Denali XCR is a mid 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.
Denali XCR is enabled with EtherCAT and CANopen communications.
- Ultra-small footprint
- 48 VDC, 5 A continuous
- Up to TBD% efficiency
- Up to 50 kHz current loop, 25 kHz servo loops
- 20 kHz ~ 150 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 & end effectors
- Robotic exoskeletons & wearable robots
- Medical applications
- Low inductance motors
- Lab equipment
|Product||Ordering part number||Status||Image|
Denali XCR EtherCAT
Ready-to-use servo drive featuring EtherCAT communications.
Denali 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 Denali NET.
For applications not requiring CANopen or EtherCAT, please see Denali CORE.
Electrical and Power Specifications
|Minimum power supply voltage||5 VDC|
Maximum absolute power supply voltage
60 VDC (continuous)
|Recommended power supply voltage|
6 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 DEN-XCR uses ceramic capacitors. The capacitance value varies with DC bias and temperature.
|Boot-up time||4 s|
|Minimum shutdown time||500 ms|
Maximum continuous phase current
Typically, 5 A can be obtained working at 48 V, 40 kHz with an appropriate cooling to keep the product 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
10 A @ 1 sec
Notice that peak current could be limited by an automatic current derating algorithm. In order to get 10 A, drive temperature should be kept below 60 ºC.
|Maximum continuous output power|
> 250 W
Up to TBD %
|Maximum DC Bus voltage utilization|
98 % @20 kHz
Standby logic supply consumption
~ 1.98 W typ. for ECAT version and ~ 1.75 W typ. for CANopen version
Motion Control Specifications
Supported motor types
Power stage PWM frequency (configurable)
20 kHz, 50 kHz (default), 100 kHz, 150 kHz
3 phase, shunt-based current sensing. 16 bit ADC resolution. Accuracy is ±2% full scale.
|Current sense resolution|
Current sense range
± 16.5 Apk (full range)
|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|
2x non-isolated single-ended digital inputs - 5 V logic level & 3.3 V compatible. Can be configured as:
2x non-isolated single-ended digital outputs - 3.3 V logic level (continuous short circuit capable with 470 Ω series resistance) - 4 mA max. current. Can be configured as:
2x ±10 V ,16-bit, differential analog inputs for load cells or torque sensors. Can be read by the Master to close a torque loop.
1x 3.3 V, analog output.
|Dedicated digital output||Dedicated 3.3 V digital output for Fault Signal status.|
|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 30 V). (TBC)
The STO inputs include a current limiter at ~ 5 mA to minimize losses. Details: https://novantamotion.atlassian.net/wiki/spaces/DENXCRSI/pages/26805512.
|Motor temperature input|
1x dedicated, 3.3 V, 12-bit, single-ended analog input for motor temperature (1.65 kΩ pull-up to 3.3 V included). (TBC)
NTC, PTC, RTD, linear voltage sensors , silicon-based sensors and hermal 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||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|
|Mechanical Shock (Operating)||±15g Half-sine 11 msec|
|Mechanical Shock (Non-Operating)||±15g Half-sine 11 msec|
Based on FIDES method for Standard Life Profile at 40 °C average. Other scenarios available on demand.
|Dimensions||49.8 mm x 23.2 mm x 14.0 mm|
|Electromagnetic Compatibility (EMC) Standards|
|Product Safety Standard|
|Functional Safety Standard|
Safe Torque Off (STO) - Certification pending
Safe Brake Control (SBC) - Certification Pending
|Environmental Test methods|
Thermal and Power Specification
Standby power consumption
The following table shows the standby power consumption when the Denali power stage is enabled.
|Power supply voltage||Safe input 5 V consumption||EtherCAT||CANopen|
|Power stage DC bus consumption switching at 0 current||Power stage DC bus consumption switching at 0 current|
|20 kHz||50 kHz||100 kHz||150 kHz||20 kHz||50 kHz||100 kHz||150 kHz|
|12 V||0.027 W||1.95 W||2.05 W||2.21 W||2.36 W||1.71 W||1.81 W||1.98 W||2.13 W|
|24 V||2.11 W||2.30 W||2.58 W||2.86 W||1.86 W||2.04 W||2.34 W||2.63 W|
|48 V||2.45 W||2.82 W||3.36 W||3.90 W||2.25 W||2.59 W||3.14 W||3.69 W|
|60 V||2.68 W||3.12 W||3.81 W||4.50 W||2.43 W||2.86 W||2.91 W||4.30 W|
- No feedbacks connected
- No I/Os connected
- Motor current is set to 0 (Voltage mode 0 V)
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)|
|20 kHz||20 kHz||20 kHz|
|50 kHz||50 kHz||25 kHz|
|100 kHz||50 kHz||25 kHz|
|150 kHz||50 kHz||25 kHz|