Skip to main content
Skip table of contents

Product Description

Everest S 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.

Everest S XCR is enabled with EtherCAT and CANopen communications.

Main features:

  • Ultra-small footprint

  • Up to 80 VDC, 45 A continuous

  • Up to 98% efficiency

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

  • 10 kHz ~ 100 kHz PWM frequency

  • 16 bit ADC with VGA for current sensing

  • Supports Halls, Quadrature encoder, Dual 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

  • Robot end effectors

  • Robotic exoskeletons

  • Wearable robots

  • AGVs

  • UAVs 

  • Industrial highly integrated servomotors

  • Smart motors

  • Battery-powered and e-Mobility

  • Low inductance motors

Part Numbering


Ordering part number



Everest S XCR EtherCAT

Ready-to-use servo drive featuring EtherCAT communications.



Everest S 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 Everest S NET.

For applications not requiring CANopen or EtherCAT, please see Everest CORE


Electrical and Power Specifications

Minimum power supply voltage


Maximum absolute power supply voltage

80 VDC (continuous)

85 VDC (peak 100 ms)

Working at 80 V will require a stable power supply able to absorb any possible reinjection coming back from the driver.

Recommended power supply voltage

12 VDC ~ 72 VDC

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

Internal drive DC bus capacitance

49 µF

Note that EVS-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.

Boot-up time

4 s

Minimum shutdown time

500 ms

Maximum continuous phase current

45 A @ 60 ºC

Typically, 45 A can be obtained working at 48 V, 20 kHz with an appropriate cooling to keep case temperature under 60 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

60 A @ 1 sec

Notice that peak current could be limited by an automatic current derating algorithm. In order to get 60 A, case temperature should be kept below 35 ºC.

Maximum continuous switch-off rectified current

  • Without heatsink: 4 A @ 25 ºC

  • With heatsink: 3.5 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 Thermal and Power Specifications below.

A continuous use of disabled power stage as rectifier is not recommended for thermal limitations.

Maximum continuous output power

> 3 kW

How the output power is calculated in an Ingenia drive.


Up to 98.5%

Maximum DC Bus voltage utilization

99.73% @ 10 kHz

99.55% @ 20 kHz

99.04% @ 50 kHz

95.25% @ 100 kHz

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

Minimum Standby consumption

1.53 W

See details and conditions in the section below.

Motion Control Specifications

Supported motor types

  • Rotary brushless (SVPWM and Trapezoidal)

  • Rotary brushed (DC)

Power stage PWM frequency (configurable)

10 kHz, 20 kHz (default), 50 kHz & 100 kHz

Current sensing

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

Current sense resolution (configurable)

Current gain is configurable in 3 ranges:

  • 2.475 mA/count

  • 1.352 mA/count

  • 0.570 mA/count

Current sense ranges (configurable)

Current ranges for the 3 configurable current gains:

  • ±81.1 A

  • ±44.3 A

  • ±18.7 A

Max. Current loop frequency (configurable)

50 kHz

Check the Power Stage & Control loops relationship section below.

Max. servo loops frequency (position, velocity & commutation) (configurable)

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 or simultaneously)

    • SSI (up to 2 simultaneously) 

Supported target sources

Network communication (EtherCAT / CANopen)

Control modes

  • Cyclic Synchronous Position

  • Cyclic Synchronous Velocity

  • 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

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.

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.
PWM modulation available to reduce brake voltage and power consumption.

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: Safety Manual for EVS-XCR - 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.


  • Hardcoded / hardwired Drive protections:

    • Automatic current derating on voltage, current and temperature

    • Short-circuit Phase to DC bus

    • Short-circuit Phase to Phase

    • Short-circuit Phase to GND

  • 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)

CANopen / Ethernet


CiA-301, CiA-303, CiA-305, CiA-306 and CiA-402 (4.0) compliant.

10 kbps to 1 Mbps (default). Non-isolated. Termination resistor not included. 

Note: Ethernet port 1 can be used to configure the drive.

Environmental Conditions

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

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 Everest S XCR is off. 

Minimum index of protection of the installation

IP3X: Since Everest S 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.

Reliability Specifications



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).

Mechanical Specifications

Aluminum case

Yes (interface board not covered). Minimum wall thickness > 0.75 mm.

Horizontal dimensions

42 mm x 29 mm 


19.4 mm

Dimensions include mating connectors


31 gr


EC Directives

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)

Electromagnetic Compatibility (EMC) Standards

  • IEC 61800-3:2017 Category C3

  • IEC 61000-6-2:2016 Second environment

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

  • 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.

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

Thermal and Power Specifications

Standby power consumption

The following table shows the standby power consumption of the Everest S assuming 1 EtherCAT/Ethernet port is active and communicating at full speed, no feedbacks or I/Os are connected. When the power stage is enabled, the motor current is set to 0 and the housing temperature is kept at 50ºC. 

Power supply voltage

Typical total standby power consumption with single supply 

Power savings by having dual supply with logic at 12 V*

(pwm freq = 20 kHz, default value)

Power stage enabled and switching at 0 current

10 kHz

20 kHz

50 kHz

100 kHz

8 V

1.53 W

1.55 W

1.60 W

1.67 W

~0.0 W

12 V

1.55 W

1.58 W

1.66 W

1.79 W

~0.0 W

24 V

1.71 W

1.79 W

2.00 W

2.35 W

~0.09 W

48 V

2.12 W

2.33 W

2.95 W

3.97 W

~0.32 W

60 V

2.35 W

2.65 W

3.54 W

4.99 W

~0.44 W

72 V

2.81 W

3.21 W

4.38 W

6.32 W

~0.78 W

*If minimal standby power consumption is desired working at 48 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.

Thermal model

The following diagram depicts the general dissipation model. The Everest S 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 Everest S 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 8 K/W, to 12 K/W assuming 10 cm clearance to allow air convection at sea level. For example, with the drive on standby at 2.6 W losses at 25 ºC air temperature the internal drive temperature can be 56 ºC. When the Everest S is not attached to a heatsink factors like air cooling, power cable thickness will have a significant effect on its temperature. Typically 7 W can be dissipated without a heatsink, refer to the graph below to know which current can be handled.

Current derating

The following figure shows the maximum motor phase current at different case temperatures and operating points. As can be seen lower temperature, bus voltage or PWM frequency allows higher current due to lower heat dissipation. For the highest current, Everest S can be configured at 10 kHz PWM frequency, however, this may not be suitable for low inductance motors or acoustic noise-sensitive applications. 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 the proper performance of Everest S 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 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 30 A @ 72 V (20 kHz) the Tc will be 79 ºC

  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 30 A @ 72 V (20 kHz) the PL will be 19 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)

    1. For example: If the application requires 30 A @ 72 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) = 3.04 K/W

Energy efficiency

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 10 kHz or 20 kHz 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)

10 kHz

10 kHz

10 kHz

20 kHz

20 kHz

20 kHz

50 kHz

50 kHz

25 kHz

100 kHz

50 kHz

25 kHz

JavaScript errors detected

Please note, these errors can depend on your browser setup.

If this problem persists, please contact our support.