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AUTOMATION1 XA4 GENERAL SPECIFICATIONS

SPECIFICATION

SINGLE-AXIS (-AX1)

TWO-AXIS (-AX2)

FOUR-AXIS (-AX4)

Number of Axes

1

2

4

Motor Style

Brush, brushless, voice coil, stepper(1)

Motor Supply

-AC: Single-phase 0-240 VAC; 50/60 Hz

-DC: Not available on -AX1

-DC: 15-100 VDC

Control Supply

24 VDC

Bus Voltage(2)

-AC: 0-340 VDC

-DC: Not available on -AX1

-DC: 15-100 VDC

Peak Output Current

(1 sec)(3)(4)

-10: 10 Apk

-20: 20 Apk , only available on -AC option

Continuous Output

Current(3)(5)(6)

-10: 5 Apk (-AX1 and -AX2 options); 4 Apk (-AX4 option);

-20: 10 Apk (-AX1 option); 5 Apk (-AX2 option); 4 Apk (-AX4 option), only available on -AC option

Position Synchronized

Output (PSO)

Standard

• No PSO support

Optional:

• Three-axis Part-Speed PSO (includes one-axis PSO)

25-Pin Motor Feedback

Connector

- High-speed differential inputs (encoder sin, cos and marker)

- CW and CCW limits

- Hall effect sensor inputs (A, B and C)

- Analog motor temperature input (accepts digital)

- Brake output

- 1x 16-bit differential ±10 V analog input

Multiplier Options

MX0 Option:

Primary encoder (axis 1):

40 million counts per second

square-wave input

MX0 Option:

Primary encoder (axes 1 and 2): 40 million counts per second

square-wave input

MX1 Option:

Primary encoder (axes 1 and 2): 450 kHz sine-wave input,

encoder multiplier up to 16,384

I/O Expansion Board

(-EB1)

- 16x digital inputs, optically isolated

- 16x digital outputs, optically isolated

- 2x analog inputs, 16-bit, differential, ±10 V

- 2x analog outputs, 16-bit, single-ended, ±10 V

- Auxiliary encoder: 40 million counts-per-second square-wave input

I/O Expansion Board

(-EB2)

- 32x digital inputs, optically isolated

- 32x digital outputs, optically isolated

- 3x analog inputs, 16-bit, differential, ±10 V

- 6x analog outputs, 16-bit, single-ended, ±10 V

- Auxiliary encoder: 40 million counts-per-second square-wave input, 10 MHz maximum

Drive Array Memory

16.8 MB (4,194,304 32-bit elements)

67.1 MB (16,777,216 32-bit

elements)

High Speed Data Capture

Yes (50 ns latency)

Safe Torque Off (STO)

Yes, SIL3/PLe/Cat 4

HyperWire Connections

2x HyperWire small form-factor pluggable (SFP) ports

Automatic Brake Control

Standard (24 V at 1.0 A per axis)

Absolute Encoder

BiSS C Unidirectional; EnDat 2.1; EnDat 2.2; SSI

Current Loop Update Rate 20 kHz

Servo Loop Update Rate

10 kHz

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