Aerotech Automation1 XR3 Series, Hardware Manual

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Chapter 1: Introduction
The XR3 is a high-performance, 6-axis drive rack with field replaceable front-mounted amplifiers. All
versions are 3U in size and rack-mountable.
Table 1-1: Feature Summary
Standard Features
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Two independent bus supplies (factory configured) Section 1.1.
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Linear or PWM amplifiers Section 1.1.
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Software configurable for brush, brushless, ceramic, and stepper motor
operation (the XR3 must be factory wired for an XSL3-10-40 amplifier to drive a
stepper motor)
Section 2.2.
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6 channels of line driver square wave or optional analog sine wave quadrature
encoder position and/or velocity feedback
Section 2.3.
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Single axis PSO (Laser Firing) standard (2- and 3-axis firing optional) Section 2.4.
Auxiliary Power Outputs
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+5 V provided on all axis feedback connectors for encoder, Hall, and limit power Section 2.3.
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+5 V provided on I/O connectors Section 2.8.
I/O
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Brake Output Section 2.3.
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Three PSO External Sync inputs Section 2.4.
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Three TTL or isolated PSO outputs Section 2.4.2.
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One Data Acquisition Input Section 2.4.4.
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Up to 12 High Speed Differential outputs Section 2.5.
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16 digital outputs Section 2.6.
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16 digital inputs Section 2.7.
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Two 16-bit analog outputs per axis Section 2.9.1.
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Two 16-bit differential analog inputs per axis; two inputs used for joystick inputs Section 2.9.2.
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Three dedicated joystick digital inputs Section 2.9.3.
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Two STO sense Inputs Section 2.10.
Feedback / Limit Inputs
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Encoder / Marker Inputs (primary) Section 2.3.1.
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Hall Inputs (3 per axis) Section 2.3.2.
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Four analog sensor inputs per axis with one used as a motor over-temperature input and one used
as an encoder fault input
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Thermistor Section 2.3.3.
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Encoder Fault Section 2.3.4.
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CW, CCW, and Home Limit Inputs Section 2.3.5.
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Encoder / Marker Inputs (auxiliary) Section 2.8.
XR3 Hardware Manual Chapter 1: Introduction
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