The Capitan XCR Servo Drive provides several inputs and output terminals for parameter observation and drive control options.

Non-isolated I/O

Capitan XCR inputs and outputs are not isolated. The reference voltage of the drive (GND_D) and the ground of the devices connected to I/Os must be the same. Otherwise, inputs or outputs may be damaged.

For electromagnetically noisy environments and for signals that could be user-accessible and cause electric shock, reinforced isolation is necessary. It is recommended to use isolators like Silicon Labs Si87xx series, Texas Instruments ISO121x isolators.

Digital Inputs Interface

The non-isolated digital inputs are ready for 5 V or 3.3 V digital levels. The following table shows their electrical specifications.



Number of inputs

4 (IN1, IN2, IN3, IN4)

Type of input

Single ended
ESD protected
Low-pass filtered

ESD capability

IEC 61000-4-2 (ESD) ± 15 kV (air), ± 8 kV (contact)

Input current

0.2 mA at 5 V (25 kΩ equivalent input resistance)

Maximum input voltage range

-2 V ~ +7 V

High level input voltage

> 3 V

Low level input voltage

< 2 V

Minimum hysteresis

200 mV

1st order filter cutting frequency (-3 dB)

265 kHz

Next figure shows an example of how to wire digital inputs with various input options. For higher voltage systems like 12 V or 24 V a series resistance should be connected to the input.

The interface for 3 wire NPN and PNP sensors is shown next.

Analog Input Interface

The Capitan XCR has a high accuracy fully differential 16-bit analog input AN1. See the specifications next:



Type of input

ESD protected

ESD capability

IEC 61000-4-2 (ESD) ± 15 kV (air), ± 8 kV (contact)

Input voltage range

±10 V differential (AN1+ - AN1-)

Analog input resolution

16 bits, 0.305 mV / ADC coun

(Theoretical values: +10 V → 65535 counts, -10 V → 0 counts)


±0.05% from -9.8 V to + 9.8 V. 0.5% full range

Maximum absolute voltage on any pin (AN1+ or AN1-)

±15 V

1st order filter cutting frequency (-3 dB)

10 kHz

Input impedance

5 kΩ typ

Next figure shows how to connect the analog input. Note that for single-ended inputs it is recommended to connect the negative AN1- to GND_D.

Also, for long distances, twisted pair, shielded cables are preferred. Connecting the shield to GND will improve the signal to noise ratio. However, take precautions not to connect the shield to PE as this could actually increase the noise of the signals. 

Digital Outputs Interface

Capitan XCR Servo Drive has 4 non-isolated digital outputs. These outputs can be used to drive optocouplers, LEDs or other digital circuits.



Number of outputs


Type of output

Push-pull output at 5 V
ESD protected.
Overload, short circuit protected

ESD capability

IEC 61000-4-2 (ESD) ± 15 kV (air), ± 8 kV (contact)

Maximum sink/source current

±10 mA

Unloaded output high voltage

4.5 ~ 5 V

Unloaded output low voltage

0 ~ 0.5 V

The wiring of the digital outputs is shown next: