Connector (Section 2.3.1.2.)
lOne fail-safe brake output (Section 2.3.6.)
lTwo STOsense inputs (Section 2.4.)
lLine driver square wave auxiliary quadrature encoder input or output for PSO (Section 2.5.1.)
lAbsolute Encoder support on the Auxiliary I/OConnector (Section 2.5.1.2.)
lFour digital user outputs (Section 2.5.3.)
lSix digital user inputs
oFour Digital Inputs (Section 2.5.4.)
oTwo High-Speed Inputs (Section 2.5.5.)
lOne 16-bit analog output (±10 V) (Section 2.5.6.)
lOne 16-bit differential analog input (±10 V) (Section 2.5.7.)
lOne 10/100/1000 BASE-T Ethernet Port (iXC4e Only)
lOne USB2.0 Type CPort (iXC4e Only)
lTwo 10/100/1000 BASE-T Industrial Ethernet Ports (iXC4e Only)
Options
Peak Current (Section 1.1.)
-10 10 A Peak, 5 A Continuous Current
-20 20 A Peak, 10 A Continuous Current
-30 30 A Peak, 10 A Continuous Current
Expansion Board (Chapter 3)
-EB0 No expansion board
-EB1
I/Oexpansion board
lThree 16-bit analog outputs (±10 V)
lThree 16-bit differential analog inputs (±10 V)
l16 digital logic inputs (5 - 24 VDC); connect to current sourcing or sinking devices
l16 digital logic outputs (5 - 24 VDC); user defined as current sourcing or sinking
lDigital logic laser firing (PSO) output
Multiplier (Section 2.3.1.3.)
-MX0 No encoder multiplier
-MX2 Interpolation circuit allowing for analog sine wave input on the primary encoder channel with
an interpolation factor of 65,536.
-MX3
Interpolation circuit allowing for analog sine wave input on the primary encoder channel with
an interpolation factor of 65,536 and an auxiliary encoder channel with an interpolation factor
of 16,384.
PSO (Section 2.5.2.)
-PSO1 One-axis PSO firing (includes One-axis Part-Speed PSO)
-PSO2 Two-axis PSO firing (includes Two-axis Part-Speed PSO)
-PSO3 Three-axis PSO firing (includes Three-axis Part-Speed PSO)
-PSO5 Two-axis Part-Speed PSO firing, which uses the PSO firing circuit based off of the commanded
vector velocity of up to 2 axes (includes One-Axis PSO).
-PSO6 Three-axis Part-Speed PSO firing, which uses the PSO firing circuit based off of the
commanded vector velocity of 3 or more axes (includes One-Axis PSO).
External Shunt (Section 2.8.)
-SX0 No connector for the External Shunt
-SX1 Connection provided for an external shunt resistor network
Version
-DEFAULT Firmware Matches Software Line
-LEGACY Legacy Firmware Version X.XX.XXX
Hardware Manual iXC4e/XC4e
www.aerotech.com 19

The block diagram that follows shows a summary of the connector signals.
Figure 1-3: Functional Diagram
iXC4e/XC4e Hardware Manual
20 www.aerotech.com