Product Description

Capitan XCR EtherCAT

Ready-to-use servo drive featuring EtherCAT communications.

CAP-XCR-E

PRODUCTION

Capitan XCR CANopen

Ready-to-use servo drive featuring  CANopen. Ethernet port 1 could be used for commissioning.

CAP-XCR-C

PRODUCTION

8 V_DC

60 V_DC (continuous)

12 V_DC ~ 48 V_DC

_{This voltage range ensures a safety margin including power supply tolerances and regulation during acceleration and braking.}

47 µF

_{Note that CAP-XCR uses ceramic capacitors. The capacitance value varies with DC bias and temperature.}

8 to 50 V_DC

_{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.}

4 s

500 ms

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_. 

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.} 

• 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.}

> 500 W

_{How the output power is calculated in an Ingenia drive.}

Up to 98.5%

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.}

1.5 W ~ 2.1 W (for EtherCAT-enabled version)

_{See details and conditions in the section below.} 

• Rotary brushless (SVPWM and Trapezoidal)

• Rotary brushed (DC)

20 kHz, 50 kHz (default), 100 kHz, 200 kHz

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

1.007 mA/count

± 33 A

50 kHz

_{Check the Power Stage & Control loops relationship section below.}

25 kHz

_{Check the Power Stage & Control loops relationship section below.}

• 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.}

Network communication (EtherCAT / CANopen)

• Cyclic Synchronous Position

• Cyclic Synchronous Velocity

• Cyclic Synchronous Current

• Profile Position (trapezoidal & s-curves)

• Profile Velocity

• Interpolated Position (P, PT, PVT)

• Homing

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 Ω series 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.

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.}

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.}

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).

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.

• 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

CANopen over EtherCAT (CoE)

File over EtherCAT (FoE)

Ethernet over EtherCAT (EoE)

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.}

IEC 60068-2

-20 ºC to +85 ºC

_{Check the Current Derating section below.}

-40 ºC to +100 ºC

25 ºC to 60 ºC in 25 min

up to 95%, non-condensing at 85 ºC

up to 95%, non-condensing at 85 ºC

-400 m to 2000 m

5 Hz to 500 Hz, 4-5 g

±15g Half-sine 11 msec 

±15g Half-sine 11 msec

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. 

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.}

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

19.4 mm

31 g

CE Marking

• 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)

• EN 61800-3:2018 Category C3

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

Safe Torque Off (STO)

• EN 61800-5-2:2017: SIL3

• EN IEC 62061:2021 : SIL3

• EN ISO 13849-1:2015 : PLe Cat. 3

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

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

1

13 Nov 2020 

Initial version

8 V

1.52 W

1.52 W

1.57 W

1.6 W

1.63 W

1.69 W

~0.0 W

12 V

1.54 W

1.54 W

1.6 W

1.63 W

1.68 W

1.78 W

~0.0 W

24 V

1.65 W

1.65 W

1.74 W

1.82 W

1.95 W

2.18 W

~0.08 W

48 V

1.90 W

1.92 W

2.10 W

2.31 W

2.65 W

3.32 W

~0.35 W

60 V

2.10 W

2.05 W

2.31 W

2.62 W

3.12 W

4.08 W

~0.45 W

20 kHz

20 kHz

20 kHz

50 kHz

50 kHz

25 kHz

100 kHz

50 kHz

25 kHz

200 kHz

50 kHz

25 kHz