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 Safe Torque Off (STO)
Position Synchronized Output (PSO)
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

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.

Also available are a wide variety of extensions of the base PSO functionality. Track up to three encoders in real time with three-axis PSO or extend PSO's functionality to kinematic arrangements through the use of Aerotech's Part-Speed PSO feature.

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

Feature	Description
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
Position Synchronized Output (PSO)	Standard: One-axis PSO (includes one-axis Part-Speed PSO) Optional: Two-axis PSO (includes two-axis Part-Speed PSO) Three-axis PSO (includes three-axis Part-Speed PSO) Two-axis Part-Speed PSO Three-axis Part-Speed PSO
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

Feature	XSL3-10-40	XSP3-10	XSP3-20	XSP3-30
Amplifier Type	Linear	PWM
Peak Motor Output Current (2 sec)⁽¹⁾	10 A_pk	10 A_pk	20 A_pk	30 A_pk
Continuous Current	Load Dependent⁽²⁾	5 A	10 A	10 A
Maximum Bus Voltage	40 VDC (Bipolar)	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)

AC voltage and bus supply/load may result in significantly lower maximum peak currents.
Peak and continuous output current is load dependent. The controller will limit its output current based on velocity and motor resistance.
Selectable through parameters.

Ordering Information

XR3

Option	Description
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

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

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

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

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 - 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

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

Cooling

Option	Description
-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

Option	Description
-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

Option	Description
-MT0	Rack-mounted configuration
-MT1	Rack-mounted configuration with drawer slides

PSO

Option	Description
-PSO1	One-axis PSO (default)
-PSO2	Two-axis PSO
-PSO3	Three-axis PSO
-PSO5	Two-axis Part-Speed PSO
-PSO6	Three-axis Part-Speed PSO

Internal Shunt (Optional)

Option	Description
-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.

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.