INGENIA Capitan XCR User manual

INGENIA-CAT S.L.
AVILA 124 2-B
08018 BARCELONA
Capitan XCR - Product Manual
Edition 07/30/2021
For the most up to date information visit the online manual.

1. Table of Contents
1. Table of Contents 2
2. General Information 5
2.1. Manual revision history........................................................................................................................................ 5
2.2. Disclaimers and limitations of liability ............................................................................................................... 5
2.3. Contact ................................................................................................................................................................. 5
3. Safety Information 6
3.1. For your safety...................................................................................................................................................... 6
3.2. Warnings............................................................................................................................................................... 6
3.3. Precautions .......................................................................................................................................................... 6
3.4. Pour votre sécurité............................................................................................................................................... 6
3.4.1. Avertissements..................................................................................................................................................... 7
3.4.2. Précautions .......................................................................................................................................................... 7
4. Product Description 8
4.1. Part Numbering.................................................................................................................................................... 8
4.2. Specifications....................................................................................................................................................... 9
4.2.1. Electrical and Power Specifications....................................................................................................................9
4.2.2. Motion Control Specifications........................................................................................................................... 10
4.2.3. Inputs/Outputs and Protections .......................................................................................................................11
4.2.4. Communication for Operation .......................................................................................................................... 12
4.2.5. Environmental Conditions................................................................................................................................. 12
4.2.6. Reliability Specifications ................................................................................................................................... 13
4.2.7. Mechanical Specifications ................................................................................................................................. 13
4.2.8. Compliance ........................................................................................................................................................ 13
4.3. Product Revisions .............................................................................................................................................. 15
4.4. Thermal and Power Specifications ...................................................................................................................15
4.4.1. Standby power consumption............................................................................................................................ 15
4.4.2. Thermal model................................................................................................................................................... 15
4.4.3. Current derating................................................................................................................................................. 16
4.4.4. Heat dissipation and heatsink calculation .......................................................................................................17
4.4.5. Energy efficiency ................................................................................................................................................ 18
5. EtherCAT specifications 20
6. CANopen Specifications 21
7. Connectors Guide 23
7.1. Connector Overview .......................................................................................................................................... 23
7.2. Supply................................................................................................................................................................. 23
7.3. Motor .................................................................................................................................................................. 24
7.4. Feedback Connector.......................................................................................................................................... 24
7.5. Input / Outputs Connector ................................................................................................................................ 26

7.6. EtherCAT Connectors......................................................................................................................................... 28
7.7. Mating Connectors............................................................................................................................................. 29
7.7.1. Common mating terminals and cables for all signal connectors.................................................................... 30
8. Signalling LEDs 33
8.1. LED Signal Definitions........................................................................................................................................ 33
8.2. EtherCAT protocol (CAP-XCR-E) ........................................................................................................................ 34
8.2.1. Start-up Sequence ............................................................................................................................................. 35
8.3. CANopen protocol (CAP-XCR-C) ........................................................................................................................36
8.3.1. Start-up Sequence ............................................................................................................................................. 37
9. Wiring and Connections 39
9.1. Capitan XCR Connection Diagram..................................................................................................................... 39
9.2. Protective Earth ................................................................................................................................................. 41
9.3. Power Supply and Motor Power........................................................................................................................ 43
9.3.1. Single Power Supply .......................................................................................................................................... 43
9.3.1.1 Power Supply Requirements............................................................................................................................. 43
9.3.2. Dual Power Supply............................................................................................................................................. 44
9.3.2.1 Logic Supply Requirements............................................................................................................................... 44
9.3.3. Power Supply EMI Filter..................................................................................................................................... 44
9.3.4. Shunt Braking Resistor Connection ..................................................................................................................45
9.3.5. Motor Connections............................................................................................................................................. 46
9.3.5.1 3 Phase Brushless............................................................................................................................................... 46
9.3.5.2 DC Motor............................................................................................................................................................. 47
9.3.5.3 Motor Choke ....................................................................................................................................................... 47
9.3.6. Power Wiring Recommendations...................................................................................................................... 48
9.3.6.1 Cable Selection .................................................................................................................................................. 48
9.3.6.2 Soldering Power Pins......................................................................................................................................... 48
9.4. Safe Torque Off (STO) ........................................................................................................................................50
9.4.1. Safety Function Specifications.......................................................................................................................... 50
9.4.2. Integration Requirements ................................................................................................................................. 51
9.4.3. STO External Diagnostic Test ............................................................................................................................ 53
9.4.4. STO Operation States ........................................................................................................................................ 54
9.4.5. Interface and Connections ................................................................................................................................ 55
9.4.6. STO bypass (needed when no STO functionality is implemented) ................................................................. 57
9.5. Brake and Motor Temperature.......................................................................................................................... 58
9.5.1. Motor electromagnetic / electromechanical brake.......................................................................................... 58
9.5.2. External temperature sensor............................................................................................................................. 59
9.6. Feedbacks........................................................................................................................................................... 60
9.6.1. Digital Halls ........................................................................................................................................................ 60
9.6.2. Absolute Encoder 1 ............................................................................................................................................ 62
9.6.3. Absolute Encoder 2 ............................................................................................................................................ 63

9.6.4. Incremental Encoder ......................................................................................................................................... 64
9.6.5. Feedback wiring recommendations ................................................................................................................. 67
9.7. Inputs and Outputs ............................................................................................................................................68
9.7.1. Digital Inputs Interface ...................................................................................................................................... 68
9.7.2. Analog Input Interface .......................................................................................................................................70
9.7.3. Digital Outputs Interface ................................................................................................................................... 71
9.8. Communications................................................................................................................................................ 73
9.8.1. CAP-XCR-C (CANopen & Ethernet Interface)..................................................................................................... 73
9.8.1.1 CAN wiring recommendations .......................................................................................................................... 74
9.8.2. CAP-XCR-E (EtherCAT Interface)........................................................................................................................ 75
9.8.2.1 Recommended EtherCAT cables and connectors............................................................................................ 76
9.8.2.2 Ethernet over EtherCAT (EoE) Protocol - Used by Motion Lab 3...................................................................... 78
10. Dimensions 80
11. Installation 81
11.1. Unboxing ............................................................................................................................................................ 81
11.2. Installation Safety Requirements...................................................................................................................... 81
11.3. Mounting the Drive to a Heatsink or Cooling Plate ..........................................................................................81
11.3.1. Back Installation ................................................................................................................................................ 81
11.3.2. Front Installation ............................................................................................................................................... 83
12. Commissioning 85
12.1. Safety first........................................................................................................................................................... 85
12.2. Decommissioning .............................................................................................................................................. 86
13. Service 87

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2. General Information
2.1. Manual revision history
Revision Release Date Changes PDF
v1 13.11.2020 Initial version
For the most up to date information use the onlineProduct manual.
2.2. Disclaimers and limitations of liability
The information contained within this document contains proprietary information belonging toINGENIA-CAT S.L.
Such information is supplied solely for the purpose of assisting users of the product in its installation.
INGENIA-CAT S.L.rejects all liability for errors or omissions in the information or the product or in other documents
mentioned in this document.
The text and graphics included in this document are for the purpose of illustration and reference only. The
specifications on which they are based are subject to change without notice.
This document may contain technical or other types of inaccuracies. The information contained within this
document is subject to change without notice and should not be construed as a commitment byINGENIA-CAT S.L.
INGENIA-CAT S.L.assumes no responsibility for any errors that may appear in this document.
Some countries do not allow the limitation or exclusion of liability for accidental or consequential damages,
meaning that the limits or exclusions stated above may not be valid in some cases.
2.3. Contact
INGENIA-CAT S.L.
C/ Avila 124, 2-B
08018 Barcelona
Spain
Telephone: [phone]
E-mail:[email protected]
Web site:www.ingeniamc.com

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3. Safety Information
3.1. For your safety
The instructions set out below must be read carefully prior to the initial commissioning or installation in order
to raise awareness of potential risks and hazards, and to prevent injury to personnel and/or damage to property.
To ensure safety when operating this servo drive, it is mandatory to follow the procedures included in this manual.
The information provided is intended to protect users and their working area when using the device, as well as
other hardware that may be connected to it.
3.2. Warnings
Electric servo drives are dangerous:The following statements should be considered to avoid serious injury to
individuals and/or damage to the equipment:
Do not touch the power terminals of the device (supply and phases) as they can carry dangerously high
voltages > 50 V.
Never connect or disconnect the device while the power supply is ON to prevent danger to personnel, the
formation of electric arcs, or unwanted electrical contacts.
Disconnect the drive from all power sources before proceeding with any wiring change.
The surface of the device may exceed 100 ºC during operationand may cause severe burns to direct touch.
After turning OFF and disconnecting all power sources from the equipment, wait at least 10 seconds before
touching any parts of the controller, as it can remain electrically charged or hot.
3.3. Precautions
The following statements should be considered to avoid serious injury to those individuals performing the
procedures and/or damage to the equipment:
Always comply with the connection conditions and technical specifications. Especially regarding wire cross-
section and grounding.
Some components become electrically charged during and after operation.
The power supply connected to this controller should comply with the parameters specified in this manual.
When connecting this drive to an approvedpower source, do so through a line that is separate from any
possible dangerous voltages, using the necessary insulation in accordance with safety standards.
High-performance motion control equipment can move rapidly with very high forces. An unexpected motion
may occur especially during product commissioning. Keep clear of any operational machinery and never
touch them while they are working.
Do not make any connections to any internal circuitry. Only connections to designated connectors are
allowed.
All service and maintenance must be performed by qualified personnel.
Before turning on the drive, check that all safety precautions have been followed, as well as the installation
procedures.
3.4. Pour votre sécurité
Les instructions ci-dessous doivent être lues attentivement avant la mise en service ou l'installation initiale afin de
sensibiliser aux risques et dangers potentiels et de prévenir les blessures aux personnes et/ou les dommages aux biens.

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Pour garantir la sécurité lors de l'utilisation de ce servomoteur, il est obligatoire de suivre les procédures incluses dans
ce manuel. Les informations fournies sont destinées à protéger les utilisateurs et leur zone de travail lors de
l'utilisation de l'appareil, ainsi que les autres matériels qui peuvent y être connectés.
3.4.1. Avertissements
Les servo-entraînements électriques sont dangereux : Les déclarations suivantes doivent être prises en compte pour
éviter des blessures graves aux personnes et/ou des dommages à l'équipement :
Ne pas toucher les bornes d'alimentation de l'appareil (alimentation et phases) car elles peuvent véhiculer des
tensions dangereusement élevées > 50 V.
Ne jamais connecter ou déconnecter l'appareil lorsque l'alimentation est en marche afin d'éviter tout danger
pour le personnel, la formation d'arcs électriques ou de contacts électriques indésirables.
Déconnectez l'appareil de toutes les sources d'alimentation avant de procéder à tout changement de câblage.
La surface de l'appareil peut dépasser 100 ºC pendant le fonctionnement et peut causer de graves brûlures au
contact direct.
Après avoir éteint et déconnecté toutes les sources d'alimentation de l'appareil, attendez au moins 10 secondes
avant de toucher une partie quelconque de l'appareil, car il peut rester chargé électriquement ou être chaud.
3.4.2. Précautions
Les déclarations suivantes doivent être prises en compte pour éviter des blessures graves aux personnes qui effectuent
les procédures et/ou des dommages à l'équipement :
Respectez toujours les conditions de connexion et les spécifications techniques. En particulier en ce qui
concerne la section des fils et la mise à la terre.
Certains composants se chargent électriquement pendant et après le fonctionnement.
L'alimentation électrique connectée à ce contrôleur doit être conforme aux paramètres spécifiés dans ce
manuel.
Lorsque vous connectez ce variateur à une source d'alimentation approuvée, faites-le par une ligne séparée de
toute tension dangereuse éventuelle, en utilisant l'isolation nécessaire conformément aux normes de sécurité.
Les équipements de control de mouvement à haute performance peuvent se déplacer rapidement avec des
forces très élevées. Un mouvement inattendu peut se produire, notamment lors de la mise en service du
produit. Restez à l'écart de toute machine opérationnelle et ne la touchez jamais pendant qu'elle fonctionne.
N'effectuez aucune connexion à un circuit interne. Seules les connexions à des connecteurs désignés sont
autorisées.
Tous les travaux d'entretien et de maintenance doivent être effectués par un personnel qualifié.
Avant de mettre le le contrôleur en marche, vérifiez que toutes les précautions de sécurité ont été prises, ainsi
que les procédures d'installation.

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4. Product Description
Capitan XCR is a high power, highly integrated, ready to use digital servo drive. The drive includes all the required
interface electronics and connectors, features best-in-class energy efficiency thanks to its state of the art power
stage, and can be easily configured with Ingenia's free softwareMotionLab 3.
Capitan XCR is enabled with EtherCAT and CANopen communications.
Main features:
Ultra-small footprint
48 VDC, 10 Acontinuous
Up to 98% efficiency
Up to 50 kHz current loop, 25 kHz servo loops
20 kHz ~ 200 kHz PWM frequency
16 bit ADC
Supports Halls, Quadrature encoder, SSI and Dual BiSS-C
Up to 4 simultaneous feedback sources
Full voltage, current and temperature protections
Safety Torque Off (STO SIL3 Ple) inputs
Typical applications:
Collaborative robot joints
Robot end effectors
Robotic exoskeletons & wearable robots
Low power AGVs
UAVs
Industrial highly integrated servomotors
Smart motors
Battery-powered and e-Mobility
Low inductance motors
Lab equipment
4.1. Part Numbering
Product Ordering part
number
Status Image Label
Capitan XCR EtherCAT
Ready-to-use servo drive
featuring EtherCAT
communications.
CAP-XCR-E PRODUC
TION
Capitan XCR CANopen
Ready-to-use servo drive
featuring CANopen. Ethernet
port 1 could be used for
commissioning.
CAP-XCR-C PRODUC
TION
For applications requiring a pluggable drive enabled with EtherCAT or CANopen, please seeCapitan NET.
For applications not requiring CANopen or EtherCAT, please seeCapitan CORE.

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4.2. Specifications
4.2.1. Electrical and Power Specifications
Minimum power supply
voltage
8 VDC
Maximum absolute power
supply voltage
60VDC(continuous)
Recommended power supply
voltage
12 VDC ~ 48VDC
This voltage range ensures a safety margin including power supply tolerances and regulation during
acceleration and braking.
Internal drive DC bus
capacitance
47 µF
Note that CAP-XCR uses ceramic capacitors. The capacitance value varies with DC bias and
temperature.
Logic power supply voltage
(optional)
8 to 50 VDC
Providing the logic supply is optional, as the drive is supplied from the DC bus (single supply) on its
full operating voltage range. When supplied from logic, an intelligent switch will stop consuming
from the DC bus.
Maximum continuous phase
current
10 A
Typically, 10 A can be obtained working at 48 V, 50 kHz with an appropriate cooling to keep case
temperature under 85 ºC. On higher temperatures an automatic current derating will be applied to
protect the system. SeeThermal and Power Specificationsbelow.
For disambiguation on current definitions please seeDisambiguation on current values and naming
for Ingenia Drives.
Maximum peak phase current 20 A @ 1 sec
Notice that peak current could be limited by an automatic current derating algorithm. In order to get
20 A, case temperature should be kept below 60 ºC.
Maximum continuous switch-
off rectified current
Without heatsink: 1 A @ 25 ºC
With heatsink: 1 A @ 85 ºC
Notice that maximum current is dependent on temperature and heatsink attached. At higher
temperature, the lower the current. For more information about heatsink applied, see Thermal and
Power Specificationsbelow.
A continuous use of disabled power stage as rectifier is not recommended for thermal limitations.
Maximum continuous output
power
> 500 W
How the output power is calculated in an Ingenia drive.
Efficiency Up to 98.5%

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Maximum DC Bus
voltageutilization
99.5% @ 20 kHz
98.9% @ 50 kHz
97.95% @ 100 kHz
96% @ 200 kHz
Note 1: these values assume a Sinusoidal commutation and no load connected.
Standby logic supply
consumption
1.5 W ~ 2.1 W (for EtherCAT-enabled version)
See details and conditions in the section below.
4.2.2. Motion Control Specifications
Supported motor types Rotary brushless (SVPWM and Trapezoidal)
Rotary brushed (DC)
Power stage PWM frequency
(configurable)
20 kHz, 50 kHz (default) & 100 kHz
200 kHz option available upon request
Current sensing 3 phase, shunt-based current sensing. 16 bit ADC resolution. Accuracy is ±2%
full scale.
Current sense resolution 1.007 mA/count
Current sense range ± 33 A
Max. Current loop frequency 50 kHz
Max. servo loops frequency
(position, velocity &
commutation)
25 kHz @ 50 kHz current loop
Feedbacks Digital Halls (Single-ended)
Quadrature Incremental encoder (RS-422 or Single-ended)
Absolute Encoder (RS-422 or Single-ended): up to 2 at the same time,
combining any of the following:
BiSS-C (up to 2 in daisy chain topology)
SSI
*Not all the existing absolute encoders are supported. Contact Ingenia for further information.
Supported target sources Network communication (EtherCAT / CANopen)
Control modes Cyclic Synchronous Position
Cyclic Synchronous Velocity
Cyclic Synchronous Current
Profile Position (trapezoidal & s-curves)
Profile Velocity
Interpolated Position (P, PT, PVT)
Homing

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4.2.3. Inputs/Outputs and Protections
General purpose Inputs and
outputs
4x non-isolated single-ended digital inputs - 5 V logic level & 3.3 V compatible.
Can be configured as:
General purpose
Positive or negative homing switch
Positive or negative limit switch
Quick stop input
Halt input
4x non-isolated single-ended digital outputs - 5 V logic level (continuous short
circuit capable with 470 Ωseries resistance) - 8 mA max. current. Can be
configured as:
General purpose
Operation enabled event flag
External shunt braking resistor driving signal
Health flag
1x ±10 V, 16 bit, fully differential analog input for load cells or torque sensors.
Can be read by the Master to close a torque loop.
Shunt braking resistor output Configurable over any of the digital outputs (see above).
Enabling this function would require an external transistor or power driver.
Motor brake output 1 A, 50 V, dedicated brake output. Open drain with re-circulation diode.
Brake enable and disable timing can be configured accurately.
PWM modulation available to reduce brake activation/holding voltage and power consumption.
Safe Torque OFF inputs 2x dedicated, isolated (> 4 GΩ, 1 kV) STO inputs (from 3.6 V to 30 V).
The STO inputs include a current limiter at ~ 5 mA to minimize
losses.Details:Safe Torque Off (STO).
Motor temperature input 1x dedicated, 5 V, 12-bit, single-ended analog input for motor temperature
(1.65 kΩpull-up to 5 V included).
NTC, PTC, RTD, linear voltage sensors , silicon-based sensors and hermal
switches are supported.

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Protections Hardcoded / hardwired Drive protections:
Automatic current derating on voltage, current and temperature
Short-circuit Phase to DC bus
Short-circuit Phase to Phase
Configurable protections:
DC bus over-voltage
DC bus under-voltage
Drive over-temperature
Drive under-temperature
Motor over-temperature (requires external sensor)
Current overload (I2t). Configurable up to Drive limits
Voltage mode over-current (with a closed current loop, protection
effectiveness depends on the PID).
Motion Control protections:
Halls sequence / combination error
Limit switches
Position following error
Velocity / Position out of limits
4.2.4. Communication for Operation
EtherCAT
(CAP-XCR-E)
CANopen over EtherCAT (CoE)
File over EtherCAT (FoE)
Ethernet over EtherCAT (EoE)
CANopen / Ethernet
(CAP-XCR-C)
CiA-301, CiA-303, CiA-305, CiA-306 and CiA-402 (4.0) compliant.
125 kbps to 1 Mbps (default). Non-isolated. Termination resistor not
included.
Note: Ethernet port 1can be used to configure the drive.
4.2.5. Environmental Conditions
Environmental test methods IEC 60068-2
Case temperature (Operating) -20 ºC to +85 ºC
Check the Current Derating section below.
Case temperature (Non-
Operating)
-40 ºC to +100 ºC
Thermal Shock (Operating) 25 ºC to 60 ºC in 25 min
Maximum Humidity (Operating) up to 95%, non-condensing at 60 ºC
Maximum Humidity (Non-
Operating)
up to 95%, non-condensing at 85 ºC
Altitude (Operating) -400 m to 2000 m
Vibration (Operating) 5 Hz to 500 Hz, 4/5 g

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Mechanical Shock (Operating) ±15gHalf-sine 11 msec
Mechanical Shock (Non-
Operating)
±15gHalf-sine 11 msec
Pollution degree and
installation environment
Pollution Degree 2 environment according to IEC 61800-5-1: Normally, only
non-conductive pollution occurs. Occasionally, a temporary conductivity
caused by condensation is to be expected when the Capitan XCR is off.
Minimum index of protection of
the installation
IP3X: Since Capitan XCR has accessible live electrical circuits, it should be
installed on closed electrical operating areas with a minimum protection
rating of IP3X and should be accessed by skilled or instructed persons.
4.2.6. Reliability Specifications
MTBF > 450.000 h
Based on FIDES method forStandard Life Profile at 40 °Caverage. Other scenarios available on
demand.
Isolation between aluminum
case (PE) and live circuits
Basic insulation according to IEC 61800-5-1.
> 200 MΩ. Measured between PE (case) and GND_P and +SUP and phases.
Note: The drive includes 2 nF EMC capacitance between the power supply negative (GND_P) and the
enclosure (PE).
4.2.7. Mechanical Specifications
Aluminium case Yes (interface board not covered). Minimum wall thickness > 0.75 mm.
Dimensions 42 mm x 29 mm x 19.4 mm
Weight 31 g
4.2.8. Compliance
EC Directives CE Marking
LVD:Low voltage directive(2014/35/EU)
EMC:Electromagnetic Compatibility Directive (2014/30/EU)
Safety: Machinery Directive (2006/42/EC)
RoHS3:Restriction of Hazardous Substances Directive (2011/65/UE + 2015/863/EU)
Electromagnetic Compatibility
(EMC) Standards
IEC 61800-3:2017
IEC 61000-6-2:2016
Product Safety Standard IEC/EN 61800-5-1: Adjustable speed electrical power drive systems - Safety
requirements - Electrical, thermal and energy
Functional Safety Standard Safe Torque Off (STO)
IEC 61800-5-2:2016 : SIL3
IEC 61508:2010 : SIL3
EN ISO 13849-1:2015 : PLe Cat. 3

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Environmental Test methods IEC 60068-2:
IEC 60068-2-1:2007: Test Ad, Cold
IEC 60068-2-2:2007: Test Be, Dry Heat
IEC 60068-2-38:2009: Test Z/AD, Composite temperature / humidity cyclic
IEC 60068-2-78:2012: Test Cab, Damp heat, steady state
IEC 60068-2-6:2007: Test Fc: Vibration (sinusoidal)
IEC 60068-2-27:2008: Test Ea: Shock

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4.3. Product Revisions
Revision Date Notes
113.11.2020 Initial version
4.4. Thermal and Power Specifications
4.4.1. Standby power consumption
The following table shows the standby power consumption of the Capitan assuming 2 EtherCAT ports areactive
and communicating at full speed, no feedbacks or I/Os are connected. When the power stage is enabled, motor
current is set to 0 and housing temperature is kept at 50 ºC.
Power
supply
voltage
Typical total standby power consumptionwith single supply Power
savings by
having dual
supply with
logic at 12 V*
Power stage disabled Power stage enabled and switching at 0
current
EtherCAT (2
ports active)
CANopen 20 kHz 50 kHz 100 kHz 200 kHz
8 V 1.52 W 1.57 W 1.6 W 1.63 W 1.69 W ~0.0 W
12 V 1.54 W 1.6 W 1.63 W 1.68 W 1.78 W ~0.0 W
24 V 1.65 W 1.74 W 1.82 W 1.95 W 2.18 W ~0.08 W
48 V 1.90 W 2.10 W 2.31 W 2.65 W 3.32 W ~0.35 W
60 V 2.10 W 2.31 W 2.62 W 3.12 W 4.08 W ~0.45 W
*If minimal standby power consumption is desired working at 24 V or higher it is suggested to have dual supply and
provide 12 V or 24 V to the Logic. This reduces losses by allowing the main DC/DC converter to operate at peak
efficiency.
4.4.2. Thermal model
The following diagram depicts the general dissipation model. The Capitan is designed to be mounted on a cooling
plate or heatsink to achieve its maximum ratings. Please seeInstallation for more details. In order to calculate the
heatsink requirements, the power dissipation can be estimated below.
In some low power applications, the Capitan is NOT required to be mounted to any heatsink. In this case its thermal
resistance from housing/case to ambient Rth(h-a)can be estimated between 12 K/W, to 16 K/W assuming 10 cm
clearance to allow air convection at sea level. For example, with the drive on standby at 1.65 W losses at 25 ºC air
temperature the internal drive temperature can be 56 ºC.When the Capitanis not attached to a heatsink factors like
air cooling, power cable thickness will have a significant effect on its temperature. Typically 2.2 W can be dissipated
without heatsink, refer to the graph below to know which current can be handled.

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*Product shown differ from Capitan XCR.
4.4.3. Current derating
The following figure shows the maximum motor phase current at different case temperatures and operating points.
The graph expresses the achievable current including the derating algorithm that limits the current based operation
conditions and the power stage temperature.
Notice that current is expressed in crest value for a 3 phase BLAC motor. For further clarifications and conversion to
equivalent RMS values please refer toDisambiguation on current values and naming for Ingenia Drives.
To ensure a proper performance of Capitan XCR, thecase temperature should be held always below 85 ºC (Tc-
max=85 ºC).

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4.4.4. Heat dissipation and heatsink calculation
The following figure shows the total power losses at different operating points. This includes logic supply and
considers a single supply scenario. As can be seen, lower PWM frequency and voltage leads to lower power losses.

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1.
a.
2.
a.
3.
a.
Please, use the following procedure to determine the required heatsink:
Based on the voltage & continuous current required by your application and Power losses graph determine
the generated Power LossesPLto be dissipated.
For example: If the application requires 10 A@ 60 V (20 kHz) the PLwill be 4.25 W
Determine the Thermal impedance of the used thermal sheetRth(c-h)
For example, a thermal sheetTGX-150-150-0.5-0,which has an estimated thermal impedance ofRth(c-
h)=0.2 K/W
Based on the ambient temperature and using the following formula determine the maximum thermal
impedance to air of the required heatsink Rth(h-a)
For example: If the application requires 10 A@ 60 V(20 kHz)working at Ta= 25 ºC and we use a
thermal sheet with Rth(c-h)=0.2 K/W the required thermal impedance of the heatsink will be Rth(h-a)=
14.32 K/W
4.4.5. Energy efficiency
The following graph shows the electricalenergy efficiency including logic for various operation points assuming
50 ºC case temperature and the drive delivering the maximum output power (i.e. maximum output voltage and
motor speed). As seen, very high efficiencies > 99% can be achieved at 20 kHz PWM frequency.

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

Capitan XCR - Product Manual|EtherCAT specifications
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5. EtherCAT specifications
Ports available 2
LED Signals Status LED
Link/Act LED
Supported Mailbox CoE, FoE, EoE
SDO info Supported
Segmented SDO Supported
SDO complete
access
Supported
Modes of
Operation
DS402 drive device profile
Voltage mode
Current mode
Cyclic Synchronous Current Mode (Note 1)
Current amplifier mode
Profile Velocity
Profile Position
Homing modes
Interpolated Position Mode
Cyclic Synchronous Position Mode(Note 1)
Cyclic Synchronous Velocity Mode(Note 1)
Synchronization
modes
SM synchronous
Distributed clock
Process data
object
Configurable
Up to 64 bytes in each direction.
Up to 15differentregisters can be mapped in each direction.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
Note 1: Max. Update rate up to 250 μs (4 kHz) to keep a latency of 2-3 cycles
Using PWM ≥50 kHz & PDO size 11 bytes