Aerotech Automation1 iXC6e User manual

Revision 1.04
Automation1 iXC6e and XC6e High-Powered
PWMDigital Drives
HARDWAREMANUAL

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This manual contains proprietary information and may not be reproduced,
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Copyright © 2020-2022, Aerotech, Inc., All rights reserved.

Table of Contents
Automation1 iXC6e and XC6e High-Powered PWMDigital Drives 1
Table of Contents 3
List of Figures 5
List of Tables 7
EU Declaration of Conformity 9
Safety Procedures and Warnings 10
Handling and Storage 12
Installation Overview 13
Chapter 1: iXC6e/XC6e Overview 15
1.1. Electrical Specifications 19
1.1.1. System Power Requirements 20
1.2. Mechanical Specifications 21
1.2.1. Mounting and Cooling 21
1.2.2. Dimensions 22
1.3. Environmental Specifications 24
1.4. Drive and Software Compatibility 24
Chapter 2: Installation and Configuration 25
2.1. Input Power Connections 25
2.1.1. Control Supply Connector 25
2.1.2. Motor Supply Connector 26
2.1.3. Minimizing Noise for EMC/CECompliance 28
2.1.4. Inrush Current Limiting 29
2.2. Motor Power Output Connector 32
2.2.1. Brushless Motor Connections 33
2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 34
2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 35
2.3. Feedback Connector 36
2.3.1. Primary Encoder Inputs 37
2.3.1.1. Square WaveEncoder (Primary) 38
2.3.1.2. Absolute Encoder (Primary) 39
2.3.1.3. Sine Wave Encoder (Primary) [-MX2/-MX3 Option] 40
2.3.1.4. Encoder Phasing 42
2.3.2. Hall-Effect Inputs 43
2.3.3. Thermistor Input 44
2.3.4. Encoder Fault Input 45
2.3.5. End of Travel and Home Limit Inputs 46
2.3.5.1. End of Travel and Home Limit Phasing 48
2.3.6. Brake Outputs 49
2.4. Safe Torque Off Input (STO) 50
2.4.1. STOStandards 52
2.4.2. STO Functional Description 53
2.4.3. STO Startup Validation Testing 54
2.4.4. STO Diagnostics 55
2.5. Auxiliary I/O Connector 56
2.5.1. Auxiliary Encoder Inputs 57
2.5.1.1. Square WaveEncoder (Auxiliary) 58
2.5.1.2. Absolute Encoder (Auxiliary) 59
2.5.1.3. Sine Wave Encoder (Auxiliary) [-MX3 Option] 60
2.5.2. Position Synchronized Output (PSO) 62
2.5.3. Digital Outputs 64
2.5.4. Digital Inputs 67
2.5.5. High-Speed Inputs 69
2.5.6. Analog Output 0 70
2.5.7. Analog Input 0 (Differential) 71
2.6. Brake Power Supply Connector 72
2.7. HyperWire Interface 73
2.8. Shunt Options 74
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2.9. Sync Port 78
2.10. Industrial Ethernet (iXC6e Only) 78
2.11. System Interconnection 79
2.12. PC Configuration and Operation Information 82
Chapter 3: -EB1 Option Expansion Board 83
3.1. Digital Outputs [-EB1] 84
3.2. Digital Inputs [-EB1] 88
3.3. Analog Outputs [-EB1] 91
3.4. Analog Inputs [-EB1] 92
3.5. PSOInterface [-EB1] 93
Chapter 4: Cables and Accessories 95
4.1. Joystick Interface 96
4.2. Handwheel Interface 98
Chapter 5: Maintenance 99
5.1. Preventative Maintenance 100
5.2. Fuse Specifications 100
Appendix A: Warranty and Field Service 101
Appendix B: Revision History 103
Index 105
Table of Contents iXC6e/XC6e Hardware Manual
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List of Figures
Figure 1-1: iXC6e High Power Networked Digital Drive 15
Figure 1-2: XC6e High Power Networked Digital Drive 16
Figure 1-3: Functional Diagram 18
Figure 1-4: Dimensions 22
Figure 1-5: Dimensions [-EB1] 23
Figure 2-1: Control Supply Connections 25
Figure 2-2: Motor Supply Connections 26
Figure 2-3: Inrush Limiting Circuit External to Drive 29
Figure 2-4: Brushless Motor Configuration 33
Figure 2-5: Positive Motor Direction 34
Figure 2-6: Encoder and Hall Signal Diagnostics 34
Figure 2-7: Brushless Motor Phasing Oscilloscope Example 35
Figure 2-8: Brushless Motor Phasing Goal 35
Figure 2-9: Square Wave Encoder Schematic (Feedback Connector) 38
Figure 2-10: Absolute Encoder Schematic (Feedback Connector) 39
Figure 2-11: Sine Wave Encoder Phasing Reference Diagram 40
Figure 2-12: Sine Wave Encoder Schematic (Feedback Connector) 41
Figure 2-13: Encoder Phasing Reference Diagram (Standard) 42
Figure 2-14: Position Feedback in the DiagnosticDisplay 42
Figure 2-15: Hall-Effect Inputs Schematic (Feedback Connector) 43
Figure 2-16: Thermistor Input Schematic (Feedback Connector) 44
Figure 2-17: Encoder Fault Input Schematic (Feedback Connector) 45
Figure 2-18: End of Travel and Home Limit Input Connections 47
Figure 2-19: End of Travel and Home Limit Input Schematic (Feedback Connector) 47
Figure 2-20: End of Travel and Home Limit Input Diagnostic Display 48
Figure 2-21: Brake Connected to the 25-Pin Feedback Connector (Typical) 49
Figure 2-22: Typical STO Configuration 51
Figure 2-23: STO Timing 55
Figure 2-24: Square Wave Encoder Interface (Aux I/OConnector) 58
Figure 2-25: Absolute Encoder Schematic (Auxiliary I/O Connector) 59
Figure 2-26: Sine Wave Encoder Phasing Reference Diagram 60
Figure 2-27: Sine Wave Encoder Schematic (Auxiliary I/OConnector) 61
Figure 2-28: PSO Interface 63
Figure 2-29: Digital Output Schematic (Aux I/OConnector) 65
Figure 2-30: Digital Outputs Connected in Current Sourcing Mode 66
Figure 2-31: Digital Outputs Connected in Current Sinking Mode 66
Figure 2-32: Digital Inputs Schematic (Aux I/OConnector) 67
Figure 2-33: Digital Inputs Connected to Current Sourcing Devices 68
Figure 2-34: Digital Inputs Connected to Current Sinking Devices 68
Figure 2-35: High-Speed Inputs 69
Figure 2-36: Analog Output 0 Schematic 70
Figure 2-37: Analog Input 0 Schematic 71
Figure 2-38: Drive-Based System Wiring Drawing (Best Practice) 79
Figure 2-39: PC-Based System Wiring Drawing (Best Practice) 79
Figure 2-40: Drive-Based Controller System Interconnection (Best Practice) 80
Figure 2-41: PC-Based Controller System Interconnection (Best Practice) 81
Figure 3-1: -EB1 I/O Option Board Connectors (iXC6e shown) 83
Figure 3-2: Digital Outputs Schematic [-EB1] 86
iXC6e/XC6e Hardware Manual List of Figures
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Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] 87
Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] 87
Figure 3-5: Digital Inputs Schematic [-EB1] 89
Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 90
Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 90
Figure 3-8: Analog Output Typical Connection [-EB1] 91
Figure 3-9: Analog Input Typical Connection [-EB1] 92
Figure 3-10: PSO Output Sources Current 94
Figure 3-11: PSOOutput Sinks Current 94
Figure 3-12: PSO TTLOutputs Schematic 94
Figure 4-1: Two Axis Joystick Interface (to the Aux I/O of two drives) 96
Figure 4-2: Two Axis Joystick Interface (to the I/Oboard) 97
Figure 4-3: Handwheel Interconnection to Aux I/O Connector 98
Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module 98
List of Figures iXC6e/XC6e Hardware Manual
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List of Tables
Table 1-1: FeatureSummary 17
Table 1-2: Electrical Specifications (Common) 19
Table 1-3: Electrical Specifications (by Ordering Option) 20
Table 1-4: Mounting Specifications 21
Table 1-5: Environmental Specifications 24
Table 1-6: Drive and Software Compatibility 24
Table 2-1: Control Supply Wiring Pinout 25
Table 2-2: Control Supply Wiring Specifications 25
Table 2-3: Motor Supply Connector Pinout 26
Table 2-4: Motor Supply Mating Connector Ratings 27
Table 2-5: Motor Supply Connector Fuse Specifications 27
Table 2-6: Motor Power Output Connector Pinout 32
Table 2-7: Motor Output Mating Connector Ratings 32
Table 2-8: Wire Colors for Aerotech-Supplied Brushless Motor Cables 33
Table 2-9: Hall Signal Diagnostics 34
Table 2-10: Feedback Connector Pinout 36
Table 2-11: Feedback Connector Mating Connector Ratings 36
Table 2-12: Multiplier Options 37
Table 2-13: Primary Encoder Input Pins on the Feedback Connector 37
Table 2-14: Square Wave Encoder Specifications 38
Table 2-15: Sine Wave Encoder Specifications 40
Table 2-16: Hall-Effect Feedback Pins on the Feedback Connector 43
Table 2-17: Thermistor Input Pin on the Feedback Connector 44
Table 2-18: Encoder Fault Input Pin on the Feedback Connector 45
Table 2-19: End of Travel and Home Limit Pins on the Feedback Connector 46
Table 2-20: Brake Output Pins on the Feedback Connector 49
Table 2-21: Brake Control Specifications 49
Table 2-22: STO Connector Pinout 50
Table 2-23: STOMating ConnectorRatings 50
Table 2-24: STOElectrical Specifications 51
Table 2-25: STOStandards 52
Table 2-26: STOStandards Data 52
Table 2-27: STOSignal Delay 54
Table 2-28: Motor Function Relative to STOInput State 54
Table 2-29: STOTiming 55
Table 2-30: Auxiliary I/O Connector Pinout 56
Table 2-31: Auxiliary I/OMating Connector Ratings 56
Table 2-32: Auxiliary Encoder Pins on the Auxiliary I/OConnector 57
Table 2-33: Square Wave Encoder Specifications 58
Table 2-34: Sine Wave Encoder Specifications 60
Table 2-35: PSO Specifications 62
Table 2-36: PSOPins on the Auxiliary I/OConnector 62
Table 2-37: Digital Output Specifications 64
Table 2-38: Digital Output Pins on the Auxiliary I/O Connector 64
Table 2-39: Digital Input Specifications 67
Table 2-40: Digital Input Pins on the Auxiliary I/O Connector 67
Table 2-41: High-Speed Input Specifications 69
Table 2-42: High-Speed Input Pins on the Auxiliary I/O Connector 69
iXC6e/XC6e Hardware Manual List of Tables
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Table 2-43: Analog Output Specifications 70
Table 2-44: Analog Output Pins on the Auxiliary I/O Connector 70
Table 2-45: Analog Input Specifications 71
Table 2-46: Analog Input Pins on the Auxiliary I/O Connector 71
Table 2-47: Brake Power Supply Connector Pinout 72
Table 2-48: Brake Power Supply Mating Connector Ratings 72
Table 2-49: HyperWire Card Part Number 73
Table 2-50: HyperWire Cable Part Numbers 73
Table 2-51: Bus Link Connector Pinout 74
Table 2-52: Bus Link Mating ConnectorRatings 75
Table 2-53: Internal Shunt Specifications 75
Table 2-54: Maximum Recommended Shunt Current 75
Table 2-55: Maximum Additional Storage Energy for a Standard iXC6e/XC6e 76
Table 2-56: Sync-Related Functions 78
Table 2-57: SyncPort Cables 78
Table 3-1: Digital Output Specifications [-EB1] 84
Table 3-2: Digital Output 1 Connector Pinout [-EB1] 85
Table 3-3: Digital Output 1 Mating Connector Ratings [-EB1] 85
Table 3-4: Digital Output 2 Connector Pinout [-EB1] 85
Table 3-5: Digital Output 2 Mating Connector Ratings [-EB1] 85
Table 3-6: Digital Input Specifications [-EB1] 88
Table 3-7: Digital Input 1 Connector Pinout [-EB1] 88
Table 3-8: Digital Input 1 Mating ConnectorRatings [-EB1] 88
Table 3-9: Digital Input 2 Connector Pinout [-EB1] 89
Table 3-10: Digital Input 2 Mating Connector Ratings [-EB1] 89
Table 3-11: Analog Output Specifications [-EB1] 91
Table 3-12: Analog Output Connector Pinout [-EB1] 91
Table 3-13: Analog Output Mating Connector Ratings [-EB1] 91
Table 3-14: Differential Analog Input Specifications [-EB1] 92
Table 3-15: Analog Input Connector Pinout [-EB1] 92
Table 3-16: Analog Input Mating Connector Ratings [-EB1] 92
Table 3-17: PSO Specifications [-EB1] 93
Table 3-18: PSO Interface Connector Pinout [-EB1] 93
Table 3-19: PSO Interface Mating Connector Ratings [-EB1] 93
Table 4-1: Standard Interconnection Cables 95
Table 5-1: LEDDescription 99
Table 5-2: Troubleshooting 99
Table 5-3: Preventative Maintenance 100
Table 5-4: Control Board Fuse Specifications 100
List of Tables iXC6e/XC6e Hardware Manual
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EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product iXC6e/XC6e
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 61800-3:2017 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 55011/55032:2015 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 5/20/2022
iXC6e/XC6e Hardware Manual EU Declaration of Conformity
www.aerotech.com 9

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
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
Safety Procedures and Warnings iXC6e/XC6e Hardware Manual
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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. There are lethal voltages on the shunt resistor terminals.
6. Supply each operator with the necessary protection from live electrical circuits.
7. Make sure that all components are grounded correctly and that they obey the local
electrical safety requirements.
8. 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.
DANGER: Hot surfaces. The case temperature could exceed 70°C.
DANGER: The shunt resistor dissipates a high quantity of power. To prevent the danger
of electric shock or fire, you must obey the precautions that follow:
lCorrectly size, mount, and protect the external shunt resistor.
lProtect the wiring to the internal shunt resistor terminals.
lDo not touch the shunt resistor terminals. There are lethal voltages on the terminals.
lDo not touch the surface of the drive or the external shunt resistor. The temperature
can exceed 70°C.
lRestrict access to the shunt resistor while it is connected to a power source.
lWait 10 minutes after you disconnect power before you access the BUS LINK con-
nector.
lMake sure that the voltage between the DC Bus + and DC Bus - terminals is less than
50 V before you access it.
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.
iXC6e/XC6e Hardware Manual Safety Procedures and Warnings
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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.
Handling and Storage iXC6e/XC6e Hardware Manual
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Installation Overview
The images that follow show the order in which to make connections and settings that are typical to
the iXC6e/XC6e. 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 iXC6e
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.
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Figure 2: Installation ConnectionOverviewfor the XC6e
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.
Installation Overview iXC6e/XC6e Hardware Manual
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Chapter 1: iXC6e/XC6e Overview
The iXC6e 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 XC6e is a high performance digital drive. The XC6e 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: iXC6e High Power Networked Digital Drive
iXC6e/XC6e Hardware Manual Chapter 1: iXC6e/XC6e Overview
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Figure 1-2: XC6e High Power Networked Digital Drive
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Table 1-1: FeatureSummary
Standard Features
l100-240 VAC control supply inputs (Section 2.1.1.)
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.)
lConnections to configure an internal shunt resistor (Section 2.8.)
lOne 10/100/1000 BASE-T Ethernet Port (iXC6e Only)
lOne USB2.0 Type CPort (iXC6e Only)
lTwo 10/100/1000 BASE-T Industrial Ethernet Ports (iXC6e 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
-50 50 A Peak, 25 A Continuous Current
-100 100 A Peak, 30/50 A Continuous Current
Rated Motor Supply Voltage (Section 2.1.2.)
-240 240 VACMaximum (phase to phase)
-480 480 VACMaximum (phase to phase)
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), can be connected 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).
Version
-DEFAULT Firmware Matches Software Line
-LEGACY Legacy Firmware Version X.XX.XXX
iXC6e/XC6e Hardware Manual Chapter 1: iXC6e/XC6e Overview
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The block diagram that follows shows a summary of the connector signals.
Figure 1-3: Functional Diagram
Chapter 1: iXC6e/XC6e Overview iXC6e/XC6e Hardware Manual
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1.1. Electrical Specifications
Table 1-2: Electrical Specifications (Common)
Description Specification
Control Supply
Input Voltage 100-240 VAC (±10%)
Input Frequency 50-60 Hz
Inrush Current 120 Apk @ 240 V
Input Power 60 W
Internal Fuse 2 A/250 V, 35 A interrupt rating, L terminal only
Motor Supply SCCR 5 kA
Power Amplifier Bandwidth 2500 Hz maximum (software selectable)
PWM Switching Frequency 20 kHz or 10 kHz (software selectable)
Minimum Load Inductance 0.5 mH
User Power Supply Output 5 VDC (@ 500 mA)
Motor Output Current Frequency 0-599 Hz
Motor Type Brushless
Protective Features
lOutput short circuit
lPeak over current
lDC bus over Voltage
lMotor RMS over current
lMotor over temperature
lHeatsink over temperature
lControl power supply under voltage
lIGBT supply under voltage
lShunt resistor monitoring
Insulation
Protective Class 1: Basic insulation plus protective earthing,
OV Cat 2, Reinforced Insulation between high and low
voltage circuits
Conductors Copper, 75°C min
iXC6e/XC6e Hardware Manual 1.1. Electrical Specifications
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Table 1-3: Electrical Specifications (by Ordering Option)
Input Voltage Option -240 -480
Output Current Option -50 -100 -10 -20 -30 -50 -100
Motor Supply Input Current
(at full output power) 15 A 30 A 3 A 6 A 10 A 15 A 20 A
Motor Supply Input Voltage Max (TN
Configuration Only)(1)
(Vrms phase to phase, +10%)
240 VAC
50/60 Hz
480 VAC (center earthed 277 VAC L-N)(4)
50/60 Hz
Motor Supply Input Power
(at full output power) 6.7 kW 13 kW 2.7 kW 5.4 kW 8 kW 13 kW 16 kW(2) / 27 kW(3)
Output Current (pk(5)) 50 A 100 A 10 A 20 A 30 A 50 A 100 A(2)
Output Current continuous (pk(5)) 25 A 50 A 5 A 10 A 15 A 25 A 30/50 A(3)
Output Voltage Vrms max 260 VAC 356 VAC
Electronic Overcurrent Shutoff 100 A 200 A 100 A 100 A 100 A 200 A 200 A
Shunt / Brake Electronic
Overcurrent Shutoff 50 A 100 A 50 A 50 A 50 A 100 A 100 A
Maximum overload protection
(external fuse or breaker) 30 A 20 A
Internal Motor Supply Capacitance 4800 µF 1500 µF
DC Bus + or DC Bus – terminal
voltage measured to earth ground 260 VAC 356 VAC
DC Bus + to DC Bus – Voltage,
terminal to terminal (max) 400 VDC 880 VDC
Capacitor Safe Discharge Time 10 minutes (verify <50 VDC at DC bus terminals)
(1) A lower motor supply voltage can be used. This will result in a reduction of output power.
(2) Specification for 20kHz PWM switching frequency .
(3) Specification for 10kHz PWM switching frequency .
(4) The XC6-480 drive must be connected only to a grounded wye-source where the maximum voltage does not exceed 277
VAC to ground.
(5) Motor output current is specified as a peak value (not RMS) and corresponds to the maximum phase current during a
locked rotor condition.
1.1.1. System Power Requirements
The following equations can be used to determine total system power requirements. The actual
power required from the mains supply will be the combination of actual motor power (work), motor
resistance losses, and efficiency losses in the power electronics or power transformer.
Use an EfficiencyFactor of approximately 90% in the following equations.
Brushless Motor
Power Output = Torque · Angular Velocity ; Rotary
= Force · Linear Velocity ; Linear
= Bemf · Irms · 3 ; Rotary or Linear
Power Loss = 3 · Irms2· R(line-line)/2
Power Input = (Power Output + Power Loss) / EfficiencyFactor
DC Brush Motor
Power Output = Torque · Angular Velocity
Power Loss = Irms2· R
Power Input = (Power Output + Power Loss) / EfficiencyFactor
1.1.1. System Power Requirements iXC6e/XC6e Hardware Manual
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