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.
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
Collaborative robot joints
Robot end effectors
Robotic exoskeletons & wearable robots
Low power AGVs
Industrial highly integrated servomotors
Battery-powered and e-Mobility
Low inductance motors
Ordering part number
Capitan XCR EtherCAT
Ready-to-use servo drive featuring EtherCAT communications.
Capitan XCR CANopen
Ready-to-use servo drive featuring CANopen. Ethernet port 1 could be used for commissioning.
General Label Identification
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.
Electrical and Power Specifications
Minimum power supply voltage
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
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.
Minimum shutdown time
Maximum continuous phase current
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.
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
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 98.5%
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.
Motion Control Specifications
Supported motor types
Power stage PWM frequency (configurable)
20 kHz, 50 kHz (default), 100 kHz, 200 kHz
3 phase, shunt-based current sensing. 16 bit ADC resolution. Accuracy is ±2% full scale.
Current sense resolution
Current sense range
± 33 A
Max. Current loop frequency (configurable)
Check the Power Stage & Control loops relationship section below.
Max. servo loops frequency (position, velocity & commutation) (configurable)
Check the Power Stage & Control loops relationship section below.
*Not all the existing absolute encoders are supported. Contact Ingenia for further information.
Supported target sources
Network communication (EtherCAT / CANopen)
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:
4x non-isolated single-ended digital outputs - 5 V logic level (continuous short circuit capable with 470 Ω series resistance) - 8 mA max. current. Can be configured as:
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.
Safe Torque OFF inputs
2x dedicated, isolated (> 4 GΩ, 1 kV) STO inputs (from 3.6 V to 24 V).
The STO inputs include a current limiter at ~ 2.5 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 kΩ pull-up to 5 V included).
NTC, PTC, RTD, linear voltage sensors , silicon-based sensors and thermal switches are supported.
Communication for Operation
CANopen over EtherCAT (CoE)
File over EtherCAT (FoE)
Ethernet over EtherCAT (EoE)
CANopen / Ethernet
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.
Environmental test methods
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
-400 m to 2000 m
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
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.
> 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).
Yes (interface board not covered). Minimum wall thickness > 0.75 mm.
42 mm x 29 mm
Electromagnetic Compatibility (EMC) Standards
Product Safety Standard
Functional Safety Standard
Safe Torque Off (STO)
See Safe Torque Off (STO) section for mandatory Integration Requirements.
Environmental Test methods
Thermal and Power Specifications
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)
*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.
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.
*Product shown differ from Capitan XCR.
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).
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.
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
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.
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 frequency
Current loop frequency
Servo loops frequency (position, velocity, commutation & shunt)