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Product Description

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 free software MotionLab 3.

Denali XCR is enabled with EtherCAT or CANopen communications.

Main features:

  • Ultra-small footprint

  • 48 VDC, 5 A continuous

  • Up to 50 kHz current loop, 25 kHz servo loops

  • 20 kHz ~ 200 kHz PWM frequency

  • 16 bit ADC current sensing

  • 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

Typical applications:

  • Collaborative robot joints & end effectors

  • Robotic exoskeletons & wearable robots

  • Medical applications 

  • UAVs

  • Lab equipment

  • Low inductance motors

Part Numbering


Ordering part number



Denali XCR EtherCAT

Ready-to-use servo drive featuring EtherCAT communications.



Denali XCR CANopen

Ready-to-use servo drive featuring  CANopen.



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 contact us for Denali CORE


Electrical and Power Specifications

Minimum absolute power supply voltage


Maximum absolute power supply voltage

60 VDC

Recommended power supply voltage

8 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

19.7 µF

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

5 A 

5 A can be obtained working at 48 V with an appropriate dissipation to keep the product plate under 85 ºC. On higher temperatures an automatic current derating will be applied to protect the system. See Thermal and Power Specifications below and Installation for further details.

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.

Maximum continuous output power

> 250 W


Up to 98%

Maximum DC Bus voltage utilization

99.3% @ 20 kHz

98.5% @ 50 kHz

92.5% @ 100 kHz

78.1% @ 200 kHz

Note 1: these values assume a Sinusoidal commutation and no load connected.

Standby logic supply consumption

  • 2.5W typ. for EtherCAT version (DEN-XCR-E)

  • 2.1W typ. for CANopen version (DEN-XCR-C)

See details and conditions in the Thermal and Power Specifications 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

0.505 mA/counts

Current sense range

± 16.5 Apk (full range)

Maximum Current loop frequency

50 kHz

Check the Power Stage & Control loops relationship section below.

Maximum servo loops frequency (position, velocity & commutation)

25 kHz

Check the Power Stage & Control loops relationship section below.


  • Digital Halls (Single-ended)

  • Quadrature Incremental encoder (RS-422 or Single-ended)

  • 2x Absolute Encoder (RS-422 or Single-ended):

    • BiSS-C (up to 2 in daisy chain topology or simultaneously)

    • SSI

Not all the existing absolute encoders are supported. Please consult the Feedbacks section.

Supported target sources

Network communication (EtherCAT / CANopen)

Control modes

  • Cyclic Synchronous Position

  • Cyclic Synchronous Velocity

  • Cyclic Synchronous Torque

  • 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

2x non-isolated single-ended digital inputs - 3.3 V logic level & 5 V compatible. Can be configured as:

  • General purpose

  • Positive or negative homing switch

  • Positive or negative limit switch

  • Quick stop input

  • Halt input

2x non-isolated single-ended digital outputs - 3.3 V logic level, short-circuit protected. Can be configured as:

  • General purpose

  • Operation enabled event flag

  • External shunt braking resistor driving signal

  • Health flag

2x ±11 V ,16-bit, differential analog inputs for load cells or torque sensors. Can be read by the Master to close a torque loop.

1x 0.3 V - 3 V buffered analog output:

  • Max. current: 1 mA (Output resistance ~ 55 Ω).

  • Short-circuit protected

Find more detailed information in the Inputs and Outputs page.

Shunt braking resistor output

Configurable over any of the general purpose digital outputs (see above).

Enabling this function requires an external transistor or power driver.
The update rate of this output is synchronous to the servo loops frequency.

Safe Torque OFF inputs

2x Dedicated, isolated (> 4 GΩ, 1 kV) STO input. 24 V Industrial Logic level. Active-low.

  • VIL / VIH = 5 V / 15 V

Details: Safe Torque Off (STO).

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).

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

Find more detailed information in the Motor Temperature page.


  • Hardcoded / hardwired drive protections:

    • Automatic current derating on voltage, current and temperature

    • Short-circuit Phase to DC bus

    • Short-circuit Phase to GND

    • 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



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. 

Environmental Conditions

Environmental test methods

IEC 60068-2 (under validation)

Case temperature (Operating)

-20 ºC to +85 ºC

Check the Current Derating section below.

Case temperature (Non-Operating)

-40 ºC to +100 ºC

Maximum Humidity (Non-Operating)

up to 93%, non-condensing at 40 ºC

Altitude (Operating)

-400 m to 2000 m

Vibration (Operating)

10 Hz to 150 Hz, 1 g (TBC)

Mechanical Shock (Operating)

±5g Half-sine 30 msec  (TBC)

Mechanical Shock (Non-Operating)

±5g Half-sine 30 msec (TBC)

Mechanical Specifications


49.8 mm x 26.50 mm x 14.73 mm


25.6 g


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 Standard

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

Functional Safety Standard

Safe Torque Off (STO) - Certification pending (rev F)

  • IEC 61800-5-2:2016 : SIL3

  • IEC 61508:2010 : SIL3

  • EN ISO 13849-1:2015 : PLe Cat. 3

See Safe Torque Off (STO) section for mandatory Integration Requirements. This section has been updated through the different product revisions. Take a look to the PCN section.

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


Brake capability removed. Removed 3.3 Feedback voltage


STO specification update


Thermal and Power Specification

Standby power consumption

The following table shows the estimated standby power consumption when the Denali power stage is enabled.

Power supply voltage

Power stage disabled

Power stage enabled and switching at 0 current (EtherCAT with 2 ports active)

EtherCAT (2 ports active)


20 kHz

50 kHz

100 kHz

200 kHz

7 V

2.05 W

1.74 W

2.05 W

2.07 W

2.08 W

2.11 W

24 V

2.28 W

1.84 W

2.33 W

2.40 W

2.50 W

2.72 W

48 V

2.47 W

2.05 W

2.63 W

2.83 W

3.16 W

3.82 W

Considered environment

  • No feedbacks connected

  • No I/Os connected

  • Motor current is set to 0 (Voltage mode 0 V)

  • STO circuitry supplied at 5 V (consumption considered). 

Thermal model

The Denali XCR is designed to be mounted on a cooling plate or heatsink to achieve its maximum ratings.

Current derating

The figure below shows the maximum motor phase current at different case temperatures and operating points. Results are referenced to the case temperature, providing a known interface for any system. 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, not RMS. For further clarifications and conversion to equivalent RMS values please refer to Disambiguation on current values and naming for Ingenia Drives.

To ensure the proper performance of Denali XCR, the case temperature should always be held below 85 ºC (Tc-max =  85 ºC).

Heat dissipation and heatsink calculation

The following figure shows the estimated total power losses at different operating points. As can be seen, lower PWM frequency and voltage lead to lower power losses. 

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 3 A @ 48 V (200 kHz) the Tc maximum could be 90 ºC. Since this is above 85ºC the Tc should be limited to 85ºC.

  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 3 A @ 48 V (200 kHz) the PL will be 4.75 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)

a. For example: If the application requires 3 A @ 48 V (200 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) ≤ 13.53K/W.

Energy efficiency

The following graph shows the estimated 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 > 95% can be expected at all PWM frequencies.

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

200 kHz

50 kHz

25 kHz

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