XR3 3U High, 19" Drive Rack

Description

Design Features

  • 3U plug-in amplifiers
  • Dedicated control card for each amplifier
  • 19 inch rack-mount design
  • Flexible design provides the ability to drive brush, brushless, or stepper motors with the same amplifier
  • Up to 30 A peak output current
  • PWM or linear amplifier
  • Integral power supplies
  • HyperWire® fiber-optic interface
  • Digital current, velocity, and position loops for improved motion stability
  • Integrated encoder multiplier for higher throughput and reduced wiring
  • NRTL safety certification and CE approval; follows the 2011/65/EU RoHS 2 Directive
  • Integral Safe Torque Off (STO)
The XR3 is a high-performance, six-axis drive rack with field replaceable front-mounted amplifiers. All versions are 3U in size, rack-mountable, and compatible with the Automation 3200 motion platform.

Featuring high-performance control electronics, the XR3 is Aerotech’s highest performing multi-axis controller. Both the current loop and servo-loop are closed digitally to assure the highest level of positioning accuracy and rate stability. This processing capability allows the XR3 to provide loop closure rates up to 20 kHz and to handle both digital and analog I/O processing, data collection, process control, and encoder multiplication tasks in real time.

Standard features for the XR3 include per axis brake control logic, auxiliary encoder feedback, and analog I/O expansion. Also standard are 16 opto-isolated inputs, 16 opto-isolated outputs, up to 12 high-speed differential outputs, 3 PSO external sync inputs, 3 TTL or isolated PSO outputs, 1 opto-isolated data-acquisition input, and 2 STO sense inputs.
 
The XR3 supports open-loop control, standard square-wave encoder feedback, analog input feedback control, and absolute encoder feedback.
 
Standard options for the XR3 include three different levels of integrated encoder multiplication including options that support dual-loop encoder feedback, drive-rack cooling options, rack or slide-type mounting options, and multi-axis Position Synchronized Output (PSO) I/O for low-latency, position-based process control.

The XR3 uses plug-in amplifiers supporting both linear and PWM topologies to control brushless, DC brush, or stepper motor types at up to 320 VDC operating voltage and 30 A peak current capability. The XR3 contains two configurable power supply sections to support a variety of motors with different operating voltages. When only one motor voltage is required, the power supply sections are joined together for even higher power capability. The XR3 supports up to three axes of Position Synchronized Output (PSO) for precise synchronization of external devices, over-voltage shunt controller, and external fans for high-power operation.

XR3-2

Specifications

XR3 Specifications

FeatureDescription
Number of Axes    1 to 6
Encoder Inputs 2 through 12 depending on number of axes
Motor Style Brush, Brushless, Stepper, Voice Coil
Dedicated Axis I/O on Feedback Connector Three limit inputs (cw, ccw, home); three Hall effect inputs (a, b, c);
three high-speed differential inputs (sin, cos, mkr for encoder);
absolute encoder inputs; brake logic i/o; motor over-temperature input
Ability to Output Multiplied Encoder Signals Yes, with the MX2 or MX4 option
Ability to Output Square Wave Encoder Signals Yes
Primary Encoder and Auxiliary Encoder Input Frequency with Multiplication Controller card option with:
  • MX1 option: 450 kHz primary encoder/square-wave only auxiliary encoder
  • MX2 option: 2 MHz primary encoder/square-wave only auxiliary encoder
  • MX4 option: 2 MHz primary encoder/2 MHz auxiliary encoder
Primary Encoder Input Frequency – Square Wave 10 MHz square wave frequency/40 MHz count rate
Secondary Encoder Input Frequency – Square Wave 10 MHz square wave frequency/40 MHz count rate
Encoder Multiplication(3) MX1 option: x16,384 primary encoder/square-wave only auxiliary encoder
MX2 option: x65,536 primary encoder/square-wave only auxiliary encoder
MX4 option: x65,536 primary encoder/x65,536 auxiliary encoder
Internal Shunt Resistor 40 W continuous; 400 W peak (5 seconds)
Communication Bus HyperWire fiber-optic interface
Joystick Support Yes
Current Loop Update Rate 20 kHz
Servo Loop Update Rate 8 kHz
Operating Temperature 0 to 40°C
Storage Temperature -30 to 85°C
Weight 25 kg
Package 3U rack mount with slice amps installed from front

FeatureXSL3-10-40XSP3-10XSP3-20XSP3-30
Amplifier Type  Linear    PWM
Peak Motor Output Current (2 sec)(1)  10 Apk  10 Apk  20 Apk  30 Apk
Continuous Current  Load Dependent(2)  5 A  10 A  10 A
Maximum Bus Voltage  40 VDC    320 VDC
Maximum Power Amplifier Bandwidth(3) 2 kHz
   
PWM Switching Frequency  NA    20 kHz
Minimum Load Inductance  0 mH    0.1 mH @ 160 VDC (1.0 mH @ 320 VDC)
Heat Sink Temperature (maximum allowable) 75°C (All Amplifiers)
   
  1. AC voltage and bus supply/load may result in significantly lower maximum peak currents.
  2. Peak and continuous output current is load dependent. The controller will limit its output current based on velocity and motor resistance.
  3. Selectable through parameters.

Dimensions

Ordering Information

XR3

OptionDescription
XR3 Rack-mount digital amplifier chassis with integral DC power supply and HyperWire interface. Supports up to 6 axes of brush, brushless, or stepper motor amplifiers.

Line Voltage

OptionDescription
-VL1 115 VAC input
-VL2 230 VAC input
-VL3 100 VAC input
-VL4 200/208 VAC input

Bus Voltage 1

OptionDescription
-VB1 ±10 VDC (200 W power supply), bipolar
-VB2 ±20 VDC (200 W power supply), bipolar
-VB3 ±30 VDC (200 W power supply), bipolar
-VB4 ±40 VDC (300 W power supply), bipolar
-VB5 ±80 VDC (300 W power supply), bipolar
-VB7 160 VDC unipolar
-VB8 320 VDC unipolar

Bus Voltage 2

OptionDescription
-VB0 Not wired
-VB1 ±10 VDC (200 W power supply), bipolar
-VB2 ±20 VDC (200 W power supply), bipolar
-VB3 ±30 VDC (200 W power supply), bipolar
-VB4 ±40 VDC (300 W power supply), bipolar
-VB5 ±80 VDC (300 W power supply), bipolar
-VB7 160 VDC unipolar
-VB8 320 VDC unipolar

Split Bus

OptionDescription
-SB0 Axis 1-6 bus voltage 1 (no split)
-SB1 Axis 1 bus voltage 1, axis 2-6 bus voltage 2
-SB2 Axis 1-2 bus voltage 1, axis 3-6 bus voltage 2
-SB3 Axis 1-3 bus voltage 1, axis 4-6 bus voltage 2
-SB4 Axis 1-4 bus voltage 1, axis 5-6 bus voltage 2
-SB5 Axis 1-5 bus voltage 1, axis 6 bus voltage 2

Controller Cards

OptionDescription
-CT0 No controller card
-CTN Controller card without multiplier
-CT1 Controller card - 450 kHz x16384 multiplier (primary), no multiplier (auxiliary)
-CT2 Controller card - 2 MHz x65536 multiplier (primary), no multiplier (auxiliary)
-CT4 Controller card - 2 MHz x65536 multiplier on primary and auxiliary

Amplifier Cards

OptionDescription
-P0 No amplifier
-P1 XSP3-10 amplifier
-P2 XSP3-20 amplifier
-P3 XSP3-30 amplifier
-L1 XSL3-10-40 amplifier

Cooling

OptionDescription
-C0 Built-in fan pulls cooling air from left side
-C1 No cooling fan, exterior cooling required through vented covers
-C2 1U-high fan tray for cooling

Line Cord

OptionDescription
-LC0 No line cord
-LC1 USA 115 VAC compatible line cord
-LC2 USA 230 VAC compatible line cord
-LC3 German compatible line cord
-LC4 U.K. compatible line cord
-LC5 Israel compatible line cord
-LC6 India compatible line cord
-LC7 Australia compatible line cord

Mounting Options

OptionDescription
-MT0 Rack-mounted configuration
-MT1 Rack-mounted configuration with drawer slides

PSO

OptionDescription
-PSO1 One-axis PSO firing (default)
-PSO2 Two-axis PSO firing
-PSO3 Three-axis PSO firing

Internal Shunt (Optional)

OptionDescription
-SI0 No internal shunt
-SI1 Internal shunt, first bus
-SI2 Internal shunt, second bus
-SI3 Internal shunt, first and second bus

Integration (Required)

Aerotech offers both standard and custom integration services to help you get your system fully operational as quickly as possible. The following standard integration options are available for this system. Please consult Aerotech if you are unsure what level of integration is required, or if you desire custom integration support with your system.

OptionDescription
-TAS Integration - Test as system
Testing, integration, and documentation of a group of components as a complete system that will be used together (ex: drive, controller, and stage). This includes parameter file generation, system tuning, and documentation of the system configuration.
-TAC Integration - Test as components
Testing and integration of individual items as discrete components that ship together. This is typically used for spare parts, replacement parts, or items that will not be used together. These components may or may not be part of a larger system.