Aerotech Automation1 XC6e Series User manual

Revision 1.00
Automation1 XC6e High-Powered
PWMDigital Drive
HARDWAREMANUAL

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Product names mentioned herein are used for identification purposes only and may be
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Copyright © 2021, Aerotech, Inc., All rights reserved.

Table of Contents
Automation1 XC6e High-Powered PWMDigital Drive 1
Table of Contents 3
List of Figures 5
List of Tables 7
EU Declaration of Conformity 9
Safety Procedures and Warnings 11
Installation Overview 13
Chapter 1: Introduction 15
1.1. Electrical Specifications 18
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 25
Chapter 2: Installation and Configuration 27
2.1. Input Power Connections 28
2.1.1. Control Supply Connector 28
2.1.2. Motor Supply Connector 29
2.1.3. Minimizing Noise for EMC/CECompliance 30
2.2. Motor Power Output Connector 31
2.2.1. Brushless Motor Connections 32
2.2.1.1. Brushless Motor Powered Motor and Feedback Phasing 33
2.2.1.2. Brushless Motor Unpowered Motor and Feedback Phasing 34
2.3. Feedback Connector 35
2.3.1. Primary Encoder Inputs 36
2.3.1.1. Square WaveEncoder 37
2.3.1.2. Absolute Encoder 38
2.3.1.3. Sine Wave Encoder [-MX2/-MX3 Option] 39
2.3.1.4. Encoder Phasing 41
2.3.2. Hall-Effect Inputs 42
2.3.3. Thermistor Input 43
2.3.4. Encoder Fault Input 44
2.3.5. End of Travel and Home Limit Inputs 45
2.3.5.1. End of Travel and Home Limit Phasing 47
2.3.6. Brake Outputs 48
2.4. Safe Torque Off Input (STO) 49
2.4.1. STOStandards 51
2.4.2. STO Functional Description 52
2.4.3. STO Startup Validation Testing 53
2.4.4. STO Diagnostics 54
2.5. Auxiliary I/O Connector 55
2.5.1. Auxiliary Encoder Inputs 56
2.5.1.1. Square WaveEncoder 57
2.5.1.2. Absolute Encoder 58
2.5.1.3. Sine Wave Encoder [-MX3 Option] 59
2.5.2. Position Synchronized Output (PSO) 61
2.5.3. Digital Outputs 63
2.5.4. Digital Inputs 66
2.5.5. High-Speed Inputs 67
2.5.6. Analog Output 0 68
2.5.7. Analog Input 0 (Differential) 69
2.6. Brake Power Supply Connector 70
2.7. HyperWire Interface 71
2.8. Shunt Options 72
2.9. Sync Port 75
2.10. System Interconnection 76
XC6e Hardware Manual Table of Contents
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2.11. PC Configuration and Operation Information 77
Chapter 3: -EB1 I/O Option Board 79
3.1. Digital Outputs [-EB1] 80
3.2. Digital Inputs [-EB1] 84
3.3. Analog Outputs [-EB1] 87
3.4. Analog Inputs [-EB1] 88
3.5. Position Synchronized Output Interface [-EB1] 89
Chapter 4: Cables and Accessories 91
4.1. Joystick Interface 92
4.2. Handwheel Interface 94
Chapter 5: Maintenance 95
5.1. Preventative Maintenance 96
5.2. Fuse Specifications 97
Appendix A: Warranty and Field Service 99
Appendix B: Revision History 101
Index 103
Table of Contents XC6e Hardware Manual
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List of Figures
Figure 1-1: XC6e High Power Networked Digital Drive 15
Figure 1-2: Functional Diagram 17
Figure 1-3: Dimensions 22
Figure 1-4: Dimensions [-EB1] 23
Figure 2-1: Control Supply Connections 28
Figure 2-2: Motor Supply Connections 29
Figure 2-3: Brushless Motor Configuration 32
Figure 2-4: Positive Motor Direction 33
Figure 2-5: Encoder and Hall Signal Diagnostics 33
Figure 2-6: Brushless Motor Phasing Oscilloscope Example 34
Figure 2-7: Brushless Motor Phasing Goal 34
Figure 2-8: Square Wave Encoder Schematic (Feedback Connector) 37
Figure 2-9: Absolute Encoder Schematic (Feedback Connector) 38
Figure 2-10: Sine Wave Encoder Phasing Reference Diagram 39
Figure 2-11: Sine Wave Encoder Schematic (Feedback Connector) 40
Figure 2-12: Encoder Phasing Reference Diagram (Standard) 41
Figure 2-13: Position Feedback in the DiagnosticDisplay 41
Figure 2-14: Hall-Effect Inputs Schematic (Feedback Connector) 42
Figure 2-15: Thermistor Input Schematic (Feedback Connector) 43
Figure 2-16: Encoder Fault Input Schematic (Feedback Connector) 44
Figure 2-17: End of Travel and Home Limit Input Connections 46
Figure 2-18: End of Travel and Home Limit Input Schematic (Feedback Connector) 46
Figure 2-19: End of Travel and Home Limit Input Diagnostic Display 47
Figure 2-20: Brake Connected to the 25-Pin Feedback Connector (Typical) 48
Figure 2-21: Typical Configuration 50
Figure 2-22: STO Timing 54
Figure 2-23: Square Wave Encoder Interface (Aux I/OConnector) 57
Figure 2-24: Absolute Encoder Schematic (Auxiliary I/O Connector) 58
Figure 2-25: Sine Wave Encoder Phasing Reference Diagram 59
Figure 2-26: Sine Wave Encoder Schematic (Auxiliary I/OConnector) 60
Figure 2-27: PSOInterface 62
Figure 2-28: Digital Output Schematic (Aux I/OConnector) 64
Figure 2-29: Digital Outputs Connected in Current Sourcing Mode 65
Figure 2-30: Digital Outputs Connected in Current Sinking Mode 65
Figure 2-31: Digital Inputs Connected to Current Sinking Devices 66
Figure 2-32: Digital Inputs Connected to Current Sourcing Devices 66
Figure 2-33: High-Speed Inputs 67
Figure 2-34: Analog Output 0 Schematic 68
Figure 2-35: Analog Input 0 Schematic 69
Figure 2-36: System Wiring Drawing (Best Practice) 76
Figure 3-1: XC6e with -EB1 I/O Option Board Connectors 79
Figure 3-2: Digital Outputs Schematic [-EB1] 82
Figure 3-3: Digital Outputs Connected in Current Sourcing Mode [-EB1] 83
Figure 3-4: Digital Outputs Connected in Current Sinking Mode [-EB1] 83
Figure 3-5: Digital Inputs Schematic [-EB1] 85
Figure 3-6: Digital Inputs Connected to Current Sourcing (PNP) Devices [-EB1] 86
Figure 3-7: Digital Inputs Connected to Current Sinking (NPN) Devices [-EB1] 86
Figure 3-8: Analog Output Typical Connection [-EB1] 87
XC6e Hardware Manual List of Figures
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Figure 3-9: Analog Input Typical Connection [-EB1] 88
Figure 3-10: PSO Output Sources Current 90
Figure 3-11: PSOOutput Sinks Current 90
Figure 3-12: PSO TTLOutputs Schematic 90
Figure 4-1: Two Axis Joystick Interface (to the Aux I/O of two drives) 92
Figure 4-2: Two Axis Joystick Interface (to the I/Oboard) 93
Figure 4-3: Handwheel Interconnection to Aux I/O Connector 94
Figure 4-4: Handwheel Interconnection to the Aux I/O through a BBA32 Module 94
List of Figures XC6e Hardware Manual
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List of Tables
Table 1-1: FeatureSummary 16
Table 1-2: Electrical Specifications 18
Table 1-3: Electrical Specifications (continued) 19
Table 1-4: Mounting Specifications 21
Table 1-5: Environmental Specifications 24
Table 1-6: Drive and Software Compatibility 25
Table 2-1: Control Supply Wiring Specifications 28
Table 2-2: Mating Connector Part Numbers for the Control Supply Connector 28
Table 2-3: Motor Supply Connector Wiring Specifications 29
Table 2-4: Mating Connector Part Numbers for the Motor Supply Connector 29
Table 2-5: Motor Supply Connector Fuse Specifications 29
Table 2-6: Motor Power Output Connector Pinout 31
Table 2-7: Mating Connector Part Numbers for the Motor Power Output Connector 31
Table 2-8: Wire Colors for Aerotech-Supplied Brushless Motor Cables 32
Table 2-9: Hall Signal Diagnostics 33
Table 2-10: Feedback Connector Pinout 35
Table 2-11: Mating Connector Part Numbers for the Feedback Connector 35
Table 2-12: Multiplier Options 36
Table 2-13: Primary Encoder Input Pins on the Feedback Connector 36
Table 2-14: Square Wave Encoder Specifications 37
Table 2-15: Sine Wave Encoder Specifications 39
Table 2-16: Hall-Effect Feedback Pins on the Feedback Connector 42
Table 2-17: Thermistor Input Pin on the Feedback Connector 43
Table 2-18: Encoder Fault Input Pin on the Feedback Connector 44
Table 2-19: End of Travel and Home Limit Pins on the Feedback Connector 45
Table 2-20: Brake Output Pins on the Feedback Connector 48
Table 2-21: Brake Control Specifications 48
Table 2-22: STO Connector Pinout 49
Table 2-23: Mating Connector Part Numbers for the STOConnector 49
Table 2-24: STOElectrical Specifications 50
Table 2-25: STOStandards 51
Table 2-26: STOStandards Data 51
Table 2-27: STOSignal Delay 53
Table 2-28: Motor Function Relative to STOInput State 53
Table 2-29: STOTiming 54
Table 2-30: Auxiliary I/O Connector Pinout 55
Table 2-31: Mating Connector Part Numbers for the Auxiliary I/OConnector 55
Table 2-32: Auxiliary Encoder Pins on the Auxiliary I/OConnector 56
Table 2-33: Square Wave Encoder Specifications 57
Table 2-34: Sine Wave Encoder Specifications 59
Table 2-35: PSO Specifications 61
Table 2-36: PSOPins on the Auxiliary I/OConnector 61
Table 2-37: Digital Output Specifications 63
Table 2-38: Digital Output Pins on the Auxiliary I/O Connector 63
Table 2-39: Digital Input Specifications 66
Table 2-40: Digital Input Pins on the Auxiliary I/O Connector 66
Table 2-41: High-Speed Input Specifications 67
Table 2-42: High-Speed Input Pins on the Auxiliary I/O Connector 67
XC6e Hardware Manual List of Tables
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Table 2-43: Analog Output Specifications 68
Table 2-44: Analog Output Pins on the Auxiliary I/O Connector 68
Table 2-45: Analog Input Specifications 69
Table 2-46: Analog Input Pins on the Auxiliary I/O Connector 69
Table 2-47: Brake Power Supply Connector Pinout 70
Table 2-48: Mating Connector Part Numbers for the Brake Power Supply Connector 70
Table 2-49: HyperWire Card Part Number 71
Table 2-50: HyperWire Cable Part Numbers 71
Table 2-51: Bus Link Connector Pinout 72
Table 2-52: Mating Connector Part Numbers for the Bus Link Connector 72
Table 2-53: Internal Shunt Specifications 72
Table 2-54: Maximum Recommended Shunt Current 73
Table 2-55: Maximum Additional Storage Energy for a Standard XC6e 73
Table 2-56: Sync-Related Functions 75
Table 2-57: SyncPort Cables 75
Table 3-1: Digital Output Specifications [-EB1] 80
Table 3-2: Digital Output 1 Connector Pinout [-EB1] 81
Table 3-3: Mating Connector Part Numbers for the Digital Output 1 Connector [-EB1] 81
Table 3-4: Digital Output 2 Connector Pinout [-EB1] 81
Table 3-5: Mating Connector Part Numbers for the Digital Output 2 Connector [-EB1] 81
Table 3-6: Digital Input Specifications [-EB1] 84
Table 3-7: Digital Input 1 Connector Pinout [-EB1] 84
Table 3-8: Mating Connector Part Numbers for the Digital Input 1 Connector [-EB1] 84
Table 3-9: Digital Input 2 Connector Pinout [-EB1] 85
Table 3-10: Mating Connector Part Numbers for the Digital Input 2 Connector [-EB1] 85
Table 3-11: Analog Output Specifications [-EB1] 87
Table 3-12: Analog Output Connector Pinout [-EB1] 87
Table 3-13: Mating Connector Part Numbers for the Analog Output Connector [-EB1] 87
Table 3-14: Differential Analog Input Specifications [-EB1] 88
Table 3-15: Analog Input Connector Pinout [-EB1] 88
Table 3-16: Mating Connector Part Numbers for the Analog Input Connector [-EB1] 88
Table 3-17: PSO Specifications [-EB1] 89
Table 3-18: PSO Interface Connector Pinout [-EB1] 89
Table 3-19: Mating Connector Part Numbers for the PSO Interface Connector [-EB1] 89
Table 4-1: Standard Interconnection Cables 91
Table 5-1: LEDDescription 95
Table 5-2: Troubleshooting 95
Table 5-3: Preventative Maintenance 96
Table 5-4: Control Board Fuse Specifications 97
List of Tables XC6e Hardware Manual
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EU Declaration of Conformity
Manufacturer Aerotech, Inc.
Address 101 Zeta Drive
Pittsburgh, PA 15238-2811
USA
Product 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
EU 2015/863 Directive, Restricted Substances (RoHS 3)
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 61326-1:2013 EMCRequirements for Electrical Equipment
EN 61010-1:2010/A1:2019 Safety Requirements for Electrical Equipment
EN ISO 13849-1:2015 SafetyRelated Parts of Control Systems
Authorized Representative: Simon Smith, European Director
Address: Aerotech Ltd
The Old Brick Kiln, Ramsdell, Tadley
Hampshire RG26 5PR
UK
Name / Alex Weibel
Position Engineer Verifying Compliance
Location Pittsburgh, PA
Date 3/24/2021
XC6e Hardware Manual EU Declaration of Conformity
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PENDING

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PENDING

Safety Procedures and Warnings
IMPORTANT: This manual tells you how to carefully and correctly use and operate the
XC6e drive.
lRead all parts of this manual before you install or operate the XC6e 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.
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 XC6e 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 main-
tenance 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.
XC6e Hardware Manual Safety Procedures and Warnings
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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 ter-
minals.
lDo not touch the surface of the drive or the external shunt resistor. The tem-
perature can exceed 70°C.
lRestrict access to the shunt resistor while it 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.
Safety Procedures and Warnings XC6e Hardware Manual
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Installation Overview
This image shows the order in which to make connections and settings that are typical to the 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.
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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.
Figure 1: Installation ConnectionOverview
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Chapter 1: Introduction
The XC6e is a high performance digital drive based on the HyperWire communication protocol. The drive
provides deterministic behavior, auto-identification, is fully software configurable. A double precision
floating point DSP controls the digital PID and current loops in the XC6e.
The XC6e offers standard Safe Torque Off (STO) inputs and optional Position Synchronized Output (PSO)
outputs. The XC6e is 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: XC6e High Power Networked Digital Drive
XC6e Hardware Manual Chapter 1: Introduction
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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
nFour Digital Inputs Section 2.5.4.
nTwo 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.
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 Chapter 3
-240 240 VACMaximum
-480 480 VACMaximum
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
Chapter 1: Introduction XC6e Hardware Manual
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The block diagram that follows shows a summary of the connector signals.
Figure 1-2: Functional Diagram
XC6e Hardware Manual Chapter 1: Introduction
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1.1. Electrical Specifications
Table 1-2: Electrical Specifications
XC6e-100-
240
XC6e-100-
480 XC6e-50-240 XC6e-50-480
Motor Supply
Input Voltage 7-240 VAC 7-480 VAC 7-240 VAC 7-480 VAC
Input Frequency 50-60 Hz
Inrush Current Not internally limited.
Input Current 40 A 40 A 25 A 25 A
Control Supply
Input Voltage 100-240 VAC
Input Frequency 50-60 Hz
Inrush Current 120 Apk @ 240 V
Input Power 30 W
Output Voltage (1) 340 VDC 680 VDC 340 VDC 680 VDC
Peak Output Current (1 second) (2) 100 A 100 A 50 A 50 A
Continuous Output Current (2) 50 A 30 A (20 kHz)
50 A (10 kHz) 25 A 25 A
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)
Modes of Operation Brushless
Protective Features
Output short circuit; Peak over current; DC bus over voltage;
RMS over current; Over temperature; Control power supply
under voltage; Power stage bias supply under voltage
Isolation Optical and transformer isolation between control and power
stages.
(1) AC input voltage and load dependent.
(2) Current is measured as the peak amplitude in any motor phase.
1.1. Electrical Specifications XC6e Hardware Manual
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Table 1-3: Electrical Specifications (continued)
XC6e-10-480 XC6e-20-480 XC6e-30-480
Motor Supply
Input Voltage 7-480 VAC
Input Frequency 50-60 Hz
Inrush Current Not internally limited.
Input Current 5 A 10 A 15 A
Control Supply
Input Voltage 100-240 VAC
Input Frequency 50-60 Hz
Inrush Current 120 Apk @ 240 V
Input Power 20 W
Output Voltage (1) 680 VDC
Peak Output Current (1 second) (2) 10 A 20 A 30 A
Continuous Output Current (2) 5 A 10 A 15 A
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)
Modes of Operation Brushless
Protective Features
Output short circuit; Peak over current; DC bus over voltage;
RMS over current; Over temperature; Control power supply
under voltage; Power stage bias supply under voltage
Isolation Optical and transformer isolation between control and power
stages.
(1) AC input voltage and load dependent.
(2) Current is measured as the peak amplitude in any motor phase.
XC6e Hardware Manual 1.1. Electrical Specifications
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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
Output Power
Rotary Motors Power Output [W] = Torque [N·m] * Angular velocity[rad/sec]
Linear Motors Power Output [W] = Force [N] * Linear velocity[m/sec]
Rotary or Linear Motors Power Output [W] = Bemf [V] * I(rms) * 3
Power Loss = 3 * I(rms)^2 * R(line-line)/2
Power Input = (Power Output + Power Loss) / EfficiencyFactor
DC Brush Motor
Power Output [W] = Torque [N·m] * Angular velocity[rad/sec]
Power Loss = I(rms)^2 * R
Power Input = (Pout + Ploss) / EfficiencyFactor
1.1.1. System Power Requirements XC6e Hardware Manual
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