Automation1 XR3 Multi-Axis Servo Drive Rack
The Automation1 XR3 is a high-performance, six-axis servo motor drive rack that provides precision motion to some of the highest performing automated processes in the world. The industry-leading positioning accuracy and repeatability of the XR3, coupled with its 3U 19” rack-mounted package size and convenient d-sub connectors, allow for simple integration. The XR3 also has configurable and field-replaceable front-mounted amplifier cards.
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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.
Specifications
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 20 kHz | |
|---|---|---|---|---|
| Current Loop Update Rate | 20 kHz | |||
| Servo Loop Update Rate | 20 kHz | |||
| High-Speed Outputs | 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 | |||
| 9-Pin Aux Encoder Feedback Connector | 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 | |||
| 5-Pin How Powered Motor Connector (1) | 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 | |
| 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 2 MHz / 450 kHz (bandwidth selectable) input with up to 65,536 multiplication | ||
| Can Output Multiplied Encoder | n/a | no | yes | |
Notes:
- Available with the CTN, CT1, CT2 and CT4 options.
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 | ||
| Maximum Power Amplifier Bandwidth(3) | 2 kHz | ||
| PWM Switching Frequency | 20 kHz | ||
| Minimum Load Inductance | 0.1 mH @ 160 VDC bus (1.0 mH @320 VDC bus) | ||
| Heat Sink Temperature (maximum allowable | 75°C (All Amplifiers) | ||
Notes:
- AC voltage, Bus supply / load may result in significantly lower maximum peak currents.
- Peak and continuous output current are load dependent. The controller will limit its output current based on velocity and motor resistance.
- Selectable through parameters.
XR3 PWM+ Amplifier Specifications
| Feature | XSP3+ 10 | XSP3+ 20 | XSP3+ 30 |
|---|---|---|---|
| Option Code | P4 | P5 | P6 |
| Peak Motor Output Current (2 sec)(1)(2) | 10 Apk | 20 Apk | 30 Apk |
| Continuous Current(2) | 5 A | 10 A | |
| Maximum Bus Voltage | 320VDC | ||
| Maximum Power Amplifier Bandwidth(3) | 2 kHz | ||
| PWM Switching Frequency | 20 kHz | ||
| Minimum Load Inductance | 0.1 mH @ 160 VDC bus (1.0 mH @ 320 VDC bus) | ||
| Heat Sink Temperature (maximum allowable) | 75°C (All Amplifiers) | ||
Notes:
- AC voltage, Bus supply / load may result in significantly lower maximum peak currents.
- Peak and continuous output current are load dependent. The controller will limit its output current based on velocity and motor resistance.
- Selectable through parameters.
XR3 Linear Amplifier Specifications
| Feature | XSL3-10-40(5)(6)(7)(8) |
|---|---|
| Option Code | -L1 |
| Continuous Output Current, ±40V bus (Apk)(2)(3)(4) | ±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 |
Notes:
- This specification depends on the motor supply voltage, the motor speed, and motor resistance. Contact an Aerotech sales engineer for more information.
- This specification assumes that an AC or DC motor type with a 0 Ω winding resistance is used.
- The first number is for a stationary AC or DC motor. The second number is for an AC motor that is in motion.
- The specification will de-rate when the ambient temperature exceeds 25°C.
- The XSL3 amplifier has circuitry that will limit peak power to protect itself from damage. In the Status Utility, the Power Limiting bit under Drive Status monitors the condition of the circuitry. If the circuit is open, the Power Limiting bit will show as “ON”.
- All linear amplifier (XSL3-10-40) specifications assume that the fan tray is installed, the fans are set to full-speed mode, and the ambient temperature is 25°C.
- The transistor temperature can be up to 25°C higher than the heat sink temperature that is shown in the Status Utility. Set the AverageCurrentFault parameter to ensure that the heat sink power dissipation is not exceeded.
- Aerotech recommends that you do not use high-current stepper motors with the XSL3-10-40 linear amplifier because of high-power dissipation. Contact Aerotech for additional information.
Dimensions
XR3, Rack Mounted
XR3, Rack Mounted with Drawer Slides
Ordering Info
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 | 240VAC input |
| -VL3 | 100 VAC input |
| -VL4 | 200/208 VAC input |
Notes:
- 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 |
Notes:
- 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 |
Notes:
- 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 (P0) |
| -P1 | XSP3 Amplifier, 10 A Peak (P1) |
| -P2 | XSP3 Amplifier, 20 A Peak (P2) |
| -P3 | XSP3 Amplifier, 30 A Peak (P3) |
| -P4 | XSP3+, PWM+ Amplifier, 10 A Peak (-P4) |
| -P5 | XSP3+, PWM+ Amplifier, 20 A Peak (-P5) |
| -P6 | XSP3+, PWM+ Amplifier, 30 A Peak (-P6) |
| -L1 | XSL3 Amplifier, 10 A Peak (L1)XSL3-10-40 amplifier |
Notes:
- Linear amplifier option L1 requires bus voltage VB1, 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 |
Notes:
- 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 |
|---|---|
| -PS01 | One-axis PSO (default) |
| -PS02 | Two-axis PSO |
| -PS03 | Three-axis PSO |
Notes:
- 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 |
Notes:
- 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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