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.

Have questions? Contact an Aerotech expert.

Description

Specifications

Dimensions

Ordering Info

Downloads

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 A_pk
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	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

Note:

1. 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 A_pk	20 A_pk	30 A_pk
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)

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 (A_pk)^(2)(3)(4)	1.5 A \| 2.0 A
Peak Current (A_pk)	10 A_pk⁽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 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:

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:

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:

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:

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:

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:

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:

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.

Automation1 XR3 Data Sheet Automation1 XR3 Hardware Manual Automation1 XR3 CAD Download (No Slides, No Fan) Automation1 XR3 CAD Download (Chassis Slides, No Fan) Automation1 XR3 CAD Download (No Slides, Bottom Fan) Automation1 XR3 CAD Download (Chassis Slides, Bottom Fan)

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Automation1 XR3 Multi-Axis Servo Drive Rack

Description

Design Features

Automation1

XR3 Specifications

XR3 Control Card Specifications

XR3 PWM Amplifier Specifications

XR3 Linear Amplifier Specifications

Dimensions

Ordering Information

Automation1 XR3

Line Voltage

Bus Voltage 1

Bus Voltage 2

Split Bus

Controller Cards

Amplifier Cards

Cooling

Line Cord

PSO

Internal Shunt (Optional)

Integration (Required)

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