Product Description

Denali XCR EtherCAT

Ready-to-use servo drive featuring EtherCAT communications.

DEN-XCR-E

PRODUCTION

Denali XCR CANopen

Ready-to-use servo drive featuring  CANopen.

DEN-XCR-C

PRODUCTION

7 V_DC

60 V_DC

8 V_DC ~ 48 V_DC

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

19.7 µF

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

4 s

500 ms

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. 

10 A @ 1 sec

Notice that peak current could be limited by an automatic current derating algorithm.

> 250 W

How the output power is calculated.

Up to 98%

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.}

• 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.

• 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.

0.505 mA/counts

± 16.5 Apk (full range)

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)

• 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.

Network communication (EtherCAT / CANopen)

• 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

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.

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.}

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).

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 and Brake page.

1 A, 48 V (60 V absolute maximum), 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.}

_{It includes a current sense analog output to monitor the brake current, which at the same time can be routed to an analog input to control the brake.}

• 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

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. 

IEC 60068-2

-20 ºC to +55ºC

Check the Current Derating section below.

-40 ºC to +100 ºC

up to 93%, non-condensing at 60ºC

up to 93%, non-condensing at 60ºC

-400 m to 2000 m

10 Hz to 150 Hz, 1 g

±5g Half-sine 30 msec

±5g Half-sine 30 msec

49.8 mm x 26.50 mm x 14.73 mm

25.6 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) - Certification pending (rev F)

• 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. This section has been updated through the different product revisions. Take a look to the PCN section.

IEC 60068-2:

• IEC 60068-2-1:2007: Test Ad, Cold

• IEC 60068-2-2:2007: Test Be, Dry Heat

• IEC 60068-2-78:2013: Test Cab, Damp heat, steady state

• IEC 60068-2-6:2008: Test Fc: Vibration (sinusoidal)

• IEC 60068-2-27:2009: Test Ea: Shock

D

30 Dec 2022  

Initial version

E

01 Aug 2023

Brake capability removed. Removed 3.3 Feedback voltage

F

28 Nov 2023

STO specification update

G

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

20 kHz

20 kHz

20 kHz

50 kHz

50 kHz

25 kHz

100 kHz

50 kHz

25 kHz

200 kHz

50 kHz

25 kHz