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Product Description

Capitan CORE is a high power, highly integrated, digital servo drive intended to be plugged or soldered to an application-specific daughter board. The drive 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 CORE can be interfaced by means of its proprietary SPI-based Motion Control Bus protocol.

Main features:

  • Ultra-small footprint
  • 48 VDC, 10 A continuous
  • Up to 99% 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

Typical applications:

  • Collaborative robot joints & 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

Part numbering

ProductOrdering part numberStatusImage

Capitan CORE

Pluggable servo drive with communication through proprietary Motion Control Bus protocol.



General Label Identification

For applications requiring a pluggable drive enabled with EtherCAT or CANopen, please see Capitan NET.

For applications requiring a ready-to-go product, also enabled enabled with EtherCAT or CANopen, please see Capitan XCR


Electrical and Power Specifications

Minimum DC bus supply voltage5 VDC
Maximum DC bus supply voltage

60 VDC (continuous)

Recommended power supply voltage range

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

17 µF

Note that CAP-CORE uses ceramic capacitors. The capacitance value varies with DC bias and temperature.

Logic supply voltage

4.9 VDC ~ 5.1 VDC

A minimum of 500 mA should be provided. Higher current may be needed depending on the feedbacks used.

Rise time of the 5 V supply must be < 5 ms

Boot-up time0.6 s
Minimum shutdown time500 ms

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 Product Description#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 Product Description#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.


Up to 99%

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 W typ.

See details and conditions in the section below.

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

Current sensing

3 phase, shunt-based current sensing. 16 bit ADC resolution. Accuracy is ±2% full scale

Current sense resolution

1.007 mA/counts

Current sense range

± 33 A

Max. Current loop frequency (configurable)

50 kHz

Check the Power Stage & Control loops relationship section below.

Max. servo loops frequency (position, velocity & commutation) (configurable)

25 kHz

Check the Power Stage & Control loops relationship section below.

  • Digital Halls
  • Quadrature / Incremental encoder
  • Absolute Encoder: up to 2 at the same time, combining any of the following:
    • BiSS-C (up to 2 in daisy chain topology)
    • SSI

All feedback inputs are single-ended, 3.3 V logic levels.

*Not all the existing absolute encoders are supported. Contact Ingenia for further information.

Supported target sources

  • Network communication (Motion Control Bus)
  • Analog inputs 1 & 2

*MCBus is a SPI-based proprietary protocol for Ingenia CORE drives.

Control modes
  • Cyclic Synchronous Position
  • Cyclic Synchronous Velocity
  • Cyclic Synchronous Current
  • Profile Position (trapezoidal & s-curves)
  • Profile Velocity
  • Interpolated Position (P, PT, PVT)
  • Homing

Inputs/Outputs and Protections

General purpose Inputs and outputs

4x non-isolated single-ended digital inputs - 3.3 V logic level. 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 - 3.3 V logic level, 3 mA max. sink / source current. Can be configured as:

  • General purpose
  • Operation enabled event flag
  • External shunt braking resistor driving signal
  • Health flag

2x ±3.3 V ,16-bit, differential analog inputs 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.
The update rate of this output is synchronous to the servo loops frequency.

Motor brake output

Dedicated, PWM-capable, 3.3 V digital output for driving a mechanical brake. Turn-on and turn-off times are configurable.

Enabling this function would require an external transistor or power driver.

Safe Torque OFF inputs2x dedicated, non-isolated STO digital inputs (3.3 V and 5 V tolerant).
Motor temperature input

1x dedicated, 5 V, 12-bit, single-ended analog input for measuring motor temperature.

NTC, PTC, RTD, linear voltage sensors , silicon-based sensors and thermal switches are supported.


  • 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

Communication for Operation


Proprietary Motion Control Bus protocol based on SPI.

Environmental Conditions

Environmental test methodsIEC 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
Mechanical Shock (Operating)±15g Half-sine 11 msec 
Mechanical Shock (Non-Operating)±15g Half-sine 11 msec

Reliability Specifications


> 650.000 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).

Mechanical Specifications

Aluminium caseYes (connectors side open). Minimum wall thickness > 0.75 mm.
Horizontal dimensions34.5 mm x 26 mm

10.30 mm (including Mezzanine connector)

14.59 mm (including full length of the power pins)

Weight17.5 gr


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 Standards
  • IEC/EN 61800-5-1: Adjustable speed electrical power drive systems - Safety requirements - Electrical, thermal and energy
Functional Safety Standards

Safe Torque Off (STO)

  • IEC 61800-5-2:2016 : SIL3
  • IEC 61508:2010 : SIL3
  • EN ISO 13849-1:2015 : PLe Cat. 3

See Safety Manual - Safe Torque Off (STO) section for mandatory Integration Requirements.

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

Product Revisions






Initial version

Thermal and Power Specifications

Standby power consumption

The following table shows the standby power consumption when the Capitan power stage is disabled, no feedbacks or I/Os are connected. At this point the power consumption comes from the 5 V supply input only. The table also shows the "active standby" dc bus power consumption when the power stage is enabled, motor current is set to 0 and housing temperature is kept at 50 ºC. 

Power supply voltageStandby 5 V logic supply consumptionPower consumption switching at 0 current
20 kHz50 kHz100 kHz200 kHz
12 V1.03 W
(logic supply consumption does not depend on bus voltage)
0.02 W0.04 W0.07 W0.14 W
24 V0.05 W0.12 W0.22 W0.44 W
48 V0.16 W0.37 W0.68 W1.31 W
60 V0.23 W0.52 W0.98 W1.91 W

Thermal model

The Capitan Core is designed to be mounted on a cooling plate or heatsink to achieve its maximum ratings. 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 8 K/W, to 12 K/W assuming 10 cm clearance to allow air convection at sea level. A good thermal design of the PCB providing big thermal ground planes on the contact areas can greatly increase the heat dissipation and reduce Rth(h-a) significantly. 

*Product shown differ from Capitan CORE. 

Current derating

The following figure show 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).

Heat dissipation and heatsink calculation

Following figure show the total power losses at different operating points. This includes logic supply which is an important contributor at low loads. As can be seen, lower PWM frequency and voltage leads to lower power losses. 

  1. Please, use the following procedure to determine the required heatsink:

    1. Based on the voltage & continuous (averaged) current required by your application and Current derating graph determine the Case temperature Tc. Remember that Case temperature must be always below 85 ºC (Tc < 85 ºC)
      1. For example: If the application requires 10 A @ 60 V (20 kHz) the Tc will be 85 ºC
    2. Based on the voltage & continuous current required by your application and Power losses graph determine the generated Power Losses PL to be dissipated. 
      1. For example: If the application requires 10 A @ 60 V (20 kHz) the PL will be 3.06 W
    3. Determine the Thermal impedance of the used thermal sheet Rth(c-h)
      1. 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
    4. Based on the ambient temperature and using the following formula determine the maximum thermal impedance to air of the required heatsink Rth(h-a)

    1. 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) = 12.8 K/W

Energy efficiency

The following graph shows the net energy efficiency including logic for various operation points assuming 50ºC case temperature and maximum output power. Very high efficiencies > 99% can be achieved at 20 kHz PWM frequency.

Power Stage & Control loops relationship

The power stage PWM frequency can be adjusted in 4 different frequencies. Each frequency has an associated rate for the control loops, as specified in the following table.

Power stage PWM frequencyCurrent loop frequencyServo loops frequency (position, velocity, commutation & shunt)
20 kHz20 kHz20 kHz
50 kHz50 kHz25 kHz
100 kHz50 kHz25 kHz
200 kHz50 kHz25 kHz
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