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Description

Specifications

Dimensions

Ordering Info

Downloads

Description

Path 7

Description

Specifications

Dimensions

Ordering Info

Downloads

Description

Design Features

  • Plug-in amplifiers with dedicated control cards drive brush, brushless, stepper, voice coil or piezo motors
  • Dedicated controller card for each amplifier
  • Up to 30 A peak current output
  • Includes PSO, the ultimate in position-based control for industrial lasers, cameras & more
  • Integrated power supplies
  • Features safe torque off (STO) functional safety (certification pending)

The XR3 motor circuits are driven by powerful controller cards that close the servo and current loops at 20 kHz. These cards also provide several other high-speed, low-latency control features to improve your process throughput and quality. The XR3 unit processes digital and analog I/O, high-speed data collection, high-speed differential outputs, position synchronized outputs and encoder multiplication functionality in real-time.

Automation1

The XR3 is a part of the user-friendly Automation1 motion control platform, which includes the following:

Standard drive 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.

Configuration options for the XR3 include three different levels of integrated encoder multiplication, cooling options, mounting options, and low-latency, position-based process control (PSO) options.

The XR3 can be configured with either PWM or linear plug-in amplifiers to control brushless, DC brush or stepper motors at up to 320 VDC operating voltage and 30 A peak current capability. Bus power customization is possible through two separate and configurable motor power supply circuits, allowing a variety of motors to be integrated with the XR3. When only one motor voltage is required, the power supply sections are joined together for even higher power capability. The XR3 also contains over-voltage protection and external fans for high-power operation.

XR3 Specifications

Description
XR3
Motion Bus HyperWire
Number of Amplifiers 1 to 6 (Each amplifier requires a controller card in order to be used).
Number of Controller Cards 1 to 6
Encoder Inputs 2 per controller card.
Motor Style Brush, Brushless, Stepper, Voice Coil
Input Current -VL1 120 VAC, 10 A Maximum
Input Current -VL2 240 VAC, 5 A Maximum
Input Current -VL3 100 VAC, 10 A Maximum
Input Current -VL4 200 VAC, 5 A Maximum
Bus Voltage Options -VB1 ±10 VDC (200 W Power Supply), bipolar
Bus Voltage Options -VB2 ±20 VDC (200 W Power Supply), bipolar
Bus Voltage Options -VB3 ±30 VDC (200 W Power Supply), bipolar
Bus Voltage Options -VB4 ±40 VDC (300 W Power Supply), bipolar
Bus Voltage Options -VB5 ±80 VDC (300 W Power Supply), bipolar
Bus Voltage Options -VB7 +160 VDC, unipolar
Bus Voltage Options -VB8 +320 VDC, unipolar
AC Power Input AC input (Switch Selectable): AC Hi, AC Lo, Earth Ground (⏚),




● 100 VAC (90-110 VAC, 50/60 Hz)


● 120 VAC (108-132 VAC, 50/60 Hz)


● 200 VAC (180-220 VAC, 50/60 Hz)


● 240 VAC (216-264 VAC, 50/60 Hz)




Note: If the XR3 contains an offline Bus power supply, the AC Input will be limited to one AC
input range.
Inrush Current 32 Apk
Auxiliary Power Outputs +5 V provided on all axis feedback connectors for encoder, Hall, and limit power.


+5 V provided on I/O connectors
Protection The AC power cord serves as the mains breaker and provides 10 A, Supplemental Protection
only.




Internal Bus supply fusing.




Amplifier Output short circuit protection.




Peak and RMS over current limit.




Over Temperature shutdown.




Bus supply inrush current limit during initial power-on.
Internal Shunt Resistor 40 W Continuous; 400 W Peak (5 seconds)
Safe Torque Off (STO) Yes
Digital I/O 16x digital inputs, optically isolated


16x digital outputs, optically isolated
Position Synchronized Output (PSO) 3x PSO isolated outputs


3x PSO TTL outputs


3x PSO synchronization inputs
Data Acquisition 1x high-speed input (50 nsec latency)
Sync Ports 2
Operating Temperature 0 to 50°C
Storage Temperature -30 to 85°C
Weight 25 kg. (55 lb.)

XR3 Control Card Specifications

-CTN
-CT1
-CT2
-CT4
Current Loop Update Rate 20 kHz 20 kHz 20 kHz 20 kHz
Servo Loop Update Rate kHz 8 20 kHz 20 kHz 20 kHz 20 kHz
High-Speed Outputs 2x high-speed RS-422 differential outputs (per controller card) 2x high-speed RS-422 differential outputs (per controller card) 2x high-speed RS-422 differential outputs (per controller card) 2x high-speed RS-422 differential outputs (per controller card)
25-Pin Motor Feedback
Connector(1)
High-speed differential inputs (encoder sin, cos and marker; absolute clk and data)




CW and CCW limits




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




Analog motor temperature input (accepts digital)




Brake output
High-speed differential inputs (encoder sin, cos and marker; absolute clk and data)




CW and CCW limits




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




Analog motor temperature input (accepts digital)




Brake output
High-speed differential inputs (encoder sin, cos and marker; absolute clk and data)




CW and CCW limits




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




Analog motor temperature input (accepts digital)




Brake output
High-speed differential inputs (encoder sin, cos and marker; absolute clk and data)




CW and CCW limits




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




Analog motor temperature input (accepts digital)




Brake output
9-Pin Aux Encoder Feedback Connector High-speed differential inputs (encoder sin, cos and marker; absolute clk and data)
High-speed differential inputs (encoder sin, cos and marker; absolute clk and data)
High-speed differential inputs (encoder sin, cos and marker; absolute clk and data)
High-speed differential inputs (encoder sin, cos and marker; absolute clk and data)
15-Pin Analog I/O Connector 2x 16-bit differential ±10 V analog input


2x 16-bit single-ended ±10 V analog output


Joystick: Button A, Button B, and Interlock
2x 16-bit differential ±10 V analog input


2x 16-bit single-ended ±10 V analog output


Joystick: Button A, Button B, and Interlock
2x 16-bit differential ±10 V analog input


2x 16-bit single-ended ±10 V analog output


Joystick: Button A, Button B, and Interlock
2x 16-bit differential ±10 V analog input


2x 16-bit single-ended ±10 V analog output


Joystick: Button A, Button B, and Interlock
5-Pin How Powered Motor
Connector(1)
Brushless Phase A, B and C connections or


DC Brush +/- connections or


Stepper (2 phases with return)
Brushless Phase A, B and C connections or


DC Brush +/- connections or


Stepper (2 phases with return)
Brushless Phase A, B and C connections or


DC Brush +/- connections or


Stepper (2 phases with return)
Brushless Phase A, B and C connections or


DC Brush +/- connections or


Stepper (2 phases with return)
Primary encoder input
specifications
Square-wave Encoder


40 million counts-per-second input




Absolute Encoder


Yes




Sine-wave Encoder


n/a
Square-wave Encoder


40 million counts-per-second input




Absolute Encoder


Yes




Sine-wave Encoder


2 MHz / 450 kHz
(bandwidth selectable)
input with up to 16,384
multiplication
Square-wave Encoder


40 million counts-per-second input




Absolute Encoder


Yes




Sine-wave Encoder


2 MHz / 450 kHz
(bandwidth selectable)
input with up to 65,536
multiplication
Square-wave Encoder


40 million counts-per-second input




Absolute Encoder


Yes




Sine-wave Encoder


2 MHz / 450 kHz
(bandwidth selectable)
input with up to 65,536
multiplication
Auxiliary encoder input
specifications
Square-wave Encoder


40 million counts-per-second input




Absolute Encoder


Yes




Sine-wave Encoder


n/a
Square-wave Encoder


40 million counts-per-second input




Absolute Encoder


Yes




Sine-wave Encoder


n/a
Square-wave Encoder


40 million counts-per-second input




Absolute Encoder


Yes




Sine-wave Encoder


n/a
Square-wave Encoder


40 million counts-per-second input




Absolute Encoder


Yes




Sine-wave Encoder


2 MHz / 450 kHz
(bandwidth selectable)
input with up to 65,536
multiplication
Can Output Multiplied Encoder n/a No Yes Yes

XR3 PWM Amplifier Specifications

Feature
XSP3-10
XSP3-20
XSP3-30
Option Code -P1 -P2 -P3
Peak Motor Output Current (2 sec)(1)(2) 10 Apk 20 Apk 30 Apk
Continuous Current (2) 5 A 10 A 10 A
Maximum Bus Voltage 320 VDC 320 VDC 320 VDC
Maximum Power Amplifier Bandwidth(3) 2 kHz 2 kHz 2 kHz
PWM Switching Frequency 20 kHz 20 kHz 20 kHz
Minimum Load Inductance 0.1 mH @ 160 VDC bus (1.0 mH @320 VDC bus) 0.1 mH @ 160 VDC bus (1.0 mH @320 VDC bus) 0.1 mH @ 160 VDC bus (1.0 mH @320 VDC bus)
Heat Sink Temperature (maximum allowable) 75°C (All Amplifiers) 75°C (All Amplifiers) 75°C (All Amplifiers)

XR3 Linear Amplifier Specifications

Feature
XSL3-10-40(5)(6)(7)(8)
Option Code -L1
Continuous Output Current, ±40V bus (Apk)(2)(3)(4) 1.5 A | 2.0 A
Peak Current (Apk) 10 Apk(1)
Maximum Continuous Total Power Dissipation(3)(4) 120 W | 160 W
Peak Amplifier Power Dissipation per phase 400 W
Effective Heatsink Thermal Resistance 0.42ᴼC/W | 0.31ᴼC/W
Maximum Transistor Temperature 75ᴼC
Time to reach maximum temperature at maximum continuous power 20 minutes

Dimensions

XR3, Rack Mounted



XR3, Rack Mounted with Drawer Slides



Ordering Information

Automation1 XR3

Option Description
Automation1 XR3 Automation1 XR3 - 3U, 19” Multi-Axis Servo Drive Rack with Motion Controller

Line Voltage

Option Description
-VL1 120 VAC input
-VL2 240 VAC input
-VL3 100 VAC input
-VL4 200/208 VAC input
Note:
  1. Line voltages VL2 and VL4 are not available with bus voltage selection VB7. Line voltages VL1 and VL3 are not available with bus voltage VB8.

Bus Voltage 1

Option Description
-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
Note:
  1. Bus voltages options are limited based upon other configuration selections.

Bus Voltage 2

Option Description
-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
Note:
  1. Bus voltages options are limited based upon other configuration selections.

Split Bus

Option Description
-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

Option Description
-CT0 No controller card
-CTN Controller card without Multiplier
-CT1 Controller card with MX1 Multiplier
-CT2 Controller card with MX2 Multiplier
-CT4 Controller card with MX4 Multiplier

Amplifier Cards

Option Description
-P0 No amplifier
-P1 XSP3-10 amplifier
-P2 XSP3-20 amplifier
-P3 XSP3-30 amplifier
-L1 XSL3-10-40 amplifier
Note:
  1. Linear amplifier option L1 requires bus voltage VB1, VB2, VB2 or VB4 and requires cooling option C1 or C2.

Cooling

Option Description
-C0 Built-in fan pulls cooling air from left side
-C1 Perforated covers above and below amp
-C2 1U-high fan tray for cooling
Note:
  1. For C1 option, refer to the hardware manual for the external cooling requirements.

Line Cord

Option Description
-LC0 No line cord
-LC1 USA 120 VAC compatible line cord
-LC2 USA 240 VAC compatible line cord
-LC3 German compatible line cord
-LC4 UK compatible line cord
-LC5 Israel compatible line cord
-LC6 India compatible line cord
-LC7 Australia compatible line cord

PSO

Option Description
-PSO1 One-axis PSO (default)
-PSO2 Two-axis PSO
-PSO3 Three-axis PSO
Note:
  1. Up to 3 independent PSO outputs can be programmed and used. Each independent PSO output requires an independent controller card

Internal Shunt (Optional)

Option Description
-SI1 Internal shunt, first bus
-SI2 Internal shunt, second bus
-SI3 Internal shunt, first and second bus
Note:
  1. Internal shunts not available for all voltage bus options.

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.

Option Description
-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.

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